CN1925988A - Navigation system for position self control robot and floor materials for providing absolute coordinates used thereof - Google Patents
Navigation system for position self control robot and floor materials for providing absolute coordinates used thereof Download PDFInfo
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- CN1925988A CN1925988A CNA2004800425970A CN200480042597A CN1925988A CN 1925988 A CN1925988 A CN 1925988A CN A2004800425970 A CNA2004800425970 A CN A2004800425970A CN 200480042597 A CN200480042597 A CN 200480042597A CN 1925988 A CN1925988 A CN 1925988A
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- position self
- self control
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- 239000000463 material Substances 0.000 title claims description 128
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 238000009408 flooring Methods 0.000 claims description 85
- 239000000976 ink Substances 0.000 claims description 33
- 239000012780 transparent material Substances 0.000 claims description 14
- 239000011159 matrix material Substances 0.000 claims description 11
- 239000012790 adhesive layer Substances 0.000 claims description 9
- 239000010410 layer Substances 0.000 claims 1
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- 230000004888 barrier function Effects 0.000 description 6
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- 230000008439 repair process Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 206010049669 Dyscalculia Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- -1 alkyl phenolic resin Chemical compound 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A navigation system for a position self control robot including a main body having a locomotion unit is provided. The navigation system includes two-dimensional (2D) barcodes, a barcode reader, and a control unit. The 2D barcodes are formed at predetermined intervals on a floor having a predetermined size and respectively have different unique coordinate values. The barcode reader is installed at a predetermined position in a lower portion of the main body to read a 2D barcode on the floor. The control unit is installed at the main body to be electrically connected with the barcode reader, recognizes absolute coordinates within a predetermined area, which are stored in memory, based on a unique coordinate value of the 2D barcode read by the barcode reader, applies the absolute coordinates to a programmed locomotion algorithm, and controls the locomotion unit to move the main body.
Description
Technical field
The present invention relates to a kind of navigation system that is used for position self control robot, this robot has the main body of band moving cell, relate more specifically to a kind of like this navigation system, this navigation system is obtained the proper really front position of the position self control robot that moves or operate, and calculate this position self control robot and each predetermined barrier and predetermined relative distance of moving between the restraining line fast, thereby make this position self control robot to move fast and accurately according to the course of program motion algorithm or storage.In addition, the present invention relates to a kind of flooring material that is used to provide absolute coordinate, this flooring material comprises two dimension (2D) bar code, described bar code has different unique coordinate values at predetermined interval, thereby make described position self control robot can obtain current absolute position apace, wherein, described 2D bar code Show Color not under visible light, but shining wavelength on it when the motion of described position self control robot is Show Color under 300 to 850nm the light, thereby makes described flooring material have beautiful outward appearance.
Background technology
The position self control robot robot of extensive use development from industrial circle usually, and in government, public office, company, family etc., be used widely.
Use this position self control robot to be used for from controlling autokinetic movement that need not the manual control of user and the cleaner that cleans presumptive area.For autokinetic movement, position self control robot need accurately be discerned its current location and accurately calculate the direction of motion and move distance.
In order to satisfy these needs, developed telemetry traditionally.Use the position self control robot of traditional telemetry to utilize rangefinder or wheel sensor acquisition velocity information and utilize Magnetic Sensor to obtain azimuth information, and move distance and the direction of motion of calculating from the initial position to the next position, thereby discern its position and direction.
Fig. 1 is illustrated in the exemplary conceptual of recognizing site and direction in the telemetry coordinate system.In this telemetry coordinate system, the coordinate x that the position of position self control robot 1 is positioned at by the center of rotation 2 of this position self control robot 1
rAnd y
rLimit, and the direction of this position self control robot 1 is by the forward direction of this position self control robot 1 and the angle t between the x axle
rLimit.
Traditional telemetry depends on the information of spontaneous generation, and does not utilize the information of outside input, and can obtain positional information with very high sampling rate, thereby upgrades positional information very fast.In addition, telemetry provides degree of precision for short distance, and cost is lower.
