CN109855625A - Positioning identifier and navigation system - Google Patents
Positioning identifier and navigation system Download PDFInfo
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- CN109855625A CN109855625A CN201910082174.XA CN201910082174A CN109855625A CN 109855625 A CN109855625 A CN 109855625A CN 201910082174 A CN201910082174 A CN 201910082174A CN 109855625 A CN109855625 A CN 109855625A
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- 239000000758 substrate Substances 0.000 claims abstract description 18
- 239000011159 matrix material Substances 0.000 claims abstract description 13
- 239000000463 material Substances 0.000 claims description 4
- 230000001678 irradiating effect Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 5
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Abstract
The present invention provides a kind of positioning identifier and navigation system, it include: first identifier, second identifier and substrate, the first identifier and the second identifier are set to the substrate in matrix structure, the matrix structure is n × m structure, n is more than or equal to 2, m is more than or equal to 2, the quantity of the first identifier and second identifier and be less than or equal to n × m.Positioning identifier and navigation system according to the present invention, since first identifier is different from the feature of second identifier, and matrix structure makes mark be easier to be identified, and the combination of first identifier and second identifier can achieve 3n×m, in the case where substrate size is constant, the arrangement design of mark is simplified, the quantity that mark uses is reduced, improves the applicability for largely arranging positioning identifier in biggish scene.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of positioning identifier and navigation system.
Background technique
The development of mobile robot be unable to do without the development of location and navigation technology.Common air navigation aid is mobile robot
Map is independently constructed according to the environment of its work, then completes move.Robotic vision location technology is to realize independently
The key technology of navigation.
Currently, frequently with the method that positioning identifier is manually arranged in the environment, using the equipment on robot body to fixed
Bit identification is identified, the location information of positioning identifier is obtained, to complete the positioning of robot.However, existing positioning mark
It is excessively complicated to know design, causes very big inconvenience to the laying of positioning identifier.
Summary of the invention
The present invention completes in view of above-mentioned current condition, and its purpose is to provide a kind of positioning identifier and navigation systems
System convenient for deployment, and can promote the precision of identification.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of positioning identifier, including first identifier, second identifier and substrate, the first identifier and described
Second identifier is in the substrate that is set to of matrix structure, and the matrix structure is n × m structure, and n is more than or equal to 2,
M is more than or equal to 2, the quantity of the first identifier and second identifier and be less than or equal to n × m.
In this case, since first identifier is different from the feature of second identifier, and matrix structure holds that mark more
Easily identified, the combination of first identifier and second identifier can achieve 3n×m, in the case where substrate size is constant, simplify
The arrangement design of mark, reduces the quantity that mark uses, and improves and largely arranges in biggish scene the suitable of positioning identifier
The property used.
Wherein, the first identifier is rounded, and the second identifier is in circular ring shape.As a result, first identifier and second
Tag slot shows clearly and is easier to be identified, and positioning identifier is made to be easier to produce in batches.
Wherein, the quantity of n=3, m=3, the first identifier and second identifier and be less than or equal to 9.In this feelings
Under condition, not only reduce the quantity of mark, but also positioning identifier is made to have both diversity, and reduces the complicated journey of positioning identifier batch making
Degree.
Wherein, the substrate has the first face and second face opposite with first face, the first identifier and described
Second identifier is set to first face, and second face is provided with mounting portion.Application scenarios are installed on as a result, convenient for substrate
In.
Wherein, the first identifier and the second identifier use reflecting material.In this case, light is irradiated to
First identifier and second identifier can promote reflecting effect, so as to promoted acquisition positioning identifier image picture quality.
The present invention also provides a kind of navigation system, it further includes robot that the navigation system, which includes above-mentioned positioning identifier,
The robot includes infrared light compensating lamp and camera, and the camera has narrow band filter, and the infrared light compensating lamp is for irradiating
The positioning identifier, the camera are used to acquire the image of the positioning identifier.
In this case, since positioning identifier itself easily identifies, also, will not generate can to human eye for infrared light compensating lamp
See the light pollution of environment, and improve the brightness of image of positioning identifier, non-effective environment light can be filtered by narrow band filter
It removes, synthesis improves image image quality, reduces the complexity of subsequent image processing, realizes precision navigation.
Provided positioning identifier and navigation system according to the present invention, not due to the feature of first identifier and second identifier
Together, and matrix structure makes mark be easier to be identified, and the combination of first identifier and second identifier can achieve 3n×m,
In the case that substrate size is constant, the arrangement design of mark is simplified, the quantity that mark uses is reduced, improves in biggish field
The applicability of positioning identifier is largely arranged in scape.
Detailed description of the invention
Fig. 1 shows the floor map of positioning identifier involved in embodiments of the present invention.
Specific embodiment
Hereinafter, explaining the preferred embodiment of the present invention in detail with reference to attached drawing.In the following description, for identical
Component assign identical symbol, the repetitive description thereof will be omitted.Scheme in addition, attached drawing is only schematical, the mutual ruler of component
Very little shape of ratio or component etc. can be with actual difference.
Fig. 1 shows the floor map of positioning identifier involved in embodiments of the present invention.
