CN105300375A - Robot indoor positioning and navigation method based on single vision - Google Patents
Robot indoor positioning and navigation method based on single vision Download PDFInfo
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- CN105300375A CN105300375A CN201510629975.5A CN201510629975A CN105300375A CN 105300375 A CN105300375 A CN 105300375A CN 201510629975 A CN201510629975 A CN 201510629975A CN 105300375 A CN105300375 A CN 105300375A
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Classifications
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- General Physics & Mathematics (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a robot indoor positioning and navigation method based on single vision. The robot indoor positioning and navigation method specifically comprises the following steps of S1, for first-time use, creating an indoor map of a room by the following specific steps of (A), setting three identifiable marking points at the indoor roof, enabling a robot to use an indoor charging point as an original point to create an indoor coordinate system, calibrating the information of coordinates and directions of the three marking points, and calibrating the direction of an electronic compass; (B) establishing a right-angle coordinate system of a camera; (C) controlling the robot to move in the room, detecting the edge of the room via a sonar sensor, and generating the indoor map of the room; S2: for indoor positioning, when the robot is set at any point of the room, enabling a single-eye camera to measure the three marking points, and combining with the right-angle coordinate system of the camera and the indoor coordinate system to calculate the data of positions and directions of the robot; for autonomous navigation: setting a target point of the robot as M2, and enabling the robot to perform the autonomous navigation via the indoor positioning and target point positioning.
Description
Technical field
The present invention relates to a kind of robot chamber inner position based on single vision and air navigation aid.
Background technology
Robot localization, navigation and path planning function are extremely important robot field, current most of airmanship all will be undertaken by the utility appliance of specialty, it is expensive that these equipment have, what have is very high to environmental requirement, something which increases the threshold in this field, the cost of robot is remained high, and reduces the adaptability of environment.
Summary of the invention
For the problems referred to above, the invention provides a kind of robot chamber inner position based on single vision and air navigation aid, robot can complete the function such as path planning, location navigation in indoor, and cost is low, and convenient control, to the better adaptability of environment.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions:
Based on robot chamber inner position and the air navigation aid of single vision, it is characterized in that, specifically comprise the steps:
Step S1: when using for the first time, need the indoor map creating room, concrete steps are as follows:
A): robot is provided with monocular cam, electronic compass and sonar sensor, and indoor roof is provided with three discernible gauge points, robot with the charge point of indoor for initial point creates indoor coordinate system, demarcate the coordinate of three gauge points, record three gauge point directional informations, and demarcate electronic compass direction;
B): in robot monocular cam, with camera center for initial point, set up camera rectangular coordinate system, wherein, in the camera rectangular coordinate system that initialization generates, the y-axis of camera rectangular coordinate system is identical with the Y-axis of indoor coordinate system and robot positive dirction F;
C): control, at indoor moving, detects edge, room by sonar sensor, generates the indoor map in room;
Step S2:
For indoor positioning: when any point of robot in room, measure three gauge points by monocular cam and in conjunction with camera rectangular coordinate system and indoor coordinate system, calculate position and the directional data at robot place;
For independent navigation: set robot target point as M2, robot carries out independent navigation by indoor positioning and object location.
Preferably, in independent navigation step, if robot is at M1 point, first coordinate and the orientation angle of M1 point robot is calculated, calculate the line of M1 to M2 again, can draw rotation direction angle and the displacement of robot, robot moves preset distance to impact point after turning to target direction, rotate according to the target direction of target location after arriving impact point, complete navigation.
Preferably, in independent navigation process, robot is by calculating the stroke route of code-disc and electronic compass data calibration oneself.
The invention has the beneficial effects as follows: robot is by monocular cam vision, utilize the positional information of indoor roof three gauge points, the coordinate of calculating robot and direction, guaranteed the accuracy of location navigation by distance calibration and direction calibration measure simultaneously, achieve the map building in robot chamber, path planning, location navigation, the functions such as recharging.
Accompanying drawing explanation
With the locus schematic diagram of indoor roof three gauge points in Tu1Shi robot of the present invention moving process;
Fig. 2 is the process flow diagram that indoor map of the present invention creates;
The position of Tu3Shi robot of the present invention and the vertical view of three gauge points;
Fig. 4 is the schematic diagram of camera rectangular coordinate system of the present invention;
Fig. 5 is the relation schematic diagram of chamber height h of the present invention and camera focal distance f;
Fig. 6 is that the present invention detects the schematic diagram at edge, room by sonar sensor;
Fig. 7 is the schematic diagram that the present invention works as camera rectangular coordinate system when robot moves to certain position;
Fig. 8 is the present invention by the schematic diagram of the coordinate of A, B and the coordinate of distance calculation device people;
Fig. 9 is the schematic diagram of independent navigation of the present invention;
Figure 10 is the parameter schematic diagram of robot diameter of tyres l of the present invention, diameter of axle L and anglec of rotation q.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, technical solution of the present invention is described in further detail, can better understand the present invention to make those skilled in the art and can be implemented, but illustrated embodiment is not as a limitation of the invention.
