CN108253970A - Utilize infrared pendent lamp and the method and system of camera robot measurement position - Google Patents
Utilize infrared pendent lamp and the method and system of camera robot measurement position Download PDFInfo
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- CN108253970A CN108253970A CN201810325788.1A CN201810325788A CN108253970A CN 108253970 A CN108253970 A CN 108253970A CN 201810325788 A CN201810325788 A CN 201810325788A CN 108253970 A CN108253970 A CN 108253970A
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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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- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The present invention provide it is a kind of using infrared pendent lamp and the method for camera robot measurement position, including：Spread infrared light spot；Setting infrared camera simultaneously captures infrared light spot image；Mechanically moving people, constraint is moved with reference to the elevation information, based on robot chamber inner plane and camera Principle of Affine Transformation carries out calculating the direction and change in location that obtain robot；Robot starts comprehensive autonomous, while calculates the elevation information of hot spot newly captured, for persistently calculating the position and orientation of robot during the subsequent movement of robot.System structure is succinct needed for the present invention, suitable for towards irregular dome and the large scale interior space, can conveniently solve the self-positioning navigation needs of robot in large-scale indoor scene.The device have the advantages that it is：An infrared camera and infrared light spot transmitter are only needed, required system building is convenient, is easy to later maintenance, while can realize indoor mobile robot direction and position measurement.
Description
Technical field
The invention belongs to robot indoor positioning field of navigation technology, and in particular to a kind of to utilize infrared pendent lamp and camera
The method of robot measurement position and a kind of utilize infrared pendent lamp and the system of camera robot measurement position.
Background technology
Robot works indoors usually requires accurately direction and location information, completes to be planned to support
Task.
The navigation locating method of indoor mobile robot is more, is broadly divided into following several：
The first is indoor base station/node locating method, that is, utilizes multiple communication nodes, base station or specific label to machine
The spacing and Kalman filtering operator of people estimates the position of robot indoors.Such as Chengdu University of Electronic Science and Technology's week is bright etc.
With the multiple signal nodes of intensity estimation signal to robot distance, robot is realized using the coordinate method for solving for imitating GPS by people
Positioning, and positioning result precision is improved using attenuation Kalman filter.
Second is system monitoring method, that is, builds monitoring system or sensing network, perception is built using multiple cameras
Network, observation and the current position of calculating robot and posture.
The third is terrestrial reference anticipation method, i.e., in ground or wall setting magnetic stripe, colour band, color lump, magnetic nail, Quick Response Code even
RFID terrestrial references provide towards either location information for robot and it are helped to carry out direction or position correction, this kind of method is suitable
Be combined with same IMU inertial navigation informations and code-disc, in the case that robot can not place of capture target, carry out reckoning.
It is SLAM methods in addition with a kind of method, i.e. robot self-localization is synchronized with environment detection and carried out, and utilizes camera shooting
The equipment detect operation environmental information such as head, laser radar sensor, while extract crucial landmark data and be used to implement robot
Real time position solves, and in addition as investigative range constantly expands, expands global map.
In above-mentioned several schemes, if it is possible to ensure robot carry out accurate walking then need arrangement be largely used for into
The hardware device of row positioning not only causes sensorium to be laid out difficult, can also be influenced by arrangement Structure of Place form (such as
The ground contour of robot ambulation is extremely complex), then it can further increase the degree of difficulty that robot is walked.
Invention content
The object of the present invention is to provide it is a kind of be easy to dispose and operate, for carrying out indoor mobile robot direction and position
The method for putting measurement.
To achieve these goals, the present invention provides following technical solution：
It is a kind of using infrared pendent lamp and the method for camera robot measurement position, including：
Step 1: infrared pendent lamp is lifted on roof, infrared illumination is carried out to ground by the infrared pendent lamp, simultaneously
Infrared light spot is spread on roof；
Step 2: by infrared camera be set to robot head, to capture the image of the infrared pendent lamp and
The image for the infrared light spot that roof is spread, while obtain hanging down for plane residing for the infrared pendent lamp to the infrared camera
Straight distance is used as elevation information；
Step 3: the robot is placed in the underface of the infrared pendent lamp and specifies the initial court of the robot
To and position, the infrared camera set by using the head of the robot capture the infrared pendent lamp and described infrared
The image of the infrared light spot in camera view；
Step 4: the robot first moves a small distance and ensures described red in the infrared camera visual field
Outer pendent lamp is constantly in the visual field of the infrared camera, is put down with reference to the elevation information, the interior based on the robot
The Principle of Affine Transformation of face movement (i.e. two-dimensional vector) constraint and the infrared camera, which calculate, obtains the robot
Direction and change in location, while calculate the elevation information and seat of the infrared light spot captured in the infrared camera visual field
Scale value；
Step 5: on the basis of step 4, the robot starts comprehensive autonomous, until the infrared camera
The infrared pendent lamp in the visual field leaves the infrared camera visual field, described during the robot moving process infrared to take the photograph
As head constantly captures the new infrared light spot image, while utilize the height of the captured infrared light spot calculated
Information and position coordinates are spent, calculate the variation of the robot direction and position, while calculate the infrared light spot newly captured
Elevation information, for persistently calculating the position and orientation of the robot during the subsequent movement of the robot.
