1324101 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】 隨著家用機器人逐漸融入人類的曰常生活，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，亦可設定模擬為寵 — 物:双陪伴_家人—「甚至百—主—機器—人亦可用_於工廠内亦自行搬 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，而後始能依據程式設定而執 行各種功能。因此，自主機器人定位系統多年來一直是研 發改良的重點方向之一。 表1 編號 定位設備技術 環境限制 1. 雷射測距裝置 無法感測玻璃、鏡子 2. 電子標籤 遠距無法應用 3. 紅外線定位 需要有天化板 4. 影像辨視定位 無法辨視單調影像 表1列出習知四種自主機器人定位系統所採用的定位 技術與限制條件，以下將分別簡述之。編號1的自主機器 人會配置雷射測距裝置，藉由發射出去的雷射被阻播物（如 6 1324101 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。1324101 IX. Description of the Invention: [Technical Field] 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 barcode. [Prior Art] With the gradual integration of home robots into the daily life of human beings, the demand for home robots is increasing, especially since the self-hosting of some artificial intelligence is an important direction for future research and development. For example, the autonomous robot can be set to sweep the ground and handle household chores, or set the simulation as a pet--the thing: double companion _ family--"even hundred-main-machine-people can also use the _ in the factory to carry goods. Regardless of the function of the autonomous robot, the autonomous robot must first be able to determine its position, and then perform various functions according to the program settings. Therefore, the autonomous robot positioning system has been one of the key directions for research and development for many years. 1 No. locating equipment technical environment restrictions 1. Laser ranging device can not sense glass, mirror 2. Electronic tag remote can not be applied 3. Infrared positioning requires a naturalized plate 4. Image recognition positioning can not identify monotonous image table 1 The positioning techniques and constraints used in the four autonomous robot positioning systems are listed below, which will be briefly described below. The autonomous robot number 1 will be equipped with a laser ranging device, and the laser will be blocked by the emitted laser. (such as 6 1324101 wall) reflected back, you can calculate the distance between the autonomous robot and the obstacle Positioning its own position. However, the configuration cost of the laser ranging device is quite high', making this autonomous robot positioning system difficult to popularize. Moreover, when the barrier is a high transmittance material such as glass, or as a mirror In the case of high reflectivity materials, 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.
編號2的自主機器人定位系統是採用無線射頻識別 (Radio Frequency Identification, RF7D)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— 般僅有數公分到數公尺。因此當自主機器人所處空間非私 廣大時，便需要增加電子標籤的配設密度，如此又 ： 此定位系統的建置成本。 9 ϋ 爲说3的自主機器人定位系統是採用紅外 式，苴中習杜雜a 八自知技藝會配置紅外線接收器於自主機器人」 並配置紅外線發射器以不斷朝天花板發射紅外線訊號 紅外線接收吨收到自天花板反射的紅外線訊號後， ί行運算以定位出自主機器人的位置。然而，若是自; 器人所處的％境沒有天花板，則無法制此定位系统。 7 編號4的自主機器人直接配置 Coupled Device，CCD)以偵測外界 / 70 件（Charge 中的狀目標物，射定位“=象1域體判斷影像 而，當編合元件操取到 體便不易分辨謝的目標物，進'差異不大：軟 當自主機器人周遭的環境過ϋ疋位。此外 紙），則會造成軟體辨識上的混#，5 @ 案的壁 ^進而亦無法有效定位。 【發明内容】 法本:Γ目的是提供一種自主機器人及其 === 系統無論在各種環境均可有效 疋位出自域以的位置，且自主機器 具有較低的建置成本。 疋疋m系，、无吟 為達上述或是其他目的，本發明提出一種自主機器人 定位糸統i包括紅外線發射器、二維條碼即Bar Code)以 及自主機“’其中自主機器人包括本體、中央控制單元、 紅外線接收㈣及影像接收器。紅外線發射器適於發出红 外線訊H祕碼切近紅外線發射H，並具有位置 資訊此外’自域胃人之t央㈣料狀控制本體， 而紅外線魏H是配置於本體上，並適於㈣紅外線訊號 以ϊίί 制平70 ’以使中央控制單元控制本體朝： 外線發射盗移動。另外，影像接收器亦配置於本體上並 適於接收—維條碼之影像而_JL巾央控鮮元，以使中 央控制單元根據位置資·定㈣本狀定位資訊。 為達上述或是其他目的，本發明另提出一種自主機器 1324101 人定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，使自主機器人搜尋預 設之紅外線訊號。接著使自主機H人朝紅外線訊號之發射 器方向移動預設位移後，使自主機器人搜尋預設之二維條 碼’其中二維條碼具有位置資訊。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。No. 2 autonomous robot positioning system uses Radio Frequency Identification (RF7D) 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, 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. Furthermore, the communication distance between the reader and the electronic tag is not long, and generally only a few centimeters to several meters. Therefore, when the space of the autonomous robot is non-private, it is necessary to increase the density of the electronic label, and thus: the cost of the construction of the positioning system. 