CN111904334A - Fisheye binocular stereoscopic vision navigation system and sweeping robot - Google Patents
Fisheye binocular stereoscopic vision navigation system and sweeping robot Download PDFInfo
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- CN111904334A CN111904334A CN202010733823.0A CN202010733823A CN111904334A CN 111904334 A CN111904334 A CN 111904334A CN 202010733823 A CN202010733823 A CN 202010733823A CN 111904334 A CN111904334 A CN 111904334A
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- fisheye
- binocular
- module
- sweeping robot
- stereoscopic vision
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- 230000004438 eyesight Effects 0.000 title claims abstract description 22
- 238000010408 sweeping Methods 0.000 title claims description 25
- 230000000007 visual effect Effects 0.000 claims abstract description 22
- 230000004888 barrier function Effects 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000004297 night vision Effects 0.000 abstract description 3
- 239000013589 supplement Substances 0.000 abstract description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a fisheye binocular stereoscopic vision system, which comprises an infrared emitter module and a fisheye binocular module; the fisheye binocular module judges the barrier through visual recognition of the characteristics and distribution of special light spots projected by the infrared emission module on the barrier, the fisheye binocular lens can collect visual information in a larger range through a large visual angle, accuracy and stability of drawing construction and positioning are improved, an observation area overlapped above the robot can be maintained when the robot rotates by combining an ultra-large visual angle and a sight line facing obliquely upward, positioning capacity during rotation can be improved, active light supplement of the infrared emission module is realized under the condition of a darkroom, the binocular of the fisheye binocular module can receive light in the frequency range, and the binocular of the fisheye binocular module has night vision capacity.
Description
Technical Field
The invention relates to the technical field of visual navigation, in particular to a fisheye binocular stereoscopic vision navigation system and a sweeping robot.
Background
With the improvement of living standard of people, the indoor robot based on the intelligent navigation scheme gradually enters the life of people. At present, the robot navigation basically adopts a laser navigation, laser radar and monocular vision or ToF fusion scheme, so that functions such as SLAM, obstacle avoidance and the like are realized, but in actual use, the effect is strong, and the main problems are reflected in the following points: the accuracy of SLAM (instantaneous positioning and mapping) and the stability of tracking are poor; the visual range is small, and the operable space is small; the additional sensor is used for equipment collision and fall prevention, so that the cost is high; the obstacle avoidance capability is poor, the main sensors are arranged at the top of the robot, the visual angle of the sensors is small in the vertical direction, the detection of large-range three-dimensional obstacles cannot be realized, in addition, most machine types adopt a tentative collision mode for nearby obstacles, and the safety of fragile objects in a room is difficult to guarantee in the mode.
Disclosure of Invention
Therefore, the invention provides a fisheye binocular stereoscopic vision navigation system and a sweeping robot, and aims to solve the problems that in the prior art, the sweeping robot is poor in visual navigation precision and tracking stability, small in visual range, poor in obstacle avoidance capability, high in extra sensor cost and the like.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention provides a fisheye binocular stereoscopic vision navigation system which comprises an infrared emitter module and a fisheye binocular module;
the fisheye binocular module judges the obstacle through visual recognition of the characteristics and distribution of the special light spots projected by the infrared emission module on the obstacle.
Further, the infrared emission module forms a special light spot on the obstacle by emitting the wave with the wavelength of 780-980 nm.
Further, the FOV angle of the binocular viewing zone of the fisheye binocular module is 180 ° by 180 °.
Further, the binocular observation area of the fisheye binocular module is divided into an infrared obstacle avoidance area and a synchronous positioning map building SLAM area through an algorithm.
The invention provides a fisheye binocular stereoscopic vision navigation sweeping robot which comprises a sweeping robot main body, wherein an inclined plane used for mounting a fisheye binocular lens is arranged at the edge of the sweeping robot main body, and an infrared generator is arranged on the side wall of the sweeping robot main body at the bottom of the inclined plane.
Further, the infrared generator is positioned on the central axis of the two lenses of the fisheye binocular lens.
Further, the fisheye binocular provides a horizontal viewing angle HFOV of 180 ° in the field of vision FOV under the restriction of the inclined plane.
Further, the fisheye binocular lens provides a vertical viewing angle VFOV of 180 ° in the visual field FOV under the restriction of the inclined plane.
