CN103324194B - Based on the mobile robot positioning system of two-dimension code navigation band - Google Patents
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- CN103324194B CN103324194B CN201310191137.5A CN201310191137A CN103324194B CN 103324194 B CN103324194 B CN 103324194B CN 201310191137 A CN201310191137 A CN 201310191137A CN 103324194 B CN103324194 B CN 103324194B
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Abstract
The present invention relates to a kind of mobile robot positioning system based on two-dimension code navigation band, its technical characteristics is: comprise the Quick Response Code register control be arranged on mobile robot's dolly, at least two Quick Response Code code readers and be laid in ground two-dimension code navigation band, described two-dimension code navigation band is disposed adjacent successively by multiple Quick Response Code and forms, and described Quick Response Code register control is connected with at least two Quick Response Code code readers for gathering two-dimension code navigation information and realizing the accurate positioning function of mobile robot.The present invention is reasonable in design, it adopts the method for two-dimension code navigation band to avoid the complex characteristics of sensed image process dexterously, make the real-time of image acquisition no longer by the restriction of software condition, hardware condition, fundamentally solve the technical barrier of those skilled in the art's insoluble real-time image acquisition for a long time, effectively improve the travelling speed of mobile robot, ensure that the high-level efficiency of mobile robot positioning system.
Description
Technical field
The invention belongs to Mobile Robotics Navigation technical field, especially a kind of mobile robot positioning system based on two-dimension code navigation band.
Background technology
The mobile robot autonomous navigation of view-based access control model refer to the image capturing system of mobile robot platform obtain robot current state under environmental information, by determining environmental objects and robot position in the environment to ambient image analysis.Because image has high-resolution, environmental information is complete, and meet the cognition custom of the mankind, therefore, in the last few years, the mobile robot autonomous navigation of view-based access control model was obtained extensive concern and accreditation, and has obtained considerable achievement in theory and practice.But, due to the complicacy of mobile robot's activity scene and the dynamic perfromance of mobile robot, as the physical construction of robot, cumulative errors in walking process, the luminosity of camera, illumination, shooting speed, the reasons such as the sharpness of image, cause the real-time of robotic vision system not enough, such as, based on indoor mobile robot positioning system and the method for Quick Response Code, owing to not being lay continuously but the laying of discrete type when laying Quick Response Code on ground, between two discrete Quick Response Codes, there is no other information feed back, or gyrostatic angular velocity feedback can only be similar to, this feedback information is inadequate, because central processing unit can not obtain the decoded information of image acquisition device feedback in time, cause robot can not obtain pose correction instruction in time in respective stretch, reference position deviation more a little will more and more increase the weight of, when even arriving next Quick Response Code, the visual field of code reader deviate from Quick Response Code, cause reading, next just there will be and continue the situation of shooting less than picture, another situation of clapping less than picture is: when robot speed accelerates, if decode time can not synchronously be accelerated, the decoded signal that central processing unit can not receive last image acquisition at the appointed time will be formed, and cause the time delaying and send image acquisition commands next time, and when central processing unit sends to image capturing system the order gathering image again, miss the position of image taking, cause image sky to clap phenomenon.
In sum, although solve the accurate orientation problem of indoor navigation based on the indoor mobile robot positioning system of Quick Response Code and method at present, can not real-time image acquisition, this problem does not solve, and will have a strong impact on the speed of travel of mobile robot.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of reasonable in design, real-time and the mobile robot positioning system based on two-dimension code navigation band of mobile robot's speed of travel can be significantly improved.
The present invention solves its technical matters and takes following technical scheme to realize:
A kind of mobile robot positioning system based on two-dimension code navigation band, comprise the Quick Response Code register control be arranged on mobile robot's dolly, Quick Response Code code reader and be laid in ground two-dimension code navigation band, described two-dimension code navigation band is disposed adjacent successively by multiple Quick Response Code and forms, and described Quick Response Code register control is connected with Quick Response Code code reader for gathering two-dimension code navigation information and realizing the accurate positioning function of mobile robot.
