200924926 九、發明說明： 【發明所屬之技術領域】 本發明是有關於一種自主機器人及其定位系統’且特 別是有關於一種以二維條碼搭配紅外線訊號定位之自主機 器人及其定位系統。 ； 【先前技術】BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous robot and its positioning system, and in particular to a self-host and a positioning system for positioning an infrared signal with a two-dimensional bar code. [Prior Art]
隨著家用機器人逐漸融入人類的日常生活，家用機器 人的需求便日益增加，特別是具有部分人工智慧的自主機 器人更是未來研究發展的重要方向。舉例而言，自主機器 人可設定成自行掃地與處理家務瑣事，亦可嗖定模擬為寵 務鄕伴―家人—，W主-機^亦可用—於王廠内亦自行搬 運貨物。無論自主機器人擔任何種功能，自主機器人首先 要能夠判斷自身所處的位置’而後始驗據程式設定而執 行各種功能。因此’自主魏人定㈣統多年來一直是研 發改良的重點方向之一。 編號 定位設備技術 1. 雷射測距裝置 2. 電子標籤 3. 紅外線定位 4. 影像辨視定位 環境限制 、鏡子 影像 柄1 ◎人定位系統所採用的定位 技術與限制條件’以下將分別簡述夕 1 _ u 刀⑴間A之。編號1的自主機器 人會配置雷射測距裝置’藉由發射屮a f对出去的雷射被阻檔物（如 6 200924926 牆壁）反射回來’則可計算出自主機器人與阻擋物之間的距 . 離’進而定位出自身的位置。然而’雷射測距裝置的配置 . 成本相當高，而使得此自主機器人定位系統不易普遍推 廣。再者’當阻擋物是如玻璃之高穿透率材質，或是如鏡 子之高反射率材質時，則雷射測距裝置便無法有效感測到 玻璃或是鏡子。如此一來，自主機器人便有可能與玻璃或 是鏡子發生碰撞而造成損壞。 編號2的自主機器人定位系統是採用無線射頻識別 ❹ （Radio Frequency Identification, RF1D)技術以進行定位，其 中習知技藝會配置讀取器（Reader)於自主機器人上，並配置 多個電子標籤(Tag)於特定位置，而電子標籤内部會儲存所 處位置的資訊。當自主機器人靠近某個電子標籤時’讀取 器便會讀取電子標籤所在位置的資訊，藉此便可定位出自 主機器人的相對位置。然而，讀取器與電子標籤的配置成 本亦不便宜’而使得此自主機器人定位系統亦不易普遍推 廣。再者，讀取器與電子標籤的可通訊距離均不長’而一 .❿ 般僅有數公分到數公尺。因此當自主機器人所處空間非常 廣大時’便需要增加電子標籤的配設密度，如此又需增加 此定位糸統的建置成本。 編號3的自主機器人定位系統是採用紅外線定位方 式，其中習知技藝會配置紅外線接收器於自主機器人上， 並配置紅外線發射器以不斷朝天花板發射紅外線訊號。當 紅外線接收器接收到自天花板反射的紅外線訊號後’便可 進行運算以定位出自主機器人的位置。然而，若是自主機 器人所處的環i兄沒有天花板，則無法採用此定位系統。 200924926 編號4的自主機ϋ人直接配置電聽合元件咖职 C_ed Deviee，CCD)以偵測外界影像。藉由軟體判斷影像 中的特定目標物，則可定位出自主機器人的相對位置。缺 而，當電荷耦合元件擷取到的影像對比度差異不大時，軟 體便不易分辨影像中的目標物，進而造成無法定位。此外， 當自主機器人周遭的環境過於單調時（如重複圖案的壁 紙），則會造錄體韻上的輯m紐有效定位。 ΟWith the gradual integration of home robots into the daily life of human beings, the demand for home robots is increasing, especially the self-hosting people with partial artificial intelligence is an important direction for future research and development. For example, the autonomous robot can be set to self-clean and handle household chores, and can also be modeled as a companion partner-family--W-main-machine^ can also be used to transport goods on its own. Regardless of the function of the autonomous robot, the autonomous robot must first be able to determine where it is located, and then perform various functions by setting the test program. Therefore, the 'independent Wei Ren Ding (4) system has been one of the key directions for research and development. Number positioning equipment technology 1. Laser ranging device 2. Electronic tag 3. Infrared positioning 4. Image recognition positioning environment limitation, mirror image handle 1 ◎ Positioning technology and restrictions used by human positioning system 'The following will be briefly described separately夕1 _ u knife (1) between A. The number 1 autonomous robot will configure the laser ranging device 'to reflect the distance between the autonomous robot and the obstacle by launching the 屮af to reflect the blocked laser (such as 6 200924926 wall). From 'and then locate your position. However, the configuration of the laser ranging device is quite high, making the autonomous robot positioning system difficult to generalize. Furthermore, when the barrier is a high transmittance material such as glass or a high reflectivity material such as a mirror, the laser ranging device cannot effectively sense the glass or the mirror. As a result, the autonomous robot may collide with the glass or the mirror to cause damage. No. 2 autonomous robot positioning system uses