CN109008806A - A kind of sweeping robot positioning system and method based on the positioning of LED intelligent lamp - Google Patents
A kind of sweeping robot positioning system and method based on the positioning of LED intelligent lamp Download PDFInfo
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- CN109008806A CN109008806A CN201810661622.7A CN201810661622A CN109008806A CN 109008806 A CN109008806 A CN 109008806A CN 201810661622 A CN201810661622 A CN 201810661622A CN 109008806 A CN109008806 A CN 109008806A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Length Measuring Devices By Optical Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of sweeping robot positioning systems based on LED light positioning, optical transmitting set and LED positioned light source are equipped with inside sweeping robot, the outside of sweeping robot is equipped with optical receiver, anti-dazzling screen is equipped between optical transmitting set and optical receiver, anti-dazzling screen offers two circular holes, a projection plane is arranged in parallel with behind anti-dazzling screen, it further include that sensor device is obtained by the coordinate after two circular holes of anti-dazzling screen in two projection coordinates of the projection plane for obtaining the light of LED positioned light source sending, and the system operations unit of the coordinate position for calculating sweeping robot, system operations unit and optical transmitting set, optical receiver passes through the connection of wireless or wired mode respectively.The invention also discloses a kind of sweeping robot localization methods based on LED light positioning, and the entire position fixing process of the present invention avoids various electromagnetic interferences, to significantly improve the positioning accuracy of robot, reduce and accidentally position, reduce the probability of error hiding.
Description
Technical field
This patent is related to a kind of LED field of locating technology, in particular to a kind of sweeping robot based on LED light positioning is fixed
Position system and method.
Background technique
Sweeping robot is also known as automatic to sweep machine, intelligent dust suction, robot cleaner etc., is the one of controlling intelligent household appliances
Kind, certain artificial intelligence can be relied on, complete floor cleaning work in the room automatically.General use brush is swept and vacuum mode,
Ground sundries is first received into the rubbish storage box into itself, to complete the function of land clearing.Existing sweeping robot
It can choose different cleaning modes, such as random cleaning modes, all standing cleaning modes etc. during cleaning.Wherein all standing is clear
It sweeps mode and needs to plan cleaning track etc., sweeping robot is needed to be able to carry out accurate autonomous positioning.Therefore how to mention
The positioning accuracy of high robot, reduction have great significance during being accidentally located in robot automtion.
In addition, sweeping robot is positioned using laser radar at present, this positioning is at high cost, and the service life is short, resists
Interference performance is not strong.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of machine of sweeping the floor based on the positioning of LED intelligent lamp
People's localization method, the technical solution adopted by the present invention to solve the technical problems are achieved through the following technical solutions:
A kind of sweeping robot positioning system based on LED light positioning, comprising:
Optical transmitting set and LED positioned light source are equipped with inside the sweeping robot, the outside of the sweeping robot is equipped with and light
The matched optical receiver of transmitter, is equipped with anti-dazzling screen between the optical transmitting set and optical receiver, the anti-dazzling screen offers two
A circular hole is arranged in parallel with a projection plane, the sweeping robot positioning based on LED light positioning behind the anti-dazzling screen
System further includes passing through two projection coordinates after two circular holes of barn door in the projection plane for obtaining the light of LED sending
Coordinate obtain sensor device, and for according to the coordinate of two circular holes of known barn door formed two linear equations,
To calculate the system operations unit of the coordinate position of sweeping robot, the system operations unit passes through wireless or wired
Mode is connect with optical transmitting set, optical receiver.
Further, it is that camera vision picks up projecting subassembly or linear CCD passes that the coordinate, which obtains sensor device,
Sensor component.
Further, the LED positioned light source is LED source of parallel light.
Specifically, the LED source of parallel light includes pcb board, LED lamp bead and convex lens, the LED lamp bead is distributed in PCB
On plate, the LED lamp bead is fixed at the focal position of convex lens.Convex lens is fixed on by the point light source for issuing LED lamp bead
At the focal position of mirror, a branch of directional light is generated through convex lens refraction.
