阅读说明：本技术 一种用于室内行走机器人有限路径定位装置及方法 (Limited path positioning device and method for indoor walking robot ) 是由 余程 袁荣炎 宋天东 于 2021-07-13 设计创作，主要内容包括：本发明公开了一种用于室内行走机器人有限路径定位装置和方法,所述装置包括微处理器、红外摄像机和N个互不相同的红外光图形,N≥3；所述红外摄像机与所述微处理器相连,用于测量红外光图形并发送至微处理器；各红外光图形均布置在机器人行走路径上方,且各红外光图形之间的位置必须满足红外摄像机一次至少测量到K个红外光图形,K≥2；所述微处理器内设有由N个互不相同的红外光图形组成的坐标系,并基于接收到的红外光图形数据计算出机器人的位置,完成定位。本发明采用在机器人行走的路径上方布设多个红外光图案,机器人通过识别到的红外光图形,用以确认机器人所在的位置,实现室内行走机器人有限路径定位目的。(The invention discloses a limited path positioning device and a method for an indoor walking robot, wherein the device comprises a microprocessor, an infrared camera and N infrared light patterns which are different from each other, wherein N is more than or equal to 3; the infrared camera is connected with the microprocessor and used for measuring an infrared light pattern and sending the infrared light pattern to the microprocessor; all the infrared light patterns are arranged above the walking path of the robot, and the positions among the infrared light patterns must meet the requirement that an infrared camera at least measures K infrared light patterns at one time, wherein K is more than or equal to 2; and a coordinate system consisting of N different infrared light patterns is arranged in the microprocessor, and the position of the robot is calculated based on the received infrared light pattern data to complete positioning. The invention adopts the technical scheme that a plurality of infrared light patterns are distributed above the walking path of the robot, and the robot is used for confirming the position of the robot through the recognized infrared light patterns, thereby realizing the purpose of positioning the limited path of the indoor walking robot.)

1. A limited path positioning apparatus for an indoor walking robot, characterized in that: the infrared image acquisition system comprises a microprocessor, an infrared camera and N different infrared light patterns, wherein N is more than or equal to 3;

the infrared camera is connected with the microprocessor and used for measuring an infrared light pattern and sending the infrared light pattern to the microprocessor;

all the infrared light patterns are arranged above the walking path of the robot, and the positions among the infrared light patterns must meet the requirement that an infrared camera at least measures K infrared light patterns at one time, wherein K is more than or equal to 2;

and a coordinate system consisting of N different infrared light patterns is arranged in the microprocessor, and the position of the robot is calculated based on the received infrared light pattern data to complete positioning.

2. The limited path positioning apparatus for an indoor walking robot as claimed in claim 1, wherein the robot walking path comprises a path center line and boundary lines provided on both sides of the path center line.

3. The limited path positioning apparatus for an indoor walking robot according to claim 1, wherein: each infrared light pattern is arranged on an indoor ceiling above a walking path of the robot.

4. The limited path positioning apparatus for an indoor walking robot according to claim 1, wherein: the device for positioning the limited path of the indoor walking robot further comprises a speedometer, wherein the speedometer is used for being installed on the robot and connected with the microprocessor, and the speedometer and the microprocessor are matched to realize the area positioning of the robot.

5. The limited path positioning apparatus for an indoor walking robot according to claim 1, wherein: the position of the robot is calculated based on the received infrared light graphic data, and the method specifically comprises the following steps:

when the infrared camera window collects the infrared light pattern J_iAnd infrared light pattern J_i+1When the robot walks, a plurality of infrared light patterns J in the process of continuously recording the infrared light patterns J_iCorresponding first graphic data T_i,1,T_i,2,…T_i,mAnd the infrared light pattern J_i+1Corresponding second graphic data T_i+1,1,T_i+1,2,…T_i+1,mCalculate each graphic data T_i,1,T_i,2,…T_i,mAnd graphic data T_i+1,1,T_i+1,2,…T_i+1,mAnd screening out corresponding first graph data and second graph data;

and calculating the position and direction of the infrared camera, namely the position and direction of the robot, based on the screened first graph data and second graph data and by combining a coordinate system formed by the infrared light graphs.

