An outdoor autonomous mobile system and method for a robot based on a roadside two-dimensional code unit

Abstract

The invention provides an outdoor autonomous mobile system and method for a robot based on a roadside two-dimensional code unit, belonging to the field of mobile robots. It is composed of a mobile robot unit, a cloud server unit and a roadside two-dimensional code unit. The mobile robot unit first communicates with the cloud server unit to obtain the target position and the current position of the robot. The cloud server unit calculates the forward trajectory based on the target position and the current position. Issued to the mobile robotic unit to start moving forward. During the forward process, the mobile robot unit relies on the camera to obtain the information of the straight lane ahead, identifies the driving area, and continuously corrects the left and right deviations; for the curve, the mobile robot unit detects the QR code on the roadside, updates the global position information, and combines the target trajectory information to guide the robot to make turns. The status information of the mobile robot unit can be checked in real time on the cloud server. The invention does not require large-scale reconstruction on the ground, and does not affect the normal running of road vehicles.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to an outdoor autonomous mobile system and method for a robot based on a roadside two-dimensional code unit. Background technique [0002] At present, mobile robots are used more and more widely. From indoor sweeping robots to outdoor logistics vehicles, mobile robots play an increasingly important role in daily life and industrial production. The mobile robot system is a complex system with interdisciplinary knowledge. The robot needs to solve positioning problems, perception problems, planning problems, control problems and so on. [0003] Outdoor mobile robot solutions mainly include magnetic sensor solutions, laser solutions, etc. according to different sensors. However, the existing solutions at least have the following problems: [0004] 1. The LiDAR-based solution uses LiDAR as the main sensor, and currently the single price of LiDAR is relatively high. At the same time, the use...

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Problems solved by technology

[0004] 1. The LiDAR-based solution uses LiDAR as the main sensor, and currently the single price of LiDAR is relatively high. At the same time, the use of LiDAR in indoor corridors often has the problem of positioning failure. The requirements for environmental characteristics are high, and the versatility is limited limit

[0005] 2. The magnetic sensor-based solution uses the magnetic sensor as the main sensor, which has high requirements for environmental transformation and requires ground transformation, such as laying magnetic guide strips on a large scale. The robot can only walk along the route where the magnetic guide strips have been laid, which is flexible. Sexual restriction

[0006] 3. The conventional line inspection scheme based on the camera needs to lay visual guidance lines on the forward route, and also requires certain renovation work on the ground. At the same time, it is easy to lose the vision of the visual guidance lines at the turning of the intersection, so that the visual guidance lines cannot be tracked

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