CN111745635B

CN111745635B - Method for identifying reflective marker, mobile robot positioning method and mobile robot system

Info

Publication number: CN111745635B
Application number: CN201910241587.8A
Authority: CN
Inventors: 崔江伟; 宗畅; 韩奎
Original assignee: Suzhou Cleva Precision Machinery and Technology Co Ltd
Current assignee: Suzhou Cleva Precision Machinery and Technology Co Ltd
Priority date: 2019-03-28
Filing date: 2019-03-28
Publication date: 2022-03-04
Anticipated expiration: 2039-03-28
Also published as: WO2020192127A1; CN111745635A

Abstract

The invention provides a method for identifying a reflective mark, a mobile robot positioning method and a mobile robot system, wherein the method for identifying the reflective mark comprises the following steps: s1, continuously receiving the laser reflection signals, and recording the characteristic value of each laser reflection signal, wherein the characteristic value comprises: receiving time of the laser reflection signal or a code count value corresponding to the laser reflection signal; and S2, confirming whether the adjacent laser reflection signals are from the same reflective mark according to the characteristic value of any adjacent laser reflection signal. According to the method for identifying the reflective marker, the mobile robot positioning method and the mobile robot system, different reflective markers can be accurately distinguished through the characteristic values corresponding to any adjacent laser reflection signals, the method has excellent anti-interference performance, is convenient to implement, and improves the working efficiency of the robot.

Description

Method for identifying reflective marker, mobile robot positioning method and mobile robot system

Technical Field

The invention relates to the field of intelligent control, in particular to a method for identifying a reflecting mark, a mobile robot positioning method and a mobile robot system.

Background

In the application of the mobile robot, navigation means that the mobile robot senses the environment and the self state through a sensor to realize autonomous movement facing a target in the environment with obstacles; the success of navigation needs 4 modules, namely perception, positioning, cognition and motion control, wherein the positioning is the most basic link in the navigation process of the mobile robot, and the positioning is to determine the real-time pose of the robot in the environment. Currently, widely used positioning technologies include: visual navigation positioning, global positioning system, differential GPS positioning, laser signal positioning, and the like.

The laser signal positioning method is more suitable for being applied to a mobile robot, and becomes a mainstream method for positioning the mobile robot, and the mobile robot positioning method in the prior art can refer to a publication number CN103542846, the name of the invention "a mobile robot system and a positioning method", and the scheme describes that: the mobile robot comprises a laser, the laser emits laser signals to the reflective targets to form reflection signals, the angle values of the current position of the robot relative to any two reflective targets can be obtained through the reflection signals and the positions of the reflective targets with known coordinates, and the current position of the robot can be accurately positioned according to the angle values.

However, in practical applications, during one rotation of the laser, in order to obtain reflected signals relative to more reflective targets, the emitting signal needs to be continuously excited, and thus, a plurality of receiving signals are received corresponding to each reflective target; accordingly, it becomes more important to distinguish the reflective marker through the received signal, and accurately distinguishing the reflective marker is the basis for locating the position of the mobile robot, whereas in the prior art, the mobile robot has insufficient capability of autonomously distinguishing the reflective marker through a plurality of received signals, resulting in poor locating effect.

Disclosure of Invention

In order to solve the above technical problems, an object of the present invention is to provide a method for identifying a beacon, a method for positioning a mobile robot, and a mobile robot system.

In order to achieve one of the above objects, an embodiment of the present invention provides a method for identifying a beacon, including the steps of: s1, continuously receiving the laser reflection signals, and recording the characteristic value of each laser reflection signal, wherein the characteristic value comprises: receiving time of the laser reflection signal or a code count value corresponding to the laser reflection signal;

and S2, confirming whether the adjacent laser reflection signals are from the same reflective mark according to the characteristic value of any adjacent laser reflection signal.

As a further improvement of an embodiment of the present invention, the step S2 specifically includes:

and determining whether the adjacent laser reflection signals are from the same reflecting mark according to the difference value between the characteristic values corresponding to any adjacent laser reflection signals.

As a further improvement of an embodiment of the present invention, the characteristic value is a coded count value corresponding to a laser reflection signal, and the step S2 specifically includes:

if the identification interval signal between any two adjacent laser reflection signals is not greater than a preset interval threshold value of the system, determining that the adjacent laser reflection signals are from the same reflective mark;

if one of the adjacent laser reflection signals corresponds to a head signal of the laser reflection signal, and the other one corresponds to a tail signal of the laser reflection signal, the identification interval signal is an absolute value of a difference value between encoder count values corresponding to the head signal and the tail signal of an encoder;

and if the head signal and the tail signal of the adjacent laser reflection signals do not correspond to the laser reflection signals simultaneously, the identification interval signal is the absolute value of the difference value between the encoder count values corresponding to the adjacent laser reflection signals.

s21, acquiring an encoder count value corresponding to each laser reflection signal according to the linear receiving sequence of the laser reflection signals;

s22, circularly traversing the obtained encoder count value to obtain an identification interval signal between any two adjacent laser reflection signals; and synchronously merging the code counting values corresponding to the identification interval signals which continuously appear and are not more than the preset interval threshold value of the system into a group to form a plurality of code counting groups, wherein each code counting group corresponds to a cursor-reflecting mark.

s21', obtaining the encoder count value corresponding to each laser reflection signal according to the receiving sequence of the laser reflection signals;

s22', calculating the difference value between the corresponding encoder count values of the adjacent laser reflection signals according to the receiving sequence and forming an identification interval signal sequence;

s23', circularly traversing the identification interval signal sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of sub-interval signal groups;

s24' extracts the corresponding code count values of each sub-interval signal group to form a plurality of code count groups, each corresponding to a cursor-reflecting body.

As a further improvement of an embodiment of the present invention, the method specifically includes:

m1, traversing the identification interval signals according to a linear sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of temporary interval signal groups;

meanwhile, identifying the first encoder count value corresponding to the temporary interval signal group by using a starting cursor, identifying the last encoder count value by using a terminating cursor, and identifying the last encoder count value corresponding to the initial temporary interval signal group by using an interrupting cursor;

m2, obtaining the first encoder count value and the last encoder count value according to the linear arrangement sequence of the identification interval signals, judging whether the two encoder count values come from the same anti-cursor,

if yes, deleting the starting cursor in the first group of temporary interval signal groups and deleting the ending cursor in the last group of temporary interval signal groups;

if not, keeping the current position of each cursor unchanged;

m3, circularly traversing the identification interval signal by taking the interruption cursors as the starting point and the ending point, and merging the encoder count values between each adjacent starting cursor and ending cursor into a group to form a plurality of encoding count groups.

