CN110197095A - The method and system of robot identification positioning identifier - Google Patents
The method and system of robot identification positioning identifier Download PDFInfo
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- CN110197095A CN110197095A CN201910395192.3A CN201910395192A CN110197095A CN 110197095 A CN110197095 A CN 110197095A CN 201910395192 A CN201910395192 A CN 201910395192A CN 110197095 A CN110197095 A CN 110197095A
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- positioning identifier
- robot
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- positioning
- identifier
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
- G06K7/1443—Methods for optical code recognition including a method step for retrieval of the optical code locating of the code in an image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/146—Methods for optical code recognition the method including quality enhancement steps
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention provides a kind of method and system of robot identification positioning identifier, the size of the positioning identifier increases with the setting height of the positioning identifier and is increased, the positioning identifier includes dimension information and the setting elevation information, the described method includes: robot acquires the image of the positioning identifier, the dimension information and the setting elevation information are obtained；The robot calculates the position of the robot based on the dimension information and the setting elevation information.The method and system of robot identification positioning identifier provided by the invention overcome positioning identifier because of cognitive disorders caused by height difference is arranged.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of method and system of robot identification positioning identifier.
Background technique
Mobile robot has been applied to the fields such as service industry, including food and drink, hotel, office, storage at present.Robot
Common location technology includes that UWB positioning, laser radar positioning, infrared positioning, vision positioning, inertial navigation, positioning identifier are fixed
Position.Wherein, positioning identifier positioning has stronger stability and higher accuracy.
Positioning identifier usually requires that the higher place in geographical location, such as hotel, dining room, office is arranged in application scenarios
On the ceiling of room.Even if the same application scenarios, it also will appear the height difference of ceiling from the ground, positioning identifier is often wanted
Setting at various height, will cause robot cognitive disorders, influence positioning accuracy and even result in and can not position.
Summary of the invention
The present invention completes in view of above-mentioned current condition, and its purpose is to provide a kind of robots to identify positioning mark
The method and system of knowledge overcome positioning identifier because of cognitive disorders caused by height difference is arranged.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of method of robot identification positioning identifier, and the size of the positioning identifier is marked with the positioning
The setting height of knowledge increases and increases, and the positioning identifier includes dimension information and the setting elevation information, the method packet
It includes:
Robot acquires the image of the positioning identifier, obtains the dimension information and the setting elevation information；
The robot calculates the position of the robot based on the dimension information and the setting elevation information.
In this case, carry out robot from Main classification to positioning identifier, by the size of positioning identifier with
Setting height establishes mapping, and robot can use the dimension information and elevation information that positioning identifier includes, and auxiliary positioning calculates,
Positioning identifier is overcome because of cognitive disorders caused by height difference is arranged, the precision and efficiency of robot localization is improved, reduces
The complexity of positioning identifier setting.
Wherein, different the ratio between the size of two positioning identifiers of the setting height is substantially equivalent to described in two
The ratio between corresponding described setting height of positioning identifier.
It is divided as a result, according to size of the height to positioning identifier, is conducive to robot identification positioning identifier, and calculate
Present position.
Wherein, the positioning identifier includes two dimensional code, and the robot is by identifying that the two dimensional code obtains the size
Information and the setting elevation information.
In this case, so that robot is more accurate and stable for the information identification of positioning identifier.
Wherein, the coding mode positioned at the positioning identifier of the different setting height is different.
It is divided as a result, according to coding mode of the height to positioning identifier, is conducive to robot identification positioning identifier, and
Calculate present position.
Wherein, the setting height includes several setting sections, in the same setting section, the dimension information
It is identical.
In this case, for positioning identifier in the same altitude range, positioning identifier selects the same size, reduces
The complexity of positioning identifier arrangement, improves the efficiency of arrangement positioning identifier.
The present invention also provides a kind of systems of robot identification positioning identifier, comprising:
Positioning identifier, the positioning identifier have several, size the setting with the positioning identifier of the positioning identifier
It sets height to increase and increase, the positioning identifier includes dimension information and the setting elevation information；
Image capture module is set to the robot, and described image acquisition module acquires the image of the positioning identifier,
Obtain the dimension information and the setting elevation information；And
Processor, the processor calculate the position of the robot based on the dimension information and the setting elevation information
It sets.
In this case, carry out robot from Main classification to positioning identifier, by the size of positioning identifier with
Setting height establishes mapping, and robot can use the dimension information and elevation information that positioning identifier includes, and auxiliary positioning calculates,
Positioning identifier is overcome because of cognitive disorders caused by height difference is arranged, the precision and efficiency of robot localization is improved, reduces
The complexity of positioning identifier setting.
Wherein, different the ratio between the size of two positioning identifiers of the setting height is substantially equivalent to described in two
The ratio between corresponding described setting height of positioning identifier.
