CN103994762B - Method for positioning mobile robot based on data matrix code - Google Patents

Method for positioning mobile robot based on data matrix code Download PDF

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CN103994762B
CN103994762B CN201410158844.9A CN201410158844A CN103994762B CN 103994762 B CN103994762 B CN 103994762B CN 201410158844 A CN201410158844 A CN 201410158844A CN 103994762 B CN103994762 B CN 103994762B
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location
label
camera
point
mobile robot
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CN103994762A (en
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刘冰冰
伍小军
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00

Abstract

A kind of method for positioning mobile robot based on data matrix code, relates to mobile robot technology field, and solved is to reduce location to realize cost, and improves the technical problem of positioning precision.The method first sets multiple anchor point in mobile work robot region, then is printed to position label after the coordinate of each anchor point is compiled into the data matrix code of two dimension, and is puted up on the ceiling by the location label of each anchor point；Mobile robot utilizes camera to obtain the location label image on ceiling, further according to location label image coordinate in camera images themselves coordinate system, calculate the relative coordinate between camera and location label, and combine the coordinate of anchor point that the data matrix code in the label of location is indicated, calculate the concrete coordinate of mobile robot current location point.The method that the present invention provides, it is adaptable to the running fix of mobile robot.

Description

Method for positioning mobile robot based on data matrix code
Technical field
The present invention relates to mobile robot technology, particularly relate to a kind of localization for Mobile Robot based on data matrix code The technology of method.
Background technology
Use tag location is one of main method of localization for Mobile Robot, the mobile machine of existing employing tag location People's localization method mainly has following several:
1) use REID (RFID) to realize location, realize mobile robot at this use REID In the method for location, a series of RFID tag is positioned on floor or the ceiling of applied environment, then to it Installation site calibrate, the RF identification code reader that is placed in robot will recognise that through these labels accordingly Label and carry out self location according to the position of label.Although RFID tag is cheap, but use radio frequency Recognition methods needs the specific code reader of special making and label, and it is implemented as originally or of a relatively high, and in the process of identification Middle code reader can not directly obtain with angle information relative to the position of label, and its positioning precision is relatively low.
2) based on ultrared localization method, the Stargazer sensor that Korean company Hagisonic produces is based on red Outside line realizes a masterpiece of location, and it is to go to irradiate the passive-type mark being previously installed on ceiling with RF transmitter Signing, then use a CMOS camera to go to resolve the infrared image returned from label, this localization method needs special system Making specific sensor and infrared emitting/reception device, it is implemented as, and this is the highest, the price of whole system more than 1,000 dollars, Have been over the price of a lot of miniature mobile robots on market, and install the most relatively complicated.
Summary of the invention
For defect present in above-mentioned prior art, the technical problem to be solved is to provide one and is implemented as This is low, the method for positioning mobile robot based on data matrix code that positioning precision is high.
In order to solve above-mentioned technical problem, a kind of localization for Mobile Robot based on data matrix code provided by the present invention Method, it is characterised in that specifically comprise the following steps that
First set an earth axes being used for indicating ground location point for mobile work robot region, and moving Set multiple location subregion in robot work region, in the subregion of each location, set an anchor point, in mobile robot One camera lens of upper arrangement camera upward；
Each anchor point coordinate in earth axes is compiled into the data matrix code of two dimension again, and is printed on label On, thus obtain the location label of each anchor point；
Again the location label of each anchor point is posted in belonging to this anchor point and positions on the ceiling directly over subregion；
When mobile robot is positioned at a location subregion, camera is utilized to obtain the location mark of anchor point of this location subregion Sign image, further according to this location label image coordinate in camera images themselves coordinate system, calculate camera and mark with this location Position relationship between label, and from this location label image, extract the data matrix code of anchor point, the data that will be extracted After square matrix code is converted to anchor point coordinate in earth axes, the position between combining camera and this location label is closed System, calculates the mobile robot current location point concrete coordinate in earth axes, the position between camera and location label The relation of putting refers to: the level interval between camera current location point and location label, and camera current location point is at geographical coordinates Grid azimuth in system.
