KR20070061079A - Localization system of mobile robot based on camera and landmarks and method there of - Google Patents

Abstract

A localization system and method of a mobile robot using a camera and a mark are provided to automatically calculate the distance between nodes to create a topology map by using a newly installed mark as a node. A localization system of a mobile robot using a camera and a mark includes n marks(200), a camera(110), a mark detector(120), a robot location detector(130), a mark location estimating part(140), a topology map creator(150), and a robot controller(160). The n marks have a wireless communication function. The camera photographs the marks. The mark detector detects at least two of the marks. The robot location detector calculates the location of a mobile robot(100) by using the detected marks. The mark location estimating part calculates the location of a new mark on absolute coordinates. The topology map creator creates a topology map of the mobile robot by using the calculated location of the new mark. The robot controller controls traveling of the mobile robot by using the topology map.

Description

LOCALIZATION SYSTEM OF MOBILE ROBOT BASED ON CAMERA AND LANDMARKS AND METHOD THERE OF}

1 is a view schematically illustrating a positioning system of a mobile robot using a camera and a marker according to an embodiment of the present invention;

2 is a view showing in detail the configuration of a positioning system of a mobile robot according to an embodiment of the present invention shown in FIG.

3 is a diagram illustrating a method of setting each coordinate system required to calculate a position of a mobile robot using only two marks among n marks.

4 is a view showing the position of the marker before and after the movement of the mobile robot,

5 is a view for explaining a method of correcting the camera image coordinates of the marker when the ceiling height of the working environment is different;

FIG. 6 is a view for explaining how a mark is installed on the ceiling of a work space of a mobile robot for constructing a topology map; FIG.

7 is a flowchart illustrating a positioning method of a mobile robot using a positioning system of a mobile robot according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

100. Mobile Robot 110. Camera

111. Infrared filter 112. Wireless transmission module

113. Wireless receiving module 120. Mark detector

130. Robot position detection unit 131. Robot position detection module in stationary state

132.Moving position detection module

133. Robot position detection module when the height of ceiling is different

140. Marker location estimation unit 150. Topology map configuration unit

160. Robot control unit 200. Marker

210. Wireless Transmission Module 220. Wireless Reception Module

230. Infrared light emitting device

The present invention relates to a system and method for measuring a magnetic position of a mobile robot in a home and general office environment (work space) using a camera and an artificial mark, and more particularly, LED blinking in an invisible light region using a wireless function. It is equipped with a camera equipped with an artificial marker and a wide-angle lens, and attaches a plurality of markers to the ceiling inside the working space of the mobile robot, and uses the marker captured by the camera mounted on the mobile robot to position the mobile robot. The present invention relates to a positioning system and a method of a mobile robot using a measuring camera and a marker.

In general, a method for realizing autonomous robot navigation includes a localization method capable of immediately grasping position information of a robot in a robot's operating environment, and a moving path within the operating environment. It consists of a guidance method for creating and controlling a robot platform along a corresponding path, and an environment map building method for collecting and managing information on the operation environment of the robot.

First of all, the environment mapping method can be largely divided into a metric path generation method for creating a metric map and a topological path generation method for creating a topology map. The path generation method refers to a series of methods for selecting a robot path by optimizing an arbitrary predetermined performance index for the robot path generated from the quantitatively expressed robot environment data. An example of selecting an optimal control method in consideration of an environment map having an indoor planar shape and an optimum path or kinematic structure of the robot platform in the environment map.

On the other hand, in the case of the topological path generation method, a graph form describing a spatial relationship between each feature point based on a characteristic position in the robot environment, for example, furniture, home appliances, and door entrances, is described. You can create an environmental map from which you can create a route, for example, "go through the door, next to the refrigerator."

As described above, in order for the robot to travel along a given path or to create a new path, information about the current location of the robot is essential, and the robot must be able to check information about its location at any time. For this purpose, artificial landmarks (artificial landmarks) may be installed in the robot's operating environment, or natural landmarks (natural landmarks) may be extracted in the environment. By firing an RF signal and measuring the direction of arrival of the signal (direction of arrival) can be used to determine the position of the robot.

Therefore, in recent years, even if the mobile robot does not recognize its own location, a position recognition technology capable of estimating its own location using given environmental map information and surrounding feature information has been studied.