And the length of described two-dimension code navigation band is width or the length sum of multiple Quick Response Code.
And described two-dimension code navigation band is straight line or is camber line.
And each Quick Response Code in described two-dimension code navigation band is all built-in with unique No. ID, or is built-in with coordinate figure.
And, described Quick Response Code code reader is at least two, when Quick Response Code code reader is two time, two Quick Response Code code readers are arranged on the center line of mobile robot's dolly length direction, a central point being positioned at mobile robot's dolly, another one is positioned at the afterbody of mobile robot's dolly, and the distance between two Quick Response Code code readers is similar to 1/2nd of mobile robot's length over ends of body.
And, described Quick Response Code register control is connected and composed by microprocessor, scrambler and communication interface, this microprocessor is connected with scrambler the travelling speed for detecting mobile robot, and this microprocessor to be connected with at least two Quick Response Code code readers by communication interface and to gather two-dimension code navigation information and realize the accurate positioning function of mobile robot.
And described communication interface is network interface, USB interface or 1394 interfaces, described Quick Response Code code reader is the camera with network interface, USB interface or 1394 interfaces.
Advantage of the present invention and good effect are:
1, this positioning system is by the Quick Response Code register control of mobile robot positioning system, code reader and the combination being laid in ground two-dimension code navigation band, the mode of two-dimension code navigation band is adopted to avoid the complex characteristics of sensed image process dexterously, adopt environmental services in the method for system, the image in 2 D code easily solving the discrete type distribution that can't resolve for a long time can not the difficult problem of Real-time Collection, make the real-time of image acquisition no longer by software condition, the restriction of hardware condition, effectively improve the travelling speed of mobile robot, ensure that the high-level efficiency of mobile robot positioning system.
2, this positioning system lays the mode of two-dimension code navigation band on ground, construction is simple, swift to operate, contrast is shortened the image decoding time simply and from hardware, is improved the shooting speed of hardware camera simply from software, its disposal route is simply too much, cost is much smaller, improves cost performance.
Accompanying drawing explanation
Fig. 1 is system connection diagram of the present invention;
Fig. 2 is the position view that two Quick Response Code code readers are arranged on mobile robot's dolly;
Fig. 3 is two-dimension code navigation band schematic diagram;
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described:
A kind of mobile robot positioning system based on two-dimension code navigation band, as shown in Figure 1, comprise the Quick Response Code register control be arranged on mobile robot's dolly, at least two Quick Response Code code readers and be laid in ground two-dimension code navigation band, described Quick Response Code register control is by microprocessor, scrambler and communication interface connect and compose, this microprocessor is connected with scrambler the travelling speed for detecting mobile robot, this microprocessor to be connected with at least two Quick Response Code code readers by communication interface and to gather two-dimension code navigation information and realize the accurate positioning function of mobile robot.The installation site of Quick Response Code code reader, as shown in Figure 2, two Quick Response Code code readers are arranged on mobile robot's dolly, the center line of mobile robot's dolly length direction installs two Quick Response Code code readers, a central point being positioned at mobile robot's dolly, another one is positioned at the afterbody of mobile robot's dolly, and the distance between two Quick Response Code code readers is similar to 1/2nd of mobile robot's dolly length.This communication interface network interface, USB interface or 1394 interfaces, this Quick Response Code code reader is the camera with network interface, USB interface or 1394 interfaces.
As shown in Figure 3, two-dimension code navigation band is disposed adjacent successively by multiple Quick Response Code and forms, and this two-dimension code navigation band can be straight line, also can be camber line.The width of two-dimension code navigation band can be the width of 1 Quick Response Code, and its length is by the width of multiple Quick Response Code or length is cumulative forms.The characteristic of the tricornute position sensing figure of two-dimension code label tool and Quick Response Code square shape, the position sensing figure of three drift angles is used for size, the angle of inclination of recognizing apparatus acquisition code; Data field is used for the absolute value coordinate that recognizing apparatus obtains Quick Response Code.Described Quick Response Code register control is the positioning function by being built in the Quick Response Code positioning control software simulating mobile robot in microprocessor, this Quick Response Code positioning control software comprises camera calibration module, image processing module, coordinate transformation module and encoded radio mapping block, described camera calibration module is used for demarcating camera, to set up the corresponding relation between camera and mobile robot's dolly; Described image processing module exports Quick Response Code four coordinates of summit in image coordinate system; Described encoded radio mapping block is by its actual geographic position in indoor corresponding for each unique encodings value one_to_one corresponding; Described coordinate transformation module exports the current position of dolly position deviation value, pose changing value and dolly and direction.