Preferably, in the step 4, obtain the robot direction and change in location specific algorithm it is as follows：It is first
First with reference to Installation posture in the infrared camera vertical direction, according to affine transformation geometrical principle, have
I in formulaP(UP, VP) it is pixel coordinates of the certain point P in the infrared camera visual field above the robot,
Wherein, u0 is imaging center abscissa, v0 is imaging center ordinate, k is amplification coefficient, hPThe elevation information for representing point P is
Point P to the infrared photography head plane vertical range, (CxP,CyP) represent the center of the infrared camera to the ray of point P
Projection vector in the infrared photography head plane, the projection vector are calculated by the following formula and are gone out
Wherein (x, y) represents the position coordinates of current time robot and its infrared camera, and θ represents the machine
People and the direction of the infrared camera；
It carves at the beginning, the robot location is initially (x0, y0), direction is initially set to θ0, pendent lamp bottom is arrived
The distance of the infrared photography head plane is hD；
In the visual field of the infrared camera, in the center pixel of the infrared pendent lamp image obtained within sweep of the eye
Coordinate is (UD, VD), the center pixel coordinate of the infrared light spot captured is G1(Ug1,Vg1)；
After robot movement, the infrared pendent lamp center pixel coordinate described in the visual field of the infrared camera becomes
It turns toThe center pixel changes in coordinates of the infrared light spot isIt then can be by with lower plane
Constraint and the infrared camera affine transformation geometrical relationship are moved to calculate the position (x after the robot movement1, y1) and
Newly towards θ1；
With reference to above-mentioned calculation formula and variable-definition, the in-plane displancement vector that can calculate the robot is (x1-x0,
y1-y0) be；
It can be obtained after deformation：
It is basic herein
On, being oriented after robot movement can be calculated：
Wherein
Then the position that can be calculated after the robot movement is (x1, y1)；
Then can calculate the infrared light spot Gi to camera shooting head plane vertical height distance be：
Preferably, it in the step 5, calculates the elevation information of the infrared light spot newly captured and refers to：
With reference to described in the elevation information and previous moment of the known infrared light spot robot be positioned against and position
Information, using the computational methods described in step 4, with reference to the infrared light spot point height information having calculated that, update calculates
Information is positioned against after the robot movement；
Meanwhile the information of the height of the hot spot newly captured is calculated, to complete the robot subsequently direction and position
Calculating.
Infrared pendent lamp and the system of camera robot measurement position, the system packet are utilized the present invention also provides a kind of
It includes：
Infrared pendent lamp is provided with lampshade on the outside of the infrared pendent lamp, and hot spot hole, the light are offered on the lampshade
Spot hole offer it is multiple, the infrared light sent out by the infrared pendent lamp pass through the lampshade on hot spot hole be formed with infrared light
Spot figure layer；
Infrared camera, be used in infrared camera setting to robot to the image of the infrared light spot figure layer into
Row captures；
Control processor, the control processor are connect with the infrared camera signal, for the infrared photography
The infrared light spot image that head captures carries out calculation processing.
Preferably, the invention also includes there is lamp bracket, the infrared pendent lamp is set to by universal joint on the lamp bracket.
Preferably, the hot spot hole is evenly distributed on the lampshade.
