WO2021036020A1

WO2021036020A1 - Reflective marker identification method, and mobile robot system

Info

Publication number: WO2021036020A1
Application number: PCT/CN2019/119494
Authority: WO
Inventors: 崔江伟; 韩奎
Original assignee: 苏州科瓴精密机械科技有限公司
Priority date: 2019-08-29
Filing date: 2019-11-19
Publication date: 2021-03-04
Also published as: CN110501715A; CN110501715B

Abstract

A reflective marker identification method and a mobile robot system. The reflective marker identification method comprises: continuously receiving laser reflection signals, and recording an encoder count value of each of the laser reflection signals (S1); traversing received encoder count values, and obtaining a start encoder count value and an end encoder count value of a corresponding reflective marker (S2); obtaining, according to the start encoder count value and the end encoder count value of each reflective marker, an included angle between a mobile robot at a current position and the reflective marker, the included angle corresponding to the reflective marker comprising a start included angle and an end included angle (S3); and identifying the reflective marker according to the obtained included angle (S4). The invention obtains a verification parameter by means of an included angle between a reflective marker and a mobile robot and other known parameters, and further verifies the known parameters by means of the verification parameter, thereby reaching a decision of whether a determined reflective marker is correct, or performing classification of a reflective marker.

Description

Reverse cursor identification method and mobile robot system

Technical field

The invention relates to the field of intelligent control, in particular to a method for identifying a reverse cursor and a mobile robot system.

Background technique

In the application of mobile robots, navigation means that the mobile robot senses the environment and its own state through sensors, and realizes autonomous movement towards the target in an environment with obstacles; the success of navigation requires 4 modules, perception, positioning, cognition and motion control Among them, positioning is the most basic link in the navigation process of a mobile robot. The so-called positioning is to determine the real-time pose of the mobile robot in the environment. Currently widely used positioning technologies include: visual navigation positioning, global positioning system, differential GPS positioning, laser signal positioning, etc.

The laser signal positioning method has become the mainstream method of mobile robot positioning because it is more suitable for application on mobile robots. For the mobile robot positioning method in the prior art, please refer to the announcement number CN103542846, the invention name "a mobile robot system and positioning method". Solution description: The mobile robot includes a laser. The laser emits a laser signal to the anti-cursor to form a reflected signal. Through the reflected signal and the position of the anti-cursor with known coordinates, the angle value of the current position of the mobile robot relative to any two anti-cursors can be obtained, and further The current position of the mobile robot is accurately located according to the angle value.

However, in practical applications, in order to obtain the reflected signal relative to more anti-cursors during the laser rotation process, it is necessary to continuously excite the emission signal. In this way, corresponding to each anti-cursor, multiple received signals will be received; correspondingly Distinguishing the anti-cursor by receiving signals becomes particularly important. Accurately distinguishing the anti-cursor is the basis for locating the position of the mobile robot. In the prior art, the mobile robot's ability to distinguish the anti-cursor autonomously through multiple received signals is insufficient, resulting in poor positioning effect. .

Summary of the invention

In order to solve the above technical problems, the purpose of the present invention is to provide a reverse cursor identification method and a mobile robot system.

In order to achieve one of the objectives of the above-mentioned invention, an embodiment of the present invention provides a method for identifying a reverse cursor, the method includes the following steps: S1, continuously receiving laser reflection signals, and recording the encoder count value of each laser reflection signal; S2 、 Traverse the received encoder count value to obtain the start encoder count value N1 and the end encoder count value N2 corresponding to the inverted cursor; S3. Obtain according to the start encoder count value N1 and the end encoder count value N2 of each inverted cursor The included angle between the mobile robot and each back cursor at the current position; the included angle corresponding to each back cursor includes: the starting angle θ1 and the ending angle θ2;

Among them, N represents the maximum count of the current encoder; S4. Identify the reverse cursor according to the obtained included angle.

As a further improvement of an embodiment of the present invention, step S4 specifically includes: S41, calculating the included angle Δθ from the moving robot heading zero point to the corresponding anti-cursor according to the starting angle θ1 and the ending angle θ2; Δθ=|θ2-θ1|; S42. Obtain the actual distance d between each anti-cursor and the mobile robot and the actual width w of each anti-cursor according to the coordinate value of each anti-cursor and the corresponding coordinate value of the mobile robot when the included angle Δθ is obtained; according to the actual distance d and matching The included angle Δθ obtains the theoretical width w1 of each reverse cursor,

S43. Determine whether the theoretical width w1 of each reverse cursor is the same as its actual width w, and if so, confirm that the currently confirmed reverse cursor is correct.

As a further improvement of an embodiment of the present invention, step S42 further includes: obtaining the theoretical verification width w2 corresponding to each inverse cursor according to the theoretical width w1 of each inverse cursor, w2=w1/ε1, ε1 is a constant, and its value range Is ε1∈(0,1]; step S43 specifically includes: judging whether the theoretical check width w2 of each reverse cursor is the same as its actual width w, and if so, confirm that the currently confirmed reverse cursor is correct.

