Mobile robot positioning system and method based on hybrid navigation belt

Abstract

The present invention is applicable to the technical field of robot positioning, and provides a mobile robot positioning system with a mixed navigation belt, including a DataMatrix code belt and a color belt arranged on the ground of the walking path of the mobile robot, and the color belt is arranged on the path of the high-speed motion area, The DataMatrix code belt is set on the path of the precise positioning area. The circumscribed rectangle of the DataMatrix code is composed of two adjacent solid line sides and two adjacent dotted line sides. The DataMatrix code image carries the path distance of the calibration point; the mobile robot is equipped with a camera And the positioning sensor, the photographing plane of the camera is parallel to the ground. The positioning sensor identifies whether there is a DataMatrix code in the image based on the image captured by the camera. If it exists, it will be located based on the DataMatrix code in the image. If it does not exist, it will be located based on the color band. . Accurate coordinate information of the robot can be obtained in the area requiring precise positioning, and stable and reliable position information of the robot can also be obtained in the area requiring high-speed movement, and the positioning speed is fast to meet the needs of high-speed movement.

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 ...

AI Technical Summary

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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