It is divided as a result, according to size of the height to positioning identifier, is conducive to robot identification positioning identifier, and calculate
Present position.
Wherein, the positioning identifier includes two dimensional code, and the robot is by identifying that the two dimensional code obtains the size
Information and the setting elevation information.
In this case, so that robot is more accurate and stable for the information identification of positioning identifier.
Wherein, the coding mode positioned at the positioning identifier of the different setting height is different.
It is divided as a result, according to coding mode of the height to positioning identifier, is conducive to robot identification positioning identifier, and
Calculate present position.
Wherein, the setting height includes several setting sections, in the same setting section, the dimension information
It is identical.
In this case, for positioning identifier in the same altitude range, positioning identifier selects the same size, reduces
The complexity of positioning identifier arrangement, improves the efficiency of arrangement positioning identifier.
The method and system of provided robot identification positioning identifier according to the present invention, mark robot to positioning
Know and establish and map by the size and setting height of positioning identifier, robot can use positioning identifier packet from Main classification
The dimension information and elevation information contained, auxiliary positioning calculate, and overcome positioning identifier because identifying barrier caused by setting height difference
Hinder, improve the precision and efficiency of robot localization, reduces the complexity of positioning identifier setting.
Detailed description of the invention
Fig. 1 shows the process signal of the method for the identification positioning identifier of robot involved in embodiments of the present invention
Figure.
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.
Present embodiment is related to the method for robot identification positioning identifier.The size of positioning identifier with positioning identifier setting
Height increases and increases.Positioning identifier includes dimension information and setting elevation information.As shown in Figure 1, involved by present embodiment
Robot identification positioning identifier method include:
101, the image of robot acquisition positioning identifier obtains dimension information and setting elevation information；
102, position of the robot based on dimension information and setting elevation information calculating robot.
In this case, carry out robot from Main classification to positioning identifier, by the size of positioning identifier with
Setting height establishes mapping, and robot can use the dimension information and elevation information that positioning identifier includes, and auxiliary positioning calculates,
Positioning identifier is overcome because of cognitive disorders caused by height difference is arranged, the precision and efficiency of robot localization is improved, reduces
The complexity of positioning identifier setting.
In some instances, positioning identifier can be set in the ceiling of robot workplace.
In some instances, positioning identifier can be in rectangle.Dimension information may include the length and width of positioning identifier.
In some instances, the distance for the height that can be ground to configuration positioning identifier is set highly.
In the present embodiment, different the ratio between the size of two positioning identifiers of setting height is substantially equivalent to two positioning marks
Know the ratio between corresponding setting height.
It is divided as a result, according to size of the height to positioning identifier, is conducive to robot identification positioning identifier, and calculate
Present position.
In some instances, different the ratio between the width of two positioning identifiers of setting height can be substantially equivalent to two positioning
Identify the ratio between corresponding setting height.It is understood that the length ratio of two different positioning identifiers of height is arranged
It can be substantially equivalent to the ratio between corresponding setting height of two positioning identifiers
In the present embodiment, positioning identifier includes two dimensional code.Robot by identification two dimensional code obtain dimension information and
Elevation information is set.
In this case, so that robot is more accurate and stable for the information identification of positioning identifier.
In the present embodiment, the coding mode positioned at the positioning identifier of different setting height is different.
It is divided as a result, according to coding mode of the height to positioning identifier, is conducive to robot identification positioning identifier, and
Calculate present position.
In the present embodiment, setting height includes several setting sections, in the same setting section, dimension information phase
Together.
In this case, for positioning identifier in the same altitude range, positioning identifier selects the same size, reduces
The complexity of positioning identifier arrangement, improves the efficiency of arrangement positioning identifier.
In some instances, setting section can be a range, such as 2.5 meters~3 meters are a setting section, at this
It is arranged in section, positioning identifier can use identical size.
In some instances, each setting section can be continuously.It is understood that adjacent setting section can be with
There is intersection.
The present invention also provides a kind of systems (not shown) of robot identification positioning identifier, comprising:
Positioning identifier, positioning identifier have several, the size of positioning identifier increase with the setting height of positioning identifier and
Increase, positioning identifier includes dimension information and setting elevation information；
Image capture module is set to robot, and image capture module acquires the image of positioning identifier, obtains dimension information
With setting elevation information；And
Processor, position of the processor based on dimension information and setting elevation information calculating robot.
In this case, carry out robot from Main classification to positioning identifier, by the size of positioning identifier with
Setting height establishes mapping, and robot can use the dimension information and elevation information that positioning identifier includes, and auxiliary positioning calculates,
Positioning identifier is overcome because of cognitive disorders caused by height difference is arranged, the precision and efficiency of robot localization is improved, reduces
The complexity of positioning identifier setting.
