CN102436261B - Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED) - Google Patents
Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED) Download PDFInfo
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Abstract
The invention discloses a butt joint positioning and navigation strategy for a robot based on a single camera and a light-emitting diode (LED). The strategy is realized by a complementary metal oxide semiconductor (CMOS) single camera and the LED integrating three colors, namely red, green and blue (RGB), in a group, which are arranged on the robot. The camera is fixedly arranged on an active butt joint surface of the robot and is used for observing LED imaging position and color relationship of a target robot; and each group of LED is arranged on all active butt joint surfaces and passive butt joint surfaces of the robot. A relative pose relationship between the active butt joint surface of the camera and a butt joint surface of the LED is calculated for relatively positioning through an imaging dimension relationship of the LED in the camera, and different color combinations of the LED on the current surface are distinguished through the camera so as to identify a state of the current surface for navigation. By the strategy, rich reference information can be provided through an imaging state of the LED, relative positioning, target searching and rapid navigation in the process of butting the robot are realized, and the butting efficiency of swarm robots is effectively improved.
Description
Technical field
The invention belongs to Group Robots field, more particularly, relate to location and navigation strategy in a kind of Group Robots self assembly docking operation.
Background technology
Along with the development of technology and social progress, people constantly increase the functional requirement of robot, in some non-structured complex environments, often need robot to have good environmental suitability and dirigibility, it is also the critical aspects of Group Robots research that Group Robots self assembly and via Self-reconfiguration feature can meet this requirement simultaneously.At present, the ability of the Group Robots of some colleges and universities' researchs aspect self assembly and via Self-reconfiguration is all also more limited both at home and abroad, especially for location and this difficult point of navigation strategy of robot in self assembling process, main scheme is all based on alignment guide modes such as the local finite sensing navigation such as infrared sensor, touch switch and the cooperation of mechanical profile, magnet, the location providing and navigation information are not enough, the effective scheme having use value and strategy are less, have limited the efficiency of Group Robots self assembly.
Summary of the invention
The existing technical scheme based on infrared sensor, touch switch, the cooperation of mechanical profile or magnet exists docking guidance information not enough, the problems such as efficiency is lower, in order to solve the deficiencies in the prior art, the present invention proposes a kind ofly can provide relatively abundant location and navigation information, docking location and the navigation scheme based on monocular cam and LED of the docking of guided robot rapid-assembling.The present invention has broken through the thinking of existing common technique scheme, adopts camera to observe color and the position of the LED of RGB, for location and navigation provide, enriches comprehensive information, and a kind of more effectively docking location and navigation strategy are provided.
Described docking location and navigation strategy are realized as follows:
Step 1: the rotation of the A of robot original place is adjusted, moves at random, until find the red top LED of the B of robot;
Step 2: the A of robot arrives according to the observation, and red top LED image space is adjusted self attitude, makes imaging in the camera of the red top A of LED robot be positioned at the central authorities of image level direction;
Step 3: two of the left and right bottom LED of calculating robot B is imaged onto the horizontal range of top LED imaging;
Step 4: according to the observation to step 3 in the LED image-forming range relation of the B of robot, the A of robot adjusts the pose of self;
The LED image-forming range relation of the described B of robot refers on the imaging plane of camera, and the imaging point of bottom LED is to the ratio r atio of the level interval of the imaging point of top LED, and the value of concrete pose adjustment based on ratio determined:
If ratio>1, the A of robot clockwise rotates an angle, then to left, until the imaging of red top LED is positioned at image level direction middle position again, returns to step 3;
If ratio<1, the A of robot rotates counterclockwise an angle, then to right translation, until the imaging of red top LED is positioned at image level direction middle position again, returns to step 3;
If ratio=1, the A of robot with ought the realizing and aligning above of the B of robot, the A of robot, by the color combination state that ought go up three LED above of observer robot B, takes next step action, navigation or docking, execution step 5;
Step 5: the color combination state that ought go up three LED above of observer robot B, the LED color assembled state of the B of robot arriving according to the observation, obtains navigation information; If obtaining to be target interface above, perform step 7, otherwise execution step 6;
Step 6: according to the navigation information in step 5, the next interface that arrives that the A of robot navigates and moves, then performs step 1;
Step 7: carry out docking operation.
