CN104487864B - 机器人定位系统 - Google Patents
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Abstract
本发明涉及一种机器人定位系统以及一种用于定位机器人的方法。该机器人定位系统包括一个相机、一个处理单元以及至少第一线激光器。该第一线激光器被安排成通过在该相机的视场内投射竖直激光线来照亮一个空间。该相机被安排成用于记录这些竖直激光线所照亮的空间的照片，并且该处理单元被安排成用于从所记录的照片中提取出表示由这些竖直激光线在位于该空间内的物体上反射而形成的线的图像数据。该处理单元进一步被安排成用于从所提取的线来沿着这些投射的激光线创建被照亮空间的一个表示图，该机器人相对于该表示图进行定位。
Description
技术领域
本发明涉及一种机器人定位系统以及一种用于定位机器人的方法。
背景
在许多技术领域中，希望使用具有自主行为的机器人，因而使得它们可以在一个空间周围自由地移动而不与可能的障碍物碰撞。
举例而言，具有或多或少地自主地对其中具有家具例如桌椅以及其他障碍物例如墙和楼梯的房间进行真空吸尘的能力的机器人真空吸尘器在本领域中是存在的。传统地，这些机器人真空吸尘器通过使用例如超声波或光波在房间内穿梭。另外，这些机器人真空吸尘器典型地必须补充带有额外的传感器，例如楼梯传感器、墙壁追踪传感器和各种应答器以准确表现。
大量的现有技术机器人真空吸尘器使用了一种被称为同时定位与地图构建(SLAM)的技术。SLAM涉及的问题是构建移动式机器人的未知环境的地图而同时使用该地图在该环境中导航。这典型地与水平扫描激光器相组合以用于距离测量。另外，使用测程法来提供机器人的大致位置，如通过机器人的轮子的移动所测量的。
US 2002/0091466披露了一种移动式机器人，该移动式机器人具有指向房间天花板以便识别该天花板上的基础标志的一个第一相机以及用于朝向障碍物发出线性光束的一个线激光器、用于识别来自该障碍物的反射线性光束的一个第二相机。这个线激光器发出直线形式的在该移动式机器人的前方水平地延伸的光束。
概述
本发明的一个目的是解决或至少部分地减轻本领域中的这些问题并且提供一种改进的机器人定位系统。
这个目的在本发明的第一方面是通过一种机器人定位系统达到，该机器人定位系统包括一个相机、一个处理单元以及至少第一线激光器。该第一线激光器被安排成通过在该相机的视场内投射竖直激光线来照亮一个空间。该相机被安排成用于记录这些竖直激光线所照亮的空间的照片，并且该处理单元被安排成用于从所记录的照片中提取出表示由这些竖直激光线在位于该空间内的物体上反射而形成的线的图像数据。该处理单元进一步被安排成由所提取的线来沿着所投射的激光线创建该被照亮空间的一个表示图，其中该机器人相对于所述表示图进行定位。
这个目的在本发明的第二方面是通过一种用于定位机器人的方法达到的。该方法包括以下步骤：用在一个相机的视场内投射竖直激光线的至少第一线激光器来照亮一个空间、并且用该相机记录这些竖直激光线所照亮的空间的一张照片。另外，该方法包括以下这些步骤：从所记录的照片中提取出表示由这些竖直激光线在位于该空间内的物体上反射而形成的线的图像数据、并且由所提取的线来沿着所投射的激光线创建该被照亮空间的一个表示图，其中该机器人相对于所述表示图进行定位。
有利的是，根据本发明的实施例的机器人定位系统通过记录由于在位于该被照亮环境内的物体上反射的光而产生的图像数据来创建该系统被设定成在其中运行的这个环境的一个表示图。现有技术定位传感器通常每秒执行数千次测量从而产生大量的数据，这些数据是为了对其上安排有该定位传感器的这个机器人进行定位而必须处理的。相反，本发明的机器人定位系统执行了等量的测量、但是仅使用少量的所得数据进行定位。本发明的机器人定位系统仅考虑了沿着由该线激光器投射的竖直激光线所实现的一个平坦表面而记录的图像数据。与现有技术定位传感器相比的差异在要对其创键表示图的这个环境中包含许多物体的情况下是更突出，因为每个小的细节都将通过处理相对少量的图像数据而被表示出。与许多现有技术机器人定位系统相反，不需要使用地板传感器来例如防止机器人意外摔下楼梯。