Based on same design, the present invention also provides a kind of sweeping robot localization methods based on LED light positioning, including with
Lower step:
S1, optical transmitting set and LED positioned light source, the external setting of the intelligent robot are set inside the sweeping robot
With the matched optical receiver of optical transmitting set, anti-dazzling screen is equipped between the optical transmitting set and optical receiver, the anti-dazzling screen opens up
There are two circular holes, a projection plane is arranged in parallel with behind the anti-dazzling screen；
S2, when the LED light of optical transmitting set shine when, light can project two after two circular holes of anti-dazzling screen on a projection plane
A projection, obtains sensor device using coordinate and picks up the projection respectively, obtains two projection coordinate's information by processing；
S3, the coordinate information of two projection coordinate's information and two circular holes of known barn door is formed into two linear equations,
Two linear equation intersection points are the coordinate position of sweeping robot.
Specifically, the step S3 specifically:
S301, LED positioned light source coordinate is set as G (x, y), origin O(0,0), the coordinate plane and room that the two is formed
Face is parallel, in X-axis apart from origin be f negative direction be arranged a point W (0 ,-f), (numerical value of f be ccd linear sensor or
The focal length of person's camera), centered on W point, it is parallel to Y-axis, the coordinate for placing a strip obtains sensor device, coordinate
It obtains sensor device and is directed at projection plane, can take pictures in this way to the projection on projection plane；
S302, the positive direction in X-axis, the place for being k apart from origin are parallel to projection plane and a barn door are arranged, in coordinate
With X-axis symmetrically to open two symmetrical small through hole A, B on barn door in plane, coordinate distinguishes A (k, t), B (k ,-t)；
S303, due on sweeping robot LED positioned light source and barn door small through hole be all located in coordinate plane, shine after,
Its light issued passes through barn door A, and bis- circular holes of B leave bis- shades of C and D respectively in Y-axis on a projection plane, leads to
Cross the positive behind of projection plane coordinate obtain sensor device crawl, so that it may meter calculate its coordinate be C [0, m], D [0,
n] ；
S304, according to known two point A (k, t), the coordinate of C (0, m) obtains the linear equation of AC:
(x-k)/(y-t)=(0-k)/(m-t)
S305, according to known B [ k, (- t) ], the coordinate of D (0, n) obtains the linear equation of BD:
(x-k)/[ y- (- t) ]=(0-k)/[n- (- t)]
S306, according to known k, t and m, n is learnt by calculating after crawl of taking pictures, and is passed through and is calculated straight line AC's and straight line BD
Intersection point g (x, y) is the coordinate position of LED positioning lamp on sweeping robot.
1, the sweeping robot positioning system and method for the invention based on LED light positioning, when sweeping robot needs to determine
When position, optical transmitting set controls LED positioned light source and shines, while sending out signal of communication to optical receiver, and optical receiver receives communication
After signal and LED light, coordinate is grabbed and measured to projection, and sweeping robot coordinate bit is calculated by preceding formula
It sets, coordinate position is then issued sweeping robot again, entire position fixing process avoids various electromagnetic interferences, to significantly improve machine
The positioning accuracy of device people is reduced and is accidentally positioned, and reduces vision reorientation in similar environments and the probability of error hiding occurs.
2, the present invention makes sweeping robot need not rely on the high cost positioning devices such as laser radar, and LED life is long, resists
Interference performance is strong.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the sweeping robot positioning system positioned the present invention is based on LED light.
Fig. 2 is LED positioned light source structural schematic diagram.
Fig. 3 is the structural schematic diagram that LED positioned light source generates directional light.
Fig. 4 is the module frame chart of optical transmitting set.
