CN106020201B - Mobile robot 3D navigation positioning system and navigation locating method - Google Patents
Mobile robot 3D navigation positioning system and navigation locating method Download PDFInfo
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- CN106020201B CN106020201B CN201610549090.9A CN201610549090A CN106020201B CN 106020201 B CN106020201 B CN 106020201B CN 201610549090 A CN201610549090 A CN 201610549090A CN 106020201 B CN106020201 B CN 106020201B
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- 238000000034 method Methods 0.000 title claims description 15
- 238000012545 processing Methods 0.000 claims abstract description 37
- 230000007613 environmental effect Effects 0.000 claims abstract description 21
- 230000001133 acceleration Effects 0.000 claims abstract description 12
- 230000004048 modification Effects 0.000 claims abstract description 12
- 238000012986 modification Methods 0.000 claims abstract description 12
- 230000002452 interceptive effect Effects 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000003702 image correction Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to positioning and navigation fields, espespecially a kind of mobile robot 3D navigation positioning system, including robot, the robot front end is equipped with image capture module, central processing unit, MUC module, image modification module, path adjustment module and robot ambulation mobile module are equipped in the robot, the central processing unit is connect with image capture module, the central processing unit and MUC interactive connection, the MUC are connect with image modification module, path adjustment module and robot ambulation mobile module respectively.The beneficial effects of the present invention are: the present invention is using 3D camera as data acquisition front, the intermediate RGB camera of cooperation carries out environmental objects identification, it is mutually corrected with the data of infrared sensor acquisition, pass through the integration technology of encoder and acceleration transducer, environmental map is drawn in conjunction with SLAM algorithm, designs navigator fix, the ranging, path planning scheme of a set of mobile robot.
Description
Technical field
The present invention relates to positioning and navigation field, espespecially a kind of mobile robot 3D navigation positioning system and navigator fix side
Method.
Background technique
2D laser radar module mainly or by magnetic stripe is navigated or used to current localization for Mobile Robot navigation field
Navigator fix is carried out, is had the following disadvantages:
1. magnetic stripe navigation needs to stick magnetic stripe on travel route in advance, the structure of original environment is destroyed, and not flexible.
2.2D range laser radar is unable to complete the three dimensional depth visual performance of common front scanning radar.
3. can only be scanned to the scene in approximately the same plane, and barrier material identification can not be carried out.
4.2D range laser radar can only be one-line scanning, therefore inevitably cause more serious barrier
Missing inspection and false phenomenon.
Summary of the invention
To solve the above problems, the present invention provides a kind of mobile robot 3D navigation positioning system and navigation locating method.
To achieve the above object, the present invention, which adopts the following technical scheme that, is: a kind of mobile robot 3D navigator fix system
System, including robot, the robot front end are equipped with image capture module, in the robot equipped with central processing unit,
MCU module, image modification module, path adjustment module and robot ambulation mobile module, the central processing unit and image
Acquisition module connection, the central processing unit and MCU interactive connection, the MCU respectively with image modification module, path tune
Mould preparation block is connected with robot ambulation mobile module.
Wherein, robot acquires data by image capture module and is transmitted to the knowledge that central processing unit carries out environmental objects
Not, while MCU is uploaded in central processing unit by image modification module acquisition data and is carried out moving distance calculating and position simultaneously
Plan that data are simultaneously transmitted to MCU by track route, the track route of the path adjustment module amendment planning, MCU controls machine
Device people walks mobile module to avoid encountered barrier.
Preferably, the image capture module is 3D camera.
Preferably, the image capture module carries out environmental data scanning using laser radar.
Preferably, the image modification module includes RGB camera and infrared sensor, the RGB camera and
Infrared sensor is connect with MCU input terminal respectively.
Preferably, the walking that the robot ambulation mobile module includes two-wheel motor and walked by two-wheel motor control
Unit.
The working principle of the invention: 3D camera acquires the environmental data in front of robot and collected data is transmitted
To central processing unit, RGB camera carries out environmental objects identification and the environmental objects identification data after identification is transmitted to center
Processor, the data phase that the RGB of central processing unit combination at this time camera acquires environmental objects identification data with infrared sensor
It mutually corrects, moving distance is carried out in central processing unit and is calculated and is positioned and plan track route, if 3D camera in walking process
Collecting front has barrier, and the walking road of module amendment planning is adjusted by path described in encoder, acceleration transducer
Line simultaneously feeds back to MCU, and central processing unit and MCU data interaction data simultaneously calculate the navigator fix of mobile robot, ranging, road
Diameter programme path.
