CN205068153U - Distributing type visual positioning system based on walking robot - Google Patents
Distributing type visual positioning system based on walking robot Download PDFInfo
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Abstract
The utility model relates to a distributing type visual positioning system based on walking robot. The problem of prior art walking robot location is inaccurate, and work efficiency is low is solved. The system is including setting up vision node, walking robot and control server, and the vision node includes a plurality of camera units, and the control server includes image processing unit, positioning unit and map unit, and the camera unit is connected with image processing unit respectively, and image processing unit and map unit link to each other with positioning unit respectively, and positioning unit is connected with the walking robot, is provided with the characteristic and marks on the walking robot. Through to gathering the image, mark characteristic in the image and carry out image processing and calculation, obtain the distance, fix a position on the map. The utility model has the advantages that pinpoint the walking robot in indoor position, improved the work function of walking robot greatly, improved work efficiency. A plurality of camera units distribute in the indoor environment, form many visions node location in coordination.
Description
Technical field
The utility model relates to a kind of robot navigation's technical field, especially relates to a kind of distributed vision positioning system based on walking robot and method.
Background technology
In recent years, along with the development of science and technology, walking robot obtains applying more and more widely in fields such as service, detection, logistics.And will become walking robot quick position and navigation and realize intelligentized key.
Current walking robot much only leans on the sensor of the installation of self or camera detect environment and set up, and do not relate to the technology that robot and external view equipment collaboration locate, which greatly limits the job function of robot, reduce work efficiency.In indoor are as office environment, there is multiple large object especially, when walking robot is when mobile, need to obtain and accurately locate and indoor environment information, distributed vision positioning system just can solve the problem of this respect.
Summary of the invention
The utility model mainly solves prior art walking robot and locates inaccurate, and ineffective problem, provides the distributed vision positioning system based on walking robot of a kind of colocated, accurate positioning.
Above-mentioned technical matters of the present utility model is mainly solved by following technical proposals: a kind of distributed vision positioning system based on walking robot, comprise the vision node in environment disposed in the interior, walking robot and Control Server, described vision node comprises multiple camera unit, described Control Server comprises graphics processing unit, positioning unit and map unit, camera unit is connected with graphics processing unit respectively, graphics processing unit is connected with positioning unit respectively with map unit, positioning unit is connected with walking robot, walking robot is provided with feature indication.The utility model can accurately in the position of indoor, substantially increase the job function of walking robot, improve work efficiency by home row robot walking.Multiple camera unit is distributed in indoor environment, forms many visions node colocated.Camera unit sends the image photographed to graphics processing unit process, and graphics processing unit carries out feature point extraction to image, judges whether walking robot enters image.Positioning unit carries out location, position according to the image after process to walking robot, and the environmental map that unit stores according to the map is simultaneously located and display line robot walking on map.Feature indication is arranged on walking robot on the surface, uses for recognition machine people and location.Communicated by IPC between each unit.
As a kind of preferred version, described graphics processing unit comprises the image enhancement module and profile extraction module that connect successively, and image enhancement module is connected with camera unit respectively, and profile extraction module is connected with positioning unit.By the process of image enhancement module and profile extraction module, the feature indication on walking robot in image is extracted, as follow-up location Calculation.Image enhancement module carries out gray processing, binary conversion treatment to image.Profile extraction module adopts the Canny Operators Algorithm improved to extract the edge of main body identification point and distance identification point.
As a kind of preferred version, described processing unit is provided with display unit.Display unit can show current environment map, and can be presented in environmental map by the walking robot behind location, makes operator intuitively see walking robot current location.
As a kind of preferred version, be connected to each other by network between described camera unit.IPC(Inter-ProcessCommunication is passed through between camera) communicate.Can synchronous operation be carried out between camera unit, send to Control Server to process the image of synchronization.
As a kind of preferred version, described feature indication comprises the main body identification point being arranged on center, walking robot surface, be symmetricly set on two distance identification points of identification point both sides, main body identification point and two distance identification points are circle and are on same straight line, formed and indicate length between two distance identification points.Main body identification point for identifying rows robot walking, extracts main body identification point on image in graphics processing unit, detects that walking robot enters within the scope of the camera unit of this image of shooting.And distance identification point is used for extrapolating the distance between walking robot to the camera unit taken according to the distance between them.