9 ϋ In order to say 3, the autonomous robot positioning system adopts the infrared type, and the 苴中习杜杂 a 八 self-knowledge skill will configure the infrared receiver to the autonomous robot” and configure the infrared emitter to continuously emit infrared signals to the ceiling. After the infrared signal reflected from the ceiling, the operation is performed to locate the position of the autonomous robot. However, if the % of the person is in the absence of a ceiling, the positioning system cannot be made. 7 No. 4 autonomous robot directly configures the Coupled Device (CCD) to detect the outside world / 70 pieces (the object in the Charge, the positioning position = = like the 1 domain to judge the image, when the editing component is difficult to handle Distinguish the object of Xie, the difference is not big: soft when the environment surrounding the autonomous robot is over the position. In addition, the paper will cause the confusion on the software identification, and the wall of the case can not be effectively positioned. SUMMARY OF THE INVENTION The purpose of the present invention is to provide an autonomous robot and its === system that can effectively position itself from the domain in various environments, and the autonomous machine has a lower construction cost. In order to achieve the above or other purposes, the present invention provides an autonomous robot positioning system including an infrared emitter, a two-dimensional barcode (Bar Code), and a self-host "where the autonomous robot includes a body, a central control unit, and an infrared Receive (four) and image receiver. The infrared emitter is suitable for emitting infrared signal H secret code to cut near infrared emission H, and has position information. In addition, the self-domain stomach person's t-four (four) material control body, and the infrared Wei H is disposed on the body, and is suitable for (four) infrared The signal is leveled by ϊίί 70 ' to cause the central control unit to control the body toward: the outer line launches the pirate movement. In addition, the image receiver is also disposed on the body and is adapted to receive the image of the -dimensional bar code and the central control unit to position the information according to the location (4). To achieve the above or other objects, the present invention further provides an autonomous machine 1324101 human positioning method for positioning an autonomous robot'. The autonomous robot positioning method includes the following steps: moving the autonomous robot to cause the autonomous robot to search for a preset infrared signal. Then, after the host H person moves the preset displacement to the direction of the infrared signal transmitter, the autonomous robot searches for the preset two-dimensional barcode, wherein the two-dimensional barcode has position information. Then analyze the location information of the 2D barcode to locate the positioning information of the autonomous robot.
為達上述或是其他目的，本發明再提出一種自主 人三包括本體、中央控制單元、紅外線接收器以及影像S 收器。中央控制單元適於控制本體，而紅外線接收器θ 置於本體上，並適於接收紅外線訊號以傳遞至中央控 元，以使中央控制單元控制本體朝紅外線方向移動二而= 紅外線方向為本體往紅外線訊號之發射處延伸的方向。2 像接收器亦配置於本體上，並適於接收二維條碼而傳遞^ 中央控制單元，以使中央控制單元根據位置資訊而 本體之定位資訊。 甘令赞明乙一貫施例中，上述之二維條碼更例如具 移動位置訊息，以使中央控制單元根據移動位置資訊^抑 制本體移動。 在本發明之一實施例中，上述之二維條碼為快逮回應 碼(Quick Response Code，QR code)。 心 。在本發明之一實施例中，上述之該影像接收器可水 3〃6(Γ旋轉，而影像接收器可為電荷耦合元件或互補式金 氧化半導體影像感測器（Complementary Metal 〇xideTo achieve the above or other objects, the present invention further provides an autonomous person comprising a body, a central control unit, an infrared receiver, and an image S receiver. The central control unit is adapted to control the body, and the infrared receiver θ is disposed on the body, and is adapted to receive the infrared signal for transmission to the central control unit, so that the central control unit controls the body to move in the infrared direction 2 = the infrared direction is the body toward The direction in which the emission of the infrared signal extends. 2 The image receiver is also disposed on the body, and is adapted to receive the two-dimensional barcode and transmit the central control unit to enable the central control unit to locate the information according to the location information. In the consistent application of Gan Ling Zan Ming B, the above two-dimensional bar code has, for example, a moving position message, so that the central control unit suppresses the movement of the body according to the moving position information. In an embodiment of the invention, the two-dimensional barcode is a Quick Response Code (QR code). Heart. In an embodiment of the invention, the image receiver can be water 〃6 (Γ, and the image receiver can be a charge coupled device or a complementary gold oxide semiconductor image sensor (Complementary Metal 〇xide)