As a further improvement of an embodiment of the present invention, the characteristic value is a receiving time of a laser reflection signal, and the step S2 specifically includes:

judging whether the identification interval signal between any two adjacent laser reflection signals is not greater than a preset interval threshold value or not, and if so, confirming that the current adjacent laser reflection signals are from the same reflective marker;

if one of the adjacent laser reflection signals corresponds to a first signal of a circle of laser reflection signals, and the other corresponds to a tail signal of the circle of laser reflection signals, the identification interval signal is an absolute value of a time interval difference between the delayed first signal and the delayed tail signal; the delay first signal is the absolute value of the difference between the first signal of the current circle and the first signal of the laser reflection signal of the next circle;

and if the adjacent laser reflection signals do not correspond to the head signal and the tail signal of one circle of laser reflection signals at the same time, the identification interval signal is the absolute value of the time interval difference between the adjacent laser reflection signals.

As a further improvement of an embodiment of the present invention, a specific value of the preset interval threshold is configured to be X, and a value interval of X is 1/h or more and X or less and θ/w or less; h represents the emission frequency of the laser emission signal corresponding to the laser reflection signal, theta represents the minimum angle value formed between the adjacent reflective cursor with the minimum distance in the coordinate system and any point in the coordinate system, and w represents the rotating speed of the rotary table bearing the laser reflection signal receiving device.

As a further improvement of an embodiment of the present invention, the method further comprises: configuring a specific numerical value of the preset interval threshold value as Y, wherein the value of Y is alpha X, and Y is less than theta/w; alpha is more than or equal to 3.

As a further improvement of an embodiment of the present invention, the step S1 specifically includes:

s11, sequentially recording the receiving time of each laser reflection signal according to the linear receiving sequence of the laser reflection signals until the receiving time corresponding to the first signal of the next circle of laser reflection signals is obtained;

the step S2 specifically includes:

s21, traversing the receiving time of each obtained laser reflection signal; and synchronously merging the identification interval signals which continuously appear and are not more than a preset interval threshold value of the system into a group to form a plurality of time interval difference value groups, wherein each time interval difference value group corresponds to one anti-cursor.

s11', recording the receiving time of each laser reflection signal in turn according to the linear receiving sequence of the laser reflection signals until the receiving time corresponding to the first signal of the next circle of laser reflection signals is obtained;

the step S2 specifically includes:

s21', calculating the time interval difference between adjacent laser reflection signals according to the corresponding receiving time of each laser reflection signal and forming an identification interval signal sequence;

s22', circularly traversing the identification interval signal sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of sub-interval signal groups;

s23' extracts the laser reflection signals corresponding to each sub-interval signal group to form a plurality of laser reflection signal groups, each corresponding to a reflective target.

simultaneously, marking the first laser reflection signal corresponding to the temporary interval signal group by using a starting cursor, marking the last laser reflection signal by using a stopping cursor, and marking the last laser reflection signal corresponding to the initial temporary interval signal group by using an interrupting cursor;

m2, obtaining the tail signal and the delay head signal of a circle of laser reflection signals according to the arrangement sequence of the linear identification interval signals, judging whether the two laser reflection signals are from the same reflective mark,

if not, keeping the current position of each cursor unchanged;

m3, cycle traverse the mark interval signal with the interrupt cursor as the start point and the end point, merge the laser reflection signals between each adjacent start cursor and end cursor into a group to form a plurality of laser reflection signal groups.

As a further improvement of an embodiment of the present invention, before the step S1, the method further includes:

n1, configuring a mechanical zero signal;

n2, if the mechanical zero signal is triggered for the first time, starting to receive the laser reflection signals and recording the characteristic value of each laser reflection signal;

and if the mechanical zero signal is not triggered for the first time, copying and storing the characteristic value corresponding to the laser reflection signal, emptying the recorded characteristic value, and restarting to record the characteristic value.

As a further improvement of an embodiment of the present invention, the step N2 further includes:

and configuring a characteristic value storage sequence, and copying and storing the characteristic value corresponding to the laser reflection signal in the characteristic value storage sequence when the mechanical zero point signal is not triggered for the first time.

As a further improvement of an embodiment of the present invention, before the step S2, the method further includes:

it is determined whether the stored sequence of feature values is empty,

if yes, continuing the characteristic value storage sequence;

if not, inquiring the characteristic value storage sequence, acquiring the characteristic value corresponding to the laser reflection signal, and clearing the characteristic value storage sequence after the called characteristic value stops calling.

In order to achieve one of the above objects, an embodiment of the present invention provides a mobile robot positioning method, including:

s1, continuously receiving the laser reflection signals, and recording the characteristic value of each laser reflection signal, wherein the characteristic value is a code count value corresponding to the laser reflection signal;

And S3, confirming the current coordinates of the robot according to the encoder count value corresponding to the laser reflection signal belonging to each cursor.

As a further improvement of an embodiment of the present invention, the step S3 specifically includes:

acquiring a deflection angle value corresponding to each reflective marker according to an encoder count value corresponding to a laser reflection signal belonging to each reflective marker;

and confirming the current coordinate of the robot according to the deflection angle value corresponding to each light reflecting mark.

acquiring an identification value corresponding to each reflective marker according to the encoder count value corresponding to each reflective marker, wherein the identification value is one of the median, the minimum, the maximum and the average of all the encoder count values;

and directly acquiring the corresponding deflection angle value according to the identification value corresponding to each light reflecting mark.

As a further improvement of an embodiment of the present invention, the method further comprises:

and configuring the encoder count value and the deflection angle value to form a one-to-one mapping relation between the encoder count value and the deflection angle value.

In order to achieve one of the above objects, an embodiment of the present invention provides a mobile robot system, which is disposed in a working area, wherein a plurality of reflectors with known coordinate values are disposed in the working area, the system comprising: the laser emitting and receiving module is used for continuously receiving the laser reflection signals and recording the characteristic value of each laser reflection signal, wherein the characteristic value comprises: receiving time of the laser reflection signal or a code count value corresponding to the laser reflection signal;

and the reflector distinguishing module is used for confirming whether the adjacent laser reflection signals are from the same reflector according to any adjacent laser reflection signal characteristic value.

As a further improvement of an embodiment of the present invention, the reflective marker distinguishing module is specifically configured to:

As a further improvement of an embodiment of the present invention, the characteristic value is a coded count value corresponding to a laser reflection signal, and the reflective marker distinguishing module is specifically configured to:

acquiring an encoder count value corresponding to each laser reflection signal according to the linear receiving sequence of the laser reflection signals;

circularly traversing the obtained encoder count value to obtain an identification interval signal between any two adjacent laser reflection signals; and synchronously merging the code counting values corresponding to the identification interval signals which continuously appear and are not more than the preset interval threshold value of the system into a group to form a plurality of code counting groups, wherein each code counting group corresponds to a cursor-reflecting mark.

acquiring an encoder count value corresponding to each laser reflection signal according to the receiving sequence of the laser reflection signals;

calculating the difference value between the encoder count values corresponding to the adjacent laser reflection signals according to the receiving sequence and forming an identification interval signal sequence;

circularly traversing the identification interval signal sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of sub-interval signal groups;

and extracting the code count value corresponding to each sub-interval signal group to form a plurality of code count groups, wherein each code count group corresponds to one light reflecting mark.

traversing the identification interval signals according to a linear sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of temporary interval signal groups;

obtaining a first encoder count value and a last encoder count value according to the arrangement sequence of the linear identification interval signals, judging whether the two encoder count values come from the same anti-cursor,

if not, keeping the current position of each cursor unchanged;

and circularly traversing the identification interval signals by taking the interrupted vernier as a starting point and an ending point, and merging the encoder count values between each adjacent starting vernier and ending vernier into a group to form a plurality of encoder count groups.

