Mobile robot localization method based on data matrix code

Abstract

The invention discloses a mobile robot localization method based on a data matrix code, relates to the technical field of mobile robots, and solves the technical problems of reducing localization realization cost and improving localization accuracy. The method is as follows: first a plurality of localization points are set in a mobile robot work area, coordinates of each localization point are compiled into a 2D data matrix code to print into a tag, the localization tag of each localization point is pasted on a ceiling; a mobile robot uses a camera to obtain a localization tag mage on the ceiling, then relative coordinates between the camera and the localization tag can be calculated according to coordinates of the localization tag mage in a camera itself image coordinate system, and by combination of coordinates of the localization point marked by the data matrix code in the localization tag, specific coordinates of a current position point of the mobile robot can be calculated. The mobile robot localization method is suitable for mobile localization for the mobile robots.

Description

technical field [0001] The invention relates to mobile robot technology, in particular to a data matrix code-based mobile robot positioning method. Background technique [0002] The use of label positioning is one of the main methods of mobile robot positioning. The existing mobile robot positioning methods using label positioning mainly include the following: [0003] 1) Use radio frequency identification technology (RFID) to realize positioning. In this method of using radio frequency identification technology to realize mobile robot positioning, a series of radio frequency identification tags are placed on the floor or ceiling of the application environment, and then their installation positions After calibration, the radio frequency identification code reader placed on the robot will recognize the corresponding tags when passing these tags and position itself according to the position of the tags. Although the cost of radio frequency identification tags is low, the use ...

AI Technical Summary

Problems solved by technology

Although the cost of radio frequency identification tags is low, the use of radio frequency identification methods requires special production of specific code readers and labels. obtained directly, and its positioning accuracy is also low

[0004] 2) The positioning method based on infrared rays. The Stargazer sensor produced by the Korean company Hagisonic is a representative of positioning based on infrared rays. It uses an infrared emitter to irradiate a passive tag installed on the ceiling in advance, and then uses a CMOS camera to analyze the sensor from the sensor. The infrared image returned on the label. This positioning method requires special sensors and infrared emitting / receiving devices. The implementation cost is relatively high. The price of the entire system exceeds 1,000 US dollars, which has exceeded the cost of many small mobile robots on the market. price, and installation is relatively complicated

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