In some instances, positioning identifier can be set in the ceiling of robot workplace.
In some instances, image capture module may include camera assembly.Processor can be set in robot body,
For handling image, and the position of calculating robot.It is understood that processor can be set in cloud, in cloud
Processing result is sent to robot after the completion processing of end.
In some instances, positioning identifier can be in rectangle.Dimension information may include the length and width of positioning identifier.
In some instances, the distance for the height that can be ground to configuration positioning identifier is set highly.
In the present embodiment, different the ratio between the size of two positioning identifiers of setting height is substantially equivalent to two positioning marks
Know the ratio between corresponding setting height.
It is divided as a result, according to size of the height to positioning identifier, is conducive to robot identification positioning identifier, and calculate
Present position.
In some instances, different the ratio between the width of two positioning identifiers of setting height can be substantially equivalent to two positioning
Identify the ratio between corresponding setting height.It is understood that the length ratio of two different positioning identifiers of height is arranged
It can be substantially equivalent to the ratio between corresponding setting height of two positioning identifiers
In the present embodiment, positioning identifier includes two dimensional code.Robot by identification two dimensional code obtain dimension information and
Elevation information is set.
In this case, so that robot is more accurate and stable for the information identification of positioning identifier.
In the present embodiment, the coding mode positioned at the positioning identifier of different setting height is different.
It is divided as a result, according to coding mode of the height to positioning identifier, is conducive to robot identification positioning identifier, and
Calculate present position.
In the present embodiment, setting height includes several setting sections, in the same setting section, dimension information phase
Together.
In this case, for positioning identifier in the same altitude range, positioning identifier selects the same size, reduces
The complexity of positioning identifier arrangement, improves the efficiency of arrangement positioning identifier.
In some instances, setting section can be a range, such as 2.5 meters~3 meters are a setting section, at this
It is arranged in section, positioning identifier can use identical size.
In some instances, each setting section can be continuously.It is understood that adjacent setting section can be with
There is intersection.
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 (10)
1. a kind of method of robot identification positioning identifier, which is characterized in that the size of the positioning identifier is marked with the positioning
The setting height of knowledge increases and increases, and the positioning identifier includes dimension information and the setting elevation information, the method packet
It includes:
Robot acquires the image of the positioning identifier, obtains the dimension information and the setting elevation information；
The robot calculates the position of the robot based on the dimension information and the setting elevation information.
2. the method for robot identification positioning identifier as described in claim 1, which is characterized in that the setting height is different
The ratio between described size of two positioning identifiers is substantially equivalent to two corresponding setting height of positioning identifier
The ratio between.
3. the method for robot identification positioning identifier as described in claim 1, which is characterized in that the positioning identifier includes two
Code is tieed up, the robot is by identifying that the two dimensional code obtains the dimension information and the setting elevation information.
4. the method for robot identification positioning identifier as described in claim 1, which is characterized in that it is high to be located at the different settings
The coding mode of the positioning identifier of degree is different.
5. the method for robot identification positioning identifier as described in claim 1, which is characterized in that if setting height includes
Dry setting section, in the same setting section, the dimension information is identical.
6. a kind of system of robot identification positioning identifier characterized by comprising
Positioning identifier, the positioning identifier have several, and the size of the positioning identifier is high with the setting of the positioning identifier
Degree increases and increases, and the positioning identifier includes dimension information and the setting elevation information；
Image capture module is set to the robot, and described image acquisition module acquires the image of the positioning identifier, obtains
The dimension information and the setting elevation information；And
Processor, the processor calculate the position of the robot based on the dimension information and the setting elevation information.
7. the system of robot identification positioning identifier as claimed in claim 6, which is characterized in that the setting height is different
The ratio between described size of two positioning identifiers is substantially equivalent to two corresponding setting height of positioning identifier
The ratio between.
8. the system of robot identification positioning identifier as claimed in claim 6, which is characterized in that the positioning identifier includes two
Code is tieed up, the robot is by identifying that the two dimensional code obtains the dimension information and the setting elevation information.
9. the system of robot identification positioning identifier as claimed in claim 6, which is characterized in that it is high to be located at the different settings
The coding mode of the positioning identifier of degree is different.
10. the system of robot as claimed in claim 6 identification positioning identifier, which is characterized in that the setting highly includes
Several setting sections, in the same setting section, the dimension information is identical.
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| CN201910395192.3A CN110197095B (en) | 2019-05-13 | 2019-05-13 | Method and system for identifying, positioning and identifying robot |
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| CN201910395192.3A CN110197095B (en) | 2019-05-13 | 2019-05-13 | Method and system for identifying, positioning and identifying robot |
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| CN110197095B CN110197095B (en) | 2023-08-11 |
Family
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Cited By (1)
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