进一步的优点是，该机器人定位系统可以用来检测一个可以将该定位系统安排在其上的机器人真空吸尘器前方的灰尘和碎屑。被这些线激光器照亮的地板上的甚至小的颗粒都将反射相当多的光线，于是通过记录反射光的变化可以容易地检测到干净地板。
还一个优点是，甚至在不对该照片进行复杂分析并且不构建该环境的完整表示图的情况下，也可以使用所记录照片的像素/图像数据来直接检测障碍物、边缘和墙。每个像素都可以被当成空间中一个小点的障碍物检测器，并且每一像素检测激光可以容易地转换成该机器人在撞到物体之前可以移动多远。因此，根据本发明的实施例的机器人定位系统能够提供准确且相关的数据用于在近距离处导航越过障碍物。
在本发明的另外一个实施例中，该机器人定位系统进一步包括一个第二线激光器，该第二线激光器被安排成用于通过投射竖直激光线来照亮该相机的视场内的一个空间。在这个具体实施例中，该处理单元被安排成从所记录的照片中提取出表示由该第一和第二线激光器的竖直激光线在位于该空间内的物体上反射而形成的对应线的图像数据。另外，该处理单元被安排成由对应的所提取线来沿着该第一和第二线激光器的投射激光线创建该被照亮空间的一个表示图。
有利的是，在使用两个光源的情况下，提高了定位准确性并且所记录的照片将包含更多用于有助于创建该机器人定位系统在其中运行的这个环境的详细表示图的更多信息。
在本发明的另外一个实施例中，该第一和第二线激光器沿着垂直于该相机的光轴的一条轴线被安排在该相机的相应侧上。有利的是，通过这种安排，相应的线激光器可以尽可能远离该相机来安装，从而照亮最大可能的空间。
在本发明的又一个实施例中，一个滤光器被排在该相机处，该滤光器与该第一(和第二)线激光器所发出的光的波长相适配。有利的是，可以使得该相机对于该一个或多个线激光器所使用的具体波长是敏感的，因此仅记录来自这些线激光器的反射光。
在一个实施例中，该相机是互补金属氧化物半导体(CMOS)相机。
在本发明的还一个实施例中，该机器人定位系统被安排成是围绕竖直轴线可旋转的。这可以通过以下方式实现：将该机器人定位系统固定地安装至该机器人真空吸尘器上并且旋转该真空吸尘器、或将该机器人定位系统可旋转地安装至该机器人真空吸尘器上。有利的是，可以将该机器人定位系统设定成旋转并且该相机将记录该真空吸尘器被设定成在其中运行的整个环境的照片。因此可以获得该环境的完整表示图。
在本发明的又一个实施例中，该机器人导航系统进一步包括用于估计该机器人定位系统的瞬时位置的一个定位系统。这是有利的，因为可以对每张所记录的照片并且因此最终对所创建的表示图建立一个坐标原点。
在本发明的另一个实施例中，该图像数据被映射到该相机的传感器阵列的坐标系中。有利的是，因此通过使用该传感器阵列坐标系可以将所记录照片的每个图像特征与一个独特坐标相关联。所创建的表示图因此与一个坐标系相关联以便促进该机器人真空吸尘器的定位。
要注意的是，本发明涉及在权利要求书中所陈述的特征的所有可能组合。在学习所附权利要求书和以下说明时，本发明的另外的特征和优点将变得清楚。本领域技术人员认识到，本发明的不同特征可以进行组合以产生除以下所描述的实施例之外的其他实施例。
附图的简要说明
现在将通过举例并参考附图来描述本发明，在附图中：
图1示出了根据本发明一个实施例的机器人定位系统；
图2a示出了根据本发明一个实施例的被安排有机器人定位系统的机器人真空吸尘器的顶视图；
