CN203241826U - Mobile robot positioning system based on hybrid navigation ribbon - Google Patents
Mobile robot positioning system based on hybrid navigation ribbon Download PDFInfo
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- CN203241826U CN203241826U CN 201320282070 CN201320282070U CN203241826U CN 203241826 U CN203241826 U CN 203241826U CN 201320282070 CN201320282070 CN 201320282070 CN 201320282070 U CN201320282070 U CN 201320282070U CN 203241826 U CN203241826 U CN 203241826U
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Abstract
The utility model relates to a mobile robot positioning system based on a hybrid navigation ribbon. The mobile robot positioning system is characterized by comprising a hybrid navigation positioning controller mounted on a mobile robot trolley, a hybrid navigation image acquisition device mounted on the bottom part of the mobile robot trolley, and a hybrid navigation ribbon arranged on the ground, wherein the hybrid navigation ribbon is composed of a color ribbon and two-dimensional codes arranged on the color ribbon, the hybrid navigation image acquisition device comprises a two-dimensional code reader-writer and a camera, and the hybrid navigation positioning controller and the hybrid navigation image acquisition device are interconnected for acquiring information of the hybrid navigation ribbon and realizing the accurate positioning function of the mobile robot. The mobile robot positioning system based on the hybrid navigation ribbon is reasonable in design, not only guarantees the real-time property of transverse deviation correction and angular deviation correction of an autonomous navigation system of the mobile robot trolley, but also further improves and ensures the real-time property of two-dimensional code longitudinal deviation correction, and effectively improves the accuracy and reliability of the autonomous navigation of the mobile robot.
Description
Technical field
The utility model belongs to the Mobile Robotics Navigation technical field, especially a kind of mobile robot positioning system based on the hybrid navigation band.
Background technology
Mobile robot autonomous navigation based on vision refers to that the image capturing system of mobile robot platform obtains the environmental information under the robot current state, by the position in environment to ambient image Analysis deterrmination environmental objects and robot.Since image have high-resolution, environmental information complete, meet the human characteristics such as cognition custom, therefore, in the last few years, be obtained extensive concern and approval based on the mobile robot autonomous navigation of vision, and aspect theory and practice, obtained considerable achievement.But, because the complicacy of mobile robot's activity scene and mobile robot's dynamic perfromance, physical construction such as robot, cumulative errors in the walking process, the luminosity of camera, illumination, shooting speed, the reasons such as the sharpness of image, therefore, cause the real-time of robotic vision system not enough, for example, indoor mobile robot positioning system and method based on two-dimension code, owing to not being to lay continuously but the laying of discrete type when laying two-dimension code on ground, between two discrete two-dimension codes, do not have other information feedback, perhaps can only be similar to gyrostatic angular velocity feedback, this feedback information is inadequate, cause AGV kinematic error between two two-dimension codes larger, even when the next two-dimension code, two-dimension code has been departed from the visual field of code reader, causes reading.From on-site actual situations, the deviation that position, the dolly left and right sides occurs is greatly the main cause that affects image taking, when lateral runout position and deviation angle have exceeded the camera coverage, shooting will appear continuing less than the situation of picture, once someone proposed: position at colour band by RFID, but this is only applicable to the lower application scenario of ratio of precision.For the high location occasion of precision, RFID can not satisfy.It seems, the method for dealing with problems is still found out a kind of method that can maximize favourable factors and minimize unfavourable ones according to the characteristic of two-dimension code.Two-dimension code is used for mobile robot autonomous navigation two functions, one, utilize three corner positions of two-dimension code to survey graphics calculations and go out each two-dimension code center point coordinate, by center point coordinate can the Two-dimensional code and dolly laterally and position deviation and the angular deviation of fore-and-aft direction; Its two, two-dimension code has been stored its absolute value coordinate information, can further calculate mobile robot's absolute value coordinate in indoor absolute value data by reading two-dimension code, thereby realizes the Pose Control to the mobile robot.As seen from the above analysis, the two-dimension code center point coordinate is the unique factor for control mobile robot lateral attitude deviation, therefore, how can the Real-time Obtaining picture and calculate in real time central point by the analysis to picture, laterally rectify a deviation with the replacement two-dimension code, the function that keeps again the vertical correction of two-dimension code and storage absolute value coordinate simultaneously is present problem in the urgent need to address.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, provides a kind of reasonable in design, real-time and can significantly improve the mobile robot positioning system based on the hybrid navigation band of mobile robot's speed of travel.
