CN110197095B - Method and system for identifying, positioning and identifying robot - Google Patents
Method and system for identifying, positioning and identifying robot Download PDFInfo
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- CN110197095B CN110197095B CN201910395192.3A CN201910395192A CN110197095B CN 110197095 B CN110197095 B CN 110197095B CN 201910395192 A CN201910395192 A CN 201910395192A CN 110197095 B CN110197095 B CN 110197095B
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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
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- 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
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- 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]
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Quality & Reliability (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a method and a system for identifying a positioning mark by a robot, wherein the size of the positioning mark is increased along with the rising of the setting height of the positioning mark, the positioning mark comprises size information and the setting height information, and the method comprises the following steps: the robot acquires the image of the positioning mark, and acquires the size information and the setting height information; the robot calculates a position of the robot based on the size information and the set height information. The method and the system for identifying the positioning mark by the robot, provided by the invention, overcome the identification obstacle caused by different setting heights of the positioning mark.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a system for identifying, positioning and identifying a robot.
Background
Mobile robots are currently used in service industries including catering, hotels, offices, warehouses, etc. Common positioning technologies of robots comprise UWB positioning, laser radar positioning, infrared positioning, visual positioning, inertial navigation and positioning identification positioning. The positioning mark has high stability and high accuracy.
The location identifier is usually required to be arranged in a place with a high geographical position in the application scene, such as the ceiling of a hotel, a restaurant, or an office. Even in the same application scene, the heights of the ceilings from the ground are different, and the positioning marks are often arranged at different heights, so that the robot can be prevented from identifying, the positioning accuracy is affected, and even the positioning cannot be performed.
Disclosure of Invention
The present invention has been made in view of the above-mentioned conventional situation, and an object of the present invention is to provide a method and a system for identifying positioning marks by a robot, which overcome the identification obstacle caused by different setting heights of the positioning marks.
In order to achieve the above object, the present invention provides the following technical solutions:
the invention provides a method for identifying a positioning mark by a robot, wherein the size of the positioning mark increases along with the rising of the setting height of the positioning mark, the positioning mark comprises size information and the setting height information, and the method comprises the following steps:
the robot acquires the image of the positioning mark, and acquires the size information and the setting height information;
the robot calculates a position of the robot based on the size information and the set height information.
Under the condition, the robot can autonomously classify the positioning marks, the mapping is established through the size and the setting height of the positioning marks, the robot can utilize the size information and the height information contained in the positioning marks to assist in positioning calculation, the recognition obstacle caused by different setting heights of the positioning marks is overcome, the positioning accuracy and the positioning efficiency of the robot are improved, and the setting complexity of the positioning marks is reduced.
Wherein the ratio of the dimensions of the two positioning marks with different setting heights is approximately equal to the ratio of the setting heights corresponding to the two positioning marks respectively.
Therefore, the size of the positioning mark is divided according to the height, so that the robot can recognize the positioning mark and calculate the position.
The positioning mark comprises a two-dimensional code, and the robot acquires the size information and the set height information by identifying the two-dimensional code.
In this case, the robot is made more accurate and stable for information identification of the positioning mark.
Wherein, the coding modes of the positioning marks at different setting heights are different.
Therefore, the coding modes of the positioning marks are divided according to the heights, so that the robots can recognize the positioning marks and calculate the positions.
The setting height comprises a plurality of setting intervals, and the size information is the same in the same setting interval.
Under the condition that the positioning marks are in the same height range, the positioning marks are of the same size, the complexity of positioning mark arrangement is reduced, and the efficiency of positioning mark arrangement is improved.
The invention also provides a system for identifying, positioning and marking the robot, which comprises:
the positioning marks are provided with a plurality of positioning marks, the size of each positioning mark is increased along with the increase of the setting height of each positioning mark, and each positioning mark comprises size information and setting height information;
the image acquisition module is arranged on the robot and acquires the image of the positioning mark and the size information and the setting height information; and
and a processor that calculates a position of the robot based on the size information and the set height information.
Under the condition, the robot can autonomously classify the positioning marks, the mapping is established through the size and the setting height of the positioning marks, the robot can utilize the size information and the height information contained in the positioning marks to assist in positioning calculation, the recognition obstacle caused by different setting heights of the positioning marks is overcome, the positioning accuracy and the positioning efficiency of the robot are improved, and the setting complexity of the positioning marks is reduced.
