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Indoor positioning system and method for mobile robot based on multiple depth cameras

A mobile robot and depth camera technology, applied in the direction of instruments, measuring devices, surveying and navigation, etc., can solve problems such as large blind spots and complex system construction, and achieve the effect of small blind spots and simple system layout

Pending Publication Date: 2019-09-24
WEST ANHUI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing mobile robot positioning technology usually has a large blind area, and the system construction is relatively complicated

Method used

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  • Indoor positioning system and method for mobile robot based on multiple depth cameras
  • Indoor positioning system and method for mobile robot based on multiple depth cameras
  • Indoor positioning system and method for mobile robot based on multiple depth cameras

Examples

Experimental program
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Embodiment 1

[0032] Such as figure 1 As shown, this embodiment provides a mobile robot indoor positioning system based on multi-depth cameras, which includes a central control unit and a robot control unit, the central control unit is used to locate the position of the robot and send it to the robot control unit, the robot The control unit is used to control the action of the robot according to the positioning information sent by the central control unit;

[0033] The central control unit includes a plurality of cameras installed indoors, a camera controller, a recognition template library, a position calculation module, a first main control module and a first communication module, and the plurality of cameras are all used to photograph the indoor environment, The camera controller is used to receive and process the picture information taken by the multiple cameras, the recognition template library is used to store multiple photos taken by the robot at different angles, and the position ca...

Embodiment 2

[0053] Such as Figure 2-8 As shown, this embodiment provides a camera bracket, which can be preferably used to install and fix the camera in Embodiment 1, and it can preferably adjust the position of the camera after installation, so that it can be more It is convenient to debug the shooting range of the camera, so as to realize the monitoring of the room without dead angle.

[0054] combine figure 2 Shown is a schematic diagram of the camera bracket in this embodiment. It includes a bracket body 100, the bracket body 100 includes a first slide bar 110 for installation on the wall, the first slide bar 110 is slidably provided with a rotating assembly 120; the rotating assembly 120 is slidably provided with a second The sliding bar 130 and the rotating assembly 120 are used to realize the relative rotation between the first sliding bar 110 and the second sliding bar 130; the second sliding bar 130 is provided with a tray 140, and the tray 140 is hinged with a camera mountin...

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Abstract

The invention relates to the technical field of mobile robot indoor positioning, in particular to an indoor positioning system and method for a mobile robot based on multiple depth cameras. The system comprises a central control unit and a robot control unit, wherein the central control unit is used for determining the position of the robot and sending the position to the robot control unit, and the robot control unit is used for controlling the robot to act according to positioning information sent by the central control unit. The method is realized based on the system. According to the invention, indoor positioning of the mobile robot can be better realized.

Description

technical field [0001] The invention relates to the technical field of indoor positioning of a mobile robot, in particular to an indoor positioning system and method for a mobile robot based on a multi-depth camera. Background technique [0002] Positioning technology is a key technology in the research of mobile robots. For an autonomous robot system, accurate spatial positioning is the prerequisite for its autonomous navigation. There are currently many methods to obtain the position information of the robot, which are mainly divided into the following two categories: ①Record the robot’s own movement process through sensors such as code discs, electronic gyroscopes, and accelerometers, and calculate the current position through cumulative calculations; ②Use radar, laser rangefinder, image matching, etc. to determine the relative position of the robot and the environment to obtain its own location information. The existing mobile robot positioning technology usually has la...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 贾朝川杨婷符茂胜何富贵左旭坤毛德梅
Owner WEST ANHUI UNIV
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