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Limited path positioning device and method for indoor walking robot

A walking robot and positioning device technology, applied in the field of robotics, can solve the problems of being unable to locate, affecting the decoration of the deployment site, and having a small amount of computation.

Inactive Publication Date: 2021-10-08
苏州山沪和智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the complex dynamic environment of the lidar SLAM method, the loss of map information is too large, which makes it impossible to locate, so it is impossible to locate and navigate the planned path
The visual VSLAM method is limited by the large amount of calculation and the dependence on the environmental pattern, so the high cost of the robot and the high power consumption affect the endurance of the robot; as one of the visual VSLAM methods, the two-dimensional code is deployed on the top of the room, and its calculation amount is small. Some applications, but the labor cost of implementation is high and affect the decoration of the deployment site, and the position of the QR code label also has certain requirements for the deployment site, so it also limits the application in many places

Method used

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  • Limited path positioning device and method for indoor walking robot

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Embodiment 1

[0036] An embodiment of the present invention provides a limited path positioning device for indoor walking robots, such as figure 1 As shown, including a microprocessor (not shown in the figure), an infrared camera and N mutually different infrared light patterns 5, N≥3;

[0037] Described infrared camera is connected with described microprocessor, is used for measuring infrared light pattern 5 and sends to microprocessor, and the data of measurement comprises figure feature value, because the basic element of arbitrary figure has shape and color (spectrum), shape mainly includes : linear (contour, graph, etc.), surface block, etc.; color includes: visible spectrum, invisible spectrum (sensor can perceive); image processing is to distinguish image feature values ​​for different elements such as line shape, surface block, and spectrum , the use of "graphical eigenvalues" in this case is based on the fact that graphics are easier to implement than chromatographic processing in ...

Embodiment 2

[0048] An embodiment of the present invention provides a limited path positioning method for an indoor walking robot, including the following steps:

[0049] Utilize a microprocessor to control the robot to walk on the walking path; the walking path of the robot includes a path centerline 2, and boundary lines (3, 4) located on both sides of the path centerline 2;

[0050] Utilize the infrared camera to measure the infrared light pattern 5 located above the walking path and send it to the microprocessor; each infrared light pattern 5 is arranged above the robot walking path, and the positions between the infrared light patterns 5 must meet the requirements of at least one measurement by the infrared camera. To K infrared light patterns 5, K≥2; in the specific implementation process, each infrared light pattern 5 is arranged on the indoor ceiling above the walking path of the robot; the measured data includes the characteristic value of the pattern, because the basic elements of...

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Abstract

The invention discloses a limited path positioning device and method for an indoor walking robot. The device comprises a microprocessor, an infrared camera and N (>=3) different infrared light patterns. The infrared camera is connected with the microprocessor and is used for measuring the infrared light patterns and sending a measurement result to the microprocessor. The infrared light patterns are arranged above the walking path of a robot, the positions of the infrared light patterns must meet the requirement that the infrared camera at least measures K (>=2) infrared light patterns at a time. A coordinate system composed of N different infrared light patterns is arranged in the microprocessor, and the position of the robot is calculated based on received infrared light pattern data to complete positioning. According to the method, a plurality of infrared light patterns are arranged above the walking path of the robot, and the robot confirms the position of the robot through the recognized infrared light patterns, so that the purpose of limited path positioning of the indoor walking robot is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a limited path positioning device and method for an indoor walking robot. Background technique [0002] Most of the existing indoor robot autonomous walking navigation and positioning adopts the laser radar SLAM method or the visual VSLAM method. In the complex dynamic environment of the lidar SLAM method, the loss of map information is too large to make it impossible to locate, so it is impossible to locate and navigate the planned path. The visual VSLAM method is limited by the large amount of calculation and the dependence on the environmental pattern, so the high cost of the robot and the high power consumption affect the endurance of the robot; as one of the visual VSLAM methods, the QR code is deployed on the top of the room, and its calculation amount is small. Some applications have high labor costs and affect the decoration of the deployment site, and the loc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0242
Inventor 余程袁荣炎宋天东
Owner 苏州山沪和智能科技有限公司