An example of a device using an artificial marker for tracking a magnetic position in relation to a mobile robot is disclosed in Japanese Patent Laid-Open No. 2003-0026496 (“Artificial Marking Device for Marker-Based Magnetic Position Recognition of a Mobile Robot”). This patent uses the image processing method to recognize the artificial markers in order to overcome the disadvantage that affects the result according to the ambient illumination, so that the illumination device is installed around the artificial markers to have a constant illuminance, Even in the night environment, it is possible to autonomously drive the mobile robot by the mark recognition.

However, the prior art as described above is inconvenient to install a separate lighting device, and to install an illumination control device for controlling the lighting device, and the global magnetic position and azimuth angle estimation in the entire environment of the robot is difficult. Not only is it impossible, but it is difficult to estimate the magnetic position and azimuth angle according to the lighting change.

Accordingly, an object of the present invention is to solve the above-described problems of the prior art, the object of the present invention is to use the magnetic field and orientation (x) of the mobile robot irrespective of the lighting change by using n markers and a camera in the indoor space , y, θ) to provide a system and method that can measure the information in real time.

On the other hand, another object of the present invention is to continue to increase the number of markers to measure the position and orientation of the robot even in a wider and new space, it is simpler and without limitation system for measuring the position and orientation of the mobile robot and To provide a way.

Positioning system of the mobile robot using the camera and the marker of the present invention for achieving the above object, n marks having a wireless transmission and reception function attached to the ceiling and the camera for photographing the marker, flashing the marker attached to the ceiling A marker detector for detecting at least two markers by acquiring the position and ID of the marker from an image acquired by using the camera, and a robot position detector for calculating the position of the mobile robot using the detected markers and a work space. A marker position estimating unit for calculating a position in absolute coordinates of the new marker when the new marker is attached, a topology map component for creating a topology map of the mobile robot using the calculated position of the new marker, and the created topology map A movement configured to include a robot control unit for controlling the running of the mobile robot using It is characterized by including a robot.

In addition, the mark of the present invention includes an infrared light emitting element (LED) and a wireless transmitting / receiving module that have a specific ID and emit light in a specific wavelength band, and the camera detects the infrared LED of the mark by passing only a specific wavelength band. It is configured to include a filter and a wireless transmission and reception module, the robot position detector is a module that calculates the current position and orientation of the mobile robot using the images of the two markers detected when the mobile robot is stationary, real-time if the mobile robot is mobile It comprises a module for calculating the position of the mobile robot and a module for calculating the position of the mobile robot if the height of the ceiling to which the mark is attached.

The topology map constructing unit of the present invention sets the mark as a node and constructs the topology map by obtaining the distance information between the node and the node set in the position information of the new mark obtained by the mark position estimating unit.

On the other hand, the positioning method of the mobile robot using the camera and the marker of the present invention is to calculate the position of the mobile robot by detecting the marker in the image of the marker taken by the camera, when the new marker is added to the work space, the obtained movement Obtaining the location of the added marker using the position of the robot, configuring the topology map by setting the added marker as a node, and traveling the mobile robot using the configured topology map and the obtained location of the mobile robot. It characterized in that the step consisting of controlling.

In addition, the step of detecting the marker in the image of the marker taken by the camera of the present invention to calculate the position of the mobile robot using the wireless transmission and reception module of the mobile robot to obtain the ID of the marker, and then flashing the marker, Photographing the ceiling marker image with a camera; detecting at least two markers by applying binary search to the captured marker image; and calculating the position and orientation of the mobile robot using the detected two markers. It is characterized by consisting of steps.

Hereinafter, a positioning system and a method of a mobile robot using a camera and a marker of the present invention will be described in detail with reference to the accompanying drawings.

1 schematically shows a configuration for explaining a position and orientation measurement system using a camera and a marker according to an embodiment of the present invention, n markers are installed on the ceiling of a work space (general home and office environment), In order to capture the first two markers, the LED blinking of the markers is performed by a binary search method until two markers are detected in the camera image.

As shown in FIG. 1, a system according to the present invention is to obtain position and orientation (x, y, θ) information in real time using n markers and a camera in an indoor space, and n markers indicate an indoor space in which a robot operates. It is attached to the ceiling, and a camera equipped with a wireless transceiver is attached to the top of the robot. The robot flashes the LED of the mark installed on the ceiling by using a radio transmitter and receiver and obtains the image of the ceiling before and after the flashing, and compares the images before and after the flashing from the images. Position and orientation information is calculated using the marker location on the image.

