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Regular graphic code used for locating indoor mobile robot and locating method

A graphic code and rule technology, applied in the direction of equipment, image enhancement, image analysis, etc., can solve the problems of low efficiency of long-distance recognition, inability to quickly locate and identify long-distance, and solve the problems of inability to quickly locate and identify long-distance, The effect of improving efficiency and accuracy

Pending Publication Date: 2018-02-13
NORTHWESTERN POLYTECHNICAL UNIV +1
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AI Technical Summary

Problems solved by technology

[0005] In order to overcome the deficiency of low long-distance recognition efficiency of existing indoor mobile robot positioning methods, the present invention provides a regular graphic code and positioning method for indoor mobile robot positioning
Using the regular graphic code as an artificial visual road sign can realize the three-dimensional pose measurement and positioning of the indoor mobile robot, effectively solving the problem that the two-dimensional code type artificial road sign cannot be quickly positioned and recognized at a long distance in a complex environment, and improving the long-distance Recognition efficiency and accuracy

Method used

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  • Regular graphic code used for locating indoor mobile robot and locating method
  • Regular graphic code used for locating indoor mobile robot and locating method
  • Regular graphic code used for locating indoor mobile robot and locating method

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Embodiment Construction

[0027] The following examples refer to Figure 1-2 .

[0028] Structure example:

[0029] The regular graphic code of the present invention includes two parts, a position detection graphic and a two-dimensional dot matrix coding area, wherein the recognition principle of the position detection graphic is similar to that of a general two-dimensional code, and is used for long-distance positioning of the regular graphic code, and for detecting the inside of the graphic The two-dimensional dot matrix coding area of ​​is used to store the pose information of the regular graphic code in the world coordinate system.

[0030] The position detection pattern in the regular graphic code is the outer back-shaped area of ​​the regular graphic code, which is composed of two concentric outer squares 1 and inner squares 2 in the same direction, and the corresponding sides of the inner and outer squares 2 and the middle white The gaps form black and white stripes, and the width ratio of the...

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Abstract

The invention discloses a regular graphic code used for locating an indoor mobile robot and a locating method which are used for solving the technical problem that an existing indoor mobile robot locating method is low in remote recognition efficiency. According to the technical scheme, the regular graphic code is a two-dimensional graphic code, and the pattern is a regular square module array andis composed of an encoding region and a functional graphic region, wherein the functional graphic region is a detection graph at the outer hollow-square-shaped position and used for locating the regular graphic code position in images collected by a camera; the encoding region is a two-dimensional lattice graph in the hollow-square-shaped region, marking points at the four vertexes of the two-dimensional lattice are used for marking the coordinate direction in the encoding region, and the other marking points serve as data information codes of the encoding region. The regular graphic code isadopted as an artificial vision road sign, three-dimensional pose measurement and location of the indoor mobile robot can be achieved, and remote recognition efficiency and accuracy are improved.

Description

technical field [0001] The invention relates to a regular graphic code, and also relates to a positioning method for an indoor mobile robot when the regular graphic code is used as an artificial landmark. Background technique [0002] Visual artificial landmark positioning method is a commonly used and effective positioning method for indoor mobile robot positioning. Compared with natural landmarks, artificial landmarks made of visual labels are used to achieve robot positioning tasks. The cost of equipment is low, and the environment is less dependent and destructive. A highly feasible positioning method. In the design process of visual tags, it is necessary to consider the identification and positioning of tags in complex environments, and the stable extraction of data information. [0003] Visual labels based on infrared light environment are a common method in the design of artificial road signs. Visual labels can emit infrared light or be made of infrared reflective ma...

Claims

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Application Information

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IPC IPC(8): G06T7/70G06T7/80G06T7/60G06T5/00G01C21/00
CPCG06T7/60G06T7/70G06T7/80G01C21/00G06T2207/30244G06T2207/30208G06T5/80
Inventor 于薇薇冯阳阳梁为育刘昀彭江涛杨东孟华林秦现生谭小群李希唐婧仪
Owner NORTHWESTERN POLYTECHNICAL UNIV
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