Wherein the ratio of the dimensions of the two positioning marks with different setting heights is approximately equal to the ratio of the setting heights corresponding to the two positioning marks respectively.
Therefore, the size of the positioning mark is divided according to the height, so that the robot can recognize the positioning mark and calculate the position.
The positioning mark comprises a two-dimensional code, and the robot acquires the size information and the set height information by identifying the two-dimensional code.
In this case, the robot is made more accurate and stable for information identification of the positioning mark.
Wherein, the coding modes of the positioning marks at different setting heights are different.
Therefore, the coding modes of the positioning marks are divided according to the heights, so that the robots can recognize the positioning marks and calculate the positions.
The setting height comprises a plurality of setting intervals, and the size information is the same in the same setting interval.
Under the condition that the positioning marks are in the same height range, the positioning marks are of the same size, the complexity of positioning mark arrangement is reduced, and the efficiency of positioning mark arrangement is improved.
According to the method and the system for identifying the positioning mark by the robot, the robot can autonomously classify the positioning mark, and the robot can utilize the size information and the height information contained in the positioning mark to assist in positioning calculation by establishing mapping between the size and the setting height of the positioning mark, so that the identification obstacle caused by different setting heights of the positioning mark is overcome, the positioning precision and the positioning efficiency of the robot are improved, and the complexity of setting the positioning mark is reduced.
Drawings
Fig. 1 shows a flow diagram of a method for identifying positioning marks by a robot according to an embodiment of the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.
The embodiment relates to a method for identifying and positioning marks by a robot. The size of the positioning mark increases as the setting height of the positioning mark increases. The positioning mark comprises size information and setting height information. As shown in fig. 1, the method for identifying, positioning and identifying a robot according to the present embodiment includes:
101. the robot acquires an image of the positioning mark, and acquires size information and setting height information;
102. the robot calculates a position of the robot based on the size information and the set height information.
Under the condition, the robot can autonomously classify the positioning marks, the mapping is established through the size and the setting height of the positioning marks, the robot can utilize the size information and the height information contained in the positioning marks to assist in positioning calculation, the recognition obstacle caused by different setting heights of the positioning marks is overcome, the positioning accuracy and the positioning efficiency of the robot are improved, and the setting complexity of the positioning marks is reduced.
In some examples, the positioning identifier may be provided at a ceiling of the robot workplace.
In some examples, the positioning identifier may be rectangular. The size information may include the length and width of the positioning mark.
In some examples, the set height may be a distance of the ground to a height at which the location identifier is configured.
In this embodiment, the ratio of the dimensions of two positioning marks having different set heights is substantially equal to the ratio of the set heights of the two positioning marks, respectively.
Therefore, the size of the positioning mark is divided according to the height, so that the robot can recognize the positioning mark and calculate the position.
In some examples, the ratio of the widths of two positioning markers having different set heights may be substantially equal to the ratio of the set heights of the respective two positioning markers. It will be appreciated that the ratio of the lengths of two positioning marks having different set heights may be substantially equal to the ratio of the set heights of the two positioning marks
In this embodiment, the positioning mark includes a two-dimensional code. The robot acquires size information and setting height information by identifying the two-dimensional code.
In this case, the robot is made more accurate and stable for information identification of the positioning mark.
In this embodiment, the positioning marks located at different setting heights are coded differently.
Therefore, the coding modes of the positioning marks are divided according to the heights, so that the robots can recognize the positioning marks and calculate the positions.
In the present embodiment, the set height includes a plurality of set sections, and the size information is the same in the same set section.
Under the condition that the positioning marks are in the same height range, the positioning marks are of the same size, the complexity of positioning mark arrangement is reduced, and the efficiency of positioning mark arrangement is improved.
In some examples, the set interval may be a range, for example, 2.5 meters to 3 meters, as a set interval within which the positioning marks may be the same size.
In some examples, the respective set intervals may be continuous. It is understood that adjacent set-up intervals may be intersecting.
The present invention also provides a system (not shown) for identifying, locating and marking a robot, comprising:
the positioning marks are provided with a plurality of positioning marks, the size of each positioning mark is increased along with the increase of the setting height of each positioning mark, and each positioning mark comprises size information and setting height information;
the image acquisition module is arranged on the robot and acquires images of the positioning mark, size information and setting height information; and
and a processor calculating a position of the robot based on the size information and the set height information.
