CN108181610B - Indoor robot positioning method and system - Google Patents

Abstract

The invention discloses an indoor robot positioning method and system. A laser matrix transmitter receives a laser emission instruction signal including a laser transmitter number sent by an indoor robot according to a set frequency and a set order, and controls the laser transmitter corresponding to the number to send the laser transmitter to the ceiling. A laser beam is emitted to obtain a robot view including a spot image formed by the laser beam on the ceiling, and the indoor robot can be positioned based on the robot view. Each time the laser matrix transmitter emits a laser beam, use the shooting equipment installed on the indoor robot to take pictures of the ceiling directly above it, and obtain the robot view including all the light spots formed by the laser beam emitted once, according to the position of the robot view in the ceiling Calculate the position and direction of the indoor robot and realize its positioning. The positioning process has small image processing capacity, strong real-time performance and is not disturbed by the surrounding environment, and can realize low-cost, high-precision, and high-reliability indoor robot positioning.

Description

Indoor robot localization method and system

technical field

The invention belongs to the technical field of indoor robots, and relates to an indoor robot positioning method and system.

Background technique

In the existing indoor robot positioning technology, positioning technologies such as electromagnetic induction navigation and positioning, visual navigation and positioning, and ultrasonic navigation and positioning are mainly used. The induction device is installed for electromagnetic induction, which makes the robot can only walk according to the set route, which limits the movement range and flexibility of the robot; the visual navigation positioning has a huge amount of image processing, poor real-time performance, and is affected by the external environment of light conditions. There are disadvantages such as large interference limitation and poor positioning accuracy. Ultrasonic navigation and positioning have defects such as specular reflection and limited beam angle, which can not fully obtain surrounding environment information, resulting in inaccurate positioning.

In addition to the shortcomings of the above-mentioned existing indoor robot positioning methods, the existing indoor robots also have the problems of poor positioning real-time performance, poor reliability and high cost.

SUMMARY OF THE INVENTION

The present application provides an indoor robot positioning method and system, which can realize low-cost, high-precision, high-real-time, and high-reliability indoor robot positioning.

In order to solve the above-mentioned technical problems, the application adopts the following technical solutions to realize:

An indoor robot positioning method is proposed, which includes: receiving a laser emission instruction signal sent by an indoor robot according to a set frequency and a set order; wherein, the laser emission signal includes the serial number of the laser transmitter; The laser transmitter corresponding to the above number emits a laser beam to the ceiling; acquires a robot view including a spot image formed by the laser beam on the ceiling; realizes the positioning of the indoor robot based on the robot view.

Further, the number of the laser transmitter is the number of the laser triangular array; the laser triangular array is composed of four laser transmitters; the four laser transmitters are in the laser transmitter matrix, and three laser transmitters are satisfied. The three light spots projected by the laser emitter to the ceiling are on the same straight line and adjacent to each other, and the light spot projected by the remaining one laser emitter to the ceiling and the light spots projected by the other three laser emitters to the ceiling form a triangle. The obtuse angle is 135°; the laser emitter matrix is composed of N*M laser emitters with N rows and M columns, and the distances between each laser emitter are equidistant.

Further, the positioning of the indoor robot based on the light spot image is specifically: determining the view spot coordinates of the light spot in the robot's view in the view coordinate system; determining the number corresponding to the projection of the laser transmitter. Projection spot coordinates of the spot in the laser matrix projection coordinate system; the indoor position and direction of the indoor robot are determined according to the view spot coordinates and the projection spot coordinates.

Further, determining the indoor position of the indoor robot is specifically: moving the view coordinate system so that the specified light spot in the view coordinate system and the projection corresponding to the specified light spot in the laser matrix projection coordinate system The light spots are coincident; the view coordinate system is rotated so that other light spots in the view coordinate system except the specified light spot coincide with the corresponding projection light spots in the laser matrix projection coordinate system;

确定所述机器人视图的中心点在所述激光矩阵投射坐标系的投射坐标；基于所述中心点的投射坐标和所述激光矩阵投射坐标系与地面坐标系的对应关系，确定所述室内机器人在室内的位置；其中，

和

为所述机器人视图的中心点在所述视图坐标系的坐标；

和

为所述指定光斑在所述视图坐标系中的坐标；

和

为所述指定光斑在所述投射光斑坐标系中的坐标；θ为所述机器人偏离所述投射坐标系坐标轴的夹角。according to

Determine the projection coordinates of the center point of the robot view in the laser matrix projection coordinate system; based on the projection coordinates of the center point and the correspondence between the laser matrix projection coordinate system and the ground coordinate system, determine that the indoor robot is in the projection coordinate system. indoor location; where,

and

is the coordinate of the center point of the robot view in the view coordinate system;

and

be the coordinates of the specified light spot in the view coordinate system;

and

is the coordinate of the designated spot in the projection spot coordinate system; θ is the angle at which the robot deviates from the coordinate axis of the projection coordinate system.

