Spherical robot visual positioning system

Abstract

The invention discloses a spherical robot visual positioning system. The spherical robot visual positioning system comprises an image acquisition module, an image angular adjustment module, a depth data excavation module, a three-dimensional reconstruction module, a coordinate calibration module, a route programming module, an obstacle avoidance module, a camera monitoring module, and a camera combined scheduling module. Through adjustment of image angles, splicing reconstruction of the three-dimensional images is realized, accurate positioning of a target position is realized, real-time updated output of a target route is realized, positioning efficiency and accuracy are increased, during a motion process of the robot, combined scheduling is realized according to the route programming byeach camera, when the real-time acquisition of the images is realized, and the problem of unchanged installation can be solved.

Description

technical field [0001] The invention relates to the field of robot positioning systems, in particular to a spherical robot vision positioning system. Background technique [0002] Spherical robot refers to a general term for a system that integrates motion actuators, sensors, controllers, and energy devices into a spherical shell and uses the spherical shell as a rolling walking device. Compared with wheeled, footed and tracked robots, it has the characteristics of novel structure, flexible movement and high efficiency, and has broad application prospects in military, civil and industrial fields. [0003] The positioning problem of spherical robot is a key problem to realize the intelligentization of spherical robot. At present, spherical robots mainly use inertial navigation system, odometer, GPS and other methods for positioning, but the inertial navigation system needs to obtain the displacement and angle through integration, and there is a time drift error; the odometer...

AI Technical Summary

Problems solved by technology

At present, spherical robots mainly use inertial navigation system, odometer, GPS and other methods for positioning, but the inertial navigation system needs to obtain the displacement and angle through integration, and there is a time drift error; the odometer will produce cumulative errors due to spherical sliding, jumping and other factors , at the same time, the spherical robot platform is unstable, and it is difficult to find a suitable position for carrying the odometer; the GPS accuracy is not high, and it cannot be used indoors

The outside of the spherical robot is a closed spherical shell, and the image quality collected by the camera through the spherical shell is very poor or even impossible to collect images

Difficult to install the camera, the usual installation position will make the camera rotate 360 ​​degrees with the ball

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