Therefore, the utility model has the advantages that: accurately home row robot walking is in the position of indoor, substantially increases the job function of walking robot, improves work efficiency.Multiple camera unit is distributed in indoor environment, forms many visions node colocated.
Accompanying drawing explanation
Accompanying drawing 1 is a kind of structural frames diagram of the present utility model.
1-vision node 2-Control Server 3-walking robot 4-camera unit 5-graphics processing unit 6-positioning unit 7-map unit 8-display unit 9-image enhancement module 10-profile extraction module.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, the technical solution of the utility model is described in further detail.
Embodiment:
A kind of distributed vision positioning system based on walking robot of the present embodiment, as shown in Figure 1, comprises the vision node 1 in environment disposed in the interior, walking robot 3 and Control Server 2.
Vision node comprises multiple camera unit 4, is connected between camera unit by IPC.Control Server comprises graphics processing unit 5, positioning unit 6, map unit 7 and display unit 8, and wherein graphics processing unit comprises again image enhancement module 9 and profile extraction module 10.Camera unit is connected with the image enhancement module of graphics processing unit respectively, and image enhancement module is connected with profile extraction module, and profile extraction module is connected with positioning unit.Map unit is connected with positioning unit respectively with display unit, and positioning unit is connected with walking robot,
Walking robot is provided with feature indication.Feature indication comprises the main body identification point being arranged on center, walking robot surface, be symmetricly set on two distance identification points of identification point both sides, main body identification point and two distance identification points are circle and are on same straight line, formed and indicate length between two distance identification points.
Positioning system position fixing process comprises:
First to demarcate each camera unit setting different distance respectively, obtain the relation table indicating in image coordinate system and indicate length ratio and distance in length and global coordinate system; Adopt scaling board to demarcate, by scaling board in camera unit operating distance setting range, once demarcate every constant spacing, obtain the camera interior and exterior parameter of each distance.Generally be set in 800 ~ 1500cm distance, once demarcate every 50cm.This programme adopts Halcan calibration algorithm to operate.
Camera unit is started working, graphics processing unit is sent to process respectively the image simultaneously gathered every a period, graphics processing unit carries out image enhaucament and contours extract to feature indication in image, Hough transform is carried out to the contour images extracted and calculates main body identification point and distance identification point center of circle pixel data in feature indication, determine to indicate length pixel data according to these pixel datas; These camera units gather an image every 3 seconds simultaneously and send to graphics processing unit.Sign length computation comprises: if two distance identification points are on same straight line, two distance identification point center of circle row coordinates are carried out subtracting each other obtaining and indicates length value, if two distance identification points are not on same straight line, two distance identification point center of circle row coordinates are carried out subtracting each other and obtains length of straight flange value, two distance identification point center of circle horizontal ordinates are carried out subtracting each other and obtains lateral side length value, then calculate sign length value.
Centered by picture centre, image is divided some regions, determine walking robot regional location in the picture, according to area priorities, choose the image that walking robot is positioned at the higher region of priority and carry out subsequent treatment;
Indicate in length and global coordinate system in computed image coordinate system and indicate length ratio, choose ratio immediate with it in demarcation, obtain walking robot to the distance value of image unit, on environmental map, walking robot is positioned according to distance value.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various amendment or supplements or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present utility model or surmount the scope that appended claims defines.
Although more employ the terms such as vision node, Control Server, walking robot, camera unit, graphics processing unit herein, do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present utility model more easily; The restriction that they are construed to any one additional is all contrary with the utility model spirit.
Claims (4)
1. the distributed vision positioning system based on walking robot, it is characterized in that: comprise the vision node (1) in environment disposed in the interior, walking robot (3) and Control Server (2), described vision node comprises multiple camera unit (4), described Control Server comprises graphics processing unit (5), positioning unit (6) and map unit (7), camera unit is connected with graphics processing unit respectively, graphics processing unit is connected with positioning unit respectively with map unit, positioning unit is connected with walking robot, walking robot is provided with feature indication, described feature indication comprises the main body identification point being arranged on center, walking robot surface, be symmetricly set on two distance identification points of identification point both sides, main body identification point and two distance identification points are circle and are on same straight line, formed between two distance identification points and indicate length.
