Visual locating system of spherical robot and visual locating method thereof

Abstract

The invention discloses a visual locating system of spherical robot and a visual locating method thereof. The visual locating system is composed of a binocular visual system, a one-dimensional gyroscope, a spherical robot body, a core control system and a wireless communication module. The locating system carries out locating through cooperation of a camera and the gyroscope, and a locating algorithm is realized on line in the core control system. Data for locating are subjected to remote transmission through the wireless communication module. And a use can realize remote real time monitoring of a robot position. The locating method comprises: conducting real-time acquisition of left and right image sequences by a binocular camera, calculating the posture and location changes of the spherical robot by a binocular visual mileage calculation method, compensating a feature locating error caused by an unstable spherical robot platform through the gyroscope, and finally performing state updating by a Kalman filtering method. The whole process iterates continuously so as to realize real time calculation of the posture and location of a robot.

Description

technical field [0001] The invention relates to the field of robot positioning and navigation, in particular to a spherical robot visual positioning system and visual positioning method Background technique [0002] Spherical robot refers to a general term for a system that integrates motion actuators, sensors, controllers, and energy devices into a spherical shell and uses the spherical shell as a rolling walking device. Compared with wheeled, footed and tracked robots, it has the characteristics of novel structure, flexible movement and high efficiency, and has broad application prospects in military, civil and industrial fields. [0003] The positioning problem of spherical robot is a key problem to realize the intelligentization of spherical robot. At present, spherical robots mainly use inertial navigation system, odometer, GPS and other methods for positioning, but the inertial navigation system needs to obtain the displacement and angle through integration, and there...

AI Technical Summary

Problems solved by technology

[0005] 1. The visual positioning algorithm is complex and the amount of calculation is large, and the processing system of the spherical robot is difficult to perform real-time processing

[0006] 2. The outside of the spherical robot is a closed spherical shell, and the image quality collected by the camera through the spherical shell is very poor or even unable to collect images

[0007] 3. It is difficult to install the camera. The usual installation position will make the camera rotate 360 ​​degrees with the ball

[0008] 4. The spherical robot platform is unstable, and the camera coordinate system will constantly change relative to the robot coordinate system, resulting in inaccurate positioning

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