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A Plane Space Orientation Method for Robot

A technology of plane space and positioning method, applied in the field of visual positioning, which can solve the problems of low positioning reliability, nonlinear signal attenuation and poor stability, and low amount of calculated data.

Active Publication Date: 2020-07-07
唐宓
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this method is reliable in positioning, the amount of calculation data is low
[0005] Patent No.: CN201310482905.2, titled "A Positioning Method and Device for WIFI Terminals", the basic principle of the method is to detect the wireless signal sent by the WIFI terminal; if no wireless signal is detected, then By establishing a communication connection between the WIFI terminal and the communication device, and using the communication device to trigger the WIFI terminal to send a wireless signal; positioning the WIFI terminal according to the newly detected wireless signal, the signal attenuation is non-linear and stable Poor performance, low positioning reliability

Method used

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  • A Plane Space Orientation Method for Robot
  • A Plane Space Orientation Method for Robot
  • A Plane Space Orientation Method for Robot

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Embodiment Construction

[0055] In order to solve the shortcomings of the existing positioning methods, the invention provides a robot positioning method based on an angle bar code.

[0056] 1. Angle barcode device

[0057] The structure of the angle barcode device is attached figure 1 , the encoder is a 1 / 4 cylindrical structure, the upper part is the angle barcode number, and the lower part is provided with black and white stripes with the same interval. Each set of space positioning device is equipped with at least two angle barcodes according to the degree of responsibility for the required space. The angle barcodes are made of plastic molding, and the cost is low. Configuring multiple encoders will not lead to an increase in cost.

[0058] The angle barcode works mainly through the principle of unevenness of the vertical lines caused by the difference of the viewing angle at different angles. For details, see Figure 2-4 , you can see the different fringe images corresponding to the angle barco...

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Abstract

The invention relates to a plane space positioning method for a robot. The steps of the method are as follows: 1) setting the angle bar code device; 2) establishing a comparison table of images and angles, and uploading the comparison table of images and angles to the robot to be positioned; 3) preparing at least two angle bar code devices, and Place them at any position in the plane space; store the coordinate information of the two angle barcodes in the robot; 4) the robot takes pictures of at least two angle barcodes placed in the plane space; 5) obtain two angle barcodes Angle β with the robot respectively 1 ° and β 2 °; 6) The robot calculates its position coordinates in the plane space through the trigonometric function relationship; this positioning method not only has fast positioning speed, but also has reliable data and will not be disturbed by the external environment.

Description

technical field [0001] The invention belongs to the technical field of visual positioning, and in particular relates to a plane space positioning method for a robot. Background technique [0002] Accurately determining the location of a user or mobile device within an indoor setting presents various challenges. For example, Global Positioning System (GPS) technology does not work well inside enclosed buildings, where communication between mobile devices and GPS satellites may be impeded by surrounding structures. Furthermore, available consumer devices are limited in their communication capabilities, sensing capabilities (eg, mobile device microphones), accuracy of their internal clocks, available power, and the like. Therefore, obtaining highly accurate real-time location information about a mobile user within an enclosed building (or where GPS positioning is for some reason unavailable) is difficult without significant modifications to the hardware of the available mobile...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/70G06K17/00
CPCG06K17/00G06T7/74G05D1/0234
Inventor 唐宓
Owner 唐宓
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