Figure 2 shows the configuration of a mobile robot positioning system according to an embodiment of the present invention, the present invention is n mark 200 having an ID and a wireless transmission and reception function and a wireless transmission and reception module (infrared communication, RF, Zigbee, other wireless It comprises a mobile robot 100 equipped with a wide-angle camera (110) attached to (112, 113).

In the mobile robot positioning system according to an embodiment of the present invention, the marker 200 has a specific ID embedded therein, and the wireless transmission / reception module 210 or 220 capable of wireless communication with the mobile robot and a specific wavelength region of the invisible light region. Infrared light emitting device (LED) 230 to emit light. The camera 110 has a wide-angle lens and an infrared filter 111 for selectively passing only the emission wavelength band of the mark. That is, in the present invention, since it is possible to automatically filter the general background screen using the infrared light emitting device (LED) 230 and the infrared filter 111, the disadvantage of the illumination-sensitive vision (camera) sensor can be overcome. . Also, the image obtained through the filter is a gray level image, and since the gray level value of the background screen and the LED are remarkably different, the LED can be detected from the image using an appropriate threshold value without going through a special image processing procedure. In order to use the smallest number of marks, image distortion occurs according to the characteristics of the camera lens by using a wide-angle lens in the camera. Distortion correction is a prerequisite for accurate positioning of robots, but this patent does not propose distortion compensation techniques, but uses conventional methods (Flexible Camera Calibration by Viewing a Plane from Unknown Orientations-Zhang, ICCV99) to correct distortion. do.

In the mobile robot positioning system of the present invention, the cameras (110) photographing the n marks (200) having a wireless transmission / reception function attached to the ceiling and the marker (200), the marker (200) attached to the ceiling, and then flashing the camera ( Marker detection unit 120 to detect the at least two markers 200 by obtaining the position and ID of the marker 200 in the image taken using the 110, the position of the mobile robot 100 using the detected markers Robot position detection unit 130 for calculating the new position, when the new marker is attached to the work space, the marker position estimation unit 140 for calculating the position on the absolute coordinates of the new marker, using the calculated position of the new marker of the mobile robot It consists of a topology map configuration unit 150 for creating a topology map and a robot control unit 160 for controlling the traveling of the mobile robot using the created topology map.

In order to calculate the position of the robot in real time using the system of the present invention configured as shown in FIG. 2, n marks are installed on the ceiling of the work space (general home and office environment) as shown in FIG. In order to capture the first two markers, the LED blinking operation of the markers is performed using the wireless transmission module 112 of the camera 110 until two markers are detected in the camera image by a binary search method.

In detail, the mark detector 120 transmits a command to turn on the LEDs on all the marks installed in the work space through the wireless transmission module 112 to detect the position and ID of the mark attached to the ceiling from the photographed camera image. And, because the wireless communication is used, only the mark existing within a certain distance receives the On command. The marker detection unit 120 detects two markers from the captured image using binary search only for the markers receiving the On command. Wireless communication used between the robot and the marker is limited by the transmission and reception distance regardless of the type. For example, infrared communication has a transmission / reception distance of 10 m (variation depending on the method of production). Therefore, when using the infrared communication module, only the mark within 10m of the transmission module mounted on the robot can receive the on signal transmitted by the robot. Using this method first minimizes the time it takes to find the marker, and uses the binary search method to find the marker only for markers that respond within 10 meters.

That is, since it takes a lot of time to repeat the ON-OFF for all the markers installed on the ceiling and compares the difference of the captured images, the marker detection unit 120 applies the binary search method to the ceiling. Among the plurality of markers attached, the marker on the robot's head, that is, the two markers existing in the image captured by the camera mounted on the robot, is found. This binary search method is described as follows. First of all, in order to obtain the IDs of the two markers existing in the captured camera image, the LED ON signal is sent to the one-half of all the markers attached to the ceiling by using the camera's wireless transmit / receive function, and the camera is used. When the marker is extracted, if the marker receives the On signal sent by the robot and the LED of the marker is turned on, the marker is sent to the marker corresponding to the random 1/2 for only these markers and the camera is used. By extracting the marker, and sending the On signal to the marker corresponding to 1/2 of the extracted ON marker by reducing the number of markers by 1/2 and sending the On signal, using the camera to extract the marker By repeating the operation, two markers are finally detected.

