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Robot indoor positioning system and method

An indoor positioning and robot technology, which is applied in the direction of instruments, measuring devices, surveying and navigation, etc., can solve the problems of poor real-time performance, large amount of calculation, and easy to be disturbed by environmental changes, etc., and achieves fast speed, strong anti-interference ability, and balance Effects of Accuracy and Speed

Inactive Publication Date: 2017-02-01
杭州国辰牵星科技有限公司
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  • Application Information

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Problems solved by technology

This method has the problems of large amount of calculation, poor real-time performance, and easy to be disturbed by environmental changes.

Method used

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  • Robot indoor positioning system and method
  • Robot indoor positioning system and method
  • Robot indoor positioning system and method

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Embodiment

[0048] like figure 1 Shown is a schematic diagram of the robot indoor positioning system of the present invention. The robot indoor positioning system includes: a robot 1 and a ceiling 3 , the top of the robot 1 is provided with a vertically upward camera 2 , and a number of beacons 4 are arranged on the ceiling 3 .

[0049] beacon 4 as figure 2 Shown as a square with one missing corner that makes the beacon directional. The different ID information possessed by the beacon is represented by the difference in the position and number of holes arranged thereon. For convenience, the center point r is used c and the direction of a vector v to characterize the position and orientation of the beacon, where r c is the center of the square beacon, v is the center point r c Point in the direction of the square notch. The position of the beacon is not required to be precise. According to the size of the indoor area, at least one beacon is set on the ceiling, and preferably, there is...

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Abstract

The invention discloses a robot indoor positioning system including a robot, a ceiling and a plurality of beacons. The robot has an image acquisition module at the top of the robot, and an image processing module, a building block module and a positioning module are arranged inside the robot. The system of the invention can realize the real-time positioning in the room, and the accumulative error of the odometer is corrected based on the beacon positioning, and the processing speed is fast and the anti-interference ability is strong. The invention also discloses a robot indoor positioning method.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a robot indoor positioning system and method. Background technique [0002] Indoor positioning is a research hotspot in the field of indoor robotics. At present, indoor robots mainly rely on GPS, active beacons and other methods for positioning. Indoors, GPS is shielded by the house, resulting in greatly reduced positioning accuracy. However, the use of active beacons, such as Bluetooth, WLAN, etc., has the problem of inconvenient installation, and the positioning accuracy will be reduced when there are many people or the environment changes. In addition, image processing technology is also applied to indoor robot positioning. The surrounding information is observed through the camera, and then the feature points between frames are matched, and then indoor positioning is carried out. It has a large amount of calculation, poor real-time performance, and is easily dist...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00G01C11/08
CPCG01C11/00G01C11/08
Inventor 李月华陈丹鹏王志于亦奇王国成裴翔
Owner 杭州国辰牵星科技有限公司
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