6. The limited path positioning apparatus for an indoor walking robot according to claim 5, wherein: defining the coordinate of the graphic center position of the first graphic data in the visible frame of the infrared camera as (X)_i,Y_i) The coordinate of the center position of the second graphic data pattern in the visible frame of the infrared camera is (X)_i+1,Y_i+1) Then, the calculation formula of the distance between the first graphic data and the second graphic data is:

R＝[(X_i-X_i+1)*(X_i-X_i+1)+(Y_i-Y_i+1)*(Y_i-Y_i+1)]^1/2。

7. a limited path positioning method for an indoor walking robot, comprising:

controlling the robot to walk on the walking path by using a microprocessor;

measuring an infrared light pattern positioned above the walking path by using an infrared camera and sending the infrared light pattern to a microprocessor; all the infrared light patterns are arranged above the walking path of the robot, and the positions among the infrared light patterns must meet the requirement that an infrared camera at least measures K infrared light patterns at one time, wherein K is more than or equal to 2;

the microprocessor calculates the position of the robot based on a coordinate system which is arranged in the microprocessor and consists of N different infrared light graphs and the received infrared light graph data, and finishes positioning.

8. The limited path positioning method for the indoor walking robot as claimed in claim 7, wherein the robot walking path comprises a path center line and boundary lines provided at both sides of the path center line; the device for positioning the limited path of the indoor walking robot further comprises a speedometer, wherein the speedometer is used for being installed on the robot and connected with the microprocessor, and the speedometer and the microprocessor are matched to realize the area positioning of the robot.

9. The method according to claim 7, wherein the robot position is calculated based on the received infrared light pattern data, specifically:

when the infrared camera window collects the infrared light pattern J_iAnd infrared light pattern J_i+1When the robot walks, a plurality of infrared light patterns J in the process of continuously recording the infrared light patterns J_iCorresponding first graphic data T_i,1,T_i,2,…T_i,mAnd with redExternal light pattern J_i+1Corresponding second graphic data T_i+1,1,T_i+1,2,…T_i+1,mCalculate each graphic data T_i,1,T_i,2,…T_i,mAnd graphic data T_i+1,1,T_i+1,2,…T_i+1,mAnd screening out corresponding first graph data and second graph data;

and calculating the position and direction of the infrared camera, namely the position and direction of the robot, based on the screened first graph data and second graph data and by combining a coordinate system formed by the infrared light graphs.

10. The finite path positioning method for an indoor walking robot of claim 9, wherein the coordinates defining the center position of the first graphic data pattern in the visible frame of the infrared camera are (X)_i,Y_i) The coordinate of the center position of the second graphic data pattern in the visible frame of the infrared camera is (X)_i+1,Y_i+1) Then, the calculation formula of the distance between the first graphic data and the second graphic data is:

R＝[(X_i-X_i+1)*(X_i-X_i+1)+(Y_i-Y_i+1)*(Y_i-Y_i+1)]^1/2。

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a limited path positioning device and method for an indoor walking robot.

Background

The existing autonomous walking navigation and positioning of the indoor robot mostly adopt a laser radar SLAM mode or a visual VSLAM mode. In a laser radar SLAM mode, map information is lost too much in a complex dynamic environment, so that positioning cannot be achieved, and a path cannot be planned through positioning and navigation. The visual VSLAM mode is limited by overlarge calculated amount and dependence on environment patterns, so that the cost of the robot is high, the electric energy consumption is large, and the cruising ability of the robot is influenced; the two-dimensional code is deployed at the top of the room, and as one of visual VSLAM modes, the operation amount is small and the two-dimensional code is applied to some places, but the labor cost for implementing the two-dimensional code is high, the decoration attractiveness of a deployment site is influenced, and the label position of the two-dimensional code has certain requirements on the deployment site, so that the application of many places is limited.

Disclosure of Invention

Aiming at the problems, the invention provides a device and a method for positioning the limited path of an indoor walking robot.

In order to achieve the technical purpose and achieve the technical effects, the invention is realized by the following technical scheme:

in a first aspect, the invention provides a limited path positioning device for an indoor walking robot, which comprises a microprocessor, an infrared camera and N infrared light patterns which are different from each other, wherein N is more than or equal to 3;

the infrared camera is connected with the microprocessor and used for measuring an infrared light pattern and sending the infrared light pattern to the microprocessor;

all the infrared light patterns are arranged above the walking path of the robot, and the positions among the infrared light patterns must meet the requirement that an infrared camera at least measures K infrared light patterns at one time, wherein K is more than or equal to 2;

and a coordinate system consisting of N different infrared light patterns is arranged in the microprocessor, and the position of the robot is calculated based on the received infrared light pattern data to complete positioning.

