CN108195381A - Indoor robot vision alignment system - Google Patents
Indoor robot vision alignment system Download PDFInfo
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- CN108195381A CN108195381A CN201711437012.0A CN201711437012A CN108195381A CN 108195381 A CN108195381 A CN 108195381A CN 201711437012 A CN201711437012 A CN 201711437012A CN 108195381 A CN108195381 A CN 108195381A
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The present invention relates to robot navigation fields, specifically provide a kind of indoor robot vision alignment system, it is intended to the technical issues of how solution accurately positions Indoor Robot.For this purpose, the indoor robot vision alignment system in the present invention includes Road sign, image acquiring device and server；Road sign includes multiple passive road signs, and passive road sign includes multiple flag bits for being used to set index point；Image acquiring device is used to obtain original image and is transferred to server；Server includes the first judgment module for judging to whether there is in original image passive road sign, ID for obtaining optimal passive road sign is encoded and is judged its second judgment module with the presence or absence of the pixel coordinate for respectively indicating dot center in presetting database and when the optimal passive road sign of acquisition is in horizontality, the robot coordinate acquisition module for the optimal passive road sign acquisition module for obtaining optimal passive road sign and for obtaining coordinate of the robot under world coordinate system.
Description
Technical field
The present invention relates to robot navigation fields, and in particular to a kind of indoor robot vision alignment system.
Background technology
Indoor Robot positioning is to complete the important leverage of the tasks such as navigation, can be tied according to current observation data
The cartographic information of priori is closed, obtains accurate robot posture information.
Currently, Robot visual location can be divided into according to road sign type by natural landmark positioning and artificial landmark is determined
Position.Natural landmark positioning refers to be positioned using feature existing in environment, does not need to be arranged environment, but positions and calculate
Method complexity and poor robustness.Artificial landmark positioning refers to that installing the characteristic indication artificially designed in the environment is positioned, the party
Method calculation amount is small, precision height and strong robustness.
Specifically, artificial landmark mainly includes natural light road sign and infrared road sign.Natural light road sign is sensed in Normal visual
It can work under device, but interior is needed to have substantial light photograph.Infrared road sign includes active IR road sign and passive infrared road sign.It is active
Infrared road sign is to realize rout marking allocation by actively emitting infrared light.Passive infrared road sign is that infrared reflecting is smeared on road sign
Material, and infrared fileter and infrared light supply realization rout marking allocation are combined, it is adapted to the environment of arbitrary illumination.Infrared road sign
Although overcoming the limitation to illumination condition, also there are following defects for infrared road sign：1st, every piece of road of active IR road sign
Mark is required for individually powering, and installs complicated.2nd, when using the localization method based on the vertical relation between index point, if hair
The situation that raw robot rocks or Uneven road is smooth, it will greatly reduce positioning accuracy.3rd, circular index point rearranges
Passive infrared road sign lack to the robustness of noise, for example, when road sign is placed in around fluorescent lamp, may generate similar
The noise region of road sign leads to the situation of misrecognition.4th, in position fixing process, when judging road sign direction according to index point size,
Due to may result in index point adhesion after the swelling of the reflective appearance of index point, so as to influence locating effect.
Invention content
In order to solve the above problem of the prior art, in order to solve how accurately, robustly to Indoor Robot
The technical issues of being positioned, the present invention provides a kind of indoor robot vision alignment systems.
Indoor robot vision alignment system in the present invention includes Road sign, image acquiring device and server；Institute
It states Road sign and includes multiple passive road signs, and the multiple passive road sign is arranged on the predetermined position of pre-set space, wherein,
The passive road sign includes multiple flag bits, and the flag bit is used to set index point；The server judges mould including first
Block, the second judgment module, optimal passive road sign acquisition module and robot coordinate acquisition module；
Described image acquisition device, is configured to obtain the original image of the pre-set space, and by acquired original graph
As being transferred to the server；
First judgment module is configured to judge that the original image that the server receives whether there is passive road
Mark；
The optimal passive road sign acquisition module, is configured to be judged as existing in original image in first judgment module
In the case of passive road sign, the optimal passive road sign in the original image is obtained；
Second judgment module is configured to obtain the optimal passive road acquired in the optimal passive road sign acquisition module
Target ID is encoded, and judges that the ID codings of the optimal passive road sign whether there is in presetting database and described in acquisition
Optimal passive road sign respectively indicates the pixel coordinate of dot center when being in horizontality；The presetting database includes passive road sign
In coordinate and each index point under the alive boundary's coordinate system of each mark dot center of ID codings, passive road sign under horizontality
Coordinate of the heart under the first coordinate system；First coordinate system be the passive road sign under horizontality, to be located at the nothing
The center of the flag bit of source first position of road sign first trip is origin, to be located at the flag bit of passive first position of road sign first trip
Center horizontal direction perpendicular bisector where straight line be X-coordinate axle and to be located at described passive first position of road sign first trip
Flag bit center vertical direction perpendicular bisector where straight line be Y-coordinate axle three-dimensional system of coordinate；
The robot coordinate acquisition module is configured to be judged as in second judgment module ID of optimal passive road sign
Coding be present in preset data in the case of, according to second judgment module obtain optimal passive road sign ID coding and
The optimal passive road sign respectively indicates the pixel coordinate of dot center and the presetting database when being in horizontality, obtains
Coordinate of the robot under the world coordinate system.
