Robot navigation device and system based on stereoscopic vision matching

A technology of stereo vision matching and navigation device, which is applied in the field of robot navigation, can solve the problem of not having a global vision of detection, and achieve the effect of ensuring accuracy

Inactive Publication Date: 2018-06-26
GUANGDONG POLYTECHNIC NORMAL UNIV
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  • Abstract
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing sonar-based robot navigation system only has the ability to avoid obstacles in local space (can only detect obstacles at a specific height and viewing angle), but does not have the problem of detecting global vision

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  • Robot navigation device and system based on stereoscopic vision matching
  • Robot navigation device and system based on stereoscopic vision matching

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Embodiment Construction

[0024] see figure 1 , a robot navigation device based on stereo vision matching in an embodiment of the present invention, the device includes: a display 10, a robot control system 20, an industrial computer 30, a control box 40, and a visual navigation device 50; wherein the industrial computer 30 includes Mainboard 301, control card 302, GPU graphics card 303, image acquisition card 304; Described visual navigation device 50 comprises binocular camera 501, LED light source 502; Described control box 40 comprises power supply module 401 and control module 402; Described robot control System 20 links to each other with industrial computer 30, and mainboard 301 in described industrial computer 30 is connected with described display 10, control card 302, GPU graphics card 303, image acquisition card 304 respectively; Described control box 40 is connected with control card 302, image acquisition The card 304, the binocular camera 501, and the LED light source 502 are connected. ...

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Abstract

The invention provides a robot navigation device and system based on stereoscopic vision matching. The system is composed of a stereoscopic vision module, a stereoscopic matching module, an obstacle detection module, a target detection and tracking module, a target positioning and presetting module, a data fusion module, and a positioning and navigation module. According to the invention, detection of an obstacle area is realized by using a 3D disparity map, target object detection is carried out by using the 2D image and the 3D disparity map, and then a safety path of passing of a robot is selected based on the location information of the target and obstacle. Accuracy of segment is ensured by combining the characteristic of quick identification of the 2D image scene and the 3D depth information.

Description

technical field [0001] The invention relates to the technical field of robot navigation, in particular to a robot navigation device and system based on stereo vision matching. Background technique [0002] Intelligent robot navigation technology refers to the effective acquisition of information about the environment and its own position and posture through the sensors carried by itself, and at the same time complete the detection of obstacles and targets in the environment, and autonomously plan the path from the starting position to the target position, so as to realize the goal. object to operate. It has complete perception, analysis, decision-making and execution modules, and can independently engage in production activities in the environment like humans. [0003] Most of the existing robot navigation systems use sonar to avoid obstacles, by actively transmitting detection signals, and then receiving the echoes reflected by various objects in the scene, and obtaining s...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0276G05D2201/0217
Inventor 梁鹏林智勇郝刚
Owner GUANGDONG POLYTECHNIC NORMAL UNIV
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