Specific embodiment
Such as Fig. 1-Fig. 4, a kind of sweeping robot positioning system based on LED light positioning is had been provided in the present invention, described to sweep the floor
Optical transmitting set 2 and LED positioned light source 2-1 are equipped with inside robot 3, the outside of the sweeping robot 3 is equipped with and optical transmitting set 2
Matched optical receiver 1, is equipped with anti-dazzling screen 1-3 between the optical transmitting set 2 and optical receiver 1, the anti-dazzling screen 1-3 is offered
Two circular holes are arranged in parallel with a projection plane 1-2, the intelligence machine based on LED light positioning behind the anti-dazzling screen
People's positioning system further includes passing through two throwings after two circular holes of barn door in the projection plane for obtaining the light of LED sending
The coordinate of shadow coordinate obtains sensor device 1-1, and for forming two according to the coordinate of two circular holes of known barn door
Linear equation, so that the system operations unit (not shown) of the coordinate position of sweeping robot is calculated, the system fortune
Unit is calculated to connect by wireless or wired mode with optical transmitting set 2, optical receiver 1.
In the present embodiment, optical transmitting set 2 is mounted on above sweeping robot 3, wherein sweeping robot 3 is additionally provided with communication
Module 3-1 and power supply 3-2 composition (such as Fig. 3), communication module 3-1 are responsible for communication.
In conjunction with Fig. 2 and Fig. 3, the LED positioned light source is LED source of parallel light.The LED source of parallel light includes pcb board 2-
1B, LED lamp bead 2-1A and convex lens 2-1C, the LED lamp bead are distributed on pcb board, and the LED lamp bead is fixed on convex lens
At focal position.It is fixed at the focal position of convex lens by the point light source for issuing LED lamp bead, is through convex lens refraction
Generate a branch of directional light.The angle and power of lamp bead and the angle of lens can be with unrestricted choices, and lamp bead is in this scheme
The common light emitting angle in market is 120 ° of lamp beads, and lamp bead is horizontally arranged on pcb board at annulus shape, lamp bead light-emitting surface face circle
The convex lens incidence surface of annular, lamp bead light-emitting surface be located at the focus of convex lens perhaps near sending light pass through convex lens (or
Reflector) one narrow angle parallel light source to shine to 360 degree of directions of horizontal plane of processing formation.Lamp bead color can with a variety of,
Camera shooting and image procossing are carried out to shade if it is with infrared camera, infrared lamp bead can be selected, be imaged if ultraviolet light
Head then uses ultraviolet light lamp bead, and if white light camera, we just use common white light lamp bead, this case uses white light lamp bead.
Optical receiver draws box 1-4, barn door 1-3, projection plane 1-2, ccd linear sensor (camera) 1-1 by light guide
And image procossing communication and power supply 1-5 are formed.Light guide is drawn box, barn door, projection plane, ccd linear sensor (camera shooting
Head) it is put well according to the coordinated manner that front is chatted, it is then placed in the device of a sealing, prevents ambient light from influencing.Light draws
Leading box is the rectangular box that a front and back is opened, and is horizontally arranged, and box rear end is connected with barn door, and front end is directed at sweeping robot
There is certain angle in mobile region because general ambient light is all to irradiate from top to bottom, and extraneous light in this way not can enter light
Guide box, and the light of LED positioned light source accessible can enter guide box.When installation, LED positioned light source, light guide box, shading
Two apertures of plate, the center of projection plane, ccd linear sensor (camera) center must be in a plane, such LED light sources
The light of sending could could be received after two apertures by ccd linear sensor (camera).
When sweeping robot needs to position, optical transmitting set controls LED positioned light source and shines, while sending out signal of communication to light
Receiver after optical receiver receives signal of communication and LED light, is grabbed to projection and is measured coordinate, passes through front institute
The formula chatted calculates sweeping robot coordinate position, and coordinate position is then issued sweeping robot again.
