CN106297551A - A kind of road sign for determining robot location and coding checkout method thereof - Google Patents
A kind of road sign for determining robot location and coding checkout method thereof Download PDFInfo
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- CN106297551A CN106297551A CN201610824491.0A CN201610824491A CN106297551A CN 106297551 A CN106297551 A CN 106297551A CN 201610824491 A CN201610824491 A CN 201610824491A CN 106297551 A CN106297551 A CN 106297551A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F3/00—Labels, tag tickets, or similar identification or indication means; Seals; Postage or like stamps
- G09F3/02—Forms or constructions
- G09F3/0288—Labels or tickets consisting of more than one part, e.g. with address of sender or other reference on separate section to main label; Multi-copy labels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F3/00—Labels, tag tickets, or similar identification or indication means; Seals; Postage or like stamps
- G09F3/02—Forms or constructions
- G09F3/0297—Forms or constructions including a machine-readable marking, e.g. a bar code
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
A kind of road sign for determining robot location, described road sign includes: code tag, and described code tag is made up of more than one labelling, is used for determining independent road sign, to be made a distinction with other road signs by independent road sign；Verification label, independent road sign is identified whether correctly by described verification label for verification.Described road sign also includes: coordinate label, and described coordinate label is made up of more than one labelling, for determining the positional information of each labelling of composition code tag.The present invention, by setting the rule of correspondence, uses verification label to verify code tag, the most correct to judge the road sign that robot recognizes, and can reduce the impact caused by other factors, substantially increase the accuracy that road sign gathers.
Description
Technical field
The present invention relates to robot field, be related specifically to a kind of robot location and determine road sign and coding checkout side thereof
Method.
Background technology
Robot when indoor moving, need confirm position to carry out path planning, conventional determination robot location's
Method is to use artificial landmark to carry out location confirmation.
In existing artificial landmark designs, have and use the pattern with special color information or texture information to set
The artificial landmark of meter, also has employing numeral, letter, Quick Response Code or the artificial landmark of design in barcode.Robot is positioned at different positions
When putting, the road sign image difference photographed is very big, adds glazed thread and the impact of other objects indoor, is easily caused robot and knows
Other road sign mistake, and then cause the position determining robot also to be made a fault.
Summary of the invention
The present invention is to solve the deficiencies in the prior art, it is provided that a kind of road sign for determining robot location and volume thereof
Code check method, improves the accuracy that road sign gathers.
It is an object of the present invention to provide a kind of road sign for determining robot location, described road sign includes:
Code tag, described code tag is made up of more than one labelling, is used for determining independent road sign, with by independent road
Mark makes a distinction with other road signs；
Verification label, independent road sign is identified whether correctly by described verification label for verification.
Further, described road sign also includes:
Coordinate label, described coordinate label is made up of more than one labelling, for determining each mark of composition code tag
The positional information of note.
Further, described coordinate label by labelling at an arbitrary position and is positioned at the described X-axis being labeled as center and Y-axis
On two labellings composition.
Further, the labelling of described composition coordinate label and code tag arranges according to square formation array, described composition coordinate
The labelling of label is positioned on the corner of square formation array, the labelling of described composition code tag be positioned at described square formation array except four
On other positions outside corner.
Further, according to the quantity of labelling and/or the position of composition code tag, the labelling of a verification label is set,
Or it is not provided with any labelling.
Further, the labelling of described verification label is arranged in the negative direction of X-axis and Y-axis.
Further, described composition code tag be marked with different coding, using the summation of described coding as code tag
No. ID of place road sign, identifies independent road sign by described No. ID.
Further, the back side at described composition coordinate label and the labelling of code tag is provided with viscous layer.
It is a further object to provide a kind of coding checkout method, arrange above-mentioned in space residing for robot
Road sign, uses described road sign to carry out coding checkout, and described coding checkout method at least comprises the following steps:
Step 1, encodes the labelling of composition code tag, makes the labelling of composition code tag have different volumes
Code；
Step 2, sets the rule of correspondence, judges whether to paste the labelling of described verification label according to the rule of correspondence, if composition
The coding of the labelling of code tag meets the rule of correspondence, then arrange the labelling of verification label, otherwise, be not provided with verifying the mark of label
Note；
Step 3, robot gathers road sign image, and the image information gathered according to rule of correspondence analysis, if viscous in image
The labelling of the verification labeled is not inconsistent with the rule of correspondence, then Resurvey and analysis road sign image.