As a further improvement of an embodiment of the present invention, the characteristic value is a receiving time of a laser reflection signal, and the reflector identification module is specifically configured to:

configuring a specific numerical value of the preset interval threshold value as X, wherein the value interval of X is more than or equal to 1/h and less than or equal to theta/w; h represents the emission frequency of the laser emission signal corresponding to the laser reflection signal, theta represents the minimum angle value formed between the adjacent reflective cursor with the minimum distance in the coordinate system and any point in the coordinate system, and w represents the rotating speed of the rotary table bearing the laser reflection signal receiving device.

configuring a specific numerical value of the preset interval threshold value as Y, wherein the value of Y is alpha X, and Y is less than theta/w; alpha is more than or equal to 3.

As a further improvement of an embodiment of the present invention, the laser transmitting and receiving module is specifically configured to: sequentially recording the receiving time of each laser reflection signal according to the linear receiving sequence of the laser reflection signals until the receiving time corresponding to the first signal of the next circle of laser reflection signals is obtained;

the reflective mark distinguishing module is specifically used for: traversing the receiving time of each obtained laser reflection signal; and synchronously merging the identification interval signals which continuously appear and are not more than a preset interval threshold value of the system into a group to form a plurality of time interval difference value groups, wherein each time interval difference value group corresponds to one anti-cursor.

the reflective mark distinguishing module is specifically used for: calculating a time interval difference value between adjacent laser reflection signals according to the receiving time corresponding to each laser reflection signal and forming an identification interval signal sequence;

and extracting the laser reflection signals corresponding to each sub-interval signal group to form a plurality of laser reflection signal groups, wherein each laser reflection signal group corresponds to one reflecting mark.

acquiring a tail signal and a delay head signal of a circle of laser reflection signals according to the arrangement sequence of the linear identification interval signals, judging whether the two laser reflection signals are from the same reflective mark,

if not, keeping the current position of each cursor unchanged;

and circularly traversing the identification interval signals by taking the interruption vernier as a starting point and an ending point, and merging the laser reflection signals between each adjacent starting vernier and ending vernier into a group to form a plurality of laser reflection signal groups.

As a further improvement of an embodiment of the present invention, the laser transmitting and receiving module is further configured to: configuring a mechanical zero signal;

if the mechanical zero signal is triggered for the first time, starting to receive the laser reflection signals and recording the characteristic value of each laser reflection signal;

As a further improvement of an embodiment of the present invention, the laser transmitting and receiving module is further configured to: and configuring a characteristic value storage sequence, and copying and storing the characteristic value corresponding to the laser reflection signal in the characteristic value storage sequence when the mechanical zero point signal is not triggered for the first time.

As a further improvement of an embodiment of the present invention, the laser transmitting and receiving module is further configured to: it is determined whether the stored sequence of feature values is empty,

if yes, continuing the characteristic value storage sequence;

And the coordinate confirmation module is used for confirming the current coordinate of the robot according to the encoder count value corresponding to the laser reflection signal belonging to each anti-cursor.

As a further improvement of an embodiment of the present invention, the coordinate determination module is further configured to:

Compared with the prior art, the method for identifying the reflective mark, the mobile robot positioning method and the mobile robot system can accurately distinguish different reflective marks through the characteristic value corresponding to any adjacent laser reflection signal, have excellent anti-interference performance, are convenient to implement and improve the working efficiency of the robot.

Drawings

Fig. 1 is a schematic flow chart of a method for identifying a beacon according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a method for recognizing a retroreflective sign according to a first embodiment of the present invention;

fig. 3 is a schematic structural view corresponding to a specific example of the first embodiment shown in fig. 2;

FIG. 4 is a flowchart illustrating a preferred implementation of step S2 according to the first embodiment shown in FIG. 2;

FIG. 5 is a flowchart illustrating a preferred implementation of step S2 according to the first embodiment shown in FIG. 2;

fig. 6 is a schematic diagram of a specific implementation flow corresponding to step S2 in the first embodiment shown in fig. 2;

fig. 7 is a schematic structural diagram of a specific example modified from the example shown in fig. 2;

fig. 8 is a schematic flow chart of a method for recognizing a retroreflective sign according to a second embodiment of the present invention;

fig. 9 is a schematic structural diagram of a specific example corresponding to the second embodiment of the present invention;

FIG. 10 is a flowchart illustrating a preferred implementation of step S2 in the embodiment of FIG. 8;

FIG. 11 is a schematic flow chart of another preferred implementation corresponding to step S2 in the embodiment shown in FIG. 8;

fig. 12 is a schematic diagram of a specific implementation flow corresponding to step S2 in the embodiment shown in fig. 8;

fig. 13 is a schematic structural view of a specific example modified from the example shown in fig. 9;

fig. 14 is a schematic flow chart of a mobile robot positioning method according to an embodiment of the present invention;

FIG. 15 is a block diagram of a mobile robotic system provided in accordance with an embodiment of the present invention;

fig. 16 is a block diagram of a mobile robot system according to another embodiment of the present invention.

Detailed Description

The present invention will be described in detail below with reference to embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.

The mobile robot system can be a mowing robot system or a sweeping robot system and the like, and automatically walks in a working area to perform mowing and dust collection; set up the anti-cursor mark of a plurality of known coordinate values in the work area, mobile robot includes: the laser device comprises a body, a rotary table which is arranged on the body and can rotate 360 degrees, a laser device arranged on the rotary table and a control module.

The laser instrument can be according to the frequency transmission laser signal of setting for, when laser signal shines to the reflection of light mark, can be reflected by the reflection of light mark and form the laser reflection signal, control module can distinguish the reflection of light mark according to the laser reflection signal that receives, and is further, can also confirm the current coordinate of robot through the encoder count value that the reflection of light mark corresponds.

Referring to fig. 1, a method for identifying a beacon according to an embodiment of the present invention includes:

s1, continuously receiving the laser reflection signals, and recording the characteristic value of each laser reflection signal, wherein the characteristic value comprises: receiving time of the laser reflection signal or a code count value corresponding to the laser reflection signal;

In a preferred embodiment of the present invention, regarding step S2, the step S2 specifically includes:

For convenience of understanding, the following description will be made on two cases where the characteristic value is the reception time of the laser reflection signal and the characteristic value is the code count value corresponding to the laser reflection signal.

Referring to fig. 2, a method for identifying a beacon according to a first embodiment of the present invention, in this example, the characteristic value is a receiving time of a laser reflection signal, and the method includes:

s1, continuously receiving the laser reflection signals and recording the receiving time of each laser reflection signal;

and S2, confirming whether the adjacent laser reflection signals are from the same reflecting mark according to the receiving time difference between the adjacent laser reflection signals.