A kind of navigation locating method using mobile robot 3D navigation positioning system, includes the following steps:
Step 1: robot starting acquires ambient data by the 3D camera of robot front end, data is sent
It is analyzed and processed as central processing unit, ambient enviroment map is drawn out by SLAM algorithm；
Step 2: central processing unit carries out the route of each point in Modeling Calculation robot to map after the completion of mapping,
Plan the route that is movably walking；
Step 3: central controller assigns instruction to MCU, is moved to designated place, passes through 3D in robot moving process
Camera constantly acquires data, carries out the identification of environmental objects, while MCU will acquire RGB camera and infrared sensor
Data, which are uploaded in real time in central processing unit, carries out moving distance calculating and positioning, and draws again among whole scan map
Real-time dynamicly scheme for one out；
Step 4: central processing unit and MCU data interaction, according to obtaining RGB camera and infrared sensor feedback data,
It allows the robot to move among the environment of a dynamic change, in conjunction with the data of encoder and acceleration transducer, adjust
Whole two-wheel motor driven speed corrects the track route of planning to avoid encountered barrier；
Step 5: finally in dynamic map scanning operation, mobile robot is along the route newly planned around barrier
Hinder object, arrive at the destination, equipment will remove original path planning and barrier later, re-starts scanning, generates new ground
Figure and route planning.
The beneficial effects of the present invention are: the present invention, as data acquisition front, cooperates intermediate RGB using 3D camera
Camera carries out environmental objects identification, mutually corrects with the data of infrared sensor acquisition, passes through encoder and acceleration sensing
The integration technology of device draws environmental map in conjunction with SLAM algorithm, designs navigator fix, the ranging, road of a set of mobile robot
Diameter programme, the present invention do not need to destroy the structure of original environment and walking flexibly, have three dimensional depth vision, have and carry out
Barrier material identification function, there is no the missing inspections of barrier and false phenomenon.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 is robot localization process flow schematic diagram.
Fig. 3 is that robot planning is movably walking route map.
Fig. 4 is that robot is movably walking and encounters the signal state diagram of barrier.
Fig. 5 is robot programme path figure again.
Fig. 6 is that robot generates new map and route planning.
Specific embodiment
It please refers to shown in Fig. 1-6, the present invention is about a kind of mobile robot 3D navigation positioning system, including robot, institute
The robot front end stated is equipped with image capture module, is equipped with central processing unit, MCU module, image correction in the robot
Module, path adjustment module and robot ambulation mobile module, the central processing unit is connect with image capture module, described
Central processing unit and MCU interactive connection, the MCU respectively with image modification module, path adjustment module and robot row
Walk mobile module connection, wherein robot, which acquires data by image capture module and is transmitted to central processing unit, carries out environment
The identification of object, while MCU acquires data by image modification module and uploads to progress moving distance calculating in central processing unit
Data are simultaneously transmitted to MCU with positioning and planning track route, the track route of the path adjustment module amendment planning,
MCU controls robot ambulation mobile module to avoid encountered barrier.
Preferably, the image capture module is 3D camera.
Preferably, the image capture module carries out environmental data scanning using laser radar.
Preferably, the image modification module includes RGB camera and infrared sensor, the RGB camera and
Infrared sensor is connect with MCU input terminal respectively.
Preferably, the described path adjustment module includes encoder and acceleration transducer, the encoder and acceleration
Degree sensor is connect with MCU input terminal respectively.
Preferably, the walking that the robot ambulation mobile module includes two-wheel motor and walked by two-wheel motor control
Unit.
The working principle of the invention: 3D camera acquires the environmental data in front of robot and collected data is transmitted
To central processing unit, RGB camera carries out environmental objects identification and the environmental objects identification data after identification is transmitted to center
Processor, the data phase that the RGB of central processing unit combination at this time camera acquires environmental objects identification data with infrared sensor
It mutually corrects, moving distance is carried out in central processing unit and is calculated and is positioned and plan track route, if 3D camera in walking process
Collecting front has barrier, and the walking road of module amendment planning is adjusted by path described in encoder, acceleration transducer
Line simultaneously feeds back to MCU, and central processing unit and MCU data interaction data simultaneously calculate the navigator fix of mobile robot, ranging, road
Diameter programme path.
