System and method for positioning mobile robot based on regular graphic code composite tags

Abstract

The invention relates to a system and a method for positioning a mobile robot based on regular graphic code composite tags. The system comprises a regular graphic code positioning controller, a regular graphic code reader, a radio frequency identification (RFID) tag code reader, and the regular graphic code composite tags which are distributed on the ground, wherein each regular graphic code composite tag is formed by compositing a regular graphic code tag and an RFID tag. The method comprises the following steps of: (1) establishing an image coordinate system, a trolley coordinate system and a world coordinate system; (2) calculating the deviation position and position angle of a mobile robot trolley relative to each composite tag in the trolley coordinate system; (3) calculating the deviation position and angle of each composite tag relative to the world coordinate system; and (4) calculating the deviation position and angle of the mobile robot trolley relative to the world coordinate system. The invention is reasonable in design, the characteristics of the regular graphic code tag and the RFID tag are effectively combined, a function of accurately positioning the mobile robot trolley is realized, and positioning efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, in particular to a mobile robot positioning system and method based on a regular graphic code composite label. Background technique [0002] At present, the two-dimensional code positioning method is gradually applied to the mobile robot positioning system. Its application method is usually: use the hardware characteristics of the two-dimensional code (QR code): read the position detection graphics of the three top corners, calculate the coordinates of the four vertices and the center point of the two-dimensional code, and then calculate the car and the two-dimensional The attitude deviation between the codes; by writing data into the data area of ​​the two-dimensional code (such as the absolute coordinates of the two-dimensional code) and decoding it, the absolute position deviation between the car and the two-dimensional code is calculated. The above method has a very obvious improvement...

AI Technical Summary

Problems solved by technology

Outside the position detection area, there is a data area composed of basic data modules, which is used to store data. Since a position detection graph is composed of 8 basic data modules, compared with the basic data modules, the ratio is very different, and it is easier in image scanning. Therefore, the data of the three vertices are often easily collected and successfully decoded. Since the area of ​​the basic data module of the data area is much smaller than the area of ​​the position detection graph of the three vertices of the two-dimensional code, when the light source illumination is weak and the code is clear When the accuracy is poor and the camera field of view is not good, the smaller the area, the lower the recognition rate and the worse the definition. Therefore, the decoding efficiency of the two-dimensional code data area is far lower than that of the position detection graphics of the three corners. There is often a problem that nearly one-third of the two-dimensional codes cannot be decoded in the data area

[0003] For the decoding problem of the two-dimensional code data area, for a long time, people have always considered the solution to the problem from the environmental factors surrounding the two-dimensional code, trying to find the best camera field of view by increasing the illumination of the light source, improving the clarity of the two-dimensional code Improve the decoding efficiency of the two-dimensional code data area, but no matter what, the effect is very small, and no substantial breakthrough can be made. The reason is the limitation of thinking, and it is impossible to think outside the field of vision of the two-dimensional code.

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