In step S1, when the laser signal is irradiated onto the reflective mark, the laser signal is reflected by the reflective mark to form a laser reflection signal. During the process that the rotary table rotates for one circle, a plurality of laser reflection signals can be obtained corresponding to each reflective mark, and the receiving time of each laser reflection signal is different. In a preferred embodiment of the present invention, the step S1 specifically includes: and sequentially recording the receiving time of each laser reflection signal according to the linear receiving sequence of the laser reflection signals until the receiving time corresponding to the first signal of the next circle of laser reflection signals is obtained so as to prepare for the subsequent process.

Referring to fig. 3, a specific example is described for ease of understanding.

For the mobile robot, in the process that the rotary table rotates for one circle and returns to the initial position, the receiving time of the received laser reflection signals sequentially comprises the following steps: 3.33, 6.67, 10, 103.33, 106.66, 110.01, 113.35, 1203.32, 1206.67, the time unit is us, wherein the laser reflection signal 3.33 is a head signal, the laser reflection signal 1203.32 is a tail signal, and the laser reflection signal 1206.67 is a delayed head signal.

In a preferred embodiment of the present invention, the step S2 specifically includes: judging whether the identification interval signal between any two adjacent laser reflection signals is not greater than a preset interval threshold value or not, and if so, confirming that the current adjacent laser reflection signals are from the same reflective marker; if one of the adjacent laser reflection signals corresponds to a first signal of a circle of laser reflection signals, and the other corresponds to a tail signal of the circle of laser reflection signals, the identification interval signal is an absolute value of a time interval difference between the delayed first signal and the delayed tail signal; the delay first signal is the absolute value of the difference between the first signal of the current circle and the first signal of the laser reflection signal of the next circle; and if the adjacent laser reflection signals do not correspond to the head signal and the tail signal of one circle of laser reflection signals at the same time, the identification interval signal is the absolute value of the time interval difference between the adjacent laser reflection signals.

In a preferred embodiment of the present invention, the size of the system preset interval threshold is related to the position of each reflective mark according to the emission frequency of the laser emission signal generating the laser reflection signal.

In an implementation manner of the present invention, the method further includes: configuring a specific numerical value of the preset interval threshold value as X, wherein the value interval of X is more than or equal to 1/h and less than or equal to theta/w; wherein h represents the emission frequency of the laser emission signal corresponding to the laser reflection signal, theta represents the minimum angle value formed between the adjacent reflective cursor with the minimum distance in the coordinate system and any point in the coordinate system, w represents the rotating speed of the turntable bearing the laser reflection signal receiving device, and the unit of theta/w is a time unit.

In the preferred embodiment of the present invention, considering the surface contamination of the reflective marker and the material of the reflective marker, the determination result can be made more accurate by increasing the value of X. Preferably, a specific value of the preset interval threshold is configured to be Y, and a value of Y is that Y ═ α × X < θ/w; alpha is more than or equal to 3, in the specific example of the invention, the value range of the alpha is usually [3, 15], and the optimal value range is [6, 15 ].

Continuing with the example shown in fig. 3, the emission frequency of the laser emission signal corresponding to the laser reflection signal is 300K, and considering the contamination of the surface of the reflective marker and the material of the reflective marker, if the value of α is 3, the preset interval threshold is 3 × (1/300) ≈ 10us, and correspondingly, if the difference between the two laser reflection signals identified by a1 is 6.67-3.33 ═ 3.34 < 10, it indicates that the two adjacent laser reflection signals corresponding to the reception times 3.33 and 6.67 correspond to the same reflective marker; if the difference between the marking interval signals of the laser reflection signals marked by a2 is 103.33-10, which is 93.33 > 10, it is determined that the two adjacent laser reflection signals corresponding to the reception times 10 and 103.33 belong to different anti-cursor objects.

It should be noted that the turntable performs circular motion when rotating, so that although the received data is stored as linear data, in practical application, the head and tail data of the linear data are also adjacent data, accordingly, in the practical application process, the head and tail data of one circle of linear data are converted into adjacent data to be processed, in the example shown in fig. 3, the laser reflection signal at the receiving time of 3.33 is a head signal, the laser reflection signal at the receiving time of 1203.32 is a tail signal, the laser reflection signal at the receiving time of 1206.67 is a delay head signal, and if the identification interval signal between the head signal and the tail signal is |1206.67-1203.32| 3.35 < 10, it is indicated that the head signal and the tail signal correspond to the same cursor. The processing is described in detail below.

In a preferred embodiment of the present invention, it is necessary to determine a specific reflective mark according to the laser reflection signal, and preferably, for step S2, two specific implementation manners are included according to the specific implementation order.

With reference to fig. 4, in an implementation manner, the step S2 specifically includes: s21, traversing the receiving time of each obtained laser reflection signal; and synchronously merging the identification interval signals which continuously appear and are not more than a preset interval threshold value of the system into a group to form a plurality of time interval difference value groups, wherein each time interval difference value group corresponds to one anti-cursor.

With reference to fig. 5, in another implementation manner, the step S2 specifically includes:

The difference between the two embodiments lies in the calculation sequence of the difference between the receiving times of the adjacent laser reflection signals, in one implementation, the corresponding difference is calculated once when one laser reflection signal is received, and in the other implementation, after all the laser reflection signals of one circle are received, the calculation is performed uniformly, which is not further described herein.

In the specific application process of the invention, the cursor-reflecting marks are specifically distinguished in a cursor mode.

Preferably, as shown in fig. 6, the step S2 specifically includes: m1, traversing the identification interval signals according to a linear sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of temporary interval signal groups; simultaneously, marking the first laser reflection signal corresponding to the temporary interval signal group by using a starting cursor, marking the last laser reflection signal by using a stopping cursor, and marking the last laser reflection signal corresponding to the initial temporary interval signal group by using an interrupting cursor;

m2, acquiring a circle of tail signals and a time delay head signal of the laser reflection signals according to the arrangement sequence of the linear identification interval signals, judging whether the two laser reflection signals are from the same anti-cursor, and if so, deleting the start cursor in the first group of temporary interval signal groups and deleting the end cursor in the last group of temporary interval signal groups; if not, keeping the current position of each cursor unchanged;

With reference to fig. 7, the obtained identification interval signals are 3.34, 3.33, 93.33, 3.33, 3.35, 3.34, … …, and 3.35 in sequence, and identification interval signals that continuously occur and are not greater than the preset interval threshold of the system are grouped into one group to form a plurality of temporary interval signal groups, which are B1, B2, … …, and B10 in sequence, where the receiving times of the laser reflection signals corresponding to B1 are 3.33, 6.67, 10 in sequence, and the receiving times of the laser reflection signals corresponding to B2 are 103.33, 106.66, 110.01, 113.35, and B10 are 1203.32 in sequence; meanwhile, cursor identification is carried out on the corresponding laser reflection signal, and specific identification is shown in fig. 7, in the specific example, a starting cursor is represented by begin, an ending cursor is represented by end, and an interrupting cursor is represented by break; as can be seen from the determination, the mark interval signal between the first laser reflection signal corresponding to the reception time 3.33 and the last laser reflection signal corresponding to the reception time 1203.32 is 3.34, and the size thereof is smaller than the preset interval threshold 10, so it is determined that the two laser reflection signals are from the same anti-cursor, and accordingly, the cursors for deleting the laser reflection signals corresponding to the reception time 3.33 and the reception time 1203.32 are deleted, and traverse the mark interval signal with the laser reflection signal corresponding to the reception time 10 as the start point and the end point, and finally the merged laser reflection signal groups are sequentially C1, … …, and C10, where the encoder count values corresponding to C1 are sequentially 103.33, 106.66, 110.01, 113.35, and C10 are sequentially 1203.32, 3.33, 6.67, and 10.

