Robot positioning system and reflection device identification method thereof

Abstract

The invention discloses a robot positioning system and a reflection device identification method thereof. The robot positioning system comprises a mobile robot and at least two reflection devices. The robot is provided with a laser emitting device and a laser receiving device. The reflection devices can reflect received laser, each reflection device is provided with reflection members, and the reflection devices have different numbers of reflection members. When laser emitted by the laser emitting device scans any reflection device, the laser receiving device outputs a signal every time the laser receiving device receives reflected laser of the reflection device, and the robot can directly determine which reflection device is currently scanned according to the number of received signals. According to the technical scheme provided by the invention, the robot can rapidly identify the reflection devices in the movement process so that the coordination position of the robot can be determined by utilizing the reflection devices, the operation load of a processing system is mitigated, and the positioning error of the robot is reduced.

Description

technical field [0001] The invention relates to a robot positioning system and its positioning method, in particular to a laser reflection positioning system and its positioning method. Background technique [0002] In the prior art, there are many ways to determine the position of the mobile robot when it moves in space, such as using GPS positioning, ultrasonic or laser positioning. The laser positioning system usually installs a laser emitting device and a laser receiving device on the mobile robot, and sets multiple laser reflecting devices in the moving area of ​​the robot, and calculates the coordinate position of the robot in the moving area through the laser reflecting device of the known coordinate position. Using the positioning system that sets the reflection device to determine the position of the mobile robot, the coordinates of each reflection device in the coordinate system need to be known, and the coordinates of each reflection device are stored in the robot...

AI Technical Summary

Problems solved by technology

The laser positioning system usually installs a laser emitting device and a laser receiving device on the mobile robot, and sets multiple laser reflecting devices in the moving area of ​​the robot, and calculates the coordinate position of the robot in the moving area through the laser reflecting device of the known coordinate position. Using the positioning system that sets the reflection device to determine the position of the mobile robot, the coordinates of each reflection device in the coordinate system need to be known, and the coordinates of each reflection device are stored in the robot's storage system, and then the robot is running. By associating the reflection device with known coordinates, the algorithm is used to calculate the coordinate position of the robot in the coordinate system. In this method, it is common for the robot to recognize the reflection device with known coordinates through calculation and comparison. Recognition, these calculations and comparisons require a large number of calculations and data processing. For example, the Chinese patent No. ZL98810263.3 discloses a method for determining the position of an automatic guided vehicle by detecting the angular position of an anonymous reflector. Compare the angle value to identify the reflector. This method also requires a lot of calculations and data processing. In actual use, the program design will be complicated, and at the same time increase the burden on the processing chip.

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