Indoor mobile robot navigation system and method based on infrared landmarks

A technology for mobile robots and navigation systems, which is applied in control/adjustment systems, two-dimensional position/channel control, instruments, etc., and can solve problems such as cumbersome installation, easy to be affected by ambient light, and need for wiring.

Active Publication Date: 2017-12-08
SHANDONG UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0013] The purpose of the present invention is to solve the above problems, and provide an indoor mobile robot navigation system and method based on infrared road signs. The infrared road signs adopt active design and increase wireless communication functions. For mobile robots, the path is manually planned by setting infrared road signs, and equipped with low-cost digital CMOS image sensors, which effectively solves the existing artificial road sign navigation strategies that are easily affected by ambient light, low stability, cumbersome installation, poor real-time performance, and need for wiring and navigation. The route is not easy to change, the cost is high, etc.

Method used

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  • Indoor mobile robot navigation system and method based on infrared landmarks
  • Indoor mobile robot navigation system and method based on infrared landmarks
  • Indoor mobile robot navigation system and method based on infrared landmarks

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Embodiment Construction

[0103] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0104] like figure 1 As shown, the navigation strategy provided by the present invention consists of an infrared road sign guidance system and a monocular visual recognition system. Among them, the infrared road sign guidance system is arranged in the working environment, which is responsible for guiding the mobile robot to drive. The working environment can be indoor places such as factory workshops, shopping malls, hospitals, etc.; the monocular visual recognition system is installed directly in front of the head of the indoor mobile robot, and is responsible for collecting infrared The image of the road sign is obtained, and the position information is obtained through image processing, and then the indoor mobile robot is driven to move. The mobile robot can use a wheeled or tracked structure; the communication between the infrared road sign guidanc...

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Abstract

The invention discloses an indoor mobile robot navigation system and method based on infrared landmarks. A monocular vision identification system collects an image of a luminous infrared landmark in an infrared landmark guidance system, and calculates the position of an indoor mobile robot relative to the current luminous infrared landmark through image processing; the indoor mobile robot is driven to move towards the luminous infrared landmark according to the relative position of the indoor mobile robot; after the indoor mobile robot enters the set area coverage of the current luminous infrared landmark, the monocular vision identification system issues a light emitting stop instruction to the current luminous infrared landmark, and issues a light emitting start instruction to next luminous infrared landmark; the monocular vision identification system makes the indoor mobile robot move to the next luminous infrared landmark according to the position of the next luminous infrared landmark, and so on; and the indoor mobile robot ends movement when moving to the set area coverage of the last luminous infrared landmark.

Description

technical field [0001] The invention relates to the field of visual navigation, in particular to an indoor mobile robot navigation system and method based on infrared road signs. Background technique [0002] Indoor mobile robots are widely used in medical assistance, home service, workshop transportation, fire detection and other fields. The development of robot technology is of great significance to improving people's work efficiency and quality of life. The navigation problem of indoor mobile robots has always been the core content in the field of robotics research, which is related to the intelligence level of mobile robots. To realize autonomous or semi-autonomous navigation of mobile robots, the key lies in solving the problems of positioning and path planning of mobile robots. [0003] Common navigation methods include environmental map matching method, dead reckoning method based on inertial navigation module, ranging and positioning method based on radio frequency,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0242G05D2201/0217
Inventor 陈桂友孙琛王子国赵越男
Owner SHANDONG UNIV
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