基于人工信标的扫地机器人自主定位方法

Autonomous positioning method for sweeping robots based onartificial beacons

针对扫地机器的自主定位问题,文章提出了基于单目视觉传感器的室内定位法。首先,设计了一种基于色块编码的可扩展信标,该信标含有定位圆以及方格码;然后,通过识别方格码获取路标编码,通过识别三个定位圆获取相机相对于该路标的位姿信息,实现扫地机器人的自主定位。为了验证该定位方法的正确性和准确性,分别进行了定位实验,得出相机相对于信标平移时的最大定位误差及标准差分别为0.6mm和0.3mm,相对于信标旋转时最大误差及标准差分别为0.07°和1.56°。实验结果表明上述方法可以有效地提高扫地机器人的定位精度,同时该方法实现简单,具有很强的操作性以及实用价值。

Aiming at the autonomous positioning problemof sweeping robots,an indoor positioning methodb ased on monocularvision sensor is proposed.First,an extensible beacon based on colourblock codingis designed,which contains positioning cireles and grid codes,Then,the road signcodeis obtained by recognizing the square code·and the position information of the camera relative to theroad signpost is obtained by identifying three positianing circles,so as to realize the autonomouspositianing af the sweeping robot.ln arder to verify the correctness and aceuracyef the pasitioning method positioning experiments are carried out respectively.It is concluded that the maximumpositioning error and standard deviation of the camera relative to the beacon translation are 0.6 mmand 0.3mm respectively and the maximumm errorand standard deviation relativeto the rotationof thebeacon are 0.07°and 1.56°respectively.Experimental results show that the above method caneffeetively improve the positioning accuracy of the sweeping robot.Atthe same time,the methed issimple to realize and itis highly operational as well as practieal.