The robot position detection unit 130 calculates the position and orientation of the robot using the positions (images) of the two marks obtained through the above operation. Here, the first two markers obtained from the n markers attached to the ceiling of the working environment require a preliminary operation of inputting the actual measurement position on the world coordinate. From the third mark it is possible to calculate the position of the mark on the reference coordinates by the mark position tracking unit proposed in the present invention.

The robot position detector 130 calculates the position and direction of the mobile robot through the following equations (Equations (1) to (8)) using the reference coordinate position and the image coordinate position of the marker represented in FIG. 3. . When the camera is mounted at the center of the robot, the position of the robot is the same as the center coordinate of the camera image, and the direction of the robot may be expressed as shown in FIG. 1.

의 픽셀위치를 계산한 후, 계산된 위치를 이용하여

을 원점으로

을

축 방향으로 설정하여 임시 좌표계를 설정한다. First, a reference coordinate system (World Coordinate), an image coordinate system (Image Coordinate) and an extra coordinate system (Extra Coordinate) is set and a method of expressing the position of the marker and the robot on each coordinate system is defined. The reference coordinate system is a coordinate system that becomes a reference for expressing all the marks and the position of the robot. The image coordinate system uses the coordinate system of the camera image as it is. Temporary coordinate system setting is performed on the image through image processing.

After calculating the pixel position of, use the calculated position

To origin

of

Set the temporary coordinate system by setting in the axial direction.

The following is a summary of markers and mobile robots in each coordinate system.

: 기준 좌표계 상에서 이동 로봇과 표식 위치 표현-

: Representation of mobile robot and marker position in reference coordinate system

: 영상 좌표계 상에서 이동 로봇과 표식 위치 표현-

: Representation of Mobile Robot and Marker Position in Image Coordinate System

: 임시 좌표계 상에서 이동 로봇과 표식 위치 표현-

: Representation of mobile robot and marker position in temporary coordinate system

Equation for calculating the position of the mobile robot using two markers in the temporary coordinate system using the representations of the marker L and the mobile robot P in each coordinate system is as follows.

A parameter is defined for unit unification of the reference coordinate system and the image coordinate system.

The module 131 for calculating the position of the mobile robot in the stationary state of the robot position detector 130 calculates the final position of the mobile robot in the stationary state by using Equations (1) and (5).

The final position Pw of the robot is obtained by substituting Eq. (1) into Eq. (5), which is calculated by Equation (12).

Here, Pw is the position of the mobile robot on the reference coordinate system which is the final position of the calculated mobile robot, Pi is the position of the mobile robot on the image coordinate system, and Rwe indicates how much the temporary coordinate system has rotated relative to the reference (absolute) coordinate system. Is a rotation vector, Rie is a rotation vector indicating how much the video coordinate system has rotated with respect to the temporary coordinate system, Tie is a translation vector indicating how much the image coordinate system has moved with respect to the temporary coordinate system, and Twe is a reference to the temporary coordinate system. It is a translation vector that tells how parallel the coordinate system is, and s is the ratio of the distance between the two markers and the actual two markers on the image.

And the bearing of the mobile robot

Calculate

The method of calculating the position of the mobile robot 100 using the image obtained by blinking the LED 230 of the mark 200 is possible only when the mobile robot is stopped. Since the mobile robot is already after position movement while the mobile robot is blinking while the mobile robot is moving, calculating the position of the marker in the image using the image before and after the LED 230 blinks (the image before and after the LED blinking). It is not possible to calculate the gray level difference of pixels. Therefore, in the present invention, the position of the robot is obtained in the module 132 for calculating the position of the robot in the mobile state in real time of the robot position detector 130 even when the mobile robot moves as shown in FIG. 4.

As shown in FIG. 4A, the marker ID and the image coordinate required for positioning the robot in the stationary state are acquired by the marker detector 120, and a mask having a predetermined size is set based on the image coordinate of the acquired marker. After turning on the LEDs of all the markers and moving the robot as shown in FIG. 4 (b), the image coordinates of the markers in the module 132 calculating the position of the robot in real time by the robot position detector 130 find only the set mask area. To calculate the position. Repeat this operation as the robot moves.

In addition, when installing the mark on the ceiling with a different height as shown in Figure 5, in the module 133 for calculating the position of the robot when the height of the ceiling to which the mark 200 of the robot position detection unit 130 is attached, the mobile robot In order to calculate the position of, the image coordinate of the marker must be corrected.

In the present invention, the image is corrected by the following method.