图2b示出了根据本发明一个实施例的图2a的顶视图，其中指明了相机的视场；
图2c示出了根据本发明一个实施例的被安排有机器人定位系统的机器人真空吸尘器的侧视图；
图3a和3b展示了根据本发明一个实施例通过使用机器人定位系统来创建机器人在其中运行的这个环境的表示图的程序；
图4示出了根据本发明一个实施例的用于定位机器人的方法的流程图；
图5示出了根据本发明另一个实施例的用于定位机器人的方法的流程图；并且
图6展示了根据本发明另外一个实施例的机器人定位系统。
详细说明
现在将参照这些附图在下文中更全面地描述本发明，在附图中示出了本发明的某些实施例。然而，本发明可以采用许多不同形式来实施、并且不应被解释为是局限于在此阐明的这些实施例；而是，这些实施例是以举例方式提供的，这样使得本披露将变得全面和完整并且将向所属领域技术人员完整地传达本发明的范围。应注意，根据本发明多个实施例的机器人导航系统使用SLAM进行定位。SLAM是本领域所熟知的并且将不作任何进一步详细讨论。
图1示出了根据本发明一个实施例的机器人定位系统。该机器人定位系统10包括一个底盘11，在该底盘中定位了一个光检测器12例如CMOS相机以及处于线激光器形式的两个光源13、14。这些线激光器13、14被安排成在该CMOS相机12的视场内投射竖直激光线。CMOS相机12将反复记录被这两个线激光器13、14照亮的空间的照片，以使得可以创建被照亮空间的一个表示图从而进行准确定位。应注意，在本发明的一个实施例中，该机器人定位系统包括单一一个光源。然而，在使用两个光源的情况下，提高了定位准确性并且所记录的照片将包含更多用于有助于创建该机器人定位系统在其中运行的这个环境的详细表示图的更多信息。贯穿本说明，将描述使用两个线激光器。
对被照亮空间的表示图进行数据处理和推导典型地是由以一个或多个微处理器形式实施的一个处理单元15来进行的，该一个或多个微处理器被安排成用于执行被下载到与该微处理器相关联的一个适当存储介质17中的一个对相应计算机程序16，该存储介质是例如随机存取存储器RAM)、快闪存储器或硬盘驱动器。该处理单元15被安排成在该包含计算机可执行指令的适当计算机程序16被下载至存储介质17并且被该处理单元15执行时至少部分地实施根据本发明多个实施例的方法。该存储介质17还可以是包含该计算机程序16的一种计算机程序产品。替代地，该计算机程序可以通过适当的计算机程序产品例如软盘或记忆棒而传递至该存储介质。作为另外一个替代方案，该计算机程序16可以通过网络下载至存储介质17。该处理单元15可以替代地以专用集成电路(ASIC)、现场可编程门阵列(FPGA)、复杂可编程逻辑器件(CPLD)的形式来实施。应进一步注意的是，在机器人定位系统10与一个装置例如机器人真空吸尘器集成在一起的情况下，该机器人定位系统可以利用该真空吸尘器中已有的微处理器。
机器人定位系统10典型地安装到一种器具上，例如机器人真空吸尘器或地板清洗机上。当安装到机器人器具上时，该机器人定位系统在本发明的一个实施例中被安排成使得它可以围绕竖直轴线进行旋转。这可以通过以下方式实现：将该机器人定位系统10固定地安装至该机器人真空吸尘器上并且旋转该真空吸尘器、或将该机器人定位系统10可旋转地安装至该机器人真空吸尘器上。
图2a展示了根据本发明一个实施例的安排有机器人定位系统的机器人真空吸尘器20的顶视图，其中这两个线激光器13、14各自通过竖直激光线22、23照亮位于CMOS相机12的视场内的一个空间21。对应的线激光器13、14应尽可能远离CMOS相机12来安装，从而照亮最大可能的空间21。另外，该机器人定位系统应放置在机器人真空吸尘器上的尽可能高处，以便创建该机器人真空吸尘器在其中运行的这个环境的最佳概貌。