Further, described location label is also printed with registration pattern, and the ranks number for unlabeled data square matrix code Alternating pattern；
Described data matrix code is made up of two kinds of squares of black and white, and the shape of two kinds of squares is consistent, in data matrix code Each square is arranged in the matrix shape of two dimension；
Described registration pattern is the black L-shaped pattern with two straight flanges, and a straight flange therein is the horizontal stroke of registration pattern Limit, another straight flange is the longitudinal edge of registration pattern, and registration pattern has three label datum marks, one of them label datum mark For main datum point, another two label datum mark secondary standard point, main datum point therein is positioned at the junction surface of two straight flanges, two pairs Datum mark lays respectively at the free end of two straight flanges；
Described alternating pattern is the L-shaped pattern alternately arranged by two kinds of squares of black and white with two straight flanges, wherein A straight flange be the horizontal edge of alternating pattern, another straight flange is the longitudinal edge of alternating pattern, each square in alternating pattern Shape is all consistent with the square shape of data matrix code, and alternating pattern and registration pattern enclose a rectangle frame, described data Square matrix code is printed in the rectangle frame enclosed by registration pattern and alternating pattern, in alternating pattern, except two straight flange junction surfaces Square outside, square row of each the square unlabeled data square matrix code on horizontal edge, each square on longitudinal edge indicates One square row of data matrix code, after extracting the data matrix code of anchor point from the label image of location, according to alternately figure Data matrix code is decoded by the ranks number that case is indicated.
Further, the method for position relationship between camera and location label is calculated as follows: first from the label image of location Extract registration pattern, and obtain three label datum marks of registration pattern coordinate in camera image coordinate system, in conjunction with phase The coordinate of the initial point in machine image coordinate system and the mathematical model of camera, the position calculated between camera and location label is closed System.
Further, in the label of each location, the horizontal edge of registration pattern, longitudinal edge respectively with the abscissa of earth axes Axle, axis of ordinates are parallel；
The axis of abscissas of camera local Coordinate System, axis of ordinates respectively with the axis of abscissas of robot local Coordinate System, vertical Coordinate axes is parallel；
Calculate mobile robot current location point computing formula of concrete coordinate in earth axes as follows:
T world robot = T world D - M * ( T cam D - M ) - 1 * ( T robot cam ) - 1 ;
In formula,For moving robot current location point coordinate in earth axes,For location label Relative to the transition matrix of earth axes,For positioning the label transition matrix relative to camera image coordinate system, For camera relative to the transition matrix moving robot；
Matrix Formula be:
T world D - M = 1 0 0 dm x i 0 1 0 dm y i 0 0 1 0 0 0 0 1 ;
In formula,For positioning label abscissa translational component in earth axes,For location label on ground Vertical coordinate translational component in coordinate system,WithObtained by demarcation after location label posts up ceiling；
Matrix Formula be:
T cam D - M = - cos ( θ ) sin ( θ ) 0 - z * ( u - c x ) f x sin ( θ ) cos ( θ ) 0 z * ( v - c y ) f y 0 0 - 1 z 0 0 0 1 ;
In formula, fxFor the camera focus abscissa value in camera image coordinate system, fyFor the camera in camera image coordinate system Focal length ordinate value, z is the vertical spacing between image center point and ceiling, and u is that primary standard subpoint is sat at camera image Abscissa in mark system, v is main datum point projection picture vertical coordinate in camera image coordinate system, main datum point projection picture Be specific bit label registration pattern main datum point location label image in projection, cxInitial point for camera image coordinate system Abscissa value in camera image coordinate system, cyFor the initial point of the camera image coordinate system vertical seat in camera image coordinate system Scale value, θ is the angle between location horizontal edge projection picture and camera image coordinate system transverse axis, and location horizontal edge projection seems to specify The projection in the label image of location of the horizontal edge of the registration pattern on the label of position；
Matrix Formula be:
T robot cam = 1 0 0 x robot cam 0 1 0 y robot cam 0 0 1 z robot cam 0 0 0 1 ;
In formula,The abscissa difference in earth axes for image center point and mobile robot central point,The abscissa difference in earth axes for image center point and mobile robot central point,For image center Vertical spacing between point and mobile robot central point；
Image center point is a fixing point demarcated in advance on camera, and mobile robot central point is mobile robot On a fixing point demarcated in advance.