计算旋转角度θ；基于所述旋转角度θ和旋转方向确定所述室内机器人在室内的方向；其中，

和

、以及

和

为所述机器人视图中的两个光斑在所述视图坐标系中的坐标，在所述视图坐标系旋转后，所述两个光斑所在直线与所述激光矩阵投射坐标系的坐标轴平行。Further, determining the direction of the indoor robot in the room is specifically: rotating the view coordinate system, so that other light spots in the view coordinate system except the specified light spot and the corresponding projection in the laser matrix projection coordinate system In the coincidence of the spots, based on

Calculate the rotation angle θ; determine the indoor direction of the indoor robot based on the rotation angle θ and the rotation direction; wherein,

and

,as well as

and

is the coordinates of the two light spots in the robot view in the view coordinate system. After the view coordinate system is rotated, the lines where the two light spots are located are parallel to the coordinate axis of the laser matrix projection coordinate system.

An indoor robot positioning system is proposed, which includes an indoor robot, a laser matrix transmitter and a shooting device; the laser matrix transmitter includes several laser transmitters for emitting laser beams to the ceiling; wherein, each laser transmitter corresponds to a number; the indoor robot includes a laser emission signal sending module, a shooting control module, a robot view acquisition module and a positioning module; the laser emission signal sending module is used to send the laser matrix transmitter to the laser matrix transmitter according to the set frequency and set order. Send a laser emission instruction signal; wherein, the laser emission instruction signal includes the number of the laser transmitter; the laser matrix transmitter includes a laser transmitter control module for controlling the laser corresponding to the number based on the laser emission instruction signal The transmitter emits a laser beam to the ceiling; the photographing device is installed on the indoor robot, and the photographing angle faces the ceiling for photographing the ceiling under the control of the photographing control module; the robot view is obtained a module for acquiring a robot view including a spot image formed by the laser beam on the ceiling; the positioning module for positioning the indoor robot based on the robot view.

Further, the laser matrix transmitter is composed of N*M laser transmitters in a matrix form of N rows and M columns, and the spacing between each laser transmitter is equidistant; the number of the laser transmitter is the laser triangle array number; The laser triangular array is composed of four laser emitters; the four laser emitters are in the laser emitter matrix, so that the three laser emitters projecting the three light spots on the ceiling are on the same straight line and Adjacent, the obtuse angle of the triangle formed by the light spot projected by the remaining one laser emitter on the ceiling and the light spot projected by the other three laser emitters on the ceiling is 135°.

Further, the positioning module specifically includes a view spot coordinate determination unit, a projection spot coordinate determination unit and a positioning unit; the view spot coordinate determination unit is used to determine the position of the spot in the robot view in the view coordinate system. View spot coordinates; the projection spot coordinate determination unit is used to determine the projection spot coordinates of the spot projected by the laser emitter corresponding to the number in the laser matrix projection coordinate system; the positioning unit is used for according to the view spot coordinates and the projected light spot coordinates to determine the indoor position and direction of the indoor robot.

确定所述机器人视图的中心点在所述激光矩阵投射坐标系的投射坐标，基于所述中心点的投射坐标和所述激光矩阵投射坐标系与地面坐标系的对应关系，确定所述室内机器人在室内的位置；其中，

和

为所述机器人视图的中心点在所述视图坐标系的坐标；

和

为所述指定光斑在所述视图坐标系中的坐标；

和

为所述指定光斑在投射光斑坐标系中的坐标，θ为所述机器人偏离所述投射坐标系坐标轴的夹角。Further, the positioning unit includes a coordinate system moving subunit, a coordinate system rotating subunit, and an indoor robot position determining subunit; the coordinate system moving subunit is used to move the view coordinate system, so that the view coordinate system The designated spot in the laser matrix projection coordinate system coincides with the projected spot corresponding to the designated spot in the laser matrix projection coordinate system; the coordinate system rotation subunit is used to rotate the view coordinate system, so that the view coordinate system is divided into The other spots of the specified spot coincide with the corresponding projection spots in the laser matrix projection coordinate system; the indoor robot position determination subunit is used for

Determine the projection coordinates of the center point of the robot view in the laser matrix projection coordinate system, and based on the projection coordinates of the center point and the correspondence between the laser matrix projection coordinate system and the ground coordinate system, determine that the indoor robot is in the projection coordinate system. indoor location; where,

and

is the coordinate of the center point of the robot view in the view coordinate system;

and

be the coordinates of the specified light spot in the view coordinate system;

and

is the coordinate of the designated spot in the projection spot coordinate system, and θ is the angle at which the robot deviates from the coordinate axis of the projection coordinate system.

计算旋转角度θ，并基于所述旋转角度θ和旋转方向确定所述室内机器人在室内的方向，其中，

和

、以及

和

为所述机器人视图中的两个光斑在所述视图坐标系中的坐标，在所述视图坐标系旋转后，所述两个光斑所在直线与所述激光矩阵投射坐标系的坐标轴平行。Further, the positioning unit further includes a sub-unit for determining the direction of an indoor robot; the sub-unit for determining the direction of the indoor robot is used to rotate the view coordinate system so that other light spots other than the specified light spot are in the view coordinate system. coincides with the corresponding projection spot in the laser matrix projection coordinate system, based on

Calculate the rotation angle θ, and determine the indoor direction of the indoor robot based on the rotation angle θ and the rotation direction, wherein,

and

,as well as

and

is the coordinates of the two light spots in the robot view in the view coordinate system. After the view coordinate system is rotated, the lines where the two light spots are located are parallel to the coordinate axis of the laser matrix projection coordinate system.