Yet because telemetry utilizes integration to come calculating location and direction, measure error will accumulate along with the increase of travel distance.Particularly, because the error that slide (it may be owing to the flooring material in the moving region causes) causes produces accumulation and is not compensated, reduced precision thus.
Utilizing a kind of the improving one's methods of telemetry recognizing site and direction is the method for utilizing radio frequency identification (RFID) card and RFID reader.
A plurality of rfid cards with unique positional information are placed in the zone of wherein position self control robot 1 motion on the floor.Then, utilize the RFID reader to detect rfid card when position self control robot 1 moves on the floor, and read unique positional information, thereby discern its current location.
Fig. 2 represents the notion of recognizing site and direction in the RFID coordinate system.The current location of position self control robot 1 is by the coordinate x of this position self control robot 1 detected rfid card 3 in a plurality of rfid cards 3
cAnd y
cLimit, described a plurality of rfid cards 3 are placed in the moving region in the floor 5 with matrix form.In rfid card 3, store unique numbering respectively, and position self control robot 1 has the corresponding respectively RFID coordinate figure of unique number that is the reference table form with these.Position self control robot 1 detects a rfid card 3, utilizes RFID reader 4 to obtain the unique number of described rfid card 3, and finds in reference table and the corresponding RFID coordinate figure of unique number that is obtained, thereby discerns its current location.
In utilizing the method for RFID, the precision of position self control robot recognizing site and direction is determined according to the distribution density of rfid card 3.When the distribution density of rfid card 3 is too low, can not desired locations self control robot 1 accurately recognizing site and direction.When the distribution density of rfid card 3 is too high, as shown in Figure 3, may during reading unique number, produce error owing to the interference between the RF signal of rfid card 3a, 3b and 3c output.
Therefore, in order to prevent to produce error, the distribution density of rfid card 3 must be limited in the suitable scope.The feasible precision of the method for RFID of utilizing of such restriction reduces.In addition, when having the material that absorbs magnetic field in the position of placing rfid card 3, also may produce error.
In addition, in order in utilizing the method for RFID, to discern direction, as shown in Figure 3, need discern two or more rfid cards 3a, 3b and 3c simultaneously.In the distribution density of rfid card 3 when not being enough high, to the identification of the direction difficulty that just becomes.
Especially, inconvenience is placed on rfid card 3 in the floor 5.When damaging appears in rfid card 3, need repair floor 5 fully, the rfid card 3 that perhaps need take out damage also needs new rfid card 3 is placed in the floor 5, and this has destroyed the outward appearance on floor 5.
In addition, because the zone is bigger, thus need to use a large amount of rfid cards 3, thus high mounting cost and high maintenance cost caused, and need careful processing during in operating position self control robot 1, safeguarding.
Summary of the invention
The invention provides a kind of like this navigation system, the current location that prevents position self control robot by this navigation system (promptly, absolute coordinate) with corresponding to the recognition unit interference of adjacent absolute coordinate, thereby easily obtain the described current location of described position self control robot, when in presumptive area, recognizing barrier, relative coordinate value and the distance between proper really front position of described position self control robot and the described barrier to barrier carry out calculating fast and accurately or identification, thereby control the direction of motion and the distance of this position self control robot reliably, different unique positional informations can easily be installed in any position, and be convenient to safeguard.
The present invention also provides a kind of flooring material with sightless two dimension (2D) bar code for bore hole, thereby prevent to destroy the outward appearance of flooring material, and Show Color just when obtaining absolute coordinate only, thereby allow to obtain and the corresponding unique information of described 2D bar code (that is described absolute coordinate).
