CN108646727A - A kind of vision cradle and its localization method and recharging method - Google Patents
A kind of vision cradle and its localization method and recharging method Download PDFInfo
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- CN108646727A CN108646727A CN201810457865.9A CN201810457865A CN108646727A CN 108646727 A CN108646727 A CN 108646727A CN 201810457865 A CN201810457865 A CN 201810457865A CN 108646727 A CN108646727 A CN 108646727A
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- 230000004807 localization Effects 0.000 title claims abstract description 17
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- 238000003384 imaging method Methods 0.000 claims description 13
- 238000012549 training Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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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
- G05D1/0005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with arrangements to save energy
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
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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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- Computer Vision & Pattern Recognition (AREA)
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Abstract
The present invention discloses a kind of vision cradle with camera and robot localization method and recharging method based on the vision cradle.The characteristics of image auxiliary robot that the vision cradle is captured by its camera is realized positioning and is recharged.Wherein, the fuselage length of the position and the robot of the robot on the image that the vision cradle is captured according to its camera, and combine the geometric proportion relationship of national forest park in Xiaokeng and similar triangles, find out relative position coordinates of the robot relative to the vision cradle, the robot angle feed-back that the vision cradle determines under the state that recharges is to robot, so that the robot constantly correct oneself recharge route, so as on straight to above cradle.Cradle auxiliary robot completes positioning, reduces consumption of the robot to battery, also improves and recharges effect.
Description
Technical field
The present invention relates to automation field more particularly to a kind of localization methods of view-based access control model technology, and in particular to one
The localization method and recharging method of kind vision cradle and robot.
Background technology
Automatic action robot is more and more widely used, such as sweeping robot, furniture security robot, row
Industry seeks advice from robot etc., and one most important feature of these robots is automatic positioning and recharges automatically.Automatic positioning packet at present
Containing multiple technologies, such as inertial navigation, vision guided navigation, laser navigation etc., they the characteristics of be can independent navigation, be not required to
To depend on the auxiliary of external device (ED), applicability stronger.Charge seating portion, is largely the signal of actively transmitting guiding, example
Such as infrared, ultrasonic wave when robot is near cradle, can be relatively easy to and be directed to immediately ahead of cradle, then return
Seat charging.In the prior art, the robot of this type only plays signal guiding by itself realization location navigation, cradle
Effect, the two is independent mutually, and robot needs a large amount of calculation resources to carry out navigation operation, therefore during location navigation
It is bigger to the consumption of battery.
Invention content
A kind of vision cradle is provided with the electrode slice and wireless communication module of charging above the vision cradle, this is regarded
Feel camera and data processing and wireless communication module there are one being also set up on cradle, wherein data processing and wireless communication
Module obtains the location information of robot by the image that analyzing processing camera is shot, and according to the location information of robot with
Communication control robot is positioned and/or is recharged.
Further, the camera is fixed at right over the panel of the vision cradle.
Further, there are one fixed visual angles for the camera tool, for being regarded to appearing in the vision cradle
Robot in wild range is positioned and/or is recharged.
A kind of localization method of robot, the localization method are based on the vision cradle, and suitable for appearing in
The robot within the vision for stating vision cradle is positioned, and is included the following steps：
Step 1, the vision cradle identify the robot from the image that its camera captures；
Step 2, after successfully identifying the robot, according to the position of the robot on the image captured, using aperture at
As model and triangle geometry proportionate relationship, the angle of the robot and the vision cradle is calculated；According to being captured
Image on the robot fuselage length, utilize the geometric proportion relationship of national forest park in Xiaokeng and similar triangles, calculate
Go out distance of the robot relative to the vision cradle；
Step 3 is filled according to the robot and the angle of the vision cradle and the robot relative to the vision
The distance of electric seat calculates relative position coordinates of the robot relative to the vision cradle；
Wherein, the angle of the robot and the vision cradle is that vision described in the fuselage center deviation of the robot is filled
The angle of vertical direction of the electric seat on level ground.
Further, it in step 2, is obtained according to the geometric proportion relationship of national forest park in Xiaokeng and similar triangles, it is described
The ratio of length of the robot on the image captured and the fuselage length of the robot is equal to the focal length of the camera
Ratio at a distance from the robot relatively described vision cradle, can find out the robot phase by above-mentioned ratio relation
To the distance of the vision cradle；
Wherein, the fuselage length of the robot is obtained by measuring, and the focal length of the camera is the intrinsic parameter of the camera,
Length of the robot on the image captured is obtained by the imaging sensor of the camera.