와 각 천정의 높이

는 고정된 값이다. 그러나, d1은 이동 로봇과 표식까지의 거리로, 이동 로봇의 위치에 따라 변하기 때문에 아래와 같은 방법으로 계산하여 식(9)에 대입한다.Where the camera focal length

And the height of each ceiling

Is a fixed value. However, since d1 is the distance between the mobile robot and the mark, and varies depending on the position of the mobile robot, d1 is calculated by the following method and substituted into equation (9).

Substituting d1 in equation (10) into equation (9), the position of the mobile robot from the corrected mark is

to be.

The marker position estimating unit 140 calculates a position on the reference coordinate of the marker when a new marker is attached to the work space. The method of calculating the reference coordinate of the new marker uses equations (1) and (5). Can be calculated. In equations (1) and (5), Pw is the actual position expressed in the robot's reference coordinate system. In order to calculate Pw, it is assumed that Pi is the center of the image coordinate system, and when a new mark appears in the image, the ID is checked through the wireless receiving module 113 of the mobile robot, and the image coordinate of the new mark shown in the image is Pi. Substitute the position of the robot. By repeating this process, the position of the mobile robot can be calculated to calculate the actual position of the new marker.

That is, the actual position Pw calculated by replacing the position Pi on the image coordinate of the mobile robot with the image coordinate of the new marker in Equation (12) is the actual position of the new marker (the position on the reference coordinate). In expressions,

to be.

Where Rwe is a rotation vector indicating how much the temporary coordinate system has rotated relative to the reference (absolute) coordinate system, Rie is a rotation vector indicating how much the image coordinate system has rotated relative to the temporary coordinate system, and Tie is a temporary vector A translation vector that tells how parallel the coordinate system has been translated, Twe is a translation vector that tells how the temporary coordinate system has translated to the reference (absolute) coordinate system, and s is the distance between the two markers on the image and the actual two markers. Is the ratio, Gi is the position on the image coordinate of the new marker, and Gw is the actual position (reference coordinate position) of the new marker.

The topology map constructing unit 150, which creates a topology map of the robot using the position of the new mark calculated by the mark position estimating unit 140, sets a node to generate a topology map. Needs distance information between and nodes.

In the present invention, when the marker is installed in the space as shown in FIG. 6, the marker itself is used as a node of the topology map. In other words, when there is a crossroad or a crossroad, or arbitrarily installs the marker, the marker itself is set as a node of the topology map. The distance information between each node is measured using the marker position estimator 140 which calculates the position of the marker on the absolute coordinate of the marker when a new marker is attached to the work space. Distance information can be obtained. The topology map constructing unit 150 constructs a topology map by using the distances between the nodes thus obtained. Unlike the existing topology maps, nodes can be easily set using this method, and the distance information between the nodes can be automatically calculated using the method proposed by the present invention without going through the actual work.

The robot controller 160 controls the running of the robot by using the topology map made by the topology map constructor 150.

Next, a positioning method of the mobile robot using the positioning system of the mobile robot using the camera and the mark according to the present invention having the above configuration will be described with reference to FIG. 7.

 7 is a flowchart illustrating a positioning method of a mobile robot using a positioning system of a mobile robot according to an embodiment of the present invention.

After receiving the ID of the mark 200 through the wireless receiving module 113, and transmits the LED ON command through the wireless transmitting module 112 to flash the mark 200 attached to the ceiling in a specific wavelength band, and then infrared The marker 200 is photographed through the camera equipped with the filter 111 (S710). Two markers are detected using the binary search method on the captured image (S720).

The binary search method finds two markers in the camera image.Only for the markers receiving the LED ON signal sent by the robot, the LEDs turn on again at a random half of these markers. Send the signal, extract the markers using the camera, send the LED ON signal while reducing the number of markers by 1/2, and extract the markers using the camera repeatedly to finally mark the two markers. The detection unit 120 detects it.

Using the two marks thus obtained, the robot position detector 130 obtains the position and orientation of the mobile robot (S730). The position and orientation of the mobile robot differ depending on the state of the robot. If the robot is stationary, the final position of the robot is obtained from equations (1) and (5) using two markers, and the orientation of the mobile robot is calculated from equation (8). When the robot is in a moving state, the position of the mobile robot is set by setting a mask of a constant size around the image coordinates of the two markers obtained, and finding a mask area of a predetermined size that is set for the image coordinate of the marker after the movement. Calculate the position of. By repeating this operation, the position at the time of movement of the real-time robot can be calculated. In addition, when the height of the ceiling to which the mark is attached is different as shown in FIG. 5, the position of the robot is obtained by correcting the image coordinate of the mark as shown in Equation (11).