According to an aspect of the present invention, provide a kind of navigation system that is used for position self control robot 101, this position self control robot 101 comprises the main body 102 that has moving cell.Described navigation system comprises 2D bar code 104, bar code reader 105 and control module.Described 2D bar code 104 is formed on the floor 103 with preliminary dimension with predetermined space, and has different unique coordinate values respectively.Bar code reader 105 is installed in the pre-position in described main body 102 bottoms, to read the 2D bar code 104 on the floor 103.Described control module is installed on the described main body 102, to be electrically connected with described bar code reader 105, and this control module is based on the unique coordinate values of the described 2D bar code 104 that is read by described bar code reader 105 and discern absolute coordinate in the presumptive area that is stored in the memory, and described absolute coordinate applied in the program motion algorithm, thereby control described moving cell so that 102 motions of described main body.
Described navigation system also can comprise light-emitting device 106, and this light-emitting device 106 is installed near the described bar code reader 105 to have the light of predetermined wavelength range to 103 emissions of described floor.But the light of described light-emitting device 106 emission wavelength ranges between 300nm to 850nm.
According to a further aspect in the invention, provide a kind of flooring material 110, this flooring material 110 is used to provide absolute coordinate information, so that position self control robot 101 can be discerned the absolute coordinate in the space.Described flooring material 101 comprises at least one first sheet material 111, this first sheet material oppositely is printed on predetermined space by a plurality of 2D bar codes 104 that will have different unique coordinate values respectively on the back side of the transparent material with predetermined area and by form adhesive layer 111a on the described back side of described transparent material and forms, thereby described 2D bar code 104 can normally be seen from the surface of described flooring material 110.
Can use visible color China ink and invisible disappearing China ink (for example, when irradiation on this China ink have light time of predetermined wavelength should China ink as seen) in a kind of described 2D bar code of printing in described first sheet material 111 104.In described first sheet material 111, described 2D bar code 104 can become matrix form or along a plurality of arranged in concentric circles with equal intervals.
According to a further aspect in the invention, provide a kind of flooring material 110, this flooring material 110 is used to provide absolute coordinate information, so that position self control robot 101 can be discerned the absolute coordinate in the space.Described flooring material 110 comprises a plurality of second sheet materials 112, each second sheet material 112 all oppositely is printed on the back side of the transparent material with predetermined area and by form adhesive layer 112a on the described back side of described transparent material by the single 2D bar code 104 that will have unique coordinate values and forms, thereby described 2D bar code 104 can normally be seen from the surface of described flooring material 110.
Can use a kind of described 2D bar code of printing in each second sheet material 112 104 in visible color China ink or the invisible disappearing China ink.
Described second sheet material 112 can become matrix form or along a plurality of arranged in concentric circles with equal intervals.
According to another aspect of the invention, provide a kind of flooring material 110, this flooring material 110 is used to provide absolute coordinate information, so that position self control robot 101 can be discerned the absolute coordinate in the space.Described flooring material 110 comprises and a plurality ofly is printed on the lip-deep 2D bar code 104 of described flooring material with predetermined space.Described 2D bar code 104 has different unique coordinate values respectively.
Can use the described 2D bar code 104 of a kind of printing in visible color China ink and the invisible disappearing China ink.Described 2D bar code 104 can become matrix form or along a plurality of arranged in concentric circles with equal intervals.
Described flooring material 110 also can comprise coated sheet 113, and this coated sheet 113 is made by transparent material, and is bonded to print on it and has on the surface of 2D bar code 104.
