CN103528583A - Embedded robot locating device - Google Patents

Embedded robot locating device Download PDF

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Publication number
CN103528583A
CN103528583A CN201310507615.9A CN201310507615A CN103528583A CN 103528583 A CN103528583 A CN 103528583A CN 201310507615 A CN201310507615 A CN 201310507615A CN 103528583 A CN103528583 A CN 103528583A
Authority
CN
China
Prior art keywords
robot
image
dsp
locating device
embedded
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201310507615.9A
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Chinese (zh)
Inventor
胡长华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Technology BIT
Original Assignee
Beijing Institute of Technology BIT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Priority to CN201310507615.9A priority Critical patent/CN103528583A/en
Publication of CN103528583A publication Critical patent/CN103528583A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an embedded robot locating device. An infrared light-emitting diode (LED) image on a robot is collected by a charge coupled device (CCD) fixed on a ceiling, and transferred to a digital signal processor (DSP) image processor by a wireless image emitter and receiver; the position of the robot is calculated by using a DSP image processing algorithm. The device is strong in instantaneity, simple and convenient to operate, and applicable to locating requirements of the robot.

Description

A kind of embedded robot locating device
Technical field:
The present invention relates to a kind of robot locating device, specifically a kind of embedded robot locating device.
Background technology:
In robot application industry, about the positional information problem of robot, be related to the precondition that it plays a role.In prior art, patent 201010611473.7 discloses a kind of robot indoor positioning air navigation aid based on vision, the method is arranged on the road sign on ceiling, by the video camera being arranged in robot, taken, carrying out image threshold segmentation, contour curve coupling and the identification of road sign feature obtain the current location of robot, the method complex disposal process.Patent 201120513426.9 discloses a kind of localization for Mobile Robot device, this device utilizes gyroscope angle measurement speed, optical sensing devices is surveyed bottom diagram and is looked like to obtain displacement, the method utilization be ground image positional information, can only calculate distance by adjacent image matrix analysis, calculated amount is larger, is unfavorable for real-time processing.
Summary of the invention:
The object of the invention is to provides a kind of embedded robot locating device for the deficiencies in the prior art.This device adopts CCD and monolithic DSP microprocessor to carry out on-the-spot robot location's measurement, and measuring accuracy is high, real-time, easy and simple to handle.
Technical scheme of the present invention: infrared LED is installed in robot, the wireless image transmitter that is fixed with CCD on ceiling and is attached thereto, the wireless image receiver of robot interior is passed to the image receiving the DSP image processor being attached thereto, DSP image processor calculates the coordinate of infrared LED, and result is by DSP data-interface and other control module communication.
The invention has the beneficial effects as follows: compared with the prior art, the present invention is a kind of embedded robot locating device based on CCD and DSP, adopts common image processing program, and algorithm is simple, real-time, and measuring accuracy is high, easy and simple to handle, easy for installation.
Accompanying drawing explanation:
Fig. 1 is structural representation of the present invention.
Mark in figure: 1 robot, 2 infrared LEDs, 3CCD, 4 wireless image transmitters, 5 wireless image receivers, 6DSP image processor.
Embodiment:
As shown in Figure 1, embedded robot locating device.Comprise 1 robot, 2 infrared LEDs, 3CCD, 4 wireless image transmitters, 5 wireless image receivers, 6DSP image processor.
Described infrared LED 2 is fixed in robot 1, the image that CCD3 gathers infrared LED 2 imports wireless image transmitter 4 into, wireless image receiver 5 receives that image imports DSP image processor 6 into, and DSP image processor 6 adopts common grey scale centre of gravity algorithm to calculate the image coordinate of infrared LED 2.
Described DSP image processor 6 can adopt the DSP embedded based on TMS320DM642 chip, and measurement result can be passed through data-interface and other robot control module's communication of DSP.

