CN106313119B - A kind of road sign for determining robot location, device - Google Patents
A kind of road sign for determining robot location, device Download PDFInfo
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- CN106313119B CN106313119B CN201610824444.6A CN201610824444A CN106313119B CN 106313119 B CN106313119 B CN 106313119B CN 201610824444 A CN201610824444 A CN 201610824444A CN 106313119 B CN106313119 B CN 106313119B
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- road sign
- label
- code tag
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The present invention provides a kind of road sign for determining robot location, device, wherein the road sign is made of the label of more than one different function, the label is made of more than one label, and the material of absorbable ultrasonic wave is coated on the label, or is made of the material.Ultrasonic applications are determined the position of robot by the present invention in road sign, since the radiation scope of ultrasonic wave is wide, the ultrasonic wave that device provided by the invention generates can be radiated on the road sign and other objects in space locating for robot, can one-time detection go out all labels in space locating for robot.The present invention is not interfered by light, and identifies that accuracy is high, substantially increases the efficiency of landmark identification.
Description
Technical field
The present invention relates to robot field more particularly to a kind of road signs for determining robot location, device.
Background technique
When robot moves in space, need to confirm that position to carry out path planning, commonly determines robot location
Method be using artificial landmark carry out location confirmation.
In the design of existing artificial landmark, has and set using the pattern with special color information or texture information
The artificial landmark of meter also has the artificial landmark using number, letter, two dimensional code or design in barcode.But existing artificial landmark
Camera shooting, collecting is generallyd use, the interference by extraneous available light is easy.And in the prior art, it is reflected and is identified using light
The efficiency of road sign is lower.
Summary of the invention
It is an object of the present invention to solve the deficiency of the existing technology and provide a kind of for determining the road of robot location
Mark, device, can not be improved the efficiency of landmark identification by the interference of extraneous available light.
The purpose of the present invention is what is be achieved through the following technical solutions:
The present invention provides a kind of for determining the road sign of robot location, and the road sign is by more than one different function
Label composition, the label is made of more than one label, the material of absorbable ultrasonic wave is coated on the label, or
Person is made of the material.
Further, the road sign includes:
Code tag, the code tag is made of more than one label, for determining independent road sign, by independent road
Mark is distinguished with other road signs；
Coordinate label, the coordinate label is made of more than one label, for determining each mark of composition code tag
The location information of note.
Further, the coordinate label is by label at an arbitrary position and positioned at the X-axis and Y-axis centered on the label
On two labels composition.
Further, the label of the composition coordinate label and code tag is arranged according to square matrix array, the composition coordinate
The label of label is located on the corner of square matrix array, and the label of the composition code tag removes four positioned at the square matrix array
In other positions outside corner.
Further, the label of the composition code tag has, using the summation of the coding as code tag
The ID number of place road sign identifies independent road sign by the ID number.
Further, the back side of the composition coordinate label and the label of code tag is provided with viscous layer.
Further, the material is selected from one of sponge, rubber, glass cement, ferrite, sized magnetic composite materials,
It or is composite material made of two or more in above-mentioned material.
Further, the road sign be road sign based on shape information, the road sign based on number, the road sign based on letter or
Road sign based on pattern.
Further, the road sign is the road sign of quick response code form or the road sign of bar code form.
The present invention also provides a kind of for determining the device of robot location, comprising:
Above-mentioned road sign, the road sign are set in space locating for robot；
Ultrasonic generator, the ultrasonic generator generate ultrasonic wave, sky locating for the Ultrasonic Radiation to robot
Between all objects on；
Supersonic detection device, the supersonic detection device detect reflected ultrasonic wave, and will reflect back into the ultrasound come
Wave information sends analytical equipment to；
Analytical equipment, the analytical equipment absorb the material of ultrasonic wave by reflected ultrasound information, analysis
Information determines the mark information of code tag and coordinate label, and then identifies road sign identity, and determines the position where robot
It sets.
Compared with prior art, technical solution of the present invention has the advantage that
Ultrasonic applications are determined the position of robot by the present invention in road sign, since the radiation scope of ultrasonic wave is wide, institute
The ultrasonic wave for stating ultrasonic generator generation can be radiated on the road sign and other objects in space locating for robot, the road sign
Ultrasonic wave is absorbed, other objects reflect ultrasonic wave, and the analytical equipment analyzes reflected ultrasound information, finally identify road
Mark, determines the position where robot.The present invention is not interfered by light, can one-time detection go out all marks in space locating for robot
Label, and identify that accuracy is high, substantially increase the efficiency of landmark identification.
Detailed description of the invention
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 a kind of functional block diagram of robot location's determining device of third embodiment of the invention.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
In the present invention, using " more than " logarithm be described when, the numerical value include the endpoint represented by numerical value, example
Such as, the meaning of " more than one " are as follows: one, or other numerical value greater than one.
First embodiment
The present embodiment provides a kind of for determining the road sign of robot location, and the road sign is by more than one different function
Label composition, the label is made of more than one label, the material of absorbable ultrasonic wave is coated on the label, or
Person is made of the material.The material that ultrasonic wave is can absorb in the not isolabeling may be the same or different.