Description of drawings
Fig. 1 is illustrated in the notion of recognizing site and direction in traditional telemetry coordinate system;
Fig. 2 is illustrated in the notion of recognizing site and direction in traditional radio frequency identification (RFID) coordinate system;
Fig. 3 represents owing to the interference between traditional rfid card produces error;
Fig. 4 represents that position self control robot utilization bar code reader according to the present invention reads the state of absolute coordinate from flooring material;
Fig. 5 represents the navigation system that is used for position self control robot according to of the present invention;
Fig. 6 represents according to two dimension of the present invention (2D) bar code;
Fig. 7 A represents the flooring material according to first embodiment of the invention;
Fig. 7 B represents according to first embodiment of the invention with transparent China ink the state of 2D bar code printing to the flooring material;
Fig. 7 C represents to use the state according to the flooring material of first embodiment of the invention;
Fig. 8 A represents the flooring material according to second embodiment of the invention;
Fig. 8 B represents according to second embodiment of the invention with transparent China ink the state of 2D bar code printing to the flooring material;
Fig. 8 C represents to use the state according to the flooring material of second embodiment of the invention;
Fig. 9 A be illustrated in according on the flooring material of the present invention with the 2D bar code of matrix arrangement;
Fig. 9 B be illustrated in according on the flooring material of the present invention with the 2D bar code of radial arranged in form;
Figure 10 represents the flooring material according to third embodiment of the invention.
The specific embodiment
Describe structure of the present invention and operation in detail hereinafter with reference to Fig. 4 to Figure 10.
Position self control robot 101 according to the present invention is in shape or unrestricted in form.
The present invention is arranged to make position self control robot 101 effective exercises by making control module can accurately obtain absolute coordinate and moving cell being controlled.Therefore, this moving cell can have such typical structure, that is, the wheel 107 that wherein is installed in main body 102 places combines with the drive motors of driving wheel 107.Can pair of sprocket and drive motors be installed at each opposite side place of main body 102, and can to the sprocket wheel place crawler belt be installed, but the invention is not restricted to this at this.
According to the present invention, can adopt existing floor or special ground paperboard or the ceramic tile of making to be used for floor 103.
In other words, can two dimension (2D) bar code 104 be printed on the existing floor 103, perhaps the sheet material of having printed 2D bar code 104 on it can be attached on the existing floor 103 with predetermined space.Alternatively, 2D bar code 104 can be printed on the ground paperboard or ceramic tile of special manufacturing, or the sheet material of having printed 2D bar code 104 on it is attached on this ground paperboard or the ceramic tile.
As shown in Figure 6,2D bar code 104 is for representing the symbol or the notation of information with the pattern with different in width.In the present invention, can implement 2D bar code 104 with various forms.
In other words, each 2D bar code 104 all can be embodied as any single figure, for example ring, numeral or contain the special character of customizing messages.For example, in the 2D bar code 104 shown in Figure 6, data are arranged and are flushed along two axis (that is, along X-direction and Y direction).The advantage of this 2D bar code 104 is and can stores mass data with higher density in narrow zone, space availability ratio is very high, from pollute or impaired symbol detect wrong and to recover the performances of data very good, and owing to black and white element are not limited to a side, print and read symbol thus easily, and can read symbol along each 360 ° of direction.
Because can read 2D bar code 104, can read fast along any direction.Therefore, 2D bar code 104 is suitable for the present invention.
The scope of moving region is set in the memory of position self control robot 101 in advance.In addition, the absolute coordinate in the storing moving zone in this memory.
Therefore, when position self control robot 101 operation, the floor 103 that bar code reader 105 scanning position self control robots 101 are positioned at reading 2D bar code 104, and obtains the coordinate that is recorded in the 2D bar code 104.Then, control module is identified as the coordinate figure that is obtained and is stored in absolute coordinate in the memory, in predetermined range of movement.
Then, control module adopts described absolute coordinate in the program motion algorithm, and the controlled motion unit is to guide to the direction of motion with main body 102.
In other words, after reading the unique coordinate values of 2D bar code 104 by bar code reader 105, control module is identified as this unique coordinate values the absolute coordinate in the moving region that is provided with in memory, and the current location (current absolute position) of recognizing site self control robot 101 in the moving region.
In the current location of position self control robot 101 (promptly, when absolute coordinate) known, can adopt shirtsleeve operation to come relative distance between calculating location self control robot and the barrier, thereby but owing to the program motion algorithm makes the motion of position self control robot 101 avoiding obstacles.
