Indoor robot positioning method and system
An indoor robot and positioning method technology, which is applied in the field of indoor robot positioning methods and systems, can solve problems such as high cost, poor positioning accuracy, and poor real-time performance, and achieve high positioning reliability, small image processing, and high real-time performance.
Active Publication Date: 2021-11-19
LUDONG UNIVERSITY
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Problems solved by technology
[0002] In the existing indoor robot positioning technology, positioning technologies such as electromagnetic induction navigation and positioning, visual navigation and positioning and ultrasonic navigation and positioning are mainly used. Install induction devices for electromagnetic induction, which makes the robot can only walk according to the set route, which limits the range and flexibility of the robot's movement; visual navigation and positioning have a huge amount of image processing, poor real-time performance, and the external environment affected by light conditions. Disadvantages such as large interference restrictions and poor positioning accuracy; due to the defects of the ultrasonic sensor itself such as mirror reflection and limited beam angle, there are shortcomings such as inability to fully obtain surrounding environmental information, resulting in inaccurate positioning
[0003] In addition to the shortcomings of the existing indoor robot positioning methods mentioned above, the existing indoor robots also have the problems of poor real-time positioning, poor reliability, and high cost.
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[0024] The specific implementation manners of the present application will be described in further detail below in conjunction with the accompanying drawings.
[0025] The indoor robot positioning method proposed in this application is based on figure 2 The indoor robot positioning system shown is proposed, and the indoor robot positioning system includes an indoor robot 1, a laser matrix transmitter 2 and a shooting device 3; the shooting device 3 is installed on the top of the indoor robot 1, and the shooting angle faces the ceiling.
[0026] The laser matrix emitter 2 includes several laser emitters 21, which are combined and arranged in a matrix form of N rows and M columns, and the distance between each laser emitter is equidistant, which is L, and is used to emit laser beams to the ceiling, and each laser emitter The laser emitters 21 are all correspondingly numbered; the projection angle of each laser emitter can be adjusted, and the position of the light spot formed by ...
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The invention discloses an indoor robot positioning method and system. A laser matrix emitter receives a laser emission instruction signal including a laser emitter number sent by an indoor robot according to a set frequency and a set sequence, and controls the laser emitter corresponding to the number to send the laser emitter to the ceiling. Launch the laser beam, obtain the robot view including the spot image formed by the laser beam on the ceiling, and realize the indoor robot positioning based on the robot view. Every time the laser matrix transmitter emits a laser beam, use the shooting equipment installed on the indoor robot to take pictures of the ceiling directly above it, and obtain the robot view including all the spots formed by the laser beam emitted once, according to the position of the robot view in the ceiling Calculate the position and direction of the indoor robot and realize its positioning. The positioning process has a small amount of image processing, strong real-time performance and no interference from the surrounding environment. It can realize low-cost, high-precision, and high-reliability indoor robot positioning.
Description
technical field [0001] The invention belongs to the technical field of indoor robots, and relates to an indoor robot positioning method and system. Background technique [0002] In the existing indoor robot positioning technology, positioning technologies such as electromagnetic induction navigation and positioning, visual navigation and positioning and ultrasonic navigation and positioning are mainly used. Install induction devices for electromagnetic induction, which makes the robot can only walk according to the set route, which limits the range and flexibility of the robot's movement; visual navigation and positioning have a huge amount of image processing, poor real-time performance, and the external environment affected by light conditions. Disadvantages such as large interference restrictions and poor positioning accuracy; ultrasonic navigation and positioning have the disadvantages of being unable to fully obtain surrounding environmental information due to defects s...
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IPC IPC(8): G01S5/16G01C21/20
CPCG01C21/206G01S5/16
Inventor 周文举费敏锐王洪刚刘莉杜大军周天放
Owner LUDONG UNIVERSITY