Monocular vision-based warehousing robot indoor positioning method

A monocular vision, indoor positioning technology, used in instruments, image data processing, computing, etc.

Active Publication Date: 2020-04-21
CHANGAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide an indoor positioning method for storage robots based on monocular vision, which solves the problems in the existing The problems of high cost, small range and low precision in positioning technology

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  • Monocular vision-based warehousing robot indoor positioning method
  • Monocular vision-based warehousing robot indoor positioning method
  • Monocular vision-based warehousing robot indoor positioning method

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Embodiment Construction

[0070] see figure 1 According to the present invention, a storage robot indoor positioning system based on monocular vision includes:

[0071] The image processing unit reads the grayscale image after the system is calibrated, and then calculates the connected domain after binarization processing, and finally outputs the relevant parameters of the connected domain, removes the lens distortion of the camera, and obtains the relevant coordinate data of the robot in the image. It provides the basis for coordinate calculations to be performed in subsequent units.

[0072] The robot pose calculation unit detects the target with the same name across the field of view, establishes the robot pose calculation model, reads in the relevant parameters of the connected domain, performs pose calculation in the image coordinate system, and reverses the image coordinate system pose data to the ground In the coordinate system, objects with the same name in different cameras are eliminated, an...

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Abstract

The invention discloses a monocular vision-based warehousing robot indoor positioning method, which comprises the following steps of: calibrating internal and external parameters of a monocular camera, determining a mapping relationship between an image coordinate system and a world coordinate system, and describing a homography matrix of the mapping relationship between coordinate points of different cameras; continuously shooting a plurality of mobile robots with optical beacons on the ground by using a plurality of monocular cameras; extracting and marking a detection target, and outputtingrelated parameters of a connected domain; comparing the parameters of the target object in the images acquired by different cameras to realize detection analysis and processing of the cross-view-field homonymous target; according to the related parameters of the connected domain, obtaining static poses of the robot in combination with the eight pose state models of the mobile robot; and establishing a dynamic error compensation model of the mobile robot, and estimating the actual pose of the robot according to the pose data of the robot in the current period and the previous period. Accordingto the invention, the complexity of robot electronic onboard can be reduced, the cost is low, the precision is high, and the coverage range is wide.

Description

technical field [0001] The invention belongs to the technical field of digital image processing, and in particular relates to an indoor positioning method for a storage robot based on monocular vision. Background technique [0002] With the rapid development of the field of intelligent logistics, due to the large-scale, short-cycle logistics needs and complex resource environment, storage robots have received more and more attention. Warehousing robot is a kind of indoor mobile robot with the functions of autonomous sorting, handling, depalletizing and palletizing of goods, and is an important equipment for realizing unmanned warehousing. At present, the key technologies of storage robot research mainly focus on indoor positioning, autonomous navigation, motion control and collaborative operations, among which indoor positioning technology is the basis and premise for storage robots to complete other tasks. With the help of different sensor technologies, researchers have pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T7/187G06T7/246G06T7/62G06T7/70G06T7/80
CPCG06T7/80G06T7/187G06T7/251G06T7/62G06T7/70G06T5/006
Inventor 田明锐杨皓赵睿英
Owner CHANGAN UNIV
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