Simultaneously, as in the conventional art, the present invention also can adopt the telemetry coordinate system to come the cognitive disorders thing and reset travel path, and can adopt vision.In the present invention, can adopt telemetry coordinate system compensation navigation system, but the invention is not restricted to this.
The present invention mainly is arranged to the relative coordinate of dyscalculia thing and apart from the relative distance of barrier, and comes control position self control robot 101 to follow the inbound path motion by easily obtaining absolute coordinate.
Simultaneously, with reference to figure 4, it is neighbouring to have the light of predetermined wavelength range to floor 103 emissions that light-emitting device 106 is installed in bar code reader 105, and this bar code reader 105 is installed in the bottom of the main body 102 of position self control robot 101.But the light of light-emitting device 106 emission wavelength ranges between 300nm to 850nm.
Light-emitting device 106 is set to be used for the transparent China ink (that is disappearing China ink) that is printed on the floor 110 is developed.104 pairs of bore holes of 2D bar code of printing with the following transparent China ink that will describe in detail are sightless, and only have ability Show Color under the light of predetermined wavelength range.Therefore, preferably using light-emitting device 106 to make 2D bar code 104 use bar code reader 105 to read 2D bar code 104 after visible to 2D bar code 104 irradiates lights.
Simultaneously, flooring material 110 comprises 2D bar code 104.According to first embodiment of the invention, in the flooring material shown in Fig. 7 A 110, on the back side of first sheet material of making by transparent material 111, a plurality of 2D bar codes 104 that have different unique coordinate values are respectively arranged with reverse printing of predetermined space with predetermined area.
In addition, when being attached to protective layer 114 on the adhesive layer 111a, can use first sheet material 111 immediately easily by removing this protective layer 114 simply temporarily.
For example, when on first sheet material 111 that is of a size of 180 * 180cm in length and width with the interval of 30cm when all directions are printed 2D bar codes 104, print six 2D bar codes 104 along each length direction and width.2D bar code 104 for example can have (0,0), (0,1), (0,2), (0,3), (0,4), (0,5), (1,0), (1,1) ..., the positional information of (5,4), (5,5).When being adhered to second sheet material 112 on the flooring material 110, and on the surface that 2D bar code 104 is directly printed to flooring material 110 according to the 3rd embodiment the time, also can adopt such layout and design in an identical manner according to second embodiment.
Each 2D bar code 104 all has unique positional information.A plurality of 2D bar codes 104 have different positional informations.When position self control robot 101 moves on 2D bar code 104 2D bar code 104 is scanned, obtain unique positional information, and in the moving region, keep or change current location, travel path, the direction of motion, movement velocity etc. based on the positional information of obtaining.
Adhesive layer 111a is formed on to print to be had on the surface of 2D bar code 104, thereby first sheet material 111 can be bonded on the flooring material 110, shown in Fig. 7 C.
Here, because first sheet material 111 is transparent, see 2D bar code 104 on the back side that oppositely prints to first sheet material 111 so can pass the surface in the normal position.Preferably, adopt visible color China ink of bore hole or sightless disappearing or transparent China ink that 2D bar code 104 is printed on first sheet material 111.
When using visible color China ink to print 2D bar code 104, may damage the aesthetic appearances of flooring material 110 with inherent pattern and texture.Therefore, preferably adopt invisible disappearing or transparent China ink to print 2D bar code 104.Can choose at random China ink by manufacturer and user.
The sightless transparent or disappearing of using in the present invention first to the 3rd embodiment is black to be present normally used China ink.When adopting sightless transparent or disappearing black, be imprinted on loan and invisible such as the symbol on the marketable securities of bank note, bill and gift token (comprising numeral), character or figure, thus not reproducible or scanning.
