Designing, positioning and reading service robot for QR Code-based artificial landmark

Abstract

The invention discloses a designing, positioning and reading service robot for a QR Code-based artificial landmark. The service robot adopts the following steps: 1, providing accurate pose information for the mobile robot via a semantic map and a local navigation map of a novel artificial landmark storage environment; 2, eliminating the ambiguity of a camera pose obtained by single decomposition of a world plane by introducing a simple constraint; 3, establishing a kinematic model and a differential motion model, thus providing a wider thought for control of the mobile robot; and 4, providing a simple and feasible external parameter calibration method for an onboard camera of the service robot. By adopting the designing, positioning and reading service robot for a QR Code-based artificial landmark, a QR Code-based novel artificial landmark is designed by distributing knowledge and intelligence to the environment, and quick positioning of the artificial landmark and visual servo reading of the mobile robot on internal storage information thereof are realized.

Description

technical field [0001] The invention relates to a robot design method, in particular to a service robot based on the design, positioning and reading of QR Code artificial landmarks, and belongs to the technical field of intelligent electronic products. Background technique [0002] Smart space is a new complex human-computer interaction and collaboration environment. It is based on the idea of ​​knowledge distribution and intelligent distribution, and uses various types of sensors and wireless network technologies distributed in the environment to realize the robot's comprehensive perception of the environment and human interaction. The correct understanding of the behavioral intention of the robot, so that it can complete the corresponding service, the use of intelligent space technology can reduce the requirements of the robot itself for the sensors carried, and also enable various types of heterogeneous robots to coexist and cooperate with each other. Therefore, intelligen...

AI Technical Summary

Problems solved by technology

[0002] Smart space is a new complex human-computer interaction and collaboration environment. It is based on the idea of ​​knowledge distribution and intelligent distribution, and uses various types of sensors and wireless network technologies distributed in the environment to realize the robot's comprehensive perception of the environment and human interaction. The correct understanding of the behavioral intention of the robot, so that it can complete the corresponding service, the use of intelligent space technology can reduce the requirements of the robot itself for the sensors carried, and also enable various types of heterogeneous robots to coexist and cooperate with each other. Therefore, intelligent The application of space technology makes it possible for service robots to better provide various active services for people; distributing knowledge and intelligence in the environment requires various carriers, among which artificial landmarks are an effective knowledge carrier, and artificial landmarks refer to Objects or signs specially designed by humans with the functions of guiding robot navigation and positioning are widely used in the navigation and positioning of mobile robots because of their advantages of easy detection and large amount of information, and many fruitful research results have been obtained. Some landmarks cannot provide pose information