The described A of robot and the B of robot include at least two sides, one of them is active mating face, all the other are passive interface, on described active mating face and passive interface, be respectively arranged with one group of LED, two simulation infrared receiving/transmission sensors and a pair of docking draw-in groove, on described active mating face, be also provided with a pair of docking buckle and camera; One group of described LED comprises two bottom LED and a top LED, and described camera position is observed from the dead ahead of active mating face, and camera is positioned at the leg-of-mutton geometric center position of top LED and bottom LED composition just; The position of LED, two bottom LED are arranged on the active mating face and passive interface of robot, and top LED is arranged in the position near body inner side, and two bottom LED are high for aspect ratio, and not coplanar with active mating face or passive interface.
The hardware system of docking of the present invention location and navigation strategy forms mainly and consists of camera part and RGB tri-look one LED sections, by the LED image-forming information to observing in camera, extracts, the object of achieve a butt joint navigation and relative positioning.
The camera that described camera part is mainly core by an image sensor chip of take CMOS forms, and camera is fixedly mounted on robot active mating face, adopt 240 * 320 pixels by VGA sequential with RGB565 formatted output view data.
That described LED section adopts is the LED of RGB tri-look one, and every 3 LED are on one group of all side that are arranged in a particular manner robot, by the different navigation information of the incompatible expression of different color-set; By specific arrangement, make position relationship and the relative pose between robot of 3 LED imaging in camera on the same face have definite funtcional relationship, thereby realize relative positioning accurately.
Described docking positioning strategy is by calculating the distance relation of LED imaging in camera, the ratio that utilizes two LED of the same face upper bottom portion to be imaged onto the horizontal range of top LED imaging calculates the relative pose between Liang Ge robot in conjunction with relevant geometric relationship, and constantly adjust according to current pose, until mutually align between robot.
Described docking navigation strategy is that the colouring information of observing the LED imaging on current interface by camera is realized, and current interface navigates to target interface as early as possible by the LED color combination guided robot that self is set, and achieves a butt joint.On each face, the combination of LED color has 3
3=27 kinds, can fully meet information representation needs.
Described location and the hardware system of navigation strategy are also included in and on each side of robot, are furnished with two simulation infrared receiving/transmission sensors, mainly at two interfaces, mutually press close to after LED shifts out camera visual angle, be used for the evading of relative positioning between auxiliary robot and obstacle.
Advantage of the present invention is:
(1) relative positioning between docking robot mainly adopts a monocular cam and LED to coordinate realization, and simplicity of design is with low cost; The output of camera data adopts RGB565 form, comprises abundant color space information, can be transformed into as required in multiple color space, conveniently carries out color identification.
(2) adopt LED color combination to represent the state of robot, on each face, LED color combination has 3
3=27 kinds, can provide abundant information for robot navigation.
(3) 3 LED on each interface have adopted a kind of special arrangement, robot does not need unnecessary movement repeatedly, by once observing the image space relation of LED in camera, can determine relative pose between Liang Ge robot and the relative orientation at target interface place.
(4) Strategy Design of the present invention is simple, and special arrangement and color combination by camera and LED can realize relevant location and navigation, has effectively improved the efficiency of robot docking assembling.
Accompanying drawing explanation
Fig. 1 the present invention is based on the robot docking location of monocular cam and LED and robot architecture's schematic diagram of navigation strategy;
Fig. 2 is that on active mating face, camera is arranged schematic diagram;
The location geometric relationship principle analysis figure of Tu3Shi robot;
Fig. 4 is that the robot based on monocular cam and LED docks the process flow diagram of location and navigation strategy method;
In figure:
1. active mating face; 2. passive interface; 3. camera; 4. top LED; 5. bottom LED; 6. simulate infrared receiving/transmission sensor; 7. dock draw-in groove; 8. dock buckle; 9.CMOS imaging sensor; 10. cam lens.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Refer to shown in Fig. 1～2, the location in the present invention and navigation strategy are observed LED by CMOS monocular cam and are realized location and the navigation between robot.Fig. 1 shows an elementary tactics of locating and navigating between Liao Liangge robot, described robot comprises at least two sides, one of them is active mating face 1, all the other are passive interface 2, on described active mating face 1 and passive interface 2, be respectively arranged with one group of LED(and comprise two bottoms LED5 and top LED4), two simulation infrared receiving/transmission sensors 6 and a pair of docking draw-in groove 7, on described active mating face 1, be also provided with a pair of docking buckle 8 and CMOS monocular cam 3(and be called for short camera).By the color of the upper LED group of the CMOS monocular cam 3 observer robot B on the active mating face 1 of the A of robot, information in conjunction with two simulation infrared receiving/transmission sensors 6 on the active mating face 1 of the A of robot self, make the rapid navigator fix of the A of robot with active mating face 1, achieve a butt joint with the B of robot, the docking of a plurality of robots forms Group Robots.Active mating face or the passive interface of needs docking are referred to as to target interface, and target interface has the LED composite signal different from all the other active mating faces or passive interface 2.