Under the condition, the robot can autonomously classify the positioning marks, the mapping is established through the size and the setting height of the positioning marks, the robot can utilize the size information and the height information contained in the positioning marks to assist in positioning calculation, the recognition obstacle caused by different setting heights of the positioning marks is overcome, the positioning accuracy and the positioning efficiency of the robot are improved, and the setting complexity of the positioning marks is reduced.
In some examples, the positioning identifier may be provided at a ceiling of the robot workplace.
In some examples, the image acquisition module may include a camera assembly. The processor may be disposed on the robot body, and configured to process the image and calculate a position of the robot. It can be appreciated that the processor may be disposed at the cloud end, and send the processing result to the robot after the cloud end completes processing.
In some examples, the positioning identifier may be rectangular. The size information may include the length and width of the positioning mark.
In some examples, the set height may be a distance of the ground to a height at which the location identifier is configured.
In this embodiment, the ratio of the dimensions of two positioning marks having different set heights is substantially equal to the ratio of the set heights of the two positioning marks, respectively.
Therefore, the size of the positioning mark is divided according to the height, so that the robot can recognize the positioning mark and calculate the position.
In some examples, the ratio of the widths of two positioning markers having different set heights may be substantially equal to the ratio of the set heights of the respective two positioning markers. It will be appreciated that the ratio of the lengths of two positioning marks having different set heights may be substantially equal to the ratio of the set heights of the two positioning marks
In this embodiment, the positioning mark includes a two-dimensional code. The robot acquires size information and setting height information by identifying the two-dimensional code.
In this case, the robot is made more accurate and stable for information identification of the positioning mark.
In this embodiment, the positioning marks located at different setting heights are coded differently.
Therefore, the coding modes of the positioning marks are divided according to the heights, so that the robots can recognize the positioning marks and calculate the positions.
In the present embodiment, the set height includes a plurality of set sections, and the size information is the same in the same set section.
Under the condition that the positioning marks are in the same height range, the positioning marks are of the same size, the complexity of positioning mark arrangement is reduced, and the efficiency of positioning mark arrangement is improved.
In some examples, the set interval may be a range, for example, 2.5 meters to 3 meters, as a set interval within which the positioning marks may be the same size.
In some examples, the respective set intervals may be continuous. It is understood that adjacent set-up intervals may be intersecting.
The above-described embodiments do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the above embodiments should be included in the scope of the present invention.
Claims (4)
1. A method for identifying positioning marks by a robot, wherein the positioning marks have a plurality, the size of the positioning marks increases along with the increase of the set height of the positioning marks, and the positioning marks comprise size information and the set height information, and the method comprises the following steps:
the robot acquires the image of the positioning mark, and acquires the size information and the setting height information;
the robot calculates the position of the robot in an auxiliary positioning mode based on the size information and the set height information;
the positioning mark comprises a two-dimensional code, and the robot acquires the size information and the set height information by identifying the two-dimensional code;
the setting height comprises a plurality of setting intervals, the size information is the same in the same setting interval, and the setting intervals comprise 2.5-3 meters.
2. The method for recognizing positioning marks by a robot according to claim 1, wherein the positioning marks at different set heights are encoded in different manners.
3. A system for robotically identifying a positioning identifier, comprising:
the positioning marks are provided with a plurality of positioning marks, the size of each positioning mark is increased along with the increase of the setting height of each positioning mark, and each positioning mark comprises size information and setting height information;
the image acquisition module is arranged on the robot and acquires the image of the positioning mark and the size information and the setting height information; and
a processor that assists positioning calculation of a position of the robot based on the size information and the set height information;
the positioning mark comprises a two-dimensional code, and the robot acquires the size information and the set height information by identifying the two-dimensional code;
the setting height comprises a plurality of setting intervals, the size information is the same in the same setting interval, and the setting intervals comprise 2.5-3 meters.
4. A system for robotically identifying positioning markers according to claim 3, wherein said positioning markers at different said set heights are coded differently.
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| CN112507000B (en) * | 2020-12-23 | 2021-12-14 | 深圳市普渡科技有限公司 | Method and device for configuring target point of robot, electronic device and storage medium |
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