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Multi-scene visual robot simulation platform and method

A technology of simulation platform and simulation method, which is applied in the direction of instruments, simulators, measuring devices, etc., can solve the problems of image sensor field of view landmark point deterioration, image sensor noise, and positioning effect, etc., to achieve cost reduction and solve complexity , to achieve a simple effect

Active Publication Date: 2019-09-20
远形时空科技(北京)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At this time, Slam will not be able to obtain enough and good enough landmark points to complete the autonomous positioning
For another example, the image sensor of the robot captures a good landmark point in the first posture of the robot, but due to the needs of the operation, the robot changes to the second posture in a short time (for example, the direction of travel changes), at this time the landmark point of the image sensor field of view instantly become worse, leading to loss of autonomous localization
[0007] For another example, the working time of the robot is at the transition time between dusk and evening. The visual robot works well when the light is sufficient, but as the light gradually becomes darker, the noise of the image sensor will increase, and the final positioning effect will be greatly affected.

Method used

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  • Multi-scene visual robot simulation platform and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] Embodiment 1: as figure 2 , image 3 , Figure 4 and Figure 5 As shown, a multi-scenario visual robot simulation platform includes:

[0042] Data acquisition device: collect the actual information of the robot and transmit it to the AR image simulation device.

[0043] SLAM calculation module: it includes a calculation processing unit, an image processing unit and a communication unit.

[0044] AR image simulation device: Generate different scene information according to requirements.

[0045] After the AR image simulation device acquires the data, it will construct the image scene. In terms of the design and construction of the image scene, the three-dimensional software 3Dmax is used to complete the modeling and texture. Drag and splice, you can actually open and close the door, you can switch the lights on the wall or move the furniture in the room, etc.

[0046] The construction plan is to use Unity3D. Unity3D is a multi-platform comprehensive game development...

Embodiment 2

[0053] Embodiment 2: as figure 2 As shown, a multi-scenario visual robot simulation platform, its software architecture is:

[0054] Data acquisition includes two parts: sensor acquisition device and positioning tracking device.

[0055] The Slam calculation module receives the simulation information generated by the AR image simulation device.

[0056] Compare and optimize the overall test effect with the actual sweeping motion information.

[0057] Among them, the scene image information is transferred to the Slam calculation module by the AR image simulation device relative to the attitude change parameters of the self-propelled robot frame.

[0058] figure 2 A schematic flow chart of the method of the present invention is given in , wherein the robot simulation information is provided by the sensor acquisition device in the data acquisition device to provide robot sensor information and the AR image simulation device.

[0059] To obtain actual information from the da...

Embodiment 3

[0064] Embodiment 3: as figure 2 , image 3 , Figure 4 and Figure 5 Shown, a kind of multi-scenario visual robot simulation method contains following steps;

[0065] The sweeper robot will test the same family for different time periods and scenarios when conducting home tests.

[0066] image 3 The test was carried out in an environment with sufficient sunlight and clear viewing angles and scenes. It can be seen that the sweeper can be positioned very well in such an environment. After comparing with the actual positioning, we It is found that there is no large deviation, and the overall positioning effect vision is very close to the pose acquired by the positioning tracking device. In such a test scenario, the results obtained by SLAM are ideal.

[0067] Figure 4 The scene test was done at dusk when the sun is about to set. In such a scene, some places far away from the windows can no longer distinguish the details of the corners at this time. The actual test effe...

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Abstract

The invention discloses a multi-scene visual robot simulation platform and method and belongs to the technical field of robots and computers. According to the multi-scene visual robot simulation platform and method, a data acquisition device is utilized to acquire actual robot positioning information and sensor information which is required by robot simulation; a positioning and tracking device and a sensor acquisition device are arranged on a real robot; the real track information of a sweeper and other sensor information are acquired; the information acquired by the sensor acquisition device is recorded into an AR image simulation device; and the AR image simulation device is composed of a microcomputer and real-time simulation software, wherein the microcomputer is provided with an image processor. With the multi-scene visual robot simulation platform and method of the method adopted, technical challenges brought to the upgrading and iteration of an SLAM algorithm due to the complexity of indoor and outdoor scenes can be overcome. The multi-scene visual robot simulation platform and method have the advantages of simplicity in implementation and high repeatability.

Description

technical field [0001] The invention relates to a multi-scene visual robot simulation platform and method, belonging to the technical field of robots and computers. Background technique [0002] In the existing technology, one method is to put the SLAM algorithm into the robot for real-time testing and debugging, and then solve problems on the spot. One method is to save the data after the real-time test of the robot encounters a problem, and then run the data set to reproduce it and solve it. [0003] With the increasing development of science and technology, more and more personal or commercial automation devices (ie, robotic devices) have been widely used. In this process, the requirements for the execution efficiency of the robot are getting higher and higher, and for the robot with vision, the requirements for the adaptability of the robot to various scenarios are very high. [0004] At present, the autonomous walking robot based on visual SLAM can work well in limite...

Claims

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Application Information

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IPC IPC(8): G05B17/02G01C25/00
CPCG05B17/02G01C25/00
Inventor 李昌檀
Owner 远形时空科技(北京)有限公司
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