Further, in described step 2, the described rule of correspondence is: if the quantity of the labelling of composition code tag is even number,
Then the negative direction in X-axis and Y-axis arranges the labelling of a verification label；If the quantity of the labelling of composition code tag is odd number,
Then it is not provided with verifying the labelling of label.
Compared with prior art, technical scheme has the advantage that
The present invention, by setting the rule of correspondence, uses verification label to verify code tag, to judge that robot is known
The road sign being clipped to is the most correct, can reduce the impact caused by other factors, substantially increases the accuracy that road sign gathers.
Accompanying drawing explanation
Fig. 1 is the configuration schematic diagram of the road sign of first embodiment of the invention；
Fig. 2 is the configuration schematic diagram of the road sign of second embodiment of the invention；
Fig. 3 is the coding schematic diagram of the road sign of third embodiment of the invention；
Fig. 4 is the flow chart of a kind of coding checkout method of third embodiment of the invention.
Detailed description of the invention
Understandable, below in conjunction with the accompanying drawings to the present invention for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from
Specific embodiment be described in detail.
In the present invention, use " more than " logarithm value is when being described, this numerical value comprises the numerical value represented by this end points, example
As, the meaning of " more than one " is: one, or other numerical value more than.
First embodiment
The present embodiment provides a kind of road sign for determining robot location, and described road sign is by more than one difference in functionality
Label composition.
Referring to Fig. 1, in the present embodiment, described road sign includes coordinate label 10, code tag 20 and verification label 30,
Described coordinate label 10, code tag 20 and verification label 30 are three labels in described road sign with difference in functionality.
In the present embodiment, at described composition coordinate label 10, code tag 20 and the back side of the labelling verifying label 30
It is provided with viscous layer；Described labelling is pasted onto on the ceiling in space residing for robot by described viscous layer.Implement at other
In example, described road sign can also be arranged on the place that other robot can collect.
Described coordinate label 10 is made up of more than one labelling, for determining the position of each labelling of composition code tag 20
Confidence ceases.
Further, described coordinate label 10 by labelling at an arbitrary position and is positioned at the described X-axis being labeled as center and Y
Two labelling compositions on axle.Determined the coordinate system of road sign by described coordinate label 10, form the mark of described code tag 20
Note has unique coordinate in described coordinate system.
Described code tag 20 is made up of more than one labelling, is used for determining independent road sign, with by independent road sign and its
He makes a distinction by road sign；Described independent road sign is a certain specific road sign in all road signs.
The identity of this road sign, the space residing for robot is determined by the quantity and position forming the labelling of code tag 20
In, the identity of each road sign is different, i.e. the labelling of composition code tag 20 does not exist the identical situation of quantity and position.
Owing to described code tag 20 determines the identity of road sign, the most described coding mark by the position of its labelling and quantity
Sign the position of each labelling in 20 the most extremely important.
Independent road sign is identified whether correctly for verification by described verification label 30, according to the mark of composition code tag 20
The position of note and/or quantity, arrange the labelling of a verification label 30, or be not provided with verifying the labelling of label 30.
Referring to Fig. 1, in the present embodiment, the labelling of described verification label 30 is arranged in the negative direction of X-axis and Y-axis.
In other embodiments, can also to be arranged on other robot recognizable and do not disturb coordinate for the labelling of described verification label 30
On the position that label 10, code tag 20 identify.
Referring to Fig. 1, in the present embodiment, described coordinate label 10 is made up of three labellings, with the labelling in centre position
For initial point, two other labelling described lays respectively in the positive direction of the X-axis centered by initial point and Y-axis, by described coordinate mark
Three labellings of label 10 determine the coordinate system of road sign.Described code tag 20 is made up of 12 labellings, described 12 labellings
On the diverse location of the positive direction being distributed in described coordinate system.Pass through coordinate system, it may be determined that described composition code tag 20
The unique coordinate of 12 labellings.
In other embodiments, described coordinate label 10 can be there to be other forms, as long as described coordinate label 10 can make machine
Device people determines the positional information of each labelling of described code tag 20, and then by the identification of code tag 20 is determined independent road
Mark, robot is thus able to determine its position.
The labelling of described composition coordinate label 10 and code tag 20 arranges according to square formation array, and square formation can be 3 × 3,4
× 4 or 5 × 5 square formations, it is also possible to be the square formation that other are bigger, do not limit.The size of square formation is set by actual demand, machine
Space residing for device people is the biggest, and the quantity of the road sign of needs is the most, and the square formation of employing is the biggest.
