WO2012124933A2 - Dispositif et procédé pour reconnaître l'emplacement d'un robot - Google Patents

Dispositif et procédé pour reconnaître l'emplacement d'un robot Download PDF

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Publication number
WO2012124933A2
WO2012124933A2 PCT/KR2012/001717 KR2012001717W WO2012124933A2 WO 2012124933 A2 WO2012124933 A2 WO 2012124933A2 KR 2012001717 W KR2012001717 W KR 2012001717W WO 2012124933 A2 WO2012124933 A2 WO 2012124933A2
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WIPO (PCT)
Prior art keywords
robot
motion
information
space
movement
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Ceased
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PCT/KR2012/001717
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English (en)
Korean (ko)
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WO2012124933A3 (fr
Inventor
박귀태
김주형
이정엄
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Korea University Research and Business Foundation
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Korea University Research and Business Foundation
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Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0033—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/249—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/251—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/56—Extraction of image or video features relating to colour
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/7715—Feature extraction, e.g. by transforming the feature space, e.g. multi-dimensional scaling [MDS]; Mappings, e.g. subspace methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Definitions

  • the present invention relates to an apparatus and method for recognizing a position of a robot, and more particularly, to an apparatus and method for recognizing a position of a robot moving in an intelligent space.
  • SLAM Simultaneous Localization And Mapping
  • SLAM has a problem in that it needs to simultaneously perform its own location measurement and mapping.
  • SLAM has a drawback in that it takes a lot of time because it needs to increase the accuracy of map creation and location measurement while continuously moving space to achieve two purposes.
  • the intelligent space can recognize the situation occurring in the space by using a plurality of sensors, and can provide various information and physical resources to the robot through the network.
  • the position measurement of the robot by the intelligent space was measured by recognizing the marker with the pattern of the robot itself or the pattern attached to the robot as a camera installed in the space.
  • Another method is to install RFID tags on the floor at regular intervals so that the robot can recognize the RFID tag and measure its position.
  • the present invention has been proposed to solve the above-described problems, and an object of the present invention is to provide an apparatus and a method for accurately recognizing the position of each robot even if one or more robots are newly entered into the intelligent space.
  • the photographing unit for photographing the space;
  • a motion tracking unit for obtaining motion information of a robot moving in a space from image information of the photographing unit; And converting the motion information in the image coordinates from the motion tracking unit into the motion information in the spatial coordinates to obtain the actual movement pattern of the robot, and comparing the actual movement pattern of the robot with a preset movement pattern.
  • It includes; a motion analysis unit to grasp the motion.
  • a method of recognizing a position of a robot comprising: obtaining motion information of a robot moving in a space from image information of a photographed space; Obtaining the actual movement pattern of the robot by converting the obtained motion information in the image coordinates into the motion information in the spatial coordinates; And comparing the actual movement pattern of the robot with a preset movement pattern to identify motion information of the specific robot.
  • a method of recognizing a robot comprising: providing a communication protocol such that an intelligent space and a robot share information with each other by a communication procedure through a protocol defined using a local area network; Sharing the movement pattern information for measuring the position of the robot with the intelligent space, and analyzing the motion information of the moving robot using a camera in the intelligent space; And determining whether the analyzed motion information of the robot matches the motion information in the image of the camera to correspond to the unique name of the robot and the analyzed motion information of the robot.
  • the communication between the space and the robot is established by using a protocol defined using a local area network in a state in which the communication between the intelligent space and the robot is not established. Can share.
  • the position of the robot can be measured and the position of the individual robot can be measured by matching the robot's unique name.
  • a means for establishing a communication connection with the space using a local area network may be provided.
  • FIG. 1 is a diagram illustrating a system employing a robot position recognition apparatus according to an embodiment of the present invention.
  • FIG. 2 is a diagram illustrating a process of establishing a communication connection between an intelligent space and a robot by using the short range wireless communication network shown in FIG. 1.
  • FIG 3 is a view for explaining a position recognition method of the robot according to an embodiment of the present invention.
  • 4 to 5 are diagrams for explaining a method of comparing the actual movement pattern of the robot and a predetermined movement pattern in the robot position recognition method according to an embodiment of the present invention.
  • the intelligent space described in the specification of the present invention means a space in which an object (for example, a robot) and a phenomenon in the space can be grasped using various sensors.
  • the intelligent space may mean an area where the object (eg, a robot) is sensed through various sensors.
  • An entity (for example, a robot) existing in the intelligent space may communicate with a specific device (for example, a location recognition device of a robot) through a network.
  • the specific device may be provided with the various sensors, or may receive information sensed from the various sensors.