The utility model solves its technical matters and takes following technical scheme to realize:
A kind of mobile robot positioning system based on the hybrid navigation band, comprise the hybrid navigation register control that is installed on mobile robot's dolly, be installed in mobile robot's dolly the bottom the hybrid navigation image acquisition device and be distributed in ground hybrid navigation band, described hybrid navigation band is made of colour band and the two-dimension code label that is arranged on the colour band, described hybrid navigation image acquisition device comprises two-dimension code code reader and camera, and this hybrid navigation register control is connected with the hybrid navigation image acquisition device for gathering the hybrid navigation information and realizing mobile robot's accurate positioning function.
And described hybrid navigation band is straight line or is camber line.
And described two-dimension code code reader is at least one, and described camera is at least one.
And, described hybrid navigation register control is connected and composed by microprocessor, scrambler and communication interface, this microprocessor is connected with scrambler for detection of mobile robot's travelling speed, this microprocessor by communication interface be connected with the hybrid navigation image acquisition device collection of carrying out hybrid navigation band image, receive the image on the hybrid navigation band and realize mobile robot's accurate positioning function.
And, described communication interface is network interface, USB interface or 1394 interfaces, described two-dimension code code reader is the two-dimension code code reader with network interface, USB interface or 1394 interfaces, and described camera is the camera with network interface, USB interface or 1394 interfaces.
Advantage of the present utility model and good effect are:
The utility model is reasonable in design, utilize colour bar pattern to look like to carry out horizontal correction and the angle correction of mobile robot's dolly, utilize image in 2 D code to carry out vertical correction of mobile robot's dolly, by adopting the hybrid navigation mode to realize the Real-time Collection of colour bar pattern picture, guaranteed that not only mobile robot's dolly autonomous navigation system is laterally rectified a deviation and the real-time of angle correction, thereby further driven and guaranteed the vertically real-time of correction of two-dimension code, improved the two-dimension code code reader and taken the validity of image in 2 D code and the accuracy rate of two-dimension code decoding, Effective Raise accuracy and the reliability of mobile robot autonomous navigation.
Description of drawings
Fig. 1 is positioning system connection layout of the present utility model;
Fig. 2 is the structural representation of hybrid navigation band;
Fig. 3 is the installation site schematic diagram of vision-mix harvester;
Fig. 4 is for utilizing colour band to carry out dolly laterally correction and angle correction schematic diagram;
Fig. 5 is that the two-dimension code that utilizes of the present utility model carries out the dolly schematic diagram of vertically rectifying a deviation.
Embodiment
Below in conjunction with accompanying drawing the utility model embodiment is further described:
A kind of mobile robot positioning system based on the hybrid navigation band, as shown in Figure 1, comprise the hybrid navigation register control that is installed on mobile robot's dolly, hybrid navigation image acquisition device and be distributed in ground hybrid navigation band, described hybrid navigation register control is by microprocessor, scrambler and communication interface connect and compose, this microprocessor is connected with scrambler for detection of mobile robot's travelling speed, this microprocessor is connected with the hybrid navigation image acquisition device by communication interface, and microprocessor carries out the collection of hybrid navigation band image by communication interface control hybrid navigation image acquisition device, receive the image on the hybrid navigation band and realize mobile robot's accurate positioning function.
As shown in Figure 2, described hybrid navigation band is made of colour band and the two-dimension code label that is arranged on the colour band, and this hybrid navigation band can be straight line, also can be camber line, and the width of hybrid navigation band can be the width of 1 two-dimension code label.
