CN208254492U - Utilize the system of infrared pendent lamp and camera robot measurement position - Google Patents
Utilize the system of infrared pendent lamp and camera robot measurement position Download PDFInfo
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- CN208254492U CN208254492U CN201820520553.3U CN201820520553U CN208254492U CN 208254492 U CN208254492 U CN 208254492U CN 201820520553 U CN201820520553 U CN 201820520553U CN 208254492 U CN208254492 U CN 208254492U
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Abstract
The utility model provides a kind of system using infrared pendent lamp and camera robot measurement position, comprising: infrared pendent lamp is formed with infrared light spot figure layer by infrared pendent lamp；Infrared camera is captured by image of the infrared camera to infrared light spot figure layer；Control processor, control processor are connect with infrared camera signal.A method of utilizing infrared pendent lamp and camera robot measurement position, comprising: spread infrared light spot；Setting infrared camera simultaneously captures infrared light spot image；Obtain the direction and change in location of robot；Robot starts comprehensive autonomous.System structure needed for the utility model is succinct, suitable for towards irregular dome and the large scale interior space, the self-positioning navigation needs of robot in large-scale indoor scene can conveniently be solved, only need an infrared camera and infrared light spot transmitter, required system building is convenient, it is easy to later maintenance, while can be realized indoor mobile robot direction and position measurement.
Description
Technical field
The utility model belongs to robot indoor positioning field of navigation technology, and in particular to a kind of to utilize infrared pendent lamp and take the photograph
As the system of head robot measurement position.
Background technique
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.
People realizes robot using the coordinate method for solving for imitating GPS with the multiple signal nodes of intensity estimation signal to robot distance
Positioning, and positioning result precision is improved using decaying Kalman filter.
Second is system monitoring method, that is, builds monitoring system or sensing network, build perception using multiple cameras
Network, observation and the current position of calculating robot and posture.
The third is terrestrial reference anticipation method, i.e., sets magnetic stripe, colour band, color lump, magnetic nail, two dimensional code even on ground or wall
RFID terrestrial reference provides towards perhaps location information for robot and helps its progress direction or position correction, this kind of methods suitable
Combined with same IMU inertial navigation information and code-disc, in the case that robot can not place of capture target, carry out reckoning.
It is SLAM method in addition there are a kind of method, i.e., robot self-localization is synchronous with environment detection carries out, and utilizes camera shooting
The equipment detect operation environmental information such as head, laser radar sensor, while crucial landmark data is extracted for realizing 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 guarantee robot carry out accurate walking then need to arrange it is a large amount of 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 of robot walking.
Utility model content
The purpose of the utility model is to provide it is a kind of be easy to dispose and operate, for carrying out indoor mobile robot direction
With the method for position measurement.
To achieve the goals above, the utility model provides the following technical solutions:
A method of utilizing infrared pendent lamp and camera robot measurement position, comprising:
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 the head of robot, the image to capture the infrared pendent lamp and
The image for the infrared light spot that roof is spread, while obtaining hanging down for plane locating 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 the head using 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, in conjunction with the elevation information, the interior based on the robot it is flat
The Principle of Affine Transformation of face mobile (i.e. two-dimensional vector) constraint and the infrared camera, which calculate, obtains the robot
Direction and change in location, while calculating the elevation information and seat of the infrared light spot captured in the infrared camera visual field
Scale value；
Step 5: the robot starts comprehensive autonomous on the basis of step 4, 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 the height of the calculated captured infrared light spot of utilization
Information and position coordinates are spent, calculate the variation of the robot direction and position, while calculating the infrared light spot newly captured
Elevation information, for persistently calculating the position and orientation of the robot during subsequent movement of the robot.
Preferably, in the step 4, the specific algorithm of the direction and change in location that obtain the robot is as follows: first
First had in conjunction with Installation posture in the infrared camera vertical direction according to affine transformation geometrical principle
I in formulaP(UP, VP) it is pixel coordinate 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, hPIndicate point P elevation information be
Point P to the infrared photography head plane vertical range, (CxP,CyP) indicate 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 following formula and are gone out
Wherein (x, y) indicates that the position coordinates of current time robot and its infrared camera, θ indicate the machine
The direction of people and 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 the robot is mobile, 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 isCan then it pass through
The constraint of following planar movement and the infrared camera affine transformation geometrical relationship come calculate the robot it is mobile after position
(x1, y1) and newly towards θ1；
In conjunction with 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:
On this basis, the direction after robot movement can be calculated are as follows:
Wherein
Then the position after the robot movement can be calculated is (x1, y1)；
Then the infrared light spot Gi can be calculated to the vertical height distance for imaging head plane are as follows:
Preferably, in the step 5, the elevation information for calculating the infrared light spot newly captured refers to:
The robot in conjunction with described in the elevation information and previous moment of the known infrared light spot be positioned against and position
Information is updated and is calculated in conjunction with the infrared light spot point height information having calculated that using the calculation method recorded in step 4
Information is positioned against after the robot is mobile；
Meanwhile the information of the height of the hot spot newly captured is calculated, to complete the subsequent direction of the robot and position
Calculating.