As a further improvement of an embodiment of the present invention, step S4 specifically includes: S41', calculating the angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor according to the starting angle θ1 and the ending angle θ2; Δθ=|θ2-θ1| S42', according to the coordinate value of each reflective cursor, the coordinate value of the mobile robot when the included angle Δθ is correspondingly obtained, the actual distance d between each reflective cursor and the mobile robot, and the actual width w of each reflective cursor; according to each reflective The actual width w of the target and the matching included angle Δθ obtain the theoretical distance d1 from each back cursor to the mobile robot,

S43', judge whether the theoretical distance d1 of each reverse cursor is the same as its actual distance d, and if so, confirm that the currently confirmed reverse cursor is correct.

As a further improvement of an embodiment of the present invention, step S42' further includes: obtaining the theoretical verification distance d2 corresponding to each inverse cursor according to the theoretical distance d1 of each inverse cursor, d2=d1/ε2, ε2 is a constant, and its value is The range is ε2∈(0,1]; step S43' specifically includes: judging whether the theoretical verification distance d2 of each inverted cursor is the same as its actual distance d, and if so, confirm that the currently confirmed inverted cursor is correct.

As a further improvement of an embodiment of the present invention, step S4 specifically includes: S41". During the continuous movement of the mobile robot, obtain the included angle Δθ from the mobile robot's heading zero to the corresponding anti-cursor every preset time interval, and obtain the previous time The included angle Δθ is represented by the first included angle Δθ1, and the included angle Δθ obtained at a later time is represented by Δθ2; Δθ1=|θ12-θ11|, Δθ2=|θ22-θ21|, where θ11 represents the formation of the first clamp The initial included angle of the angle Δθ1, θ12 represents the final included angle forming the first included angle ??1, θ21 represents the initial included angle forming the second included angle ??2, and θ22 represents the final included angle forming the second included angle ??2; S42" , Determine whether |Δθ2-Δθ1| is not greater than the system preset difference threshold, if so, confirm that the first included angle Δθ1 and the second included angle Δθ2 come from the same reverse cursor.

In order to achieve one of the above-mentioned objects of the invention, an embodiment of the present invention provides a method for identifying a reverse cursor, the method includes the following steps: M1, continuously receiving laser reflection signals, and recording the encoder count value of each laser reflection signal; M2 、 Traverse the received encoder count value to obtain the start encoder count value N1 and end encoder count value N2 corresponding to the inverted cursor; M3, obtain according to the start encoder count value N1 and end encoder count value N2 of each inverted cursor The median encoder count N _mid corresponding to each reverse cursor,

M4. If at least two identical code count median values N _mid are obtained at the same time, the movement is obtained according to the start encoder count value N1 and the end encoder count value N2 corresponding to the reverse cursor with the same code count median value N _mid The angle between the robot and each recursor at the current moment; the angle corresponding to each recursor includes: the starting angle θ1, the ending angle θ2, and the angle Δθ from the moving robot's heading zero to the corresponding recursor;

Δθ=|θ2-θ1|, where N represents the maximum count of the current encoder; M5, according to each obtained angle Δθ, the current coordinates of the mobile robot, and the coordinates of the anti-cursor to distinguish different anti-cursors, where the included angle The larger the Δθ, the closer the corresponding back cursor is to the position of the mobile robot.

In order to achieve one of the objectives of the above-mentioned invention, an embodiment of the present invention provides a mobile robot system, which is set in a work area, and a number of inverted cursors with known coordinate values are set in the work area, and the system includes: a laser The transmitting and receiving module is used to continuously receive the laser reflection signal and record the encoder count value of each laser reflection signal; the counting module is used to traverse the received encoder count value to obtain the initial encoder count value N1 and the corresponding anti-cursor End encoder count value N2; processing module, used to obtain the angle between the mobile robot and each reverse cursor at the current position according to the start encoder count value N1 and end encoder count value N2 of each reverse cursor; each reverse cursor Corresponding angles include: starting angle θ1, ending angle θ2;

Among them, N represents the maximum count of the current encoder; the identification output module is used to identify the reverse cursor according to the obtained included angle.

As a further improvement of an embodiment of the present invention, the identification output module is specifically used to: obtain the actual distance d between each anti-cursor and the mobile robot according to the coordinate value of each anti-cursor corresponding to the coordinate value of the mobile robot when the included angle Δθ is obtained, And the actual width w of each reflector; the theoretical width w1 of each reflector is obtained according to the actual distance d and the matching included angle Δθ,

Determine whether the theoretical width w1 of each reverse cursor is the same as its actual width w. If so, confirm that the currently confirmed reverse cursor is correct.

As a further improvement of an embodiment of the present invention, the identification output module is also used to: obtain the theoretical verification width w2 corresponding to each inverse cursor according to the theoretical width w1 of each inverse cursor, w2=w1/ε1, and ε1 is a constant, which is taken The value range is ε1∈(0,1]; judge whether the theoretical check width w2 of each reverse cursor is the same as its actual width w, if so, confirm that the currently confirmed reverse cursor is correct.

