CN102798391A - Laser image positioning navigation device - Google Patents

Abstract

The invention discloses a laser image positioning navigation device comprising a plurality of laser tubes, a CCD photosensitive device, a DSP image processor, a main controller, a serial port output terminal, and a positioning hole; the CCD photosensitive device is connected with the DSP image processor; the DSP image processor is connected with the main controller; the main controller outputs a resolved position and course information through the serial port output terminal. A plurality of laser beams generated by the plurality of laser tubes converge into a laser spot on the ground; rapid imaging of the laser spot is performed by the CCD photosensitive device; the DSP image processor analyzes and compares each image frame, and calculates a pixel offset between frames in the X and Y directions; an actual displacement offset of the positioning device is calculated according to the resolution of the CCD photosensitive device; the main controller determines an accurate course and position of a wheel-type robot according to geometrical relationship; rapid imaging and high resolution provide the positioning device with very high precision. The positioning navigation device does not need any artificial marker, can realize accurate positioning for almost all road condition environments, has very strong universality, is relatively simple in the structure of the whole device, and is very high in stability.

Description

A kind of laser image positioning navigation device

Technical field

The present invention relates to a kind of laser image positioning navigation device, relate in particular to a kind of positioning navigation device that is applicable to the accurate location navigation of wheeled robot.

Background technology

In recent years, domestic Robotics has had rapidly development, particularly wheeled robot, and reliability is high, and adaptability is strong, home services, hospital patrol and amusement aspect use extremely extensive.Yet location and navigation technology is vital for the mobile robot, and it has strengthened the independence of robot and intelligent, plays a part indispensable to the development of Robotics.

At present, mainly contain vision guided navigation, odometer location navigation to the location and navigation technology of wheeled robot and based on location navigation of mark etc.Wherein, vision guided navigation is very poor to the antijamming capability of environmental change, and bearing accuracy is very low, so seldom use the vision localization navigation; Odometer is a technology commonly used in the wheeled robot location navigation; It is that the code-disc that is fixed on the wheel is carried out step-by-step counting; Because factors such as tire pressure, ground skid can cause odometer to have serious accumulated error, need other sensor technologies that it is revised, bearing accuracy is not very desirable; Location technology based on mark is to stick artificial target's thing in known fixed location; Through respective sensor mark being discerned indirect acquisition positional information, is 201110260388.5 Chinese patent like the patent No., uses infrared-emitting diode to make the dot matrix road sign; And be attached on the indoor ceiling; The wide-angle thermal camera is fixed on one's body the mobile robot, to the infrared road sign of photographs, carries out graphical analysis, calculates the pose of robot in real time through robot computing machine on one's body.This method has certain limitation, and its dot matrix road sign belongs to active label, and each label all is a circuit board; And needing the power supply power supply, cost is high, installs, uses inconvenient; Secondly, its Flame Image Process is used airborne industrial computer, and volume is bigger; Cost is higher, can't use the middle-size and small-size robot that does not dispose industrial computer at all.

Summary of the invention

The object of the invention is exactly in order to address the above problem; A kind of laser image positioning navigation device is provided; It is applicable to the indoor and outdoor location navigation of wheeled robot, has the advantage that improves locating accuracy, stability and universality, and this device does not have specific (special) requirements to implementing environment.

To achieve these goals, the technical scheme of the present invention's employing is:

A kind of laser image positioning navigation device; It comprises control panel; On control panel, be provided with the DSP image processor; The DSP image processor is connected with master controller with the CCD sensor devices respectively, and master controller is connected with the serial ports lead-out terminal, and position of resolving and course information are exported through the serial ports lead-out terminal; The CCD sensor devices circumferentially be evenly distributed with a plurality of laser modules; The laser beam that each laser module sends pools a hot spot on ground; This hot spot and CCD sensor devices are on the same axis and guarantee that CCD sensor devices photosensitive effect is best; The DSP image processor contrasts every frame light spot image analysis, calculates respectively between frame and the frame in the pixel-shift amount of X and Y direction, calculates the actual displacement deviator of locating device according to the resolution of CCD sensor devices.

Said laser module is a laser tube, the laser tube adjustable focal length.

The shooting speed of said CCD sensor devices was 2000 frame/seconds.

Four jiaos of said control panel are provided with pilot hole.