The method for positioning mobile robot based on data matrix code that the present invention provides, uses and is printed with two-dimensional data matrix The location label of code provides the information that positions accurately, and the pattern on the label of this location is only made up of black and white, uses general Logical black and white camera, IP Camera, it is possible to data matrix code is identified, and can compile in narrow and small label plane Code dense information, it is the most extensive that it reads visual angle, can read in the environment of contrast only has 20%, and error correcting capability is the strongest, Up to 25% coding impaired in the case of remain to read coding information, with existing method for positioning mobile robot phase Ratio, the present invention to realize cost relatively low, directly data matrix code is printed and the most just can complete location label Making, the requirement to camera is the lowest, and robot can directly obtain anchor point coordinate by location label, its positioning accurate Spend the most high.
Accompanying drawing explanation
Fig. 1 is showing of the location label in the method for positioning mobile robot based on data matrix code of the embodiment of the present invention It is intended to；
Fig. 2 is showing of the registration pattern in the method for positioning mobile robot based on data matrix code of the embodiment of the present invention It is intended to；
Fig. 3 is showing of the alternating pattern in the method for positioning mobile robot based on data matrix code of the embodiment of the present invention It is intended to；
Fig. 4 is the data matrix code in the method for positioning mobile robot based on data matrix code of the embodiment of the present invention Schematic diagram；
Fig. 5 is showing of each coordinate system in the method for positioning mobile robot based on data matrix code of the embodiment of the present invention It is intended to.
Detailed description of the invention
Illustrate embodiments of the invention are described in further detail below in conjunction with accompanying drawing, but the present embodiment is not used to limit The present invention processed, the analog structure of every employing present invention and similar change thereof, protection scope of the present invention all should be listed in.
A kind of based on data matrix code the method for positioning mobile robot that the embodiment of the present invention is provided, its feature exists In, specifically comprise the following steps that
First set an earth axes being used for indicating ground location point for mobile work robot region, and moving Set multiple location subregion in robot work region, in the subregion of each location, set an anchor point, in mobile robot One camera lens of upper arrangement is towards the camera of surface；
Again by each anchor point coordinate in earth axes, it is compiled into according to data matrix code international standard ECC200 The data matrix code of two dimension, and be printed on label, thus obtain the location label of each anchor point；
Again the location label of each anchor point is posted in belonging to this anchor point and positions on the ceiling directly over subregion；
When mobile robot is positioned at a location subregion, camera is utilized to obtain the location mark of anchor point of this location subregion Sign image, further according to this location label image coordinate in camera images themselves coordinate system, calculate camera and mark with this location Position relationship between label, and from this location label image, extract the data matrix code of anchor point, the data square that will be extracted After horizontal and vertical parity check code is converted to anchor point coordinate in earth axes according to data matrix code international standard ECC200, combining camera And the position relationship between this location label, calculates the mobile robot current location point concrete seat in earth axes Mark, the position relationship between camera and location label refers to: the level interval between camera current location point and location label, and Camera current location point grid azimuth in earth axes；
As Figure 1-Figure 4, in the embodiment of the present invention, described location label is also printed with registration pattern, and is used for marking Show the alternating pattern of the ranks number of data matrix code；
The structure of described data matrix code and compiling mode are prior art, and data matrix code is by two kinds of square structures of black and white Becoming, and the shape of two kinds of squares is consistent, black bars therein represents a binary one, and white square represents a binary system 0, each square in data matrix code is arranged in the matrix shape of two dimension；
Described registration pattern is the black L-shaped pattern with two straight flanges, and a straight flange therein is the horizontal stroke of registration pattern Limit, another straight flange is the longitudinal edge of registration pattern, and registration pattern has three label datum marks, one of them label datum mark For main datum point, another two label datum mark secondary standard point, main datum point therein is positioned at junction surface (the i.e. L-shaped of two straight flanges Corner portion), two secondary standard points lay respectively at the free end (i.e. the both ends of L-shaped) of two straight flanges；
