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Two-dimensional code guidance control method of autonomous mobile robot

A mobile robot, guidance control technology, applied in two-dimensional position/channel control, non-electric variable control, control/regulation system and other directions, can solve the problems of precise coupling coil error, insufficient autonomous navigation and positioning accuracy, etc. The effect of improving the level of automation and saving labor costs

Pending Publication Date: 2020-01-10
CHONGQING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in scenarios with high positioning accuracy requirements, such as the robot returning to the coupling coil of the wireless charging pile, the positioning accuracy of autonomous navigation based on lidar SLAM is not enough to meet the error requirements of the precise coupling coil

Method used

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  • Two-dimensional code guidance control method of autonomous mobile robot
  • Two-dimensional code guidance control method of autonomous mobile robot
  • Two-dimensional code guidance control method of autonomous mobile robot

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Embodiment Construction

[0046] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic concept of the present invention, and the following embodiments and the features in the embodiments can be combined with each other in the case of no conflict.

[0047] Wherein, the accompanying drawings are for illustrative purposes only, and represent only schematic diagrams, rather than physical drawings, and should...

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Abstract

The invention relates to a two-dimensional code guidance control method of an autonomous mobile robot, and belongs to the technical field of guidance control of mobile robots. The method comprises thesteps of: marking a guidance target position on a constructed map by using a plurality of two-dimensional code based on two-dimensional code vision and in combination with real-time positioning and composition of the mobile robot; moving, by the autonomous mobile robot, to a two-dimensional code area to complete rough positioning; and then, identifying, by the mobile robot, the two-dimensional code, calculating a three-dimensional coordinate point and pose coordinates of the point, adjusting the forward speed and direction of the mobile robot according to the identified posture of the two-dimensional code and a spatial position of the two-dimensional code relative to a camera, so that the robot moves to the guidance target position to complete target guidance. The two-dimensional code guidance control method provided by the invention has the advantages that a two-dimensional code label is used to cooperate with the camera to perform visual guidance, so that the posture characteristicsare obvious, the processing is fast, the hardware cost is low, and the guidance accuracy is high.

Description

technical field [0001] The invention belongs to the field of combination of mobile robot technology and machine vision, and relates to a two-dimensional code guidance control method for an autonomous mobile robot. Background technique [0002] Nowadays, more and more robots are used in our production and life. As an important tool for handling and inspection, mobile robots have a high degree of automation and high work efficiency, which can save labor costs. At present, laser guidance, magnetic navigation sensors and landmark sensors are commonly used in the industry to form tracking sensors, which are guided and controlled with magnetic strips laid on the ground. This kind of guidance and control method has high hardware costs and complicated installation; another guidance method is Pre-lay navigation and navigation identification tapes, QR codes or various locators on a fixed path, use the vision system to align images for image recognition, and then send the recognition i...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0253G05D1/0257G05D1/0223G05D1/0221G05D1/0276
Inventor 李勇杜发兴王平
Owner CHONGQING UNIV OF POSTS & TELECOMM
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