Compared with the prior art, the advantages and positive effects of the present application are: in the indoor robot positioning method and system proposed by the present application, a matrix-type laser transmitter is used to emit laser beams to the indoor ceiling according to a set frequency and a set number, Each time the laser transmitter emits a laser beam, a light spot is formed on the ceiling, and then the image of the ceiling is taken by the shooting device installed on the top of the indoor robot, and the robot view with the light spot is obtained from it. The corresponding relationship of the laser matrix projection coordinate system where the light spot formed on the ceiling is located, the corresponding coordinates of the center point of the robot view in the laser matrix projection coordinate system, and the rotation angle of the view coordinate system where the robot view is located relative to the laser matrix projection coordinate system are calculated, and then Combined with the correspondence between the laser matrix projection coordinate system and the ground coordinates, the indoor position and direction of the indoor robot are obtained, thereby realizing the positioning of the indoor robot. This positioning method combined with the laser matrix transmitter emits laser beams according to the set number, and then obtains the robot view with the spot image for analysis. Compared with the existing visual navigation and positioning, it only needs to process the image containing the spot, and the amount of image processing It is small, has strong real-time performance, is not disturbed by the surrounding environment, and has high positioning reliability; compared with the existing ultrasonic navigation and positioning, there is no need to fully obtain the surrounding environment information, and the positioning can be achieved only by using the corresponding relationship of the coordinate system, with low cost and high precision. , Easy to install, can realize low-cost, high-precision, high-real-time, high-reliability indoor robot positioning.

Other features and advantages of the present application will become more apparent after reading the detailed description of the embodiments of the present application in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a method flow chart of the indoor robot positioning method proposed by the present application;

2 is a system block diagram of an indoor robot positioning system proposed by the present application;

FIG. 3 is an example diagram of the establishment of the laser matrix projection coordinate system proposed by the application;

4 is an example diagram of the correspondence between the view coordinate system and the laser matrix projection coordinate system in the application;

FIG. 5 is an example diagram of the correspondence between the view coordinate system and the laser matrix projection coordinate system in the present application.

Detailed ways

The specific embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The indoor robot positioning method proposed in this application is proposed based on the indoor robot positioning system shown in FIG. 2 . The indoor robot positioning system includes an indoor robot 1 , a laser matrix transmitter 2 and a photographing device 3 ; the top of the camera, the camera angle is toward the ceiling.

The laser matrix transmitter 2 includes a plurality of laser transmitters 21, which are arranged in a matrix form with N rows and M columns. The distance between each laser transmitter is equal to L, which is used to emit laser beams to the ceiling, and each The laser transmitters 21 have corresponding numbers; the projection angle of each laser transmitter can be adjusted, and the position of the light spot formed by the emitted laser beam on the ceiling is set in advance. When all the laser transmitters 21 are projected to the ceiling When , a light spot array in the form of a uniformly distributed matrix can be formed on the ceiling; among them, N and M are positive integers. As shown in Figure 3, it is the spot matrix formed on the ceiling after all laser emitters of the laser matrix emitter are emitted, and the laser matrix projection coordinate system is established on the ceiling for the projection spot.

，

,

；在激光发射器投射的天花板形成光斑之前，需要在天花板建立一个激光矩阵投射坐标系，每颗激光发射器投射在天花板形成的光斑在该激光矩阵投射坐标系内都有自身的位置信息，且需要将编号与在激光矩阵投射坐标系中的位置信息之间的对应关系预先存储。图3所示的激光矩阵投射坐标系示例中，是以激光矩阵发射器中左上角的第一颗激光发射器作为激光矩阵投射坐标系的原点建立的坐标系。Before positioning, the laser matrix transmitter 2 needs to be fixed at a certain position in the room to ensure that the emitted laser beam will not be blocked and can be projected onto the ceiling to form an effective visible spot; each laser transmitter has a corresponding Numbering

,

,

;Before the ceiling projected by the laser transmitter forms a light spot, a laser matrix projection coordinate system needs to be established on the ceiling, and the light spot formed by each laser transmitter on the ceiling has its own position information in the laser matrix projection coordinate system, and The correspondence between the numbers and the position information in the laser matrix projection coordinate system needs to be stored in advance. In the example of the laser matrix projection coordinate system shown in FIG. 3 , the coordinate system is established with the first laser transmitter in the upper left corner of the laser matrix transmitter as the origin of the laser matrix projection coordinate system.

Based on the above, the indoor robot positioning method proposed in this application, as shown in Figure 1, includes the following steps:

Step S11: Receive the laser emission command signal sent by the indoor robot according to the set frequency and set sequence.

