Mobile robot positioning system and method based on a plurality of two-dimensional code readers

Abstract

The invention relates to a mobile robot positioning system and a method based on the plurality of the two-dimensional code readers. The mobile robot positioning system and the method are characterized in that the positioning system comprises a two-dimensional code positioning controller mounted on a mobile robot trolley, at least two two-dimensional code readers and two-dimensional code tags which are distributed on the ground, the two-dimensional code positioning controller is composed of a microprocessor and a communication interface which is connected with the at least two two-dimensional code readers; and the positioning method includes building three coordinate systems, calculating a deviation angle of the mobile robot trolley in a trolley coordinate system relative to a central point connection line of two two-dimensional codes, calculating a deviation angle of the central point connection line of two two-dimensional codes relative to a world coordinate system and calculating a deviation angle of the mobile robot trolley relative to the world coordinate system to obtain an accurate position of the mobile robot. According to the mobile robot positioning system and the method, the design is reasonable, an accurate positioning function for the mobile robot is achieved, and advantages of high accuracy and stability, implement convenience and the like are provided.

Description

technical field [0001] The invention belongs to the field of mobile robot trolley positioning, in particular to a mobile robot positioning system and method based on multiple two-dimensional code readers. Background technique [0002] At present, the mobile robot car positioning method generally adopts the two-dimensional code visual positioning method. The existing mobile robot car positioning method is usually realized by installing a two-dimensional code reader. The specific method is: install a two-dimensional code reader at the center of the mobile robot car, and lay certain The number of two-dimensional codes, the two-dimensional code reader on the robot car will take a picture of the two-dimensional code every time it passes by one two-dimensional code, and then use a set of opposite sides of the two-dimensional code located at the center point of the car and along the The included angle formed by the straight line in the forward direction of the trolley and the line...

AI Technical Summary

Problems solved by technology

[0003] To sum up, there are two problems in using a two-dimensional code reader for visual positioning: 1. The construction is difficult, and the requirements for labor and environmental equipment are very strict, resulting in high investment in labor costs and equipment costs; 2. Poor fault tolerance , the operation of the mobile robot is very unstable: because the positioning method of a two-dimensional code reader cannot tolerate errors of labor and equipment, it often causes misjudgments, resulting in the mobile robot having to be in a state of large-scale pose adjustment for a long time. The body shakes and wobbles during operation, which seriously affects the stability

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