A kind of robot chamber inner position based on single vision and air navigation aid, wherein, robot is provided with monocular cam, electronic compass and sonar sensor, indoor roof is provided with three discernible gauge points, as shown in Figure 1, in order to make robot localization, navigation and the more convenient realization of path planning function and installation, realized the functions such as the location of robot, navigation and path planning by monocular cam and three, roof discernible gauge point (or label).
Wherein, when using for the first time, need the indoor map creating room, as shown in Figure 2, concrete steps are as follows:
A): robot with the charge point of indoor for initial point creates indoor coordinate system, demarcate the coordinate of three gauge points, record three gauge point directional informations, and demarcate electronic compass direction; As shown in Figure 3, the position of robot M and three gauge points A, B, C, robot positive dirction is F, and the fixed setting of robot electronic compass is N, and measuring chamber inner height is h, and camera focal length is f.
B): in robot monocular cam, with camera center for initial point, set up camera rectangular coordinate system, wherein, in the camera rectangular coordinate system that initialization generates, the y-axis of camera rectangular coordinate system is identical with the Y-axis of indoor coordinate system and robot positive dirction F; As shown in Figure 4, it is as the frame of reference of indoor map for the coordinate system that initialization generates, and the position of robot is different, also different from the distance of three gauge points A, B, C, therefore can come the position of positioning robot according to three gauge points A, B, C.
Can be calculated the distance of three gauge points apart from camera center by the rectangular coordinate system in camera, such as, C point is d apart from the distance of coordinate origin
c, the angle of C point and initial point line and x-axis is θ
c.As shown in Figure 5, chamber height is h, and camera focal length is f, then have D
c/ d
c=h/f, can calculate the distance D of gauge point C apart from coordinate origin
c, pass through θ
cthe coordinate calculating C point is (X
c, Y
c), wherein X
c=D
c× cos θ
c, Y
c=D
c× sin θ
c.In like manner can calculate A point coordinate is (X
a, X
b), the coordinate of B point is (X
b, Y
b).
Calculate A point, the angle-data of B point line in indoor coordinate system, the line of A point and B point take A as positive dirction, can calculate the azimuth θ of line BA
ab, the slope angle of line BA is K
ab, can θ be calculated
ab=y
b> y
a(π+K
ab): K
ab(namely work as y
b> y
atime, θ
ab=π+K
ab, work as y
b <y
atime, θ
ab=K
ab); If y
b=y
atime, then θ
ab=x
b> x
a0: π.Wherein, y
b, y
aand x
b, x
arepresent y-axis in indoor coordinate system of B point and A point and x-axis coordinate respectively.
Azimuth θ in line BA and room internal coordinate system
abremain unchanged, after can be used for the calculating in position time device people direction.Electronic compass inceptive direction is N, and the azimuth of demarcating electronic compass direction is α, has W
n=α and remaining unchanged in room coordinates system, direction calibration when can be used for location, W
nrepresent electronic compass azimuth in a coordinate system, the angle namely between the line of this strip direction of N and X-axis.
C): control, at indoor moving, detects edge, room by sonar sensor, generates the indoor map in room; As shown in Figure 6, first robot calculates oneself position and directional data, the marginal information that sonar sensor detects is plotted in the indoor map in room afterwards.
As shown in Figure 7, when robot moves to certain position, the distance D of current robot and C point can be calculated
c'=h/f × d
c', d
c' be the distance of C point apart from current camera rectangular coordinate system initial point, the distance in like manner calculating A point is D
a', the distance of B point is D
b'.
Coordinate by the A demarcated during initialization, B two points: A (X
a, X
b), B (X
b, Y
b) and current A point, B point is to the range coordinate D of robot
a' and D
b', by the range formula of point-to-point transmission, the coordinate of calculating robot.As shown in Figure 8, range formula arranged side by side (2.1) and (2.2):
D
a'
2＝(X
p1-X
a)
2-(Y
p2-Y
a)
2(2.1)
D
b'
2＝(X
p1-X
b)
2-(Y
p2-Y
b)
2(2.2)
The coordinate calculating robot has two solutions, is respectively (X
p1, Y
p1), (X
p2, Y
p2).
Calculate two respectively afterwards and separate (X
p1, Y
p1) and (X
p2, Y
p2) to the distance D of C point
c1' and D
c2', known C point is D to the distance of robot again
c', thus can the solution of debug, the solution of mistake that what distance error was large be.If the current coordinate of robot is (X', Y'), then can calculate the current coordinate of robot by formula (2.3).
(X',Y')＝|D
c'-D
c1'|＜|D
c'-D
c2'|？(X
p1,Y
p1):(X
p2,Y
p2)(2.3)
The direction of calculating robot is below θ by the azimuth of line BA in camera coordinate system of A, B 2
ab', be θ in the azimuth of room map reference
ab, both compare can calculate the azimuth W of camera coordinate system X-axis in room map
x, with BA line for reference line, have W
x+ θ
ab'=W
x+ θ
ab, wherein, W
x=0, obtain W
x=θ
ab-θ
ab'.And the direction of robot is the Y-axis of camera coordinate system, direction
Behind the position determining robot and direction, draw out the close call in inner machine people front, room by sonar sensor, and then generate map in room.