As a further improvement of an embodiment of the present invention, the identification output module is specifically used to calculate the included angle Δθ from the mobile robot's heading zero point to the corresponding anti-cursor according to the starting angle θ1 and the ending angle θ2; Δθ=|θ2-θ1|; According to the coordinate value of each inverse cursor and the coordinate value of the mobile robot when the included angle Δθ is obtained, the actual distance d between each inverse cursor and the mobile robot and the actual width w of each inverse cursor are obtained; according to the actual width w of each inverse cursor And the matching included angle Δθ obtains the theoretical distance d1 from each back cursor to the mobile robot,

Determine whether the theoretical distance d1 of each reverse cursor is the same as its actual distance d. If so, confirm that the currently confirmed reverse cursor is correct.

As a further improvement of an embodiment of the present invention, the identification output module is also used to: obtain the theoretical verification distance d2 corresponding to each inverse cursor according to the theoretical distance d1 of each inverse cursor, d2=d1/ε2, and ε2 is a constant, which is taken The value range is ε2∈(0,1]; judge whether the theoretical verification distance d2 of each reverse cursor is the same as its actual distance d, if so, confirm that the currently confirmed reverse cursor is correct.

As a further improvement of an embodiment of the present invention, the identification output module is specifically used to: during the continuous movement of the mobile robot, obtain the included angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor every preset time interval, and obtain the value obtained at the previous time The included angle Δθ is represented by the first included angle Δθ1, and the included angle Δθ obtained at a later time is represented by Δθ2; Δθ1=|θ12-θ11|, Δθ2=|θ22-θ21|, where θ11 represents the formation of the first included angle The starting angle of Δθ1, θ12 represents the ending angle forming the first angle Δθ1, θ21 represents the starting angle forming the second angle Δθ2, and θ22 represents the ending angle forming the second angle Δθ2; judge |Δθ2 -Δθ1| is not greater than the system preset difference threshold, if so, confirm that the first included angle Δθ1 and the second included angle Δθ2 come from the same reverse cursor.

In order to achieve one of the objectives of the above-mentioned invention, an embodiment of the present invention provides a mobile robot system, which is set in a work area, and a number of inverted cursors with known coordinate values are set in the work area, and the system includes: a laser The transmitting and receiving module is used to continuously receive the laser reflection signal and record the encoder count value of each laser reflection signal; the counting module is used to traverse the received encoder count value to obtain the initial encoder count value N1 and the corresponding anti-cursor End encoder count value N2; According to the start encoder count value N1 and end encoder count value N2 of each reverse cursor, obtain the median encoder count N _mid corresponding to each reverse cursor,

The processing module is used to if at least two identical code count median values N _mid are obtained at the same time, according to the start encoder count value N1 and the end encoder count value corresponding to the reverse cursor with the same code count median value N _mid N2 Obtain the angle between the mobile robot and each anti-cursor at the current moment; the angle corresponding to each anti-cursor includes: the starting angle θ1, the ending angle θ2, and the angle Δθ from the moving robot's heading zero to the corresponding anti-cursor;

Δθ=|θ2-θ1|, where N represents the maximum count of the current encoder; the identification output module is used to distinguish different anti-cursors according to each acquired angle Δθ, the current coordinates of the mobile robot, and the coordinates of the anti-cursor, Among them, the larger the angle Δθ, the closer the corresponding anti-cursor is to the position of the mobile robot.

Compared with the prior art, the reverse cursor identification method and mobile robot system of the present invention, through the start encoder count value N1 and the end encoder count value N2 corresponding to each reverse cursor, can be calculated to obtain the reverse cursor and the mobile robot Included angle, the verification parameter is obtained by calculating the included angle and other known parameters, and the known parameters are further verified by the verification parameter, and then it is judged whether the confirmed back cursor is correct or the back cursor is distinguished.

Description of the drawings

FIG. 1 is a schematic flowchart of a reverse cursor identification method according to an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a specific example of the present invention;

Figures 3, 4, and 5 are respectively a schematic diagram of a preferred implementation process corresponding to step S4 in Figure 1;

FIG. 6 is a schematic flowchart of a method for identifying a reverse cursor according to still another embodiment of the present invention;

FIG. 7 is a schematic diagram of modules of a mobile robot system provided by an embodiment of the present invention.

detailed description

Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the drawings. However, these embodiments do not limit the present invention, and the structural, method, or functional changes made by those skilled in the art according to these embodiments are all included in the protection scope of the present invention.

The mobile robot system of the present invention can be a mowing mobile robot system, or a sweeping mobile robot system, etc., which automatically walks in the work area for mowing and dust collection; in the work area, a number of anti-cursors with known coordinate values are set , And the width and height of each reverse cursor are known; the mobile robot includes a main body, a turntable arranged on the main body and capable of rotating 360 degrees, a laser arranged on the turntable, and a control module.