Further, in step 2, according to national forest park in Xiaokeng and similar triangles geometric proportion relationship, the robot
Fuselage center deviate in the camera imaging plane camera lens centre axis angle be equal to the machine
The angle of device people and the vision cradle, then according to the fuselage center of the robot in the position of the camera imaging plane
Confidence ceases the angle for finding out the robot and the vision cradle.
Further, in step 3, the robot is in the world relative to the relative position coordinates of the vision cradle
On coordinate system, origin position of the position where camera as world coordinate system on the vision cradle.
Further, in step 1, following steps are specifically included：
Select the robot side photo that the camera takes as training sample first；
Then the training sample is pre-processed, therefrom extracts image feature value；
Then grader is designed by described image characteristic value, and grader is trained using training sample and is newly classified
Device；
It is finally generated to obtain detection by the new grader, is used for carrying out target identification to robot；
Wherein, detection is a rectangular area for including target object.
A kind of recharging method of robot, the recharging method are based on the vision cradle and the localization method, determine
The robot is relative to the relative position coordinates of the vision cradle and the folder of the robot and the vision cradle
Behind angle, the robot recharges route according to default in vertical direction on level ground of the vision cradle, corrects
Recharge circuit, make its along preset recharge route return seat charging;
Wherein, the angle of the robot and the vision cradle is that vision described in the fuselage center deviation of the robot is filled
The angle of vertical direction of the electric seat on level ground.
Further, described correct recharges the process of route and includes, when the vision cradle according to the robot with
It is described pre- toward a direction deviation to determine the robot current relative position coordinate position for the angle of the vision cradle
If recharge route, the vision cradle to the robot send instruction control its move back to toward opposite direction it is described pre-
If recharging on route, then controls the robot and return seat charging along the default route that recharges.
Compared with the existing technology, the vision cradle has determining for view-based access control model technology because it is provided with camera
Bit function so that cradle auxiliary robot completes positioning, reduces consumption of the robot to battery；In the vision cradle
What location base raised whole robot recharges route, and effect is recharged to improve.
Description of the drawings
Fig. 1 is the structural schematic diagram of vision cradle provided by the invention；
Fig. 2 is the field of view flat distribution map of camera during the present invention is implemented；
Fig. 3 is that the present invention implements geometrical model schematic diagram of the Computer device people at a distance from vision cradle；
Fig. 4 is the geometrical model schematic diagram that the present invention implements Computer device people and the angle of vision cradle；
Fig. 5 is the flow chart of the localization method of robot provided by the invention.
Specific implementation mode
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings：
In the description of invention, it is to be understood that term "center", " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", " hard straight ", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown is merely for convenience of description invention and simplifies description, do not indicate or imply the indicated device
Or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as the limitation to invention.
As shown in Fig. 1, Fig. 1 is the structural schematic diagram of vision cradle, in Fig. 1 vision cradle include camera 101,
Shell 102, contact chip 103 and data processing and wireless communication module 104.Electrode slice of the contact chip 103 as charging, setting
On the bottom plate of the vision cradle；Data processing and wireless communication module 104 are used for and robot is communicated, and passes through receipts
Send instructions, the data of visual processes is transferred to robot, movement state information is passed to cradle by robot；The vision
Also set up that there are one camera 101 and data processing and wireless communication modules 104 on cradle, wherein data processing and wireless
Communication module 104 obtains the location information of robot by the image that analyzing processing camera 101 is shot, and according to robot
Location information is positioned and/or is recharged with communication control robot.Wherein, the setting of camera 101 is regarded described
Right over the panel for feeling cradle, the position remained relatively unchanged over the visual sensor.
As shown in Fig. 2, Fig. 2 is the field of view flat distribution map of camera, Tu2Zhong robots 201 and vision cradle
203 distance is labeled as 205, and the visual angle wire tag of the camera 101 on the vision cradle 203 is 202, robot 201
The dotted line 205 being connect with the vision cradle is labeled as relative to the angle of 203 vertical direction 206 of the vision cradle
204, the linear mark in the vertical direction of the vision cradle is default to recharge route 206.
Preferably, the tool of the camera 101 is there are one fixed visual angle, the visual field model as defined by visual angle line 202 in Fig. 2
It encloses, when defined by robot 201 appears in visual angle line 202 within sweep of the eye, could it be captured by the camera 101
Image information, to realize the positioning to robot 201 and/or recharge.