In the present invention, the docking of robot is to find target interface by the active mating face 1 of each robot, and active mating face 1 is connected with target interface, realize between Liang Ge robot and connecting, wherein LED color and image space information on the 3 object observing interfaces of the camera on active mating face 1, take location and navigation decision-making.The process that realizes location and navigation to hardware require fairly simple, relevant equipment in each robot mainly comprises a camera 3, two simulation infrared receiving/transmission sensors 6, top LED4 and two bottom LED5, and described LED is RGB three-color LED.By above basic hardware configuration, in conjunction with policing algorithm of the present invention, can think that robot self assembling process provides effective docking location and navigation feature.
Refer to shown in Fig. 2～3, the camera 3 that location of the present invention and navigation strategy are used and the installation of LED and position relationship have all carried out special design, described camera 3 positions as shown in Figure 2, from the dead ahead of active mating face 1, observe, camera 3 is positioned at the leg-of-mutton geometric center position of top LED4 and bottom LED5 composition just; The position of described LED is as shown in Fig. 1～2, two bottom LED5 with certain pitch arrangement on the active mating face 1 and passive interface 2 of robot, top LED4 is arranged in the position near body inner side, two bottom LED5 are high for aspect ratio, and not coplanar with active mating face 1 or passive interface 2; More than arrange and can guarantee the LED imaging relations difference that camera 3 is observed on different relative poses and have clear and definite function corresponding relation.
Refer to shown in Fig. 3, for positioning principle figure of the present invention, the structural parameters of described clear and definite function corresponding relation Shi You robot itself and relevant geometric optical theory are determined, angle [alpha] in figure, L and f are installation and the structural parameters of robot itself, wherein, angle α is half of drift angle of the isosceles triangle that forms of the vertical view projection of bottom LED and the vertical view projection of top LED, L is the distance between the vertical view projection of top LED and the vertical view projection of bottom LED, two bottom LED equate with the distance between the LED of top, three LED form isosceles triangle, f is the vertical range of camera lens 10 on the cmos imaging sensor 9 place planes of camera 3 and camera 3, angle beta and apart from d for needing the relative pose parameter of the Liang Ge robot (the Zhong Wei A of robot of the present invention and the B of robot) of docking, wherein, β is the drift angle (active mating face and target interface should be 0 degree to this angle under positive status) between the Liang Ge robot that needs to dock, d is the distance between active mating face and target interface, and what in the present invention, choose is the distance between active mating face and target interface upper top LED, L1 and L2 be respectively two bottom LED5 at camera imaging in-plane the real standard spacing to top LED4, L1' and L2' are respectively the imaging point of two bottom LED5 in camera imaging plane to the level interval of the imaging point of top LED4, utilize camera image, by measuring L1' and L2' and obtaining L1' and the ratio r atio of L2', just can calculate the relative pose Relation Parameters between Liang Ge robot---angle beta and apart from d.Geometric relationship according in Fig. 3, has:
L1＝L·sin(α-β) (1)
L2＝L·sin(α+β) (2)
As shown in Figure 4, robot docking location and navigation strategy based on monocular cam and LED of the present invention, the searching of realize target interface and navigation procedure as follows, the location navigation between the Zhong Yi A of robot of the present invention and the B of robot is that example illustrates, is specially:
Step 1: the rotation of the A of robot original place is adjusted, and moves at random, until find red top LED4;
Step 2: the red top LED4 image space that the A of robot arrives is according to the observation adjusted self attitude, makes the imaging of red top LED4 in camera 3 be positioned at the central authorities of image level direction; Described camera 3 is the cameras that are positioned on the active mating face of the A of robot.