Radio Frequency Identification (RF1D) technology for positioning, wherein the conventional technology configures a reader (Reader) on the autonomous robot and configures multiple electronic tags (Tag ) at a specific location, and the inside of the electronic tag stores information about the location. When the autonomous robot approaches an electronic tag, the reader reads the information of the location of the electronic tag, thereby positioning the relative position of the robot. However, the configuration cost of the reader and the electronic tag is not cheap, and the autonomous robot positioning system is not easily popularized. Moreover, the communication distance between the reader and the electronic tag is not long, and the average is only a few centimeters to several meters. Therefore, when the space of the autonomous robot is very large, it is necessary to increase the density of the electronic tag, and thus the construction cost of the positioning system needs to be increased. The No. 3 autonomous robot positioning system uses an infrared positioning method in which an infrared ray receiver is configured on the autonomous robot and an infrared ray transmitter is arranged to continuously emit infrared signals toward the ceiling. When the infrared receiver receives the infrared signal reflected from the ceiling, it can perform an operation to locate the position of the autonomous robot. However, this positioning system cannot be used if there is no ceiling from the host where the host is located. 200924926 No. 4 from the host to directly configure the electronic listening component C_ed Deviee, CCD) to detect external images. By determining the specific target in the image by the software, the relative position of the autonomous robot can be located. Insufficient, when the contrast of the image captured by the charge-coupled component is not large, the software can hardly distinguish the target in the image, which makes it impossible to locate. In addition, when the environment around the autonomous robot is too monotonous (such as a repeating pattern of wall paper), it will create an effective positioning of the series on the rhyme. Ο
【發明内容】 有鑑於此’本發明之目的是提供1自域器人及其 :位定位系統無論在各種環境均可有效 具有較低的建置成本位i 1自主機器人或是定位系統均 定位3上^是其他目的，本發明提出-種自主機器人 及自主機器^ 線發射器、二維條碼(2DBarc〇de)以 紅外線接:器以及影=人。=、中央㈣^ 外線，，並具有= 而紅外線接收器是配置於本體上控控制本體’ 以傳遞至巾&並献減紅外線訊號 外線發射器移動;Γ :=控制單元控制本體朝紅 適於接收二維條碼收15亦配置於本體上，並 央控制里-抽二馬衫像傳遞至中央控制單元，以使中 為、衾？t據!1置資訊而定位出本體之定位資訊。 * 或是其他目的’本發明另提出-種自主機器 8 200924926 ::位方法以定位自主機器人，而此自主機器人定位方法 包括下列步驟：移動自主機器人，以使自主機器人搜尋預 外線訊號。接著使自域n人朝紅外線訊號之發射 裔方向移動預設位移後’使自主魏人搜尋預設之二維條 碼n維條碼具有位置資訊。再來分析二維條碼之位 置貢訊’以定位出自主機器人之定位資訊。 為達上述或是其他目的，本發明再提出一種自主機器SUMMARY OF THE INVENTION In view of the above, the object of the present invention is to provide a self-domain device and its positional positioning system capable of effectively having a low construction cost in any environment. i1 autonomous robot or positioning system is positioned. 