Claims (1)

1. an embedded robot locating device, it is characterized in that: infrared LED (2) is installed in robot (1), on ceiling, be fixed with CCD(3) and the wireless image transmitter (4) that is attached thereto, the inner wireless image receiver (5) of robot (1) is passed to the image receiving the DSP image processor (6) being attached thereto, DSP image processor (6) calculates the coordinate of infrared LED (2), and result is by DSP data-interface and other control module communication.
CN201310507615.9A 2013-10-24 2013-10-24 Embedded robot locating device Pending CN103528583A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310507615.9A CN103528583A (en) 2013-10-24 2013-10-24 Embedded robot locating device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310507615.9A CN103528583A (en) 2013-10-24 2013-10-24 Embedded robot locating device

Publications (1)

Publication Number Publication Date
CN103528583A true CN103528583A (en) 2014-01-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310507615.9A Pending CN103528583A (en) 2013-10-24 2013-10-24 Embedded robot locating device

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CN (1) CN103528583A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110335309A (en) * 2019-06-28 2019-10-15 北京云迹科技有限公司 Method and device based on camera positioning robot
WO2022021835A1 (en) * 2020-07-29 2022-02-03 湖南大学 Dynamic rgb led beacon-based multi-robot positioning method and system

Citations (9)

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Publication number Priority date Publication date Assignee Title
JP2001034769A (en) * 1999-07-26 2001-02-09 Pioneer Electronic Corp Device and method for image processing and navigation device
JP2009143288A (en) * 2007-12-12 2009-07-02 Tokai Rika Co Ltd Operator discrimination device
CN101957194A (en) * 2009-07-16 2011-01-26 北京石油化工学院 Rapid visual orientation and remote monitoring system and method based on embedded mobile robot
CN102419178A (en) * 2011-09-05 2012-04-18 中国科学院自动化研究所 Mobile robot positioning system and method based on infrared road sign
CN102436261A (en) * 2011-12-05 2012-05-02 北京航空航天大学 Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED)
CN102735217A (en) * 2012-06-14 2012-10-17 燕山大学 Indoor robot vision autonomous positioning method
CN102773862A (en) * 2012-07-31 2012-11-14 山东大学 Quick and accurate locating system used for indoor mobile robot and working method thereof
CN202702247U (en) * 2012-07-31 2013-01-30 山东大学 Rapid and accurate positioning system used for indoor mobile robot
CN202885828U (en) * 2012-08-20 2013-04-17 山东大学 Laser image positioning and navigation device

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001034769A (en) * 1999-07-26 2001-02-09 Pioneer Electronic Corp Device and method for image processing and navigation device
JP2009143288A (en) * 2007-12-12 2009-07-02 Tokai Rika Co Ltd Operator discrimination device
CN101957194A (en) * 2009-07-16 2011-01-26 北京石油化工学院 Rapid visual orientation and remote monitoring system and method based on embedded mobile robot
CN102419178A (en) * 2011-09-05 2012-04-18 中国科学院自动化研究所 Mobile robot positioning system and method based on infrared road sign
CN102436261A (en) * 2011-12-05 2012-05-02 北京航空航天大学 Butt joint positioning and navigation strategy for robot based on single camera and light-emitting diode (LED)
CN102735217A (en) * 2012-06-14 2012-10-17 燕山大学 Indoor robot vision autonomous positioning method
CN102773862A (en) * 2012-07-31 2012-11-14 山东大学 Quick and accurate locating system used for indoor mobile robot and working method thereof
CN202702247U (en) * 2012-07-31 2013-01-30 山东大学 Rapid and accurate positioning system used for indoor mobile robot
CN202885828U (en) * 2012-08-20 2013-04-17 山东大学 Laser image positioning and navigation device

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
刘晓龙等: "嵌入式移动机器人红外路标定位模块研究", 《计算机工程》, vol. 39, no. 3, 31 March 2013 (2013-03-31) *
孟凯等: "基于主动路标的全方位移动机器人定位***", 《沈阳工业大学学报》, vol. 22, no. 2, 30 April 2000 (2000-04-30) *
方青松等: "基于光斑室内移动机器人的定位导航技术", 《微型机与应用》, vol. 31, no. 24, 31 December 2012 (2012-12-31) *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110335309A (en) * 2019-06-28 2019-10-15 北京云迹科技有限公司 Method and device based on camera positioning robot
WO2022021835A1 (en) * 2020-07-29 2022-02-03 湖南大学 Dynamic rgb led beacon-based multi-robot positioning method and system

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Application publication date: 20140122