The manufacturing process of two-dimension code navigation band: with specific software Mass production Quick Response Code, each Quick Response Code represents one unique No. ID, or one group of coordinate figure.Adopt before a kind of method time, also must database by No. ID and and absolute value coordinate carry out one_to_one corresponding.After Mass production Quick Response Code, then typesetting, print, cut into rectangular, be more rectangularly laid in the so-called two-dimension code navigation band of ground spliced one-tenth by each, each Quick Response Code in two-dimension code navigation band contains the physical location coordinate corresponding to it.
Based on the method for two-dimension code navigation band real-time image acquisition and principle as follows:
(1) ensure that the initial position of mobile robot can not depart from effective read range of image in 2 D code;
(2) adopt the method for two-dimension code navigation band, image capturing system is made to gather in image process, be no longer dependent on the physical location of the image in 2 D code of time and the current needs shooting receiving and gather image command, because whole piece navigation band has all laid Quick Response Code, only need mobile robot's right position not depart from navigation band (being controlled by the initial position of robot), then in robot traveling process, any moment can obtain image; By the method for two-dimension code navigation band, the speed of travel improving mobile robot is made no longer to consider to match with the decode time of image procossing, but solved by the distance between adjustment twice collected image: when robot speed accelerates, distance then between twice collected image in 2 D code lengthens relatively, when robot speed slows down, distance between two image in 2 D code collected then shortens relatively, thus ensure that the possibility of real-time image acquisition.
It is emphasized that; embodiment of the present invention is illustrative; instead of it is determinate; therefore the present invention is not limited to the embodiment described in embodiment; every other embodiments drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (4)
1. the mobile robot positioning system based on two-dimension code navigation band, it is characterized in that: comprise the Quick Response Code register control be arranged on mobile robot, Quick Response Code code reader and be laid in ground two-dimension code navigation band, described two-dimension code navigation band is disposed adjacent successively by multiple Quick Response Code and forms, the length of described two-dimension code navigation band is width or the length sum of multiple Quick Response Code, described two-dimension code navigation band is straight line or is camber line, each Quick Response Code in described two-dimension code navigation band is all built-in with unique No. ID, or is built-in with coordinate figure; Described Quick Response Code register control is connected with Quick Response Code code reader for gathering two-dimension code navigation information and realizing the accurate positioning function of mobile robot.
2. the mobile robot positioning system based on two-dimension code navigation band according to claim 1, it is characterized in that: described Quick Response Code code reader is at least two, when Quick Response Code code reader is two time, two Quick Response Code code readers are arranged on the center line of mobile robot's length direction, a central point being positioned at mobile robot, another one is positioned at the afterbody of mobile robot, and the distance between two Quick Response Code code readers is similar to 1/2nd of mobile robot's length over ends of body.
3. the mobile robot positioning system based on two-dimension code navigation band according to any one of claim 1 to 2, it is characterized in that: described Quick Response Code register control is connected and composed by microprocessor, scrambler and communication interface, this microprocessor is connected with scrambler the travelling speed for detecting mobile robot, and this microprocessor to be connected with at least two Quick Response Code code readers by communication interface and to gather two-dimension code navigation information and realize the accurate positioning function of mobile robot.
4. the mobile robot positioning system based on two-dimension code navigation band according to claim 3, it is characterized in that: described communication interface is network interface, USB interface or 1394 interfaces, described Quick Response Code code reader is the camera with network interface, USB interface or 1394 interfaces.
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