通过一个CMOS相机12和至少一个线激光器13、14，该相机所拍的每张照片都可以用来沿着所发出的激光束22、23来创建该被照亮空间的一部分的表示图。当该机器人定位系统和/其上安装有机器人定位系统的整个机器人真空吸尘器移动和旋转时，相机12反复地拍摄照片，从这些照片包含的信息中可以得到图像数据以便创建位于这些激光器所照亮的空间21内的这个环境的表示图。在一个实施例中，将该机器人定位系统旋转360度同时反复拍摄照片将产生包含图像数据形式的信息的多张照片，从该图像数据可以创建该环境的几何形状的极详细的表示图。
还可以使用CMOS相机12来在环境中定位多个信标和应答器，只要它们发出与该激光器相同的波长。
机器人真空吸尘器必须能够在一个空间周围自由地移动并且因此是电池驱动的。应注意，在本发明的真空吸尘器的充电站上不需要有源信标，因为该充电站可以通过其形状或其前部上的特定反射图案被识别和定位。
图2b展示了根据本发明一个实施例的安排有机器人定位系统的机器人真空吸尘器20的顶视图，其中这两个线激光器13、14各自通过竖直激光线22、23照亮位于CMOS相机12的视场内的一个空间21。
如图2a所示，该第一线激光器13和第二线激光器14沿着垂直于该相机的光轴的一条轴线被安排在该相机12的相应侧上。另外，在图2a和2b中可以看到，线激光器13、14被定向成使得它们的相应激光束23、22在相机12的视场内相交。典型地，交点与相机12的光轴重合。
有利地，线激光器13、14的方向构型和相机12的视场24被安排成使得，位于相机12的视场24内的被照亮空间21的宽度wC大于机器人真空吸尘器20的宽度wR。因此，这些线激光器13、14被定向成使得，具有选定视场24的相机12能够拍到宽度wC大于机器人真空吸尘器20的宽度wR的一个被照亮空间21。这对检测障碍物是有用的，因为机器人20能够察觉到至少沿着其整个宽度wR出现的障碍物。
图2c展示了根据本发明一个实施例、图2a和2b所示的被安排有机器人定位系统的机器人真空吸尘器20的侧视图。类似于结合图2b所提出的，产生激光束22、23的线激光器22、23的方向构型和相机12的视场24被有利地安排成使得，位于相机12的视场24内的被照亮空间21的高度hC大于机器人真空吸尘器20的高度hR。因此，这些线激光器被定向成使得，具有给定的视场24的相机12能够拍到高度hC大于机器人真空吸尘器20的高度hR的一个被照亮空间21。同样，这对检测障碍物是有用的，因为机器人20能够察觉到至少沿着其整个高度hR出现的障碍物。
在本发明的另一个实施例中，本发明的机器人定位系统包括一个灰尘传感器，用于检测被线激光器13、14照亮的灰尘、碎屑和/或颗粒。该灰尘传感器实际上可以通过之前所讨论的微处理器15来实现，该微处理器执行一个适当的计算机程序以便在装配有机器人定位系统的机器人真空吸尘器中获得灰尘感测功能。因此，这些线激光器13、14照亮了空间21，而该相机记录该空间的照片。从这些照片中，可以提取出清楚地指示被照亮颗粒的图像数据。在机器人真空吸尘器遇到包含颗粒的区域的情况下，这些颗粒将被照亮并且因此通过使用图像处理可以与干净的无颗粒的地板区分开。因此可以有利地基于此信息来控制该机器人真空吸尘器。例如，在经过包含大量颗粒的区域时抽吸能力可能暂时增大，或者可以控制该真空吸尘器来多次走过该区域以确保所有灰尘和碎屑被去除。
参照图3a和3b将描述本发明的一个实施例，该实施例展示了通过使用本发明的机器人定位系统来创建机器人在其中运行的该环境的一个表示图的程序，该机器人可以相对于该表示图进行定位。控制这些线激光器13、14来发光以产生对应的竖直激光线22、23，而操作该CMOS相机12来反复拍摄照片。为了将环境光的不利影响最小化，任选地控制这些线激光器来以最高可能的效果发光。另外，可以在该CMOS相机的前方安排一个滤光器以便使该相机更加可感知这些线激光器所发出的光。