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 本體上。 二維條焉mif控制單元可内建關資料庫，以比對 置貝訊*。 訊至實施例中，上述之本體適於傳遞位移資 位出本體早70 ’以使中央控制單元根據位移資訊而定 校正本體之而中央控制單元可根據位置資訊而 综上所、，十、 » 法中，藉由本發明之自主機器人及其定位系統與方 便可直接…广 收器直接辨視二維條碼内的位置資訊， 紅外線發機器人的位置。此外，藉由辅助設置 可大幅提升C機器人能輕易搜尋到二維條碼，則 系統整體==便宜，藉此可降低此自主機器人定位 易懂為和其他目的、特徵和優點能更明顯 明如下。·佳貫施例，並配合所附圖式，作詳細說 【資施方式】 圖1Α為依據本發明一實施例 器人控制系統的方塊示意圖，而圖rB自為主二=自主， 體二:圖:C為圖1Α之二維條碼的正視圖 3 本發明之自主機器人控制系統 叫參 丨16以及影像接收器118。紅外線接二二=器器 13.24101 118均是配置於本體112上，並分別用於接收紅外線訊號 與影像以傳送至中央控制單元114,而中央控制單元114 可分析這些紅外線訊號與影像，並適於控制本體112的作 動。 承接上述，本發明是在特定位置同時配置紅外線發射 器120與二維條碼130以使其鄰近在一起，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、臥室 等等名稱，而以室外環境而言，此位置資訊可為街道路名 或是經緯度等等。此外，紅外線發射器120會發送紅外線 訊號122以吸引自主機器人110，如此自主機器人110便 可接收二維條碼130之位置資訊，以定位出自主機器人110 的位置。 具體而言，當紅外線接收器116接收紅外線訊號122 後，便會將紅外線訊號122傳遞至中央控制單元114，以 使中央控制單元114控制本體112朝紅外線發射器120移 動。換句話說，本體112是朝特定紅外線方向移動，而此 紅外線方向即為本體112往紅外線訊號122發射處（即紅外 線發射器120)延伸的方向。 接著，影像接收器118會不斷接收外界影像，並將影 像傳遞至中央控制單元114。當本體112愈靠近紅外線發 射器120時，由於二維條碼130鄰近紅外線發射器120， 所以影像接收器118便會接收到二維條碼130的影像而傳 遞至中央控制單元114，以使中央控制單元114根據二維 條碼130的位置資訊而定位出本體112之定位資訊。 1324101 承接上述’此定位資訊即為令央扣 一 定本體112所在位置的資訊。當中央:几114内部設 ，13。的位置資訊後，便可依據; 新疋位資訊的内容。 置貝訊而更 值得注意的是，紅外線訊號12〇的 機器人110來接收二維條碼13〇的位=;V引自主 號120本身並不具定位的性質。所以卷而紅外線訊 置密度很高，而使自主機器人110不條竭⑽的配 130的位置資訊時，本發明亦可減少心線二定,維條碼 數量以進一步降低建置成本。 卜線發适益Π0的 再者，當本體112離二維條碼13〇 是影像接收器118已經接收到二維條段距離，但 ，央控制單元„4便會試圖去解析==像’這時 制單元114無法解析二維條碼130,則 中央控制早7L 114亦會控制本體112 動，以擷取更清楚的二維條碼130影像朝—雜得130移 可用=機二^條碼130的製作成本非常低廉。本實施例 多張帶有不同位置資訊之二維條碼 是物m貼設於牆壁、天花板、地板或 即可使自主機器人無論在何處均能定位出自身 如為考圖1B’在本實施例中’中央控制單元114例 哭116、/無線傳輸的方式控制本體112、紅外線接收 1接㈣m。不過，本發明亦可將中央控 配置於本體112上，而以連線的方向直接操控 12 1324101 本體〗】2、紅外線接收器116 影像接收nm例如為電如人及〜像接收器118。此外， 1 j卻馮π何耦合兀件，並 以搜尋二維條碼130的影像m广了水+ 360凝轉 118 4¾. 不過本發明並不限定影像接 收益118的種類。舉例而言 式金屬氧化半導體影像感測器。^⑽亦可為互補Semiconductor, CMOS). In an embodiment of the invention, the central control unit described above may be located on the body of the nine. The 2D strip 焉mif control unit can be built into the database to compare the Beixin*. In the embodiment, the above-mentioned body is adapted to transmit the displacement position out of the body 70' to enable the central control unit to correct the body according to the displacement information, and the central control unit can be integrated according to the position information, 10, » In the method, the autonomous robot and the positioning system thereof of the present invention can directly directly recognize the position information in the two-dimensional barcode and the position of the infrared infra-red robot. In addition, by means of the auxiliary setting, the C robot can easily search for the 2D barcode, and the system as a whole == cheap, thereby reducing the positioning of the autonomous robot and being able to understand other objects, features and advantages more clearly as follows. Fig. 1 is a block diagram of an apparatus control system according to an embodiment of the present invention, and the graph rB is from the main two = autonomous, body two Fig. C is a front view of the two-dimensional bar code of Fig. 1. The autonomous robot control system of the present invention is called a reference 16 and an image receiver 118. The infrared splicing device is disposed on the main body 112 and is configured to receive the infrared signals and images for transmission to the central control unit 114, and the central control unit 114 can analyze the infrared signals and images, and is suitable for The actuation of the body 112 is controlled. In view of the above, the present invention simultaneously configures the infrared emitter 120 and the two-dimensional barcode 130 to be adjacent to each other at a specific location, wherein the two-dimensional barcode 130 contains location information, and the location information is the information for the specific location. In the indoor environment, the location information can be the name of the living room, the corridor, the bedroom, etc., and in the outdoor environment, the location information can be the street name or