Hybrid navigation belt based mobile robot positioning system and method thereof

Abstract

The invention relates to a hybrid navigation belt based mobile robot positioning system and a method thereof. The system is technically characterized by comprising a hybrid navigation positioning controller mounted on a mobile robot trolley, a hybrid navigation image collector and hybrid navigation belts distributed on the ground, wherein the hybrid navigation positioning controller is connected with the hybrid navigation image collector and used for collecting information of the hybrid navigation belts and achieving an accurate positioning function of a mobile robot. The method includes utilizing color belt images for performing transverse deviation correction and angular deviation correction of the mobile robot trolley; and utilizing two-dimensional code images for performing longitudinal deviation correction of the mobile robot trolley, and computing and positioning coordinate position of the mobile robot trolley in a world coordinate system. The system is reasonable in design, timeliness of transverse deviation correction and angular deviation correction of an autonomous navigation system of the mobile robot trolley is guaranteed, timeliness of longitudinal deviation correction by two-dimensional code is further guaranteed, and accuracy and reliability of autonomous navigation of the mobile robot are improved effectively.

Description

technical field [0001] The invention belongs to the technical field of mobile robot navigation, in particular to a mobile robot positioning system and method based on a hybrid navigation belt. Background technique [0002] Vision-based autonomous navigation of mobile robots means that the image acquisition system of the mobile robot platform obtains the environmental information of the robot in its current state, and determines the location of the environmental objects and the robot in the environment by analyzing the environmental images. Due to the characteristics of high resolution images, complete environmental information, and conformity to human cognitive habits, in recent years, vision-based mobile robot autonomous navigation has been widely concerned and recognized, and considerable achievements have been made in theory and practice. many results. However, due to the complexity of the mobile robot's activity scene and the dynamic characteristics of the mobile robot,...

AI Technical Summary

Problems solved by technology

However, due to the complexity of the mobile robot's activity scene and the dynamic characteristics of the mobile robot, such as the robot's mechanical structure, the cumulative error during walking, the camera's luminosity, illumination, shooting speed, and image clarity, etc., the robot The real-time performance of the vision system is not enough. For example, the indoor mobile robot positioning system and method based on the two-dimensional code, because the two-dimensional code is laid on the ground is not continuous laying but discrete laying, in two discrete two-dimensional code In between, there is no other information feedback, or there can only be angular velocity feedback similar to a gyroscope. The feedback information is not enough, resulting in a relatively large error in the operation of the AGV between two two-dimensional codes, and even when the next two-dimensional code is reached, The field of view of the barcode reader has deviated from the QR code, making it impossible to read

Judging from the actual situation at the scene, the large deviation of the left and right positions of the trolley is the main reason that affects the image shooting. When the lateral deviation position and deviation angle exceed the shooting range of the camera, there will be situations where pictures cannot be captured continuously. Someone once proposed : Positioning on the ribbon by RFID, but this is only suitable for applications with relatively low accuracy

For high-precision positioning occasions, RFID will not be able to meet

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