Preferably, multiple flag bits are the array of A × A, and multiple flag bit isometric net distributions are formed and compiled
Code block, the flag bit positioned at encoding block center are equipped with index point；Wherein, A is odd number；
The passive road sign further includes rectangular strip；The rectangular strip is arranged side by side with the encoding block, the rectangular strip compared with
On the same line, the encoding block is fixed at the pre- of the rectangular strip for the midpoint of two long opposite sides and the center of the encoding block
If side；
The encoding block is used to determine the ID numbers of the passive road sign；
The rectangular strip is used to determine position of the passive road sign in the original image.
Preferably, first judgment module include contours extract unit, length-width ratio computing unit, position acquisition unit,
Shine judging unit and length-width ratio judging unit；
The contours extract unit is configured to carry out binary conversion treatment to the original image that the server receives, and
Extract the profile of the image after the binary conversion treatment；
The length-width ratio computing unit, is configured to calculate the length-width ratio of the profile of the contours extract unit extraction, and selects
The profile for meeting default first length-width ratio is taken to obtain candidate rectangle profile and choose the profile for meeting default second length-width ratio
Obtain candidate code block profile；
The position acquisition unit is configured to calculate candidate rectangle profile selected by the length-width ratio computing unit
Angle of inclination, and find out under horizontality in two opposite side in the candidate rectangle profile center and candidate rectangle profile
The candidate luminous position of vertical line and acquisition on the perpendicular bisector of the candidate rectangle profile, and it is each described candidate luminous
Position is equal with the distance at the candidate rectangle center, wherein, the distance is equal to rectangular strip in the passive road sign
The distance at center and the center of the encoding block；
Only whether the luminous judging unit be configured to judge candidate luminous position acquired in the position acquisition unit
Have and shine at one；
The length-width ratio judging unit is configured to be judged as in the luminous judging unit feelings of luminous position at only one
Under condition, whether the length-width ratio for judging the profile of the luminous position is 1, if then in the original image there are passive road sign,
If passive road sign is otherwise not present in the original image.
Preferably, the optimal passive road sign acquisition module includes metrics calculation unit and optimal passive Selecting landmarks list
Member；
The metrics calculation unit is configured to be judged as in original image that there are passive road signs in first judgment module
In the case of, the center of the rectangular strip is calculated to the distance at the center of the original image；
The optimal passive Selecting landmarks unit is configured to select in the obtained distance of the metrics calculation unit minimum
Distance, using the passive road sign corresponding to the distance of the minimum as optimal passive road sign.
Preferably, second judgment module includes rotating horizontally unit and ID coding acquiring units；
The horizontal rotation unit is configured to according to method and the second coordinate system shown in following formula, by the optimal passive road
Optimal passive road sign acquired in mark acquisition module rotates clockwise β degree to horizontality：
Wherein, second coordinate system be using the center of the rectangular strip as origin O ', using horizontal direction as X ' reference axis,
And the two-dimensional coordinate system built using vertical direction as Y ' reference axis；The β optimal passive road signs rotate clockwise
Angle；The C is the center of the encoding block of the optimal passive road sign；The α is for endpoint and passes through institute with the origin O '
Ray O ' the C at the center of the encoding block of optimal passive road sign are stated, the angle formed with X ' reference axis positive direction；
The ID encodes acquiring unit, is configured to detect optimal under the horizontality acquired in the horizontal rotation unit
The index point of passive road sign, and obtain the ID codings of the optimal passive road sign and obtain the optimal passive road sign and be in
Respectively indicate the pixel coordinate of dot center during horizontality.
Preferably, the ID codings acquiring unit includes detection sub-unit, and the detection sub-unit is configured to perform following
Operation：
To the optimal passive road sign under the horizontality acquired in the horizontal rotation unit, from the optimal passive road sign
The center of encoding block set out, according to grid spacing in east, south, west and northern four direction search luminous point, and according between default
Away from the southeast, northeast, southwest and northwest four direction search for luminous point；By the pros of the Y-coordinate axle of first coordinate system
To being defined as north；
Whether the length-width ratio of profile is 1 where judging the luminous point, if then corresponding to the luminous point position
Number be denoted as 1, if otherwise by the luminous point position it is corresponding number be denoted as 0；
According to the corresponding number in all luminous point positions, the ID codings of the optimal passive road sign are obtained.
Preferably, the robot coordinate acquisition module includes pixel coordinate acquiring unit, the first coordinate system coordinate obtains
Unit, robot the first coordinate system coordinate acquiring unit and robot world's coordinate system coordinate acquiring unit；
The pixel coordinate acquiring unit is configured to encode the ID at the optimal passive road sign acquired in acquiring unit
Respectively indicate the pixel coordinate rotation β degree counterclockwise of dot center when horizontality, obtain the pixel coordinate of each mark dot center；
The first coordinate system coordinate acquiring unit is configured to obtain according to the presetting database and ID codings single
The ID codings of optimal passive road sign acquired in member, obtain coordinate of the optimal passive road sign under the first coordinate system；
The first coordinate system of robot coordinate acquiring unit, is configured to according to acquired in the pixel coordinate acquiring unit
Each mark dot center pixel coordinate and the first coordinate system coordinate acquiring unit acquired in optimal passive road sign the
Coordinate under one coordinate system obtains coordinate of first coordinate system relative to robot, and become by direction by PnP methods
Change the coordinate for obtaining robot under the first coordinate system；
Robot world's coordinate system coordinate acquiring unit is configured to according to acquired in ID coding acquiring units
The ID of optimal passive road sign is encoded, the robot acquired in robot the first coordinate system coordinate acquiring unit is under the first coordinate system
Coordinate and the presetting database, obtain coordinate of the robot under world coordinate system.