Based on same design, the present invention also provides a kind of intelligent robot localization methods based on LED light positioning, including with
Lower step:
S1, optical transmitting set and LED positioned light source, the external setting of the intelligent robot are set inside the sweeping robot
With the matched optical receiver of optical transmitting set, anti-dazzling screen is equipped between the optical transmitting set and optical receiver, the anti-dazzling screen opens up
There are two circular holes, a projection plane is arranged in parallel with behind the anti-dazzling screen；
S2, when the LED light of optical transmitting set shine when, light can project two after two circular holes of anti-dazzling screen on a projection plane
A projection, obtains sensor device using coordinate and picks up the projection respectively, obtains two projection coordinate's information by processing；
S3, the coordinate information of two projection coordinate's information and two circular holes of known barn door is formed into two linear equations,
Two linear equation intersection points are the coordinate position of sweeping robot.
Specifically, the step S3 specifically:
S301, LED positioned light source coordinate is set as G (x, y), origin O(0,0), the coordinate plane and room that the two is formed
Face is parallel, in X-axis apart from origin be f negative direction be arranged a point W (0 ,-f), (numerical value of f be ccd linear sensor or
The focal length of person's camera), centered on W point, it is parallel to Y-axis, the coordinate for placing a strip obtains sensor device, coordinate
It obtains sensor device and is directed at projection plane, can take pictures in this way to the projection on projection plane；
S302, the positive direction in X-axis, the place for being k apart from origin are parallel to projection plane and a barn door are arranged, in coordinate
With X-axis symmetrically to open two symmetrical small through hole A, B on barn door in plane, coordinate distinguishes A (k, t), B (k ,-t)；
S303, due on intelligent robot LED positioned light source and barn door small through hole be all located in coordinate plane, shine after,
Its light issued passes through barn door A, and bis- circular holes of B leave bis- shades of C and D respectively in Y-axis on a projection plane, leads to
Cross the positive behind of projection plane coordinate obtain sensor device crawl, so that it may meter calculate its coordinate be C [0, m], D [0,
n] ；
S304, according to known two point A (k, t), the coordinate of C (0, m) obtains the linear equation of AC:
(x-k)/(y-t)=(0-k)/(m-t)
S305, according to known B [ k, (- t) ], the coordinate of D (0, n) obtains the linear equation of BD:
(x-k)/[ y- (- t) ]=(0-k)/[n- (- t)]
S306, according to known k, t and m, n is learnt by calculating after crawl of taking pictures, and is passed through and is calculated straight line AC's and straight line BD
Intersection point g (x, y) is the coordinate position of LED positioning lamp on sweeping robot.
Above-described embodiment and schema and it is non-limiting be used for sweeping robot and intelligent robot, product form of the invention and
Style, the appropriate changes or modifications that any person of an ordinary skill in the technical field does it all should be regarded as not departing from this
The patent category of invention.
Claims (7)
1. a kind of sweeping robot positioning system based on LED light positioning characterized by comprising
Optical transmitting set and LED positioned light source are equipped with inside the sweeping robot, the outside of the sweeping robot is equipped with and light
The matched optical receiver of transmitter, is equipped with anti-dazzling screen between the optical transmitting set and optical receiver, the anti-dazzling screen offers two
A circular hole is arranged in parallel with a projection plane, the intelligent robot positioning based on LED light positioning behind the anti-dazzling screen
System further includes passing through two projection coordinates after two circular holes of barn door in the projection plane for obtaining the light of LED sending
Coordinate obtain sensor device, and for according to the coordinate of two circular holes of known barn door formed two linear equations,
To calculate the system operations unit of the coordinate position of sweeping robot, the system operations unit connects with optical transmitting set, light
It receives device and passes through the connection of wireless or wired mode.
2. a kind of sweeping robot positioning system based on LED light positioning according to claim 1, which is characterized in that institute
Stating coordinate and obtaining sensor device is that camera vision picks up component or linear CCD sensor component.
3. a kind of sweeping robot positioning system based on LED light positioning according to claim 1, which is characterized in that institute
Stating LED positioned light source is LED source of parallel light.
4. a kind of sweeping robot positioning system based on LED light positioning according to claim 3, which is characterized in that institute
Stating LED source of parallel light includes pcb board, LED lamp bead and convex lens, and the LED lamp bead is distributed on pcb board, and the LED lamp bead is solid
At the focal position of convex lens.