在拍摄相应照片之时通过应用航位推测法来记录该机器人的估计位置。这是已知的方法，其中通过使用关于之前确定位置的数据来计算当前位置。对每张照片的图像数据进行滤波以降低噪声，并且通过使用任何适当的边缘检测方法(例如坎尼(Canny)边缘检测算法)来提取出限定了这些相应竖直激光线的一条线。由于从该图像数据中提取出的相应的线可能是粒状的，因此可以通过提取该照片中存在的激光线的中心来进一步增强图像处理，例如通过对相应的经边缘检测的激光线中的多个相邻像素值使用所谓的重心法以计算出该激光线的中心。
由于CMOS相机装配有光传感器阵列，其中该阵列中的每个单独光传感器(即，像素)表示来自空间中独特位置的检测光，因此所记录的照片将包含表示已被这些线激光器照亮的物体的图像数据，该图像数据进一步可以与独特的坐标相关联。随后，获得一系列坐标，其中这些激光线的中心位于传感器阵列中，即在所记录的照片中。有利的是，这些坐标将具有比从中提取出它们的这些照片像素高得多的分辨率，因为每个激光线中心坐标是从若干个像素和所有这些像素中寄存的光来计算的。
参照图3a和3b、以及图4中展示了根据本发明一个实施例的方法的流程图，当机器人真空吸尘器20在有待清洁的房间周围移动时，在步骤S101中第一和第二线激光器13、14分别通过竖直激光线22、23照亮了在CMOS相机12的视场内的空间21。在步骤S102中，相机12记录被照亮空间21的多张照片。此后，在步骤S103中，从该一张或多张所记录照片中提取出表示由这些相应竖直激光线22、23所形成的线的图像数据，在步骤S104中，由这些所提取的线来沿着所投射的这些激光线创建该被照亮空间的一个表示图，因为这些提取的线可以与空间21中的独特坐标相关联。处于门槛31形式的第一障碍物和处于墙壁32形式的第二障碍物被这些线激光器照亮。在图3b中，由于CMOS相机12的每个单独光传感器表示了空间中的一个独特位置，因此所记录的照片包含表示被照亮物体及其在空间21中的具体坐标的图像数据。因此，沿着所投射的激光线的被照亮空间的表示图将作为沿着由所发出的激光线22、23形成的平坦表面、该房间的一个截面出现。可以看到，门槛31和墙壁32可以在图3b中发现。另外，可以高度准确地计算出这些物体在该房间中位于何处。例如，到门槛31的距离是0.5米，门槛为0.1米高且0.15米宽等。由于在拍摄照片时记录该机器人的位置，可以将这些2D表示图中的多个表示图转换成3D空间并在机器人移动且连续地记录该房间的其他部分时用来建立该房间的完整3D地图。
图5展示了根据本发明另一个实施例的方法，其中通过该方法创建了该表示图。步骤S101-S103与参照图4所描述的这些相同。在额外的步骤S103b中，将当前记录的照片的图像数据与至少一个之前所记录的照片的图像数据进行比较。这可以是刚刚记录的照片或较早记录的照片。可以与甚至更早记录的照片进行比较。接着，在步骤S103c中，通过使用航位推测法基于多个不同组的图像数据的比较来调整从当前记录的照片中提取出的线。因此，通过使用关于之前已知位置的知识，可以更好地估计当前位置，并且在该照片中存在干扰(即，噪声)的情况下，可以将噪声过滤掉，因为在将具有已知相对移动的多张照片彼此比较时，噪声不太可能已期望的方式移动跨过该照片。
最后，在步骤S104’中，从经调整的所提取的线来沿着所投射的激光线产生被照亮空间的一个表示图。因此，通过将当前记录的图像数据与由之前记录的图像数据并且应用航位推测法所得到的表示图进行比较，可以创建更正确的表示图，机器人可以相对于该表示图更准确地定位。