Step 3: calculate the horizontal range that two of left and right bottom LED is imaged onto top LED imaging;
Step 4: according to the observation to LED image-forming range relation (being the horizontal range relation in step 3), the A of robot adjusts the pose of self;
Described LED image-forming range relation refers on the imaging plane of camera 3, and the imaging point of bottom LED5 is to the ratio r atio of the level interval of the imaging point of top LED4, and the value of concrete pose adjustment strategy based on ratio determined:
If ratio>1, the A of robot clockwise rotates an angle, then to left, until the imaging of red top LED4 is positioned at image level direction middle position again, returns to step 3.
If ratio<1, the A of robot rotates counterclockwise an angle, then to right translation, until the imaging of red top LED4 is positioned at image level direction middle position again, returns to step 3.
If ratio=1, the A of robot with ought the realizing and aligning above of the B of robot, the A of robot can take next step action by observing the color combination state that ought go up three LED above, navigation or docking, execution step 5.
Wherein, the A of robot clockwise or the size of the angle rotating counterclockwise and ratio relevant, robot decides the size of vernier angle according to current attitude misalignment degree, it is 1 larger that ratio departs from, corresponding corner also will be larger.Step 5: observation ought be gone up the color combination state of three LED above, the LED color assembled state arriving according to the observation, obtains navigation information; If obtaining to be target interface above, perform step 7, otherwise execution step 6;
Three described LED color assembled state, corresponding complete state space has 3
3=27 array modes, the mode that we select in the present embodiment has following several:
Three equal shiny reds of LED: the B of this robot, for docking robot, is target interface when above, the A of robot should dock with this target interface.
Top LED is red, and bottom LED is green: the B of this robot, for docking robot, is not target interface when above, and target interface is on right side (left side is the relative A of robot visual angle with right side) that ought be above, the A of the robot movement of should navigating to the right.
Top LED is red, bottom LED is blueness: the B of this robot is for docking robot, when above, be not target interface, target interface is in left side (left side and right side are with respect to the A of robot visual angle) that ought be above, the A of the robot movement of should navigating to the left.
Three equal sapphirines of LED: the B of this robot is for not docking robot, and in roaming state, also do not find one and docked robot.
Three equal bright greens of LED: the B of this robot is for not docking robot, and in navigational state, found and docked robot, but target interface also do not found.
Step 6: according to the navigation information in step 5, the next interface that arrives that the A of robot navigates and moves, then performs step 1;
Step 7: carry out docking operation.
Described docking operation starts from after the A of robot and target interface align, the A of robot moves on and constantly adjusts and keep positive status, when the target interface of the A of the robot active mating Mian He B of robot extremely approaches, LED can shift out the visual angle of camera 3, now the A of robot utilize self simulation infrared receiving/transmission sensor 6 range finding guarantee final stage distance to positive status, until the contact-making switch on active mating face is encountered target interface, trigger docking snap action, by docking draw-in groove clamping target interface, achieve a butt joint.
In the above embodiments, the A of robot of take finds and to have docked the B of robot and be illustrated as example, in real process, can be according to the assembled state of LED in 27, signalization combines navigator fix arbitrarily, the navigation of the A of robot and the B of robot moves through the automatic drive self arranging and realizes, and described automatic drive can be any implementation of the prior art, only needs robot to realize according to signal instruction mobile in the present invention.
Docking of the present invention location and navigation strategy, mainly based on camera and LED, wherein especially designed the special location arrangements relation of a kind of camera and LED, realized the quick and precisely localization method design of monocular cam, for Group Robots self assembly provides a kind of location and navigation strategy fast and effectively, docking and packaging efficiency have been improved on this basis.The present invention is applicable to location and the navigation of the docking of ground One-male unit robot and assembling process.
The above; it is only preferably one of embodiment of strategy of the present invention; such as the variation in the number at LED and arrangement parameter and corresponding non-principle all still can guarantee the realization of relevant design object; but protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or alternative, within all should being encompassed in protection scope of the present invention.
