Mobile robot positioning method, device and system

A technology of mobile robot and positioning method, which is applied in the direction of navigation computing tools, etc., which can solve the problems of increased decoding complexity and cost, high precision requirements for two-dimensional code production, low decoding success rate, etc., and achieves easy recognition and strong anti-distortion ability , Improve the decoding speed and decoding success rate

Active Publication Date: 2020-10-16
BEIJING KUANGSHI ROBOTICS TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the production accuracy of the two-dimensional code is high, the anti-distortion ability is poor, and the decoding algorithm is complicated, and the decoding success rate is low.
In order to improve the decoding success rate, multiple QR codes are currently used in parallel, but this further increases the complexity and cost of decoding

Method used

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  • Mobile robot positioning method, device and system
  • Mobile robot positioning method, device and system
  • Mobile robot positioning method, device and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0065] First, refer to figure 2 An example mobile robot 100 for implementing the mobile robot positioning method of the embodiment of the present invention will be described. The mobile robot 100 may be, but not limited to, an AGV (Automated Guided Vehicle, automatic guided vehicle) used in an automated assembly line system.

[0066] Such as figure 2 As shown, the mobile robot 100 includes one or more processors 102, one or more storage devices 104, a drive device 106, a communication device 108, and a code reader 110. These components are connected through a bus system 112 and / or other forms of connection mechanisms (not shown) interconnects. It should be noted that figure 2 The components and structures of the mobile robot 100 shown are exemplary rather than limiting, and the mobile robot may also have other components and structures as required.

[0067] The processor 102 may be a central processing unit (CPU) or other form of processing unit having data processing c...

Embodiment 2

[0073] This embodiment provides a method for positioning a mobile robot. It should be noted that the steps shown in the flow chart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the steps shown in the flow chart A logical order is shown, but in some cases the steps shown or described may be performed in an order different from that presented here. This embodiment will be described in detail below.

[0074] image 3 shows a flow chart of a mobile robot positioning method provided by an embodiment of the present invention, as shown in image 3 As shown, the method includes the following steps:

[0075] Step S302, if the code reader determines that there is a positioning mark within the field of view, determine the position coordinates and deviation angle of the positioning mark in the robot coordinate system.

[0076] Wherein, the positioning mark is arranged in the field where the mobile robot...

Embodiment 3

[0122] Corresponding to the mobile robot positioning method provided in the second embodiment, this embodiment provides a mobile robot positioning device, which is applied to a code reader on the mobile robot. Figure 9 A schematic structural diagram of a mobile robot positioning device provided by an embodiment of the present invention is shown, as shown in Figure 9 As shown, the device includes the following modules:

[0123] The scanning module 91 is used to determine the position coordinates and deviation angle of the positioning mark in the robot coordinate system if the code reader judges that there is a positioning mark in the field of view; the positioning mark is arranged in the field where the mobile robot is active, including directional 1D code.

[0124] The decoding module 92 is configured to analyze the one-dimensional code, and obtain the position coordinates of the positioning mark in the global coordinate system and the direction of the one-dimensional code....

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Abstract

The invention, which relates to the technical field of robot positioning, provides a positioning method, device and system for a mobile robot. According to the positioning method, device and system for a mobile robot provided by the embodiment of the invention, in an activity field of a mobile robot a positioning identifier which includes directional one-dimensional code is arranged; the positioning identifier is captured by the mobile robot, a position coordinate and a deviation angle of the positioning identifier in a robot coordinate system are determined; and the one-dimensional code is decoded to obtain a position coordinate of the positioning identifier in a global coordinate system and the direction of the one-dimensional code so as to determine a position and posture of the mobilerobot in the field. Because the one-dimensional code has the advantages of simple fabrication, easy recognition, strong anti-distortion ability and convenience of code reader alignment, compared withthe prior art which decodes QR code, the embodiment of the invention can reduce decoding complexity, improve decoding speed and decoding success rate, and reduce production cost.

Description

technical field [0001] The present invention relates to the technical field of mobile robot positioning, in particular to a mobile robot positioning method, device and system. Background technique [0002] The mobile robot travels in the field according to the planned path, and needs to realize the positioning during the travel process. Localization is to determine the position and posture of the mobile robot relative to the global coordinates in the working environment. [0003] The existing mobile robot positioning system usually adopts such as figure 1 The QR code shown represents position coordinates in a global coordinate system. Two-dimensional code labels are pasted on grid nodes at fixed intervals in the venue. When the mobile robot passes over the two-dimensional code label, it uses its camera to scan the two-dimensional code and decode the information represented by the two-dimensional code to perform positioning. . However, the production accuracy of the two-d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 彭广平
Owner BEIJING KUANGSHI ROBOTICS TECH CO LTD
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