The hybrid navigation image acquisition device comprises at least one two-dimension code code reader and at least one camera, the hybrid navigation image acquisition device is installed in the bottom of mobile robot's dolly, as shown in Figure 3, a two-dimension code code reader is installed by central authorities on the center line of mobile robot's dolly length direction, and a camera is installed respectively in the rear and front end.This communication interface is network interface, USB interface or 1394 interfaces, and this two-dimension code code reader is the two-dimension code code reader with network interface, USB interface or 1394 interfaces, and this camera is the camera with network interface, USB interface or 1394 interfaces.
Robot visual guidance should be realized two functions: correction and location.Solving the correction problem is by obtaining at any time position of mobile robot deviation and angular deviation, solving orientation problem is by obtaining at any time the position of robot under world coordinate system, because colour band does not contain position (absolute value coordinate) information, and two-dimension code contains position (absolute value coordinate) information, therefore, solve laterally correction and angle correction problem by colour band in the utility model, solve vertically correction and mobile robot's dolly orientation problem by two-dimension code.
Be to realize mobile robot's accurate positioning function by the built-in positioning control software of hybrid navigation register control in this positioning system, its concrete control procedure is:
At first, utilize the colour band of hybrid navigation image acquisition device collection to carry out horizontal correction and the angle correction of mobile robot's dolly, as shown in Figure 4, detailed process is as follows:
1, set up two coordinate systems: image coordinate system (u, v), dolly coordinate system (x dolly, y dolly);
2, calculate under the dolly coordinate system colour band with respect to the deviation angle of mobile robot's dolly and horizontal deviation position;
⑴ calculate colour band with respect to mobile robot's deviation angle
1. the relation of uncalibrated image coordinate system and dolly coordinate system:
P dolly (x, y)=R * P image (u1, v1);
In the following formula:
P image (u1, v1) is the coordinate of 1 P1 in space in image coordinate system;
P dolly (x, y) is the coordinate of 1 P1 in space under the dolly coordinate system;
R is the rotation matrix value;
2. one or more summits under the image coordinate system are converted to the dolly coordinate system, the coordinate after the conversion is:
P
Colour band(x1, y1)=R * P
Colour band(u1, v1);
P
Colour band(x2, y2)=R * P
Colour band(u2, v2);
P
Colour band(x3, y3)=R * P
Colour band(u3, v3);
P
Colour band(x4, y4)=R * P
Colour band(u4, v4);
Above P
Colour band(x1, y1), P
Colour band(x2, y2), P
Colour band(x3, y4), P
Colour band(x4, y4) is the coordinate of colour band under the dolly coordinate system, P
Colour band(u1, v1), P
Colour band(u2, v2), P
Colour band(u3, v3), P
Colour band(u4, v4) is the coordinate of colour band in image coordinate system; P wherein
Colour band(x1, y1), P
Colour band(x2, y2) is two end points that colour band and dolly Y direction center line intersect, P
Colour band(x3, y3), P
Colour band(x4, y4) is that colour band and dolly are along the joining of one group of opposite side of dolly X-direction.