Based on above-mentioned vision cradle, the present invention implements to provide a kind of localization method of robot, suitable for appearing in
The robot within the vision of the vision cradle is positioned, which includes the following steps, such as the method for Fig. 5
Shown in flow chart, in step 1, the image that the vision cradle is captured from its camera knows the feature of robot
Not；In step 2, after successfully identifying the robot, the robot represented by pixel on the image captured
The camera is demarcated in position（The data of image coordinate system are transformed on world coordinate system）Afterwards, pinhole imaging system is utilized
The geometric proportion relationship of model and similar triangles calculates the angle of the robot and the vision cradle（Robot
Angle of 201 dotted lines 205 being connect with the vision cradle relative to 203 vertical direction 206 of the vision cradle）；Together
When fuselage length size according to the robot on the image captured represented by pixel, using national forest park in Xiaokeng and
The geometric proportion relationship of similar triangles calculates distance of the robot relative to the vision cradle；In step 3,
According to the robot and the angle of the vision cradle and the robot relative to the vision cradle at a distance from,
Calculate relative position coordinates of the robot relative to the vision cradle.Wherein, the robot and the vision
The angle of cradle is vertical direction of the vision cradle on level ground described in the fuselage center deviation of the robot
Angle.
Preferably, it in step 2, is obtained according to the geometric proportion relationship of national forest park in Xiaokeng and similar triangles, the machine
The ratio of the fuselage length of length of the device people on the image captured and the robot, be equal to the focal length of the camera with
It is opposite can to find out the robot by above-mentioned ratio relation for the ratio of the distance of the relatively described vision cradle of the robot
The distance of the vision cradle；As shown in figure 3, the fuselage length of the robot 201 is D（Measurement can obtain）；The machine
Size of the people 201 on the image captured is L, and L values are by imaging sensor according to the spy in the side photo of the robot
Image procossing output is levied, and there is quantitative relations for the length scale represented with each pixel on image, therefore L is needed from picture
Primitive unit cell is converted into distance length unit；Position O is the position of camera, and position P is labeled as the fuselage center of the robot
Point position；The focal length of the lens of camera is f（The intrinsic parameter of camera）；The relatively described vision cradle of the robot 201
203 distance is labeled as 205, wherein 205 length is set as OP.According to basic national forest park in Xiaokeng, pass through similar triangles
Geometric proportion relationship obtain
。
It is released by aforementioned proportion equation, the fuselage of the robot size on the image captured and the robot
The ratio of length, related at a distance from the robot relatively described vision cradle, related coefficient is the camera
Focal length f.So in step 2, according to fuselage length size of the robot on the image captured represented by pixel, profit
With the geometric proportion relationship of national forest park in Xiaokeng and similar triangles, the robot is calculated relative to the vision cradle
Distance.
As a kind of mode for implementing of the present invention, in step 2, closed according to national forest park in Xiaokeng and triangle geometry ratio
System, the angle of the lens centre axis of the camera is deviateed at the fuselage center of the robot in the camera imaging plane
Degree is equal to the angle of the robot and the vision cradle, then according to the fuselage center of the robot in the camera
The location information of imaging plane finds out the angle of the robot and the vision cradle.As shown in figure 4, being filled with the vision
The direction of origin positions of the position O as world coordinate system where camera on electric seat, the vertical vision cradle is y
Axis direction establishes world coordinate system.The robot 201 is obtained relative to 203 Vertical Square of vision cradle by geometrical relationship
To angle 204, i.e. the angle in line segment OP and y-axis direction is specially ɑ；The focal length of the lens of known camera is f；Camera institute
The position of the robot is length m, i.e., the fuselage central point of the described robot by image recording sensor on the image of capture
Position P deviates the distance value of focus on imaging plane by point of the lens projects of camera on imaging plane.Utilize aperture
The geometric proportion relationship of imaging model and similar triangles calculates the folder of the robot 201 and the vision cradle 203
Angle（The angle of line segment OP and y-axis direction）：
。
Specifically, in step 3, according to the angle of the robot and the vision cradle 203（Line segment OP and y-axis side
To angle）The distance OP of ɑ and the robot 201 relative to the vision cradle 203, can be obtained by triangle geometrical relationship
Go out, the robot 201 is in the abscissa of the world coordinate system
The robot 201 is in the ordinate of the world coordinate system
The robot 201 is relative to the relative position coordinates of the vision cradle 203
Preferably, in step 1, before identifying the robot, the robot side that selects the camera to take first
Face photo, wherein having 500 active flank photos and 500 invalid side photos respectively, as training sample；Then to described
Training sample pre-processes, and therefrom extracts image feature value, and pretreated method includes gray processing processing, histogram equalization；
Grader is designed then for the feature samples, the characteristic value of the grader derives from described image characteristic value, and uses
Training sample is trained grader, wherein by the image feature value extracted in the training sample to the grader into
The grader of row weighted average combination Cheng Xin；It is finally generated to obtain detection by new grader, be arranged by trained grader
Nontarget area in the image of shooting is removed, thereby using the target area that the search window based on detection is selected, is improved
Detection speed；Wherein, robot side photo is conducive to distinguish the airframe structure feature of the robot；The training is
The image feature value extracted in the training sample is weighted the grader average process；Detection is one
A rectangular area for including target object.