Of course, in other embodiments of the present invention, the data may be stored in an annular memory, which is more convenient for searching and calculating, and will not be described in detail herein.

Referring to fig. 8, a method for identifying a beacon according to a second embodiment of the present invention is shown, in this example, the characteristic value is a coded count value corresponding to a laser reflection signal, and the method includes:

s1, continuously receiving the laser reflection signals and recording the encoder count value corresponding to each laser reflection signal; and S2, confirming whether the adjacent laser reflection signals are from the same reflecting mark according to the difference value between the encoder count values corresponding to the adjacent laser reflection signals.

In step S1, when the laser signal is irradiated onto the reflective mark, the laser signal is reflected by the reflective mark to form a laser reflection signal. In the process that the turntable rotates for one circle, corresponding to each reflective mark, a plurality of laser reflection signals can be obtained according to different frequencies of signals emitted by the laser.

The encoder count value is a set of count values that are equidistant and arranged according to ascending order or descending order, and in this application, because laser reflection signal's receiving time is different, so, at revolving stage rotatory round in-process, each laser reflection signal corresponds different encoder count value according to the receiving time sequence.

Referring to fig. 9, when the turntable rotates one turn, the minimum value of the encoder count value is generally 0, and the maximum value is 4096 for the mobile robot; in this specific example, for convenience of description, only a part of data is intercepted to make a specific example.

Specifically, in this example, the encoder count values corresponding to the continuously received laser reflection signals are, in order, 22, 24, 27, 31, 56, 59, 62, …..4087, 4089, 4092, 4095.

For step S2, the specific implementation manner of the preferred embodiment of the present invention is: if the identification interval signal between any two adjacent laser reflection signals is not greater than a preset interval threshold value of the system, determining that the adjacent laser reflection signals are from the same reflective mark; if one of the adjacent laser reflection signals corresponds to a head signal of the laser reflection signal, and the other corresponds to a tail signal of the laser reflection signal, the identification interval signal is an absolute value of a difference value between encoder count values corresponding to the head signal and the tail signal of an encoder; and if the head signal and the tail signal of the adjacent laser reflection signals do not correspond to the laser reflection signals simultaneously, the identification interval signal is the absolute value of the difference value between the encoder count values corresponding to the adjacent laser reflection signals.

In this example, a specific description is given by taking an example that the preset interval threshold is 5, and correspondingly, if the difference between two encoder count values identified by a1 is 24-22, which is 2 < 5, it is stated that the encoder count values 22 and 24 correspond to the same anti-cursor; if the difference between the two encoder count values identified by a2, i.e., 56-31, is 25 > 5, then the encoder count values 31, 56 correspond to different reflective marks.

It should be noted that the turntable performs circular motion when rotating, so that although the received data is stored as linear data, in practical application, the head and tail data of the linear data are also adjacent data, accordingly, in practical application, the head and tail data of one circle of linear data are converted into adjacent data to be processed, in the example shown in fig. 9, the encoder count value 22 corresponds to the head signal of the laser reflection signal, the encoder count value 4095 corresponds to the tail signal of the laser reflection signal, and the identification interval signal between the head signal and the tail signal is 4096- |4095-22| -23 > 5, which indicates that the head signal and the tail signal correspond to different anti-cursor objects. The processing is described in detail below.

The preset interval threshold of the system is a fixed value, and the size of the preset interval threshold can be specifically adjusted according to needs, and in general, the size of the preset interval threshold of the system is related to the position of an adjacent cursor and the time interval of laser reflection signals successively received corresponding to each cursor, which is not described in detail herein.

With reference to fig. 10, in an implementation manner, the step S2 specifically includes: s21, acquiring an encoder count value corresponding to each laser reflection signal according to the linear receiving sequence of the laser reflection signals;

With reference to fig. 11, in another implementation manner, the step S2 specifically includes:

The difference between the two embodiments lies in the calculation sequence of the encoder count value difference corresponding to the adjacent laser reflection signals, in the above-mentioned one implementation manner, the corresponding difference is calculated once every time a laser reflection signal is received, and in the other implementation manner, after all the laser reflection signals of one circle are received, the calculation is performed uniformly, which is not further described herein.

Preferably, as shown in fig. 12, the step S2 specifically includes: m1, traversing the identification interval signals according to a linear sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of temporary interval signal groups; meanwhile, identifying the first encoder count value corresponding to the temporary interval signal group by using a starting cursor, identifying the last encoder count value by using a terminating cursor, and identifying the last encoder count value corresponding to the initial temporary interval signal group by using an interrupting cursor;

m2, acquiring a first encoder count value and a last encoder count value according to the arrangement sequence of the linear identification interval signals, judging whether the two encoder count values come from the same anti-cursor, and if so, deleting a start cursor in the first group of temporary interval signal groups and deleting a stop cursor in the last group of temporary interval signal groups; if not, keeping the current position of each cursor unchanged;

In conjunction with fig. 13, to facilitate understanding, two laser reflection signals are added to the example shown in fig. 9, the encoder count values of the two laser reflection signals are 1 and 2, respectively, and the encoder count value 1 corresponds to the first signal of the laser reflection signal. Correspondingly, the obtained identification interval signals are sequentially 1, 20, 2, 3, 4, 25, 3, 3, … …, 2, 3, 3, and the identification interval signals which continuously appear and are not greater than the preset interval threshold of the system are grouped into one group to form a plurality of temporary interval signal groups, the temporary interval signal groups are sequentially B0, B1, B2, … …, and B10, wherein the encoder count values corresponding to B0 are sequentially 1, 2, the encoder count values corresponding to B1 are sequentially 22, 24, 27, 31, and the encoder count values corresponding to B2 are sequentially 56, 59, 62, and B10 are sequentially 4087, 4089, 4092, and 4095; meanwhile, cursor identification is carried out on the corresponding encoder count value, and specific identification is shown in fig. 6, in the specific example, a start cursor is represented by begin, an end cursor is represented by end, and an interrupt cursor is represented by break; as can be seen from the determination, the flag interval signal between the first encoder count value 1 and the last encoder count value 4095 is 2, and the size thereof is smaller than the preset interval threshold value 5, so that it is determined that the two encoder count values come from the same anti-cursor, and accordingly, the cursors corresponding to the encoder count value 1 and the encoder count value 4095 are deleted, and the flag interval signal is traversed by taking the encoder count value 2 as the starting point and the ending point, and finally, the encoder count values merged according to the encoder count values are sequentially C1, C2, … …, and C10, where the encoder count values corresponding to C1 are sequentially 22, 24, 27, 31, and the encoder count values corresponding to C2 are sequentially 56, 59, 62, and the encoder count values corresponding to C10 are sequentially 4087, 4089, 4092, 4095, 1, 2.

