CN106443583A - Location-based rapid regional optical label deployment method - Google Patents
Location-based rapid regional optical label deployment method Download PDFInfo
- Publication number
- CN106443583A CN106443583A CN201610784535.1A CN201610784535A CN106443583A CN 106443583 A CN106443583 A CN 106443583A CN 201610784535 A CN201610784535 A CN 201610784535A CN 106443583 A CN106443583 A CN 106443583A
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- Prior art keywords
- optical label
- region
- deployment
- positioning
- robot
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10019—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers.
- G06K7/10079—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions
- G06K7/10089—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision
- G06K7/10099—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision the directional field being used for pinpointing the location of the record carrier, e.g. for finding or locating an RFID tag amongst a plurality of RFID tags, each RFID tag being associated with an object, e.g. for physically locating the RFID tagged object in a warehouse
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Toxicology (AREA)
- General Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a location-based rapid regional optical label deployment method which includes the steps: 1) preliminarily deploying optical labels in regions to be deployed; 2) placing a plurality of robots in the regions to be deployed; 3) performing random walk advancing of the robots in the regions to be deployed, locating the robots by mobile identification devices based on optical label location on the robots, continuing advancing of the robots when location is successful, stopping advancing of the robots, marking the current region of the robots as a location blind region and executing the step 4) when location is failed, and finally deploying the optical label when the robots traverse all the optical label regions to be deployed and the location blind region is not found; 4) deploying the optical labels according to the shape of the location blind region and turning to the step 3). By the method, the optical labels can be deployed, and the blind region is avoided.
Description
Technical field
The invention belongs to optical label application, is related to a kind of region optical label quick deployment method based on positioning.
Background technology
Optical label has positioning function, and its process is first optical label to be deployed to fixed position, then passes through collecting device
Read optical label and relative position residing for equipment itself can be calculated, so as to reach the purpose of positioning.The function can be used for room
Indoor positioning is can be used for outward, when especially positioning indoors, overcomes the problem of no gps signal.Optical label positioning first has to
Optical label is disposed, and non-blind area, in order to reach all standing to positioning region, while cost-effective, it is necessary to carry out
Appropriate optical label distributing position deployment (although it has been generally acknowledged that excessive optical label is laid can improve positioning precision, light
Influencing each other also between the cost of label itself and label can increase), but the geometry due to working region, illumination bar
Part, the difference of laying for goods structure, therefore under different occasions, the deployed position of optical label is also different, and its deployment process is artificial
Complete to take time and effort, and very likely there is blind area impact subsequent use, it is therefore desirable to be badly in need of a kind of method is wanted, can realize
The deployment of optical label, and non-blind area.
Content of the invention
It is an object of the invention to overcoming the shortcoming of above-mentioned prior art, there is provided a kind of region optical label based on positioning
Quick deployment method, the method can realize the deployment of optical label, and non-blind area.
For reaching above-mentioned purpose, the region optical label quick deployment method based on positioning of the present invention includes following step
Suddenly：
1) according to the method that the principle being evenly distributed is disposed using grid, deployment region deployment optical label is being treated；
2) some robots are placed into and treat in deployment region, wherein, be mounted on based on cursor in Ge Tai robot
The mobile identification equipment of signing position；
3) robot carries out random walk traveling treating deployment region, base of the robot during traveling, in robot
In the mobile identification equipment of optical label positioning, robot is positioned, when positioning successfully, then robot is continued on；When not having
When positioning successfully, then robot stops advancing, and robot is currently located region and is denoted as positioning blind area, and execution step 4)；
When robot has been traveled through after optical label region is disposed, and does not find to position blind area, then go to step 5)；
4) optical label is disposed according to the shape of positioning blind area, and goes to step 3)；
5) complete to treat the optical label deployment of deployment region.
When positioning blind area is rectangular area, and the position at four angles in the rectangular area and the centre position on four sides
Deployment optical label.
When positioning blind area is border circular areas, then uniformly to dispose three optical labels in border circular areas.
When positioning blind area is delta-shaped region, then to dispose optical label in the position at three angles of the delta-shaped region.
When blind area deployment optical label is positioned, when the position deployed optical label for needing to dispose optical label, then do not exist
The position redeploys optical label.
Robot is obtained based on the mobile identification equipment of optical label positioning and treats deployed optical label in deployment region
Between spacing, and according to robot and treat the position of distance computation robot between deployed optical label in deployment region
Put, realize the positioning to robot.