  • the specific device may be installed in the intelligence space.
  • FIG. 1 is a diagram illustrating a system employing a robot position recognition apparatus according to an embodiment of the present invention.
  • the concept in which the robot 10 and the intelligent space 30 perform communication is performed by the position recognition device of the robot 10 installed in the intelligent space 30 and the robot installed in the intelligent space 30 to perform communication. It can be understood as a concept.
  • the expression that the robot 10 delivers predetermined information to the intelligent space 30 indicates that the robot 10 located in the intelligent space 30 is provided to the position recognition device of the robot installed in the intelligent space 30. It can be understood as a concept of conveying information.
  • the robot 10 may perform a network function and a simple processor function to communicate with a sensor capable of detecting an obstacle around the robot.
  • the robot 10 transmits information requesting its location information to the intelligent space 30 and waits for a response request from the intelligent space 30.
  • the robot 10 may start communication with the intelligent space 30 using the wireless communication module 12 by a communication protocol defined for communicating with the intelligent space 30. .
  • the wireless communication module 12 may include a short range communication module.
  • Short-range communication technologies include Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), ultra wideband (UWB), ZigBee, and Near Field Communication (NFC).
  • RFID Radio Frequency Identification
  • IrDA infrared data association
  • UWB ultra wideband
  • ZigBee ZigBee
  • NFC Near Field Communication
  • the camera 14 is composed of a plurality of cameras and hangs on the ceiling of the space and can observe the entire space.
  • the camera 14 may transmit the camera image information to the motion tracker 16, the motion analyzer 18, and the position measurer 20 through the network 22.
  • the motion tracker 16 receives the image information collected by the camera 14 through the network 22, estimates the moving robot 10 from the image information, and grasps the motion information of the robot 10.
  • the motion tracker 16 receives the image information from the camera 14 and grasps information about the movement of the robot 10.
  • the motion tracker 16 may use a motion history image (hereinafter, referred to as a motion history image) to estimate a position of an object (eg, a robot or an object other than the robot) in which a motion occurs from the image information of the camera 14.
  • a motion history image e.g. a motion history image
  • MHI Motion history image
  • the MHI accumulates the motion information of the object that is opened between the predetermined time intervals to know the position where the movement of the object (eg, a robot, an object other than the robot) occurs, the magnitude of the movement degree, and the direction of movement of the object.
  • the region in which the movement obtained through MHI has occurred may have one or more candidate groups.
  • the position of the robot 10 may be determined by estimating a candidate group having high similarity by grasping the similarity with the external shape information of the robot 10 from the areas where the movement of the object occurs.
  • the external shape information uses a color histogram, edge and corner information, and a histogram of oriented gradient (HOG).
  • the motion tracker 16 uses a particle filter to obtain positional information with one reliability from positions for several candidate groups.
  • the particle filter is an estimation algorithm that can obtain one position information by continuously estimating a candidate group having a high similarity after comparing the external shape information of the robot 10 from the candidate regions where the movement occurs.
  • the motion analyzer 18 receives the motion information of the robot 10 detected by the motion tracker 16 through the network 22.
  • the motion analyzer 16 converts motion information in the received image coordinates into motion information in spatial coordinates.
  • the motion analyzer 16 determines whether the motion pattern determined through communication with the robot 10 and the motion information observed through the camera 14 in the actual intelligent space 30 match.
  • the movement pattern determined through communication with the robot 10 refers to a movement pattern transmitted by the intelligent space 30 to the robot, and may be implemented in the form of a movement command signal.
  • the movement pattern determined through communication with the robot 10 may be preset before the actual movement of the robot.
  • the position measuring unit 20 transmits the position and direction information to the robot 10 through the wireless communication module 12 by the result measured by the motion analysis unit 18 so that the robot 10 can move to the destination. .
  • the position measuring unit 20 continuously checks the position and direction of the robot 10 using the motion tracking unit 16 and continuously transmits information to the robot 10 through the wireless communication module 12.
  • FIG. 2 is a diagram illustrating a process of establishing a communication connection between an intelligent space and a robot using a wireless communication module (for example, a short range communication module) shown in FIG. 1.
  • a wireless communication module for example, a short range communication module
  • the robot 10 When the robot 10 enters the intelligent space 30, the robot 10 attempts to broadcast to the intelligent space 30 for assistance in determining its current location (S1). At this time, the robot 10 transmits a channel number to communicate with the name of the robot itself.
  • the intelligent space 30 transmits an acknowledgment (ACK) to the robot 10 when receiving the request broadcast by the robot 10 (S2). At this time, the intelligent space 30 transmits the name and response information of the intelligent space.