The method of the present invention is using infrared camera as main sensors, by observing infrared pendent lamp and its projecting in dome
Hot spot, based on machine vision metrology indoor mobile robot direction and position.System structure is succinct needed for the present invention, suitable for face
To irregular dome and the large scale interior space, airport building, store, library, museum etc. can be conveniently solved
The self-positioning navigation needs of robot in large-scale indoor scene.The device have the advantages that it is：It only needs one infrared
Camera and infrared light spot transmitter, required system building is convenient, is easy to later maintenance, while can realize indoor moving machine
People's direction and position measurement.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation do not constitute improper limitations of the present invention for explaining the present invention.Wherein：
Fig. 1 is that the present invention is measuring Indoor Robot direction and the method pair of position using infrared pendent lamp and infrared camera
Instantaneous picture view when robot is controlled.
Reference sign：
Infrared camera 1, robot 2, infrared pendent lamp 3, infrared light spot 4.
Specific embodiment
The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.The explanation side that each example passes through the present invention
Formula offer is not intended to limit the present invention.In fact, those skilled in the art will be clear that, the scope or spirit of the invention is not being departed from
In the case of, it can modify in the present invention and modification.
In the description of the present invention, term " longitudinal direction ", " transverse direction ", " on ", " under ", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation of the instructions such as " level ", " top ", " bottom " or position relationship are based on orientation shown in the drawings or position relationship, are only
The present invention rather than require the present invention therefore it is not intended that right with specific azimuth configuration and operation for ease of description
The limitation of the present invention.The term " connected " that is used in the present invention, " connection " should be interpreted broadly, for example, it may be fixedly connected,
Can also be detachably connected；It can be directly connected, can also be indirectly connected by intermediate member, for the common of this field
For technical staff, the concrete meaning of above-mentioned term can be understood as the case may be.In addition, term " upstream " and " downstream " refer to
Be relative position of the component in fluid passage.For example, if fluid flows to component B from component A, component A is component B's
Upstream.On the contrary, if component B receives the fluid stream from component A, component B is in the downstream of component A.
It please refers to Fig.1, Fig. 1 is measuring Indoor Robot direction and position for the present invention using infrared pendent lamp and infrared camera
Instantaneous picture view when the method put controls robot.
The present invention provides the method using infrared pendent lamp and camera robot measurement position, in the method, first
Infrared camera 1 is installed vertically on to the top of robot 2, infrared pendent lamp 3 is installed in indoor ceiling, infrared pendent lamp 3
Bottom earthward give out soft infrared light, while a series of infrared light spots 4 are radiated on arc ceiling.
In the present invention, the distribution method of infrared light spot 4 is as follows：Several apertures are set on the lampshade of infrared pendent lamp 3,
Internal infrared light is by after these apertures, infrared light spot 4 can be formed by being incident upon on roof.Capturing an infrared light spot is
The positioning of robot 2 can be achieved, capture multiple infrared light spots and then calculated using same way.
The inner parameter of infrared camera 1 is respectively u0(imaging center abscissa), v0(imaging center ordinate), k (are put
Big coefficient)；The height distance (vertical range) of plane residing for infrared camera 1 to infrared 3 bottom of pendent lamp is hD。
It carves at the beginning, robot 2 is set to the underface of infrared pendent lamp 3, be by 2 initial position setting of robot
(x0, y0), initial direction is set as θ0；In the visual field for carving infrared camera 1 at the beginning, the bottom pixel coordinate of infrared pendent lamp 3
For (UD, VD), it captures on roof infrared light spot 4 and sets its pixel coordinate as (Ug1, Vg1).The movement of robot 2 one
After small segment distance, the pixel coordinate variation of infrared 3 bottom of pendent lamp isThe pixel of hot spot is captured before mobile
Changes in coordinates isThe derivation of equation is carried out using planar movement constraint and camera Principle of Affine Transformation, can be calculated
Being oriented after the movement of robot 2：
Wherein
Then it is (x that the position after robot 2 moves, which can be calculated,1, y1)；
Based on spotting out G can be calculated1To the vertical height distance h of infrared camera head 1g1=
Subsequent robot 2 starts comprehensive autonomous indoors, and infrared camera 1 constantly captures new infrared light spot
Image using the elevation information of the infrared light spot calculated, constantly updates the direction and location information of calculating robot 2,
And the elevation information of infrared light spot 4 newly captured is calculated, specific calculating process is as follows：In the previous moment of certain movement, machine
The position coordinates of device people 2 are (xi, yi), it is oriented θi, and the infrared light spot G having calculated thatjTo 1 place plane of infrared camera
Height distance be hgj, the pixel coordinate in 1 visual field of infrared camera is IGj(UGj, VGj), an infrared light spot newly captured
Gj+1Location of pixels be IGj+1(UGj+1, VGj+1)；Mobile later moment in time infrared light spot GjPicture in the visual field of infrared camera 1
Plain changes in coordinates isNew capture infrared light spot Gi+1Location of pixels be
Then move rear robot 2 towards θj+1It can be calculated with the following formula；
Wherein
Position (the x of robot 2 after movementi+1, yi+1) calculated by the following formula：
It simultaneously can
Calculate glossing up Gj+1To camera shooting head plane height distance hgj+1For,
Robot 2 constantly updates in moving process by above-mentioned formula to be calculated, and obtains newest court after robot movement
To and position coordinates, in addition constantly capture new infrared light spot and calculate its elevation information, so as in subsequent movement process
In persistently realize out the self poisoning of robot 2.