The labelling of described composition coordinate label 10 is positioned on the corner of square formation array, the labelling of described composition code tag 20
It is positioned on other positions in addition to four corners of described square formation array.Its in addition to four corners in described square formation array
In his any position, the labelling of a code tag 20 can be set or be not provided with any labelling.
Referring to Fig. 1, in the present embodiment, the labelling of described composition coordinate label 10 and code tag 20 is according to 4 × 4
Square formation array arranges, and three labellings of described composition coordinate label 10 lay respectively on wherein three corners of square formation array, institute
12 labellings stating composition code tag 20 lay respectively on other positions in addition to four corners of square formation.
After the position of the labelling in described code tag 20 and quantity determine, need it is encoded.Described composition is compiled
Code label 20 be marked with different coding, using the summation of described coding as No. ID of code tag 20 place road sign, by institute
State No. ID and identify independent road sign.
Each labelling of described composition code tag 20 have unique coordinate and coding, its coordinate and coding can be passed through
Determine place road sign identity, and then determine robot location.The present embodiment is by each labelling of detection composition code tag 20
Coding, determine the coordinate of labelling；No. ID of road sign is calculated, by the ID recognition coding mark of road sign according to the coding detected
Sign the identity of 20 place road signs, finally determine the position of robot.
Second embodiment
The present embodiment provides a kind of road sign for determining robot location, refers to Fig. 2, and described road sign includes coordinate mark
Signing 10, code tag 20 and verification label 30, described coordinate label 10, code tag 20 and verification label 30 are in described road sign
There are three labels of difference in functionality.
Referring to Fig. 2, in the present embodiment, described coordinate label 10 is made up of three labellings, with the labelling in centre position
For initial point, two other labelling described lays respectively in the positive direction of the X-axis centered by initial point and Y-axis, by described coordinate mark
Three labellings of label 10 determine the coordinate system of road sign.
Described code tag 20 is made up of nine labellings, described nine indicia distribution described coordinate system positive direction not
In co-located.Refer to Fig. 2, by X-axis positive direction, in every line flag, the number of labelling of composition code tag 20 is respectively 1,
3、4、1.Pass through coordinate system, it may be determined that the unique coordinate of nine labellings of described composition code tag 20.
Referring to Fig. 2, in the present embodiment, the labelling of described composition coordinate label 10 and code tag 20 is according to 4 × 4
Square formation array arranges, and three labellings of described composition coordinate label 10 lay respectively on wherein three corners of square formation array, institute
Nine labellings stating composition code tag 20 lay respectively on other positions in addition to four corners of square formation.
In the present embodiment, described verification label 30 is arranged in the negative direction of X-axis and Y-axis.
3rd embodiment
Present embodiments providing a kind of coding checkout method, the coding checkout method of the present embodiment is with the road of first embodiment
Target is configured to basis and implements, and refers to Fig. 3, Fig. 4.
The coding checkout method of the present embodiment at least comprises the following steps:
Step 1, encodes the labelling of composition code tag 20, makes the labelling of composition code tag 20 have different
Coding.
In the present embodiment, using system method to encode the labelling of composition code tag 20, concrete grammar includes:
First in a burst of row of the other side, other positions in addition to four corners are numbered, and described Serial Number Range is 1～N, its
In, N is the quantity of all other positions in addition to four corners in square formation array.Can be numbered sequentially in either order,
Can also be numbered out of order, it is ensured that there is different numberings each position.
Then be positioned at the code tag 20 of the position of numbered n labelling be encoded to Xn, wherein, X is the system number used.
In other embodiments, it would however also be possible to employ other coded system, it is ensured that the labelling of each code tag 20 has different coding.
Refer to Fig. 3, the most in order other positions in addition to four corners in 4 × 4 square formation arrays are numbered, compile
Number be respectively 1,2,3 ... 12, as X=2, be positioned at numbering be respectively 1,2,3 ... the coding of the labelling of the code tag 20 of 12 divides
It is not 21、22、23...212, i.e. coding is respectively 2,4,8 ... 4096.
Step 2, sets the rule of correspondence, judges whether to paste described verification label according to the rule of correspondence, if composition coding mark
The coding of the labelling signing 20 meets the rule of correspondence, then arrange the labelling of a verification label 30, otherwise, be not provided with verifying label 30
Labelling；
In the present embodiment, the described rule of correspondence is: if the quantity of the labelling of composition code tag 20 is even number, then at X
The negative direction of axle and Y-axis arranges the labelling of a verification label 30；If the quantity of the labelling of composition code tag 20 is odd number, then
It is not provided with verifying the labelling of label 30.