Preferably, the Road sign be configured to according to the length of pre-set space, camera focus, the length of target surface size and
Vertical range of the robot far from ceiling obtains the distance between the quantity of passive road sign and passive road sign, and according to described
The distance between the quantity of passive road sign and passive road sign build Road sign；
The quantity of passive road sign in Road sign is obtained according to following formula the method：
And obtain the distance between passive road sign according to following formula the method：
Wherein, f is camera focus, and WD is the vertical range of the robot and the Road sign, SShFor the target surface
The length of size, WhFor the length of the pre-set space, n is the quantity of passive road sign in the Road sign, and d is described passive
The distance between road sign 11.
Preferably, the optimal passive road sign acquisition module, is configured to be judged as original graph in first judgment module
There is no in the case of passive road sign, obtain the original image of the pre-set space, and acquired original image is passed as in
It is defeated by the server.
Preferably, the robot coordinate acquisition module is configured to be judged as in second judgment module optimal passive
In the case that the ID codings of road sign are not present in presetting database, the original image of the pre-set space is obtained, and will be obtained
The original image taken is transferred to the server.
Compared with the immediate prior art, above-mentioned technical proposal at least has the advantages that：
1. in the indoor robot vision alignment system of the present invention, by designing Road sign, image acquiring device, kimonos
The first judgment module, the second judgment module, optimal passive road sign acquisition module and the robot included in business device and server
Coordinate obtaining module, the passive road sign nearest apart from original image chosen in original image carry out ID codings as optimal landmark
Identification, and the information in the ID of passive road sign codings and preset data is by the conversion between coordinate system, finally
Obtain coordinate of the robot under world coordinate system.Simple, expense is low without individually powering, installing for Road sign in the system
Honest and clean, in addition this system overcomes interference of the ambient enviroment to positioning, and positioning result is accurate, strong robustness.
2. in the indoor robot vision alignment system of the present invention, passive road sign includes rectangular strip and encoding block, rectangular strip
For position of the passive road sign in original image, encoding block is used to determine the ID numbers of passive road sign, by by the ID identified
It numbers and is compared with the ID of the passive road sign numbers stored in preset data, avoid the situation of misrecognition.
3. in the indoor robot vision alignment system of the present invention, the index point of passive road sign is square, when passive road
When having a large amount of noise region around mark, the situation of misrecognition is avoided, enhances robustness of the passive road sign to noise.
Description of the drawings
Fig. 1 is the indoor robot vision alignment system major architectural schematic diagram of the embodiment of the present invention；
Fig. 2 is the structure diagram of the passive road sign in the indoor robot vision alignment system of the embodiment of the present invention；
Fig. 3 is the indoor robot vision alignment system working environment schematic diagram of the embodiment of the present invention；
Fig. 4 is the first coordinate system schematic diagram of the embodiment of the present invention；
Fig. 5 is passive road sign possible four kinds of direction schematic diagrams on the original image of the embodiment of the present invention；
Fig. 6 is the indoor robot vision alignment system main working process schematic diagram of the embodiment of the present invention；
In attached drawing label for：1- Road signs, the passive road signs of 11-, 111- rectangular strips, 112 encoding blocks, 1121 flag bits,
1122- index points, 2- image acquiring devices, 3- servers, the first judgment modules of 31-, the optimal passive road sign acquisition modules of 32-,
The second judgment modules of 33-, 34- robot coordinate acquisition modules, 4- robots.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the technical principle of the present invention, it is not intended that limit the scope of the invention.
Below in conjunction with the accompanying drawings, indoor robot vision alignment system in the embodiment of the present invention is illustrated.
Refering to attached drawing 1, Fig. 1 illustratively shows the main frame of indoor robot vision alignment system of the embodiment of the present invention
Frame.As shown in Figure 1, indoor robot vision alignment system includes in the present embodiment：Road sign 1,2 kimonos of image acquiring device
Business device 3；Road sign 1 includes multiple passive road signs 11, and multiple passive road signs 11 are arranged on the predetermined position of pre-set space,
Wherein, passive road sign 11 includes multiple flag bits 1121, and flag bit 1121 is used to set index point 1122；Server 3 includes the
One judgment module 31, the second judgment module 33, optimal passive road sign acquisition module 32 and robot coordinate acquisition module 34.
Specifically, for indoor robot vision identifying system is made to carry out the positioning of robot 4, first choice will build indoor machine
The working environment of people's visual identifying system, wherein main include structure Road sign 1 and set infrared light around the system
Source.
Road sign 1 includes multiple passive road signs 11 in the present invention.Passive road sign 11 includes rectangular strip 111 and encoding block
112；Rectangular strip 111 is arranged side by side with encoding block 112, and rectangular strip 111 is compared with two midpoints of two long opposite sides and the center of encoding block 112
On the same line, encoding block 112 is fixed at the default side of rectangular strip 111.Refering to attached drawing 2, Fig. 2 is illustratively shown
The structure of passive road sign 11 in the indoor robot vision alignment system of the embodiment of the present invention.With reference to 111 He of rectangular strip in figure 2
The layout of encoding block 112, encoding block 112 can be fixed at the left or right side of rectangular strip 111.Encoding block 112 is for true
The ID numbers of fixed passive road sign 11；Rectangular strip 111 is used to determine position of the passive road sign 11 in original image.Encoding block 112
The flag bit 1121 being distributed by multiple isometric nets is formed, and flag bit 1121 is used to set index point 1122, multiple flag bits
1121 be the array of A × A, and the flag bit 1121 positioned at 112 center of encoding block is centainly equipped with index point 1122, wherein, A is
Odd number and A >=3.Since location algorithm is required at least there are 3 index points 1122, and the mark of the center of encoding block 112
Centainly there is index point 1122 in position 1121, therefore one is sharedKind combination.