Claims (5)
1. the docking of the robot based on monocular cam and LED location and air navigation aid, is characterized in that, specifically comprises the steps:
Step 1: the rotation of the A of robot original place is adjusted, moves at random, until find the red top LED of the B of robot;
Step 2: the A of robot arrives according to the observation, and red top LED image space is adjusted self attitude, makes imaging in the camera of the red top A of LED robot be positioned at the central authorities of image level direction;
Step 3: two of the left and right bottom LED of calculating robot B is imaged onto the horizontal range of top LED imaging;
Step 4: according to the observation to step 3 in the LED image-forming range relation of the B of robot, the A of robot adjusts the pose of self;
The LED image-forming range relation of the described B of robot refers on the imaging plane of camera, and the imaging point of bottom LED is to the ratio r atio of the level interval of the imaging point of top LED, and the value of concrete pose adjustment based on ratio determined:
If ratio>1, the A of robot clockwise rotates an angle, then to left, until the imaging of red top LED is positioned at image level direction middle position again, returns to step 3;
If ratio<1, the A of robot rotates counterclockwise an angle, then to right translation, until the imaging of red top LED is positioned at image level direction middle position again, returns to step 3;
If ratio=1, the A of robot with ought the realizing and aligning above of the B of robot, the A of robot, by the color combination state that ought go up three LED above of observer robot B, takes next step action, navigation or docking, execution step 5;
Step 5: the color combination state that ought go up three LED above of observer robot B, the LED color assembled state of the B of robot arriving according to the observation, obtains navigation information; If obtaining to be target interface above, perform step 7, otherwise execution step 6;
Step 6: according to the navigation information in step 5, the A of robot navigation moves to next interface, then performs step 1;
Step 7: carry out docking operation;
The described A of robot and the B of robot include at least two sides, one of them is active mating face, all the other are passive interface, on described active mating face and passive interface, be respectively arranged with one group of LED, two simulation infrared receiving/transmission sensors and a pair of docking draw-in groove, on described active mating face, be also provided with a pair of docking buckle and camera; One group of described LED comprises two bottom LED and a top LED, and described camera position is observed from the dead ahead of active mating face, and camera is positioned at the leg-of-mutton geometric center position of top LED and bottom LED composition just; The position of LED, two bottom LED are arranged on the active mating face and passive interface of robot, and top LED is arranged in the position near body inner side, and two bottom LED are high for aspect ratio, and not coplanar with active mating face or passive interface.
2. robot docking location and the air navigation aid based on monocular cam and LED according to claim 1, is characterized in that: the color combination state of three LED described in step 5, corresponding complete state space has 3
3=27 array modes.
3. the robot docking based on monocular cam and LED according to claim 1 is located and air navigation aid, it is characterized in that: the color combination state of three LED described in step 5, specifically refers to several as follows:
Three equal shiny reds of LED: the B of this robot, for docking robot, is target interface when above, the A of robot should dock with this target interface;
Top LED is red, and bottom LED is green: the B of this robot, for docking robot, is not target interface when above, and target interface is on right side that ought be above, the A of the robot movement of should navigating to the right;
Top LED is red, and bottom LED is blueness: the B of this robot, for docking robot, is not target interface when above, and target interface is in left side that ought be above, the A of the robot movement of should navigating to the left;
Three equal sapphirines of LED: the B of this robot is for not docking robot, and in roaming state, also do not find one and docked robot;
Three equal bright greens of LED: the B of this robot is for not docking robot, and in navigational state, found and docked robot, but target interface also do not found.
4. the robot docking based on monocular cam and LED according to claim 1 is located and air navigation aid, it is characterized in that: after the target interface that the docking operation described in step 7 starts from the A of robot and the B of robot aligns, the A of robot moves on and constantly adjusts and keep positive status, when the target interface of the A of the robot active mating Mian He B of robot approaches, the LED of the B of robot can shift out the visual angle of camera, now the A of robot utilize self simulation infrared receiving/transmission sensor instrument distance guarantee final stage distance to positive status, until the contact-making switch on active mating face is encountered target interface, achieve a butt joint.
5. robot docking location and the air navigation aid based on monocular cam and LED according to claim 1, is characterized in that: described LED is RGB three-color LED.
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