CN210757759U - Two-dimensional code detection robot and detection system - Google Patents
Two-dimensional code detection robot and detection system Download PDFInfo
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- CN210757759U CN210757759U CN201921536536.XU CN201921536536U CN210757759U CN 210757759 U CN210757759 U CN 210757759U CN 201921536536 U CN201921536536 U CN 201921536536U CN 210757759 U CN210757759 U CN 210757759U
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Abstract
The utility model discloses a two-dimensional code detection robot and a detection system, wherein the detection robot comprises a robot body, a camera module, a control unit and a first transceiver module; the robot body comprises a power assembly capable of driving the robot body to move controllably; the camera module is installed on the robot body and comprises the former or all of the first camera and the second camera; the control unit is electrically connected with the power assembly and the camera module; the first transceiver module is electrically connected with the control unit and used for transceiving data. The utility model discloses a two-dimensional code inspection robot and detecting system passes through the motion of robot along predetermineeing the route for camera module can acquire the image of each two-dimensional code position in the operation region, and follow-up positional deviation that can obtain each two-dimensional code through the processing to the image, thereby provides the foundation for subsequent artifical correction.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a two-dimensional code inspection robot and detecting system.
Background
The current intelligent robot technology is developed vigorously, the navigation technology for the intelligent robot to navigate independently is more, two-dimensional code navigation is one of the navigation technologies, and in the field of warehouse logistics, the two-dimensional code navigation is a mainstream navigation mode. The basis of two-dimensional code navigation is that the array sets up many two-dimensional codes on the operation region ground, and intelligent robot reads the two-dimensional code through the camera that its self carried on in order to confirm self position and judge next action, realizes the accurate motion in the operation region. In the field of warehouse logistics, two-dimensional codes are pasted on the ground of a general operation area and the bottom of a warehouse shelf, if the two-dimensional codes pasted on the ground have position deviation, the walking precision of the robot for subsequently carrying out two-dimensional code navigation motion can be influenced, the robot position deviation can possibly occur in serious situations, and the problem that the two-dimensional code image of a target point cannot be obtained after the target point is reached is solved. Since the number of two-dimensional codes provided in a general work area is large, it is necessary to provide a technique for detecting positional deviation of two-dimensional codes in the work area.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the deficiencies in the prior art, the utility model provides a two-dimensional code inspection robot and detecting system that can be used to the positional deviation of all two-dimensional codes in the inspection operation region.
The technical scheme is as follows: in order to achieve the above object, the utility model discloses a two-dimensional code inspection robot, include:
the robot comprises a robot body, a driving mechanism and a control mechanism, wherein the robot body comprises a power assembly capable of driving the robot body to move controllably in a whole;
a camera module mounted on the robot body, including the former or both of the first camera and the second camera; wherein the lens of the first camera is vertically downward and the lens of the second camera is vertically upward;
a control unit electrically connected to the power assembly and the camera module; and
and the first transceiving module is electrically connected with the control unit and used for transceiving data.
Further, a light source for auxiliary lighting is provided for each camera included in the camera module.
Furthermore, the robot body further comprises a chassis, the power assembly comprises two driving wheels symmetrically arranged on two sides of the middle of the chassis, each driving wheel is driven by an independent motor, and the motors are electrically connected with the control unit; and a plurality of driven wheels are also arranged on the chassis.
A two-dimensional code detection system comprises the two-dimensional code detection robot, a data processing unit and a second transceiver module; the second transceiver module is connected with the data processing unit, and the second transceiver module can communicate with the first transceiver module.
A two-dimensional code detection method is applied to a control unit of a two-dimensional code detection robot in the two-dimensional code detection system, and the method comprises the following steps:
acquiring an image of the position of the two-dimensional code through the camera module;
obtaining deviation data corresponding to the two-dimensional code according to the image; wherein the deviation data includes first deviation data representing a positional deviation between the two-dimensional code and the reference mark;
and sending the deviation data to the data processing unit through the first transceiver module.