The invention has the following advantages:
the invention can collect visual information in a wider range through a large visual angle provided by the fisheye binocular lens, improves the accuracy and stability of drawing construction and positioning, can maintain an overlapped observation area above the robot when the robot rotates by combining an overlarge visual angle and a sight line facing to the oblique upper side, and can improve the positioning capability during rotation.
In the invention, under the condition of a darkroom, the infrared emission module actively supplements light, and the two eyes of the fisheye binocular module can receive the light in the frequency band, so that the two eyes of the fisheye binocular module have night vision capability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, shall fall within the scope covered by the technical contents disclosed in the present invention.
Fig. 1 is a block diagram of a fisheye binocular stereoscopic vision system provided by the invention 1;
fig. 2 is a schematic structural view of the fisheye binocular stereoscopic vision navigation sweeping robot provided by the invention 2;
fig. 3 is a schematic view of a visual effect of the fisheye binocular stereoscopic vision navigation sweeping robot provided by the invention 3;
in the figure:
1-sweeping machine main body; 2-fisheye binocular lens; 3-inclined plane; 4-infrared emitter.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the invention provides a fisheye binocular stereoscopic vision navigation system, which comprises an infrared emitter module and a fisheye binocular module;
the fisheye binocular module judges the barrier through visual recognition of the characteristics and distribution of the special light spots projected by the infrared emission module on the barrier.
In the invention, under the condition of a darkroom, the infrared emission module actively supplements light, and the two eyes of the fisheye binocular module can receive the light in the frequency band, so that the two eyes of the fisheye binocular module have night vision capability.
The infrared emission module forms a special light spot on the obstacle by emitting waves with the wavelength of 780-980 nm.
The angle of the FOV of the binocular viewing area of the fisheye binocular module is 180 degrees and 180 degrees, so that the system can be ensured to have a large enough viewing angle, and meanwhile, the visual blind area is greatly eliminated.
And a binocular observation area of the fisheye binocular module is divided into an infrared obstacle avoidance area and a synchronous positioning map building SLAM area through an algorithm.
Under the condition of normal light, the visual system senses and observes obstacle objects, steps and the like outside the blind area through the disparity map generated by the fisheye binocular module, and under the environment without characteristic lines such as a white wall, the binocular module generates the disparity map by adopting the mode of transmitting random characteristic points, patterns and the like with the assistance of an Infrared (IR) module, so that the obstacle objects, the steps and the like outside the blind area are sensed and observed, the sweeping robot is controlled to avoid obstacles, and the falling condition in the navigation process of the sweeping robot can be effectively prevented.
As shown in fig. 2 and 3, the invention provides a fisheye binocular stereoscopic vision navigation sweeping robot, which comprises a sweeping robot main body 1, wherein an inclined plane 3 for mounting a fisheye binocular lens 2 is arranged at the edge of the sweeping robot main body 1, and an infrared generator 4 is arranged on the side wall of the sweeping robot main body 1 at the bottom of the inclined plane 3.
The infrared generator 4 is positioned on the central axis of the two lenses of the fisheye binocular head 2.
The fisheye binocular 2 provides a horizontal viewing angle HFOV of 180 ° in the field of view FOV, limited by the inclined surface 3.
The vertical viewing angle VFOV of the fisheye binocular lens 2 in the visual field FOV provided under the restriction of the inclined surface 3 is 180 °.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. The utility model provides a fisheye binocular stereo vision navigation, its characterized in that: the fisheye binocular shooting device comprises an infrared emitter module and a fisheye binocular module;
the fisheye binocular module judges the obstacle through visual recognition of the characteristics and distribution of the special light spots projected by the infrared emission module on the obstacle.
2. The fisheye binocular stereoscopic vision navigation system of claim 1, wherein: the infrared emission module forms a special light spot on the barrier by emitting waves with the wavelength of 780-980 nm.
3. The fisheye binocular stereoscopic vision navigation system of claim 1, wherein the FOV angle of the binocular viewing zone of the fisheye binocular module is 180 °.
4. The fisheye binocular stereoscopic vision navigation system of claim 3, wherein the binocular observation area of the fisheye binocular module is divided into an infrared obstacle avoidance area and a synchronous positioning map building SLAM area through an algorithm.