3 is another purpose, the present invention proposes a kind of autonomous robot and autonomous machine ^ line transmitter, 2D barcode (2D Barc〇de) with infrared connection: and shadow = person. =, central (four) ^ outside line, and have = and the infrared receiver is configured on the body to control the body 'to pass to the towel & and to reduce the infrared signal outside the transmitter movement; Γ: = control unit control body toward red The receiving 2D barcode is also arranged on the main body, and the central control is transferred to the central control unit to make the middle, 衾? According to the information, the positioning information of the ontology is located. * or other purposes 'The invention is further proposed - an autonomous machine 8 200924926: bit method to locate an autonomous robot, and the autonomous robot positioning method comprises the following steps: moving the autonomous robot to enable the autonomous robot to search for pre-external signals. Then, the self-property person moves the preset direction of the infrared signal to the emission direction, and then the independent Weiren searches for the preset two-dimensional barcode n-dimensional barcode with position information. Then analyze the position of the two-dimensional bar code to locate the positioning information of the autonomous robot. In order to achieve the above or other purposes, the present invention further proposes an autonomous machine
m 人包括本體、中央控制單元、紅外線接收器以及影像接 收器。中央控制單元適於控制本體，而紅外線接收器是配 置於本體上，並適於接收紅外線訊號以傳遞至中央控制單 7L，以使中央控制單元控制本體朝紅外線方向移動，而此 紅外線方向為本體往紅外線訊號之發射處延伸的方向。影 像接收器亦配置於本體上，並適於接收二維條碼而傳遞至 中央控制單元，以使中央控制單元根據位置資訊而定位出 本體之定位資訊。 在本發明之一實施例中，上述之二維條碼更例如具有 移動位置訊息，以使中央控制單元根據移動位置資訊而控 制本體移動。 在本發明之一實施例中，上述之二維條碼為快速回應 碼(Quick Response Code，QR code)。 在本發明之一實施例中，上述之該影像接收器可水平 360°旋轉’而影像接收器可為電荷耦合元件或互補式金屬 氧化半導體影像感測器（Complementary Metal Oxide Semiconductor, CMOS) ° 在本發明之一實施例中，上述之中央控制單元可位於 9 200924926 =碼=置=控制單元可内建地圖資料庫’以比對 在本發明之一實施例中，上述之本體適於傳遞位移資 λ至中央控制單π ’以使巾央控制單元根據位移資訊而定 位出本體之定位資訊’而中央控制單元可根據位置資訊而 校正本體之定位資訊。The m person includes a body, a central control unit, an infrared receiver, and an image receiver. The central control unit is adapted to control the body, and the infrared receiver is disposed on the body and is adapted to receive the infrared signal for transmission to the central control unit 7L, so that the central control unit controls the body to move in the infrared direction, and the infrared direction is the body The direction in which the emission of the infrared signal extends. The image receiver is also disposed on the body and is adapted to receive the two-dimensional barcode and transmit it to the central control unit, so that the central control unit locates the positioning information of the body according to the location information. In an embodiment of the invention, the two-dimensional barcode further has, for example, a movement position message to cause the central control unit to control the movement of the body based on the movement position information. In an embodiment of the invention, the two-dimensional barcode is a Quick Response Code (QR code). In an embodiment of the invention, the image receiver can be rotated 360° horizontally while the image receiver can be a charge coupled device or a complementary metal oxide semiconductor image sensor (CMOS). In an embodiment of the present invention, the central control unit may be located at 9 200924926 = code = set = control unit may have a built-in map database 'in comparison. In an embodiment of the present invention, the above-mentioned body is adapted to transmit displacement The central control unit can correct the positioning information of the body according to the position information, so that the central control unit can locate the positioning information of the body according to the displacement information.