the latitude and longitude and the like. In addition, the infrared emitter 120 transmits an infrared signal 122 to attract the autonomous robot 110, so that the autonomous robot 110 can receive the position information of the two-dimensional barcode 130 to locate the position of the autonomous robot 110. Specifically, when the infrared receiver 116 receives the infrared signal 122, the infrared signal 122 is transmitted to the central control unit 114 to cause the central control unit 114 to control the body 112 to move toward the infrared emitter 120. In other words, the body 112 is moved toward a specific infrared direction, which is the direction in which the body 112 extends toward the infrared signal 122 (i.e., the infrared emitter 120). Then, the image receiver 118 continuously receives the external image and transmits the image to the central control unit 114. When the body 112 is closer to the infrared emitter 120, since the two-dimensional barcode 130 is adjacent to the infrared emitter 120, the image receiver 118 receives the image of the two-dimensional barcode 130 and transmits it to the central control unit 114 to make the central control unit The location information of the body 112 is located according to the location information of the two-dimensional barcode 130. 1324101 Undertaking the above-mentioned “location information” is the information that makes the central button 112 the location of the body 112. When the central: a few 114 inside, 13. After the location information, you can base the content of the new information. More importantly, it is worth noting that the robot 110 of the infrared signal 12〇 receives the bit of the two-dimensional bar code 13〇; the V-initiator 120 itself has no positioning property. Therefore, when the volume of the infrared signal is high and the autonomous robot 110 does not exhaust the position information of the (130) 130, the present invention can also reduce the number of core lines and the number of the barcodes to further reduce the construction cost. Furthermore, when the body 112 is away from the two-dimensional barcode 13 〇, the image receiver 118 has received the two-dimensional strip distance, but the central control unit „4 will try to resolve == like this time The unit 114 can not parse the two-dimensional barcode 130, and the central control early 7L 114 also controls the body 112 to capture a clearer two-dimensional barcode 130 image toward the miscellaneous 130 shift available = machine two ^ barcode 130 production cost Very low. In this embodiment, multiple 2D barcodes with different position information are attached to the wall, ceiling, floor or so that the autonomous robot can locate itself anywhere, as shown in Figure 1B' In the embodiment, the central control unit 114 is cried 116, the wireless transmission mode controls the main body 112, and the infrared reception 1 is connected to the fourth (4) m. However, the present invention can also configure the central control on the main body 112, and directly in the direction of the connection. Control 12 1324101 body〗 2, infrared receiver 116 Image receiving nm, for example, electric and human like ~ receiver 118. In addition, 1 j but Feng π coupled components, and search for 2D barcode 130 image m Water + 360 condensate 118 4 However the present invention is not limited to the type of image 118 then returns. For example the formula Metal Oxide Semiconductor image sensor. ^ ⑽ may also be complementary to
考圖1C，在本實施例中，二維 速回應碼_’但本發明並不限制二維條碼㈣的種類。 舉例而言’二維條碑130亦可為心以，c〇dabi〇ck f， DataMatnx, MaxiCode, MicroPDF, PDF-417, Micro QR, InfoGlyph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Π4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H4 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=資訊。接著，本體112可將此位移資訊傳遞至中央處 理，兀114，以使中央處理單元114可以根據此位移資訊 而疋位出本體112的最新位置，藉此更新本體112的定位 資訊。 承接上述，以本體丨12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n4 取得二維條碼13〇之位置資訊後，亦可用此位置資訊來重 1324101 新杈正本體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—實施例之自支機人定位方法的 流裎圖。請參考圖2,本發明之自多機器人定位方法是用 於定位如圖1B之自主機器人，而此自炙機器人定位方法包 括下列步驟.移動自主機器人以使自主機器人搜尋預没 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璩。