In the present embodiment, wherein robot 2 is using electric stacker AGV robots；Infrared camera 2 is strangled using Bath
Industrial camera acA640-90gm is equipped with the undistorted industrial lens of 850nm narrowbands infrared filtering and forms；Infrared pendent lamp 3 is used and is based on
LED circular flats lamp and infrared light spot transmitting tube and the infrared experiment pendent lamp integrated out.
Based on above-mentioned measuring method, infrared pendent lamp and camera robot measurement position are utilized the present invention also provides a kind of
The system put, the system include：
1st, for emitting the infrared pendent lamp of infrared light
The outside of infrared pendent lamp 3 is provided with lampshade, offers hot spot hole on lampshade, hot spot hole offer it is multiple, by red
The infrared light that outer pendent lamp 3 is sent out passes through the hot spot hole on lampshade to be formed with infrared light spot figure layer.
When the fixed setting of infrared pendent lamp 3 is to architecture indoor roof, for the ease of carrying out fine position to infrared pendent lamp 3,
The present invention is additionally provided with lamp bracket, and lamp bracket is made of stainless steel or aluminium section bar, and lamp bracket is fixed to by setscrew in building,
Then, infrared pendent lamp 3 is set to by universal joint on lamp bracket.In this way, lamp bracket, as installation foundation, infrared pendent lamp 3 passes through ten thousand
In connector setting to lamp bracket, infrared pendent lamp 3 can carry out angle adjustment under the action of universal joint.
Specifically, on the lampshade that hot spot hole is distributed in.
2nd, the infrared camera that infrared light spot and infrared pendent lamp position can be captured
Infrared camera 1, which is set, to be used to capture the image of infrared light spot figure layer in robot 2.
3rd, there is the control processor of signal processing, data analysis and control instruction generation
Control processor is connect with 1 signal of infrared camera, the infrared light spot image for being captured to infrared camera 1
Carry out calculation processing.
In said structure design, infrared light spot is formed in building roof by infrared pendent lamp 3, then by infrared camera 1
It is installed in robot 2, and causes infrared camera 1 that the infrared light so as to be captured roof using infrared camera 1 is set upward
Spot.Infrared camera 1 is connect with control processor signal, and control processor can utilize infrared pendent lamp according to provided by the invention
3 and the infrared light spot position signal that obtains to infrared camera 1 of method of 2 position of camera robot measurement carry out at data
Reason runs so as to generate control instruction control robot 2.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, those skilled in the art is come
It says, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is any modification for being made, equivalent
Replace, improve etc., it should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of utilize infrared pendent lamp and the method for camera robot measurement position, which is characterized in that including：
Step 1: infrared pendent lamp is lifted on roof, infrared illumination is carried out, while in room to ground by the infrared pendent lamp
Infrared light spot is spread on top；
Step 2: the head that infrared camera is set to robot, image and roof to capture the infrared pendent lamp
Spread the infrared light spot image, while obtain plane residing for the infrared pendent lamp to the infrared camera it is vertical away from
From as elevation information；
Step 3: by the robot be placed in the infrared pendent lamp underface and specify the robot initial direction and
Position, the infrared camera set by using the head of the robot capture the infrared pendent lamp and the infrared photography
The image of the infrared light spot in the head visual field；
Step 4: the robot first moves a small distance and ensures that the infrared pendent lamp is constantly in the infrared photography
In the visual field of head, with reference to the elevation information, the movement of the indoor plane based on the robot (i.e. two-dimensional vector) constrains and institute
The Principle of Affine Transformation for stating infrared camera carries out calculating the direction and change in location for obtaining the robot, while calculate institute
State the elevation information and coordinate value of the infrared light spot captured in the infrared camera visual field；
Step 5: on the basis of step 4, the robot starts comprehensive autonomous, until the infrared camera visual field
The interior infrared pendent lamp leaves the infrared camera visual field, the infrared camera during the robot moving process
The constantly new infrared light spot image of capture, while believed using the height of the captured infrared light spot calculated
Breath and position coordinates calculate the variation of the robot direction and position, while calculate the height of the infrared light spot newly captured
Information is spent, for persistently calculating the position and orientation of the robot during the subsequent movement of the robot.