5. The fisheye binocular stereoscopic vision navigation sweeping robot comprises a sweeping robot body (1), and is characterized in that an inclined plane (3) used for mounting a fisheye binocular lens (2) is arranged at the edge of the sweeping robot body (1), and an infrared generator (4) is arranged on the side wall of the sweeping robot body (1) at the bottom of the inclined plane (3).
6. The fisheye binocular stereoscopic vision navigation sweeping robot according to claim 5, wherein the infrared generator (4) is located on a central axis of two lenses of the fisheye binocular lens (2).
7. The fisheye binocular stereoscopic vision navigation sweeping robot according to claim 5, wherein the fisheye binocular lens (2) provides a horizontal viewing angle HFOV of 180 ° in a visual field FOV provided under the limit of the inclined surface (3).
8. The fisheye binocular stereoscopic vision navigation sweeping robot according to claim 7, wherein a vertical viewing angle VFOV in a visual field FOV provided by the fisheye binocular lens (2) under the limitation of the inclined surface (3) is 180 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010733823.0A CN111904334A (en) | 2020-07-27 | 2020-07-27 | Fisheye binocular stereoscopic vision navigation system and sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010733823.0A CN111904334A (en) | 2020-07-27 | 2020-07-27 | Fisheye binocular stereoscopic vision navigation system and sweeping robot |
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| Publication Number | Publication Date |
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| CN111904334A true CN111904334A (en) | 2020-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010733823.0A Pending CN111904334A (en) | 2020-07-27 | 2020-07-27 | Fisheye binocular stereoscopic vision navigation system and sweeping robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112690712A (en) * | 2021-02-01 | 2021-04-23 | 韩浩 | Automatic obstacle avoidance and sweeping robot based on infrared sensing |
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| CN207475756U (en) * | 2017-12-08 | 2018-06-08 | 子歌教育机器人（深圳）有限公司 | The infrared stereo visual system of robot |
| CN108481327A (en) * | 2018-05-31 | 2018-09-04 | 珠海市微半导体有限公司 | A kind of positioning device, localization method and the robot of enhancing vision |
| WO2018191818A1 (en) * | 2017-04-18 | 2018-10-25 | Clearpath Robotics Inc. | Stand-alone self-driving material-transport vehicle |
| CN208289901U (en) * | 2018-05-31 | 2018-12-28 | 珠海市一微半导体有限公司 | A kind of positioning device and robot enhancing vision |
| CN210452823U (en) * | 2019-06-10 | 2020-05-05 | 沈阳吕尚科技有限公司 | Intelligent mobile robot with two binocular vision systems |
| CN111121722A (en) * | 2019-12-13 | 2020-05-08 | 南京理工大学 | Binocular three-dimensional imaging method combining laser dot matrix and polarization vision |
| CN210871291U (en) * | 2019-08-02 | 2020-06-30 | 卓秋珍 | VSLAM navigation head and intelligent dust catcher of infrared imaging |
-
2020
- 2020-07-27 CN CN202010733823.0A patent/CN111904334A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018191818A1 (en) * | 2017-04-18 | 2018-10-25 | Clearpath Robotics Inc. | Stand-alone self-driving material-transport vehicle |
| CN207475756U (en) * | 2017-12-08 | 2018-06-08 | 子歌教育机器人（深圳）有限公司 | The infrared stereo visual system of robot |
| CN108481327A (en) * | 2018-05-31 | 2018-09-04 | 珠海市微半导体有限公司 | A kind of positioning device, localization method and the robot of enhancing vision |
| CN208289901U (en) * | 2018-05-31 | 2018-12-28 | 珠海市一微半导体有限公司 | A kind of positioning device and robot enhancing vision |
| CN210452823U (en) * | 2019-06-10 | 2020-05-05 | 沈阳吕尚科技有限公司 | Intelligent mobile robot with two binocular vision systems |
| CN210871291U (en) * | 2019-08-02 | 2020-06-30 | 卓秋珍 | VSLAM navigation head and intelligent dust catcher of infrared imaging |
| CN111121722A (en) * | 2019-12-13 | 2020-05-08 | 南京理工大学 | Binocular three-dimensional imaging method combining laser dot matrix and polarization vision |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112690712A (en) * | 2021-02-01 | 2021-04-23 | 韩浩 | Automatic obstacle avoidance and sweeping robot based on infrared sensing |
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Application publication date: 20201110 |