Positioning identifier 1 according to the present invention includes first identifier 10, second identifier 10 and substrate 30.10 He of first identifier
Second identifier 20 is set to substrate 30 in matrix structure.Matrix structure is n × m structure, and it is big that n is more than or equal to 2, m
In or equal to 2.The quantity of first identifier 10 and second identifier 20 and be less than or equal to n × m.In other words, the first mark
Knowledge 10 and second identifier 20 incomplete can fill up entire matrix structure.In this case, on the one hand, due to first identifier
It is different from the feature of second identifier, and matrix structure makes mark be easier to be identified, and can promote the positioning identifier of acquisition
The quality of image.On the other hand, the combination of first identifier and second identifier can achieve 3n×m, constant in substrate size
In the case of, the arrangement design of mark is simplified, the quantity that uses of mark is reduced, improves in biggish scene that largely arrangement is fixed
The applicability of bit identification.
In some instances, positioning identifier 1 can also include that third identifies.Third mark has and first identifier and second
Identify different features.First identifier, second identifier, third mark are arranged in arrays.In this case, first identifier,
Two marks, the combination of third mark can achieve 4n×mKind.It is understood that positioning identifier 1 can comprise more than 2 kinds
Different marks.
In the present embodiment, substrate 30 is generally rectangular.As a result, convenient for batch production and the first positioning identifier 10
With the installation of the second positioning identifier 20.
In the present embodiment, first identifier 10 is rounded.Second identifier 20 is in circular ring shape.As a result, first identifier
It distinguishes obvious with second identifier and is easier to be identified, and positioning identifier is made to be easier to produce in batches.
It is understood that in some instances, first identifier 10 can be in rectangle.Second identifier can be triangular in shape.
First identifier 10 and second identifier 20 can be in any shape with distinguishing characteristics.
In the present embodiment, n=3, m=3.In other words, first identifier 10 and second identifier 20 are arranged in 3 × 3 matrixes
Cloth.The quantity of first identifier 10 and second identifier 20 and be less than or equal to 9.In this case, both reduce mark
Quantity, and positioning identifier is made to have both diversity, reduce the complexity of positioning identifier batch making.
In the present embodiment, substrate 30 has the first face and second face opposite with the first face.First identifier 10 and
Two marks 20 are set to the first face.Second face is provided with mounting portion.It is installed in application scenarios convenient for substrate as a result,.
In some instances, mounting portion can be the patch that can be used for pasting with viscosity.
In the present embodiment, first identifier 10 and second identifier 20 use reflecting material.Preferably, using high converse
Penetrate material.In this case, light is irradiated to first identifier and second identifier, can promote reflecting effect, so as to be promoted
The picture quality of the positioning identifier image of acquisition.
The present invention also provides a kind of navigation system.Navigation system includes above-mentioned positioning identifier 1.This will not be repeated here.
In the present embodiment, navigation system further includes robot.Robot includes infrared light compensating lamp and camera.Phase equipment
There is narrow band filter.Infrared light compensating lamp is for irradiating positioning identifier.Camera is used to acquire the image of positioning identifier.
In this case, since positioning identifier itself easily identifies, also, will not generate can to human eye for infrared light compensating lamp
See the light pollution of environment, and improve the brightness of image of positioning identifier, non-effective environment light can be filtered by narrow band filter
It removes, synthesis improves image image quality, reduces the complexity of subsequent image processing, realizes precision navigation.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modification, equivalent replacement and improvement etc., should be included in the protection model of the technical solution within the spiritual and principle of mode
Within enclosing.
Claims (6)
1. a kind of positioning identifier characterized by comprising
First identifier, second identifier and substrate, the first identifier and the second identifier are set in matrix structure
The substrate, the matrix structure be n × m structure, n be more than or equal to 2, m be more than or equal to 2, the first identifier and
The quantity of second identifier and be less than or equal to n × m.
2. positioning identifier as described in claim 1, which is characterized in that the first identifier is rounded, and the second identifier is in
Circular ring shape.
3. positioning identifier as described in claim 1, which is characterized in that n=3, m=3, the first identifier and second identifier
Quantity and be less than or equal to 9.
4. positioning identifier as described in claim 1, which is characterized in that the substrate have the first face and with first face phase
Second face of back, the first identifier and the second identifier are set to first face, and second face is provided with mounting portion.
5. positioning identifier as described in claim 1, which is characterized in that the first identifier and the second identifier are using converse
Penetrate material.
6. a kind of navigation system, which is characterized in that the navigation system includes positioning mark as described in any one in claim 1-5
Know, further include robot, the robot includes infrared light compensating lamp and camera, and the camera has narrow band filter, described red
Outer light compensating lamp is used to acquire the image of the positioning identifier for irradiating the positioning identifier, the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910082174.XA CN109855625A (en) | 2019-01-28 | 2019-01-28 | Positioning identifier and navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910082174.XA CN109855625A (en) | 2019-01-28 | 2019-01-28 | Positioning identifier and navigation system |
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| CN109855625A true CN109855625A (en) | 2019-06-07 |
Family
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110414511A (en) * | 2019-07-30 | 2019-11-05 | 深圳市普渡科技有限公司 | Cooperate sign and system |
| CN113140171A (en) * | 2020-01-20 | 2021-07-20 | 深圳市普渡科技有限公司 | Method for making positioning mark and system applying positioning mark |
| CN113246136A (en) * | 2021-06-07 | 2021-08-13 | 深圳市普渡科技有限公司 | Robot, map construction method, map construction device and storage medium |
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