2. according to claim 1 utilize infrared pendent lamp and the method for camera robot measurement position, which is characterized in that
In the step 4, obtain the robot direction and change in location specific algorithm it is as follows：First with reference to described infrared
Installation posture in camera vertical direction according to affine transformation geometrical principle, has
I in formulaP(UP, VP) it is pixel coordinates of the certain point P in the infrared camera visual field above the robot, wherein,
u0For imaging center abscissa, v0It is amplification coefficient for imaging center ordinate, k, hPRepresent the elevation information i.e. point P of point P to institute
The vertical range of infrared photography head plane is stated, (CxP,CyP) represent the center of the infrared camera to the ray of point P described
Projection vector in infrared photography head plane, the projection vector are calculated by the following formula and are gone out
Wherein (x, y) represents the position coordinates of robot and its infrared camera described in current time, and θ represents the machine
People and the direction of the infrared camera；
It carves at the beginning, the robot location is initially (x0, y0), direction is initially set to θ0, pendent lamp bottom is described in
The distance of infrared photography head plane is hD；
In the visual field of the infrared camera, in the center pixel coordinate of the infrared pendent lamp image obtained within sweep of the eye
For (UD, VD), the center pixel coordinate of the infrared light spot captured is G1(Ug1,Vg1)；
After robot movement, the infrared pendent lamp center pixel changes in coordinates described in the visual field of the infrared camera isThe center pixel changes in coordinates of the infrared light spot isIt can then be constrained by following planar movement
And the infrared camera affine transformation geometrical relationship calculates the position (x after robot movement1, y1) and newly towards θ1；
With reference to above-mentioned calculation formula and variable-definition, the in-plane displancement vector that can calculate the robot is (x1-x0,y1-y0)；
It can be obtained after deformation：
It is basic herein
On, being oriented after robot movement can be calculated：
Wherein
Then the position that can be calculated after the robot movement is (x1, y1)；
Then the vertical height distance that the infrared light spot Gi can be calculated to the infrared photography head plane is：
3. according to claim 2 utilize infrared pendent lamp and the method for camera robot measurement position, which is characterized in that
In the step 5, calculate the elevation information of the infrared light spot newly captured and refer to：
With reference to described in the elevation information and previous moment of the known infrared light spot robot be positioned against and location information,
Using the computational methods described in step 4, with reference to the elevation information of the infrared light spot having calculated that, update described in calculating
Information is positioned against after robot movement；
Meanwhile the information of the height of the hot spot newly captured is calculated, to complete the robot subsequently meter of direction and position
It calculates.
4. a kind of utilize infrared pendent lamp and the system of camera robot measurement position, which is characterized in that including：
Infrared pendent lamp is provided with lampshade on the outside of the infrared pendent lamp, and hot spot hole, the hot spot hole are offered on the lampshade
Offer it is multiple, the infrared light sent out by the infrared pendent lamp pass through the lampshade on hot spot hole be formed with infrared light spot figure
Layer；
Infrared camera, for being caught to the image of the infrared light spot figure layer in infrared camera setting to robot
It catches；
Control processor, the control processor connect with the infrared camera signal, for being caught to the infrared camera
The infrared light spot image grasped carries out calculation processing.
5. according to claim 4 utilize infrared pendent lamp and the system of camera robot measurement position, which is characterized in that
Lamp bracket is further included, the infrared pendent lamp is set to by universal joint on the lamp bracket.
6. according to claim 4 or 5 using infrared pendent lamp and the system of camera robot measurement position, feature exists
In,
The hot spot hole is evenly distributed on the lampshade.
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| CN201810325788.1A CN108253970B (en) | 2018-04-12 | 2018-04-12 | Method and system for measuring position of robot by utilizing infrared ceiling lamp and camera |
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| CN201810325788.1A CN108253970B (en) | 2018-04-12 | 2018-04-12 | Method and system for measuring position of robot by utilizing infrared ceiling lamp and camera |
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