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Structure light vision navigation system and method

A technology of visual navigation and structured light, which is applied in the field of visual navigation system, can solve the problems of affecting the immediacy of servo control, affecting the layout and system cost, repetitive roaming paths of autonomous mobile robots, time-consuming and power-consuming problems, etc.

Active Publication Date: 2011-06-29
IND TECH RES INST
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Problems solved by technology

[0007] 1. It cannot be used in the dark, and it is necessary to overcome the problem that the general visual servo is prone to servo failure in low-light environments
[0008] 2. The calculation of obstacle position determination and path planning is quite time-consuming, and the high proportion of visual servo calculation will seriously affect the immediacy of servo control
[0009] 3. All paths adopt the visual servo method, and the tracking accuracy of the robot farther away in the image is too low
[0010] 4. Problems of repeated roaming paths and time-consuming and power consumption of autonomous mobile robots
[0011] 5. It is often necessary to construct a visual servo system in the environment, which may affect the original layout and the system cost must also be taken into consideration

Method used

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  • Structure light vision navigation system and method

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Embodiment Construction

[0032] First, a "robot" in this paper is defined as a mobile platform that can perform a specific task. Therefore, no matter whether this platform is wheel-driven (or called self-propelled vehicle) or foot-moving, it is then all called robots. Next, please refer to FIG. 1, the first preferred embodiment of the present invention is shown in FIG. 1, this structured light vision navigation system includes an image extractor 1, such as a digital camera, a projector 2, a visual server 3, and robot 4. The projector 2 projects the structured light forming a specific path pattern 5 in the navigation space 6 where the robot 4 needs to navigate the path, and the structured light can be visible light or invisible light; meanwhile, the structured light can be generated continuously, intermittently Sexually produced or only once. The robot 4 detects the specific path pattern through an optical detector or an image detector, so that the robot has the ability to walk along the specific pat...

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Abstract

The invention provides a structured light visual navigation system and a method thereof; wherein, the visual light navigation system at least comprises at least a projector which generates a specific path pattern formed by the structured light, and a visual server. The patter formed by the structured light can assist the structured light visual navigation system to detect a barrier, meanwhile, provides the specific path pattern which must be followed by a robot when in navigation. In the structured light visual navigation method, when the barrier is detected, the visual server can plan a virtual route and sends out motion control commands to the robot to cause that the robot follows the virtual route to go forward. The invention navigates the robot by the structured light so as to increase the navigation precision of the robot and reduce the heavy operation of the visual server.

Description

technical field [0001] The invention relates to a visual navigation system and method, and the structured light visual navigation system and method using structured light as robot navigation. Background technique [0002] In recent years, with the development of detectors and control theory, intelligent robot systems have gradually entered various service-oriented applications from the field of factory automation, opening up a new field of autonomous robot services. In the past, the research and development of service robots were mainly carried out in academic research institutions, but now more and more attention has been paid to the field of production. The main reasons for the emergence of indoor service robots are: 1. People want to get rid of annoying and boring repetitive tasks, such as housework, patient care, etc.; 2. The cost of various electromechanical devices has dropped. At present, various industry analysts have pointed out that the replacement of human beings...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G05D1/02
Inventor 林彦君陈耀俊吴兆棋
Owner IND TECH RES INST
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