A preferred embodiment in the present invention is illustrated referring next to attached drawing.
Refering to attached drawing 2, Fig. 2 illustratively shows the nothing in the indoor robot vision alignment system of the embodiment of the present invention
The structure of source road sign 11.As shown in Fig. 2, encoding block 112 is located at the right side of rectangular strip 111, rectangular strip 111 is away from encoding block 112
Distance of the center for 2 grids, and the matrix that the flag bit 1121 in encoding block 112 is 3 × 3, flag bit 1121 are square,
Index point 1122 is coated with infrared reflecting material.Fig. 2 is only a kind of situation of passive road sign 11, according to 1122 position of index point
Difference represents that the image of passive road sign 11 is different.
In addition, refering to attached drawing 2, encoding block 112 can also be arranged on the left side of rectangular strip 111, the mark in encoding block 112
Matrix, 7 × 7 matrix and 9 × 9 matrix of position 1121 or 5 × 5 etc..The design of specific passive road sign 11 can root
According to needing to be designed, details are not described herein again.
After the design for completing passive road sign 11, it is necessary to be calculated in the working environment according to the working environment of the system
The distance between the quantity of the passive road sign 11 needed and passive road sign 11, so as to build Road sign 1.
Specifically, refering to attached drawing 3, Fig. 3 illustratively shows the indoor robot vision positioning system of the embodiment of the present invention
System working environment, as shown in figure 3, in the present embodiment in indoor robot vision alignment system working environment, Road sign 1 includes
It is multiple to be coated with the passive road sign 11 of infrared reflecting material, and be pasted on the ceiling of working environment.850nm optical filters it is visible
Light camera is placed on the top of robot 4, shoots image vertically upward.Wherein, the focal length of camera be 4mm, the working environment
Middle surrounding collocation infrared light supply.Road sign 1 is configured to according to the length of pre-set space or width, camera focus, target surface size
Vertical range away from ceiling of length or width and robot 4 obtain between the quantity of passive road sign 11 and passive road sign 11
Distance, and the distance between quantity according to passive road sign 11 and passive road sign 11 structure Road sign.It is pre- in the present embodiment
If space is ceiling.Road sign 1 is built according to field range, and is ensured in any position it can be seen that at least one nothing
Source road sign 11.Wherein, by taking the length of the length of pre-set space and target surface size as an example, passive road sign 11 in Road sign 1
Quantity can be obtained according to method shown in following formula (1)：
Passive road sign 11 in Road sign 1 the distance between can be obtained according to method shown in following formula (2)：
Wherein, f is camera focus, and WD is vertical range of the robot 4 away from Road sign 1, SShLength for target surface size
Degree, WhFor the length of pre-set space, n is the quantity of passive road sign 11 in Road sign 1, and d is the distance between passive road sign 11.
It is right referring next to attached drawing 1 after passive road sign 11, Road sign 1 and arrangement completion working environment are completed in design
Indoor robot vision alignment system main working process in the present invention illustrates.Fig. 1 illustratively shows the present invention
The indoor robot vision alignment system major architectural of embodiment.
Image acquiring device 2 is configurable to obtain the original image of pre-set space, and acquired original image is passed
It is defeated by server 3.
Specifically, the image acquiring device 2 in the present embodiment can include camera above, and pre-set space is the system
Working environment.
First judgment module 31 is configurable to judge that the original image that server 3 receives whether there is passive road sign
11。
Further, the first judgment module 31 in the present embodiment can include contours extract unit, length-width ratio calculates list
Member, position acquisition unit, shine judging unit and length-width ratio judging unit.
Contours extract unit is configurable to carry out binary conversion treatment, and extract to the original image that server 3 receives
The profile of image after binary conversion treatment.
Length-width ratio computing unit is configurable to calculate the length-width ratio of the profile of contours extract unit extraction, and chooses satisfaction
The profile of default first length-width ratio obtains candidate rectangle profile and the profile of default second length-width ratio of selection satisfaction is waited
Select and compile code block profile.
Specifically, length-width ratio of default first length-width ratio for rectangular strip in passive road sign in the present embodiment, presets second
Length-width ratio is the length-width ratio of encoding block in passive road sign.
Position acquisition unit is configurable to calculate the inclination of the candidate rectangle profile selected by length-width ratio computing unit
Angle, and the perpendicular bisector of two opposite side in candidate rectangle profile center and candidate rectangle profile under horizontality is found out, with
And the candidate luminous position on the perpendicular bisector of candidate rectangle profile is obtained, and each candidate luminous position and candidate rectangle item
The distance at center is equal, wherein, which is equal to the distance at the center at the center and encoding block of rectangular strip in passive road sign 11.
Specifically, horizontality refers to that the perpendicular bisector of the relatively two long opposite sides of rectangular strip 111 is parallel to horizontal line in the present embodiment.
Luminous judging unit is configurable to judge whether the candidate luminous position acquired in position acquisition unit only has one
Place shines.
Specifically, in the present embodiment, when the candidate that the judging unit that shines is judged acquired in position acquisition unit shines position
It puts not to only have and shine at one or when no one shines, passive road sign 11 is not present in original image.
Length-width ratio judging unit is configurable to be judged as at only one in the case of luminous position in luminous judging unit,
Whether the length-width ratio for judging the profile of luminous position is 1, if then there are passive road sign 11 in original image, if otherwise original graph
Passive road sign 11 is not present as in.