Of course, in other embodiments of the present invention, the data may be stored in an annular memory, which is more convenient for searching and calculating, and will not be described in detail herein. In a preferred embodiment of the present invention, in order to distinguish the first signal, before step S1 in the above embodiments, the method further includes:

n1, configuring a mechanical zero signal; n2, if the mechanical zero signal is triggered for the first time, starting to receive the laser reflection signals and recording the characteristic value of each laser reflection signal; and if the mechanical zero signal is not triggered for the first time, copying and storing the characteristic value corresponding to the laser reflection signal, emptying the recorded characteristic value, and restarting to record the characteristic value.

Preferably, the step N2 further includes: and configuring a characteristic value storage sequence, and copying and storing the characteristic value corresponding to the laser reflection signal in the characteristic value storage sequence when the mechanical zero point signal is not triggered for the first time.

Further, before the step S2, the method further includes: judging whether the characteristic value storage sequence is empty, if so, continuing the characteristic value storage sequence; if not, inquiring the characteristic value storage sequence, acquiring the characteristic value corresponding to the laser reflection signal, and clearing the characteristic value storage sequence after the called characteristic value stops calling.

Referring to fig. 14, a mobile robot positioning method according to an embodiment of the present invention is improved on the basis of the method for recognizing a cursor according to the second embodiment, and specifically, the embodiment adds step S3 on the basis of the method for recognizing a cursor according to the second embodiment, and accordingly, step S3 includes: and S3, confirming the current coordinates of the robot according to the encoder count value corresponding to the laser reflection signal belonging to each cursor.

In an implementation manner of the present invention, the step S3 specifically includes: acquiring a deflection angle value corresponding to each reflective marker according to an encoder count value corresponding to a laser reflection signal belonging to each reflective marker; and confirming the current coordinate of the robot according to the deflection angle value corresponding to each light reflecting mark.

As for step S3, in a preferred embodiment of the present invention, the step S3 specifically includes: acquiring an identification value corresponding to each reflective marker according to the encoder count value corresponding to each reflective marker, wherein the identification value is one of the median, the minimum, the maximum and the average of all the encoder count values; and directly acquiring the corresponding deflection angle value according to the identification value corresponding to each light reflecting mark.

Preferably, for the implementation of step S3, the method further includes: and configuring the encoder count value and the deflection angle value to form a one-to-one mapping relation between the encoder count value and the deflection angle value.

It should be noted that, in general, the encoder count value is usually an integer value, and thus, when the obtained identification value is not an integer value, rounding processing needs to be performed on the identification value to directly obtain the corresponding deflection angle value according to the mapping relationship, where the rounding processing may be rounding up or rounding down, and further details are not described herein, and further, reference may be made to the prior art mentioned in the background of the present invention or other prior arts, and the current coordinate of the robot is determined according to the deflection angle value corresponding to each cursor, and therefore, implementation of this step may be referred to by the prior art, and thus details are not described further.

Referring to fig. 15, a first embodiment of the present invention provides a mobile robot system, which is disposed in a working area, wherein a plurality of reflectors with known coordinate values are disposed in the working area, and the system includes: a laser emitting and receiving module 100 and a beacon distinguishing module 200.

The laser transmitting and receiving module 100 is configured to continuously receive laser reflection signals and record a characteristic value of each laser reflection signal, where the characteristic value includes: receiving time of the laser reflection signal or a code count value corresponding to the laser reflection signal;

the reflector distinguishing module 200 is configured to determine whether the adjacent laser reflection signals are from the same reflector according to any adjacent laser reflection signal characteristic value.

In an implementation manner of the present invention, the delineator distinguishing module 200 is specifically configured to: and determining whether the adjacent laser reflection signals are from the same reflecting mark according to the difference value between the characteristic values corresponding to any adjacent laser reflection signals.

For convenience of understanding, in the following embodiments, two cases will be described in which the characteristic value is the reception time of the laser reflection signal and the characteristic value is the code count value corresponding to the laser reflection signal.

When the characteristic value is the receiving time of the laser reflection signal, the laser transmitting and receiving module 100 is configured to continuously receive the laser reflection signal and record the receiving time of each laser reflection signal.

The reflector distinguishing module 200 is configured to determine whether any adjacent laser reflection signals are from the same reflector according to a receiving time difference between the adjacent laser reflection signals.

In a preferred embodiment of the present invention, the reflector differentiation module 200 needs to determine a specific reflector according to the laser reflection signal, and in this application, the laser transmitter/receiver module 100 is specifically configured to: and sequentially recording the receiving time of each laser reflection signal according to the linear receiving sequence of the laser reflection signals until the receiving time corresponding to the first signal of the next circle of laser reflection signals is obtained.

The reflective target distinguishing module 200 is specifically configured to determine whether an identification interval signal between any two adjacent laser reflection signals is not greater than a preset interval threshold, and if so, determine that the current adjacent laser reflection signals are from the same reflective target; if one of the adjacent laser reflection signals corresponds to a first signal of a circle of laser reflection signals, and the other corresponds to a tail signal of the circle of laser reflection signals, the identification interval signal is an absolute value of a time interval difference between the delayed first signal and the delayed tail signal; the delay first signal is the absolute value of the difference between the first signal of the current circle and the first signal of the laser reflection signal of the next circle; and if the adjacent laser reflection signals do not correspond to the head signal and the tail signal of one circle of laser reflection signals at the same time, the identification interval signal is the absolute value of the time interval difference between the adjacent laser reflection signals.

Preferably, in an embodiment, the delineator differentiation module 200 is specifically configured to: traversing the receiving time of each obtained laser reflection signal; and synchronously merging the identification interval signals which continuously appear and are not more than a preset interval threshold value of the system into a group to form a plurality of time interval difference value groups, wherein each time interval difference value group corresponds to one anti-cursor.

In another embodiment, the delineator differentiation module 200 is specifically configured to: calculating a time interval difference value between adjacent laser reflection signals according to the receiving time corresponding to each laser reflection signal and forming an identification interval signal sequence; circularly traversing the identification interval signal sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of sub-interval signal groups; and extracting the laser reflection signals corresponding to each sub-interval signal group to form a plurality of laser reflection signal groups, wherein each laser reflection signal group corresponds to one reflecting mark.