Optionally, the robot walking path includes a path center line and boundary lines disposed on both sides of the path center line.

Optionally, each infrared light pattern is arranged on an indoor ceiling above the robot walking path.

Optionally, the device for locating the limited path of the indoor walking robot further comprises an odometer, the odometer is used for being mounted on the robot and connected with the microprocessor, and the odometer and the microprocessor are matched to realize the area location of the robot.

Optionally, the calculating the position of the robot based on the received infrared light graphic data specifically includes:

when the infrared camera window collects the infrared light pattern J_iAnd infrared light pattern J_i+1When the robot walks, a plurality of infrared light patterns J in the process of continuously recording the infrared light patterns J_iCorresponding first graphic data T_i，1，T_i，2，…T_i，mAnd the infrared light pattern J_i+1Corresponding second graphic data T_i+1，1，T_i+1，2，…T_i+1，mCalculate each graphic data T_i，1，T_i，2，…T_i，mAnd graphic data T_i+1，1，T_i+1，2，…T_i+1，mAnd screening out corresponding first graph data and second graph data;

and calculating the position and direction of the infrared camera, namely the position and direction of the robot, based on the screened first graph data and second graph data and by combining a coordinate system formed by the infrared light graphs.

Optionally, the coordinate defining the graphic center position of the first graphic data in the visible frame of the infrared camera is (X)_i，Y_i) The coordinate of the center position of the second graphic data pattern in the visible frame of the infrared camera is (X)_i+1，Y_i+1) Then, the calculation formula of the distance between the first graphic data and the second graphic data is:

R＝[(X_i-X_i+1)*(X_i-X_i+1)+(Y_i-Y_i+1)*(Y_i-Y_i+1)]^1/2。

in a second aspect, the present invention provides a limited path positioning method for an indoor-walking robot, comprising:

controlling the robot to walk on the walking path by using a microprocessor;

measuring an infrared light pattern positioned above the walking path by using an infrared camera and sending the infrared light pattern to a microprocessor; all the infrared light patterns are arranged above the walking path of the robot, and the positions among the infrared light patterns must meet the requirement that an infrared camera at least measures K infrared light patterns at one time, wherein K is more than or equal to 2;

the microprocessor calculates the position of the robot based on a coordinate system which is arranged in the microprocessor and consists of N different infrared light graphs and the received infrared light graph data, and finishes positioning.

Optionally, the robot walking path includes a path center line and boundary lines disposed on both sides of the path center line; the device for positioning the limited path of the indoor walking robot further comprises a speedometer, wherein the speedometer is used for being installed on the robot and connected with the microprocessor, and the speedometer and the microprocessor are matched to realize the area positioning of the robot.

Optionally, the calculating the position of the robot based on the received infrared light graphic data specifically includes:

when the infrared camera window collects the infrared light pattern J_iAnd infrared light pattern J_i+1When the robot walks, a plurality of infrared light patterns J in the process of continuously recording the infrared light patterns J_iCorresponding first graphic data T_i，1，T_i，2，…T_i，mAnd the infrared light pattern J_i+1Corresponding second graphic data T_i+1，1，T_i+1，2，…T_i+1，mCalculate each graphic data T_i，1，T_i，2，…T_i，mAnd graphic data T_i+1，1，T_i+1，2，…T_i+1，mAnd screening out corresponding first graph data and second graph data;

and calculating the position and direction of the infrared camera, namely the position and direction of the robot, based on the screened first graph data and second graph data and by combining a coordinate system formed by the infrared light graphs.

Optionally, defining a first graphic data graphic center position at the infrared cameraThe coordinate in the middle visible frame is (X)_i，Y_i) The coordinate of the center position of the second graphic data pattern in the visible frame of the infrared camera is (X)_i+1，Y_i+1) Then, the calculation formula of the distance between the first graphic data and the second graphic data is:

R＝[(X_i-X_i+1)*(X_i-X_i+1)+(Y_i-Y_i+1)*(Y_i-Y_i+1)]^1/2。

compared with the prior art, the invention has the beneficial effects that:

the invention provides a device and a method for positioning a limited path of an indoor walking robot.

