CN102735217A - Indoor robot vision autonomous positioning method - Google Patents

Abstract

The invention relates to an indoor robot vision autonomous positioning method. The invention involves an indoor robot, a digital image acquisition unit, a digital image processing unit, and a set of round marking points of four colors. The invention is characterized in that: the robot is the carrier of the digital image acquisition unit and the digital image processing unit. The digital image acquisition unit acquires the digital image information of the round marking points of four colors on a ceiling, and sends the acquired digital image information to the digital image processing unit. On the basis of the image information acquired by the digital image acquisition unit, the digital image processing unit analyzes the relative positions of the marking points on an imaging plane, makes use of the relative position coordinates of the four-color marking points, reversely deduces the position information and movement direction information of the indoor robot, and further delivers the information to the robot. The method of the invention has the advantages of simplicity, convenient operation, and low cost.

Description

A kind of indoor machine people vision autonomic positioning method

Technical field

The invention belongs to robot vision location and field of navigation technology, the method for particularly a kind of indoor machine people's autonomous positioning.

Background technology

At present the moving body orientation problem is the difficult point and the hot issue of robot control; For outdoor; There is GPS can satisfy general rigid demand, then for the indoor machine people, because its positioning accuracy request is high as positioning means; Positioning difficulty increases relatively, and the bigger perhaps cost of relative positioning method error is than higher.A kind of autonomic positioning method of indoor moving body is the mode of looking that digital camera is adopted; Be fixed on the moving body; Constitute the digital image acquisition unit; Through the image information that circular index point is gathered in the digital image acquisition unit, handle the position coordinates that obtains monumented point by the Digital Image Processing unit, thereby judge the position coordinates and the direction of motion of moving body self indirectly.The mode of the overall situation location that present vision localization mode adopts; It is relatively extensive in indoor application to utilize vision to carry out the method for overall situation location; Server carries out information processing but the mode of visual global location needs independently comparatively speaking; The real-time of location is relatively poor relatively, can not satisfy for the real-time positioning of especially a plurality of robots of the robot that has relatively high expectations.

Retrieval through to existing document is found; One Chinese patent application number is: 201110223572, and name is called: the infrared vision positioning system of machine fish provides a kind of and has gathered the method that infrared point information positions above the robot based on infrared camera; It is the processing that utilizes overall locator meams to carry out; One Chinese patent application number is: 200710051446, and name is called: a kind of machine vision localization method, utilize dual camera image mosaic technology; Realize wider indoor moving body orientation problem, it remains a kind of method of overall situation location in essence.Above patent is not all discussed with regard to indoor mobile autonomic positioning method.

Summary of the invention

The object of the present invention is to provide a kind of overall position computer, a kind of indoor machine people vision autonomic positioning method that cost is low of not using.The present invention mainly is the circular index point of fixing four kinds of different colours on indoor ceiling, and best four circular index points rearrange square.Monumented point information through four kinds of different colours of indoor machine people process chamber inner top; Obtain robot location's information; And then oppositely know the positional information and the direction of motion information of robot self, thereby for indoor machine people's location provide a kind of easy, be prone to row, low cost method.

The present invention realizes through following technical scheme:

The present invention includes an indoor machine people, digital picture collecting unit, digital picture processing unit and four kinds of color circular index points of a cover; Wherein, The indoor machine people is the location main body, also is the mobile vehicle of digital image acquisition unit and Digital Image Processing unit, and the digital image acquisition unit is a camera; It can adopt any camera, gathers the circular index point on the ceiling; Circular index point on the ceiling amounts to 4, and it uses as indoor machine people location reference point, adopts circular gauge point to be convenient to calculate the gauge point centre coordinate; Be a pair of wherein with two monumented points of diagonal; Two diagonal line infalls are set at the initial point of robot location, and it is the square of L that four monumented points constitute the length of side, under the situation that the camera field angle is fixed; The height H of L and indoor room is relevant with robot motion's scope radius r; L is the scalable amount, and to satisfy in arbitrary position, robot can collect the positional information of at least two monumented points; The Digital Image Processing unit obtains four kinds of color-coded positions on digital image acquisition cell imaging plane, through the mapping and the conversion of coordinate, oppositely judges the positional information and the direction of motion information of robot self.Its transform method is:

$\left\{\begin{array}{c}{x}_o=\frac{x_R+x_B}{2}=\frac{x_L+x_G}{2}\\ y_o=\frac{y_R+y_B}{2}=\frac{y_L+y_G}{2}\end{array}\right.$

X wherein _oWith y _oBe the initial point of robot location, (x _R, y _R), (x _B, y _B), (x _L, y _L), (x _G, y _G) be respectively the position coordinates of four kinds of color-coded points.The position pixel coordinate of robot self is so:

$\left\{\begin{array}{c}x=-x_o\\ y=-y_o\end{array}\right.$

The resolution of image is W * H (pix), corresponds to the big or small M * N (cm) of being of plane space that robot can effectively locate so, and the position coordinates that correspond to robot itself this moment can be expressed as

$\left\{\begin{array}{c}{x}^{\′}=\frac{\mathrm{xM}}{W}\\ y^{\′}=\frac{\mathrm{yN}}{H}\end{array}\right.$

Wherein, W, H be the X axle and the Y axle maximal value of presentation video resolution respectively, and M, N represent the X axle and the Y axle maximal value on the plane that robot can effectively locate respectively.If the direction that robot photographs when forwards walking is a positive dirction, with wherein a pair of of four monumented points, as benchmark, the direction of motion of robot can be expressed as so:

$\mathrm{\θ}=\arctan \frac{y_o}{x_o}-\arctan \frac{y_R-y_B}{x_R-x_B}$

Method of the present invention may further comprise the steps:

The first step, four kinds of color-coded dot informations on the ceiling are gathered in the digital image acquisition unit, and the digital image information of gathering is sent to the Digital Image Processing unit;

Second step, the image information that the Digital Image Processing unit obtains according to the digital image acquisition unit, the relative position of analysis mark point on imaging plane;

In the 3rd step, utilize the relative position coordinates of four kinds of color-coded points oppositely to derive indoor machine people's self direction of motion and positional information, and then information is passed to the indoor machine people.

Compared with prior art; The invention has the beneficial effects as follows: 1, adopt indoor machine people autonomous positioning mode; Need not use overall position computer, reduce the indoor positioning cost, for indoor a plurality of moving bodys; The autonomous positioning mode has higher real-time owing to adopted the mode of the parallel location of a plurality of processors.2, method is simple, easy to operate, with low cost.

Description of drawings

Fig. 1 is the block diagram that the present invention forms.

Embodiment

Below in conjunction with accompanying drawing system of the present invention is further described: present embodiment provided detailed implementation method and concrete operating process, but protection scope of the present invention is not limited to following instance being to implement under the prerequisite with technical scheme of the present invention.

Embodiment

In the block diagram of the composition of a kind of indoor machine people vision autonomic positioning method shown in Figure 1; Comprise an indoor machine people 1; A digital picture collecting unit 2; Circular mark I, II, III, the IV of a digital picture processing unit circular gauge point 4 of four kinds of colors of 3, one covers and four kind of different colours.Wherein, The indoor machine people is the mobile vehicle of digital image acquisition unit and Digital Image Processing unit; The digital image acquisition unit can be gathered the image information of the circular gauge point of four kinds of colors through digital camera; The image information that the Digital Image Processing cell processing is gathered through the digital image acquisition unit; Obtain each color I, II, the III of the circular gauge points of four kinds of colors, the coordinate position of IV, four kinds of colors that draw through the Digital Image Processing cell processing are oppositely derived present positional information of moving body and direction of motion information at the relative position information of imaging plane.Four kinds of circular gauge points of color are fixed on the ceiling, are arranged as square, guarantee that at least two kinds of colors are positioned at the field range of digital image acquisition unit.System's installation, after bringing into operation, at first the direction of stated number word image collecting unit shooting is a positive dirction; The cmos digital camera that the digital image acquisition unit makes progress through the collection direction begins to gather four circular gauge point I, II, III, the IV on the circular gauge point of four kinds of colors; After gathering completion, the digital image acquisition unit sends to the Digital Image Processing unit with the image information of gathering, and the Digital Image Processing unit is handled the image-forming information that the digital picture collecting unit provides; Through the RGB color model; Given threshold value obtains the positional information of four kinds of colors at imaging plane, oppositely judges the positional information of robot self in the positional information of imaging plane according to four kinds of colors; And robot location's information sent to robot itself, supply robot self control to use.

Claims (3)

1. indoor machine people vision autonomic positioning method; It comprises: indoor machine people, digital picture collecting unit, digital picture processing unit, four kinds of color circular index points of a cover; It is characterized in that: robot is the carrier of digital image acquisition unit and Digital Image Processing unit; The digital image information of four kinds of color circular index points on the ceiling is gathered in the digital image acquisition unit, and the digital image information of gathering is sent to the Digital Image Processing unit, the image information that the Digital Image Processing unit obtains according to the digital image acquisition unit; The relative position of analysis mark point on imaging plane; Utilize the relative position coordinates of four kinds of color-coded points, oppositely derive indoor machine people's self positional information and direction of motion information, and then give robot information.

2. indoor machine people vision autonomic positioning method according to claim 1 is characterized in that: the circular index point of fixing four kinds of colors at the indoor ceiling place, monumented point is arranged as square.

3. indoor machine people vision autonomic positioning method according to claim 1 and 2, it is characterized in that: the digital image acquisition unit can adopt any camera.

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