Further, after the image of the position where the two-dimensional code is located is acquired by the camera module, the method further includes:
reading the content of the two-dimensional code in the image to obtain a two-dimensional code number;
obtaining a next-step motion instruction according to a preset path and the two-dimension code number; each two-dimensional code in the preset path operation area;
and controlling the robot body to perform corresponding movement according to the next movement instruction.
Further, the deviation data further includes second deviation data representing a positional deviation between a center of a field of view of the first camera and a center of the two-dimensional code; the next motion instruction comprises position data of a next target point; the step of controlling the robot body to perform corresponding movement according to the next movement instruction comprises the following steps:
calculating the actual position of the robot body according to the second deviation data and the position data of the two-dimensional code;
and performing motion planning according to the actual position and the position data of the next target point to control the motion of the robot body.
A two-dimensional code detection method is applied to the data processing unit in the two-dimensional code detection system, and the method comprises the following steps:
receiving deviation data sent by the first transceiver module;
carrying out weighted average calculation on the deviation data of the same two-dimensional code acquired for multiple times to obtain an average deviation value;
and judging whether the average deviation value exceeds a preset threshold value, if so, listing the corresponding two-dimensional code number into a list to be corrected.
Further, after the listing of the corresponding two-dimensional code number in the list to be corrected, the method further includes:
and outputting the list to be corrected to a user interface or a user side.
Further, after the listing of the corresponding two-dimensional code number in the list to be corrected, the method further includes:
and generating a set of position correction data associated with each two-dimensional code number in the list to be corrected according to the first deviation data of each two-dimensional code number.
Has the advantages that: the utility model discloses a two-dimensional code inspection robot and detecting system passes through the motion of robot along predetermineeing the route for camera module can acquire the image of each two-dimensional code position in the operation region, and follow-up positional deviation that can obtain each two-dimensional code through the processing to the image, thereby can provide the basis for subsequent artifical correction.
Drawings
FIG. 1 is an outline view of a two-dimensional code detection robot;
FIG. 2 is a bottom structure view of a two-dimensional code detection robot;
FIG. 3 is a schematic diagram of a hardware connection of a two-dimensional code detection robot;
FIG. 4 is a schematic diagram of a hardware connection of a two-dimensional code detection system;
FIG. 5 is a schematic flow chart of a two-dimensional code detection method applied to a control unit;
FIG. 6 is a schematic diagram showing the deviation between the two-dimensional code sticker and the cross mark;
fig. 7 is a schematic diagram of a two-dimensional code detection robot moving along a wave-shaped preset path;
fig. 8 is a schematic diagram of a two-dimensional code detection robot moving along a vortex-shaped preset path;
fig. 9 is a schematic flow chart of a two-dimensional code detection method applied to a data processing unit.
The names of the parts indicated by the reference numerals in the drawings are as follows:
1-a robot body; 11-a chassis; 12-a driving wheel; 13-a motor; 14-a driven wheel; 2-a camera module; 21-a first camera; 22-a second camera; 3-a control unit; 4-a first transceiver module; 5-a light source; 6-a data processing unit; 7-a second transceiver module; 8-two-dimensional code label paper; 9-cross mark line.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The two-dimensional code detection robot as shown in fig. 1 comprises a robot body 1, a camera module 2, a control unit 3 and a first transceiver module 4.
In the embodiment, as shown in fig. 2, the power assembly includes two driving wheels 12 symmetrically disposed on the left and right sides of the middle of the chassis 11, and each driving wheel 12 is driven by an independent motor 13; two driven wheels 14 are respectively mounted on the front side and the rear side of the chassis 11 to maintain the balance of the chassis 11. Through the above-mentioned structural arrangement of the driving pulley 12 and the driven pulley 14,
a camera module 2 mounted on the robot body 1, including the former or all of the first and second cameras 21 and 22; in this embodiment, because of being applied to the field of warehouse logistics, the two-dimensional codes are all arranged on the ground of the operation area and at the bottom of the shelf, and the two-dimensional codes on the ground and at the bottom of the shelf all need to check the position deviation, therefore, the camera module 2 simultaneously includes the first camera 21 and the second camera 22, the lens of the first camera 21 is vertically downward, the lens of the second camera 22 is vertically upward, and the lenses of the first camera 21 and the second camera 22 are coaxially arranged, and the first camera 21 and the second camera 22 are installed at the geometric center position of the chassis 11 (i.e. the symmetric center of the two driving wheels 12), so the camera module 2 can acquire the two-dimensional code images on the ground and at the bottom of the shelf for subsequent image processing.