、

、

和

，第二次发送的激光发射信号中包含激光发射器

、

、

和

，第三次发送的激光发射信号中包含激光发射器

、

、

和

等等。Take the indoor robot sending the laser emission command signal to the laser matrix transmitter at a set frequency of 100 times/second as an example, the laser emission signal every time contains the number of the laser transmitter; Laser transmitter included in transmit signal

,

,

and

, the laser transmitter is included in the laser emission signal sent for the second time

,

,

and

, the laser transmitter is included in the laser emission signal sent for the third time

,

,

and

and many more.

Step S12 : control the laser transmitter corresponding to the serial number to emit a laser beam to the ceiling based on the laser emission instruction signal.

That is, every time a laser emission command signal is sent, the laser matrix transmitter starts the corresponding numbered laser transmitter according to the sent laser transmitter number to project a laser beam to the ceiling, forming a light spot on the ceiling.

Step S13 : acquiring the robot view including the image of the spot formed by the laser beam on the ceiling.

Every time a laser emission command signal is sent to form a spot on the ceiling, the camera is controlled to take a picture of the ceiling to obtain a robot view. Continue to take the above example as an example, if the laser emission signal is sent 100 times in one second, the laser matrix The transmitter projects 100 lasers to the ceiling in one second, forming 100 light spots on the ceiling, and the shooting device obtains 100 views of the robot in one second, but because the indoor robot is either stationary or running, while in During the movement, the position of the indoor robot changes at any time, and the camera range is limited, and only the image of the ceiling directly above it can be captured. A complete light spot can be photographed, and a complete light spot can only be photographed when the light spot is formed directly above it. Therefore, it is necessary to filter out the robot view with a complete light spot from these 100 images as the analysis basis, that is, filter out four light spots. robot view.

Step S14 : positioning the indoor robot based on the robot view.

After filtering out the robot view with a complete light spot, the number of the laser transmitter that projects the laser to form the light spot in the robot view can be known, and then according to the corresponding relationship between the number and the position information in the laser matrix projection coordinate system, it can be known that the light spot is in the robot view. The coordinates in the laser matrix projection coordinate system, and in the robot view, the view coordinates of each spot in the view coordinate system can be known, and then according to the corresponding relationship between the view coordinate system where the robot view is located and the laser matrix projection coordinate system, through By means of scaling and coordinate system rotation, the positional relationship between the robot's view and the ceiling can be converted, and the positioning of the indoor robot can be obtained by combining the corresponding relationship between the laser matrix projection coordinate system and the ground coordinate system.

Usually, the ceiling and the ground are in a mirror-image relationship, and the laser matrix projection coordinate system and the ground coordinate system are also in a mirror-image relationship. The robot view containing the spot image on the ceiling is obtained by the camera installed on the top of the indoor robot, and the robot view and the laser matrix are obtained through the robot view and the laser matrix. The corresponding relationship of the projection coordinate system, the position of the center point of the robot view is deduced in the laser matrix projection coordinate system of the ceiling. Just above the robot, the position of the center point of the robot's view can directly reflect the indoor position of the indoor robot.

For example, according to the above example, the four light spots are connected to form an obtuse-angled triangle. After scaling and coordinate system rotation, the light spot in the robot's view is made to coincide with the position of the light spot in the laser matrix projection coordinate system. In this process, you can It is known that the rotation angle to realize the coincidence of the coordinate system represents the movement direction of the indoor robot; the center point of the robot view is the shooting center point of the shooting device, and the corresponding position of the robot view center point in the laser matrix projection coordinate system can be found. The position of the indoor robot in the laser matrix projection coordinate system is determined, that is, the position of the robot in the room is determined. Of course, in the present application, it is not limited to controlling four laser projectors to project laser light to the ceiling each time according to the above example, and any method of projecting a specific combination of laser light with a set frequency and a set order is within the protection scope of the present application.

L，另一条边的边长为2L，如图3所示的光斑a、b、c、d。这种非对称分布的光斑形式，有利于根据钝角的位置确定对应编号的激光发射器发射的激光投射出的光斑。In a preferred implementation of the present application, the laser emission signal sent by the indoor robot to the laser matrix transmitter according to the set frequency and the set sequence includes the numbers of four laser transmitters, and every four laser transmitters are projected on the ceiling to form a The light spots can form a triangle; the three light spots projected by the three laser emitters to the ceiling are on the same straight line and adjacent, and the light spot projected by the remaining one laser emitter to the ceiling is projected with the other three laser emitters The obtuse angle ∠abd of the triangle formed by the light spot to the ceiling is 135°, and the two sides that form the largest angle have a side length of

L, the length of the other side is 2L, as shown in the light spots a, b, c, and d in Figure 3. The asymmetric distribution of the light spot form is beneficial to determine the light spot projected by the laser light emitted by the corresponding number of laser emitters according to the position of the obtuse angle.

Each time the indoor robot sends a laser emission command signal to the laser matrix transmitter, the laser matrix transmitter starts four laser transmitters corresponding to the number of the laser transmitter to project the laser beam to the ceiling, forming a triangle composed of four light spots on the ceiling. At the same time, control the shooting equipment to shoot the ceiling once to ensure that the laser emission is synchronized with the shooting. The shooting field of view of the shooting equipment should be able to include at least two triangle-sized areas, so that when the four light spots that make up the triangle are in the shooting field of view, that is, When the indoor robot is directly above, the four light spots of the triangle can be completely photographed.