Optimal passive road sign acquisition module 32 is configurable to be judged as existing in original image in the first judgment module 31
In the case of passive road sign 11, the optimal passive road sign in original image is obtained.
Further, optimal passive road sign acquisition module 32 can include metrics calculation unit and optimal nothing in the present embodiment
Source Selecting landmarks unit.
Metrics calculation unit is configurable to be judged as in original image that there are passive road signs 11 in the first judgment module 31
In the case of, the center of rectangular strip 111 is calculated to the distance at the center of original image.
Optimal passive Selecting landmarks unit be configurable in the obtained distance of chosen distance computing unit it is minimum away from
From using the passive road sign 11 corresponding to minimum distance as optimal passive road sign.
Specifically, in the present embodiment when there is multiple passive road signs 11 in original image, optimal passive Selecting landmarks unit
The corresponding passive road sign 11 of the obtained minimum range of chosen distance computing unit is used as optimal passive road sign；When in original image
Only there are one during passive road sign, this passive road sign of optimal passive Selecting landmarks Unit selection is as optimal passive road sign.
Further, optimal passive road sign acquisition module 32 is also configured as in the first judgment module 31 in the present embodiment
It is judged as in original image, there is no in the case of passive road sign 11, obtaining the original image of pre-set space, and will be acquired
Original image is transferred to server 3.
Second judgment module 33 is configurable to obtain the optimal passive road acquired in optimal passive road sign acquisition module 32
Target ID is encoded, and judges that the ID codings of optimal passive road sign whether there is in presetting database and obtain optimal passive
Road sign respectively indicates the pixel coordinate of dot center when being in horizontality；Presetting database includes the ID codings of passive road sign 11, nothing
Coordinate and each mark dot center under the alive boundary's coordinate system of each mark dot center of the source road sign 11 under horizontality is first
Coordinate under coordinate system；First coordinate system be passive road sign 11 under horizontality, to be located at passive first position of 11 first trip of road sign
The center of flag bit 1121 put is origin, to be located at the water at the center of the flag bit 1121 of passive 11 first position of first trip of road sign
Square to perpendicular bisector where straight line be X-coordinate axle and flag bit 1121 to be located at passive 11 first position of first trip of road sign
Center vertical direction perpendicular bisector where straight line be Y-coordinate axle three-dimensional system of coordinate.
Specifically, specific location of the pixel coordinate in the present embodiment for each mark dot center in original image.It refers to
Attached drawing 4, Fig. 4 illustratively show the first coordinate system in the embodiment of the present invention.
Further, the second judgment module 33 includes rotating horizontally unit and ID coding acquiring units in the present embodiment.
Specifically, refering to attached drawing 5, Fig. 5 illustratively shows the passive road sign 11 of the embodiment of the present invention in original image
Upper possible four kinds of directions.Coordinate system in Fig. 5 is the second coordinate system, and the second coordinate system is two-dimensional coordinate system.
It rotates horizontally unit to be configurable to according to method and the second coordinate system shown in following formula, optimal passive road sign is obtained
Optimal passive road sign acquired in module 32 rotates clockwise β degree to horizontality：
’
Second coordinate system is using the center of rectangular strip 111 as origin O, using horizontal direction as X ' reference axis and with vertical
Direction is the two-dimensional coordinate system of Y ' reference axis structure；β is the angle that optimal passive road sign rotates clockwise；C is optimal passive road
The center of target encoding block；α be with origin O ' be endpoint and pass through optimal passive road sign encoding block center ray O ' C,
The angle formed with X ' reference axis positive direction.
Specifically, in the present embodiment as shown in Fig. 5 (a), the center of the encoding block of optimal passive road sign is located at first quartile,
As shown in Fig. 5 (b), the center of the encoding block of optimal passive road sign is located at fourth quadrant, as shown in Fig. 5 (c), optimal passive road sign
The center of encoding block be located at third quadrant, as shown in Fig. 5 (d), the center of the encoding block of optimal passive road sign be located at second as
Limit；The position of ray O ' C and angle α is as shown in Figure 5.It will be understood by those skilled in the art that Fig. 5 is only schematic diagram, not
All situations in the present embodiment, in the present embodiment, the center of the encoding block of optimal passive road sign can also be located at reference axis
On.
ID coding acquiring units are configurable to optimal passive under the horizontality acquired in detection level rotary unit
The index point of road sign, and obtain the ID codings of optimal passive road sign and obtain optimal passive road sign and be in each during horizontality
Indicate the pixel coordinate of dot center.
Further, ID codings acquiring unit can also include detection sub-unit in the present embodiment；Detection sub-unit can be with
It is configured to perform operations described below：
To rotating horizontally the optimal passive road sign under the horizontality acquired in unit, from the encoding block of optimal passive road sign
Center set out, according to grid spacing in east, south, west and northern four direction search luminous point, and according to default spacing the southeast,
Northeast, southwest and northwest four direction search luminous point；The positive direction of the Y-coordinate axle of first coordinate system is defined as north.
Specifically, spacing is preset in the present embodiment isGrid spacing again.
Whether the length-width ratio of profile is 1 where judging luminous point, if then remembering the corresponding number in luminous point position
It is 1, if the corresponding number in luminous point position otherwise is denoted as 0.