The utility model additionally provides a kind of system using infrared pendent lamp and camera robot measurement position, the system
Include:
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 offers multiple, and the hot spot hole that the infrared light issued by the infrared pendent lamp passes through on the lampshade is formed with infrared light
Spot figure layer；
Infrared camera, in infrared camera setting to robot for the image to the infrared light spot figure layer into
Row captures；
Control processor, the control processor are connect, for the infrared photography with the infrared camera signal
The infrared light spot image that head captures carries out calculation processing.
Preferably, the utility model further includes having lamp bracket, and the infrared pendent lamp is set to the lamp bracket by universal joint
On.
Preferably, the hot spot hole is evenly distributed on the lampshade.
The utility model method is using infrared camera as main sensors, by observing infrared pendent lamp and its projecting to dome
In hot spot, be based on machine vision metrology indoor mobile robot direction and position.System structure needed for the utility model is succinct,
Suitable for towards irregular dome and the large scale interior space, can conveniently solve airport building, store, library,
The self-positioning navigation needs of robot in the large size indoor scene such as museum.The utility model has advantageous effect in that: only
An infrared camera and infrared light spot transmitter are needed, required system building is convenient, is easy to later maintenance, can be realized simultaneously
Indoor mobile robot direction and position measurement.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide a further understanding of the present invention, this is practical
Novel illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.
Wherein:
Fig. 1 is the utility model in the side for measuring Indoor Robot direction and position using infrared pendent lamp and infrared camera
Instantaneous picture drawing when method controls robot.
Description of symbols:
Infrared camera 1, robot 2, infrared pendent lamp 3, infrared light spot 4.
Specific embodiment
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.Each example passes through the utility model
Interpretive mode provide rather than limitation the utility model.It is practical not departing from fact, those skilled in the art will be clear that
In the case where novel range or spirit, it can modify in the present invention and modification.
In the description of the present invention, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "top", "bottom" is to be based on the orientation or positional relationship shown in the drawings,
It is merely for convenience of description the utility model rather than requires the utility model that must be constructed and operated in a specific orientation, therefore
It should not be understood as limiting the present invention.Term used in the utility model " connected ", " connection " shall be understood in a broad sense,
For example, it may be being fixedly connected, may be a detachable connection；It can be directly connected, it can also be indirect by intermediate member
It is connected, for the ordinary skill in the art, can understands the concrete meaning of above-mentioned term as the case may be.This
Outside, term " upstream " and " downstream " refer to relative position of the component in fluid passage.For example, if fluid is flowed from component A
To component B, then component A is in the upstream of component B.On the contrary, component B is in structure if component B receives the fluid stream from component A
The downstream of part A.
Referring to FIG. 1, Fig. 1 is that the utility model is measuring Indoor Robot direction using infrared pendent lamp and infrared camera
Instantaneous picture drawing when controlling with the method for position robot.
The utility model provides the method using infrared pendent lamp and camera robot measurement position, in the method,
Infrared camera 1 is installed vertically on to the top of robot 2 first, infrared pendent lamp 3 is installed in indoor ceiling, it is infrared to hang
The bottom of lamp 3 gives out soft infrared light to the ground, while a series of infrared light spots 4 being radiated on arc ceiling.
In the present invention, the distribution method of infrared light spot 4 is as follows: being arranged on the lampshade of infrared pendent lamp 3 several small
Hole, internal infrared light is by after these apertures, infrared light spot 4 can be formed by being incident upon on roof.It captures one infrared
The positioning of robot 2 can be realized in hot spot, captures multiple infrared light spots and then same way is used to calculate.
