Indoor positioning system and method thereof

Abstract

The invention discloses an indoor positioning system and a method thereof. The system comprises a positioner having an image acquisition unit and a data processing unit, as well as a mobile robot, themobile robot moves on an indoor floor, and an emitter is arranged on the mobile robot for emitting light beam to ceiling to form a first light spot and a second light spot having different sizes and / or shapes; the image acquisition unit obliquely arranged on an indoor wall collects profile images of the ceiling and the images of the first light spot and the second light spot; the data processingunit can determine pose and position of the mobile robot on the indoor floor according to the profile images of the ceiling and the images of the first light spot and the second light spot, the pose and position of the mobile robot on the indoor floor can be monitored, shielding influence of objects such as furniture and electric appliances on the light beam emitted by the emitter through an optical path from the ceiling to the image acquisition unit is greatly mitigated, and the indoor positioning system is in favor of increasing the positioning accuracy of the mobile robot.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to an indoor positioning system and method for a mobile robot. Background technique [0002] In today's society, mobile robots are more and more widely used indoors, especially sweeping robots, mopping robots, nursing robots, etc. Positioning technology is the most basic and important technology for mobile robots to achieve autonomous navigation. The positioning technology includes relative positioning method and absolute positioning method. The dead reckoning algorithm is a classic relative positioning method, which refers to the use of various sensors on the mobile robot such as code discs and gyroscopes to obtain dynamic information of the mobile robot. The cumulative formula obtains the estimated position of the robot relative to the initial state, but the disadvantage is that the cumulative error is large; the absolute positioning method refers to that the mobile rob...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention lies in the traditional method of using optical beacons to locate mobile robots. The line of sight between optical beacons and optical sensors is easily blocked by indoor furniture, electrical appliances and other objects, which affects the positioning accuracy of mobile robots. , providing an indoor positioning system and method

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