Research And Design Of The Service Robot Navigation And Localization Terminal Based On Embedded DM642

As one of the key technologies of the robot, robot self-localization technology is the foundation for robot to complete navigation and other tasks functions. For the most commonly used method for robot self-localization’s shortcomings and weaknesses, we designed a new visual localization terminal system based on embedded DM642 in this paper, the new visual localization terminal system is composed of infrared labels pasted on the ceiling and vision localization terminal mounted on the robot.In order to meet the demands of the robot localized accurately in the wide range home environment. First we designed a new infrared labels, the structure of the infrared label is composed by direction point and coding point, mostly it can provide 4096 different ID. In addition, the label material has a high infrared reflectance characteristic which can make the label image bright and clear, so it’s very ease for feature extraction and almost unaffected by light and viewing angle. In order to make the visual localization terminal more smaller and have more interconnected capabilities with other devices. We also design the visual localization terminal’s hardware circuit, the hardware system consists of DM642 minimum system circuit,MT9T001 label image capture circuit, external memory circuit, angle detecting circuit, serial communication circuit, infrared transmitter circuit and power circuit. At the same time, we completed the hardware circuit PCB layout and circuit board welding and debugging.On the theory of visual positioning terminal, we introduce the CMOS camera calibration algorithm, label image processing algorithm and the visual localization algorithm. After the distortion correction and image processing algorithms, we will select the optimal location and calculate the characteristic parameter of label point. Then through the homography matrix factorization algorithm we can calculate the relative position and orientation information between the robots and infrared tag, In other words, the service robot achieve autonomous navigation and localization.Finally, we complete the embedded software systems design of visual localization terminal, the software design include DSP/BIOS multitasking system planning, FVID video driver porting and DM642 RAW image label capture program. Then the test experiment and data analysis was done with the visual localization terminal, the experiment results show that the visual localization terminal has a high position and angle recognition accuracy, it can fully meet the demands of service robot for navigation and localization in wide range home environment.