Described alternating pattern is the L-shaped pattern alternately arranged by two kinds of squares of black and white with two straight flanges, wherein A straight flange be the horizontal edge of alternating pattern, another straight flange is the longitudinal edge of alternating pattern, each square in alternating pattern Shape is all consistent with the square shape of data matrix code, and alternating pattern and registration pattern enclose a rectangle frame, described data Square matrix code is printed in the rectangle frame enclosed by registration pattern and alternating pattern, in alternating pattern, except two straight flange junction surfaces Square outside, square row of each the square unlabeled data square matrix code on horizontal edge, each square on longitudinal edge indicates One square row of data matrix code, after extracting the data matrix code of anchor point from the label image of location, according to alternately figure Data matrix code is decoded by the ranks number that case is indicated.
In the embodiment of the present invention, calculate the method for position relationship between camera and location label as follows: first from location label Image extracts registration pattern, and obtains three label datum marks of registration pattern coordinate in camera image coordinate system, then The coordinate of the initial point in combining camera image coordinate system and the mathematical model of camera, calculate the position between camera and location label Putting relation, the mathematical model of camera is prior art.
In the embodiment of the present invention, in the label of each location, the horizontal edge of registration pattern, longitudinal edge respectively with the horizontal stroke of earth axes Coordinate axes, axis of ordinates are parallel so that the rotational component of each location label is zero.
In the embodiment of the present invention, the axis of abscissas of camera local Coordinate System, axis of ordinates respectively with robot self coordinate The axis of abscissas of system, axis of ordinates are parallel so that camera is zero relative to the rotational component of mobile robot.
In the embodiment of the present invention, the calculating calculating mobile robot current location point concrete coordinate in earth axes is public Formula is as follows:
T world robot = T world D - M * ( T cam D - M ) - 1 * ( T robot cam ) - 1 ;
In formula,For moving robot current location point coordinate in earth axes,For location label Relative to the transition matrix of earth axes,For positioning the label transition matrix relative to camera image coordinate system, For camera relative to the transition matrix moving robot；
Matrix Formula be:
T world D - M = 1 0 0 dm x i 0 1 0 dm y i 0 0 1 0 0 0 0 1 ;
In formula,For positioning label abscissa translational component in earth axes,For location label on ground Vertical coordinate translational component in coordinate system,WithObtained by demarcation, such as after location label posts up ceiling Using the laser device with vertical emission function to indicate the forward projection point on ground of the main datum point on the label of location, this is just thrown Spacing between shadow point and the axis of abscissas of earth axes is the abscissa translation minute in earth axes of the location label Amount, the spacing between this forward projection point and axis of ordinates of earth axes is the location label vertical seat in earth axes Mark translational component；
Matrix Formula be:
T cam D - M = - cos ( θ ) sin ( θ ) 0 - z * ( u - c x ) f x sin ( θ ) cos ( θ ) 0 z * ( v - c y ) f y 0 0 - 1 z 0 0 0 1 ;
In formula, fxFor the camera focus abscissa value in camera image coordinate system, fyFor the camera in camera image coordinate system Focal length ordinate value, z is the vertical spacing between image center point and ceiling, and image center point is obtained by demarcation, and u is main Reference projection point abscissa in camera image coordinate system, v is that main datum point projection is as in camera image coordinate system Vertical coordinate, main datum point projection seems the projection in the label image of location of the registration pattern main datum point of specific bit label, cxFor the initial point of the camera image coordinate system abscissa value in camera image coordinate system, cyInitial point for camera image coordinate system Ordinate value in camera image coordinate system, θ is the folder between location horizontal edge projection picture and camera image coordinate system transverse axis Angle, location horizontal edge projection seems the projection in the label image of location of the horizontal edge of the registration pattern on specific bit label；
Matrix Formula be:
T robot cam = 1 0 0 x robot cam 0 1 0 y robot cam 0 0 1 z robot cam 0 0 0 1 ;
In formula,The abscissa difference in earth axes for image center point and mobile robot central point,The abscissa difference in earth axes for image center point and mobile robot central point,For image center Vertical spacing between point and mobile robot central point, mobile robot central point is obtained by demarcation,Obtain by measuring camera installation site in mobile robot；
Image center point can be its mass centre's point, it is also possible to be that on camera is prone to measure consolidating of relative distance Fixed point, mobile robot central point can be its mass centre's point, it is also possible to be that in mobile robot is prone to measure phase The fixing point adjusted the distance.