In the specific application process of the invention, the cursor-reflecting marks are specifically distinguished in a cursor mode. Correspondingly, the delineator differentiation module 200 is specifically configured to: traversing the identification interval signals according to a linear sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of temporary interval signal groups; simultaneously, marking the first laser reflection signal corresponding to the temporary interval signal group by using a starting cursor, marking the last laser reflection signal by using a stopping cursor, and marking the last laser reflection signal corresponding to the initial temporary interval signal group by using an interrupting cursor;

acquiring a tail signal and a delay head signal of a circle of laser reflection signals according to the arrangement sequence of the linear identification interval signals, judging whether the two laser reflection signals are from the same anti-cursor, and if so, deleting a start cursor in a first group of temporary interval signal groups and deleting a stop cursor in a last group of temporary interval signal groups; if not, keeping the current position of each cursor unchanged;

Preferably, in this embodiment, the laser transmitting and receiving module 100 is further configured to configure a specific value of the preset interval threshold to be X, where a value interval of X is 1/h or more and X or more and θ/w or less; wherein h represents the emission frequency of the laser emission signal corresponding to the laser reflection signal, theta represents the minimum angle value formed between the adjacent reflective cursor with the minimum distance in the coordinate system and any point in the coordinate system, w represents the rotating speed of the turntable bearing the laser reflection signal receiving device, and the unit of theta/w is a time unit.

In the preferred embodiment of the present invention, considering the surface contamination of the reflective marker and the material of the reflective marker, the determination result can be made more accurate by increasing the value of X. Preferably, the laser transmitter-receiver module 100 is further configured to configure a specific value of the preset interval threshold to be Y, where a value of Y is α X < θ/w; alpha is more than or equal to 3, in the specific example of the invention, the value range of the alpha is usually [3, 15], and the optimal value range is [6, 15 ].

When the characteristic value is a code count value corresponding to the laser reflection signal, the laser transmitting and receiving module 100 is configured to transmit a laser signal to the reflective marker and continuously receive the laser reflection signal reflected from the reflective marker, and record a code count value corresponding to each laser reflection signal when receiving the laser reflection signal;

the reflective marker distinguishing module 200 is configured to determine whether any adjacent laser reflection signal is from the same reflective marker according to a difference between encoder count values corresponding to the adjacent laser reflection signals.

Preferably, the delineator differentiation module 200 is specifically configured to: if the identification interval signal between any two adjacent laser reflection signals is not greater than a preset interval threshold value of the system, determining that the adjacent laser reflection signals are from the same reflective mark; if one of the adjacent laser reflection signals corresponds to a head signal of the laser reflection signal, and the other one corresponds to a tail signal of the laser reflection signal, the identification interval signal is an absolute value of a difference value between encoder count values corresponding to the head signal and the tail signal of an encoder; and if the head signal and the tail signal of the adjacent laser reflection signals do not correspond to the laser reflection signals simultaneously, the identification interval signal is the absolute value of the difference value between the encoder count values corresponding to the adjacent laser reflection signals.

In a preferred embodiment of the present invention, the reflective target distinguishing module 200 needs to determine a specific reflective target according to the laser reflection signal, and in a preferred embodiment, the reflective target distinguishing module 200 is specifically configured to: acquiring an encoder count value corresponding to each laser reflection signal according to the linear receiving sequence of the laser reflection signals; circularly traversing the obtained encoder count value to obtain an identification interval signal between any two adjacent laser reflection signals; and synchronously merging the code counting values corresponding to the identification interval signals which continuously appear and are not more than the preset interval threshold value of the system into a group to form a plurality of code counting groups, wherein each code counting group corresponds to a cursor-reflecting mark.

In another embodiment, the delineator differentiation module 200 is specifically configured to: acquiring an encoder count value corresponding to each laser reflection signal according to the receiving sequence of the laser reflection signals; calculating the difference value between the encoder count values corresponding to the adjacent laser reflection signals according to the receiving sequence and forming an identification interval signal sequence; circularly traversing the identification interval signal sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of sub-interval signal groups; and extracting the code count value corresponding to each sub-interval signal group to form a plurality of code count groups, wherein each code count group corresponds to one light reflecting mark.

In the specific application process of the invention, the cursor-reflecting marks are specifically distinguished in a cursor mode. Correspondingly, the delineator differentiation module 200 is specifically configured to: traversing the identification interval signals according to a linear sequence, and merging the identification interval signals which continuously appear and are not more than a system preset interval threshold into a group to form a plurality of temporary interval signal groups; meanwhile, identifying the first encoder count value corresponding to the temporary interval signal group by using a starting cursor, identifying the last encoder count value by using a terminating cursor, and identifying the last encoder count value corresponding to the initial temporary interval signal group by using an interrupting cursor;

acquiring a first encoder count value and a last encoder count value according to the arrangement sequence of the linear identification interval signals, judging whether the two encoder count values come from the same anti-cursor, and if so, deleting a start cursor in the first group of temporary interval signal groups and deleting a stop cursor in the last group of temporary interval signal groups; if not, keeping the current position of each cursor unchanged; and circularly traversing the identification interval signals by taking the interrupted vernier as a starting point and an ending point, and merging the encoder count values between each adjacent starting vernier and ending vernier into a group to form a plurality of encoder count groups.

In a preferred embodiment of the present invention, in order to distinguish the first signal, the laser transceiver module 100 is further configured to: configuring a mechanical zero signal; if the mechanical zero signal is triggered for the first time, starting to receive the laser reflection signals and recording the characteristic value of each laser reflection signal; and if the mechanical zero signal is not triggered for the first time, copying and storing the characteristic value corresponding to the laser reflection signal, emptying the recorded characteristic value, and restarting to record the characteristic value.

In a preferred embodiment of the present invention, the laser transmitter-receiver module 100 is further configured to: and configuring a characteristic value storage sequence, and copying and storing the characteristic value corresponding to the laser reflection signal in the characteristic value storage sequence when the mechanical zero point signal is not triggered for the first time. Correspondingly, the laser transmitting and receiving module 100 is further configured to: judging whether the characteristic value storage sequence is empty, if so, continuing the characteristic value storage sequence; if not, inquiring the characteristic value storage sequence, acquiring the characteristic value corresponding to the laser reflection signal, and clearing the characteristic value storage sequence after the called characteristic value stops calling.

Referring to fig. 16, in the mobile robot system according to the second embodiment of the present invention, when the characteristic value is a coded count value corresponding to the laser reflection signal, the mobile robot system according to the first embodiment is improved, and accordingly, a coordinate confirmation module 300 is added to the mobile robot system according to the first embodiment.

The coordinate determination module 300 is configured to determine the current coordinate of the robot according to the encoder count value corresponding to the laser reflection signal belonging to each anti-cursor.

In an implementation manner of the present invention, the coordinate determination module 300 is specifically configured to obtain a deflection angle value corresponding to each reflective marker according to an encoder count value corresponding to a laser reflection signal belonging to each reflective marker; and confirming the current coordinate of the robot according to the deflection angle value corresponding to each light reflecting mark.