Then, in step S14, the indoor robot is positioned based on the robot view, specifically: determining the view spot coordinates of the light spot in the robot view in the view coordinate system; determining the number corresponding to the light spot projected by the laser transmitter in the laser matrix projection coordinate system. Projection spot coordinates; determine the indoor position and direction of the indoor robot according to the view spot coordinates and the projection spot coordinates. Specifically, the indoor position of the indoor robot is determined according to the position of the center point of the robot view in the laser matrix projection coordinate system, and the movement direction of the robot is determined according to the angle relationship between the view coordinate system and the laser matrix projection coordinate system.

In the specific implementation, after a robot view with a complete light spot is obtained, the numbers of the four corresponding laser emitters in the robot view can be known, and the projected light spot coordinates of the light spot in the laser matrix projection coordinate system can be determined; The view can also know the view spot coordinates of the spot in the view coordinate system.

The corresponding relationship between the view coordinate system and the laser matrix projection coordinate system is pre-set, that is, the scale relationship is set, and the two coordinate systems can be made the same according to the scaling.

、

、

、

、

，都是已知的（即机器人视图中的各个光斑点在视图坐标系中根据像素位置确定坐标）。According to the spot image in the robot view, the coordinates of the center point of the robot view can also be determined; the center point of the robot view can also represent the shooting center point of the shooting equipment, that is, the positioning of the indoor robot. After determining the center point of the robot view After the view coordinates, the scale of the view coordinate system and the laser matrix projection coordinate system is achieved by scaling. Here, it is assumed that the view coordinate system and the laser matrix projection coordinate system have the same scale, as shown in Figure 4, a, b, c, d four The coordinates of the light spot and the robot view center point m in the view coordinate system are respectively

,

,

,

,

, are known (that is, the individual light spots in the robot's view are coordinate based on pixel positions in the view coordinate system).

、

、

、

、

该四个光斑的投射光斑坐标可通过激光发射器编号与在激光矩阵投射坐标系中的位置关系获知；机器人视图中心点m在对应到激光矩阵投射坐标系的投射坐标未知，为所求目标坐标。这其中，视图坐标系中的光斑用“.”标示，激光矩阵投射坐标系中的光斑用“*”标示。The robot view of the complete spot image is determined, and the number of the laser emitter that forms the spot in the robot view can be determined. Then, according to the number of the laser emitter, the spot of the laser emitter projected on the ceiling can be determined in the laser matrix projection coordinate system. Position, that is, the projection spot coordinates can be determined; set the projection spot coordinates of the four spots a, b, c, and d in the laser matrix projection coordinate system, and the projection corresponding to the center point of the robot view in the laser matrix projection coordinate system. The coordinates are

,

,

,

,

The projected light spot coordinates of the four light spots can be known from the laser transmitter number and the positional relationship in the laser matrix projected coordinate system; the projected coordinates of the robot view center point m corresponding to the laser matrix projected coordinate system are unknown, and are the desired target coordinates . Among them, the light spot in the view coordinate system is marked with ".", and the light spot in the laser matrix projection coordinate system is marked with "*".

As shown in Figure 5, moving the view coordinate system makes a designated spot in the robot's view (spot a in the figure) coincide with the projection spot corresponding to the designated spot in the laser matrix projection coordinate system.

确定机器人视图的中心点视图坐标

在激光矩阵投射坐标系的对应投射坐标

；进而可以基于机器人视图的中心点对应的投射坐标和激光矩阵投射坐标系与地面坐标系的对应关系，确定室内机器人在室内的位置。Usually, the indoor positioning of indoor robots is not limited to position positioning, but also includes motion direction positioning, that is, deflection angle positioning. This is because when the robot moves in a direction that is not always consistent with the direction of the projected coordinate system, the shooting equipment can shoot There is a certain angle between the robot view and the laser matrix projection coordinate system, such as the angle θ shown in Figure 5, which also reflects the X axis or Y axis of the view coordinate system relative to the X axis of the laser matrix projection coordinate system. Or the angle relationship between the Y axis (in the figure, it is the angle between the Y axis of the laser matrix projection coordinate system), therefore, in order to make the light spots in the two coordinate systems coincide, rotate the view coordinate system, so that the view coordinate system divides The other light spots (b, c, d) of the specified light spot coincide with the corresponding projected light spots in the laser matrix projection coordinate system, and the rotation angle is θ, which represents the deflection direction of the indoor robot. It can be specified that when θ is greater than zero, it corresponds to counterclockwise rotation, When θ is less than zero, it corresponds to clockwise rotation.

Determine the center point view coordinates of the robot view

The corresponding projected coordinates in the laser matrix projected coordinate system

Furthermore, the indoor position of the indoor robot can be determined based on the projection coordinates corresponding to the center point of the robot view and the correspondence between the laser matrix projection coordinate system and the ground coordinate system.