The disappearing China ink can be organic fluorescence materials, quencher (quencher) or cured resin synthetic, and emission wavelength is 651 to 900nm light in response to the light of 300 to 850nm wavelength for it.Alternatively, mix EC (promptly by ratio in 40-20%, the cellosolvo of representing by molecular formula C4H1002) makes 1 liter of A solution with methyl alcohol (MT), and by the CKR (that is the active alkyl phenolic resin of MgO) of this A solution and 130-170 gram, the OX (C17H23CO2H) of 15-25cc and the Si mixing of 0.01-0.001 gram can be produced this disappearing China ink.The invention is not restricted to this.Yet, transparent or disappearing black must response by 300 to 850nm light of light-emitting device 106 emission as seen.
Because disappearing or transparent China ink are invisible usually, and as seen the light that has a predetermined wavelength range in position self control robot 101 irradiation become when obtaining absolute coordinate, so the outward appearance of flooring material 110 is kept intact.
Shown in Fig. 9 A, can 2D bar code 104 be arranged to matrix form with the distance that equates, perhaps shown in Fig. 9 B, equidistantly arrange 2D bar code 104 along the concentric circles that forms around predetermined center point in fact.Can select such arrangement form according to the motion algorithm that position self control robot obtains absolute coordinate, arrangement form can be chosen to make perhaps that flooring material 110 has beautiful outward appearance.
With reference to Fig. 8 A to Fig. 8 C that shows second embodiment of flooring material 110, single 2D bar code 104 with unique coordinate values is printed on the back side of second sheet material of being made by transparent material 112, and has in printing on the back side of 2D bar code 104 and be formed with adhesive layer 112a.A plurality of second sheet materials 112 directly are bonded on the flooring material 110.
In addition, can on adhesive layer 112a, temporarily adhere to protective layer 114, thereby can after removing protective layer 114, second sheet material 112 be bonded on the flooring material 110 immediately.
In the second embodiment of the present invention, when the bar code reader 105 of position self control robot 101 can not be discerned the unique coordinate values of the 2D bar code 104 that the damage owing to the surface of flooring material 110 damages, can easily come second sheet material 112 of replace damaged with the second new sheet material 112.Because can easily change only less broken parts, so safeguard easily and make maintenance cost minimum.
Alternatively, can wipe or remove the 2D bar code 104 of damage, can use portable printer that 2D bar code 104 is printed on the appropriate section of flooring material 110 again then.Therefore, user oneself can easily repair, and can keep flooring material 110 not to be damaged, and therefore, can reduce the expense that is used for maintenance and management.
In the second embodiment of the present invention, shown in Fig. 8 A, can use visible color China ink to print 2D bar code 104, perhaps shown in Fig. 8 B, use sightless disappearing or transparent China ink to print 2D bar code 104.As among first embodiment, can choose at random China ink by manufacturer and user.
In a second embodiment, also can equidistantly on flooring material 110, arrange a plurality of 2D bar codes 104 with the concentric circles form shown in the matrix form shown in Fig. 9 A or Fig. 9 B.
A third embodiment in accordance with the invention is printed on a plurality of 2D bar codes 104 that have different unique coordinate values respectively on the flooring material 110, as shown in figure 10 with predetermined space.As among first and second embodiment, optionally use visible color China ink or sightless disappearing or transparent China ink to print 2D bar code 104.In addition, also can a plurality of 2D bar codes 104 be arranged to matrix form, or arrange along the concentric circle of a plurality of essence with equal intervals with equal intervals.
Preferably, after printing 2D bar code 104 on the surface of flooring material 110, will be bonded on the surface of this flooring material 110, thereby prevent 104 damages of 2D bar code by the coated sheet 113 that transparent material is made.In the above embodiment of the present invention, the 2D bar code 104 with absolute coordinate information has been described.Yet the identifier with absolute coordinate information is not limited to 2D bar code 104.
In other words, allow to can be used as identifier such as 2D bar code 104 based on the bearing mark of angle and centroid calculation angle and direction or symbol.Because such mark or symbol can comprise specific data, thereby optionally use in mark, symbol and the 2D bar code 104 contain absolute coordinate information any.
