CN103528583A - Embedded robot locating device - Google Patents
Embedded robot locating device Download PDFInfo
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- 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
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- robot
- image
- dsp
- locating device
- embedded
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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
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.
Priority Applications (1)
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CN201310507615.9A CN103528583A (en) | 2013-10-24 | 2013-10-24 | Embedded robot locating device |
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CN201310507615.9A CN103528583A (en) | 2013-10-24 | 2013-10-24 | Embedded robot locating device |
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CN103528583A true CN103528583A (en) | 2014-01-22 |
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CN201310507615.9A Pending CN103528583A (en) | 2013-10-24 | 2013-10-24 | Embedded robot locating device |
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Cited By (2)
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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2013
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Non-Patent Citations (3)
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Cited By (2)
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 |