Indoor mobile robot positioning system and method based on two-dimensional code

Abstract

The present invention relates to an indoor mobile robot positioning system and method based on two-dimensional code. The system includes a two-dimensional code positioning controller mounted on a mobile robot, a two-dimensional code acquisition device and a two-dimensional code label distributed in the indoor environment. The two-dimensional code positioning controller is composed of a microprocessor and a communication interface that are connected together. The microprocessor is connected with the two-dimensional code acquisition device through the communication interface and is used for controlling the two-dimensional code acquisition device to acquire two-dimensional code images, receive the two-dimensional code images acquired by the two-dimensional code image acquisition device and realize precise positioning function. The method acquires an actual position of the mobile robot through photographing the indoor two-dimensional code labels, transforming coordinates and mapping code values. The method of the invention organically combines visual positioning technique, two-dimensional code positioning technology and two degree of freedom measuring technology to realize the function of precise positioning of the mobile robot and solve problems of complex image processing and inaccurate positioning of a traditional vision positioning system.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, in particular to a two-dimensional code-based indoor mobile robot positioning system and method. Background technique [0002] In order to apply mobile robots in automated production and warehouse management, it is required that indoor mobile robots must accurately identify the current location. Only by accurately identifying the current location can products be assembled, transported, and handled accurately. At present, there are generally several positioning methods for indoor mobile robots: ranging method, visual positioning method, method of combining dead reckoning positioning with RFID, and bar code positioning method. These ranging methods are described below: [0003] The distance measurement method is also called the reckoning method. It measures the small distance through the encoders installed on the two wheels, calculates the change in the position and attitude of the mobile ro...

AI Technical Summary

Problems solved by technology

The problems in this method are: 1. Since two sets of images are compared, it is necessary to pre-save one set of full image images, which requires a large-capacity storage medium to store images, and extract and compare with current image information at any time when needed By comparison, the actual geographic location of the current location in the entire room can be obtained; 2. Image analysis requires powerful data computing capabilities, which are far beyond the capabilities of general embedded systems. All of the above show that the use of visual positioning solutions greatly increases the cost

The advantage of the above method is that through the ingenious layout of barcode symbols, the indoor position of the mobile robot can be accurately calculated and the cost of the mobile robot can be reduced during the implementation process. However, this method still has the following disadvantages: 1. The barcode reading speed is low, Not suitable for high-efficiency mobile robotics field

2. Barcode layout structure is difficult to achieve all-round reading

Since the one-dimensional barcode is arranged in one direction, the barcode scanner can only scan the data horizontally, and its reading azimuth angle can only be plus or minus 10 degrees. Due to the relatively small range of angles, it is difficult for the mobile robot to keep moving while driving. Deviate from this angle, especially when the car body turns in an arc, once the mobile robot deviates from the reading angle, it will not be able to locate correctly

3. Poor fault tolerance, high environmental requirements and high cost, which is not conducive to popularization and use

Since the one-dimensional code has no error correction codeword and is added after the data codeword sequence, the symbol will lose data when it is damaged. When the barcode is worn after long-term use, or the barcode is bent due to uneven ground, it cannot be recognized normally. read data

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