The laser can emit a laser signal at a set frequency. When the laser signal is irradiated to the anti-cursor, it will be reflected by the anti-cursor to form a laser reflection signal. The control module can identify the anti-cursor according to the received laser reflection signal.

As shown in FIG. 1, an inverted cursor identification method provided by an embodiment of the present invention includes:

S1. Continuously receive laser reflection signals, and record the encoder count value of each laser reflection signal.

S2. Traverse the received encoder count value to obtain the start encoder count value N1 and the end encoder count value N2 corresponding to the reverse cursor.

S3. Obtain the included angle between the mobile robot and each inverted cursor at the current position according to the start encoder count value N1 and the end encoder count value N2 of each inverted cursor; the included angle corresponding to each inverted cursor includes: the initial included angle θ1, termination angle θ2;

Among them, N represents the maximum count of the current encoder.

S4. Identify the reverse cursor according to the obtained included angle.

For step S1, when the laser signal is irradiated to the anti-cursor, it will be reflected by the anti-cursor, and then receive continuous pulses of a fixed frequency to form a laser reflection signal; in the process of rotating the turntable, corresponding to each anti-cursor, you can Obtain multiple laser reflection signals; and during the laser reflection signal transmission process, the encoder will continue to record the encoder count value.

The encoder count value is a set of count values arranged in ascending or descending order at equal time intervals. In this application, because the receiving time of the laser reflection signal is different, so, during the turntable rotation, each laser reflection signal is The receiving timing corresponds to different encoder count values.

For step S2, in the received laser reflection signal, corresponding to each anti-cursor, when the laser is irradiated to the anti-cursor for the first time and the last time the laser is irradiated to the anti-cursor, there is a corresponding encoder count value. The encoder count value corresponding to the time when the light is irradiated one time is defined as the starting encoder count value N1, and the encoder count value corresponding to the last time when the light is irradiated to the same luminous mark is defined as the ending encoder count value N2.

For step S3, as shown in FIG. 2, when the mobile robot 10 continuously receives the laser reflection signal at a certain position, the light rays X1 and X2 of the laser reflection signal respectively have an angle with the heading zero point X3 of the mobile robot. In this specific embodiment, the laser The turntable rotates clockwise. In this way, the angle between the light X1 of the laser reflection signal and the zero point X3 of the mobile robot's course is defined as the starting angle θ1, and the angle between the light X2 of the laser reflection signal and the zero point X3 of the mobile robot's course The angle is defined as the ending angle θ2.

In the specific embodiment of the present invention, the magnitudes of the starting angle θ1 and the ending angle θ2 are related to the encoder count value corresponding to the moment when the laser reflection signal forming the angle occurs; namely:

Among them, N represents the maximum count of the current encoder. In this specific example, the value of N1 is 3156, the value of N2 is 3159, and the value of N is 8192.

For step S4, as shown in FIG. 3, in the first preferred embodiment of the present invention, the width of the reverse cursor is used to verify whether the selected reverse cursor is correct. Correspondingly, step S4 specifically includes: S41. Calculate and obtain the included angle Δθ from the zero point of the mobile robot heading to the corresponding inverted cursor according to the initial included angle θ1 and the end included angle θ2; Δθ=|θ2-θ1|; The coordinate value, the corresponding mobile robot coordinate value when the included angle Δθ is obtained, the actual distance d between each reverse cursor and the mobile robot, and the actual width w of each reverse cursor are obtained; each is obtained according to the actual distance d and the matching included angle Δθ The theoretical width of the reverse cursor w1,

Further, if the theoretical width w1 of one of the selected anti-cursors is different from its actual width w, it means that the selected anti-cursor is incorrect, and the anti-cursor needs to be reselected and recalculated. The reason for the incorrect reversal of the cursor, such as the influence of other reflective obstacles, etc., will not be described further here.

In a preferred embodiment of the present invention, considering the influence of factors such as the defacement of the reflector surface and the material of the reflector, the obtained theoretical width w1 can be corrected. Specifically, step S42 also includes: according to the theory of each reflector Width w1, obtain the theoretical verification width w2 corresponding to the inverted cursor, w2=w1/ε1, ε1 is a constant, and its value range is ε1∈(0,1]; step S43 specifically includes: judging the theoretical calibration of each inverted cursor Check whether the width w2 and its actual width w are the same. If so, confirm that the currently confirmed back cursor is correct.

In the second preferred embodiment of the present invention, as shown in FIG. 4, the distance between the reverse cursor and the mobile robot is used to verify whether the selected reverse cursor is correct. Correspondingly, step S4 specifically includes: S41', calculating the angle Δθ from the zero point of the mobile robot's heading to the corresponding inverted cursor according to the starting angle θ1 and the ending angle θ2; Δθ=|θ2-θ1|; S42', according to each The coordinate value of the inverse cursor, the coordinate value of the mobile robot when the included angle Δθ is obtained, the actual distance d between each inverse cursor and the mobile robot, and the actual width w of each inverse cursor; according to the actual width w of each inverse cursor and the matching The included angle Δθ obtains the theoretical distance d1 from each back cursor to the mobile robot,

Further, if the theoretical distance d1 between the selected one of the anti-cursors and the mobile robot is not the same as the actual distance d, it means that the selected anti-cursor is incorrect, and the anti-cursor needs to be reselected and recalculated. The reason for the incorrect reversal of the cursor, such as the influence of other reflective obstacles, etc., will not be described further here.

