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Mobile robot positioning system and method based on hybrid navigation band

A mobile robot and hybrid navigation technology, applied in ground navigation, navigation calculation tools, etc., can solve the problems of low positioning accuracy and limited application, and achieve accurate positioning results, high-speed movement, and fast positioning speed

Active Publication Date: 2018-06-19
WUHU HIT ROBOT TECH RES INST
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  • Abstract
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  • Claims
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Problems solved by technology

[0005] The embodiment of the present invention provides a mobile robot positioning method based on a hybrid navigation belt, aiming to solve the problems of low positioning accuracy and limited application in the existing visual positioning method

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  • Mobile robot positioning system and method based on hybrid navigation band

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Embodiment Construction

[0046] 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.

[0047] The mobile robot positioning system based on the hybrid navigation belt provided by the embodiment of the present invention includes:

[0048] The DataMatrix code (two-dimensional code) belt and the color belt set on the ground of the mobile robot's walking path, the color belt is set on the path of the high-speed movement area, and the DataMatrix code belt is set on the path of the precisely positioned area,

[0049] The circumscribed rectangle of the DataMatrix code is made up of two adjacent solid line sides and two adjacent dotted line sides, and the path distance corresponding to the Da...

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Abstract

The invention provides a mobile robot positioning system based on a hybrid navigation band, and is suitable for the robot positioning technical field. The mobile robot positioning system includes a DataMatrix code band and a color band arranged on the ground of a walking path of a mobile robot. The color band is set in a path of a high-speed motion area. The DataMatrix code band is set in a path of a precise positioning area. A circumscribed rectangle of a DataMatrix code is composed of two adjacent solid line edges and two adjacent imaginary line edges. A DataMatrix code image carries a pathdistance with calibration points; the mobile robot is provided with a camera and a positioning sensor, and the photographic plane of the camera is parallel to the ground. The positioning sensor identifies whether the DataMatrix code exists in an image based on the image captured by the camera. If the DataMatrix code exists in the image, the mobile robot is positioned based on the DataMatrix code in the image. If no DataMatrix code exists in the image, the mobile robot is positioned based on the color band. Accurate coordinate information of the robot can be obtained in an area where precise positioning is required, and stable and reliable position information of the robot can be obtained in an area where high-speed motion is required, the positioning speed is fast, and high-speed motion requirements can be met.

Description

technical field [0001] The invention belongs to the technical field of robot positioning, and provides a mobile robot positioning system and method based on a hybrid navigation belt. Background technique [0002] Mobile robots are more and more widely used in automated factories and intelligent warehousing and logistics, and precise positioning is the key to precise operation of mobile robots. The positioning methods of mobile robots include encoder method, radio frequency identification method and visual positioning method, etc. Among them, the encoder method will cause errors due to the slippage caused by robot movement. The radio frequency identification method requires a high-density arrangement of radio frequency tags, but the dense arrangement of radio frequency tags will interfere with each other during the positioning process, resulting in positioning errors. The visual positioning method based on artificial landmarks is one of the most reliable positioning methods ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/04
CPCG01C21/04G01C21/20
Inventor 陈智君李超曹雏清高云峰
Owner WUHU HIT ROBOT TECH RES INST
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