In other embodiments, it would however also be possible to employ other the rule of correspondence.
Referring to Fig. 3, the quantity of the labelling of composition code tag is 12, for even number, then in X-axis and the negative direction of Y-axis
The labelling of one verification label 30 is set.
Step 3, robot gathers road sign image, and the image information gathered according to rule of correspondence analysis, if viscous in image
The verification labeled is not inconsistent with the rule of correspondence, illustrates that the image analyzed is wrong, then Resurvey and analysis road sign image.
The coding checkout method of the present embodiment, by setting the rule of correspondence, uses the labelling of verification label 30 to code tag
20 verify, the most correct to judge the road sign that robot recognizes, and can reduce the impact caused by other factors, significantly carry
The accuracy that high road sign gathers.
Embodiment described above is merely to illustrate technological thought and the feature of the present invention, in its object is to make this area
Technical staff will appreciate that present disclosure and implement according to this, it is impossible to only limit the patent model of the present invention with the present embodiment
Enclose, the most all equal changes made according to disclosed spirit or modification, still fall in the scope of the claims of the present invention.
Claims (10)
1. the road sign being used for determining robot location, it is characterised in that described road sign includes:
Code tag, described code tag is made up of more than one labelling, is used for determining independent road sign, with by independent road sign with
Other road signs make a distinction；
Verification label, independent road sign is identified whether correctly by described verification label for verification.
Road sign the most according to claim 1, it is characterised in that described road sign also includes:
Coordinate label, described coordinate label is made up of more than one labelling, for determining each labelling of composition code tag
Positional information.
Road sign the most according to claim 2, it is characterised in that described coordinate label is by labelling at an arbitrary position and is positioned at
With two labelling compositions in the described X-axis being labeled as center and Y-axis.
Road sign the most according to claim 3, it is characterised in that the labelling of described composition coordinate label and code tag according to
Square formation array arranges, and the labelling of described composition coordinate label is positioned on the corner of square formation array, the mark of described composition code tag
Note is positioned on other positions in addition to four corners of described square formation array.
Road sign the most according to claim 3, it is characterised in that according to the quantity of labelling and/or the position of composition code tag
Put, the labelling of a verification label is set, or is not provided with any labelling.
Road sign the most according to claim 5, it is characterised in that the labelling of described verification label is arranged on the negative of X-axis and Y-axis
On direction.
Road sign the most according to claim 1, it is characterised in that described composition code tag be marked with different coding, will
The summation of described coding, as No. ID of code tag place road sign, identifies independent road sign by described No. ID.
Road sign the most according to claim 2, it is characterised in that at the labelling of described composition coordinate label and code tag
The back side is provided with viscous layer.
9. a coding checkout method, it is characterised in that it is arbitrary described that claim 1～8 is set in space residing for robot
Road sign, use described road sign to carry out coding checkout, described coding checkout method at least comprises the following steps:
Step 1, encodes the labelling of composition code tag, makes the labelling of composition code tag have different codings；
Step 2, sets the rule of correspondence, judges whether to paste the labelling of described verification label according to the rule of correspondence, if composition coding
The coding of the labelling of label meets the rule of correspondence, then arrange the labelling of verification label, otherwise, be not provided with verifying the labelling of label；
Step 3, robot gathers road sign image, and the image information gathered according to rule of correspondence analysis, if image is pasted
The labelling of verification label is not inconsistent with the rule of correspondence, then Resurvey and analysis road sign image.
Method the most according to claim 9, it is characterised in that in described step 2, the described rule of correspondence is: if composition
The quantity of the labelling of code tag is even number, then the negative direction in X-axis and Y-axis arranges the labelling of a verification label；If composition
The quantity of the labelling of code tag is odd number, then be not provided with verifying the labelling of label.
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| CN106767833A (en) * | 2017-01-22 | 2017-05-31 | 电子科技大学 | A kind of robot localization method of fusion RGBD depth transducers and encoder |
| CN107832661A (en) * | 2017-09-27 | 2018-03-23 | 南通大学 | A kind of Localization Approach for Indoor Mobile of view-based access control model road sign |
| CN113341977A (en) * | 2021-06-09 | 2021-09-03 | 丰疆智能科技股份有限公司 | Mobile robot based on passive infrared label location |
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Application publication date: 20170104 |