Because 2D bar code 104 directly is printed on the surface of flooring material 110, so also can when molded flooring material 110, carry out this printing according to third embodiment of the invention.As a result, thus can reduce manufacturing time and boost productivity.
Preferably, use the 3rd embodiment to be used for as if cut into predetermined length and the flooring material 110 of the ground paperboard rolled.When going up formation 2D bar code 104, simply by the ground paperboard just can be provided with 101 references of position self control robot in presumptive area absolute coordinate is installed according to this ground paperboard (that is, flooring material 110) of third embodiment of the invention.As a result, can reduce first or second sheet material 111 or 112 is attached to the working time that is spent on the flooring material 110 of paperboard for example.
Simultaneously, because 2D bar code 104 be printed among first and second embodiment, be bonded on the back side of first sheet material 111 on the flooring material 110 and each sheet material in second sheet material 112, so 2D bar code 104 can not damaged or destroy because of the friction that occurs on the surface of flooring material 100.In addition because will be bonded to by the cover sheets 113 that transparent material is made flooring material 110, in the 3rd embodiment, printed on the surface of 2D bar code 104, be subjected to external force so can prevent 2D bar code 104 such as mantle friction.
Industrial applicibility
As mentioned above, the present invention to have eliminated rfid card with costliness and to be layered on the floor or in order laying This rfid card and change the inconvenience of flooring material structure. In addition, the present invention passes through simply to Print the sheet material that the 2D bar code is arranged on it and be attached to flooring material such as ground paperboard, floor or ceramic tile On, and so that the position can obtain absolute coordinate easily from controlling robot, and need not to use high Expensive rfid card, thus make the position from the application maximumization of controlling robot. In addition, the present invention makes Get and certainly to control robot with the lower cost use location, and therefore help the position from control The popularization of robot. In addition, according to the present invention, the 2D bar code can be installed in easily existing ground Be installed on the new flooring material on the plate material or during making. Because the 2D bar code can be mounted to not Visible, so they can not damage the beautiful outward appearance of flooring material.
Claims (16)
1, a kind of navigation system that is used for position self control robot, this position self control robot comprises the main body with moving cell, described navigation system comprises:
Two-dimensional bar code, be the 2D bar code, this two-dimensional bar code is formed on predetermined space on the floor with preliminary dimension, and described 2D bar code has different unique coordinate values respectively;
Bar code reader, this bar code reader is installed in the pre-position in the described lower body part, to read in the 2D bar code on the described floor; And
Control module, this control module is installed on the described main body, to be electrically connected with described bar code reader, described control module is discerned absolute coordinate in the presumptive area that is stored in the memory based on the unique coordinate values of the described 2D bar code that is read by described bar code reader, and described absolute coordinate is applied in the program motion algorithm, thereby control described moving cell so that the motion of described main body.
2, navigation system according to claim 1 is characterized in that, this navigation system also comprises light-emitting device, and it is neighbouring to have the light of predetermined wavelength range to the emission of described floor that this light-emitting device is installed in described bar code reader.
3, navigation system according to claim 2 is characterized in that, the light of described light-emitting device emission wavelength ranges between 300nm to 850nm.
4, a kind of flooring material, this flooring material is used to provide absolute coordinate information, so that position self control robot can be discerned the absolute coordinate in the space, described flooring material comprises one deck first sheet material at least, this first sheet material by with have respectively different unique coordinate values a plurality of two-dimensional bar codes, be that the 2D bar code oppositely is printed on predetermined space on the back side of the transparent material with predetermined area and by form adhesive layer on the described back side of described transparent material and makes, thereby described 2D bar code can normally be seen from the surface of described flooring material.
5, flooring material according to claim 4 is characterized in that, uses the described 2D bar code of a kind of printing in visible color China ink and the invisible disappearing China ink.