In a preferred embodiment of the present invention, the theoretical distance d1 obtained can be corrected, taking into account the influence of the defacement of the reflective cursor surface and the material of the reflective cursor. Specifically, step S42' also includes: Theoretical distance d1, the theoretical verification distance d2 corresponding to the inverted cursor is obtained, d2=d1/ε2, ε2 is a constant, and its value range is ε2∈(0,1]; step S43' specifically includes: judging the value of each inverted cursor The theoretical verification distance d2 and its actual distance d are the same, if so, confirm that the currently confirmed back cursor is correct.

In the third preferred embodiment of the present invention, as shown in FIG. 5, step S4 specifically includes: S41". During the continuous movement of the mobile robot, obtain the included angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor at every preset time interval during the continuous movement of the mobile robot. The included angle Δθ obtained at the previous time is represented by the first included angle Δθ1, and the included angle Δθ obtained at the later time is represented by Δθ2; Δθ1=|θ12-θ11|, Δθ2=|θ22-θ21|, where, θ11 represents the initial angle forming the first angle Δθ1, θ12 represents the ending angle forming the first angle Δθ1, θ21 represents the initial angle forming the second angle Δθ2, and θ22 represents the angle forming the second angle Δθ2 Terminate the included angle; S42", judge whether |Δθ2-Δθ1| is not greater than the system preset difference threshold, if so, confirm that the first included angle Δθ1 and the second included angle Δθ2 come from the same inverted cursor.

As shown in FIG. 6, another embodiment of the present invention provides a reverse cursor identification method. The identification method specifically includes: M1, continuously receiving laser reflection signals, and recording the encoder count value of each laser reflection signal;

M2. Traverse the received encoder count value to obtain the start encoder count value N1 and the end encoder count value N2 corresponding to the inverted cursor;

_{M3. Obtain the median encoder count N mid} corresponding to each reverse cursor according to the start encoder count value N1 and the end encoder count value N2 of each reverse cursor,

Δθ=|θ2-θ1|, where N represents the maximum count of the current encoder;

M5. Differentiate different anti-cursors according to each obtained included angle Δθ, the current coordinates of the mobile robot, and the coordinates of the anti-cursor, where the larger the included angle Δθ, the closer the corresponding anti-cursor is to the position of the mobile robot.

It should be noted that the implementation process of the above steps M1 and M2 is the same as the implementation process of the steps S1 and S2, and will not be further described here. For step M3, corresponding to the same anti-cursor, several laser reflection signals will be generated, and correspondingly, several encoder count values will be generated correspondingly; in the specific application of the present invention, corresponding to one anti-cursor, in order to reduce the amount of calculation, usually Only one of the encoder count values is selected for subsequent calculations. Correspondingly, the encoder count value can select the start encoder count value N1 and the end encoder count value N2 of each _{inverted cursor} , the median value N mid of the encoder count.

Further, when two or more anti-cursors are on the same straight line as the mobile robot, for each anti-cursor, the corresponding median code count N _{mid is the} same. In order to distinguish different anti-cursors on the straight line, this In a preferred embodiment of the invention, the start encoder count value N1 and the end encoder count value N2 _{forming the median value N mid of the encoding count are obtained, and further according to the formula}

Δθ=|θ2-θ1| Obtain the included angle Δθ corresponding to each inverted cursor. Further, through the size of the included angle Δθ of each inverted cursor, the distance between the inverted cursor and the moving robot can be determined, and the median value of the code count can be determined The specific anti-cursor corresponding to N _mid.

As shown in FIG. 7, an embodiment of the present invention provides a mobile robot system. The system is set in a working area, and a number of inverted cursors with known coordinate values are set in the working area. The system includes: a laser emitting and receiving module 100, a counting module 200, a processing module 300, and an identification output module 400.

In an embodiment of the present invention, the laser emitting and receiving module 100 is used to continuously receive laser reflection signals and record the encoder count value of each laser reflection signal; the counting module 200 is used to traverse the received encoder count value to obtain the corresponding anti-cursor The start encoder count value N1 and the end encoder count value N2; the processing module 300 is used to obtain the mobile robot's current position and each reflector according to the start encoder count value N1 and the end encoder count value N2 of each reverse cursor. The included angle of the target; the included angle corresponding to each inverted cursor includes: the starting angle θ1, the ending angle θ2;

Wherein, N represents the maximum count of the current encoder; the identification output module 400 is used to identify the reverse cursor according to the obtained included angle.

