CN103324194A - Mobile robot positioning system based on two-dimension code navigation band - Google Patents
Mobile robot positioning system based on two-dimension code navigation band Download PDFInfo
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Abstract
The invention relates to a mobile robot positioning system based on a two-dimension code navigation band. The mobile robot positioning system based on the two-dimension code navigation band is mainly and technically characterized by comprising a two-dimension code positioning controller, at least two two-dimension code readers and a two-dimension code navigation band, wherein the two-dimension code positioning controller and the two-dimension code readers are installed on a mobile robot dolly, and the two-dimension code navigation band is laid on the ground. The two-dimension code navigation band is formed by a plurality of two-dimension codes arranged in sequence and adjacently. The two-dimension code positioning controller is connected with the two-dimension code readers to be used for collecting two-dimension code navigation information and achieving the accuracy positioning function of a mobile robot. The mobile robot positioning system based on the two-dimension code navigation band is reasonable in design, skillfully avoids the complex character of vision image processing by the adoption of the method of the two-dimension code navigation band, enables the real-time performance of image collection not to be restricted by software conditions and hardware conditions, fundamentally solves the real-time image collection problem which is difficult to solve by technical staffs in the field for a long time, effectively improves operating speed of the mobile robot, and ensures the high efficiency of the mobile robot positioning system.
Description
Technical field
The invention belongs to the Mobile Robotics Navigation technical field, especially a kind of mobile robot positioning system based on two-dimension code navigation band.
Background technology
Mobile robot autonomous navigation based on vision refers to that the image capturing system of mobile robot platform obtains the environmental information under the robot current state, by the position in environment to ambient image Analysis deterrmination environmental objects and robot.Because image has high-resolution, environmental information is complete, meets human cognition custom, therefore, in the last few years, is obtained extensive concern and approval based on the mobile robot autonomous navigation of vision, and has obtained considerable achievement aspect theory and practice.But, because the complicacy of mobile robot's activity scene and mobile robot's dynamic perfromance, physical construction such as robot, cumulative errors in the walking process, the luminosity of camera, illumination, shooting speed, the reasons such as the sharpness of image, cause the real-time of robotic vision system not enough, for example, indoor mobile robot positioning system and method based on two-dimension code, owing to not being to lay continuously but the laying of discrete type when laying two-dimension code on ground, between two discrete two-dimension codes, there is not other information feedback, perhaps can only be similar to gyrostatic angular velocity feedback, this feedback information is inadequate, because central processing unit can not in time obtain the decoded information of image acquisition device feedback, cause robot can not in time obtain the pose correction instruction in respective stretch, reference position deviation more a little will more and more increase the weight of, even when the next two-dimension code, two-dimension code has been departed from the visual field of code reader, cause and to read, shooting next will occur continuing less than the situation of picture; Bat less than another situation of picture is: when the robot speed accelerates, if decode time can not be accelerated synchronously, central processing unit will be formed and the decoded signal of last image acquisition can not be received at the appointed time, incured loss through delay the time of next time sending the image acquisition order and cause, and when central processing unit sends the order that gathers image to image capturing system again, miss the position of image taking, caused the empty phenomenon of clapping of image.
In sum, although at present solved the accurate orientation problem of indoor navigation based on indoor mobile robot positioning system and the method for two-dimension code, can not real-time image acquisition, this problem does not solve, and will have a strong impact on mobile robot's the speed of travel.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of reasonable in design, real-time and can significantly improve the mobile robot positioning system based on two-dimension code navigation band of mobile robot's speed of travel.
The present invention solves its technical matters and takes following technical scheme to realize:
A kind of mobile robot positioning system based on two-dimension code navigation band, comprise two-dimension code register control, the two-dimension code code reader that is installed on mobile robot's dolly and be laid in ground two-dimension code navigation band, described two-dimension code navigation band is made of a plurality of two-dimension codes successively adjacent the setting, and described two-dimension code register control is connected with the two-dimension code code reader for gathering two-dimension code navigation information and realizing mobile robot's accurate positioning function.
And the length of described two-dimension code navigation band is width or the length sum of a plurality of two-dimension codes.
And described two-dimension code navigation band is straight line or is camber line.
And each two-dimension code in the described two-dimension code navigation band all is built-in with unique ID number, perhaps is built-in with coordinate figure.
And, described two-dimension code code reader is at least two, when the two-dimension code code reader is two, two two-dimension code code readers are installed on the center line of mobile robot's dolly length direction, a central point that is positioned at mobile robot's dolly, another one is positioned at the afterbody of mobile robot's dolly, and the near distance between two two-dimension code code readers is similar to 1/2nd of mobile robot's length over ends of body.