  • ACK acknowledgment
  • the robot 10 When the robot 10 receives the information S2 about the response confirmation from the intelligent space 30, the robot 10 transmits a request localization request to the intelligent space 30 to the intelligent space 30 (S3). At this time, the robot 10 transmits a channel number to communicate with, its external form information, and movement information.
  • the intelligent space 30 sends the response confirmation information (ACK) to the robot 10 and starts to estimate the moving object in the space using the camera 14 (S4).
  • ACK response confirmation information
  • the robot 10 having received the acknowledgment information ACK starts to move based on the motion information sent when the position measurement request in the position measurement request step S3 is transmitted to the intelligent space 30. Since the robot 10 and the intelligent space 30 use the wireless communication module 12, the intelligent space 30 needs to know a communication channel number and a unique name of the transmitted information in order to send a response to the received information. . Therefore, when the robot 10 communicates with the intelligent space 30, the robot 10 should always transmit a channel number to communicate with its name. Communication between the robot 10 and the intelligent space 30 may occur as needed, and the type of request and response and the corresponding information through the request (S5) and the response (S6) as data. I use it. In the requesting step of S5, the robot 10 transmits the channel number, request type, and request information to communicate with the robot's own name to the intelligence space 30. In step S6, the intelligence space 30 transmits the intelligence space name, response type, and response information to the robot 10.
  • FIG 3 is a view illustrating a method for recognizing a position of a robot according to an exemplary embodiment of the present invention, using the position of the movement of the robot 10 obtained by the motion tracking unit 16 to the spatial coordinates of the motion analyzer 18. It shows the process of measuring the position and direction of the robot 10 for.
  • position information according to the movement of the robot 10 is obtained from the motion tracking unit 16.
  • the robot 10 may be divided into sets of one or more location information based on the location where the robot 10 changes direction from the acquired location information.
  • the divided motion information may be estimated by a straight line. Since the movement pattern consists of a combination of straight lines, the movement pattern of the robot 10 may be divided into one or more straight lines based on the position where the robot has changed direction.
  • the motion information is extracted in a vector form using patterns "L1", “L2", and "L3" for linear motion using "Least squares estimation” or "Huff transform” in order to estimate the straight line.
  • the motion tracker 16 acquires the motion.
  • the time information is included in the information, and the robot 10 records the position information of the time when the direction is changed. Therefore, the recorded information can be divided into a set of one or more positional information and estimated by a straight line.
  • the S14 process converts the two-dimensional image coordinates obtained from the plurality of cameras 14 into three-dimensional coordinates. That is, vectors "L1", “L2”, and “L3" in the video coordinate system are converted into vectors "H1", “H2”, and "H3" in the spatial coordinate system, respectively.
  • the transformation from an image coordinate system to a spatial coordinate system uses a transformation matrix "direct linear transformation".
  • the process S16 obtains the position and the direction of the robot 10 using the motion vectors "H1", "H2", and "H3" in the spatial coordinate system.
  • the intelligent space 30 and the robot 10 shared with each other in the communication process A vector of motion information is compared with an "inner product" and judged as a reference value that defines a similar degree. For example, when the similarity is greater than the reference value, the unique name and position of the robot 10 may be matched, and the position and direction of the specific robot may be determined.
  • the position and direction measurement for a plurality of robots is based on a rule of sequentially progressing the robots one by one.
  • the collision prevention between them should be considered. Therefore, when it is determined that there is a collision using the sensor information, the robot 10 moving by using the motion information for measuring the position and direction of the robot determines the movement rule by stopping the movement for a while and continuing. This is because it is best to move the robot according to the determined motion information because the criterion for determining which robot is located in the position measurement of the robot is position information of the robot.
  • the motion patterns for each robot may be divided.
  • the motion tracker 16 may acquire the actual motion pattern of the robot 10 as a trajectory.
  • the preset movement pattern is a movement pattern transmitted from the intelligent space 30 to the robot 10, which may be given as a linear velocity and an angular velocity.
  • the locus coordinates of the robot 10 obtained from the image information are converted into spatial coordinates.
  • the trajectory of the robot 10 in the image coordinates acquired by each camera 14 may be transformed into a robot trajectory in spatial coordinates by a direct linear transformation (DLT) algorithm.
  • DLT direct linear transformation
  • trajectory of the i-th robot in the k-th time determined by the motion tracking unit 16 is represented by x, y coordinates in the two-dimensional space, It can be expressed as.
  • the superscript T below means transpose.