、综上所述，在本發明之自主機器人及其定位系統與方 法中’藉由影像接收器直接辨視二維條碼内的位置資訊， 便可直接定位出自主機器人的位置。此外，藉由輔助設置 紅外線發射“使自主機器人能輕易搜尋到二維條碼，則 可大幅提升準確定位的成功率。糾，二維條碼與紅外線 發射器的費用均相對便宜，拉μ_ -Ρ收 、 夺统敗㈣逮丄 降低此自主機器人定位 示既正體的運置成本。 為讓本發明之上述和其他 易懂’下文特舉較佳實施例， 明如下。 目的、特徵和優點能更明顯 並配合所附圖式，作詳細說In summary, in the autonomous robot and its positioning system and method of the present invention, the position of the autonomous robot can be directly located by directly observing the position information in the two-dimensional barcode by the image receiver. In addition, by assisting in the setting of infrared emission, "the autonomous robot can easily search for 2D barcodes, which can greatly improve the success rate of accurate positioning. Correction, 2D barcode and infrared transmitter are relatively cheap, pull μ_ - (4) arresting and reducing the positioning of the autonomous robot to indicate the operating cost of the original body. In order to make the above and other embodiments of the present invention, the following preferred embodiments are as follows. The purpose, features and advantages can be more obvious. And with the drawings, for details
【實施方式】 „圖^為依據本發明一實施例之自主機器人與自主機 以控制系統的方塊示意圖，而圖m為圖认之 2立體圖’且圖1C為圖1Α之二維條碼的正视圖。請來 考圖卜本發明之自主機器人控制系统議包括自 人110、紅外線發射H 120以及二維條碼13〇，而自主機器 =0 ^括本體m、中央控制單元114、紅外線接收器 Μ及影像接收器118。紅外線接收器116與影像接收器 200924926 118均疋配置於本體112上，並分別用於接收紅外線訊號 與影像^傳送至中央控制單元114，而中央控制單元114 可刀析這二、工外線訊號與影像，並適於控制本體112的作 動。[Embodiment] FIG. 2 is a block diagram of a control system of an autonomous robot and a self-host according to an embodiment of the present invention, and FIG. 1 is a perspective view of FIG. 2 and FIG. 1C is a front view of a two-dimensional barcode of FIG. Please come to Kautub. The autonomous robot control system of the present invention includes a self-person 110, an infrared emission H 120, and a two-dimensional barcode 13〇, while the autonomous machine =0 includes a body m, a central control unit 114, an infrared receiver, and The image receiver 118. The infrared receiver 116 and the image receiver 200924926 118 are uniformly disposed on the main body 112, and are respectively configured to receive the infrared signal and the image to be transmitted to the central control unit 114, and the central control unit 114 can analyze the two. The external line signal and image are adapted to control the actuation of the body 112.
Ο # 承接上述，本發明是在特定位置同時配置紅外線發射 器120與二維條石馬13〇則吏其鄰近在一起其中二維條碼 130内含有位置資訊，而此位置資訊即為此特定位置之資 訊:以室内環境而言’此位置資訊可為客廳、走廊、队室 等等名稱而以室外環境而言，此位置資訊可為街道路名 或是經緯度料。此外’紅外線發射器i2G會發送紅外線 訊號122以吸引自主機器人11〇，如此自主機器人n〇便 可接收二維條碼丨30之位置資訊，以定位出自 1〇 的位置。 具體而S ’當紅外線接收器116接收紅外線訊號12: 後，便會將紅外線訊號122傳遞至中央控制單元Μ，以 ^中央控制单it U4控制本體112朝紅外線發射器12〇移 ^換句話說，本體112是娜定紅外線方向移動，而此 方向即為本體112往紅外線訊號m發射處（即紅外 線發射器120)延伸的方向。 接著’影像接收器118會不斷接收外界 像傳遞至中央控制單元114。每太舻 象並將〜 ㈣"本體112愈靠近紅外線發 射益120 # ’由於二維條碼13〇鄰近紅外線發 所以影像接收器Π 8便會接收到-皓 、 遞至中沖麟元114收到―維條碼13G的影像而傳 條％二使中央控制單元114根據二維 條碼130的位置貧訊而定位出她 嘴 200924926 定中央控制單元114内部設 •维條㈣的位置,=訊便===14獲取二 新定位資訊的内容。 打依據最新的位置資訊而更 ，得注意的是’紅外線訊號12 ❹ Ο =;:r:r3°的位置資訊，而= 置密产很ίϋ 質。所以當二維條碼携的配 咖的位=器人UG不會遺漏特定二維條碼 數量以進-步降低建=亦可減少紅外線發送器則 是影二維條碼130尚有一段距離，但 中央控制單條= 置資訊。若中央控制單元114^=條碼130所含的位 中央控制單元m亦會控制本體碼⑽’則 動，以擷取更清楚的二維條碼130影2像朝一維條碼⑽移 另外，二維條碼13〇势 可用印表機列印出多張帶_ t it t。本實施例 130，並將這些二維條踩^置貝訊之二維條碼 是物品上，即可使自主牆壁、天花板、地板或 的位置。 态…、軸在何處均能定位出自身 如為電腦而傳’中央控制單元114例 —於本體112上，㈣== 12 200924926 本體112、紅外線接收n 116以及影像接收器ιΐ8。此 影像接收if m例如為電餘合元件，並可水平％卜轉 以搜尋二祕碼13G的影像，不過本發明並不限定^ 收器118的種類。舉例而言，影像接收器118 ,亦可為= 式金屬氧化半導體影像感測器。 ^ ❹ 請再參考圖1C，在本實施例中，二維條碼13〇可為快 速回應碼(QR) ’但本發明並秘制二祕碼13G的種類。 舉例而言’二維條碼130亦可為八伽，c〇dabi〇ck F， DataMatnx, MaxiCode, MicroPDF, PDF-417, Micro QR InfoGlypli等其他編碼方式的二維條碼。 ， 此外，二維條碼130除了位置資訊外，亦更可包含移 動位置訊息。舉例而言，此移動位置訊息例如為『向右方 移動』。當中央控制單元114接收到此移動位置訊息後， 便可控制本體112向右方移動。另外，中央控制單元114 更可内建地圖資料庫，藉此以比對二維條碼13〇之位置資 訊與移動位置訊息。 更進一步而言，本體112在進行移動時亦可紀錄自身 的移動量(例如車輪或齒輪的轉動圈數）而得出本體112的 位移資訊。接著’本體U2可將此位移資訊傳遞至中央處 理單元114，以使中央處理單元114可以根據此位移資訊 而定位出本體112的最新位置，藉此更新本體112的定位 資訊。 承接上述，以本體112自身的移動量進行定位難免會 有誤差（例如在崎嶇的道路上），所以當中央處理單元114 取得—維條碼130之位置資訊後，亦可用此位置資訊來重 200924926 新校正本體112的定位資訊。再者，中央處理單元114更 • 可依據此校正誤差而反推本體112的移動量，藉此計算並 調整本體112自身位移資訊的誤差。 以下將再配合圖示說明本發明之自主機器人定位方 法，然而此僅為本發明之特定實施例，熟悉此項技藝者當 可依據前述說明而稍加修改，然其仍屬本發明之範疇内。 圖2為依據本發明一實施例之自主機器人定位方法的 流程圖。請參考圖2,本發明之自主機器人定位方法是用 © 於定位如圖1B之自主機器人，而此自主機器人定位方法包 括下列步驟：移動自主機器人，以使自主機器人搜尋預設 之紅外線訊號S1，其中此預設之紅外線訊號即為圖1A中 由紅外線發射器所發射出之紅外線訊號。 接著，使自主機器人朝紅外線訊號之發射器方向移動 預設位移後S2，使自主機器人搜尋預設之二維條碼，而二 維條碼具有位置資訊S3，其中此處所述之發射器方向即為 前述中本體朝向紅外線發射器的方向，且預設之二維條碼 .© 即可為圖1A之二維條碼。此外，自主機器人亦可同時移 動並搜尋二維條碼’而本發明並不限定之。再來’分析二 維條碼之位置資訊’以定位出自主機器人之定位資訊S4。 綜上所述，本發明之自主機器人即其定位系統與方法 至少具有下列優點： 一、 由於二維條碼與紅外線發射器的製作成本不高， 所以此定位系統的建置成本相對便宜。 二、 二維條碼可貼設於各種環境中，所以此定位系統 可應用在任何環境而不會受到限制。此外，藉由紅外線發 14 200924926 射器導引自主機器人搜尋到二維條碼，更可有效提升定位 的成功率。 雖然本發明已以較佳實施例揭露如上，然其並非用以 限定本發明，任何熟習此技藝者，在不脫離本發明之精神 和範圍内，當可作些許之更動與潤飾，因此本發明之保護 範圍當視後附之申請專利範圍所界定者為準。 【圖式簡單說明】 ❹ 圖1A為依據本發明一實施例之自主機器人與自主機 器人控制系統的方塊示意圖。 圖1B為圖1A之自主機器人的立體圖。 圖1C為圖1A之二維條碼的正視圖。 圖2為依據本發明一實施例之自主機器人定位方法的 流程圖。 【主要元件符號說明】 100 :自主機器人控制系統 ， 110 :自主機器人 1 112 :本體 114 :中央控制單元 116 :紅外線接收器 118 :影像接收器 120 :紅外線發射器 122 :紅外線訊號 130 :二維條碼 S1〜S4 :步驟 15Ο# In the above, the present invention configures the infrared emitter 120 and the two-dimensional stone horse 13 at a specific position, and the two-dimensional barcode 130 contains the position information, and the position information is the specific position. Information: In terms of indoor environment, 'this location information can be used for the living room, corridor, team room, etc. In terms of outdoor environment, this location information can be street name or latitude and longitude. In addition, the infrared emitter i2G transmits an infrared signal 122 to attract the autonomous robot 11〇, so that the autonomous robot can receive the position information of the two-dimensional barcode 30 to locate the position from 1〇. Specifically, when the infrared receiver 116 receives the infrared signal 12:, the infrared signal 122 is transmitted to the central control unit Μ, and the central control unit it U4 controls the body 112 to move toward the infrared emitter 12. The body 112 is in the direction of the infrared rays, and the direction is the direction in which the body 112 extends toward the infrared signal m (ie, the infrared emitter 120). The image receiver 118 then continuously receives the external image to the central control unit 114. Every 舻 并将 并将 并将 ( 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体 本体The image of the bar code 13G is transmitted and the second control unit 114 causes the central control unit 114 to locate the position of the inner control unit 114 of the central control unit 114 according to the positional difference of the two-dimensional bar code 130, and the position of the dimension bar (4) is determined. =14 Get the content of the second new positioning information. According to the latest location information, it is more important to note that the 'infrared signal 12 ❹ Ο =;: r: r3° position information, and the = dense production is very good quality. Therefore, when the 2D barcode carries the position of the coffee maker = the UG does not miss the specific 2D barcode number to reduce the build step = the infrared transmitter is also the shadow 2D barcode 130 still has a distance, but the center Control single bar = set information. If the central control unit 114^=the bit center control unit m included in the barcode 130 also controls the body code (10)' to move, to capture a clearer two-dimensional barcode 130 shadow 2 image to move to the one-dimensional barcode (10), the two-dimensional barcode 13 potentials can be printed with a number of tapes _ t it t. In the embodiment 130, and the two-dimensional bar of the two-dimensional bar is placed on the article, the position of the autonomous wall, ceiling, floor or the like can be made. State... Where can the axis locate itself? For the computer, 'the central control unit 114' is on the body 112, (4) == 12 200924926 The body 112, the infrared receiver n 116 and the image receiver ιΐ8. The image receiving if m is, for example, an electric remnant element, and can be horizontally rotated to search for an image of the second secret code 13G. However, the present invention does not limit the type of the receiver 118. For example, the image receiver 118 can also be a metal oxide semiconductor image sensor. ^ ❹ Referring again to FIG. 1C, in the present embodiment, the two-dimensional barcode 13 〇 may be a quick response code (QR) ’, but the present invention secrets the second secret code 13G. For example, the two-dimensional barcode 130 may also be a two-dimensional barcode of other encoding methods such as 八伽, c〇dabi〇ck F, DataMatnx, MaxiCode, MicroPDF, PDF-417, Micro QR InfoGlypli. In addition, the two-dimensional barcode 130 may include a mobile location information in addition to the location information. For example, the mobile location message is, for example, "moving to the right". When the central control unit 114 receives the mobile location message, the body 112 can be controlled to move to the right. In addition, the central control unit 114 can further build a map database, thereby aligning the location information and moving the location information with the two-dimensional barcode. Further, the body 112 can also record its own movement amount (for example, the number of rotations of the wheel or the gear) while moving, and obtain the displacement information of the body 112. Then, the body U2 can transmit the displacement information to the central processing unit 114, so that the central processing unit 114 can locate the latest position of the body 112 according to the displacement information, thereby updating the positioning information of the body 112. In the above, it is inevitable that there will be an error in the positioning of the body 112 itself (for example, on a rough road). Therefore, when the central processing unit 114 obtains the position information of the bar code 130, the location information can be used to re-use 200924926. The positioning information of the body 112 is corrected. Furthermore, the central processing unit 114 can further reverse the amount of movement of the body 112 according to the correction error, thereby calculating and adjusting the error of the displacement information of the body 112 itself. In the following, the autonomous robot positioning method of the present invention will be described with reference to the drawings, but this is only a specific embodiment of the present invention, and those skilled in the art can modify it slightly according to the foregoing description, but it is still within the scope of the present invention. . 