5. a kind of sweeping robot localization method based on LED light positioning, which comprises the following steps:
S1, setting optical transmitting set and LED positioned light source, the outside of the sweeping robot are set inside the sweeping robot
Be equipped with the matched optical receiver of optical transmitting set, between the optical transmitting set and optical receiver be equipped with anti-dazzling screen, the anti-dazzling screen
Two circular holes are offered, a projection plane is arranged in parallel with behind the anti-dazzling screen；
S2, when the LED light of optical transmitting set shine when, light can project two after two circular holes of anti-dazzling screen on a projection plane
A projection, obtains sensor device using coordinate and picks up the projection respectively, obtains two projection coordinate's information by processing；
S3, the coordinate information of two projection coordinate's information and two circular holes of known barn door is formed into two linear equations,
Two linear equation intersection points are the coordinate position of sweeping robot.
6. a kind of sweeping robot localization method based on LED light positioning according to claim 5, which is characterized in that institute
State step S3's specifically:
S301, LED positioned light source coordinate is set as G (x, y), origin O(0,0), the coordinate plane and room that the two is formed
Face is parallel, in X-axis apart from origin be f negative direction be arranged a point W (0 ,-f), (numerical value of f be ccd linear sensor or
The focal length of person's camera), centered on W point, it is parallel to Y-axis, the coordinate for placing a strip obtains sensor device, in addition
One projection plane is set, this projection plane passes through Y-axis, and vertical coordinate plane, and coordinate obtains sensor device alignment
Projection plane in this way can take pictures to the projection on projection plane；
S302, the positive direction in X-axis, the place for being k apart from origin are parallel to projection plane and a barn door are arranged, in coordinate
With X-axis symmetrically to open two symmetrical small through hole A, B on barn door in plane, coordinate distinguishes A (k, t), B (k ,-t)；
S303, due on sweeping robot LED positioned light source and barn door small through hole be all located in coordinate plane, shine after,
Its light issued passes through barn door A, and bis- circular holes of B leave bis- shades of C and D respectively in Y-axis on a projection plane, leads to
Cross the positive behind of projection plane coordinate obtain sensor device crawl, so that it may meter calculate its coordinate be C [0, m], D [0,
n] ；
S304, according to known two point A (k, t), the coordinate of C (0, m) obtains the linear equation of AC:
(x-k)/(y-t)=(0-k)/(m-t)
S305, according to known B [ k, (- t) ], the coordinate of D (0, n) obtains the linear equation of BD:
(x-k)/[ y- (- t) ]=(0-k)/[n- (- t)]
S306, according to known k, t and m, n is learnt by calculating after crawl of taking pictures, and is passed through and is calculated straight line AC's and straight line BD
Intersection point g (x, y) is the coordinate position of LED positioning lamp on sweeping robot.
7. a kind of sweeping robot localization method based on LED light positioning according to claim 5, which is characterized in that institute
Stating LED positioned light source is LED source of parallel light.
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| CN201810661622.7A CN109008806B (en) | 2018-06-25 | 2018-06-25 | Floor sweeping robot positioning system and method based on LED intelligent lamp positioning |
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| CN201810661622.7A CN109008806B (en) | 2018-06-25 | 2018-06-25 | Floor sweeping robot positioning system and method based on LED intelligent lamp positioning |
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| CN109008806B CN109008806B (en) | 2023-06-20 |
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Cited By (4)
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| CN109828231A (en) * | 2019-02-26 | 2019-05-31 | 天津大学 | Flight light source localization method in a kind of LED based room |
| CN110208743A (en) * | 2019-03-05 | 2019-09-06 | 天津大学 | Flight light source localization method in a kind of traffic tunnel based on white light LEDs |
| CN113261884A (en) * | 2021-06-17 | 2021-08-17 | 东莞市光劲光电有限公司 | Floor sweeping robot positioning method |
| CN113552583A (en) * | 2021-07-30 | 2021-10-26 | 东莞市光劲光电有限公司 | Single-camera object three-dimensional space positioning method |
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