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Robot global space positioning method based on graphical labels and camera

A technology of graphic identification and global space, applied in the field of robotics, can solve the problems of inconvenient rearrangement, wear and high installation cost, and achieve the effect of long practical life, easy maintenance, and small site damage.

Inactive Publication Date: 2016-07-20
ZHUINENG ROBOTICS SHANGHAI CO LTD
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

This solution has no cumulative error, but the markers such as magnetic strips will be worn due to the robot walking on them, and the installation cost of magnetic nails combined with RFID is high and it is inconvenient to rearrange

Method used

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  • Robot global space positioning method based on graphical labels and camera
  • Robot global space positioning method based on graphical labels and camera
  • Robot global space positioning method based on graphical labels and camera

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Embodiment Construction

[0019] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0020] A global space positioning method based on graphic signs and cameras, comprising the steps of:

[0021] In the working space of the robot, a graphic marker is laid at intervals; figure 1 As shown, the figure 1 The patterns that can be used as graphic identifiers are listed in : arrows, QR codes, or custom graphics that can identify directions. From the above-mentioned graphic markers, we can read the direction, position and content of the markers as the basis for positioning.

[0022] The processor sets the action path of the robot, so that the robot can observe the graphical marker throu...

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Abstract

The invention relates to a robot global space positioning method based on graphical labels and a camera.The method comprises the steps that the graphical labels are laid every a certain distance in the working space of a robot; a processor sets the movement path of the robot so that the robot can observe the graphical labels through the camera on the movement path; when the robot can not observe the graphical labels, the space position of the robot is calculated according to the advancing mileage of the robot; when the robot shoots the graphical labels through the camera, the angles of the robot relative to the graphical labels and the position of the robot are worked out, and the global positioning information of the robot is acquired through the space position of the graphical labels.The ground labels can be recognized through the camera, and therefore the space positions of the robot or other devices can be corrected, contact with the robot does not exist, maintaining is easy, the recognition speed is high, installation is easy, and rearrangement can be conducted many times.

Description

technical field [0001] The invention relates to the technical field of robots, and specifically refers to a global space positioning method for a robot or other similar equipment based on a graphic mark and a camera. Background technique [0002] At present, the spatial positioning schemes of robots or other similar devices (the embodiment of the present invention uses robots as an example) are mainly divided into two ways: integral spatial positioning and global spatial positioning: [0003] 1. Integral spatial positioning (such as optical flow positioning, step positioning): the current spatial position of the robot is obtained by accumulating the robot's position movement per unit time. Known methods include observing the optical flow through the camera, and the automatic guided vehicle robot calculates the travel distance of the wheels, etc. This method is very simple, but over time, errors will gradually accumulate, resulting in wrong positioning. [0004] 2. Global s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/04G01C21/22G01C11/02
CPCG01C21/04G01C11/025G01C21/22
Inventor 刘哲
Owner ZHUINENG ROBOTICS SHANGHAI CO LTD
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