Fig. 5 is showing of each coordinate system in the method for positioning mobile robot based on data matrix code of the embodiment of the present invention Being intended to, the axis of abscissas Xw in Fig. 5, axis of ordinates Yw, ordinate axle Zw are the coordinate axes of earth axes, axis of abscissas Xd, Axis of ordinates Yd, ordinate axle Zd are the coordinate axes of location tag coordinate system, and the setting means of location tag coordinate system is existing Technology, axis of abscissas Xi, axis of ordinates Yi are the coordinate axes of camera images themselves coordinate system, axis of abscissas Xc, axis of ordinates Yc, Ordinate axle Zc is the coordinate axes of camera local Coordinate System, and axis of abscissas Xr, axis of ordinates Yr, ordinate axle Zr are mobile machine The coordinate axes of people's local Coordinate System, P point is the registration pattern main datum point of location label, and P ' point is that P is in the label image of location Projection.
Utilize existing two to move robot in two kinds of indoor environments the method for the embodiment of the present invention is surveyed Examination；
The ceiling of test environment 1 is 2.9 meters to the distance on ground, and the size of location label is 10 centimetres x10 centimetre, fixed Laying spacing between the label of position is 1.5 meters, the camera disposed in mobile robot be model be the net of Logitech c200 Network photographic head；
When existing iRobot Create robot tests in test environment 1, the processing speed to location label image Per second being more than 10 frames, the positioning precision of robot is less than 5 centimetres；
When existing MobileRobots Pioneer P3DX robot tests in test environment 1, the maximum of robot Translational speed is 1.5 meter per seconds, is more than 10 frames to the processing speed positioning label image is per second, and the positioning precision of robot is less than 5 Centimetre；
The ceiling of test environment 2 is 4 meters to the distance on ground, and the size of location label is 20 centimetres x20 centimetre, location Laying spacing between label is 1.5 meters, the camera disposed in mobile robot be model be the network of Logitech c200 Photographic head；
Existing iRobot Create robot and MobileRobots Pioneer P3DX robot are at test environment 2 During middle test, the positioning precision less than 5 centimetres can be obtained equally.