The material is selected from one of sponge, rubber, glass cement, ferrite, sized magnetic composite materials, or is choosing
Composite material made of two or more in above-mentioned material.
Referring to Figure 1, in the present embodiment, the road sign includes coordinate label 10 and code tag 20, the coordinate mark
Label 10 and code tag 20 are two labels in the road sign with different function.
In the present embodiment, toughness is set at the back side of the composition coordinate label 10 and the label of code tag 20
Layer；The label is pasted on the ceiling in space locating for robot by the viscous layer.In other embodiments, the road
Mark also can be set other robot can it is collected elsewhere.
The coordinate label 10 is made of more than one label, for determining the position of composition code tag 20 respectively marked
Confidence breath.
Further, the coordinate label 10 is by label at an arbitrary position and positioned at the X-axis and Y centered on the label
Two labels composition on axis.The coordinate system that road sign is determined by the coordinate label 10, forms the mark of the code tag 20
Note has unique coordinate in the coordinate system.
The code tag 20 is made of more than one label, for determining independent road sign, by independent road sign and its
He distinguishes road sign；The independent road sign is a certain specific road sign in all road signs.
The identity of the road sign, space locating for robot are determined by the quantity and position that form the label of code tag 20
In, the identity of each road sign is different, i.e. the label of composition code tag 20 situation identical with position there is no quantity.
Since position and quantity that the code tag 20 is marked by it determine the identity of road sign, the coding mark
The position respectively marked in label 20 is with regard to extremely important.
Referring to Figure 1, in the present embodiment, the coordinate label 10 is made of three labels, with the label in middle position
For origin, other two described label is located in the positive direction of the X-axis centered on origin and Y-axis, by the coordinate mark
Three of label 10 mark the coordinate system for determining road sign.The code tag 20 is made of 12 labels, 12 labels
It is distributed on the different location of the positive direction of the coordinate system.By coordinate system, the composition code tag 20 can be determined
The unique coordinate of 12 labels.
The label of the composition coordinate label 10 and code tag 20 is arranged according to square matrix array, and square matrix can be 3 × 3,4
× 4 or 5 × 5 square matrixes are also possible to other bigger square matrixes, there is no limit.The size of square matrix is set by actual demand, machine
Space locating for device people is bigger, and the quantity of the road sign needed is more, and the square matrix of use is bigger.
The label of the composition coordinate label 10 is located on the corner of square matrix array, the label of the composition code tag 20
In the other positions in addition to four corners of the square matrix array.Its in addition to four corners in the square matrix array
In his any position, the label an of code tag 20 can be set or be not provided with any label.
Referring to Figure 1, in the present embodiment, the label of the composition coordinate label 10 and code tag 20 is according to 4 × 4
Three labels of the arrangement of square matrix array, the composition coordinate label 10 are located on wherein three corners of square matrix array, institute
12 labels for stating composition code tag 20 are located in the other positions in addition to four corners of square matrix.
After the position of label in the code tag 20 and quantity determine, need to encode it.
The label of the composition code tag 20 has, using the summation of the coding as where code tag 20
The ID number of road sign identifies independent road sign by the ID number.
In the present embodiment, code tag 20 is encoded using system method, specific method includes:
Other positions first in a burst of column of other side in addition to four corners are numbered, and the Serial Number Range is 1~N,
In, N is the quantity of all other positions in addition to four corners in square matrix array.It can be numbered sequentially in either order,
It can also be numbered out of order, guarantee that there is different numbers in each position.
Then be located at the label of the code tag 20 for the position that number is n is encoded to Xn, wherein X is the system number used.
For example, when being encoded using 2 systems to code tag 20, positioned at the label coding of the code tag 20 for the position that number is 3
It is 23, as 8.
In other embodiments, it can also guarantee that the label of each code tag 20 has using other coding modes
Different coding.
Each label of the composition code tag 20 has unique coordinate and coding, can pass through its coordinate and coding
Road sign identity where determining, and then determine robot location.Each label that the present embodiment passes through detection composition code tag 20
Coding, determine label coordinate；The ID number that road sign is calculated according to the coding detected passes through the ID number identification coding mark of road sign
The identity of 20 place road signs is signed, the final position for determining robot.
In other embodiments, the coordinate label 10 can have other forms, as long as the coordinate label 10 can make machine
Device people determines the location information of the code tag 20 respectively marked, and then determines independent road by the identification to code tag 20
Mark, robot thus can determine its position.
Second embodiment
The present embodiment provides a kind of for determining the road sign of robot location, refers to Fig. 2, the road sign includes coordinate mark
The label of label 10 and 20 both different function of code tag.
Fig. 2 is referred to, in the present embodiment, the coordinate label 10 is made of three labels, with the label in middle position
For origin, other two described label is located in the positive direction of the X-axis centered on origin and Y-axis, by the coordinate mark
Three of label 10 mark the coordinate system for determining road sign.
