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Indoor positioning method and system for robot

An indoor positioning and robotics technology, applied in instruments, computer parts, computing, etc., can solve problems such as high requirements and costs, inability to accurately track, ignore conversion, etc., to reduce hardware costs, improve reliability, and improve matching accuracy. Effect

Pending Publication Date: 2022-07-01
SHENZHEN UMOUSE TECH DEV
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AI Technical Summary

Problems solved by technology

[0003] However, in the image data of existing sweeping robots, its color is easy to overlap with other similar objects in the indoor scene, which makes calibration difficult and cannot be accurately tracked
[0004] The current main method is to locate by comparing static and dynamic objects. The requirements and costs for computer computing power and system algorithm design are relatively high, and it will be affected by the environment, such as the reflection of product mirrors, etc. The reason for this problem is that Based on the improvement of current hardware, it tends to use algorithms to locate moving objects, while ignoring the conversion between variables and quantification

Method used

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Embodiment 1

[0030] An indoor positioning method for robots, the camera obtains indoor scene images,

[0031] Establish a target image template, match the target image template with the scene image using a grayscale matching algorithm,

[0032] The cross-correlation value is obtained from the matching result, and the cross-correlation value is normalized to obtain the target image in the scene image.

[0033] The scene image of the present invention is obtained by the following method:

[0034] Control the camera to obtain indoor scene images, including one or more cameras to capture images of indoor scenes respectively. When the indoor scene is large, multiple cameras need to be used to capture images of indoor scenes. The number of cameras is related to the indoor scene. The range of the image is proportional; the control camera to obtain the indoor scene image is that the camera set at the top of the room takes a picture downward to obtain the indoor scene image; the time to obtain the...

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Abstract

The invention discloses an indoor positioning method for a robot. A camera acquires an indoor scene image, establishes a target image template, matches the target image template with the scene image by using a gray matching algorithm, obtains a cross-correlation value according to a matching result, and normalizes the cross-correlation value to obtain a target image in the scene image. According to the robot indoor positioning method, the target image template is matched with the scene image, matching is carried out by using a gray matching algorithm, the matching precision under various conditions can be effectively improved, the object positioning accuracy is improved, the hardware cost is reduced, and the reliability of a positioning system is improved by using variable and quantitative methods.

Description

technical field [0001] The invention relates to the technical field of indoor positioning of sweeping robots, in particular to an indoor positioning method and system for robots. Background technique [0002] The existing sweeping robots clean indoors and have a great effect. With the change of usage scenarios, it is urgent to accurately position the sweeping robot indoors to solve the operations of navigation, cleaning and obstacle avoidance. [0003] However, in the image data of the existing sweeping robot, its color is easy to overlap with other approximations of the indoor scene, which makes the calibration difficult and cannot be accurately tracked. [0004] At present, the main method is to locate by comparing static and dynamic objects. The requirements and costs for computer computing power and system algorithm design are relatively high, and it will be affected by the environment, such as the reflection of product mirrors, etc. The reason for this problem is that ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G06V10/25G06V10/75G06K9/62
CPCG01C21/206G06F18/22
Inventor 杨时恩
Owner SHENZHEN UMOUSE TECH DEV