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Visual information-based robot line-walking navigation method along guide line

A technology of visual information and navigation method, which is applied in the field of robot patrolling along the guide line based on visual information, can solve the problems of limited accuracy, accumulation of errors, inability to work, etc., to avoid accumulated errors, expand the scope of application, installation and change handy effect

Inactive Publication Date: 2012-11-21
ANYANG NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above methods have their own advantages and disadvantages: the navigation based on the fixed path is easy to control, but it needs to lay tracks or electromagnetic lines, which is very inconvenient to install and change; the navigation based on the ranging radar is greatly affected by the change of the surrounding environment, and A large number of reflection marks need to be set; navigation based on inertial gyroscope is simple and flexible, but error accumulation will occur due to various interferences, and long-term operation will cause the error to be too large to work; navigation based on GPS is easy to use and has a large degree of freedom, but Not suitable for precise navigation in local areas due to limited accuracy
However, there are no navigation products and methods based on visual information in the prior art, and vision-based navigation has a very broad application prospect

Method used

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  • Visual information-based robot line-walking navigation method along guide line
  • Visual information-based robot line-walking navigation method along guide line
  • Visual information-based robot line-walking navigation method along guide line

Examples

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Embodiment Construction

[0035] This embodiment adopts the Pioneer3-AT type mobile robot of MobileRobots Company, the robot of this model is four-wheel drive, and the steering mechanism is similar to that of a crawler vehicle; Equipped with an on-board computer with a main frequency of 1.5GHz. The operating system used by the on-board computer is Windows XP, which is a multi-tasking non-real-time operating system. Users interact with the robot through the AIRA (ActivMedia Robotics Interface for Application) application program interface, such as setting speed, reading status, etc. AIRA is written in object-oriented C++ and supports multi-threading. Users can not only directly drive the robot through low-level commands, but also realize more advanced functions by loading custom tasks. Guiding lines are solid yellow or white solid curves drawn on the road.

[0036] The present embodiment is based on the visual information-based robot patrolling navigation method along the guide line, comprising the f...

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Abstract

The invention discloses a visual information-based robot line-walking navigation method along a guide line, comprising the following steps of: (a) obtaining an environment image by a visual sensor arranged on a robot; (b) obtaining route information from the environment image, and transmitting the obtained route information to a controller; and (c) setting the linear velocity and the angular velocity of the robot by the controller according to the route information. According to the method, the robot can walk along an appointed route.

Description

technical field [0001] The invention relates to a navigation method, in particular to a visual information-based robot patrolling navigation method along a guide line. Background technique [0002] Navigation technology is the basis for mobile smart devices to complete many complex functions, and has broad application prospects in industrial production, life, national defense and other fields. For example, it can be used to guide robots to complete dangerous tasks in harsh working environments; it can be used to complete transportation tasks in production workshops, docks, etc.; it can be used to realize adaptive cruise in the field of transportation, etc. [0003] At present, the commonly used navigation methods are as follows: navigation based on fixed paths such as orbits, navigation based on ranging radar, navigation based on inertial gyroscope, navigation based on GPS, and hybrid navigation of various methods. The above methods have their own advantages and disadvantag...

Claims

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Application Information

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IPC IPC(8): G01C21/34G05B13/04
Inventor 郭磊王爱民赵业清梁燕军刘运通孙华
Owner ANYANG NORMAL UNIV
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