Mobile robot positioning method and system

A mobile robot and positioning method technology, which is applied in the field of robotics, can solve the problems such as the difficulty in positioning the mobile robot's mobile position, and achieve the effect of fast calculation speed and high positioning accuracy

Active Publication Date: 2016-08-03
宁波中科奥秘机器人有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Based on this, it is necessary to provide a mobile robot positioning method and system that can quickly and accurately locate the movement of the mobile robot in the plane for the problem of difficult positioning of the mobile robot in the traditional technology.

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  • Mobile robot positioning method and system
  • Mobile robot positioning method and system

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Embodiment Construction

[0046] In order to make the purpose, technical solution and advantages of the present invention clearer, the specific implementation of the mobile robot positioning method and system of the present invention will be described below with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0047] The mobile robot positioning method of an embodiment of the present invention, such as figure 1 shown, including the following steps:

[0048] S100. Acquire a scene image in the scene where the mobile robot is located, and convert the scene image into a grayscale image.

[0049] In this step, the industrial camera installed on the mobile robot can be used to obtain a 3-channel RGB scene image in the mobile scene, and convert the acquired RGB color scene image into a single-channel grayscale image. In order to continue to extract and analyze the...

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Abstract

The invention discloses a mobile robot location method and system. The method comprises the following steps: obtaining a scene image in a scene of a mobile robot and converting the scene image into a grayscale image; obtaining a two-dimensional code from the grayscale image and obtaining a center point coordinate of the two-dimensional code and a positive direction of the two-dimensional code; calculating an included angle between a two-dimensional vector formed by a center point of the two-dimensional code and a center point of the grayscale image and the positive direction of the two-dimensional code; calculating a first distance between the center point of the two-dimensional code and the center point of the grayscale image; taking a center point coordinate of the grayscale image obtained by calculation according to the first distance, the included angle and the center point coordinate of the two-dimensional code as a positioning coordinate of the mobile robot. According to the mobile robot location method and system, the calculating speed is high, the image is needed to be independently located after being obtained at each time, the effect of other factors is little, the location accuracy is high, and the movement and the accurate location of the mobile robot on the surface are conveniently realized in combination with other navigation devices.

Description

technical field [0001] The invention relates to the field of robots, in particular to a positioning method and system for a mobile robot. Background technique [0002] Mobile robots have a wide range of application requirements in warehousing logistics, mobile operations and other fields. In the process of robot movement, positioning is an important function of the robot mobile platform. Most of the traditional mobile robots use the method of pasting magnetic strips and embedding magnetic nails. These methods can realize the task of moving the platform with a prescribed trajectory, but the movement mode is relatively simple. During the use of modern mobile robots, the mobile robot is required to change from a line trajectory to an arbitrary trajectory within a plane in a limited space. [0003] There are many ways to locate the mobile robot with any trajectory in the plane. For example, the method of adding an encoder can perform positioning operations at a small distanc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/00G01C11/04
CPCG01C11/00G01C11/02G01C11/04
Inventor 张承宁夏庆华
Owner 宁波中科奥秘机器人有限公司
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