Implement to provide a kind of robot recharging method as the present invention, which is based on the vision cradle and institute
Localization method is stated, this method includes determining the robot relative to the relative position coordinates of the vision cradle and described
With after the angle of the vision cradle, the robot is vertical on level ground according to the vision cradle for robot
Default on direction recharges route, and amendment recharges circuit, it is made to charge along preset to recharge route and return seat.
Preferably, the process that the amendment recharges route includes, when the vision cradle is according to the robot and institute
The angle for stating vision cradle determines the robot current relative position coordinate and is recharged toward described presets of direction deviation
When route, the vision cradle to the robot sends instruction control, and it toward opposite direction moves back to described default recharge
On route, then in conjunction with the revised coordinate position of the robot, controls the robot and recharge route along described preset
Return seat charging.In Fig. 2, the straight line in the vertical direction of the vision cradle 203 is that described preset recharges route 206.Institute
The value non-zero of robot 201 and the angle 204 of the vision cradle is stated, described in the position deviation for indicating 201 place of robot
It is default to recharge route 206.After the vision cradle 203 completes the positioning of robot 201, determine robot 201 relative to
The value non-zero of the default angle 204 for recharging route 206 is turned left deviation one relative to the default route 206 that recharges
Angle 204.When robot 201 according to it is default recharge route 206 and return to the vision cradle 203 and charge when, data need to be passed through
Processing and wireless communication module 104 control robot 201 and move right so that robot 201 is relative to the vision cradle
203, which turn right, is adapted on the default direction for recharging route 206, then again by data processing and wireless communication module
104 control robots 201 return to the charging of vision cradle 203 along default 206 straight line of route that recharges, and reduction recharges
The error of process, raising recharge efficiency.
Above example be only it is fully open is not intended to limit the present invention, all creation purports based on the present invention, without creating
Property labour equivalence techniques feature replacement, should be considered as the application exposure range.
Claims (10)
1. a kind of vision cradle, the electrode slice and wireless communication module of charging, feature are provided with above the vision cradle
Be, also set up that there are one camera and data processing and wireless communication modules on the vision cradle, wherein data processing and
Wireless communication module obtains the location information of robot by the image that analyzing processing camera is shot, and according to the position of robot
Confidence breath is positioned and/or is recharged with communication control robot.
2. vision cradle according to claim 1, which is characterized in that the camera is fixed at the vision charging
Right over the panel of seat.
3. vision cradle according to claim 1, which is characterized in that there are one fixed visual angles for the camera tool, use
It is positioned and/or is recharged in the robot within the vision for appearing in the vision cradle.
4. a kind of localization method of robot, which is based on vision cradle described in claim 1, and suitable for going out
The robot within the vision of the present vision cradle is positioned, which is characterized in that is included the following steps：
Step 1, the vision cradle identify the robot from the image that its camera captures；
Step 2, after successfully identifying the robot, according to the position of the robot on the image captured, using aperture at
As model and triangle geometry proportionate relationship, the angle of the robot and the vision cradle is calculated；According to being captured
Image on the robot fuselage length, utilize the geometric proportion relationship of national forest park in Xiaokeng and similar triangles, calculate
Go out distance of the robot relative to the vision cradle；
Step 3 is filled according to the robot and the angle of the vision cradle and the robot relative to the vision
The distance of electric seat calculates relative position coordinates of the robot relative to the vision cradle；
Wherein, the angle of the robot and the vision cradle is that vision described in the fuselage center deviation of the robot is filled
The angle of vertical direction of the electric seat on level ground.