Drawings

In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic diagram of a positioning principle of an embodiment of the present invention;

wherein:

1-infrared camera window, 2-path center line, 3-boundary line, 4-boundary line, 5-infrared light graph, 6-robot walking direction, 7-first graph data and 8-second graph data.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.

The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.

Example 1

The embodiment of the invention provides a limited path positioning device for an indoor walking robot, which comprises a microprocessor (not shown in the figure), an infrared camera and N infrared light patterns 5 which are different from each other, wherein N is more than or equal to 3;

the infrared camera is connected with the microprocessor and used for measuring the infrared light pattern 5 and sending the infrared light pattern to the microprocessor, the measured data comprises a pattern characteristic value, and because basic elements of any pattern are tangible and colored (spectrum), the shape mainly comprises: linear (contour, graph, etc.), surface-shaped blocks, etc.; the colors include: visible spectrum, invisible spectrum (perceptible by the sensor); the image processing is to distinguish the characteristic value of the image aiming at different factors such as linear shape, surface block, spectrum, etc., the scheme adopts the characteristic value of the graph which is easier to realize than the chromatographic processing of the graph based on the prior art;

all the infrared light patterns 5 are arranged above the walking path of the robot, and the positions among the infrared light patterns 5 must meet the requirement that an infrared camera at least measures K infrared light patterns 5 once, wherein K is more than or equal to 2; the robot walking path comprises a path central line 2 and boundary lines (3, 4) arranged on two sides of the path central line 2; in the specific implementation process, each infrared light pattern 5 is arranged on an indoor ceiling above the walking path of the robot;

and a coordinate system consisting of N different infrared light patterns 5 is arranged in the microprocessor, and the position of the robot is calculated based on the received data of the infrared light patterns 5 to finish positioning. At present, generally, a robot needs to take a fixed object as a reference object for navigation and positioning to build a global map, a coordinate system formed by N infrared light graphs 5 corresponds to coordinate points in the global map, so that the originally built global map cannot be positioned when local environment changes, and if people and other moving objects shield the fixed object reference object, the coordinate points in the global map are found by identifying the top infrared light graph 5, and the positioning purpose is achieved.

In a specific implementation manner of the embodiment of the present invention, according to the solid geometry projection relationship, when the camera faces a distance between two patterns, the distance is the largest, and the measured pattern is closest to the actual size, the point is closest to being perpendicular to the ground, and the positioning accuracy is the highest, for this reason, the position of the robot is calculated based on the received infrared light pattern 5 data, specifically:

when the infrared camera window 1 collects the infrared light pattern J_iAnd infrared light pattern J_i+1When the robot walks, a plurality of infrared light patterns J in the process of continuously recording the infrared light patterns J_iCorresponding first graphic data T_i，1，T_i，2，…T_i，mAnd the infrared light pattern J_i+1Corresponding second graphic data T_i+1，1，T_i+1，2，…T_i+1，mCalculate each graphic data T_i，1，T_i，2，…T_i，mAnd graphic data T_i+1，1，T_i+1，2，…T_i+1，mAnd screening out the corresponding first graphic data 7 and second graphic data 8;

and calculating the position and the direction of the infrared camera, namely the position of the robot and the walking direction 6 of the robot, based on the screened first graph data 7 and second graph data 8 and by combining a coordinate system formed by the infrared light graph 5.

The coordinates defining the graphic center position of the first graphic data 7 in the visible frame of the infrared camera are (X)_i，Y_i) The coordinates of the center position of the pattern of the second pattern data 8 in the visible frame of the infrared camera are (X)_i+1，Y_i+1) Then, the calculation formula of the distance between the first graphic data 7 and the second graphic data 8 is:

R＝[(X_i-X_i+1)*(X_i-X_i+1)+(Y_i-Y_i+1)*(Y_i-Y_i+1)]^1/2。

when the actual size of the space between the first graphic data 7 and the second graphic data 8 is measured, the reason is J_iAnd J_i+1(coordinate points in the global map), (X)_i，Y_i)、(X_i+1，Y_i+1) The coordinates in the visual frame of the camera are known, and the actual coordinates of the robot in the global map can be obtained through geometric coordinate calculation.