任选地，除了提取该照片中的这些线之外，还提取了这些线的强度和宽度。可以使用线宽度和强度的信息来过滤可能是假的线。如果单一的线具有地板典型的位置和倾斜度，则可以将沿着该单一线的强度波动用作碎屑指示器。另外，实际上，由于机器人在移动跨过地板时来回地并且从一侧到另一侧地略微倾斜，可能必须对用来产生3D地图形式的表示图的图像数据进行调整，例如通过假设机器人在其上移动的地板是平坦的并且对这些照片中的图像数据进行线性调整。因此，在3D空间中近似水平的长的线被调整成是完美水平的，近似水平线的偏差参数被寄存，并且剩余的线是用对应的偏差参数来调整的。
在产生表示3D空间内的点的大量数据的情况下，可以将这些数据进行压缩以便减小对根据本发明多个实施例的机器人定位系统的处理单元的计算能力的需要。例如，空间中多个相干点可以近似为一条线，并且这条线的仅仅起点和止点被寄存在存储器中并且因此代表空间中的所有相干点，并且空间中的多条相干线可以近似成一个面。
图6展示了根据本发明的机器人定位系统的另一个实施例。当机器人真空吸尘器20遇到障碍物例如地毯25而导致它略微倾斜时，如果假设该机器人真空吸尘器平行于有待清洁的表面，则所创建的图像可能变得不正确。这在机器人真空吸尘器20跨过门槛的情况下更明显，在这种情况下该机器人真空吸尘器能够在任何方向上进行倾斜动作以移动其重心从而更容易地爬过该门槛。因此，在这个具体实施例中，所创建的表示图是与该机器人真空吸尘器移动跨过的表面相关的。因此，所创建的表示图是与一个相对于地板固定的坐标系相关的并且因此变成对于机器人的倾斜是不变的。
虽然已参照具体的示例性实施例来描述本发明，但是许多不同的改变、修改等都是本领域技术人员将清楚的。因此，所描述的实施例不旨在限制如所附权利要求书所限定的本发明的范围。
Claims (15)
1.一种用于定位机器人的方法，该方法包括以下步骤：
用在一个相机的视场内投射竖直激光线的至少第一线激光器来照亮(S101)一个空间；
用该相机来记录(S102)这些竖直激光线所照亮的空间的一张照片；
从该记录的照片中提取(S103)出表示由这些竖直激光线在位于该空间内的物体上反射而形成的一条线的图像数据；
将该记录的照片的图像数据与至少一个之前记录的照片的图像数据进行比较(S103b)；
基于所述图像数据的比较、通过使用航位推测法来调整(S103c)该提取的线，其中在记录相应照片之时记录该机器人的估计位置；并且
从该经调整的提取的线来沿着所投射的激光线创建(S104’)该被照亮空间的一个表示图，其中该机器人相对于所述表示图进行定位。
2.如权利要求1所述的方法，其中：
照亮一个空间的该步骤进一步包括用在该相机的视场内投射竖直激光线的至少第二线激光器来照亮该空间；
从该记录的照片中提取出表示一条线的图像数据的该步骤进一步包括提取出表示由该第一和第二线激光器的相应竖直激光线所形成的一条线的图像数据；并且
从该提取的线来创建一个表示图的该步骤包括从该第一和第二线激光器的这些提取的线来沿着该第一和第二线激光器的所投射的激光线创建该被照亮空间的一个表示图。
3.如权利要求1或2中任一项所述的方法，进一步包括以下步骤：
获得该相机的位置估计值；并且
使用该位置估计值来创建该被照亮空间的表示图，所述表示图基于该位置估计值而与多个坐标相关联。
4.如权利要求1或2所述的方法，进一步包括以下步骤：
将该相机围绕一条竖直轴线旋转；
反复地记录多张照片，从这些照片来创建该表示图。
5.如权利要求1或2所述的方法，进一步包括以下步骤：
将该图像数据映射到该相机的多个独特传感器阵列坐标；并且
将这些独特坐标指派给这些所提取的线，其中所述表示图是与这些独特坐标相关联的。
6.一种机器人定位系统(10)，包括：
一个相机(12)；
一个处理单元(15)；以及
至少第一线激光器(13)，该第一线激光器被安排成用于通过在该相机的视场内投射竖直激光线(23)而照亮一个空间(21)；其中