2. a kind of distributed vision positioning system based on walking robot according to claim 1, it is characterized in that described graphics processing unit (5) comprises the image enhancement module (9) and profile extraction module (10) connected successively, image enhancement module is connected with camera unit respectively, and profile extraction module is connected with positioning unit.
3. a kind of distributed vision positioning system based on walking robot according to claim 1, is characterized in that described positioning unit (6) is provided with display unit (8).
4. a kind of distributed vision positioning system based on walking robot according to claim 1 or 2 or 3, is characterized in that being connected to each other by network between described camera unit (4).
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| CN201520593527.XU CN205068153U (en) | 2015-08-07 | 2015-08-07 | Distributing type visual positioning system based on walking robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105698784A (en) * | 2016-03-22 | 2016-06-22 | 成都电科创品机器人科技有限公司 | Indoor robot positioning system and method |
| CN106843224A (en) * | 2017-03-15 | 2017-06-13 | 广东工业大学 | A kind of method and device of multi-vision visual positioning collaboration guiding transport vehicle |
| CN108459595A (en) * | 2017-06-16 | 2018-08-28 | 炬大科技有限公司 | A kind of method in mobile electronic device and the mobile electronic device |
| CN108459597A (en) * | 2017-07-26 | 2018-08-28 | 炬大科技有限公司 | A kind of mobile electronic device and method for handling the task of mission area |
| CN108664027A (en) * | 2018-05-17 | 2018-10-16 | 深圳市沃特沃德股份有限公司 | The method and apparatus for monitoring sweeper abnormality |
| CN110665238A (en) * | 2019-10-10 | 2020-01-10 | 武汉蛋玩科技有限公司 | Toy robot for positioning game map by using infrared vision |
| CN113001536A (en) * | 2019-12-20 | 2021-06-22 | 中国科学院沈阳计算技术研究所有限公司 | Anti-collision detection method and device for multiple cooperative robots |
-
2015
- 2015-08-07 CN CN201520593527.XU patent/CN205068153U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105698784A (en) * | 2016-03-22 | 2016-06-22 | 成都电科创品机器人科技有限公司 | Indoor robot positioning system and method |
| CN106843224A (en) * | 2017-03-15 | 2017-06-13 | 广东工业大学 | A kind of method and device of multi-vision visual positioning collaboration guiding transport vehicle |
| CN106843224B (en) * | 2017-03-15 | 2020-03-10 | 广东工业大学 | Method and device for cooperatively guiding transport vehicle through multi-view visual positioning |
| CN108459595A (en) * | 2017-06-16 | 2018-08-28 | 炬大科技有限公司 | A kind of method in mobile electronic device and the mobile electronic device |
| WO2018228258A1 (en) * | 2017-06-16 | 2018-12-20 | 炬大科技有限公司 | Mobile electronic device and method therein |
| CN108459597A (en) * | 2017-07-26 | 2018-08-28 | 炬大科技有限公司 | A kind of mobile electronic device and method for handling the task of mission area |
| CN108459597B (en) * | 2017-07-26 | 2024-02-23 | 炬大科技有限公司 | Mobile electronic device and method for processing tasks in task area |
| CN108664027A (en) * | 2018-05-17 | 2018-10-16 | 深圳市沃特沃德股份有限公司 | The method and apparatus for monitoring sweeper abnormality |
| CN108664027B (en) * | 2018-05-17 | 2020-04-14 | 深圳市无限动力发展有限公司 | Method and device for monitoring abnormal state of sweeper |
| CN110665238A (en) * | 2019-10-10 | 2020-01-10 | 武汉蛋玩科技有限公司 | Toy robot for positioning game map by using infrared vision |
| CN110665238B (en) * | 2019-10-10 | 2021-07-27 | 武汉蛋玩科技有限公司 | Toy robot for positioning game map by using infrared vision |
| CN113001536A (en) * | 2019-12-20 | 2021-06-22 | 中国科学院沈阳计算技术研究所有限公司 | Anti-collision detection method and device for multiple cooperative robots |
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