  • the movement pattern transmitted to the i-th robot by the intelligent space 30 is Linear velocity at k-th time ) And angular velocity ) It can be expressed as
  • the motion pattern of the robot 10 Since the movement pattern of the robot 10 is expressed in speed and the trajectory of the robot 10 is expressed in position, the motion pattern of the robot 10 should be matched with information about the position in space in order to compare the movement pattern with the trajectory of the robot. Therefore, the movement pattern of the robot 10
  • the movement pattern for the position as shown in Equation 1 Can be converted to
  • T means a time interval (interval).
  • FIG. 4 is a view for explaining a procedure for comparing the movement pattern of the robot 10 previously set and the trajectory of the actual robot 10.
  • the solid line represents the trajectory of the actual robot 10
  • the dotted line represents the movement pattern of the robot 10 that is preset.
  • the center of the predetermined movement pattern may be determined, the center of the robot trajectory may be obtained, and then moved to the origin.
  • Direction of the locus of the robot 10 By rotating the trajectory of the robot 10 can be compared with the similarity of the movement pattern of the robot 10 previously set and the trajectory of the actual robot 10.
  • Equation 2 a matrix may be defined as shown in Equation 2 to obtain a similarity between each preset movement pattern and the trajectory of the robot 10.
  • Nr is the number of robots
  • P is the set of the robot's movement patterns
  • T is the set of the robot's trajectories.
  • the similarity between each movement pattern and the trajectory of the robot may be determined by a similarity determination equation as shown in Equations 3, 4, and 5.
  • Equation 6 the l-th trajectory associated with the movement pattern of the I-th robot can be obtained by using Equation 6.
  • index is a matrix
  • the actual trajectory of each robot Represents the sort order needed to reorder. For example, index l of Is 2, the matrix in Will be in the second column.
  • argmax is a matrix Means the j th row with the largest value in the i th column.
  • 5 is a matrix This shows the process of determining whether the robot's movement pattern matches the trajectory.
  • the trajectory Autumn movement pattern If the assumption in Figure 5 is, the trajectory Autumn movement pattern If is equal to the difference between two matrices The value of becomes 0. But in a real environment Is Because it is different from Is greater than zero. Thus, the matrix Matrix Can be used as a reference for measuring The reference value c may be defined by Equation 7.
  • Equation 7 the reference value c must satisfy the square of the logarithm of the robot (Nr X Nr). If the reference value c is smaller than the square of the logarithm of the robot, the comparison of the movement pattern and the trajectory fails.
  • Matrix on comparison failure Is a vector of each row of Realign the equations and re-determine the match between the movement pattern and the trajectory.
  • Equation (8) may determine whether the robot moves according to a given movement pattern.
  • the present invention is not limited only to the above-described embodiment, but can be modified and modified within the scope not departing from the gist of the present invention, the technical idea to which such modifications and variations are also applied to the claims Must see

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Abstract

La présente invention porte sur un dispositif et sur un procédé pour reconnaître correctement l'emplacement de chaque robot même lorsque un ou plusieurs robots entrent dans un espace intelligent pour la première fois. Le dispositif pour reconnaître l'emplacement d'un robot comprend une unité de capture d'image, qui capture une image d'un espace, une unité de traçage de mouvement qui obtient, à partir des informations d'image provenant de l'unité de capture d'image, des informations de mouvement concernant un robot se déplaçant dans l'espace, et une unité d'analyse de mouvement, qui convertit les informations de mouvement exprimées en coordonnées d'image, obtenues à partir de l'unité de traçage de mouvement, en informations de mouvement exprimées en coordonnées spatiales de façon à obtenir un motif de mouvement réel du robot, et qui compare le motif de mouvement réel du robot à un motif de mouvement prédéfini afin de déterminer le motif de mouvement réel comme étant le mouvement d'un robot particulier. Le motif de mouvement obtenu à partir des informations d'image d'une caméra et le mouvement d'un robot sont analysés afin de déterminer si oui ou non le motif de mouvement correspond au mouvement du robot. Ensuite, l'emplacement du robot est mesuré et mis en correspondance avec le nom unique du robot. De cette manière, l'emplacement d'un robot individuel peut être mesuré. Par l'application du présent dispositif, un moyen peut être procuré pour communiquer avec un espace à l'aide d'un réseau de communication en champ proche lorsqu'un robot se déplace dans l'espace. Même si une pluralité de robots se déplacent dans un nouvel espace, les emplacements individuels des robots peuvent être mesurés en un temps court.
PCT/KR2012/001717 2011-03-11 2012-03-09 Dispositif et procédé pour reconnaître l'emplacement d'un robot Ceased WO2012124933A2 (fr)

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