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 locating 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).Robot 2 mobile one
After segment distance, the pixel coordinate variation of infrared 3 bottom of pendent lamp isThe pixel of captured hot spot 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
Direction after robot 2 is mobile are as follows:
Wherein
Then the position after the movement of robot 2 can be calculated is (x1, y1)；
Based on spotting out G can be calculated1To the vertical height distance h of infrared camera head 1g1=
Comprehensive autonomous, infrared camera 1 constantly capture new infrared light spot indoors for the subsequent beginning of robot 2
Image, the elevation information of utilization calculated infrared light spot constantly update the direction and location information of calculating robot 2,
And the elevation information of the 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 following formula；
Wherein
Position (the x of robot 2 after movementi+1, yi+1) it is calculated by the following formula:
It simultaneously can
Calculate glossing up Gj+1To camera shooting head plane height distance hgj+1For,
Robot 2 is constantly updated by above-mentioned formula in moving process 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 uses electric stacker AGV robot；Infrared camera 2 is strangled using Bath
Industrial camera acA640-90gm is equipped with the undistorted industrial lens of the narrowband 850nm infrared filtering and constitutes；Infrared pendent lamp 3 is used and is based on
LED circular flat lamp and infrared light spot transmitting tube and it is integrated go out infrared experiment pendent lamp.
Based on above-mentioned measurement method, the utility model additionally provides a kind of infrared pendent lamp of utilization and camera measurement machine
The system of people position, the system include:
1, 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 hot spot hole that the infrared light that outer pendent lamp 3 issues passes through on lampshade is formed with infrared light spot figure layer.
When architecture indoor roof is arrived in the fixed setting of infrared pendent lamp 3, for the ease of carrying out fine position to infrared pendent lamp 3,
The utility model is additionally provided with lamp bracket, and lamp bracket is made of stainless steel or aluminum profile, and lamp bracket is fixed to by setscrew and is built
It builds, then, infrared pendent lamp 3 is set on lamp bracket by universal joint.In this way, lamp bracket, as installation foundation, infrared pendent lamp 3 is logical
It crosses in universal joint 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.
2, the infrared camera that infrared light spot and infrared pendent lamp position can be captured
For being captured to the image of infrared light spot figure layer in the setting to robot 2 of infrared camera 1.
3, the control processor generated with signal processing, data analysis and control instruction
Control processor connect with 1 signal of infrared camera, the infrared light spot image for capturing 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 infrared camera 1 is arranged upward to capture the infrared light on roof using infrared camera 1
Spot.Infrared camera 1 is connect with control processor signal, and control processor can be according to provided by the utility model using infrared
The method of 2 position of pendent lamp 3 and camera robot measurement carries out data to the infrared light spot position signal that infrared camera 1 obtains
Processing is run to generate control instruction control robot 2.
The above is only the preferred embodiments of the utility model, are not intended to limit the utility model, for the skill of this field
For art personnel, various modifications and changes may be made to the present invention.Within the spirit and principle of the utility model, made
Any modification, equivalent substitution, improvement and etc., should be included within the scope of protection of this utility model.
Claims (3)
1. a kind of system using infrared pendent lamp and camera robot measurement position characterized by comprising
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 multiple, the hot spot hole that the infrared light issued by the infrared pendent lamp passes through on the lampshade is 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 are connect, for catching to the infrared camera with the infrared camera signal
The infrared light spot image grasped carries out calculation processing.
2. the system according to claim 1 using infrared pendent lamp and camera robot measurement position, which is characterized in that
It further include having lamp bracket, the infrared pendent lamp is set on the lamp bracket by universal joint.
3. the system according to claim 1 or 2 using infrared pendent lamp and camera robot measurement position, feature exist
In,
The hot spot hole is evenly distributed on the lampshade.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820520553.3U CN208254492U (en) | 2018-04-12 | 2018-04-12 | Utilize the system of infrared pendent lamp and camera robot measurement position |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820520553.3U CN208254492U (en) | 2018-04-12 | 2018-04-12 | Utilize the system of infrared pendent lamp and camera robot measurement position |
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| Publication Number | Publication Date |
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| CN208254492U true CN208254492U (en) | 2018-12-18 |
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ID=64638595
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2018
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220817 Address after: 16th Floor, No. 647, East Longhua Road, Huangpu District, Shanghai, 200023 Patentee after: China Electronics Technology robot Co.,Ltd. Address before: 200233, No. 30 Rainbow Road, Shanghai, Xuhui District Patentee before: NO.21 RESEARCH INSTITUTE OF CHINA ELECTRONICS TECHNOLOGY Group Corp. |