6, flooring material according to claim 4 is characterized in that, equally spaced arranges described 2D bar code with matrix form.
7, flooring material according to claim 4 is characterized in that, equally spaced arranges described 2D bar code along a plurality of concentric circles.
8, a kind of flooring material, this flooring material is used to provide absolute coordinate information, so that position self control robot can be discerned the absolute coordinate in the space, described flooring material comprises multilayer second sheet material, every layer of described second sheet material all the single two-dimensional bar code by will having unique coordinate values, be that the 2D bar code oppositely is printed on the back side of the transparent material with predetermined area and by form adhesive layer on the back side of described transparent material and makes, thereby described 2D bar code can normally be seen from the surface of described flooring material.
9, flooring material according to claim 8 is characterized in that, uses a kind of in visible color China ink and the invisible disappearing China ink to print described 2D bar code.
10, flooring material according to claim 9 is characterized in that, equally spaced arranges described second sheet material with matrix form.
11, flooring material according to claim 9 is characterized in that, equally spaced arranges described second sheet material along a plurality of concentric circles.
12, a kind of flooring material, this flooring material is used to provide absolute coordinate information, so that position self control robot can be discerned the absolute coordinate in the space, described flooring material comprises and a plurality ofly is printed on the lip-deep two-dimensional bar code of described flooring material, is the 2D bar code that with predetermined space described 2D bar code has different unique coordinate values respectively.
13, flooring material according to claim 12 is characterized in that, uses a kind of in visible color China ink and the invisible disappearing China ink to print described 2D bar code.
14, flooring material according to claim 12 is characterized in that, equally spaced arranges described 2D bar code with matrix form.
15, flooring material according to claim 12 is characterized in that, equally spaced arranges described 2D bar code along a plurality of concentric circles.
16, flooring material according to claim 12 is characterized in that, this flooring material also comprises coated sheet, and this coated sheet is made by transparent material, and is glued on it to print and has on the described surface of described 2D bar code.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020040020981 | 2004-03-27 | ||
| KR20040020981 | 2004-03-27 | ||
| KR2020040008728 | 2004-03-30 | ||
| KR2020040018102 | 2004-06-25 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1925988A true CN1925988A (en) | 2007-03-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2004800425970A Pending CN1925988A (en) | 2004-03-27 | 2004-10-04 | Navigation system for position self control robot and floor materials for providing absolute coordinates used thereof |
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| Country | Link |
|---|---|
| KR (1) | KR100700889B1 (en) |
| CN (1) | CN1925988A (en) |
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| US8244403B2 (en) | 2007-11-05 | 2012-08-14 | Industrial Technology Research Institute | Visual navigation system and method based on structured light |
| CN101691037B (en) * | 2009-10-09 | 2012-10-03 | 南京航空航天大学 | Method for positioning mobile robot based on active visual perception and chaotic evolution |
| CN103317863A (en) * | 2013-06-08 | 2013-09-25 | 同济大学 | Removable ink-jet printer and application method thereof |
| CN103324194A (en) * | 2013-05-21 | 2013-09-25 | 无锡普智联科高新技术有限公司 | Mobile robot positioning system based on two-dimension code navigation band |
| WO2014015724A1 (en) * | 2012-07-23 | 2014-01-30 | Liang Zhuorui | Automatic road transport device |
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| JPH01243104A (en) * | 1988-03-24 | 1989-09-27 | Murata Mach Ltd | Mark identifying device in image pickup means |
| JPH0667726A (en) * | 1992-08-13 | 1994-03-11 | Nippon Yusoki Co Ltd | Absolute position obtaining method for unmanned running car |
| JP2965288B2 (en) | 1997-04-21 | 1999-10-18 | 川崎重工業株式会社 | Method for detecting displacement of position and posture of moving object and autonomous traveling moving object |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR20060043147A (en) | 2006-05-15 |
| KR100700889B1 (en) | 2007-04-10 |
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