Once the position of the robot is obtained, the marker position estimating unit 140 calculates the position of the marker for the new marker in the work space (S740), and sets the marker as a node for generating the topology map. In step 150, the topology map is configured. Using the generated topology map, the robot controller 160 controls the driving of the robot (S760).

Although the present invention has been described in more detail with reference to some embodiments, the present invention is not necessarily limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention.

As described above, the positioning system and method of the mobile robot using the camera and the marker according to the present invention can measure the position and direction of the robot more easily and simply using only two markers, compared to the existing method, and newly added The location of the marker can be calculated automatically without the need for actual measurement work, and the newly installed markers can be used to increase the space for measuring the position of the robot indefinitely, and the newly installed marker itself can be used as a node. The distance map between the two can be automatically calculated to generate the topology map automatically.

Claims (16)

N markers with radio transmit / receive functionality attached to the ceiling; And A camera for photographing the mark; A mark detection unit for detecting at least two marks by flashing the mark attached to the ceiling and acquiring the position and ID of the mark in the image photographed using the camera; A robot position detector for calculating a position of a mobile robot using the detected mark; A marker position estimating unit for calculating a position in absolute coordinates of the new marker when a new marker is attached to a work space; A topology map constructing unit for creating a topology map of the mobile robot using the calculated position of the new mark; And Positioning system of a mobile robot using a camera and a marker, characterized in that consisting of a mobile robot comprising a robot control unit for controlling the running of the mobile robot using the topology map. The method of claim 1, The marker includes an infrared light emitting diode (LED) and a wireless transmission / reception module that have a specific ID and emit light in a specific wavelength band, and the camera detects the infrared LED of the marker by passing only the specific wavelength band. Positioning system of a mobile robot using a camera and a marker, characterized in that comprises a. The method of claim 1, wherein the marker detection unit, Positioning system of the mobile robot using the camera and the marker, characterized in that for detecting at least two markers present in the camera image by applying a binary search (n Binary Search) for the n markers attached to the ceiling. The method of claim 1, wherein the robot position detection unit, A module for calculating the current position and orientation of the mobile robot using the images of the detected two marks when the mobile robot is stationary, and a module and a mark for calculating the position of the mobile robot in real time when the mobile robot is moved Positioning system of a mobile robot using a camera and a marker, characterized in that it comprises a module for calculating the position of the mobile robot when the height of the attached ceiling is different. According to claim 4, When the mobile robot is stationary, the module for calculating the current position and orientation of the mobile robot by using the images of the two markers detected by using the following equation of the current position of the mobile robot ( Positioning system of a mobile robot using a camera and a marker, characterized in that to calculate Pw).

Where Pw is the actual position of the mobile robot on the reference coordinate system, the final position of the calculated mobile robot, Pi is the position of the mobile robot on the image coordinate system, and Rwe is the rotation indicating how much the temporary coordinate system has rotated relative to the reference (absolute) coordinate system. Vector, Rie is a rotation vector indicating how much the visual coordinate system has rotated with respect to the temporary coordinate system, and Tie is a translation vector indicating how much the image coordinate system has moved with respect to the temporary coordinate system, and Twe is the temporary coordinate system with the reference (absolute) coordinate system. The translation vector, s, which tells how parallel the translation has been, is the ratio of the distance between the two markers and the actual two markers on the image. According to claim 5, When the mobile robot is stationary, the module for calculating the current position and orientation of the robot by using the images of the two markers detected by using the following equation the orientation of the mobile robot (θr Positioning system of a mobile robot using a camera and a marker, characterized in that to calculate.

The mobile station of claim 4, wherein the module for calculating the position of the mobile robot in real time when the mobile robot is in a moving state sets a mask having a predetermined size around the image coordinates of the acquired mark, and the marker after the movement of the mobile robot. A positioning system of a mobile robot using a camera and a marker, characterized in that the position of the mobile robot is calculated by finding only the set mask area with respect to the image coordinate. The method of claim 4, wherein the module for calculating the position of the robot when the height of the ceiling to which the mark is attached is calculated by calculating the position of the mobile robot by correcting the image coordinates of the mark using the following equation. Positioning system of mobile robot using camera and marker.