Specifically, 1122 sequence of the detection index point number record corresponding with luminous point position in the present embodiment is suitable
Sequence is always.Flag bit 1121 in passive road sign 11 is square, then the length-width ratio of flag bit profile is 1, so needing
Whether profile where detection luminous point meets the length-width ratio of flag bit 1121.Referring to Fig.2, it can obtain Fig. 2 according to aforesaid operations
In the ID of passive road sign 11 be encoded to 110111010.Phenomenon is misidentified in order to prevent, it can also be by the optimal passive road sign of detection
ID coding in presetting database ID coding compared, when the optimal passive road sign detected ID encode and present count
When encoding inconsistent according to the ID in library, then the original image in original preset space is reacquired, and the original image is transmitted
To server 3.
According to the corresponding number in all luminous point positions, the ID codings of optimal passive road sign are obtained.
Robot coordinate acquisition module 34 is configurable to be judged as in the second judgment module 33 ID of optimal passive road sign
Coding be present in preset data in the case of, according to the second judgment module 33 obtain optimal passive road sign ID coding and most
Excellent passive road sign respectively indicates the pixel coordinate and presetting database of dot center when being in horizontality, it is alive to obtain robot 4
Coordinate under boundary's coordinate system.
Further, the robot coordinate acquisition module 34 in this implementation includes pixel coordinate acquiring unit, the first coordinate
It is coordinate acquiring unit, robot the first coordinate system coordinate acquiring unit and robot world's coordinate system coordinate acquiring unit.
Pixel coordinate acquiring unit is configurable to the optimal passive road sign that ID is encoded acquired in acquiring unit being in water
Respectively indicate the pixel coordinate rotation β degree counterclockwise of dot center during level state, obtain the pixel coordinate of each mark dot center.
First coordinate system coordinate acquiring unit is configurable to according to acquired in presetting database and ID coding acquiring units
Optimal passive road sign ID codings, obtain the coordinate of optimal passive road sign under the first coordinate system.
Specifically, the first coordinate system coordinate acquiring unit is configurable to according to each mark in preset data in the present embodiment
The ID codings of coordinate of the will dot center under the first coordinate system and the optimal passive road sign acquired in ID coding acquiring units, obtain
Coordinate of the optimal passive road sign under the first coordinate system.
With continued reference to attached drawing 4, when grid spacing is d, according to sequence from left to right, from top to bottom, it is known that institute in Fig. 4
The coordinate of each mark dot center of the passive road sign 11 shown is respectively (0,0,0), (d, 0,0), (0 ,-d, 0), (d ,-d, 0),
(2d,-d, 0), (d, -2d, 0).
Robot the first coordinate system coordinate acquiring unit is configurable to according to each acquired in pixel coordinate acquiring unit
Optimal passive road sign acquired in the pixel coordinate of mark dot center and the first coordinate system coordinate acquiring unit is in the first coordinate system
Under coordinate, coordinate of first coordinate system relative to robot 4 is obtained by PnP methods, and passes through direction transformation and obtains machine
Coordinate of the people 4 under the first coordinate system.
Robot world's coordinate system coordinate acquiring unit is configurable to optimal acquired according to ID coding acquiring units
The ID of passive road sign is encoded, the robot 4 acquired in robot the first coordinate system coordinate acquiring unit is under the first coordinate system
Coordinate and presetting database obtain coordinate of the robot 4 under world coordinate system.
Specifically, robot world's coordinate system coordinate acquiring unit is specifically in the preset data of foundation in the present embodiment
Coordinate under the alive boundary's coordinate system of each mark dot center of the passive road sign 11 under horizontality.
Further, the robot coordinate acquisition module 34 in the present embodiment is configurable to sentence in the second judgment module 33
Break in the case of being not present in presetting database for the ID codings of optimal passive road sign, obtain the original image of pre-set space,
And acquired original image is transferred to server 3.
Specific description is done to the workflow of indoor robot vision alignment system referring next to attached drawing.
Refering to attached drawing 6, Fig. 6 illustratively shows the main working process of indoor robot vision alignment system.Such as Fig. 6
The workflow of shown indoor robot vision alignment system mainly includes step S100, step S200, step S300, step
S400 and step S500.
Step S100 obtains original image using image acquiring device 2 and is transferred to server 3.
Step S200 judges to whether there is passive road sign 11 in original image using the first judgment module 31.
Specifically, when the first judgment module 31 is judged as in original image there are passive road sign 11, then holding in the present embodiment
Row step S300 when passive road sign 11 is not present in original image, then performs step S100.
Step S300, optimal passive road sign acquisition module 32 obtain optimal passive road sign.
Step S400 obtains optimal passive road sign using the second judgment module 33 and respectively indicates dot center in horizontality
The ID of pixel coordinate and the optimal passive road sign of acquisition is encoded and is judged that ID codings whether there is in presetting database.
Specifically, in the present embodiment, when the ID codings of optimal passive road sign are present in preset data, robot is utilized
Coordinate obtaining module 34 obtains coordinate of the robot under world coordinate system, otherwise performs step S100.
Step S500, using robot coordinate acquisition module 34 obtain robot world coordinate system coordinate.
It will be understood by those skilled in the art that above-mentioned indoor robot vision alignment system further includes some other known knots
Structure, such as processor, controller, memory etc., wherein, memory includes but not limited to random access memory, flash memory, read-only storage
Device, programmable read only memory, volatile memory, nonvolatile memory, serial storage, parallel storage or register
Deng, processor includes but not limited to CPLD/FPGA, DSP, arm processor, MIPS processors etc., in order to unnecessarily obscure this
Disclosed embodiment, these well known structures are not shown.