The code tag 20 is made of nine labels, nine indicia distributions the coordinate system positive direction not
With on position.Fig. 2 is referred to, by X-axis positive direction, in every line flag, the number for forming the label of code tag 20 is respectively 2,
3,3,1.By coordinate system, the unique coordinate of nine labels of the composition code tag 20 can be determined.
Fig. 2 is referred to, in the present embodiment, the label of the composition coordinate label 10 and code tag 20 is according to 4 × 4
Three labels of the arrangement of square matrix array, the composition coordinate label 10 are located on wherein three corners of square matrix array, institute
Nine labels for stating composition code tag 20 are located in the other positions in addition to four corners of square matrix.
3rd embodiment
Refer to Fig. 3, present embodiments provide it is a kind of for determining the device of robot location, including first embodiment,
Any road sign of second embodiment, further includes ultrasonic generator, supersonic detection device and analytical equipment.
The road sign is arranged on the ceiling in space locating for robot, the ultrasonic generator, ultrasound detection dress
It sets and is arranged in robot with analytical equipment.
The ultrasonic generator generates ultrasonic wave, and by its in space locating for Ultrasonic Radiation to road sign and robot
On his object.As road sign be using made of the material for absorbing ultrasonic wave, on Ultrasonic Radiation to road sign after can be inhaled
It receives, and being radiated the ultrasonic wave in space on other objects can be reflected back.
The supersonic detection device detects reflected ultrasonic wave, and the information that will reflect back into the ultrasonic wave come is sent to
Analytical equipment.
The analytical equipment absorbs the information of the material of ultrasonic wave by the ultrasonic analysis that supersonic detection device detects,
It determines the encoded information of code tag 20, and road sign identity is identified according to the encoded information of code tag 20, finally determine machine
Position where people.
Ultrasonic applications are determined the position of robot by the present apparatus in road sign, since the radiation scope of ultrasonic wave is wide, institute
The ultrasonic wave for stating ultrasonic generator generation can be radiated on the road sign and other objects in space locating for robot, can once be examined
Measure all labels in space locating for robot.Therefore, the present apparatus is not interfered by light, and identification accuracy is high, is substantially increased
The efficiency of landmark identification.
Embodiment described above is merely to illustrate technical idea and feature of the invention, in the art its object is to make
Technical staff can understand the content of the present invention and implement it accordingly, patent model of the invention only cannot be limited with the present embodiment
It encloses, i.e., it is all according to same changes or modifications made by disclosed spirit, it still falls in the scope of the patents of the invention.
Claims (8)
1. a kind of for determining the road sign of robot location, which is characterized in that the road sign is by more than one different function
Label composition, the label are made of more than one label, and the material of absorbable ultrasonic wave is coated on the label, or
It being made of the material, the material is selected from one of sponge, rubber, glass cement, ferrite, sized magnetic composite materials,
Or be composite material made of two or more in above-mentioned material,
The label of the composition code tag has, using the summation of the coding as the ID of road sign where code tag
Number, independent road sign is identified by the ID number, code tag is encoded using system method.
2. road sign according to claim 1, which is characterized in that the road sign includes:
Code tag, the code tag by it is more than one label form, for determining independent road sign, by independent road sign with
Other road signs distinguish；
Coordinate label, the coordinate label is made of more than one label, for determining respectively marking for composition code tag
Location information.
3. road sign according to claim 2, which is characterized in that the coordinate label is by label at an arbitrary position and is located at
Two labels composition in X-axis and Y-axis centered on the label.
4. road sign according to claim 3, which is characterized in that it is described composition coordinate label and code tag label according to
The label of the arrangement of square matrix array, the composition coordinate label is located on the corner of square matrix array, the mark of the composition code tag
Note is located in the other positions in addition to four corners of the square matrix array.
5. road sign according to claim 2, which is characterized in that in the label of the composition coordinate label and code tag
The back side is provided with viscous layer.
6. road sign according to claim 1, which is characterized in that the road sign is road sign based on shape information, based on number
The road sign of word, based on letter road sign or based on the road sign of pattern.
7. road sign according to claim 2, which is characterized in that the road sign is the road sign or bar code of quick response code form
The road sign of form.
8. a kind of for determining the device of robot location characterized by comprising
Any road sign of claim 1~7, the road sign are set in space locating for robot；
Ultrasonic generator, the ultrasonic generator generate ultrasonic wave, space locating for the Ultrasonic Radiation to robot
On all objects；
Supersonic detection device, the supersonic detection device detect reflected ultrasonic wave, and will reflect back into the ultrasonic wave letter come
Breath sends analytical equipment to；
Analytical equipment, the analytical equipment absorb the information of the material of ultrasonic wave by reflected ultrasound information, analysis,
It determines the mark information of code tag and coordinate label, and then identifies road sign identity, and determine the position where robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610824444.6A CN106313119B (en) | 2016-09-14 | 2016-09-14 | A kind of road sign for determining robot location, device |
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| CN201610824444.6A CN106313119B (en) | 2016-09-14 | 2016-09-14 | A kind of road sign for determining robot location, device |
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| CN106313119B true CN106313119B (en) | 2019-05-03 |
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