2 is a flow chart of a method for positioning an autonomous robot in accordance with an embodiment of the present invention. Referring to FIG. 2, the autonomous robot positioning method of the present invention is used to locate the autonomous robot as shown in FIG. 1B, and the autonomous robot positioning method includes the following steps: moving the autonomous robot to cause the autonomous robot to search for the preset infrared signal S1, The preset infrared signal is the infrared signal emitted by the infrared emitter in FIG. 1A. Then, the autonomous robot is moved to the emitter position of the infrared signal to move the preset displacement S2, so that the autonomous robot searches for the preset two-dimensional barcode, and the two-dimensional barcode has the position information S3, wherein the transmitter direction described herein is The aforementioned medium body faces the direction of the infrared emitter, and the preset two-dimensional barcode.© can be the two-dimensional barcode of FIG. 1A. In addition, the autonomous robot can also move and search for the two-dimensional bar code at the same time, and the present invention is not limited thereto. Then, 'analyze the position information of the two-dimensional bar code' to locate the positioning information S4 of the autonomous robot. In summary, the autonomous robot of the present invention, that is, its positioning system and method, has at least the following advantages: 1. Since the manufacturing cost of the two-dimensional barcode and the infrared emitter is not high, the construction cost of the positioning system is relatively inexpensive. Second, the 2D barcode can be attached to various environments, so this positioning system can be applied to any environment without restriction. In addition, by using the infrared ray 14 200924926 to guide the autonomous robot to search for the 2D barcode, the success rate of the positioning can be effectively improved. While the present invention has been described in its preferred embodiments, the present invention is not intended to limit the invention, and the present invention may be modified and modified without departing from the spirit and scope of the invention. The scope of protection is subject to the definition of the scope of the patent application. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1A is a block diagram showing an autonomous robot and a self-host control system according to an embodiment of the present invention. FIG. 1B is a perspective view of the autonomous robot of FIG. 1A. Figure 1C is a front elevational view of the two-dimensional bar code of Figure 1A. 2 is a flow chart of a method for positioning an autonomous robot in accordance with an embodiment of the present invention. [Main component symbol description] 100: Autonomous robot control system, 110: Autonomous robot 1 112: Main body 114: Central control unit 116: Infrared receiver 118: Image receiver 120: Infrared transmitter 122: Infrared signal 130: Two-dimensional barcode S1~S4: Step 15