A kind of navigation locating method using mobile robot 3D navigation positioning system, includes the following steps:
Step 1: robot starting acquires ambient data by the 3D camera of robot front end, data is sent
It is analyzed and processed as central processing unit, ambient enviroment map is drawn out by SLAM algorithm；
Step 2: central processing unit carries out the route of each point in Modeling Calculation robot to map after the completion of mapping,
Plan the route that is movably walking；
Step 3: central controller assigns instruction to MCU, is moved to designated place, passes through 3D in robot moving process
Camera constantly acquires data, carries out the identification of environmental objects, while MCU will acquire RGB camera and infrared sensor
Data, which are uploaded in real time in central processing unit, carries out moving distance calculating and positioning, and draws again among whole scan map
Real-time dynamicly scheme for one out；
Step 4: central processing unit and MCU data interaction, according to obtaining RGB camera and infrared sensor feedback data,
It allows the robot to move among the environment of a dynamic change, in conjunction with the data of encoder and acceleration transducer, adjust
Whole two-wheel motor driven speed corrects the track route of planning to avoid encountered barrier；
Step 5: finally in dynamic map scanning operation, mobile robot is along the route newly planned around barrier
Hinder object, arrive at the destination, equipment will remove original path planning and barrier later, re-starts scanning, generates new ground
Figure and route planning.
The beneficial effects of the present invention are: the present invention, as data acquisition front, cooperates intermediate RGB using 3D camera
Camera carries out environmental objects identification, mutually corrects with the data of infrared sensor acquisition, passes through encoder and acceleration sensing
The integration technology of device draws environmental map in conjunction with SLAM algorithm, designs navigator fix, the ranging, road of a set of mobile robot
Diameter programme, the present invention do not need to destroy the structure of original environment and walking flexibly, have three dimensional depth vision, have and carry out
Barrier material identification function, there is no the missing inspections of barrier and false phenomenon.
Embodiment of above be only preferred embodiments of the present invention will be described, not to the scope of the present invention into
Row limits, and without departing from the spirit of the design of the present invention, this field ordinary engineering and technical personnel is to technical side of the invention
The various changes and improvements that case is made, should fall within the scope of protection determined by the claims of the present invention.
Claims (1)
1. a kind of robot navigation's localization method is applied in mobile robot 3D navigation positioning system, which is characterized in that described
Mobile robot 3D navigation positioning system, including robot, the robot front end are equipped with image capture module, the machine
Central processing unit, MCU module, image modification module, path adjustment module and robot ambulation mobile module, institute are equipped in device people
The central processing unit stated is connect with image capture module, the central processing unit and MCU interactive connection, the MCU difference
It is connect with image modification module, path adjustment module and robot ambulation mobile module, wherein described image acquisition module uses
3D camera, described image correction module include RGB camera and infrared sensor, the RGB camera and infrared sensing
Device is connect with MCU input terminal respectively, and path adjustment module includes encoder and acceleration transducer, the encoder and
Acceleration transducer is connect with MCU input terminal respectively, wherein during robot passes through image capture module acquisition data and is transmitted to
Central processor carries out the identification of environmental objects, while MCU acquires data by image modification module and uploads in central processing unit
Moving distance is carried out to calculate and position and plan track route, the track route and handle of the path adjustment module amendment planning
Data are transmitted to MCU, and MCU controls robot ambulation mobile module to avoid encountered barrier, and the method includes following
Step:
Step 1: robot starting acquires ambient data by the 3D camera of robot front end, send data in
Central processing unit is analyzed and processed, and draws out ambient enviroment map by SLAM algorithm；
Step 2: central processing unit carries out the route of each point in Modeling Calculation robot to map, planning after the completion of mapping
Be movably walking route；
Step 3: central controller assigns instruction to MCU, is moved to designated place, is imaged in robot moving process by 3D
Head constantly acquires data, carries out the identification of environmental objects, while MCU will acquire the data of RGB camera and infrared sensor
It is uploaded in central processing unit in real time and carries out moving distance calculating and positioning, and draw out one again among whole scan map
It is a real-time dynamicly to scheme；
Step 4: central processing unit and MCU data interaction, according to acquisition RGB camera and infrared sensor feedback data, so that
Robot can move among the environment of a dynamic change, and in conjunction with the data of encoder and acceleration transducer, adjustment is double
Turbin generator driving speed corrects the track route of planning to avoid encountered barrier；
Step 5: finally in dynamic map scanning operation, mobile robot along the route cut-through object newly planned,
It arrives at the destination, equipment will remove original path planning and barrier later, re-start scanning, generate new map and road
Line gauge is drawn.
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| CN201610549090.9A CN106020201B (en) | 2016-07-13 | 2016-07-13 | Mobile robot 3D navigation positioning system and navigation locating method |
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| CN201610549090.9A CN106020201B (en) | 2016-07-13 | 2016-07-13 | Mobile robot 3D navigation positioning system and navigation locating method |
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