As shown in fig. 3, the control unit 3 is electrically connected to the motor 13 and the camera module 2, and is configured to control the motor 13 to rotate and acquire an image acquired by the camera module 2; through the structural design of the robot body 1 and the layout of the camera modules 2, the control unit 3 can control the robot body 1 to make flexible movements, such as forward movement, backward movement, in-situ rotation and direction adjustment, and the robot body 1 has the smallest in-situ rotation radius; since the first camera 21 and the second camera 22 are installed at the geometric center of the chassis 11, the robot is easier to move to the target point where the camera module 2 can capture the two-dimensional code image.
The first transceiver module 4 is electrically connected to the control unit 3, and the control unit 3 can transmit data to an external system through the first transceiver module 4, and can also receive data transmitted by the external system through the first transceiver module 4.
Preferably, in order to enable the camera module 2 to capture an image of the position of the two-dimensional code under a good lighting condition, a light source 5 for auxiliary lighting is provided on the chassis 11 corresponding to each camera included in the camera module 2.
In addition, two-dimensional code inspection robot still contains other functional part and the structural component that the robot operation is indispensable, still installs battery, shell etc. if on chassis 11, still can include environment detection sensor, for example laser radar, the ultrasonic sensor who is used for surveying the barrier, an infrared sensor for surveying pedestrian etc. environment detection sensor also electricity connection control unit 3, control unit 3 can realize scram when meeting pedestrian or the barrier that appears temporarily according to the data that environment detection sensor detected.
The utility model also discloses a two-dimensional code detection system, as shown in figure 4, including the two-dimensional code detection robot, further including a data processing unit 6 and a second transceiver module 7; the second transceiver module 7 is connected to the data processing unit 6, and the second transceiver module 7 can communicate with the first transceiver module 4.
It should be noted that, in a general embodiment, the data processing unit 6 and the second transceiver module 7 are independent from the two-dimensional code detection robot, that is, the two are externally disposed on the two-dimensional code detection robot, the data processing unit 6 is an independent computer, and the first transceiver module 4 and the second transceiver module 7 are also independent communication devices, and communicate with each other in a wireless communication manner. In other embodiments, the data processing unit 6 and the second transceiver module 7 may be embedded in the two-dimensional code detection robot, and in this case, the first transceiver module 4 and the second transceiver module 7 may be simple data interfaces, and are connected through a data line. In another embodiment, the control unit 3 and the data processing unit 6 may also be two functional modules of software installed in the same computer hardware, and in this case, the first transceiver module 4 and the second transceiver module 7 are data interfaces between the two software functional modules. The above several forms of realization should all be regarded as falling within the scope of protection of the present invention.
The utility model also provides an in being applied to foretell two-dimensional code detecting system two-dimensional code detecting robot's the control unit 3 two-dimensional code detection method, as shown in figure 5, the method specifically includes following step A1-A3:
step A1, acquiring an image of the position of the two-dimensional code through the camera module 2;
in this step, the acquired image includes all images in the field of view of the camera lens, and the image generally includes images such as a reference mark and a local ground besides the two-dimensional code itself.