It will be understood by those skilled in the art that the module in the device in embodiment can adaptively be changed
And they are arranged in one or more devices different from the embodiment.Can the module in embodiment or unit or
Component is combined into a module or unit or component and can be divided into multiple submodule or subelement or subgroup in addition
Part.Other than such feature and/or at least some of process or unit exclude each other, any combinations may be used
To all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and such disclosed any side
All processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (will including adjoint right
Ask, make a summary and attached drawing) disclosed in each feature can be replaced by the alternative features for providing identical, equivalent or similar purpose.
The all parts embodiment of the present invention can be with hardware realization or to be run on one or more processor
Software module realize or realized with combination thereof.It will be understood by those of skill in the art that it can use in practice
Microprocessor or digital signal processor (DSP) realize some in server according to embodiments of the present invention, client
Or some or all functions of whole components.The present invention be also implemented as perform method as described herein one
Partly or completely equipment or program of device (for example, PC programs and PC program products).Such journey for realizing the present invention
Sequence can be stored on PC readable mediums or can have the form of one or more signal.Such signal can be from
It is downloaded on internet website and obtains either providing on carrier signal or providing in the form of any other.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in claims of the present invention, embodiment claimed
It is one of arbitrary mode to use in any combination.
It should be noted that the present invention will be described rather than limits the invention, and ability for above-described embodiment
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference mark between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be realized by means of including the hardware of several different elements and by means of properly programmed PC.
If in the unit claim for listing equipment for drying, several in these devices can be come specific by same hardware branch
It embodies.The use of word first, second, and third does not indicate that any sequence.These words can be construed to title.
So far, it has been combined preferred embodiment shown in the drawings and describes technical scheme of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make the relevant technologies feature equivalent change or replacement, these
Technical solution after changing or replacing it is fallen within protection scope of the present invention.
Claims (10)
1. a kind of indoor robot vision alignment system, which is characterized in that the system comprises Road sign, image acquiring devices
And server；The Road sign includes multiple passive road signs, and the multiple passive road sign is arranged on the default of pre-set space
At position, wherein, the passive road sign includes multiple flag bits, and the flag bit is used to set index point；The server packet
Include the first judgment module, the second judgment module, optimal passive road sign acquisition module and robot coordinate acquisition module；
Described image acquisition device is configured to obtain the original image of the pre-set space, and acquired original image is passed
It is defeated by the server；
First judgment module is configured to judge that the original image that the server receives whether there is passive road sign；
The optimal passive road sign acquisition module, is configured to be judged as in original image that there are passive in first judgment module
In the case of road sign, the optimal passive road sign in the original image is obtained；
Second judgment module is configured to obtain optimal passive road sign acquired in the optimal passive road sign acquisition module
ID is encoded, and judges that the ID codings of the optimal passive road sign whether there is in presetting database and obtain described optimal
Passive road sign respectively indicates the pixel coordinate of dot center when being in horizontality；The ID that the presetting database includes passive road sign is compiled
Coordinate and each mark dot center under the alive boundary's coordinate system of each mark dot center of code, passive road sign under horizontality exist
Coordinate under first coordinate system；First coordinate system be the passive road sign under horizontality, to be located at the passive road
The center for marking the flag bit of first position of first trip is origin, to be located in the flag bit of passive first position of road sign first trip
Straight line where the perpendicular bisector of the horizontal direction of the heart is X-coordinate axle and the mark to be located at passive first position of road sign first trip
Straight line where the perpendicular bisector of the vertical direction at the center of will position is the three-dimensional system of coordinate of Y-coordinate axle；
The robot coordinate acquisition module is configured to be judged as in second judgment module ID codings of optimal passive road sign
In the case of being present in preset data, according to second judgment module obtain optimal passive road sign ID coding and it is described
Optimal passive road sign respectively indicates the pixel coordinate of dot center and the presetting database when being in horizontality, obtain machine
Coordinate of the people under the world coordinate system.
2. indoor robot vision alignment system according to claim 1, which is characterized in that
Multiple flag bits are the array of A × A, and multiple flag bit isometric net distributions form encoding block, positioned at volume
The flag bit of code block center is equipped with index point；Wherein, A is odd number；
The passive road sign further includes rectangular strip；The rectangular strip is arranged side by side with the encoding block, and the rectangular strip is longer right
On the same line, the encoding block is fixed at the default of the rectangular strip for the midpoint on side and the center of the encoding block
Side；
The encoding block is used to determine the ID numbers of the passive road sign；
The rectangular strip is used to determine position of the passive road sign in the original image.
3. indoor robot vision alignment system according to claim 1, which is characterized in that the first judgment module packet
Include contours extract unit, length-width ratio computing unit, position acquisition unit, luminous judging unit and length-width ratio judging unit；
The contours extract unit is configured to carry out binary conversion treatment, and extract to the original image that the server receives
The profile of image after the binary conversion treatment；
The length-width ratio computing unit, is configured to calculate the length-width ratio of the profile of the contours extract unit extraction, and chooses full
The profile of default first length-width ratio of foot obtains candidate rectangle profile and the profile of default second length-width ratio of selection satisfaction obtains
Candidate code block profile；
The position acquisition unit is configured to calculate the inclination of the candidate rectangle profile selected by the length-width ratio computing unit
Angle, and find out and hang down in two opposite side in the candidate rectangle profile center and candidate rectangle profile under horizontality
The candidate luminous position of line and acquisition on the perpendicular bisector of the candidate rectangle profile, and each candidate luminous position
Put it is equal with the distance at the candidate rectangle center, wherein, the distance is equal in the passive road sign in rectangular strip
The heart and the distance at the center of the encoding block；
The luminous judging unit, is configured to judge whether the candidate luminous position acquired in the position acquisition unit only has one
Place shines；
The length-width ratio judging unit is configured to be judged as in the luminous judging unit situation of luminous position at only one
Under, whether the length-width ratio for judging the profile of the luminous position is 1, if then there are passive road sign in the original image, if
Otherwise passive road sign is not present in the original image.
