Dynamic robot path planning method based on two-dimensional code

Abstract

The invention discloses a dynamic robot path planning method based on a two-dimensional code, and the method comprises the following steps of S1, generating a map and a target path by a scheduling control system according to the two-dimensional code; S2, detecting the two-dimensional code by the robot in real time; S3, updating the recognition rate of the current two-dimensional code, proceeding to S4 if the recognition rate is less than or equal to the threshold R_low, and proceeding to S5 if the recognition rate is greater than the threshold R_low; S4, removing the two-dimensional code fromthe map, making the robot continue to follow the target path to the target point, and returning to the S2; and S5, adding the two-dimensional code to the map, feeding the two-dimensional code measurement information back to the dispatch control system by the robot, making the robot continue to follow the target path to the target point, and returning to the S2. The method provided by the inventionuses the two-dimensional code with a low recognition rate as an invalid point, and the scheduling control system will bypass the invalid point when planning a path for a subsequent robot, thereby improving the robot's running accuracy and reducing the risk of failure.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a dynamic planning method for a robot path based on a two-dimensional code. Background technique [0002] The warehousing logistics robot based on QR code navigation receives the route issued by the dispatch center, and drives according to the planned route to transport the goods to the designated location. When the warehousing logistics robot drives along the planned path, it realizes absolute position positioning by recognizing the ground two-dimensional code pasted in the path. Every time the robot passes the QR code, it corrects the current position and posture by recognizing the QR code, so as to ensure that it can follow the prescribed path in the future. [0003] When the two-dimensional code is not recognized by the robot due to contamination, occlusion, etc., when the robot travels to the current position of the two-dimensional code, it cannot perform pose correct...

AI Technical Summary

Problems solved by technology

[0003] When the two-dimensional code is not recognized by the robot due to contamination, occlusion, etc., when the robot travels to the current position of the two-dimensional code, it cannot perform pose correction, which will cause the cumulative error of subsequent driving to continue to increase, resulting in off-track and collision Risk from side obstacles

In addition, after the QR code is used for a long time, the recognition rate will also decrease, which will lead to a decrease in the robot's operating accuracy and an increase in the risk of failure

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