3. mobile robot's dolly changes θ 1 with respect to the attitude of colour band under the counting of carriers coordinate system
Because: tan θ 1=m/d=(Point4.y-Point3.y)/d;
So: θ 1=atan2 ((Point4.y-Point3.y)/d);
In the following formula, Point3.y, Point4.y are two the summit Ps of colour band under the dolly coordinate system
Colour band(x3, y4), P
Colour bandThe Y-axis coordinate of (x4, y4); D is the length of dolly;
⑵ calculate colour band with respect to mobile robot's lateral runout position
1. the coordinate X of colour band central point under the counting of carriers coordinate system
The colour band center, Y
The colour band center
Wherein, X
The colour band centerBe the X-axis coordinate of colour band central point under the dolly coordinate system, Y
The colour band centerY-axis coordinate for colour band central point under the dolly coordinate system;
X
The colour band center=(Point1.x-Point2.x)/2;
Y
The colour band center=(Point1.y-Point2.y)/2;
2. obtain the dolly center point coordinate:
X
The dolly center, Y
The dolly center
3. calculate colour band with respect to the horizontal deviation position of dolly
Dolly is X with respect to the horizontal deviation position of colour band
1=Y
The colour band center-Y
The dolly center
Then, utilize the image in 2 D code of hybrid navigation image acquisition device collection to carry out vertical correction of mobile robot's dolly, and the coordinate position of compute location mobile robot dolly under world coordinate system.As shown in Figure 5, concrete processing procedure comprises:
⑴ set up following three coordinate systems: image coordinate system (u, v), dolly coordinate system (x dolly, y dolly), world coordinate system (the x world, the y world);
⑵ calculate under the dolly coordinate system two-dimension code with respect to the deviation position of the fore-and-aft direction of mobile robot's dolly;
⑶ paste code according to realizing, can obtain the coordinate figure of two-dimension code under world coordinate system; In conjunction with the ⑵ step, can obtain the deviation of dolly under world coordinate system;
⑷ calculate mobile robot's dolly with respect to the deviation position of the fore-and-aft direction of world coordinate system, thereby carry out vertical correction of mobile robot's dolly.
It is emphasized that; embodiment described in the utility model is illustrative; rather than determinate; therefore the utility model is not limited to the embodiment described in the embodiment; every by those skilled in the art according to other embodiments that the technical solution of the utility model draws, belong to equally the scope of the utility model protection.
Claims (5)
1. mobile robot positioning system based on the hybrid navigation band, it is characterized in that: comprise the hybrid navigation register control that is installed on mobile robot's dolly, be installed in mobile robot's dolly the bottom the hybrid navigation image acquisition device and be distributed in ground hybrid navigation band, described hybrid navigation band is made of colour band and the two-dimension code label that is arranged on the colour band, described hybrid navigation image acquisition device comprises two-dimension code code reader and camera, and this hybrid navigation register control is connected with the hybrid navigation image acquisition device for gathering the hybrid navigation information and realizing mobile robot's accurate positioning function.
2. the mobile robot positioning system based on the hybrid navigation band according to claim 1 is characterized in that: described hybrid navigation band is straight line or is camber line.
3. the mobile robot positioning system based on the hybrid navigation band according to claim 1, it is characterized in that: described two-dimension code code reader is at least one, and described camera is at least one.
4. the mobile robot positioning system based on the hybrid navigation band according to claim 1, it is characterized in that: described hybrid navigation register control is connected and composed by microprocessor, scrambler and communication interface, this microprocessor is connected with scrambler for detection of mobile robot's travelling speed, this microprocessor by communication interface be connected with the hybrid navigation image acquisition device collection of carrying out hybrid navigation band image, receive the image on the hybrid navigation band and realize mobile robot's accurate positioning function.
5. the mobile robot positioning system based on the hybrid navigation band according to claim 4, it is characterized in that: described communication interface is network interface, USB interface or 1394 interfaces, described two-dimension code code reader is the two-dimension code code reader with network interface, USB interface or 1394 interfaces, and described camera is the camera with network interface, USB interface or 1394 interfaces.