In a preferred embodiment of the present invention, the coordinate determination module 300 is specifically configured to: acquiring an identification value corresponding to each reflective marker according to the encoder count value corresponding to each reflective marker, wherein the identification value is one of the median, the minimum, the maximum and the average of all the encoder count values; and directly acquiring the corresponding deflection angle value according to the identification value corresponding to each light reflecting mark.

Preferably, the coordinate determination module 300 is further configured to: and configuring the encoder count value and the deflection angle value to form a one-to-one mapping relation between the encoder count value and the deflection angle value.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

Compared with the prior art, the method for identifying the reflective mark and the corresponding mobile robot system can accurately distinguish different reflective marks through the characteristic value corresponding to any adjacent laser reflection signal, and have excellent anti-interference performance; furthermore, the mobile robot positioning method and the mobile robot system corresponding to the mobile robot positioning method accurately position the coordinates of the robot through the counting value of the code counter corresponding to the reflective marker on the basis of the reflective marker identifying method, are convenient to implement, and improve the working efficiency of the robot.

In the several embodiments provided in this application, it should be understood that the disclosed system, and method may be implemented in other ways. For example, the system embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be another division, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment.

In addition, each functional module in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or 2 or more modules may be integrated into one module. The integrated module can be realized in a hardware form, and can also be realized in a form of hardware and a software functional module.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for causing a computer system (which may be a personal computer, a server, or a network system) or a processor (processor) to execute some steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present application.

Claims

1. A method for identifying a reflective marker is characterized by comprising the following steps:

s2, confirming whether the adjacent laser reflection signals come from the same reflective mark according to the characteristic value of any adjacent laser reflection signal;

when the characteristic value is a coded count value corresponding to the laser reflection signal, the step S2 specifically includes:

2. The method for identifying a retroreflective sign of claim 1, wherein the step S2 specifically includes:

3. The method for identifying a beacon according to claim 2, wherein the step S2 specifically comprises:

4. The method for identifying a retroreflective sign according to claim 2 or 3, wherein the method specifically comprises:

if not, keeping the current position of each cursor unchanged;

5. The method for identifying a beacon according to claim 1, wherein when the characteristic value is a reception time of the laser reflection signal, the step S2 specifically includes:

6. The method of identifying a delineator as claimed in claim 5, further comprising:

7. The method of identifying a delineator of claim 6, further comprising: configuring a specific numerical value of the preset interval threshold value as Y, wherein the value of Y is alpha X, and Y is less than theta/w; alpha is more than or equal to 3.

8. The method for identifying a beacon according to claim 5, wherein the step S1 specifically comprises:

the step S2 specifically includes:

9. The method for identifying a beacon according to claim 5, wherein the step S1 specifically comprises:

the step S2 specifically includes:

10. The method for identifying a retroreflective sign according to claim 8 or 9, wherein the method specifically comprises:

if not, keeping the current position of each cursor unchanged;

11. The method of identifying a delineator of claim 1, wherein prior to step S1, the method further comprises:

n1, configuring a mechanical zero signal;

12. The method of identifying a delineator as claimed in claim 11, wherein said step N2 further includes:

13. The method of identifying a delineator of claim 12, wherein prior to step S2, the method further comprises:

it is determined whether the stored sequence of feature values is empty,

if yes, continuing the characteristic value storage sequence;

14. A mobile robot positioning method is characterized by comprising the following steps:

s3, confirming the current coordinate of the robot according to the encoder count value corresponding to the laser reflection signal belonging to each anti-cursor;

wherein, the step S2 specifically includes:

15. The method as claimed in claim 14, wherein the step S3 includes:

16. The method as claimed in claim 15, wherein the step S3 includes:

17. The mobile robot positioning method of claim 16, further comprising:

18. A mobile robot system is arranged in a working area, a plurality of anti-cursor marks with known coordinate values are arranged in the working area, and the mobile robot system is characterized by comprising:

the laser emitting and receiving module is used for continuously receiving the laser reflection signals and recording the characteristic value of each laser reflection signal, wherein the characteristic value comprises: receiving time of the laser reflection signal or a code count value corresponding to the laser reflection signal;

the reflector distinguishing module is used for confirming whether the adjacent laser reflection signals are from the same reflector according to the characteristic value of any adjacent laser reflection signal;

when the characteristic value is a coded count value corresponding to the laser reflection signal, the reflective marker distinguishing module is specifically configured to:

19. The mobile robotic system as claimed in claim 18, wherein the delineator module is specifically configured to:

20. The mobile robotic system as claimed in claim 18, wherein the delineator module is specifically configured to:

21. The mobile robotic system as claimed in claim 19 or 20, wherein the retro-reflective marker differentiating module is specifically configured to:

if not, keeping the current position of each cursor unchanged;

22. The mobile robotic system of claim 18, wherein when the characteristic value is a time of receipt of a laser reflection signal, the beacon distinguishing module is specifically configured to:

23. The mobile robotic system as claimed in claim 22, wherein the delineator module is specifically configured to:

24. The mobile robotic system as claimed in claim 23, wherein the delineator module is specifically configured to:

25. The mobile robotic system as claimed in claim 22, wherein the laser transmit receive module is specifically configured to: sequentially recording the receiving time of each laser reflection signal according to the linear receiving sequence of the laser reflection signals until the receiving time corresponding to the first signal of the next circle of laser reflection signals is obtained;

26. The mobile robotic system as claimed in claim 22, wherein the laser transmit receive module is specifically configured to: sequentially recording the receiving time of each laser reflection signal according to the linear receiving sequence of the laser reflection signals until the receiving time corresponding to the first signal of the next circle of laser reflection signals is obtained;

27. The mobile robotic system as claimed in claim 25 or 26, wherein the retro-reflective marker differentiating module is specifically configured to:

if not, keeping the current position of each cursor unchanged;

28. The mobile robotic system as claimed in claim 18, wherein the laser transmit receive module is further configured to: configuring a mechanical zero signal;

29. The mobile robotic system as claimed in claim 28, wherein the laser transmit receive module is further configured to: and configuring a characteristic value storage sequence, and copying and storing the characteristic value corresponding to the laser reflection signal in the characteristic value storage sequence when the mechanical zero point signal is not triggered for the first time.

30. The mobile robotic system as claimed in claim 29, wherein the laser transmit receive module is further configured to: it is determined whether the stored sequence of feature values is empty,

if yes, continuing the characteristic value storage sequence;

31. A mobile robot system is arranged in a working area, a plurality of anti-cursor marks with known coordinate values are arranged in the working area, and the mobile robot system is characterized by comprising:

a coordinate confirmation module for confirming the current coordinate of the robot according to the encoder count value corresponding to the laser reflection signal belonging to each reflective mark

32. The mobile robotic system as claimed in claim 31, wherein the coordinate validation module is further configured to:

33. The mobile robotic system as claimed in claim 32, wherein the coordinate validation module is further configured to:

34. The mobile robotic system as claimed in claim 33, wherein the coordinate validation module is further configured to: