CN116337062A - Combined positioning method and system based on laser, reflector and two-dimensional code - Google Patents
Combined positioning method and system based on laser, reflector and two-dimensional code Download PDFInfo
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- CN116337062A CN116337062A CN202111588136.5A CN202111588136A CN116337062A CN 116337062 A CN116337062 A CN 116337062A CN 202111588136 A CN202111588136 A CN 202111588136A CN 116337062 A CN116337062 A CN 116337062A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
The invention relates to a combined positioning method and system based on laser, a reflector and a two-dimensional code. The combination system comprises: each positioning mode is an independent positioning module, any one of the positioning modes can be adopted, a combination mode can be selected, any two of the positioning modes can be combined or three of the positioning modes can be combined, the positioning system can provide more accurate and stable positioning, meanwhile, the positioning system has more flexibility, and different positioning modes can be selected according to the working environment of the robot, so that the positioning is realized.
Description
Technical Field
The invention relates to robot positioning, in particular to a combined positioning method and system based on laser, a reflector and a two-dimensional code.
Background
Currently, there are a plurality of navigation technologies of mobile robots, and each navigation mode has advantages and disadvantages. The contour navigation based on laser has the advantage of no need of changing environment, but has low positioning precision and is easily influenced by dynamic environment to cause unstable positioning. The reflector positioning has the characteristic of high positioning precision, but the reflector needs to be paved in the surrounding environment according to the requirement, and is suitable for the environment with no shielding on the periphery. The two-dimensional code is accurate in positioning, the two-dimensional code is paved on the ground, and the problem that a robot movement path is inflexible exists.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a combined positioning system and method based on laser contour positioning, two-dimensional code positioning and reflector positioning. Different positioning modes can be selected according to the working environment of the robot.
The technical scheme adopted by the invention for achieving the purpose is as follows: a combined positioning method based on laser, reflector and two-dimension code comprises
S1, building an environment contour grid map and positioning a laser contour: scanning the surrounding environment by using laser and fusing the milemeter information to establish an environment outline grid map; acquiring the real-time pose of the robot in the environment contour grid map by using the prior map and adopting a particle filtering method;
s2, constructing a reflector layout map and positioning the reflector: setting an initial pose or positioning by using a laser contour positioning module, and utilizing laser scanning reflection intensity information and odometer information to establish a reflector layout map; matching the reflector position information calculated by laser scanning with the reflector position in the reflector layout map, and further obtaining the global positioning of the robot according to a trilateral positioning method;
s3, two-dimensional code layout map and two-dimensional code positioning: firstly, determining global coordinates of a robot by using a laser contour positioning module or a reflector positioning module, identifying a two-dimensional code by using a two-dimensional code scanning sensor to obtain relative pose information of the two-dimensional code scanning sensor and a two-dimensional code center, further obtaining coordinates of the two-dimensional code in a global coordinate system, and writing two-dimensional code values and the coordinates in a global map into a two-dimensional code layout map; when the robot moves above the two-dimensional code, reading two-dimensional code value information and offset information of the two-dimensional code scanning sensor in a two-dimensional code coordinate system, and calculating global positioning of the robot according to coordinates in a two-dimensional code layout map;
s4, the combined positioning step: and outputting the current global coordinates of the robot according to the selected positioning mode and the output information of the laser contour positioning module, the reflector positioning module and the two-dimensional code positioning module.
The environment contour grid map is established by utilizing laser scanning environment and combining odometer information with an SLAM mapping unit.
The creation of the reflector layout map comprises the following steps:
the global coordinate output by laser contour positioning is used as an initial pose; judging whether the reflectors exist according to the information of the laser scanning reflection intensity, and acquiring local coordinates of the centers of the reflectors in a laser coordinate system when the number of the reflectors is more than 3; according to the laser installation position and the current pose of the robot; converting local coordinates of the reflector in a laser coordinate system into global coordinates; and all the global coordinate information of each reflector is recorded in the reflector layout map.
The reflector positioning step comprises the following steps:
the current global pose of the robot is calculated according to the pose of the robot and the odometer information at the last moment; when the robot detects at least three reflectors, calculating the positions of the reflectors in the global coordinate system according to the calculated global coordinates of the robot, the laser mounting positions and the positions of the reflectors in the laser coordinate system, and then finding the matched reflectors in the reflector layout map; if the number of the successfully matched reflecting plates is more than or equal to three, calculating the pose of the robot under the global coordinate system at the moment by utilizing the principle of the coordinates of the reflecting plates in the layout map, the distance information between the reflecting plates and the laser and the three-edge positioning; otherwise, the pose calculated by the speedometer is used as a global coordinate of the robot to be output;
further, the principle of successful matching is that the Euclidean distance between the calculated position of the reflecting plate and the position of the reflecting plate in the layout map is smaller than a preset threshold value.
Further, when the accumulated moving distance of the robot exceeds a set threshold or the accumulated rotating angle exceeds the set threshold, three or more reflectors are still not detected, and the positioning of the reflector positioning module fails; if the distance difference or the angle difference between the current pose of the robot and the global coordinate pose of the robot in the previous positioning period calculated by the reflector positioning exceeds a set threshold, outputting failure positioning.
The two-dimensional code layout map building step comprises the following steps:
firstly, a laser contour is adopted to position and output the real-time pose of a robot, the pose of the two-dimensional code scanning sensor in a global map is calculated according to the pose of the robot and the installation position of the two-dimensional code scanning sensor in a robot coordinate system, the robot is remotely controlled to the position above the two-dimensional code, the two-dimensional code scanning sensor reads the information of the two-dimensional code, the offset information of the two-dimensional code scanning sensor in the two-dimensional code coordinate system is set, the coordinate of the two-dimensional code center in the global coordinate system is calculated, and then the two-dimensional code value and the coordinate in the global map are written into a two-dimensional code layout map.
The two-dimensional code positioning step comprises the following steps:
when the two-dimensional code scanning sensor in the two-dimensional code positioning module detects the two-dimensional code, and the two-dimensional code value is in the layout map, calculating the global coordinates of the robot according to the global pose of the two-dimensional code in the map and the read relative pose of the two-dimensional code scanning sensor relative to the two-dimensional code.
The combined positioning step comprises the following steps:
when two-by-two or three-combination positioning is adopted, positioning is carried out in a mode with high priority, and after successful positioning, the pose in the other positioning mode is updated by the current pose of the robot;
the positioning priority order is as follows: two-dimensional code positioning, reflector positioning and laser positioning.
A combined positioning system based on laser, a reflector and a two-dimensional code comprises: the method comprises the steps of executing the method according to any one of claims 1-7 by a processor loading program, and positioning is achieved.
When the positions of the reflecting plates are arranged in the environment, the laser sensor on the robot needs to be ensured to detect at least three reflecting plates in any environment position;
the laser sensor, the odometer and the two-dimensional code scanning sensor are arranged on the robot body;
the two-dimensional code is paved on the environment ground, and the two-dimensional code scanning sensor can detect the two-dimensional code when the robot passes through the two-dimensional code;
the communication module is used for communicating and receiving instructions between the robot and the upper computer;
the upper computer is used for displaying the constructed map and issuing instructions.
The memory stores the following program modules: the device comprises a laser contour positioning module, a reflector positioning module, a two-dimensional code positioning module and a combined positioning module.
The laser contour positioning module is provided with an SLAM mapping unit and a real-time positioning unit; the SLAM image construction unit utilizes laser to scan the environment and fuses the odometer information to establish an environment outline grid map; the real-time positioning unit acquires the real-time pose of the robot in the environment contour grid map by using the prior map and adopting a particle filtering method;
the reflector positioning module utilizes laser scanning to scan the reflector intensity information and the odometer information to establish a reflector layout map, matches the reflector position information calculated by the laser scanning with the reflectors in the layout map, and further obtains the global positioning of the robot according to a trilateral positioning method;
the two-dimensional code positioning module utilizes the two-dimensional code scanning sensor to identify the two-dimensional code, obtains the relative pose information of the two-dimensional code scanning sensor and the two-dimensional code center, calculates the global positioning of the robot according to the two-dimensional code layout map, and derives the pose of the robot by adopting the odometer between the two-dimensional codes.
And the combined positioning module outputs the current global coordinates of the robot according to the selected positioning mode and output information of the laser contour positioning module, the reflector positioning module and the two-dimensional code positioning module.
The invention has the following beneficial effects and advantages:
1. each positioning mode is an independent positioning module, and any one of the positioning modes can be adopted, and a combination mode can be selected, and any two of the positioning modes can be combined or three of the positioning modes can be combined.
2. The positioning system not only can provide more accurate and stable positioning, but also has more flexibility, and can select different positioning modes according to the working environment of the robot.
Drawings
FIG. 1 is a schematic diagram of a system architecture of the present invention;
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
1. As shown in FIG. 1, the system comprises a control unit, a laser sensor, an odometer, a two-dimensional code scanning sensor, a two-dimensional code, a reflector, and a reflector and two-dimensional code auxiliary layout tool in an upper computer. The control unit comprises a laser contour positioning module, a two-dimensional code positioning module, a reflecting plate positioning module, a combined positioning module and a communication module. The laser contour positioning module has SLAM mapping and real-time positioning functions, utilizes laser to scan the environment and fuses odometer information to establish an environment grid map, and then utilizes a priori map to determine the real-time pose of the robot in the map by adopting a particle filtering algorithm. The reflector positioning module utilizes laser scanning to reflect light intensity information and odometer information, under the assistance of a reflector layout tool, a reflector layout map can be established, reflector position information calculated by laser scanning is matched with a reflector in the layout map, and then global positioning of the robot can be further obtained according to a trilateral positioning principle. The two-dimensional code positioning module utilizes the two-dimensional code scanning sensor to identify the two-dimensional code, obtains the relative pose information of the camera and the center of the two-dimensional code, can deduce the accurate positioning of the robot according to the two-dimensional code layout map, and adopts the odometer to deduce the pose of the robot between the two-dimensional codes. The combined positioning module makes a decision according to the selected positioning mode and output information of the laser contour positioning module, the reflector positioning module and the two-dimensional code positioning module, and outputs the current global coordinate of the robot. The control unit is communicated with an auxiliary layout tool of the upper computer through the communication module, and the establishment of the reflecting plate and the two-dimension code layout map is completed together. The reflector and two-dimensional code auxiliary layout tool is used for assisting in establishing and displaying a reflector and two-dimensional code layout map.
2. Map construction method of combined positioning system
The three positioning modules in the combined positioning system are respectively positioned by adopting respective maps, the laser contour positioning module adopts grid map positioning, the two-dimensional code positioning module adopts two-dimensional code layout map positioning, and the reflector positioning module adopts reflector layout map positioning.
And the laser contour positioning module scans the surrounding environment by adopting a laser sensor in the moving process of the robot, and establishes an environment contour map by utilizing the SLAM mapping technology.
If only a single positioning mode is adopted, the two-dimensional code and reflector layout map building method is as follows:
1) The two-dimensional code layout map is characterized in that the positions of the two-dimensional codes are manually measured, and the global coordinates of each two-dimensional code are manually input.
2) The reflector layout map can be manually measured, the global coordinates of the reflector can be manually input, and the method can also be automatically realized, and is as follows: at first, the laser sensor can scan at least three reflectors in the environment, the initial pose of the robot is given, and the positions of the centers of the reflectors in a laser coordinate system are extracted. And according to the laser installation position and the current pose of the robot, converting the local coordinates of the reflecting plates in the laser coordinate system into global coordinates, and recording the global coordinate information of all the reflecting plates in a reflecting plate layout map.
When a new reflector is detected and added, the laser sensor can detect at least three reflectors in the layout map, global positioning of the robot can be further obtained according to the three-edge positioning principle, and then the global coordinates of the robot are used for converting the local coordinates of the new reflector into global coordinates and recorded in the reflector layout map.
If a combined positioning mode is adopted, in order for the combined positioning system to switch the positioning modes among three positioning modules, the three maps should have a uniform coordinate system. If the combination mode comprises laser contour positioning, a laser contour map is firstly established, and the reflector layout map and the two-dimensional code layout map are based on a coordinate system of the laser contour map. If the laser contour positioning is not performed, firstly, a reflector layout map is established, and the two-dimensional code layout map is based on a coordinate system of the reflector layout map. Specifically, the three map creation modes and flows are as follows:
1) First, an environment contour map is established using a laser positioning module.
2) If the combination mode does not comprise laser contour navigation, the reflector map is created according to a single mode reflector layout map creation method.
If the combination mode comprises laser contour positioning, a laser contour positioning module is used for determining global coordinates of the robot in the environment grid map. And the initial pose of the reflector during map creation adopts the global coordinates of laser contour positioning output. Judging whether the reflecting plates exist in the environment according to the reflecting intensity in the laser point cloud information, and extracting the positions of the centers of the reflecting plates in a laser coordinate system when the number of the reflecting plates is more than or equal to three. And according to the laser installation position and the current pose of the robot, converting the local coordinates of the reflector in the laser coordinate system into global coordinates, and fully recording the global coordinate information of the reflector in a reflector layout map.
When detecting and adding new reflector, if can scan at least three reflector in the map of overall arrangement simultaneously, in order to make the map of overall arrangement more accurate, the position appearance of robot can utilize reflector positioning module to fix a position this moment, if can't fix a position with the reflector, still utilize laser profile positioning module to confirm the global position appearance of robot. And converting the local coordinates of the new reflector into global coordinates according to the global coordinates of the robot, and recording the global coordinates in a reflector layout map.
3) The two-dimensional code layout map building method comprises the following steps: and if the combination mode comprises laser contour positioning, determining global coordinates of the robot in the environment map by adopting the laser contour positioning module. If the combination mode does not comprise laser contour navigation and the reflector positioning is carried out, the reflector positioning module is adopted for global positioning.
Assuming that the pose of the robot is (Xr, yr, tr), and the installation position of the two-dimensional code scanning sensor in the robot coordinate system is (Xp, yp, tp), the pose (Xc, yc, tc) of the two-dimensional code scanning sensor in the global map is:
Xc＝Xp*cos(Tr)-Yp*sin(Tr)+Xr；
Yc＝Xp*sin(Tr)+Yp*cos(Tr)+Yr；
Tc＝Tr+Tp；
the robot is remotely controlled to the position above the two-dimensional code, so that the two-dimensional code scanning sensor can read the information of the two-dimensional code, and the positions (Xt, yt and Tt) of the centers of the two-dimensional code in the global coordinate system can be calculated by setting the offset information of the two-dimensional code scanning sensor read in the two-dimensional code coordinate system as (Xm, ym and Tm).
Tt＝Tc-Tm；
Xt＝Xc-(Xm*cos(Tt)-Ym*sin(Tt))；
Yt＝Yc-(Xm*sin(Tt)+Ym*cos(Tt))；
And writing the two-dimensional code value and the coordinates in the global map into the two-dimensional code layout map.
If the laser contour cannot be used for positioning at the position where the two-dimensional code is detected, and the reflecting plate is not arranged (for example, the two-dimensional code matrix is paved in an open area), then the global coordinates of the two-dimensional code are manually measured and manually input. But it should be ensured that a two-dimensional code in the matrix can be scanned at the switching position of laser positioning or reflector positioning and two-dimensional code positioning by using laser contour positioning (or reflector positioning).
3. Combined positioning method
And each of the three positioning modules can be used as an independent positioning mode to output the pose of the robot.
1. The laser contour positioning module can output global coordinates (Xr, yr and Tr) of the robot in the map by adopting a particle filtering algorithm according to the information of the laser scanning surrounding environment and the information of the odometer.
2. When the two-dimensional code scanning sensor in the two-dimensional code positioning module detects the two-dimensional code, and the two-dimensional code value is in the layout map, the global coordinate of the robot can be calculated and output according to the global pose of the two-dimensional code and the reading information of the two-dimensional code scanning sensor. The method includes the following steps that global coordinates (Xt, yt, tt) of the two-dimensional code in the layout map are known according to the two-dimensional code values, the relative pose (Xm, ym, tm) of the two-dimensional code scanning sensor relative to the two-dimensional code is set, and the global coordinate system pose (Xc, yc, tc) of the two-dimensional code camera can be calculated.
Xc＝Xm*cos(Tt)-Ym*sin(Tt)+Xt；
Yc＝Xm*sin(Tt)+Ym*cos(Tt)+Yt；
Tc＝Tt+Tm；
According to the installation positions (Xp, yp, tp) of the two-dimensional code scanning sensors, global coordinates (Xr, yr, tr) of the robot can be further calculated.
Xr＝Xc-(Xp*cos(Tr)-Yp*sin(Tr))；
Yr＝Yc-(Xp*sin(Tr)+Yp*cos(Tr))；
Tr＝Tc-Tp；
For the two-dimensional code matrix, when the robot leaves the two-dimensional code, the module continuously updates the current pose of the robot by adopting an odometer. If the robot moves beyond a set threshold (for example, 1 meter) after leaving the two-dimensional code and still does not detect the next two-dimensional code, the positioning is failed. If the distance difference or the angle difference between the current pose of the robot and the global coordinate pose of the robot in the last positioning period exceeds a set threshold, outputting positioning failure.
3. The reflector positioning module calculates the current global pose of the robot according to the pose of the robot and the odometer information at the previous moment, when the robot detects at least three reflectors, the positions of the reflectors in the global coordinate system can be calculated according to the calculated global coordinates of the robot, the laser installation positions and the positions of the reflectors in the laser coordinate system, then the matched reflectors are found in the reflector layout map, and the successful matching principle is that the European distance between the calculated positions of the reflectors and the positions of the reflectors in the layout map is smaller than a certain threshold (for example, 30cm is taken). If the number of the successfully matched reflecting plates is greater than or equal to three, calculating the pose of the robot under the global coordinate system at the moment according to the three-side positioning principle by utilizing the coordinates of the reflecting plates in the layout map, the distance information between the reflecting plates and the laser and the like. And if the matching is unsuccessful, outputting the pose calculated by the mileage meter as a global coordinate of the robot. When the accumulated moving distance of the robot exceeds a set threshold (for example, 2 m) or the accumulated rotating angle exceeds a set threshold (for example, 180 degrees), three or more reflectors are still not detected, and the positioning of the reflector positioning module fails. If the distance difference or the angle difference between the current pose of the robot and the global coordinate pose of the robot in the previous positioning period calculated by the reflector positioning exceeds a set threshold, outputting failure positioning.
4. Combined positioning method
1) When only one positioning mode is adopted, the combined positioning module directly takes the output pose of the corresponding positioning module as the system output.
2) When combining two by two or three modes, the positioning method is as follows:
(1) the initial positioning can be performed according to one positioning mode of the combination modes selected by the current environment of the robot, and after the initial positioning is successful, the current pose of other positioning modules is updated by the current pose of the robot.
(2) The combined positioning module preferentially selects the two-dimensional code positioning module to output in each positioning period, then the reflecting plate positioning module to output and finally the laser profile navigation output.
If the system is in a two-dimensional code positioning and reflector positioning combined mode, judging whether the two-dimensional code positioning module is positioned successfully or not in each positioning period, if so, outputting the positioning result of the two-dimensional code positioning module as the system, and updating the current robot pose of the reflector positioning module. If the positioning fails, the reflector positioning module is adopted to output as a positioning result, if the reflector positioning is successful, the current robot pose of the two-dimensional code positioning module is updated, and if the positioning fails, the system outputs a warning, and the reflector is not detected beyond a threshold value.
If the system is in a two-dimensional code positioning and laser contour positioning combined mode, judging whether the two-dimensional code positioning module is positioned successfully or not in each positioning period, if so, outputting a positioning result of the two-dimensional code positioning module as a system, updating the current robot pose of the laser contour positioning module, and if not, adopting the laser contour positioning output as a positioning result, and updating the current robot pose of the two-dimensional code positioning module.
If the system is in a combined mode of reflector positioning and laser contour positioning, judging whether the reflector positioning module is successfully positioned or not in each positioning period, if so, outputting a positioning result of the reflector positioning module as a system, updating the current robot pose of the laser contour positioning module, and if not, adopting the laser contour positioning output as a positioning result, and updating the current robot pose of the reflector positioning module.
If the system is in a combined mode of two-dimension code positioning, reflector positioning and laser contour positioning, judging whether the two-dimension code positioning module is positioned successfully, if so, outputting the result of the two-dimension code positioning module as the system, and comparing the current robot pose of other positioning modules. If the two-dimensional code positioning module fails to position, judging whether the reflector module is positioned successfully, if so, outputting the result of the reflector positioning module as a system, and updating the current robot pose of other positioning modules. If the reflector fails to be positioned, the positioning result of the laser contour positioning module is used as the global coordinate output of the current robot, and the current robot pose of other positioning modules is updated.
Claims (10)
1. A combined positioning method based on laser, a reflector and a two-dimension code is characterized by comprising the following steps of
S1, building an environment contour grid map and positioning a laser contour: scanning the surrounding environment by using laser and fusing the milemeter information to establish an environment outline grid map; acquiring the real-time pose of the robot in the environment contour grid map by using the prior map and adopting a particle filtering method;
s2, constructing a reflector layout map and positioning the reflector: setting an initial pose or positioning by using a laser contour positioning module, and utilizing laser scanning reflection intensity information and odometer information to establish a reflector layout map; matching the reflector position information calculated by laser scanning with the reflector position in the reflector layout map, and further obtaining the global positioning of the robot according to a trilateral positioning method;
s3, two-dimensional code layout map and two-dimensional code positioning: firstly, determining global coordinates of a robot by using a laser contour positioning module or a reflector positioning module, identifying a two-dimensional code by using a two-dimensional code scanning sensor to obtain relative pose information of the two-dimensional code scanning sensor and a two-dimensional code center, further obtaining coordinates of the two-dimensional code in a global coordinate system, and writing two-dimensional code values and the coordinates in a global map into a two-dimensional code layout map; when the robot moves above the two-dimensional code, reading two-dimensional code value information and offset information of the two-dimensional code scanning sensor in a two-dimensional code coordinate system, and calculating global positioning of the robot according to coordinates in a two-dimensional code layout map;
s4, the combined positioning step: and outputting the current global coordinates of the robot according to the selected positioning mode and the output information of the laser contour positioning module, the reflector positioning module and the two-dimensional code positioning module.
2. The combined positioning method based on the laser, the reflector and the two-dimensional code, according to claim 1, is characterized in that an environment outline grid map is established by utilizing a laser scanning environment and combining odometer information with an SLAM map building unit.
3. The combined positioning method based on laser, a reflector and a two-dimensional code according to claim 1, wherein the creation of the reflector layout map comprises:
the global coordinate output by laser contour positioning is used as an initial pose; judging whether the reflectors exist according to the information of the laser scanning reflection intensity, and acquiring local coordinates of the centers of the reflectors in a laser coordinate system when the number of the reflectors is more than 3; according to the laser installation position and the current pose of the robot; converting local coordinates of the reflector in a laser coordinate system into global coordinates; and all the global coordinate information of each reflector is recorded in the reflector layout map.
4. The combined positioning method based on laser, a reflector and a two-dimensional code according to claim 1, wherein the reflector positioning step comprises the following steps:
the current global pose of the robot is calculated according to the pose of the robot and the odometer information at the last moment; when the robot detects at least three reflectors, calculating the positions of the reflectors in the global coordinate system according to the calculated global coordinates of the robot, the laser mounting positions and the positions of the reflectors in the laser coordinate system, and then finding the matched reflectors in the reflector layout map; if the number of the successfully matched reflecting plates is more than or equal to three, calculating the pose of the robot under the global coordinate system at the moment by utilizing the principle of the coordinates of the reflecting plates in the layout map, the distance information between the reflecting plates and the laser and the three-edge positioning; otherwise, the pose calculated by the speedometer is used as the global coordinate of the robot to be output.
