CN102798391B - 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, reliability is high, strong adaptability, home services, hospital patrol and amusement aspect application extremely extensive.But location and navigation technology is vital for mobile robot, 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 and the location navigation based on mark etc. for the location and navigation technology of wheeled robot.Wherein, vision guided navigation is very poor to the antijamming capability of environmental change, and positioning precision is very low, so seldom use vision location navigation; Odometer is technology conventional in wheeled robot location navigation, it is that code-disc to being fixed on wheel carries out step-by-step counting, because tire pressure, the ground factor such as skid can cause odometer to have serious accumulated error, need other sensor technologies to revise it, positioning precision is not very desirable; Location technology based on mark is to stick artificial target's thing in known fixed location, by respective sensor, mark is identified to indirect acquisition positional information, as the patent No. Chinese patent that is 201110260388.5, use infrared-emitting diode to make dot matrix road sign, and be attached in indoor ceiling, wide-angle thermal camera is fixed on it mobile robot, to the infrared road sign of photographs, is carried out graphical analysis, is calculated in real time the pose of robot by robot computing machine with it.This method has certain limitation, its dot matrix road sign belongs to active label, each label is a circuit board, and needs Power supply, and cost is high, install, use inconvenient, secondly, its image is processed and is used airborne industrial computer, and volume is larger, cost is higher, cannot use the middle-size and small-size robot that does not configure industrial computer at all.

Summary of the invention

Object of the present 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 advantages of the precision, stability and the universality that improve location, and this device to implementation environment without particular/special requirement.

To achieve these goals, the technical solution used in the present invention is:

A kind of laser image positioning navigation device, it comprises control panel, on control panel, be provided with DSP image processor, DSP image processor is connected with CCD sensor devices and master controller respectively, master controller is connected with serial ports lead-out terminal, and the position of resolving and course information are exported by serial ports lead-out terminal; CCD sensor devices be circumferentially evenly distributed with multiple 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 same axis and ensure that CCD sensor devices photosensitive effect is best, DSP image processor contrasts every frame light spot image analysis, calculate respectively the pixel-shift amount in X and Y-direction between frame and frame, calculate the actual displacement deviator of locating device according to the resolution of CCD sensor devices.

Described laser module is laser tube, and laser tube focal length is adjustable.

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

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

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

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

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

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

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

Wherein, θ is 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:

The resolution of imaging fast and height makes the precision of this locating device very high, by wheeled robot is tested, sensitivity is at grade, positioning error is in 1%, meet the requirement of robot location technology completely, solid foundation has been established in this navigation for the accurate intelligence of robot.

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

Brief description of the drawings

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

Fig. 2 is laser image schematic diagram;

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

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

Embodiment

Below in conjunction with accompanying drawing and embodiment, the invention will be further described.

As Fig. 1, 2, a kind of laser image positioning navigation device, comprise laser tube 4, CCD sensor devices 3, DSP image processor 1 and master controller 2, described laser tube 4 be evenly distributed on CCD photographic hole donut on, in use regulate the angle of inclination of laser tube 4 apart from the true altitude on ground according to this device, to guarantee that several laser beam pool a hot spot 7 on ground, like this, hot spot 7 will be on same axis with CCD photographic hole, make CCD sensor devices 3 reach best photosensitive effect, CCD sensor devices 3 is connected with DSP image processor 1, DSP image processor 1 is connected with master controller 2, master controller 2 is exported the position of resolving and course information by serial ports lead-out terminal 5, pilot hole 6 plays fixation in the time that positioning navigation device is arranged on 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 mobile process, 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 completely, the differential analysis contrast of DSP image processor 1 to every two field picture, can calculate respectively the pixel-shift amount VPi in X and Y-direction between frame and frame _xand VPi _y, can calculate actual displacement deviator Vx and the Vy of locating device according to the resolution F=800CPI of CCD sensor devices 3:

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

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

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

Wherein, θ is robot course heading, and x and y are respectively horizontal stroke, the ordinate of robot in plane coordinate system.The resolution of imaging fast and height makes the precision of this locating device very high, and by wheeled robot is tested, sensitivity is at grade, and positioning error, in 1%, meets the requirement of robot location technology completely.

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

By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the 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 do not need to pay various amendments that creative work can make or distortion still in protection scope of the present invention.

Claims (5)

1. a laser image positioning navigation device, it is characterized in that, it comprises control panel, on control panel, be provided with DSP image processor, DSP image processor is connected with CCD sensor devices and master controller respectively, master controller is connected with serial ports lead-out terminal, and the position of resolving and course information are exported by serial ports lead-out terminal; CCD sensor devices be circumferentially evenly distributed with multiple 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 same axis and ensure that CCD sensor devices photosensitive effect is best, DSP image processor contrasts every frame light spot image analysis, calculate respectively the pixel-shift amount in X and Y-direction between frame and frame, calculate the actual displacement deviator of locating device according to the resolution of CCD sensor devices;

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

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

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

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

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

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

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