该相机被安排成用于记录这些竖直激光线所照亮的空间的一张照片；并且
该处理单元被安排成用于从该记录的照片中提取出表示由这些竖直激光线在位于该空间内的物体上反射而形成的一条线的图像数据、将该记录的照片的图像数据与至少一个之前记录的照片的图像数据进行比较、基于所述图像数据的比较通过使用航位推测法来调整该提取的线而其中在记录相应照片之时记录该机器人的估计位置、并且进一步用于从该经调整的提取的线来沿着这些投射的激光线创建该被照亮空间的一个表示图，其中其上安排有该机器人定位系统的机器人相对于所述表示图进行定位。
7.如权利要求6所述的机器人定位系统(10)，进一步包括：
一个第二线激光器(14)，该第二线激光器被安排成用于通过投射竖直激光线(22)来照亮在该相机(12)的视场内的该空间(21)；其中
该处理单元(15)被安排成用于从该记录的照片中提取出表示由该第一和第二线激光器的竖直激光线所形成的一条相应的线的图像数据、并且进一步用于从该相应的所提取的线来沿着该第一和第二线激光器的这些投射的激光线创建该被照亮空间的一个表示图。
8.如权利要求7所述的机器人定位系统(10)，其中所述第一(13)和第二(14)线激光器沿着一条垂直于该相机(12)的光轴的轴线而安排在该相机的相应侧上。
9.根据权利要求8所述的机器人定位系统(10)，其中所述第一(13)和第二(14)线激光器被安排成被定向成使得其相应的激光束(23，22)在该相机(12)的视场内相交。
10.如权利要求7至9中任一项所述的机器人定位系统(10)，其中所述第一(13)和第二(14)线激光器的方向和该相机(12)的视场(24)被安排成使得，位于该相机的视场内的被照亮空间(21)的宽度(wC)大于其上安排有该机器人定位系统的机器人的宽度(wR)。
11.如权利要求7至9中任一项所述的机器人定位系统(10)，其中所述第一(13)和第二(14)线激光器的方向和该相机(12)的视场(24)被安排成使得，位于该相机的视场内的被照亮空间(21)的高度(hC)大于其上安排有该机器人定位系统的机器人的高度(hR)。
12.如权利要求6至9中任一项所述的机器人定位系统，所述处理单元(15)进一步被安排成用于：
将该图像数据映射至该相机(12)的独特传感器阵列坐标；并且
将这些独特坐标指派给这些提取的线，其中所述表示图是与这些独特坐标相关联的。
13.如权利要求7至9中任一项所述的机器人定位系统，进一步包括：
一个灰尘传感器，该灰尘传感器被安排成用于通过提取出表示被照亮颗粒的图像数据来检测该第一(13)和第二(14)线激光器所照亮的颗粒，其中其上安排有该机器人定位系统的机器人的运行可以响应于检测到的颗粒而被控制。
14.如权利要求6至9中任一项所述的机器人定位系统，所述处理单元(15)进一步被安排成将所创建的表示图与一个相对于该机器人移动跨过的表面为固定的坐标系相关联。
15.一种机器人真空吸尘器(20)，被安排有如权利要求6至14中任一项所述的机器人定位系统(10)。
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| JP6202544B2 (ja) | 2017-09-27 |
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| ES2610755T3 (es) | 2017-05-03 |
| EP2888603B1 (en) | 2016-10-12 |
| EP3104194B1 (en) | 2019-02-06 |
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