Target positioning device and method for follow robots

A technology for following robots and target positioning, which is applied in the field of target positioning devices for following robots, which can solve the problems of poor interaction friendliness and large color contrast, achieve good environmental adaptability, and realize the effect of multi-target recognition

Active Publication Date: 2019-10-11
北京华信有道科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The inventor found that the feature selection method listed is a common method in the field of robotics, and requires wearing on a solid sur

Method used

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  • Target positioning device and method for follow robots
  • Target positioning device and method for follow robots
  • Target positioning device and method for follow robots

Examples

Experimental program
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Example Embodiment

[0043] Example one

[0044] figure 1 It is a schematic structural diagram of a target positioning device following a robot according to an embodiment of the present disclosure.

[0045] Such as figure 1 As shown, the device for positioning a target following a robot in this embodiment includes:

[0046] Thermal radiation module, which is used to generate thermal radiation;

[0047] Infrared image acquisition module, which is used to collect infrared images generated by thermal radiation;

[0048] Laser scanning module, which is used to collect the depth point cloud data of the scene scene;

[0049] The data processing module is respectively connected with the infrared image acquisition module and the laser scanning module to receive the infrared image generated by the thermal radiation and the depth point cloud data of the scene scene, and to locate the target.

[0050] Among them, in the embodiment of the present disclosure, all the heating bars are in a heating state.

[0051] Compared w...

Example Embodiment

[0093] Example two

[0094] The positioning method of the robot-following target positioning device in this embodiment includes:

[0095] Receive infrared image and depth point cloud data of scene scene;

[0096] Detect the edge curve of the heating strip in the infrared image;

[0097] Among them, the process of detecting the edge curve of the heating strip in the infrared image is:

[0098] Binarize the gray value of each pixel in the infrared image to obtain the first unit color bitmap;

[0099] Perform denoising processing on the first unit color bitmap to obtain the second unit color bitmap;

[0100] The second unit color bitmap is segmented in a multi-connected manner to obtain the edge curve of the heating bar.

[0101] Average the coordinate values ​​of all pixels on the edge curve of the heating bar to obtain the center coordinates of the heating bar, and then obtain the width of the heating bar and the distance between the heating bars;

[0102] Use the ratio of the spacing of the...

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Abstract

The invention provides a target positioning device and method for follow robots. The target positioning device for the follow robots comprises a thermal radiation module, an infrared image acquisitionmodule, a laser scanning module and a data processing module, wherein the thermal radiation module is arranged on a target; the data processing module is used for detecting edge curves of heating strips in an infrared image, solving an average value of all the pixel coordinate values on the edge curves of the heating strips so as to obtain center coordinates of the heating strips and then obtainheating strip widths and heating strip distances; when the thermal radiation module is searched, calculating an average value of center point coordinates of all the heating strips and taking the average value as an image coordinate of the target so as to solve direction information of the target under the infrared image; mapping field scene deep point cloud data to the infrared image so as to obtain distance information corresponding to all the pixels of the infrared image; recognizing an overall profile of the target at a target direction of the infrared image; and carrying out statistical analysis on all the pieces of distance information corresponding to the pixels of the target and carrying out average value calculation to obtain a position of the target.

Description

technical field [0001] The present disclosure belongs to the technical field of robots, and in particular relates to a target positioning device and method for a following robot. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] Follow-the-walk is a typical man-machine cooperation mode, which enables the robot to follow the movement of people in factories, large supermarkets, warehouse logistics and other environments, and cooperate with humans to complete tasks such as material transportation, obstacle removal, and emergency rescue. Following the technological development of robots and relying on the support of human target recognition technology, the common human target recognition methods are mainly two recognition methods based on visual information or laser information. When the robot is following along in a complex environment, the v...

Claims

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Application Information

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IPC IPC(8): G01S17/06G01S17/08G01J5/00
CPCG01J5/00G01J2005/0077G01S17/06G01S17/08
Inventor 张慧赵永国王培刘海英
Owner 北京华信有道科技有限公司
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