The invention discloses a visual guidance method for automatic alignment of a mobile robot charging station. The method comprises the steps: setting a plurality of markers on a charging station, and measuring a three-dimensional coordinate of each marker in a charging station coordinate system; shooting an image of the marker in real time through an optical camera of a mobile robot; carrying out distortion correction on each image coordinate by using distortion parameters obtained by camera calibration; obtaining distortionless image coordinates, converting the distortionless image coordinatesand the three-dimensional coordinates of the corresponding markers in the charging station coordinate system to obtain a pose of the charging station coordinate system relative to a robot optical camera coordinate system, and calculating the pose of the charging station in the robot coordinate system according to the pose of the charging station coordinate system relative to the robot optical camera coordinate system; and according to the pose of the charging station in the robot coordinate system, inserting a pre-aligned relay point coordinate system right ahead the charging station, and moving the mobile robot to the charging station after the mobile robot reaches a relay point so as to complete charging.
本发明公开了一种移动式机器人充电站自动对准的视觉引导方法,所述视觉引导方法通过在充电站上设置多个标志物,测量各个标志物在充电站坐标系中的三维坐标;然后通过移动机器人自带的光学相机实时拍摄标志物的图像,并利用相机标定得到的畸变参数对各个图像坐标进行畸变校正,得到无畸变图像坐标,将其和对应标志物在充电站坐标系中的三维坐标进行换算,得到充电站坐标系相对于机器人光学相机坐标系的位姿,并和充电站坐标系相对于机器人光学相机坐标系的位姿计算充电站在机器人坐标系中的位姿;根据充电站在机器人坐标系中的位姿,在充电站的正前方插入预对准中继点坐标系,移动机器人到达中继点后,运动到充电站处,完成充电。
Visual guidance method for automatic alignment of mobile robot charging station
一种移动式机器人充电站自动对准的视觉引导方法
2020-08-25
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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