In a specific implementation manner of the embodiment of the invention, the device for locating the limited path of the indoor walking robot further comprises an odometer, wherein the odometer is used for being installed on the robot and is connected with the microprocessor, and the odometer and the microprocessor are matched to realize the area location of the robot.

Example 2

The embodiment of the invention provides a limited path positioning method for an indoor walking robot, which comprises the following steps:

controlling the robot to walk on the walking path by using a microprocessor; the robot walking path comprises a path central line 2 and boundary lines (3, 4) arranged on two sides of the path central line 2;

measuring an infrared light pattern 5 positioned above the walking path by using an infrared camera and sending the infrared light pattern to a microprocessor; all the infrared light patterns 5 are arranged above the walking path of the robot, and the positions among the infrared light patterns 5 must meet the requirement that an infrared camera at least measures K infrared light patterns 5 once, wherein K is more than or equal to 2; in the specific implementation process, each infrared light pattern 5 is arranged on an indoor ceiling above the walking path of the robot; the measured data includes graphic feature values because basic elements of an arbitrary graphic are tangible and chromatic (spectral), the tangible mainly including: linear (contour, graph, etc.), surface-shaped blocks, etc.; the colors include: visible spectrum, invisible spectrum (perceptible by the sensor); the image processing is to distinguish the characteristic value of the image aiming at different factors such as linear shape, surface block, spectrum, etc., the scheme adopts the characteristic value of the graph which is easier to realize than the chromatographic processing of the graph based on the prior art;

the microprocessor calculates the position of the robot based on a coordinate system which is arranged in the microprocessor and consists of N different infrared light graphs 5 and the received data of the infrared light graphs 5, and finishes positioning.

In a specific implementation manner of the embodiment of the present invention, according to the solid geometry projection relationship, when the camera faces a distance between two patterns, the distance is the largest, and the measured pattern is closest to the actual size, the point is closest to being perpendicular to the ground, and the positioning accuracy is the highest, for this reason, the position of the robot is calculated based on the received infrared light pattern 5 data, specifically:

when the infrared camera views the window 1Infrared light pattern J_iAnd infrared light pattern J_i+1When the robot walks, a plurality of infrared light patterns J in the process of continuously recording the infrared light patterns J_iCorresponding first graphic data T_i，1，T_i，2，…T_i，mAnd the infrared light pattern J_i+1Corresponding second graphic data T_i+1，1，T_i+1，2，…T_i+1，mCalculate each graphic data T_i，1，T_i，2，…T_i，mAnd graphic data T_i+1，1，T_i+1，2，…T_i+1，mAnd screening out the corresponding first graphic data 7 and second graphic data 8;

and calculating the position and the direction of the infrared camera, namely the position of the robot and the walking direction 6 of the robot, based on the screened first graph data 7 and second graph data 8 and by combining a coordinate system formed by the infrared light graph 5.

The coordinates defining the graphic center position of the first graphic data 7 in the visible frame of the infrared camera are (X)_i，Y_i) The coordinates of the center position of the pattern of the second pattern data 8 in the visible frame of the infrared camera are (X)_i+1，Y_i+1) Then, the calculation formula of the distance between the first graphic data 7 and the second graphic data 8 is:

R＝[(X_i-X_i+1)*(X_i-X_i+1)+(Y_i-Y_i+1)*(Y_i-Y_i+1)]^1/2

when the actual size of the space between the first graphic data 7 and the second graphic data 8 is measured, the reason is J_iAnd J_i+1(coordinate points in the global map), (X)_i，Y_i)、(X_i+1，Y_i+1) The coordinates in the visual frame of the camera are known, and the actual coordinates of the robot in the global map can be obtained through geometric coordinate calculation.

In a specific implementation manner of the embodiment of the invention, the device for locating the limited path of the indoor walking robot further comprises an odometer, wherein the odometer is used for being installed on the robot and is connected with the microprocessor, and the odometer and the microprocessor are matched to realize the area location of the robot.

The positioning method in the embodiment of the present invention can be implemented based on the positioning apparatus in embodiment 1.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.