可计算出旋转角度θ，进而基于旋转角度θ和旋转方向确定室内机器人在室内的方向；Then in rotating the view coordinate system so that the other light spots in the view coordinate system except the specified light spot coincide with the corresponding projection light spots in the laser matrix projection coordinate system, based on

The rotation angle θ can be calculated, and then the indoor direction of the indoor robot can be determined based on the rotation angle θ and the rotation direction;

和

、以及

和

为机器人视图中的b、d两个光斑在视图坐标系中的坐标，在视图坐标系旋转后，b、d两个光斑所在直线与激光矩阵投射坐标系的X坐标轴是平行关系。in,

and

,as well as

and

is the coordinates of the two light spots b and d in the robot view in the view coordinate system. After the view coordinate system is rotated, the line where the two light spots b and d are located is in a parallel relationship with the X coordinate axis of the laser matrix projection coordinate system.

Based on the above, the position and motion deflection direction of the indoor robot can be known according to the corresponding relationship between the laser matrix projection coordinate system and the ground coordinate system, and the indoor robot will advance according to this angle at the next moment.

As mentioned above, in the embodiment of the present application, a laser triangular array composed of four laser emitters is used to project light spots on the ceiling to realize the calculation of the position and direction of the robot. In practical applications, other numbers and/or arrangements of laser emission are used The combination of the device projects light spots to the ceiling, and the position and direction of the indoor robot can also be positioned based on different algorithms, which is not limited in this application.

Based on the indoor robot positioning method proposed above, the present application also proposes an indoor robot positioning system as shown in FIG. 2 , including an indoor robot 1 , a laser matrix transmitter 2 and a photographing device 3 ; the laser matrix transmitter 2 includes several laser transmitters A device 21 is used to emit laser light to the ceiling, wherein each laser emitter corresponds to a number; the indoor robot 1 includes a laser emission instruction signal sending module 11, a shooting control module 12, a robot view acquisition module 13 and a positioning module 14; the laser emission The command signal sending module 11 is used to send a laser emission command signal to the laser matrix transmitter 2 according to the set frequency and the set order, wherein the laser emission command signal includes the serial number of the laser transmitter; the laser matrix transmitter 2 also includes the laser transmitter The control module 22 is used to emit laser light to the ceiling based on the laser transmitter corresponding to the control number of the laser emission signal; the shooting device 3 is installed on the top of the indoor robot, and the shooting angle is towards the ceiling, for taking pictures of the ceiling under the control of the shooting control module 12 ; The robot view acquisition module 13 is used to acquire the robot view including the image of the spot formed by the laser beam on the ceiling; the positioning module 14 is used to locate the indoor robot based on the robot view.

Specifically, the laser matrix transmitter 2 is composed of N*M laser transmitters 21 in a matrix form of N rows and M columns, and the distances between each laser transmitter are equidistant; The number controls the corresponding number of laser emitters to project lasers to the ceiling. The number here is the number of the laser triangle array, and the laser triangle array consists of four laser emitters. These four laser emitters are in the laser emitter matrix and meet the requirements. The three light spots projected by the three laser emitters to the ceiling are on the same straight line and adjacent to each other, and the light spot projected by the remaining one laser emitter to the ceiling and the light spots projected by the other three laser emitters to the ceiling form a triangle The obtuse angle is 135°.

The positioning module 14 specifically includes a view spot coordinate determination unit 141, a projection spot coordinate determination unit 142 and a positioning unit 143; the view spot coordinate determination unit 141 is used to determine the view spot coordinates of the spot in the robot view in the view coordinate system; The spot coordinate determination unit 142 is used to determine the projected spot coordinates of the spot projected by the laser emitter corresponding to the number in the laser matrix projection coordinate system; the positioning unit 143 is used to determine the indoor position and direction of the indoor robot according to the view spot coordinates and the projected spot coordinates. .

确定机器人视图的中心点在激光矩阵投射坐标系的投射坐标，基于中心点的投射坐标和激光矩阵投射坐标系与地面坐标系的对应关系，确定室内机器人在室内的位置。Specifically, the positioning unit 143 includes a coordinate system moving subunit 1431, a coordinate system rotating subunit 1432, and an indoor robot position determining subunit 1433; the coordinate system moving subunit 1431 is used to move the view coordinate system, so that the designated light spot in the view coordinate system Coinciding with the projection spot corresponding to the specified spot in the laser matrix projection coordinate system; the coordinate system rotation subunit 1432 is used to rotate the view coordinate system, so that other spots in the view coordinate system except the specified spot and the projection spot corresponding to the laser matrix projection coordinate system Coincidence; indoor robot position determination sub-unit 1433 is used to determine according to

Determine the projection coordinates of the center point of the robot's view in the laser matrix projection coordinate system, and determine the indoor position of the indoor robot based on the projection coordinates of the center point and the correspondence between the laser matrix projection coordinate system and the ground coordinate system.