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| CN 201320282070 CN203241826U (en) | 2013-05-21 | 2013-05-21 | Mobile robot positioning system based on hybrid navigation ribbon |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103294059A (en) * | 2013-05-21 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Hybrid navigation belt based mobile robot positioning system and method thereof |
| CN104460669A (en) * | 2014-11-03 | 2015-03-25 | 上海电器科学研究所（集团）有限公司 | AGV robot path navigation system |
| CN105404842A (en) * | 2015-11-19 | 2016-03-16 | 北京特种机械研究所 | AGV positioning, orientation and speed measurement method based on landmark two-dimensional code |
| WO2016115714A1 (en) * | 2015-01-22 | 2016-07-28 | 江玉结 | Color block tag-based localization and mapping method and device thereof |
| CN105929834A (en) * | 2016-06-27 | 2016-09-07 | 中国计量大学 | Visual automated guided vehicle positioning method based on auxiliary positioning device and visual automated guided vehicle |
| CN106382934A (en) * | 2016-11-16 | 2017-02-08 | 深圳普智联科机器人技术有限公司 | High-precision moving robot positioning system and method |
| CN107065879A (en) * | 2017-05-16 | 2017-08-18 | 中国计量大学 | Visual guidance car localization method and visual guidance car based on Quick Response Code |
| CN108227708A (en) * | 2017-12-27 | 2018-06-29 | 广州市技田信息技术有限公司 | A kind of method for positioning mobile robot and its system |
| CN109443392A (en) * | 2018-12-10 | 2019-03-08 | 北京艾瑞思机器人技术有限公司 | Navigation error determines method and device, navigation control method, device and equipment |
| CN111959638A (en) * | 2020-08-25 | 2020-11-20 | 湖北师范大学 | Positioning system |
| CN111966094A (en) * | 2020-07-29 | 2020-11-20 | 成都飞机工业（集团）有限责任公司 | Industrial field AGV (automatic guided vehicle) motion control method along path |
| CN112987729A (en) * | 2021-02-09 | 2021-06-18 | 灵动科技（北京）有限公司 | Method and apparatus for controlling autonomous mobile robot |
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2013
- 2013-05-21 CN CN 201320282070 patent/CN203241826U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103294059A (en) * | 2013-05-21 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Hybrid navigation belt based mobile robot positioning system and method thereof |
| CN104460669A (en) * | 2014-11-03 | 2015-03-25 | 上海电器科学研究所（集团）有限公司 | AGV robot path navigation system |
| CN104460669B (en) * | 2014-11-03 | 2017-02-22 | 上海电器科学研究所（集团）有限公司 | AGV robot path navigation system |
| WO2016115714A1 (en) * | 2015-01-22 | 2016-07-28 | 江玉结 | Color block tag-based localization and mapping method and device thereof |
| CN105404842A (en) * | 2015-11-19 | 2016-03-16 | 北京特种机械研究所 | AGV positioning, orientation and speed measurement method based on landmark two-dimensional code |
| CN105404842B (en) * | 2015-11-19 | 2017-12-05 | 北京特种机械研究所 | AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code |
| CN105929834A (en) * | 2016-06-27 | 2016-09-07 | 中国计量大学 | Visual automated guided vehicle positioning method based on auxiliary positioning device and visual automated guided vehicle |
| CN106382934A (en) * | 2016-11-16 | 2017-02-08 | 深圳普智联科机器人技术有限公司 | High-precision moving robot positioning system and method |
| CN107065879A (en) * | 2017-05-16 | 2017-08-18 | 中国计量大学 | Visual guidance car localization method and visual guidance car based on Quick Response Code |
| CN108227708A (en) * | 2017-12-27 | 2018-06-29 | 广州市技田信息技术有限公司 | A kind of method for positioning mobile robot and its system |
| CN109443392A (en) * | 2018-12-10 | 2019-03-08 | 北京艾瑞思机器人技术有限公司 | Navigation error determines method and device, navigation control method, device and equipment |
| CN109443392B (en) * | 2018-12-10 | 2022-09-27 | 北京旷视机器人技术有限公司 | Navigation error determination method and device, navigation control method, device and equipment |
| CN111966094A (en) * | 2020-07-29 | 2020-11-20 | 成都飞机工业（集团）有限责任公司 | Industrial field AGV (automatic guided vehicle) motion control method along path |
| CN111959638A (en) * | 2020-08-25 | 2020-11-20 | 湖北师范大学 | Positioning system |
| CN112987729A (en) * | 2021-02-09 | 2021-06-18 | 灵动科技（北京）有限公司 | Method and apparatus for controlling autonomous mobile robot |
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