A step a2 of obtaining deviation data corresponding to the two-dimensional code from the image; wherein the deviation data includes first deviation data representing a positional deviation between the two-dimensional code and the reference mark;
in this embodiment, a cross mark line is used as a reference mark, as shown in fig. 6, when two-dimensional codes are manually pasted on the ground or the bottom of a shelf, a pasting operation is performed with the cross mark line 9 as a reference, because the accuracy in manual pasting is poor, a position deviation exists between a pasted two-dimensional code marking paper 8 and the cross mark line, the control unit 3 can extract a center position of the cross mark line and a center position of the two-dimensional code by using an image data processing means, and calculate first deviation data of the cross mark line and the two-dimensional code, wherein the first deviation data includes three data, namely, an X-axis direction deviation (e.g., δ X in the drawing) of the centers of the cross mark line and the two-dimensional code, a Y-axis direction deviation (e.g., δ Y in the drawing) of the centers of the cross mark line and the. The image data processing means described above adopts the prior art.
Step a3, sending the deviation data to the data processing unit 6 through the first transceiver module 4.
The steps a1-A3 are performed in a cycle as the robot body 1 moves to the position of each two-dimensional code, the robot body 1 moves along a preset path, the robot body 1 moves along the preset path to traverse and acquire the image of the position of each two-dimensional code, because the two-dimensional codes are generally arranged on the ground in a square arrangement, the preset path can be in a square waveform form as shown in fig. 7, that is, the robot acquires the images of the two-dimensional codes line by line, walks to the position of the last two-dimensional code at the tail of one line of the two-dimensional codes, turns around 90 degrees in place at the position, then moves to the position of the last two-dimensional code at the tail of the next line of the two-dimensional codes, then moves from the tail of the line of the two-dimensional codes to the head, moves to the position of the first two-dimensional code at the head, and then moves from the head to the tail of the line, the operation is repeated in a circulating mode until each two-dimensional code of the operation area is traversed; in other embodiments, the predetermined path may also be a zigzag spiral as shown in fig. 8.
In addition, in order to ensure the accuracy of the obtained first deviation data of each two-dimensional code, the two-dimensional code detection robot traverses each two-dimensional code in the working area for multiple times and sends the obtained deviation data to the data processing unit 6 for further processing.
The movement of the robot body 1 may be controlled manually, for example, manually may send a control signal to the first transceiver module 4 through a remote controller, so that the robot body 1 may traverse each two-dimensional code in the working area along a preset path, and an existing remote control moving vehicle may be purchased as the robot body 1 when necessary. In the embodiment, the two-dimensional code is already laid out on the ground, so in a preferred embodiment, the robot body 1 can be driven to move along the preset path in a two-dimensional code navigation mode. Therefore, it is preferable that, after the step a1 described above, the step B1-B3 be performed in addition to the steps a2-A3 to acquire the image of the position where the two-dimensional code is located by the camera module 2:
step B1, reading the content of the two-dimensional code in the image to obtain a two-dimensional code number;
step B2, obtaining a next motion instruction according to a preset path and the two-dimension code number; each two-dimensional code in the preset path operation area;
in the above steps B1-B2, the control unit 3 can generate a next-step motion instruction corresponding to each two-dimensional code number according to the preset path, and when the robot body 1 moves to the position of a certain two-dimensional code, the next-step motion instruction corresponding to the number can be queried by reading the number of the two-dimensional code; here, the next movement instruction may include information on a movement direction (e.g., forward, backward, left turn in place by 90 °, right turn in place by 90 °, etc.), position data of a next target point, and the like.
And step B3, controlling the robot body 1 to correspondingly move according to the next motion instruction.
In a further embodiment, the deviation data further includes second deviation data representing a positional deviation between the center of the field of view of the first camera 21 (i.e., the center point of the image) and the center of the two-dimensional code; the step B3 of controlling the robot body 1 to perform corresponding movement according to the next movement command comprises the following steps C1-C2:
step C1 of calculating the actual position of the robot body 1 from the second deviation data and the position data of the two-dimensional code;
in this step, in the actual calculation process, since the two-dimensional code may also have a position deviation, the first deviation data may be combined when calculating the actual position.