计算旋转角度θ，并基于旋转角度θ和旋转方向确定所述室内机器人在室内的方向；其中，

和

、以及

和

为机器人视图中的b、d两个光斑在视图坐标系中的坐标，在视图坐标系旋转后，b、d两个光斑所在直线与激光矩阵投射坐标系的坐标轴是平行关系。The positioning unit also includes an indoor robot direction determination sub-unit 1434, which is used to rotate the view coordinate system so that other light spots in the view coordinate system except the specified light spot coincide with the corresponding projected light spots in the laser matrix projection coordinate system, based on

Calculate the rotation angle θ, and determine the indoor direction of the indoor robot based on the rotation angle θ and the rotation direction; wherein,

and

,as well as

and

is the coordinates of the two light spots b and d in the robot view in the view coordinate system. After the view coordinate system is rotated, the line where the two light spots b and d are located is in a parallel relationship with the coordinate axis of the laser matrix projection coordinate system.

The specific working mode of the positioning system of the indoor robot has been described in detail in the above-mentioned indoor robot positioning method, and will not be repeated here.

The above-mentioned indoor robot positioning method and system proposed in the present application uses a matrix-type laser transmitter to emit laser beams to the ceiling according to the set frequency, set sequence and set number, and each time a laser beam is emitted, a laser beam installed on the indoor robot is used. The shooting device takes pictures of the ceiling directly above it, and obtains the robot view including the ceiling image. Among them, there must be a robot view that can be captured by the shooting device including all the light spots formed by the laser beam emitted once, and the coordinates of the view where the robot view is located. The system uses scaling, translation and rotation to make it coincide with the laser matrix projection coordinate system established on the ceiling, from which the position and direction of the indoor robot are calculated, and the positioning of the indoor robot is realized. It has strong performance, is not disturbed by the surrounding environment, and is easy to install. It can realize low-cost, high-precision, and high-reliability indoor robot positioning.

It should be pointed out that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those of ordinary skill in the art within the essential scope of the present invention, It should also belong to the protection scope of the present invention.

Claims (10)

1. An indoor robot positioning method, comprising:

receiving a laser emission instruction signal sent by an indoor robot according to a set frequency and a set sequence; wherein, the laser emission instruction signal comprises the serial number of the laser emitter;

controlling the laser transmitters corresponding to the numbers to transmit laser beams to the ceiling based on the laser transmitting instruction signals; the indoor robot sends a laser emission command signal to the laser matrix emitter once, the laser matrix emitter starts four laser emitters corresponding to the serial numbers of the laser emitters to project laser beams to a ceiling, and a triangle formed by four light spots is formed on the ceiling;

acquiring a robot view containing a spot image formed on the ceiling by the laser beam; when the shooting equipment is controlled to shoot the ceiling for one time, the synchronization of laser emission and shooting is ensured, and the shooting field of the shooting equipment at least comprises two areas with the size of a triangle, so that four light spots forming the triangle are in the shooting field;

and positioning the indoor robot based on the robot view.

2. The indoor robot positioning method according to claim 1, wherein the numbers of the laser emitters are laser triangle array numbers; the laser triangular array consists of four laser transmitters; the four laser transmitters are in a laser transmitter matrix, so that three light spots projected to the ceiling by three laser transmitters are on the same straight line and adjacent to each other, and the obtuse included angle of a triangle formed by the light spot projected to the ceiling by the remaining one laser transmitter and the light spots projected to the ceiling by the other three laser transmitters is 135 degrees; the laser emitter matrix is an N-row-M-column matrix consisting of N-M laser emitters, and the spacing between every two laser emitters is equal.

3. The indoor robot positioning method according to claim 1, wherein the indoor robot positioning based on the robot view is implemented specifically as follows:

view light spot coordinates of the light spots in the robot view in the view coordinate system are determined;

determining the projection light spot coordinates of the light spots projected by the laser transmitters corresponding to the serial numbers in a laser matrix projection coordinate system;

and determining the indoor position and direction of the indoor robot according to the view light spot coordinates and the projection light spot coordinates.

4. The indoor robot positioning method according to claim 3, wherein determining the indoor position of the indoor robot is specifically:

moving the view coordinate system to enable a specified light spot in the view coordinate system to coincide with a projected light spot corresponding to the specified light spot in the laser matrix projection coordinate system;

rotating the view coordinate system to enable other light spots except the specified light spot in the view coordinate system to coincide with corresponding projected light spots in the laser matrix projection coordinate system;

according to

Determining projection coordinates of the central point of the robot view in the laser matrix projection coordinate system;

determining the indoor position of the indoor robot based on the projection coordinate of the central point and the corresponding relation between the laser matrix projection coordinate system and a ground coordinate system;

wherein,

and

coordinates of a center point of the robot view in the view coordinate system;

and

coordinates of the specified light spot in the view coordinate system;

and

coordinates of the specified light spot in the projection light spot coordinate system are obtained; theta is an included angle of the robot deviating from the coordinate axis of the projection coordinate system;

and

and projecting coordinates of the center point of the robot view in the laser matrix projection coordinate system.