5. localization method according to claim 4, which is characterized in that in step 2, according to national forest park in Xiaokeng and similar triangle
The geometric proportion relationship of shape obtains, length of the robot on the image captured and the fuselage length of the robot
Ratio is equal to ratio of the focal length of the camera at a distance from the robot relatively described vision cradle, can be by upper
State the distance that ratio relation finds out the relatively described vision cradle of the robot；
Wherein, the fuselage length of the robot is obtained by measuring, and the focal length of the camera is the intrinsic parameter of the camera,
Length of the robot on the image captured is obtained by the imaging sensor of the camera.
6. localization method according to claim 4, which is characterized in that in step 2, according to national forest park in Xiaokeng and similar triangle
The lens of the camera are deviateed at shape geometric proportion relationship, the fuselage center of the robot in the camera imaging plane
The angle of central axis is equal to the angle of the robot and the vision cradle, then according to the fuselage center of the robot
The angle of the robot and the vision cradle is found out in the location information of the camera imaging plane.
7. localization method according to claim 4, which is characterized in that in step 3, the robot is filled relative to the vision
The relative position coordinates of electric seat are on world coordinate system, and the position where camera on the vision cradle is as generation
The origin position of boundary's coordinate system.
8. localization method according to claim 4, which is characterized in that in step 1, specifically include following steps：
Select the robot side photo that the camera takes as training sample first；
Then the training sample is pre-processed, therefrom extracts image feature value；
Then grader is designed by described image characteristic value, and grader is trained using training sample and is newly classified
Device；
It is finally generated to obtain detection by the new grader, is used for carrying out target identification to robot；
Wherein, detection is a rectangular area for including target object.
9. a kind of recharging method of robot, which is based on vision cradle and claim 4 institute described in claim 1
State localization method, which is characterized in that determine the robot relative to the relative position coordinates of the vision cradle and described
With after the angle of the vision cradle, the robot is vertical on level ground according to the vision cradle for robot
Default on direction recharges route, and amendment recharges circuit, it is made to charge along preset to recharge route and return seat;
Wherein, the angle of the robot and the vision cradle is that vision described in the fuselage center deviation of the robot is filled
The angle of vertical direction of the electric seat on level ground.
10. recharging method according to claim 9, which is characterized in that the process that the amendment recharges route includes, when described
Vision cradle determines the robot current relative position and sits according to the angle of the robot and the vision cradle
Mark toward direction deviate it is described it is default recharge route when, the vision cradle to the robot sends instruction control, and its is past
Opposite direction moves back to described preset and recharges on route, then controls the robot and returns seat along the default route that recharges
Charging.
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| CN109900275A (en) * | 2019-04-01 | 2019-06-18 | 珠海市一微半导体有限公司 | The control method of the guidance signal of seat is found back by robot |
| CN109991980A (en) * | 2019-04-01 | 2019-07-09 | 珠海市一微半导体有限公司 | The forming method of the signal quantization distribution map of cradle |
| CN111596694A (en) * | 2020-07-21 | 2020-08-28 | 追创科技(苏州)有限公司 | Automatic recharging method, device, storage medium and system |
| CN111880524A (en) * | 2020-06-12 | 2020-11-03 | 珠海市一微半导体有限公司 | Charging seat, recharging docking system and laser docking method |
| CN111987768A (en) * | 2020-08-19 | 2020-11-24 | 创新奇智(重庆)科技有限公司 | Automatic charging equipment and automatic charging method of equipment |
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| CN118258376A (en) * | 2024-03-26 | 2024-06-28 | 南京凌华微电子科技有限公司 | Recharging navigation method and device for sweeping robot |
| WO2024230318A1 (en) * | 2023-05-06 | 2024-11-14 | 美智纵横科技有限责任公司 | Recharging method for mobile robot, household appliance, and computer readable storage medium |
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| US11865937B2 (en) | 2020-07-21 | 2024-01-09 | Dreame Innovation Technology (Suzhou) Co., Ltd. | Automatic recharging method, device, storage medium and system |
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| CN111987768B (en) * | 2020-08-19 | 2022-06-07 | 创新奇智(重庆)科技有限公司 | Automatic charging equipment and automatic charging method of equipment |
| CN111987768A (en) * | 2020-08-19 | 2020-11-24 | 创新奇智(重庆)科技有限公司 | Automatic charging equipment and automatic charging method of equipment |
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| WO2024230318A1 (en) * | 2023-05-06 | 2024-11-14 | 美智纵横科技有限责任公司 | Recharging method for mobile robot, household appliance, and computer readable storage medium |
| CN118258376A (en) * | 2024-03-26 | 2024-06-28 | 南京凌华微电子科技有限公司 | Recharging navigation method and device for sweeping robot |
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