Referring to Fig. 1C, in the present embodiment, the two-dimensional speed response code _' is not limited to the type of the two-dimensional barcode (four). For example, the two-dimensional monument 130 can also be a two-dimensional barcode of other coding methods such as c〇dabi〇ck f, DataMatnx, MaxiCode, MicroPDF, PDF-417, Micro QR, InfoGlyph, and the like. In addition to the location information, the '2' bar code 130 may also include a mobile location message. For example, the mobile location message is, for example, "moving to the right". When the central control unit Π4 receives the mobile location message, the body 112 can be controlled to move to the right. In addition, the central control unit H4 can further build a map database, thereby aligning the location information and moving the location information with the two-dimensional barcode. Furthermore, the body 112 can also record its own amount of movement (e.g., the number of revolutions of the wheel or gear) while moving to obtain the position of the body 112 = information. Then, the body 112 can transmit the displacement information to the central processing unit 114, so that the central processing unit 114 can pop up the latest position of the body 112 according to the displacement information, thereby updating the positioning information of the body 112. In order to carry out the above, it is inevitable that there will be an error in the positioning of the body 丨 12 itself (for example, on a rough road), so when the central processing unit n4 obtains the position information of the two-dimensional barcode 13 ,, the position information can also be used to 1324101 Location information of the new Yongzheng body 112. Furthermore, the central processing unit 114 can further push back 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 diagram of a method for positioning a self-supporting machine in accordance with an embodiment of the present invention. Referring to FIG. 2, the multi-robot positioning method of the present invention is for positioning an autonomous robot as shown in FIG. 1B, and the self-rotating robot positioning method includes the following steps: moving the autonomous robot to cause the autonomous robot to search for the pre-existing infrared signal S1, The preset infrared signal is the infrared signal emitted by the infrared emitter in FIG. 1A.
接著，使自主機器人朝紅外線訊號之發射器方向移動 預s又位移後S2，使自主機器人搜尋孩設—維條碼，而一 維條碼具有位置資訊S3，其中此處所述之發射器方向即為 刖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1Α之二維條碼。此外，自主機器人亦可同時移 動亚搜尋二維條碼，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统與方法 至少具有下列優點： t±/ >rr ^ ，.许你两丹紅汁踝發射器的製作成本不高， 斤以此定位系統的建置成本相對便宜。 可二：，可貼設於各種環境令，所以此定位系統 了應用在任何核境而不會受到限制。此外，藉由紅外線發 1324101 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。 【圓式簡單說明】Then, the autonomous robot is moved toward the transmitter of the infrared signal to move the pre-s and then shifted to S2, so that the autonomous robot searches for the child-dimensional bar code, and the one-dimensional bar code has the position information S3, wherein the transmitter direction described herein is The direction of the body toward the infrared emitter is described, and the preset two-dimensional barcode can be the two-dimensional barcode of FIG. In addition, the autonomous robot can also move the sub-search 2D barcode at the same time, and the present invention is not limited thereto. Then, the position information of the two-dimensional bar code is analyzed 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: t±/>rr ^ ,. The manufacturing cost of the two Dandan red juice sputum transmitter is not high, and the positioning system is The cost of construction is relatively cheap. Yes 2: It can be attached to various environmental orders, so this positioning system can be applied to any nuclear environment without being restricted. In addition, by using the infrared ray 1324101 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. [Circular simple description]
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1A is a block diagram of an autonomous robot and a self-host control system in accordance with 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 :自主機器人 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 15110 : Autonomous robot 112 : Main body 114 : Central control unit 116 : Infrared receiver 118 : Image receiver 120 : Infrared transmitter 122 : Infrared signal 130 : 2D barcode S1 to S4 : Step 15