Robot indoor positioning method based on double-color bar and QR code

Abstract

The invention discloses a robot indoor positioning method based on a double-color bar and a QR code, and the method comprises the following steps: 1, pasting a double-color bar positioning mark on anindoor ceiling along the upper part of a set route of a robot, and pasting QR codes with position information on a starting point, an ending point and an intersection point of the double-color bar; 2,enabling the robot to obtain a parking point image through a camera at the top; 3, carrying out correction processing on the image acquired by the camera; 4, acquiring information of the double-colorbar positioning mark from the image; 5, acquiring information of the QR code from the image; 6, calculating the relative position of the robot according to the double-color bar positioning mark and the QR code square block; 7, obtaining the absolute position of the robot according to the address information in the QR code; 8, enabling the robot to advance according to a set route. Compared with the prior art, the method is particularly simple to implement, high in reliability and easy to identify, the precision can reach the centimeter level, and the method is extremely convenient and reliable to implement.

Description

technical field [0001] The invention relates to an indoor positioning method for a robot, in particular to an indoor positioning method for a robot with two-color bars and two-dimensional codes. Background technique [0002] There are many indoor positioning methods for robots. Due to the shielding of satellite signals indoors, satellite positioning methods such as GPS cannot give full play to their advantages indoors and are not accurate enough to distinguish floors. Some existing robots are positioned based on wireless network communication, such as sweeping robots, etc., but before use, they need to scan the target area to identify the established working range. The disadvantage is that the communication range of wireless networks such as WIFI is limited, which is not suitable for large The positioning of the range, and the positioning method is only for the established work range. Taking a large hospital as an example, if you want to send medical supplies from the mater...

AI Technical Summary

Problems solved by technology

[0002] At present, there are many indoor positioning methods for robots. Due to the shielding of satellite signals indoors, satellite positioning methods such as GPS cannot give full play to their advantages indoors and the accuracy is not enough, and they cannot distinguish floors.

Some existing robots are positioned based on wireless network communication, such as sweeping robots, etc., but before use, they need to scan the target area to identify the established working range. The disadvantage is that the communication range of wireless networks such as WIFI is limited, which is not suitable for large Range positioning, and the positioning method is only for the established work range

Taking a large hospital as an example, if you want to send medical supplies from the material department on the first floor to Room 2 on the 7th floor of the inpatient department in the same building, the existing robot positioning method is difficult to achieve. Even if it is theoretically possible, it is very difficult to implement. complex and expensive

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