Positioning method and positioning system for mobile robot

Abstract

The invention discloses a positioning method and a positioning system for a mobile robot. The method comprises the following steps: laying two-dimensional codes, and non-equivalent width guide lines and equivalent width guide lines of the two-dimensional codes on the ground; scanning the two-dimensional codes below a central camera by using the central camera at a center, controlling the robot tocorrect an absolute position by a central controller and acquiring the absolute position and moving direction of the robot; tracking the equivalent width guide lines by a front camera and a rear camera to obtain the moving direction and the deviation position of a trolley, thus controlling the robot to walk along the equal width guide lines on the ground; detecting an identifier of the non-equivalent width guide lines by the front camera of the robot, thereby calculating out walking frames of the robot and calculating out the walking distance of the robot by combining with coding disc data inthe robot; and when the robot arrives at the end point, slowing down and starting the central camera positioned at the bottom of the robot to read an exact stop position signal. The positioning method and the positioning system for the mobile robot, disclosed by the invention, have the advantages of high anti-jamming ability, simple positioning and capabilities of supporting both left and right offset correction and distance correction.

Description

technical field [0001] The invention relates to the field of robots, in particular to a mobile robot positioning method and a mobile robot positioning system. Background technique [0002] At present, there are two main methods for positioning mobile robots: navigation based on magnetic stripes, navigation based on two-dimensional codes, and laser navigation. [0003] Among them, the navigation method based on the magnetic strip has low positioning accuracy, can only provide longitudinal offset information, and cannot provide distance information, and the navigation bar is more expensive; the navigation method based on the two-dimensional code is adopted, and the reading of the two-dimensional code requires high-speed full-frame With camera support, the cost of the robot is high. At the same time, the robot is in an open-loop mode most of the time during the walking process, and can only rely on the acceleration sensor for positioning. If the ground is uneven, causing the ve...

AI Technical Summary

Problems solved by technology

[0003] Among them, the navigation method based on the magnetic strip has low positioning accuracy, can only provide longitudinal offset information, and cannot provide distance information, and the navigation bar is more expensive; the navigation method based on the two-dimensional code is adopted, and the reading of the two-dimensional code requires high-speed full-frame With camera support, the cost of the robot is high. At the same time, the robot is in an open-loop mode most of the time during the walking process, and can only rely on the acceleration sensor for positioning. If the ground is uneven, causing the vehicle to slip, the robot may deviate from the established track and cannot be adjusted back. ;The cost of laser navigation is the most expensive, the positioning accuracy is low, it cannot reach the millimeter level, and it is easily affected by the environment. If the reflector is blocked, it cannot be positioned.

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