5. The indoor robot positioning method according to claim 4, wherein determining the indoor direction of the indoor robot is specifically:

rotating the view coordinate system to make other light spots except the specified light spot in the view coordinate system coincide with the corresponding projected light spot in the laser matrix projection coordinate system,

based on

Calculating a rotation angle theta;

determining a direction of the indoor robot in a room based on the rotation angle θ and the rotation direction;

wherein,

and

and, and

and

and coordinates of two light spots in the robot view in the view coordinate system are obtained, and after the view coordinate system rotates, a straight line where the two light spots are located is parallel to a coordinate axis of the laser matrix projection coordinate system.

6. An indoor robot positioning system is characterized by comprising an indoor robot and a laser matrix emitter

And a photographing device;

the laser matrix transmitter comprises a plurality of laser transmitters and is used for transmitting laser beams to the ceiling;

wherein, each laser emitter is correspondingly provided with a serial number;

the indoor robot comprises a laser emission instruction signal sending module, a shooting control module, a robot view acquisition module and a positioning module; the laser emission instruction signal sending module is used for sending laser emission instruction signals to the laser matrix emitter according to a set frequency and a set sequence; wherein, the laser emission instruction signal comprises the serial number of the laser emitter;

the laser matrix transmitter comprises a laser transmitter control module used for controlling the laser transmitters corresponding to the serial numbers to transmit laser beams to the ceiling based on the laser transmission instruction signals; the indoor robot sends a laser emission command signal to the laser matrix emitter once, the laser matrix emitter starts four laser emitters corresponding to the serial numbers of the laser emitters to project laser beams to a ceiling, and a triangle formed by four light spots is formed on the ceiling;

the shooting equipment is arranged on the indoor robot, faces the ceiling at a shooting angle and is used for shooting the ceiling under the control of the shooting control module;

the robot view acquisition module is used for acquiring a robot view containing a spot image formed on the ceiling by the laser beam; when the shooting equipment is controlled to shoot the ceiling for one time, the synchronization of laser emission and shooting is ensured, and the shooting field of the shooting equipment at least comprises two areas with the size of a triangle, so that four light spots forming the triangle are in the shooting field;

and the positioning module is used for positioning the indoor robot based on the robot view.

7. The indoor robotic positioning system of claim 6, wherein the laser matrix emitters are in the form of an N row by M column matrix of N x M laser emitters, each laser emitter being equidistant from the other;

the serial number of the laser emitter is a laser triangular array serial number; the laser triangular array consists of four laser transmitters; the four laser transmitters are arranged in a laser transmitter matrix, the requirement that three laser transmitters are projected to three light spots of the ceiling are on the same straight line and adjacent to each other is met, and the remaining laser transmitter is projected to the light spot of the ceiling and the light spots of the ceiling are projected to form a triangular obtuse included angle of 135 degrees.

8. The indoor robot positioning system of claim 6, wherein the positioning module specifically comprises a view spot coordinate determination unit, a projection spot coordinate determination unit, and a positioning unit;

the view light spot coordinate determination unit is used for determining view light spot coordinates of the light spots in the robot view in a view coordinate system;

the projection light spot coordinate determination unit is used for determining projection light spot coordinates of the light spots projected by the laser transmitters corresponding to the serial numbers in a laser matrix projection coordinate system;

and the positioning unit is used for determining the indoor position and direction of the indoor robot according to the view light spot coordinates and the projection light spot coordinates.

9. The indoor robot positioning system of claim 8, wherein the positioning unit comprises a coordinate system moving subunit, a coordinate system rotating subunit, and an indoor robot position determining subunit;

the coordinate system moving subunit is used for moving the view coordinate system to enable a specified light spot in the view coordinate system to coincide with a projected light spot corresponding to the specified light spot in the laser matrix projected coordinate system;

the coordinate system rotating subunit is used for rotating the view coordinate system to enable other light spots in the view coordinate system except the specified light spot to coincide with corresponding projected light spots in the laser matrix projection coordinate system;

the indoor robot position determining subunit is used for determining the indoor robot position according to

Determining a projection coordinate of a central point of the robot view in the laser matrix projection coordinate system, and determining the indoor position of the indoor robot based on the projection coordinate of the central point and the corresponding relation between the laser matrix projection coordinate system and a ground coordinate system; wherein,

and

coordinates of a center point of the robot view in the view coordinate system;

and

coordinates of the specified light spot in the view coordinate system;

and

coordinates of the specified light spot in the projection light spot coordinate system are obtained; theta is an included angle of the robot deviating from the coordinate axis of the projection coordinate system;

and

and projecting coordinates of the center point of the robot view in the laser matrix projection coordinate system.

10. The indoor robot positioning system of claim 9, wherein the positioning unit further comprises an indoor robot direction determining subunit;

the indoor robot direction determining subunit is used for rotating the view coordinate system to enable other light spots in the view coordinate system except the specified light spot to coincide with corresponding projected light spots in the laser matrix projection coordinate system based on

Calculating a rotation angle theta, and determining the indoor direction of the indoor robot based on the rotation angle theta and the rotation direction;

wherein,

and

and, and

and

and coordinates of two light spots in the robot view in the view coordinate system are obtained, and after the view coordinate system rotates, a straight line where the two light spots are located is parallel to a coordinate axis of the laser matrix projection coordinate system.

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