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Visual navigation method and system of mobile robot as well as warehouse system

A mobile robot and visual navigation technology, applied in the field of warehouse systems, can solve problems such as difficult maintenance of system stability, method effectiveness needs to be improved, insufficient stability and real-time performance of the visual system, etc.

Active Publication Date: 2016-06-08
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In view of the complexity of the active scene and the dynamic characteristics of the mobile robot, and because the image is processed during the movement of the robot, the stability and real-time performance of the vision system are not enough
For example, the method of visual navigation by continuously learning the surrounding environment to establish an environmental map needs to be based on an accurate map, so the processing of data is very large, and the real-time performance is difficult to meet; To realize navigation on the road, it is necessary to consider the influence of light, dynamic environment, etc., and the stability of the system is difficult to maintain
Two-dimensional codes and strips are easy to identify in more complicated scenes, such as CN103294059A mobile robot positioning system and method based on mixed navigation belt, utilize two-dimensional code reader and camera to realize the precise positioning function of mobile robot, and two The two-dimensional code reader and the camera are all at least one respectively, and the method is not simple enough for horizontal deviation correction, vertical deviation correction and angle correction processing separately; as CN103324194A mobile robot positioning system based on two-dimensional code navigation belt, two-dimensional code navigation belt consists of multiple The two-dimensional codes are arranged adjacent to each other in sequence, and a large number of two-dimensional code labels are set, and at least two two-dimensional code readers are used to read the two-dimensional codes for precise positioning of the robot, which depends on the strip, although it improves Running speed, but no fast image processing; such as CN102788591 visual information-based robot patrolling navigation method along the guide line, drawing the guide line on the ground, the control effect is completely dependent on the parameters, when the state of the controlled object is different The optimal parameters are often different, and the effectiveness of the method needs to be improved

Method used

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  • Visual navigation method and system of mobile robot as well as warehouse system
  • Visual navigation method and system of mobile robot as well as warehouse system
  • Visual navigation method and system of mobile robot as well as warehouse system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0106] Embodiment 1: Mobile robot visual navigation method based on two-dimensional code and strip

[0107] This embodiment adopts the omnidirectional mobile robot independently developed by the Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences. The robot has 6 wheels, 2 driving wheels for driving, and 4 passive wheels for supporting, which can be completed in a plane. Three-degree-of-freedom movement; its size is 1.2m (length)*0.8m (width)*0.4m (height), and the load is 100kg; the robot is equipped with an industrial computer, a display screen, and an acquisition module (the Mercury series of Daheng Image) Camera MER-030-120UM / UC) and acquisition module supporting light source, obstacle avoidance sensor, etc. Carry goods in a production workshop, transport them from the designated location to the target location and return, with a path of about 100m. Such as figure 2 with Figure 4 As shown, according to the needs of the task, first pla...

Embodiment 2

[0151] Embodiment 2: Mobile robot visual navigation system No.1 based on two-dimensional code and strip

[0152] Such as Figure 5 As shown, the mobile robot visual navigation system of this embodiment is used in a predetermined scene, wherein a strip 400 is preset in the preset scene, and a two-dimensional code label 300 is arranged on the strip 400, and the two-dimensional code contains at least one for To determine the state transition information and speed change information of the mobile robot 200 movement, the mobile robot visual navigation system includes a communication acquisition module 100 and an industrial computer 600, wherein,

[0153] The collection module 100 is arranged on the mobile robot 200, and is used to collect the scene image in the scene where the mobile robot 200 is located and send it to the industrial computer 600;

[0154] The industrial computer 600 further includes:

[0155] An image conversion module is used to receive a scene image and conver...

Embodiment 3

[0165] Embodiment 3: Mobile robot visual navigation system No.2 based on two-dimensional code and strip

[0166] Such as Figure 5 As shown, the mobile robot visual navigation system based on two-dimensional codes and strips in this embodiment includes: a mobile robot 200 equipped with an acquisition module 100, a plurality of two-dimensional code labels (two-dimensional code labels) set in a preset mobile robot scene Two-dimensional code label group 300), strip 400, obstacle avoidance sensor 500 and industrial computer 600.

[0167] Wherein: the acquisition module 100 is connected to the industrial computer 600 through communication, and can acquire the scene image comprising the two-dimensional code label 300 and the reflective tape 400, and transmit the scene image to the industrial computer 600 for processing, and the obstacle avoidance sensor 500 is used for avoiding in the environment. barrier, they are all connected with the industrial computer 600. The industrial com...

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Abstract

The invention discloses a visual navigation method and system of a mobile robot. According to the method, a scene image in a scene where the mobile robot is located is acquired in real time and converted into a grayscale image; a two-dimensional code in the grayscale image is identified and decoded, and state transition information and speed change information are obtained; meanwhile, an outline center line of a stripe in the same frame of grayscale image is determined, and the offset distance and the offset angle between the outline center line of the stripe and a center line of the grayscale image are calculated; the linear velocity and the motion direction of the mobile terminal are adjusted according to the state transition information and the speed change information, and meanwhile, the angular velocity of the mobile robot is corrected in real time according to the offset distance and the offset angle. The two-dimensional code on the stripe and the scene image for correction are acquired simultaneously in the image manner, the two-dimensional code and the stripe in the same frame of image are merged, meanwhile, preset motion and real-time correction of the robot are controlled, the control and correction method can be significantly simplified, the velocity can be increased, and the system can be more stable.

Description

technical field [0001] The invention relates to the field of robot visual navigation, in particular to a mobile robot visual navigation method and system based on two-dimensional codes and strips, and a warehouse system. Background technique [0002] Mobile robots have a wide range of application requirements in warehousing logistics, mobile operations and other fields. [0003] Navigation technology is a key technology of mobile robots. The traditional navigation method is to lay metal wires or magnetic nails. Although the control is simple, the installation is inconvenient and the maintenance cost is high; while the inertial navigation uses photoelectric encoders and gyroscopes. Although it is simple and flexible, it is susceptible to various interferences. Errors keep accumulating. In recent years, visual navigation has attracted extensive attention in mobile robot navigation due to its advantages of large amount of information, high sensitivity, and strong flexibility....

Claims

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Application Information

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IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/206G05D1/02
Inventor 陈庆盈张慧娟郑天江杨兴常皓杨巍
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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