Here, P 'is the position of the mobile robot from the image coordinate of the corrected mark, P is the position of the mobile robot from the precorrection mark, and h1 and h2 are the heights of the ceiling. The method of claim 1, wherein the marker position estimating unit, When a new mark is attached to the work space, the ID of the new mark photographed by the camera is checked, and the new mark shown in the image is calculated by calculating the position Pw of the mobile robot using Equation (12). A positioning system for a mobile robot using a camera and a marker, which calculates a position Gw in coordinates as shown in Equation (13).

Where Pw is the actual position of the mobile robot on the reference coordinate system, the final position of the calculated mobile robot, Pi is the position of the mobile robot on the image coordinate system, and Rwe is the rotation indicating how much the temporary coordinate system has rotated relative to the reference (absolute) coordinate system. Vector, Rie is a rotation vector indicating how much the visual coordinate system has rotated with respect to the temporary coordinate system, and Tie is a translation vector indicating how much the image coordinate system has moved with respect to the temporary coordinate system, and Twe is the temporary coordinate system with the reference (absolute) coordinate system. The translation vector that tells how much the translation has moved relative to the image, where s is the ratio of the distance between the two markers and the actual two markers on the image, Gi is the position on the image coordinate of the new marker, and Gw is the actual position of the new marker (position on the reference coordinate). . The method of claim 9, wherein the topology map configuration unit, Positioning of the mobile robot using a camera and a marker, wherein the marker is set as a node and a distance map between the node and the node is obtained by using the position of the new marker obtained by the marker position estimating unit. system. 3. The positioning system of a mobile robot using a camera and a marker according to claim 2, wherein the infrared light emitting element (LED) of the marker is turned on / off by the wireless communication function of the marker and the camera. (a) calculating the position of the mobile robot by detecting the marker in the image of the marker photographed by the camera; (b) if a new mark is added to the work space, finding the position of the added mark using the obtained position of the mobile robot; (c) configuring the added marker as a node to construct a topology map; And (d) controlling driving of the mobile robot using the constructed topology map and the obtained position of the mobile robot; Positioning method of a mobile robot using a camera and a marker, characterized in that consisting of. The method of claim 12, wherein step (a) comprises: (e) acquiring an ID of the mark using a wireless transmission / reception module of the mobile robot, flashing the mark, and photographing the ceiling mark image with a camera; (f) detecting at least two markers by applying binary search to the captured marker image; And (g) calculating the position and orientation of the mobile robot using the detected two marks; Positioning method of a mobile robot using a camera and a marker, characterized in that consisting of. The method of claim 13, wherein in step (e), The marker is composed of an infrared light emitting device (LED), and the camera is composed of an infrared filter passing only a specific wavelength region, the camera and the marker, characterized in that the flashing the infrared light emitting device (LED) and then photographing the marker. Positioning method of mobile robot using The method of claim 13, wherein step (g) When the mobile robot is in a stationary state, the final position Pw of the mobile robot is calculated by the following equation using the two marks, When the mobile robot is in a moving state, a mask having a predetermined size is set around the image coordinates of the two markers, and the position of the mobile robot is determined by finding the set mask area with respect to the image coordinate of the marker after the movement of the mobile robot. Positioning method of a mobile robot using a camera and a marker, characterized in that the calculation.

Where Pw is the actual position of the mobile robot on the reference coordinate system, the final position of the calculated mobile robot, Pi is the position of the mobile robot on the image coordinate system, and Rwe is the rotation indicating how much the temporary coordinate system has rotated relative to the reference (absolute) coordinate system. Vector, Rie is a rotation vector indicating how much the visual coordinate system has rotated with respect to the temporary coordinate system, and Tie is a translation vector indicating how much the image coordinate system has moved with respect to the temporary coordinate system, and Twe is the temporary coordinate system with the reference (absolute) coordinate system. The translation vector, s, which tells how parallel the translation has been, is the ratio of the distance between the two markers and the actual two markers on the image. The position of the mobile robot according to claim 15, wherein when calculating the position of the mobile robot in step (g), if the height of the ceiling to which the mark is attached is different, the image coordinate of the mark is corrected through the following equation. Positioning method of a mobile robot using a camera and a marker, characterized in that to obtain a.

Here, P 'is the position of the mobile robot from the image coordinate of the corrected mark, P is the position of the mobile robot from the precorrection mark, and h1 and h2 are the heights of the ceiling.

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