And step C2, performing motion planning according to the actual position and the position data of the next target point to control the motion of the robot body 1.
According to the steps C1-C2, the deviation rectification of the robot during two-dimensional code navigation and two-dimensional code navigation can be detected, and the situation that a complete two-dimensional code image cannot be shot after the robot reaches a target point due to large position deviation in the moving process is prevented.
The utility model also provides a be applied to among foretell two-dimensional code detecting system the two-dimensional code detection method of data processing unit 6, as shown in FIG. 9, it includes following step D1-D3:
step D1, receiving the deviation data sent by the first transceiver module 4;
in this step, the data processing unit 6 receives the deviation data obtained by traversing the map for multiple times sent by the first transceiver module 4 through the second transceiver module 7, and performs summary statistics on the deviation data corresponding to each two-dimensional code number.
Step D2, carrying out weighted average calculation on the deviation data of the same two-dimensional code acquired for multiple times to obtain an average deviation value;
and D3, judging whether the average deviation value exceeds a preset threshold value, if so, listing the corresponding two-dimensional code number in a list to be corrected.
Through the steps D1-D3, the obtained deviation data of the two-dimensional codes can be ensured to be more accurate.
Step D3 may be followed by step F1:
and step F1, outputting the list to be corrected to a user interface or a user terminal.
In this step, the user can obtain the list to be corrected through a user interface or a user side, and recheck and correct the two-dimensional code with the corresponding number.
Optionally, step D3 is followed by step E1:
and E1, generating a set of position correction data associated with each two-dimensional code number in the list to be corrected according to the first deviation data of each two-dimensional code number.
In this step, the form of position correction data can be in the form of array, proof, etc., so, when the intelligent robot is just looking at and carries out two-dimensional code navigation executive task later, every two-dimensional code department can carry out subsequent navigation motion after calculating the actual position of intelligent robot according to position correction data and the deviation of self for the two-dimensional code, guarantees that the robot does not yaw.
The utility model discloses a two-dimensional code inspection robot and detecting system passes through the motion of robot along predetermineeing the route, can make camera module can acquire the image of each two-dimensional code position in the operation region, can obtain the positional deviation of each two-dimensional code through the processing to the image to can be for subsequent artifical correction or the robot is automatic when walking rectify and provide the foundation, guarantee that follow-up intelligent robot carries out the higher walking precision occasionally of two-dimensional code navigation in the operation region.
The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (4)
1. The utility model provides a two-dimensional code inspection robot which characterized in that includes:
the robot comprises a robot body, a driving mechanism and a control mechanism, wherein the robot body comprises a power assembly capable of driving the robot body to move controllably in a whole;
a camera module mounted on the robot body, including the former or both of the first camera and the second camera; wherein the lens of the first camera is vertically downward and the lens of the second camera is vertically upward;
a control unit electrically connected to the power assembly and the camera module; and
and the first transceiving module is electrically connected with the control unit and used for transceiving data.
2. The two-dimensional code inspection robot according to claim 1, wherein a light source for auxiliary illumination is provided for each camera included in the camera module.
3. The two-dimensional code detection robot according to claim 1, wherein the robot body further comprises a chassis, the power assembly comprises two driving wheels symmetrically arranged on two sides of the middle of the chassis, each driving wheel is driven by an independent motor, and the motors are electrically connected with the control unit; and a plurality of driven wheels are also arranged on the chassis.
4. A two-dimensional code detection system, comprising the two-dimensional code detection robot of any one of claims 1-3, further comprising a data processing unit and a second transceiver module; the second transceiver module is connected with the data processing unit, and the second transceiver module can communicate with the first transceiver module.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509297A (en) * | 2019-09-16 | 2019-11-29 | 苏州牧星智能科技有限公司 | A kind of two dimensional code detection robot, detection system and detection method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509297A (en) * | 2019-09-16 | 2019-11-29 | 苏州牧星智能科技有限公司 | A kind of two dimensional code detection robot, detection system and detection method |
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