5. The combined positioning method based on laser, a reflector and a two-dimensional code according to claim 1, wherein the two-dimensional code layout map building step comprises the following steps:
firstly, a laser contour is adopted to position and output the real-time pose of a robot, the pose of the two-dimensional code scanning sensor in a global map is calculated according to the pose of the robot and the installation position of the two-dimensional code scanning sensor in a robot coordinate system, the robot is remotely controlled to the position above the two-dimensional code, the two-dimensional code scanning sensor reads the information of the two-dimensional code, the offset information of the two-dimensional code scanning sensor in the two-dimensional code coordinate system is set, the coordinate of the two-dimensional code center in the global coordinate system is calculated, and then the two-dimensional code value and the coordinate in the global map are written into a two-dimensional code layout map.
6. The combined positioning method based on laser, a reflecting plate and a two-dimensional code according to claim 1, wherein the two-dimensional code positioning step comprises the following steps:
when the two-dimensional code scanning sensor in the two-dimensional code positioning module detects the two-dimensional code, and the two-dimensional code value is in the layout map, calculating the global coordinates of the robot according to the global pose of the two-dimensional code in the map and the read relative pose of the two-dimensional code scanning sensor relative to the two-dimensional code.
7. The combined positioning method based on laser, a reflecting plate and a two-dimensional code according to claim 1, wherein the combined positioning step comprises the following steps:
when two-by-two or three-combination positioning is adopted, positioning is carried out in a mode with high priority, and after successful positioning, the pose in the other positioning mode is updated by the current pose of the robot;
the positioning priority order is as follows: two-dimensional code positioning, reflector positioning and laser positioning.
8. Combination positioning system based on laser, reflector panel and two-dimensional code, its characterized in that includes: the method comprises the steps of executing the method according to any one of claims 1-7 by a processor loading program, and positioning is achieved.
9. The combined positioning system based on laser, a reflector and a two-dimensional code according to claim 8, wherein when the reflector is arranged in the environment, at least three reflectors are required to be detected by a laser sensor on the robot in any environment position;
the laser sensor, the odometer and the two-dimensional code scanning sensor are arranged on the robot body;
the two-dimensional code is paved on the environment ground, and the two-dimensional code scanning sensor can detect the two-dimensional code when the robot passes through the two-dimensional code;
the communication module is used for communicating and receiving instructions between the robot and the upper computer;
the upper computer is used for displaying the constructed map and issuing instructions.
10. The combined positioning system based on laser, reflector and two-dimensional code according to claim 8, wherein the memory stores the following program modules: the device comprises a laser contour positioning module, a reflector positioning module, a two-dimensional code positioning module and a combined positioning module.
The laser contour positioning module is provided with an SLAM mapping unit and a real-time positioning unit; the SLAM image construction unit utilizes laser to scan the environment and fuses the odometer information to establish an environment outline grid map; the real-time positioning unit acquires the real-time pose of the robot in the environment contour grid map by using the prior map and adopting a particle filtering method;
the reflector positioning module utilizes laser scanning to scan the reflector intensity information and the odometer information to establish a reflector layout map, matches the reflector position information calculated by the laser scanning with the reflectors in the layout map, and further obtains the global positioning of the robot according to a trilateral positioning method;
the two-dimensional code positioning module utilizes a two-dimensional code scanning sensor to identify a two-dimensional code, obtains relative pose information of the two-dimensional code scanning sensor and a two-dimensional code center, calculates global positioning of the robot according to a two-dimensional code layout map, and derives the pose of the robot by adopting an odometer between the two-dimensional codes;
and the combined positioning module outputs the current global coordinates of the robot according to the selected positioning mode and output information of the laser contour positioning module, the reflector positioning module and the two-dimensional code positioning module.
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| CN117830604A (en) * | 2024-03-06 | 2024-04-05 | 成都睿芯行科技有限公司 | Two-dimensional code anomaly detection method and medium for positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117830604A (en) * | 2024-03-06 | 2024-04-05 | 成都睿芯行科技有限公司 | Two-dimensional code anomaly detection method and medium for positioning |
| CN117830604B (en) * | 2024-03-06 | 2024-05-10 | 成都睿芯行科技有限公司 | Two-dimensional code anomaly detection method and medium for positioning |
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