And, described two-dimension code register control is connected and composed by microprocessor, scrambler and communication interface, this microprocessor is connected with scrambler for detection of mobile robot's travelling speed, and this microprocessor is connected with at least two two-dimension code code readers by communication interface and gathers two-dimension code navigation information and realize mobile robot's accurate positioning function.
And described communication interface is network interface, USB interface or 1394 interfaces, and described two-dimension code code reader is the camera with network interface, USB interface or 1394 interfaces.
Advantage of the present invention and good effect are:
1, this positioning system is by the two-dimension code register control of mobile robot positioning system, code reader and the combination that is laid in ground two-dimension code navigation band, adopt the mode of two-dimension code navigation band to avoid dexterously the complex characteristics that sensed image is processed, adopt environmental services in the method for system, easily solved the difficult problem that image in 2 D code that the discrete type that can't resolve for a long time distributes can not Real-time Collection, so that the real-time of image acquisition no longer is subjected to software condition, the restriction of hardware condition, Effective Raise mobile robot's travelling speed, guaranteed the high-level efficiency of mobile robot positioning system.
2, this positioning system is laid the mode of two-dimension code navigation band on ground, construction is simple, swift to operate, contrast is shortened simply the image decoding time from the software and is improved simply the shooting speed of hardware camera from the hardware, its disposal route is simply too much, cost is much smaller, has improved cost performance.
Description of drawings
Fig. 1 is system of the present invention connection diagram;
Fig. 2 is that two two-dimension code code readers are installed in a position view on mobile robot's dolly;
Fig. 3 is two-dimension code navigation band schematic diagram;
Embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is further described:
A kind of mobile robot positioning system based on two-dimension code navigation band, as shown in Figure 1, comprise the two-dimension code register control that is installed on mobile robot's dolly, at least two two-dimension code code readers and be laid in ground two-dimension code navigation band, described two-dimension code register control is by microprocessor, scrambler and communication interface connect and compose, this microprocessor is connected with scrambler for detection of mobile robot's travelling speed, and this microprocessor is connected with at least two two-dimension code code readers by communication interface and gathers two-dimension code navigation information and realize mobile robot's accurate positioning function.The installation site of two-dimension code code reader, as shown in Figure 2, two two-dimension code code readers are installed on mobile robot's dolly, center line at mobile robot's dolly length direction is installed two two-dimension code code readers, a central point that is positioned at mobile robot's dolly, another one is positioned at the afterbody of mobile robot's dolly, and the near distance between two two-dimension code code readers is similar to 1/2nd of mobile robot's dolly length.This communication interface network interface, USB interface or 1394 interfaces, this two-dimension code code reader are the camera with network interface, USB interface or 1394 interfaces.
As shown in Figure 3, two-dimension code navigation band is made of a plurality of two-dimension codes successively adjacent the setting, and this two-dimension code navigation band can be straight line, also can be camber line.The width of two-dimension code navigation band can be the width of 1 two-dimension code, and its length is by the width of a plurality of two-dimension codes or length is cumulative forms.The characteristic of the tricornute position sensing figure of two-dimension code label tool and two-dimension code square shape, the position sensing figure of three drift angles is used for size, the angle of inclination of recognizing apparatus acquisition code; The data field is used for the absolute value coordinate that recognizing apparatus obtains two-dimension code.Described two-dimension code register control is to realize mobile robot's positioning function by the two-dimension code positioning control software that is built in the microprocessor, this two-dimension code positioning control software comprises camera calibration module, image processing module, coordinate transformation module and encoded radio mapping block, described camera calibration module is used for camera is demarcated, to set up the corresponding relation between camera and the mobile robot's dolly; Four coordinates of summit in image coordinate system of described image processing module output two-dimension code; Described encoded radio mapping block with each unique encoded radio one by one corresponding corresponding its in indoor actual geographic position; Described coordinate transformation module output dolly position deviation value, pose changing value and current position and the direction of dolly.
The manufacturing process of two-dimension code navigation band: with specific software Mass production two-dimension code, each two-dimension code represents a unique ID number, or one group of coordinate figure.Before adopting during a kind of method, also must database with ID number and and the absolute value coordinate carry out corresponding one by one.Behind the Mass production two-dimension code, set type, print, cut into rectangular, with each the rectangular so-called two-dimension code of ground spliced one-tenth navigation band that is laid in, each two-dimension code in the two-dimension code navigation band contains its corresponding physical location coordinate again.
