Mobile robot positioning system based on two-dimensional code navigation belt

Abstract

The invention relates to a mobile robot positioning system based on a two-dimension code navigation band. The mobile robot positioning system based on the two-dimension code navigation band is mainly and technically characterized by comprising a two-dimension code positioning controller, at least two two-dimension code readers and a two-dimension code navigation band, wherein the two-dimension code positioning controller and the two-dimension code readers are installed on a mobile robot dolly, and the two-dimension code navigation band is laid on the ground. The two-dimension code navigation band is formed by a plurality of two-dimension codes arranged in sequence and adjacently. The two-dimension code positioning controller is connected with the two-dimension code readers to be used for collecting two-dimension code navigation information and achieving the accuracy positioning function of a mobile robot. The mobile robot positioning system based on the two-dimension code navigation band is reasonable in design, skillfully avoids the complex character of vision image processing by the adoption of the method of the two-dimension code navigation band, enables the real-time performance of image collection not to be restricted by software conditions and hardware conditions, fundamentally solves the real-time image collection problem which is difficult to solve by technical staffs in the field for a long time, effectively improves operating speed of the mobile robot, and ensures the high efficiency of the mobile robot positioning system.

Description

technical field [0001] The invention belongs to the technical field of mobile robot navigation, in particular to a mobile robot positioning system based on a two-dimensional code navigation belt. Background technique [0002] Vision-based autonomous navigation of mobile robots means that the image acquisition system of the mobile robot platform obtains the environmental information of the robot in its current state, and determines the location of the environmental objects and the robot in the environment by analyzing the environmental images. Due to the high resolution of the image, complete environmental information, and conformity to human cognitive habits, in recent years, the autonomous navigation of mobile robots based on vision has been widely concerned and recognized, and considerable achievements have been made in theory and practice. results. However, due to the complexity of the mobile robot's activity scene and the dynamic characteristics of the mobile robot, suc...

AI Technical Summary

Problems solved by technology

However, due to the complexity of the mobile robot's activity scene and the dynamic characteristics of the mobile robot, such as the robot's mechanical structure, the cumulative error during walking, the camera's luminosity, illuminance, shooting speed, image clarity, etc. The real-time performance is not enough. For example, the indoor mobile robot positioning system and method based on the two-dimensional code, because the two-dimensional code is laid on the ground is not continuous laying but discrete laying, between two discrete two-dimensional code , there is no other information feedback, or there can only be angular velocity feedback similar to the gyroscope, the feedback information is not enough, because the central processing unit cannot get the decoding information fed back by the image collector in time, so the robot cannot get the pose correction in time in the corresponding road section Instructions, a slight deviation from the starting position will become more and more serious, and even when the next two-dimensional code is displayed, the field of view of the code reader has deviated from the two-dimensional code, making it impossible to read, and then there will be continuous shooting failures. Another situation where the picture is not captured is: when the speed of the robot is accelerated, if the decoding time cannot be accelerated synchronously, it will cause the central processor to fail to receive the decoding signal of the last image acquisition within the specified time. As a result, the time for sending an image acquisition command next time is delayed, and when the central processing unit sends an image acquisition command to the image acquisition system again, the position of the image capture has been missed, causing the image to be taken empty.

[0003] In summary, although the current indoor mobile robot positioning system and method based on two-dimensional codes solves the problem of precise indoor navigation positioning, it cannot collect images in real time. If this problem is not solved, the walking speed of the mobile robot will be seriously affected.

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