Being calculated as of the actual displacement deviator of said locating device:

Between light spot image frame and the frame at the pixel-shift amount VPi of X and Y direction _xAnd VPi _y, calculate the actual displacement deviator Vx and the Vy of locating device according to the resolution F of CCD sensor devices:

$\left\{\begin{array}{c}\mathrm{Vx}=2.54\÷F\×\mathrm{VP}{i}_x---\left(\mathrm{cm}\right)\\ \mathrm{Vy}=2.54\÷F\×\mathrm{VP}{i}_y---\left(\mathrm{cm}\right)\end{array}\right..$

Said master controller is determined the accurate course and the position of wheeled robot according to geometric relationship:

$\left\{\begin{array}{c}\mathrm{\&theta;}=\mathrm{\&Sigma;}\arctan \frac{\mathrm{Vy}}{\mathrm{Vx}}\\ x=\mathrm{\&Sigma;}\sqrt{V{x}^2+\mathrm{<figure-callout\; id="2"\; label="V\; y"\; filenames="HDA00002030915100011.png"\; state="\{\{state\}\}">V</figure-callout>}{y}^{}{}^2}\cos (\mathrm{\&theta;}+\arctan \frac{\mathrm{Vy}}{\mathrm{Vx}})\\ y=\mathrm{\&Sigma;}\sqrt{V{x}^2+\mathrm{<figure-callout\; id="2"\; label="V\; y"\; filenames="HDA00002030915100011.png"\; state="\{\{state\}\}">V</figure-callout>}{y}^{}{}^2}\sin (\mathrm{\&theta;}+\arctan \frac{\mathrm{Vy}}{\mathrm{Vx}})\end{array}\right.$

Wherein, θ is the robot course heading, and x and y are respectively horizontal stroke, the ordinate of robot in plane coordinate system.

Beneficial effect of the present invention:

Imaging fast makes that with the resolution of height the precision of this locating device is very high; Through wheeled robot is tested; Sensitivity is in the millimeter level; Positioning error satisfies the requirement of robot location technology fully in 1%, this has established solid foundation for the accurately intelligent navigation of robot.

Adopt the laser image technology to position, precision is higher than the existing robots location technology far away, does not need artificial target's thing, can both realize accurate location to nearly all road conditions environment, and universality is very strong, and whole apparatus structure is simple relatively, and stability is very high.

Description of drawings

Fig. 1 is a hardware block diagram of the present invention;

Fig. 2 is the laser image schematic diagram;

Fig. 3 is a laser image positioning navigation device workflow diagram.

Among the figure, 1, the DSP image processor, 2, master controller, 3, the CCD sensor devices, 4, laser tube, 5, the serial ports lead-out terminal, 6, pilot hole, 7, hot spot.

Embodiment

Below in conjunction with accompanying drawing and embodiment the present invention is described further.

Like Fig. 1,2, a kind of laser image positioning navigation device comprises laser tube 4, CCD sensor devices 3, DSP image processor 1 and master controller 2; Said laser tube 4 be evenly distributed on CCD photographic hole donut on; Install the angle of inclination of in use regulating laser tube 4 according to this, pool a hot spot 7 on ground to guarantee several laser beam, like this apart from the true altitude on ground; Hot spot 7 will be on the same axis with the CCD photographic hole; Make CCD sensor devices 3 reach best photosensitive effect, CCD sensor devices 3 is connected with DSP image processor 1, and DSP image processor 1 is connected with master controller 2; Master controller 2 is exported position of resolving and course information through serial ports lead-out terminal 5, pilot hole 6 plays fixation when being installed in positioning navigation device on the wheeled robot.

CCD sensor devices 3 carries out fast imaging with the speed up to 2000 frame/seconds to hot spot 7; Because this device is in the process that moves; Hot spot 7 has fine distinction through the image of ground return; The CCD sensor devices 3 of high resolving power, fast imaging can capture this difference fully, the contrast of the differential analysis of 1 pair of every two field picture of DSP image processor, the pixel-shift amount VPi that can calculate respectively between frame and the frame in X and Y direction _xAnd VPi _y, can calculate the actual displacement deviator Vx and the Vy of locating device according to the resolution F=800CPI of CCD sensor devices 3:

$\left\{\begin{array}{c}\mathrm{Vx}=2.54\&divide;800\&times;\mathrm{VP}{i}_x---\left(\mathrm{cm}\right)\\ \mathrm{Vy}=2.54\&divide;800\&times;\mathrm{VP}{i}_y---\left(\mathrm{cm}\right)\end{array}\right.$

Master controller can be determined the accurate course and the position of wheeled robot according to geometric relationship:

$\left\{\begin{array}{c}\mathrm{\&theta;}=\mathrm{\&Sigma;}\arctan \frac{\mathrm{Vy}}{\mathrm{Vx}}\\ x=\mathrm{\&Sigma;}\sqrt{V{x}^2+\mathrm{<figure-callout\; id="2"\; label="V\; y"\; filenames="HDA00002030915100011.png"\; state="\{\{state\}\}">V</figure-callout>}{y}^{}{}^2}\cos (\mathrm{\&theta;}+\arctan \frac{\mathrm{Vy}}{\mathrm{Vx}})\\ y=\mathrm{\&Sigma;}\sqrt{V{x}^2+\mathrm{<figure-callout\; id="2"\; label="V\; y"\; filenames="HDA00002030915100011.png"\; state="\{\{state\}\}">V</figure-callout>}{y}^{}{}^2}\sin (\mathrm{\&theta;}+\arctan \frac{\mathrm{Vy}}{\mathrm{Vx}})\end{array}\right.$

Wherein, θ is the robot course heading, and x and y are respectively horizontal stroke, the ordinate of robot in plane coordinate system.Imaging fast makes that with the resolution of height the precision of this locating device is very high, and through wheeled robot is tested, sensitivity is in the millimeter level, and positioning error satisfies the requirement of robot location technology fully in 1%.

Like Fig. 3, in the location navigation process, adopt closed circulation based on the positioning navigation device of laser image technology; The working method of constantly uploading, after device powered on, the sensor in the system, controller carried out initialization respectively; CCD sensor devices 3 at first carries out fast imaging to hot spot 7; Each two field picture delivered to carry out analytical calculation in the DSP image processor 1, obtain the pixel-shift amount of every two field picture, master controller 2 constantly reads offset information according to certain frequency; And calculate the position and the course of wheeled robot according to geometric relationship; Through serial ports lead-out terminal 5 position and course data are uploaded to robot controller then, real time position that calculates robot and course that this positioning navigation device goes round and begins again are for the robot navigation provides the basis.

Though the above-mentioned accompanying drawing specific embodiments of the invention that combines is described; But be not restriction to protection domain of the present invention; One of ordinary skill in the art should be understood that; On the basis of technical scheme of the present invention, those skilled in the art need not pay various modifications that creative work can make or distortion still in protection scope of the present invention.

Claims (6)

1. laser image positioning navigation device; It is characterized in that; It comprises control panel, on control panel, is provided with the DSP image processor, and the DSP image processor is connected with master controller with the CCD sensor devices respectively; Master controller is connected with the serial ports lead-out terminal, and position of resolving and course information are exported through the serial ports lead-out terminal; The CCD sensor devices circumferentially be evenly distributed with a plurality of laser modules; The laser beam that each laser module sends pools a hot spot on ground; This hot spot and CCD sensor devices are on the same axis and guarantee that CCD sensor devices photosensitive effect is best; The DSP image processor contrasts every frame light spot image analysis, calculates respectively between frame and the frame in the pixel-shift amount of X and Y direction, calculates the actual displacement deviator of locating device according to the resolution of CCD sensor devices.

2. a kind of laser image positioning navigation device as claimed in claim 1 is characterized in that said laser module is a laser tube, the laser tube adjustable focal length.

3. a kind of laser image positioning navigation device as claimed in claim 1 is characterized in that, the shooting speed of said CCD sensor devices was 2000 frame/seconds.

4. a kind of laser image positioning navigation device as claimed in claim 1 is characterized in that, four jiaos of said control panel are provided with pilot hole.

5. a kind of laser image positioning navigation device as claimed in claim 1 is characterized in that, being calculated as of the actual displacement deviator of said locating device:

Between light spot image frame and the frame at the pixel-shift amount VPi of X and Y direction _xAnd VPi _y, calculate the actual displacement deviator Vx and the Vy of locating device according to the resolution F of CCD sensor devices:

$\left\{\begin{array}{c}\mathrm{Vx}=2.54\&divide;F\&times;\mathrm{VP}{i}_x---\left(\mathrm{cm}\right)\\ \mathrm{Vy}=2.54\&divide;F\&times;\mathrm{VP}{i}_y---\left(\mathrm{cm}\right)\end{array}\right..$

6. a kind of laser image positioning navigation device as claimed in claim 1 is characterized in that, said master controller is determined the accurate course and the position of wheeled robot according to geometric relationship:

$\left\{\begin{array}{c}\mathrm{\&theta;}=\mathrm{\&Sigma;}\arctan \frac{\mathrm{Vy}}{\mathrm{Vx}}\\ x=\mathrm{\&Sigma;}\sqrt{V{x}^2+V{y}^2}\cos (\mathrm{\&theta;}+\arctan \frac{\mathrm{Vy}}{\mathrm{Vx}})\\ y=\mathrm{\&Sigma;}\sqrt{V{x}^2+V{y}^2}\sin (\mathrm{\&theta;}+\arctan \frac{\mathrm{Vy}}{\mathrm{Vx}})\end{array}\right.$

Wherein, θ is the robot course heading, and x and y are respectively horizontal stroke, the ordinate of robot in plane coordinate system.

Images