In the first specific implementation of the present invention, the identification output module 400 is specifically used to calculate the included angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor according to the starting angle θ1 and the ending angle θ2; Δθ=|θ2-θ1|; According to the coordinate value of each reflective cursor and the corresponding mobile robot coordinate value when the included angle Δθ is obtained, the actual distance d between each reflective cursor and the mobile robot and the actual width w of each reflective cursor are obtained; according to the actual distance d and the matching clip The angle Δθ obtains the theoretical width w1 of each reverse cursor,

Further, the identification output module 400 is also used to: obtain the theoretical verification width w2 corresponding to each inverse cursor according to the theoretical width w1 of each inverse cursor, w2=w1/ε1, ε1 is a constant, and its value range is ε1∈( 0,1]; Determine whether the theoretical check width w2 of each reverse cursor is the same as its actual width w. If so, confirm that the currently confirmed reverse cursor is correct.

In the second specific implementation of the present invention, the identification output module 400 is specifically used to calculate the included angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor according to the starting angle θ1 and the ending angle θ2; Δθ=|θ2-θ1|; According to the coordinate value of each inverse cursor and the coordinate value of the mobile robot when the included angle Δθ is obtained, the actual distance d between each inverse cursor and the mobile robot and the actual width w of each inverse cursor are obtained; according to the actual width w of each inverse cursor And the matching included angle Δθ obtains the theoretical distance d1 from each back cursor to the mobile robot,

Further, the identification output module 400 is also used to obtain the theoretical verification distance d2 corresponding to each inverse cursor according to the theoretical distance d1 of each inverse cursor, d2=d1/ε2, ε2 is a constant, and its value range is ε2∈( 0,1]; Determine whether the theoretical verification distance d2 of each reverse cursor is the same as its actual distance d. If so, confirm that the currently confirmed reverse cursor is correct.

In the third specific implementation of the present invention, the identification output module 400 is specifically used for: during the continuous movement of the mobile robot, obtain the included angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor at every preset time interval, and obtain the value obtained at the previous time The included angle Δθ is represented by the first included angle Δθ1, and the included angle Δθ obtained at a later time is represented by Δθ2; Δθ1=|θ12-θ11|, Δθ2=|θ22-θ21|, where θ11 represents the formation of the first included angle The starting angle of Δθ1, θ12 represents the ending angle forming the first angle Δθ1, θ21 represents the starting angle forming the second angle Δθ2, and θ22 represents the ending angle forming the second angle Δθ2; judge |Δθ2 -Δθ1| is not greater than the system preset difference threshold, if so, confirm that the first included angle Δθ1 and the second included angle Δθ2 come from the same reverse cursor.

In yet another preferred embodiment of the present invention, a mobile robot system is set in a work area, and a number of inverted cursors with known coordinate values are set in the work area. The system also includes: a laser emitting and receiving module 100, The counting module 200, the processing module 300, and the identification output module 400.

In this embodiment, the laser emitting and receiving module 100 is used to continuously receive the laser reflection signal and record the encoder count value of each laser reflection signal; the counting module 200 is used to traverse the received encoder count value to obtain the corresponding anti-cursor start Start encoder count value N1 and end encoder count value N2; According to the start encoder count value N1 and end encoder count value N2 of each reverse cursor, the encoder count value N _mid corresponding to each reverse cursor is obtained,

The processing module 300 is configured to obtain at least two identical code count values N _mid at the same time, according to the start encoder count value N1 and the end encoder count value N2 corresponding to the reverse cursor with the same code count value N _mid The included angle between the mobile robot and each back cursor at the current moment; the included angle corresponding to each back cursor includes: the starting angle θ1, the ending angle θ2, and the included angle Δθ from the moving robot's heading zero to the corresponding back cursor;

Δθ=|θ2-θ1|, where N represents the maximum count of the current encoder; the identification output module 400 is used to distinguish different anti-cursors according to each acquired angle Δθ, the current coordinates of the mobile robot, and the coordinates of the anti-cursors, Among them, the larger the angle Δθ, the closer the corresponding anti-cursor is to the position of the mobile robot.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system described above can refer to the corresponding process in the foregoing method implementation, which will not be repeated here.

In the several implementation manners provided in this application, it should be understood that the disclosed system, system, and method may be implemented in other ways. For example, the system implementation described above is only illustrative. For example, the division of the modules is only a logical function division, and there may be other divisions in actual implementation, for example, multiple modules or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, systems or modules, and may be in electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of this embodiment.

In addition, the functional modules in the various embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, or in the form of hardware plus software functional modules.