As follows with method and the principle of real-time image acquisition based on the two-dimension code navigation:
⑴ guarantee that mobile robot's initial position can not depart from effective read range of image in 2 D code;
⑵ adopt the method for two-dimension code navigation band, so that image capturing system gathers in the image process, be no longer dependent on and receive time and the current physical location that needs the image in 2 D code of shooting that gathers image command, because whole piece navigation band has all laid two-dimension code, only need position, the mobile robot left and right sides not depart from navigation band (initial position by robot is controlled), then any moment can be obtained image in the robot traveling process; Method by two-dimension code navigation band, no longer consider and to be complementary with the decode time that image is processed so that improve mobile robot's the speed of travel, but solve by regulating twice distance between the quilt collection image: when the robot speed accelerates, then the distance between twice quilt in the front and back image in 2 D code that gathers lengthens relatively, when the robot speed slows down, distance between two image in 2 D code that gathered then shortens relatively, thereby has guaranteed the possibility of real-time image acquisition.
It is emphasized that; embodiment of the present invention is illustrative; rather than determinate; therefore the present invention is not limited to the embodiment described in the embodiment; every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention belong to the scope of protection of the invention equally.
Claims (7)
1. mobile robot positioning system based on two-dimension code navigation band, it is characterized in that: comprise two-dimension code register control, the two-dimension code code reader that is installed on mobile robot's dolly and be laid in ground two-dimension code navigation band, described two-dimension code navigation band is made of a plurality of two-dimension codes successively adjacent the setting, and described two-dimension code register control is connected with the two-dimension code code reader for gathering two-dimension code navigation information and realizing mobile robot's accurate positioning function.
2. the mobile robot positioning system based on two-dimension code navigation band according to claim 1, it is characterized in that: the length of described two-dimension code navigation band is width or the length sum of a plurality of two-dimension codes.
3. the mobile robot positioning system based on two-dimension code navigation band according to claim 1, it is characterized in that: described two-dimension code navigation band is for straight line or be camber line.
4. the mobile robot positioning system based on two-dimension code navigation band according to claim 1, it is characterized in that: each two-dimension code in the described two-dimension code navigation band all is built-in with unique ID number, perhaps is built-in with coordinate figure.
5. the mobile robot positioning system based on two-dimension code navigation band according to claim 1, it is characterized in that: described two-dimension code code reader is at least two, when the two-dimension code code reader is two, two two-dimension code code readers are installed on the center line of mobile robot's dolly length direction, a central point that is positioned at mobile robot's dolly, another one is positioned at the afterbody of mobile robot's dolly, and the near distance between two two-dimension code code readers is similar to 1/2nd of mobile robot's length over ends of body.
6. according to claim 1 to 5 each described mobile robot positioning systems based on two-dimension code navigation band, it is characterized in that: described two-dimension code register control is connected and composed by microprocessor, scrambler and communication interface, this microprocessor is connected with scrambler for detection of mobile robot's travelling speed, and this microprocessor is connected with at least two two-dimension code code readers by communication interface and gathers two-dimension code navigation information and realize mobile robot's accurate positioning function.
7. the mobile robot positioning system based on two-dimension code navigation band according to claim 6, it is characterized in that: described communication interface is network interface, USB interface or 1394 interfaces, and described two-dimension code code reader is the camera with network interface, USB interface or 1394 interfaces.
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| CN112548720A (en) * | 2020-12-07 | 2021-03-26 | 李朝阳 | Automatic navigation operation method, device and system of intelligent building floor grinding machine |
| CN113935356A (en) * | 2021-10-20 | 2022-01-14 | 广东新时空科技股份有限公司 | Three-dimensional positioning and attitude determining system and method based on two-dimensional code |
| CN114035580A (en) * | 2021-11-15 | 2022-02-11 | 珠海格力智能装备有限公司 | AGV control method and device, storage medium, processor and AGV equipment |
| CN114035580B (en) * | 2021-11-15 | 2024-04-19 | 珠海格力智能装备有限公司 | AGV control method, AGV control device, storage medium, processor and AGV equipment |
| CN114674054A (en) * | 2022-03-29 | 2022-06-28 | 南京工业大学 | Domestic epidemic prevention degassing unit |
| CN115783598A (en) * | 2022-11-30 | 2023-03-14 | 江苏亨通智能装备有限公司 | Storage positioning system |
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