4. indoor robot vision alignment system according to claim 2, which is characterized in that the optimal passive road sign obtains
Modulus block includes metrics calculation unit and optimal passive Selecting landmarks unit；
The metrics calculation unit is configured to be judged as in original image that there are the feelings of passive road sign in first judgment module
Under condition, the center of the rectangular strip is calculated to the distance at the center of the original image；
The optimal passive Selecting landmarks unit, be configured to select in the obtained distance of the metrics calculation unit it is minimum away from
From using the passive road sign corresponding to the distance of the minimum as optimal passive road sign.
5. indoor robot vision alignment system according to claim 2, which is characterized in that the second judgment module packet
It includes and rotates horizontally unit and ID coding acquiring units；
The horizontal rotation unit is configured to, according to method and the second coordinate system shown in following formula, the optimal passive road sign be obtained
Optimal passive road sign acquired in modulus block rotates clockwise β degree to horizontality：
Wherein, second coordinate system be using the center of the rectangular strip as origin O ', using horizontal direction as X ' reference axis and
The two-dimensional coordinate system built using vertical direction as Y ' reference axis；The β is the angle that the optimal passive road sign rotates clockwise；
The C is the center of the encoding block of the optimal passive road sign；The α is is endpoint with the origin O ' and passes through described optimal
Ray O ' the C at the center of the encoding block of passive road sign, the angle formed with X ' reference axis positive direction；
The ID encodes acquiring unit, is configured to detect optimal passive under the horizontality acquired in the horizontal rotation unit
The index point of road sign, and obtain the ID codings of the optimal passive road sign and obtain the optimal passive road sign and be in level
Respectively indicate the pixel coordinate of dot center during state.
6. indoor robot vision alignment system according to claim 5, which is characterized in that the ID encodes acquiring unit
Including detection sub-unit, the detection sub-unit is configured to perform operations described below：
To the optimal passive road sign under the horizontality acquired in the horizontal rotation unit, from the volume of the optimal passive road sign
The center of code block is set out, according to grid spacing in east, south, west and northern four direction search luminous point, and according to default spacing
Luminous point is searched in the southeast, northeast, southwest and northwest four direction；The positive direction of the Y-coordinate axle of first coordinate system is determined
Justice is north；
Whether the length-width ratio of profile is 1 where judging the luminous point, if then by the corresponding volume in the luminous point position
Number 1 is denoted as, if the corresponding number in the luminous point position otherwise is denoted as 0；
According to the corresponding number in all luminous point positions, the ID codings of the optimal passive road sign are obtained.
7. indoor robot vision alignment system according to claim 5, which is characterized in that the robot coordinate obtains
Module includes pixel coordinate acquiring unit, the first coordinate system coordinate acquiring unit, robot the first coordinate system coordinate acquiring unit
With robot world's coordinate system coordinate acquiring unit；
The pixel coordinate acquiring unit is configured to the optimal passive road sign that the ID is encoded acquired in acquiring unit being in water
Respectively indicate the pixel coordinate rotation β degree counterclockwise of dot center during level state, obtain the pixel coordinate of each mark dot center；
The first coordinate system coordinate acquiring unit is configured to according to the presetting database and ID coding acquiring units institute
The ID codings of the optimal passive road sign obtained, obtain coordinate of the optimal passive road sign under the first coordinate system；
The first coordinate system of robot coordinate acquiring unit is configured to each acquired according to the pixel coordinate acquiring unit
Optimal passive road sign acquired in the pixel coordinate of mark dot center and the first coordinate system coordinate acquiring unit is sat first
Coordinate under mark system obtains coordinate of first coordinate system relative to robot, and pass through direction transformation and obtain by PnP methods
Take coordinate of the robot under the first coordinate system；
Robot world's coordinate system coordinate acquiring unit is configured to optimal acquired according to ID coding acquiring units
The ID of passive road sign is encoded, seat of the robot acquired in robot the first coordinate system coordinate acquiring unit under the first coordinate system
Mark and the presetting database obtain coordinate of the robot under world coordinate system.
8. indoor robot vision alignment system according to claim 1, which is characterized in that the Road sign is configured to
The vertical range of length, camera focus, the length of target surface size and the robot far from ceiling according to pre-set space obtains
The distance between the quantity of passive road sign and passive road sign, and between quantity according to the passive road sign and passive road sign away from
From structure Road sign；
The quantity of passive road sign in Road sign is obtained according to following formula the method：
And obtain the distance between passive road sign according to following formula the method：
Wherein, f is camera focus, and WD is the vertical range of the robot and the Road sign, SShFor the target surface size
Length, WhFor the length of the pre-set space, n is the quantity of passive road sign in the Road sign, and d is the passive road sign
The distance between 11.
9. indoor robot vision alignment system according to any one of claims 1 to 8, which is characterized in that described optimal
Passive road sign acquisition module is configured to be judged as being not present in original image in first judgment module situation of passive road sign
Under, the original image of the pre-set space is obtained, and acquired original image is transferred to the server.
10. indoor robot vision alignment system according to any one of claims 1 to 8, which is characterized in that the machine
Device people's coordinate obtaining module, be configured to second judgment module be judged as optimal passive road sign ID coding be not present in it is pre-
If in the case of in database, obtaining the original image of the pre-set space, and acquired original image is transferred to described
Server.
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