The above-mentioned integrated modules implemented in the form of software functional modules may be stored in a computer readable storage medium. The above-mentioned software function module is stored in a storage medium, and includes several instructions to make a computer system (which may be a personal computer, a server, or a network system, etc.) or a processor execute the methods described in the various embodiments of this application. Part of the steps. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

Finally, it should be noted that the above implementations are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing implementations, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

A method for identifying a reverse cursor, characterized in that the method includes the following steps:

S1. Continuously receive laser reflection signals, and record the encoder count value of each laser reflection signal;

S2. Traverse the received encoder count value to obtain the start encoder count value N1 and the end encoder count value N2 corresponding to the inverted cursor;

S3. Obtain the included angle between the mobile robot and each inverted cursor at the current position according to the start encoder count value N1 and the end encoder count value N2 of each inverted cursor; the included angle corresponding to each inverted cursor includes: the initial included angle θ1, termination angle θ2;
Among them, N represents the maximum count of the current encoder;

S4. Identify the reverse cursor according to the obtained included angle.
The method for recognizing a reverse cursor according to claim 1, wherein step S4 specifically includes:

S41. Calculate the angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor according to the starting angle θ1 and the ending angle θ2; Δθ=|θ2-θ1|;

S42. Obtain the actual distance d between each anti-cursor and the mobile robot and the actual width w of each anti-cursor according to the coordinate value of each anti-cursor and the corresponding coordinate value of the mobile robot when the included angle Δθ is obtained; according to the actual distance d and matching The included angle Δθ obtains the theoretical width w1 of each reverse cursor,

S43. Determine whether the theoretical width w1 of each reverse cursor is the same as its actual width w, and if so, confirm that the currently confirmed reverse cursor is correct.
The method for recognizing a reverse cursor according to claim 2, wherein step S42 further comprises:

According to the theoretical width w1 of each reverse cursor, obtain the theoretical verification width w2 corresponding to the reverse cursor, w2=w1/ε1, ε1 is a constant, and its value range is ε1∈(0,1];

Step S43 specifically includes:

Determine whether the theoretical check width w2 of each reverse cursor is the same as its actual width w. If so, confirm that the currently confirmed reverse cursor is correct.
The method for recognizing a reverse cursor according to claim 1, wherein step S4 specifically includes:

S41', calculating the angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor according to the starting angle θ1 and the ending angle θ2; Δθ=|θ2-θ1|;

S42', according to the coordinate value of each inverse cursor and the corresponding coordinate value of the mobile robot when the included angle Δθ is obtained, obtain the actual distance d between each inverse cursor and the mobile robot, and the actual width w of each inverse cursor; The actual width w and the matching angle Δθ obtain the theoretical distance d1 from each back cursor to the mobile robot,

S43', judge whether the theoretical distance d1 of each reverse cursor is the same as its actual distance d, and if so, confirm that the currently confirmed reverse cursor is correct.
The inverted cursor identification method according to claim 4, wherein step S42' further comprises:

According to the theoretical distance d1 of each reverse cursor, the theoretical verification distance d2 corresponding to the reverse cursor is obtained, d2=d1/ε2, ε2 is a constant, and its value range is ε2∈(0,1];

Step S43' specifically includes:

Determine whether the theoretical verification distance d2 of each reverse cursor is the same as its actual distance d. If so, confirm that the currently confirmed reverse cursor is correct.
The method for recognizing a reverse cursor according to claim 1, wherein step S4 specifically includes:

S41". During the continuous movement of the mobile robot, obtain the included angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor every preset time interval, and express the included angle Δθ obtained in the previous time as the first included angle Δθ1, and the latter The angle Δθ obtained by time is expressed as Δθ2;

Δθ1=|θ12-θ11|, Δθ2=|θ22-θ21|, where θ11 represents the initial angle forming the first angle Δθ1, θ12 represents the ending angle forming the first angle Δθ1, and θ21 represents the second angle The initial included angle of the included angle Δθ2, θ22 represents the end included angle that forms the second included angle Δθ2;

S42", judge whether |Δθ2-Δθ1| is not greater than the system preset difference threshold, if so, confirm that the first included angle Δθ1 and the second included angle Δθ2 come from the same reflex cursor.
A method for identifying a reverse cursor, characterized in that the method includes the following steps:

M1. Continuously receive laser reflection signals, and record the encoder count value of each laser reflection signal;

M2. Traverse the received encoder count value to obtain the start encoder count value N1 and the end encoder count value N2 corresponding to the inverted cursor;

M3. Obtain the median encoder count N mid corresponding to each reverse cursor according to the start encoder count value N1 and the end encoder count value N2 of each reverse cursor,

M4. If at least two identical code count median values N mid are obtained at the same time, the movement is obtained according to the start encoder count value N1 and the end encoder count value N2 corresponding to the reverse cursor with the same code count median value N mid The angle between the robot and each recursor at the current moment; the angle corresponding to each recursor includes: the starting angle θ1, the ending angle θ2, and the angle Δθ from the moving robot's heading zero to the corresponding recursor;
Δθ=|θ2-θ1|, where N represents the maximum count of the current encoder;

M5. Differentiate different anti-cursors according to each obtained included angle Δθ, the current coordinates of the mobile robot, and the coordinates of the anti-cursor, where the larger the included angle Δθ, the closer the corresponding anti-cursor is to the position of the mobile robot.
A mobile robot system, the system is set in a work area, a number of inverted cursors with known coordinate values are set in the work area, and the feature is that the system includes:

Laser emitting and receiving module, used to continuously receive laser reflection signals, and record the encoder count value of each laser reflection signal;

