Quick and accurate locating system used for indoor mobile robot and working method thereof

Abstract

The invention relates to a quick and accurate locating system used for an indoor mobile robot and a working method thereof. The quick and accurate locating system used for the indoor mobile robot comprises an alignment sensor and a plurality of reflected infrared ray passive tags, wherein the alignment sensor is arranged on the robot; the passive tags are installed on a working area ceiling; the alignment sensor comprises an image processing chip and is connected with a storage module, a COMS (complementary metal oxide semiconductor) camera, a data interface, a power supply and an infrared emission module; the infrared emission module comprises a plurality of infrared tubes, wherein the infrared tubes are arranged around the COMS camera and are divided into multiple groups; the passive tags are tags provided with a plurality of mark points; the mark points are divided into two classes, wherein the first class comprises direction points for determining the coordinate axis direction which is a unique determination direction, and the positions of only three of the four corners of the tags can be provided with the direction mark points; the second class comprises encoded points, i.e. residual mark points used for determining the ID (Identity) numbers of the tags; the mark points used for the direction are stuck with reflected infrared ray material; and the rest mark points used for encoding are stuck with the reflected infrared ray material according to the encoding requirement.

Description

technical field [0001] The invention relates to a fast and precise positioning system for an indoor mobile robot and a working method thereof, belonging to the fields of detection technology, image processing and robot navigation. Background technique [0002] Indoor positioning is to obtain a more accurate estimation of the object's pose in an indoor environment, based on input information such as the prior environmental map information, the current estimation of the object's pose, and the observation data of the sensor, after certain analysis and calculation. For intelligent service robots working in indoor environments such as homes, hospitals and offices, their accurate positioning is the prerequisite for robot navigation and an important guarantee for completing service tasks. [0003] Indoor positioning sensors can be divided into absolute positioning sensors and relative positioning sensors according to the positioning technology used. Absolute positioning mainly use...

AI Technical Summary

Problems solved by technology

This method has certain limitations. The dot matrix road signs are active tags. Each tag is a circuit board and needs power supply. The cost is high and it is inconvenient to install and use.

Secondly, its image processing uses an onboard industrial computer, which is large in size and high in cost, and cannot be used at all for small and medium-sized robots that do not have an industrial computer.

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