Claims (1)

1. a method for positioning mobile robot based on data matrix code, it is characterised in that specifically comprise the following steps that
First set an earth axes being used for indicating ground location point for mobile work robot region, and at mobile machine Set multiple location subregion in people working region, in the subregion of each location, set an anchor point, mobile robot is pacified Put camera lens camera upward；
Each anchor point coordinate in earth axes is compiled into the data matrix code of two dimension again, and is printed on label, Thus obtain the location label of each anchor point；
Again the location label of each anchor point is posted in belonging to this anchor point and positions on the ceiling directly over subregion；
When mobile robot is positioned at a location subregion, camera is utilized to obtain the location label figure of anchor point of this location subregion Picture, further according to this location label image coordinate in camera images themselves coordinate system, calculate camera and this location label it Between position relationship, and from this location label image, extract the data matrix code of anchor point, the data matrix that will be extracted After code is converted to anchor point coordinate in earth axes, the position relationship between combining camera and this location label, meter Calculate the mobile robot current location point concrete coordinate in earth axes, the position relationship between camera and location label Refer to: the level interval between camera current location point and location label, and camera current location point is in earth axes Grid azimuth；
Registration pattern, and the alternating pattern of the ranks number for unlabeled data square matrix code also it is printed with on the label of described location；
Described data matrix code is made up of two kinds of squares of black and white, and the shape of two kinds of squares is consistent, each in data matrix code Square is arranged in the matrix shape of two dimension；
Described registration pattern is the black L-shaped pattern with two straight flanges, and a straight flange therein is the horizontal edge of registration pattern, separately Article one, straight flange is the longitudinal edge of registration pattern, and registration pattern has three label datum marks, and one of them label datum mark is main Datum mark, another two label datum mark secondary standard point, main datum point therein is positioned at the junction surface of two straight flanges, two secondary standards Point lays respectively at the free end of two straight flanges；
Described alternating pattern is the L-shaped pattern alternately arranged by two kinds of squares of black and white with two straight flanges, therein one Bar straight flange is the horizontal edge of alternating pattern, and another straight flange is the longitudinal edge of alternating pattern, the shape of each square in alternating pattern All consistent with the square shape of data matrix code, alternating pattern and registration pattern enclose a rectangle frame, described data matrix Code is printed in the rectangle frame enclosed by registration pattern and alternating pattern, in alternating pattern, except the side at two straight flange junction surfaces Outside block, square row of each the square unlabeled data square matrix code on horizontal edge, each the square unlabeled data on longitudinal edge One square row of square matrix code, after extracting the data matrix code of anchor point from the label image of location, according to alternating pattern institute Data matrix code is decoded by the ranks number indicated；
Calculate the method for position relationship between camera and location label as follows: first from the label image of location, extract registration pattern, And obtain three label datum marks of registration pattern coordinate in camera image coordinate system, in conjunction with in camera image coordinate system The coordinate of initial point and the mathematical model of camera, calculate the position relationship between camera and location label；
In the label of each location, the horizontal edge of registration pattern, longitudinal edge are put down with the axis of abscissas of earth axes, axis of ordinates respectively OK；
The axis of abscissas of camera local Coordinate System, axis of ordinates respectively with axis of abscissas, the vertical coordinate of robot local Coordinate System Axle is parallel；
Calculate mobile robot current location point computing formula of concrete coordinate in earth axes as follows:
；
In formula,For moving robot current location point coordinate in earth axes,For location label relative to The transition matrix of earth axes,For positioning the label transition matrix relative to camera image coordinate system,For camera Transition matrix relative to mobile robot；
Matrix Formula be:
；
In formula,For positioning label abscissa translational component in earth axes,For location label at geographical coordinates Vertical coordinate translational component in system,WithObtained by demarcation after location label posts up ceiling；
Matrix Formula be:
；
In formula,For the camera focus abscissa value in camera image coordinate system,Burnt for the camera in camera image coordinate system Away from ordinate value, z is the vertical spacing between image center point and ceiling, and u is that main datum point projection picture is at camera image Abscissa in coordinate system, v is main datum point projection picture vertical coordinate in camera image coordinate system, main datum point projection Seem specific bit label registration pattern main datum point location label image in projection,For camera image coordinate system Initial point abscissa value in camera image coordinate system,For the initial point of camera image coordinate system in camera image coordinate system Ordinate value, θ is the angle between location horizontal edge projection picture and camera image coordinate system transverse axis, and location horizontal edge projection seems The projection in the label image of location of the horizontal edge of the registration pattern on specific bit label；
Matrix Formula be:
；
In formula,The abscissa difference in earth axes for image center point and mobile robot central point, The abscissa difference in earth axes for image center point and mobile robot central point,For image center point with Vertical spacing between mobile robot central point；
Image center point is a fixing point demarcated in advance on camera, and mobile robot central point is in mobile robot One fixing point demarcated in advance.
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