The counting module is used to traverse the received encoder count value to obtain the start encoder count value N1 and the end encoder count value N2 corresponding to the inverted cursor;

The processing module is used to obtain the included angle between the mobile robot and each inverted cursor at the current position according to the start encoder count value N1 and the end encoder count value N2 of each inverted cursor; the included angle corresponding to each inverted cursor includes: Starting angle θ1, ending angle θ2;
Among them, N represents the maximum count of the current encoder;

The identification output module is used to identify the reverse cursor according to the obtained included angle.
The mobile robot system according to claim 8, wherein the identification output module is specifically used for:

According to the starting angle θ1 and the ending angle θ2, the angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor is calculated; Δθ=|θ2-θ1|;

According to the coordinate value of each reflective cursor and the corresponding mobile robot coordinate value when the included angle Δθ is obtained, the actual distance d between each reflective cursor and the mobile robot and the actual width w of each reflective cursor are obtained; according to the actual distance d and the matching clip The angle Δθ obtains the theoretical width w1 of each reverse cursor,

Determine whether the theoretical width w1 of each reverse cursor is the same as its actual width w. If so, confirm that the currently confirmed reverse cursor is correct.
The mobile robot system according to claim 9, wherein the identification output module is further used for:

According to the theoretical width w1 of each reverse cursor, obtain the theoretical verification width w2 corresponding to the reverse cursor, w2=w1/ε1, ε1 is a constant, and its value range is ε1∈(0,1];

Determine whether the theoretical check width w2 of each reverse cursor is the same as its actual width w. If so, confirm that the currently confirmed reverse cursor is correct.
The mobile robot system according to claim 8, wherein the identification output module is specifically used for:

According to the starting angle θ1 and the ending angle θ2, the angle Δθ from the zero point of the mobile robot's heading to the corresponding anti-cursor is calculated; Δθ=|θ2-θ1|;

According to the coordinate value of each inverse cursor and the coordinate value of the mobile robot when the included angle Δθ is obtained, the actual distance d between each inverse cursor and the mobile robot and the actual width w of each inverse cursor are obtained; according to the actual width w of each inverse cursor And the matching included angle Δθ obtains the theoretical distance d1 from each back cursor to the mobile robot,

Determine whether the theoretical distance d1 of each reverse cursor is the same as its actual distance d. If so, confirm that the currently confirmed reverse cursor is correct.
The mobile robot system according to claim 11, wherein the identification output module is further used for:

According to the theoretical distance d1 of each reverse cursor, the theoretical verification distance d2 corresponding to the reverse cursor is obtained, d2=d1/ε2, ε2 is a constant, and its value range is ε2∈(0,1];

Determine whether the theoretical verification distance d2 of each reverse cursor is the same as its actual distance d. If so, confirm that the currently confirmed reverse cursor is correct.
The mobile robot system according to claim 8, wherein the identification output module is specifically used for:

During the continuous movement of the mobile robot, the included angle Δθ from the zero point of the mobile robot’s heading to the corresponding anti-cursor is obtained every preset time interval, and the included angle Δθ obtained at the previous time is expressed as the first included angle Δθ1, and the angle obtained at the next time is expressed as the first angle Δθ1. The included angle Δθ is represented by Δθ2;

Δθ1=|θ12-θ11|, Δθ2=|θ22-θ21|, where θ11 represents the initial angle forming the first angle Δθ1, θ12 represents the ending angle forming the first angle Δθ1, and θ21 represents the second angle The initial included angle of the included angle Δθ2, θ22 represents the end included angle that forms the second included angle Δθ2;

Determine whether |Δθ2-Δθ1| is not greater than the system preset difference threshold. If so, confirm that the first included angle Δθ1 and the second included angle Δθ2 come from the same reverse cursor.
A mobile robot system, the system is set in a work area, a number of inverted cursors with known coordinate values are set in the work area, and the feature is that the system includes:

Laser emitting and receiving module, used to continuously receive laser reflection signals, and record the encoder count value of each laser reflection signal;

Counting module, used to traverse the received encoder count value to obtain the start encoder count value N1 and end encoder count value N2 corresponding to the inverted cursor; according to the start encoder count value N1 and end encoder count value of each inverted cursor N2 obtains the median encoder count N mid corresponding to each reverse cursor,

The processing module is used to if at least two identical code count median values N mid are obtained at the same time, according to the start encoder count value N1 and the end encoder count value corresponding to the reverse cursor with the same code count median value N mid N2 Obtain the angle between the mobile robot and each anti-cursor at the current moment; the angle corresponding to each anti-cursor includes: the starting angle θ1, the ending angle θ2, and the angle Δθ from the moving robot's heading zero to the corresponding anti-cursor;
Δθ=|θ2-θ1|, where N represents the maximum count of the current encoder;

The identification output module is used to distinguish different anti-cursors according to each obtained angle Δθ, the current coordinates of the mobile robot, and the coordinates of the anti-cursor. The larger the angle Δθ, the longer the distance from the corresponding anti-cursor to the position of the moving robot. near.