Step S2:
For indoor positioning: when any point of robot in room, measure three gauge points by monocular cam and in conjunction with camera rectangular coordinate system and indoor coordinate system, calculate position and the directional data at robot place;
For independent navigation: set robot target point as M2, robot carries out independent navigation by indoor positioning and object location.
Preferably, in independent navigation step, robot can navigate to specified coordinate point and prescribed direction in room, as shown in Figure 9, if robot is at M1 point, impact point is M2, first calculates coordinate and the orientation angle of M1 point robot, calculate the line of M1 to M2 again, can draw rotation direction angle and the displacement of robot, robot moves preset distance to impact point after turning to target direction, rotates after arriving impact point according to the target direction of target location, complete navigation, complete navigation.
In independent navigation process, robot is by calculating the stroke route of code-disc and electronic compass data calibration oneself, and assist vision location, as shown in Figure 10, robot diameter of tyres is l, diameter of axle L, and the code-disc number of degrees are n, and reduction gear ratio is m.The anglec of rotation and the travel distance of robot can be calculated in movement.Row closely
the anglec of rotation
result of calculation and vision locator data are compared, removes noise.
By electronic compass calculated direction, the azimuth of electronic compass fixed setting N in room internal coordinate system is α, and the azimuth in camera coordinate system is α ', calculates robot positive dirction
result of calculation and vision locator data are compared, removes noise.
Calibrated by vision data when abnormal (such as tyre slip) phenomenon appears in robot tire, such as when robot tyre slip, the data that code-disc calculates are inaccurate, when finding that code-disc calculates the larger anomalous differences of appearance, be as the criterion in (coordinate and direction) with the data that camera calculates, reset and correct code-disc data.
In addition, when robot electric quantity is lower than the value set, with the initial point of indoor coordinate system (0,0) for impact point, robot navigation, to charge point, realizes recharging.
Robot is by monocular cam vision, utilize the positional information of indoor roof three gauge points, the coordinate of calculating robot and direction, guaranteed the accuracy of location navigation by distance calibration and direction calibration measure simultaneously, achieve the map building in robot chamber, path planning, location navigation, the functions such as recharging.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in the technical field that other are relevant, be all in like manner included in scope of patent protection of the present invention.
Claims (6)
1., based on robot chamber inner position and the air navigation aid of single vision, it is characterized in that, specifically comprise the steps:
Step S1: when using for the first time, need the indoor map creating room, concrete steps are as follows:
A): robot is provided with monocular cam, electronic compass and sonar sensor, and indoor roof is provided with three discernible gauge points, robot with the charge point of indoor for initial point creates indoor coordinate system, demarcate the coordinate of three gauge points, record three gauge point directional informations, and demarcate electronic compass direction;
B): in robot monocular cam, with camera center for initial point, set up camera rectangular coordinate system, wherein, in the camera rectangular coordinate system that initialization generates, the y-axis of camera rectangular coordinate system is identical with the Y-axis of indoor coordinate system and robot positive dirction F;
C): control, at indoor moving, detects edge, room by sonar sensor, generates the indoor map in room;
Step S2:
For indoor positioning: when any point of robot in room, measure three gauge points by monocular cam and in conjunction with camera rectangular coordinate system and indoor coordinate system, calculate position and the directional data at robot place;
For independent navigation: set robot target point as M2, robot carries out independent navigation by indoor positioning and object location.
2. a kind of robot chamber inner position based on single vision according to claim 1 and air navigation aid, it is characterized in that, in independent navigation step, if robot is at M1 point, first calculates coordinate and the orientation angle of M1 point robot, then calculate the line of M1 to M2, rotation direction angle and the displacement of robot can be drawn, robot moves preset distance to impact point after turning to target direction, rotates, complete navigation after arriving impact point according to the target direction of target location.
3. a kind of robot chamber inner position based on single vision according to claim 2 and air navigation aid, is characterized in that, in independent navigation process, robot is by calculating the stroke route of code-disc and electronic compass data calibration oneself.
4. a kind of robot chamber inner position based on single vision according to claim 1 and air navigation aid, is characterized in that, in independent navigation process, calibrated by code-disc and electronic compass when monocular cam detects and occurs noise.
5. a kind of robot chamber inner position based on single vision according to claim 1 and air navigation aid, be is characterized in that, calibrated when noise appears in robot code-disc by vision data.
6. a kind of robot chamber inner position based on single vision according to claim 1-5 any one and air navigation aid, it is characterized in that, when robot electric quantity is lower than the value set, with the initial point (0 of indoor coordinate system, 0) be impact point, robot navigation, to charge point, realizes recharging.
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