The invention has the advantages that：
Region optical label quick deployment method based on positioning of the present invention is in concrete operations, first in area to be disposed
Optical label is disposed in domain, then carries out random walk traveling, and the process in migration by some robots treating deployment region
In, by the mobile device equipment for being positioned based on optical label, robot is positioned, when positioning does not have successful, then robot
Stop advancing, and robot is currently located region and be denoted as blind area is positioned, user can dispose light according to the shape of positioning blind area
Label, till optical label region to be disposed has been traveled through, so as to realize the deployment of optical label, while find blind area in time, right
Blind area carries out the deployment of optical label, eliminates the blind area for treating deployment region, and operation is quick, convenient, before relatively broad application
Scape.
Description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the schematic diagram of storage center M described in embodiment one；
Fig. 3 disposes the position view of optical label for rectangle blind area；
Fig. 4 is the position view that optical label is disposed in circular blind area；
Fig. 5 disposes the position view of optical label for triangle blind area.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail：
With reference to Fig. 1, the region optical label quick deployment method based on positioning of the present invention is comprised the following steps：
1) according to the method that the principle being evenly distributed is disposed using grid, deployment region deployment optical label is being treated；
2) some robots are placed into and treat in deployment region, wherein, be mounted on based on cursor in Ge Tai robot
The mobile identification equipment of signing position；
3) robot carries out random walk traveling treating deployment region, base of the robot during traveling, in robot
In the mobile identification equipment of optical label positioning, robot is positioned, when positioning successfully, then robot is continued on；When not having
When positioning successfully, then robot stops advancing, and robot is currently located region and is denoted as positioning blind area, and execution step 4)；
When robot has been traveled through after optical label region is disposed, and does not find to position blind area, then go to step 5)；
4) optical label is disposed according to the shape of positioning blind area, and goes to step 3)；
5) complete to treat the optical label deployment of deployment region.
With reference to figure, 3, when positioning blind area be rectangular area, and the rectangular area the position at four angles and four sides
Centre position deployment optical label.
With reference to Fig. 4, when positioning blind area is border circular areas, then uniformly to dispose three optical labels in border circular areas.
With reference to Fig. 5, when positioning blind area is delta-shaped region, then to dispose cursor in the position at three angles of the delta-shaped region
Sign.
When blind area deployment optical label is positioned, when the position deployed optical label for needing to dispose optical label, then do not exist
The position redeploys optical label.
Robot is obtained based on the mobile identification equipment of optical label positioning and treats deployed optical label in deployment region
Between spacing, and according to robot and treat the position of distance computation robot between deployed optical label in deployment region
Put, realize the positioning to robot.
The optical label includes signal array and three witness marker luminescent devices, the mobile knowledge for positioning by optical label
Photographic head in other equipment obtains the image information of three witness marker luminescent devices, and utilizes three witness marker luminescent devices
Image information positioning to robot is realized according to pinhole imaging system principle.
Embodiment one
Certain large warehoused center M, using optical label location technology, needs to carry out scene the rapid deployment of optical label, tool
Body process is：
First obtain the plane graph at large warehoused center, then light is laid using the method for grid deployment with the principle that is evenly distributed
Label；After the completion of laying, " the section's Butterworth DT type " robot after sending 10 repackings with optical label positioning function is carried out in area
Free migration in domain；Setting each robot and often advancing carries out the positioning of an opportunity optical label for 2 seconds, continues if positioning successfully
Continue into positioning, otherwise stop in situ；After 5 minutes, robot and its stop position of stopping are checked；Each is stopped
Only the stop position of robot is analyzed, and the shape according to position carries out corresponding rectangle, circle, triangle " blind area " cursor
Sign and supplement；Being again started up all robots carries out autonomous positioning test, until not finding 10 machines after accumulative 6 × 5 minutes
People has any one to stop because of positioning failure, then optical label deployment is finished, and records the current location of currently all optical labels,
Optical label deployment scattergram is formed, the figure is disposed scattergram as the optical label of final M.
Claims (6)
1. a kind of based on the region optical label quick deployment method for positioning, it is characterised in that to comprise the following steps：
1) according to the method that the principle being evenly distributed is disposed using grid, deployment region deployment optical label is being treated；
2) some robots are placed into and treat in deployment region, wherein, be mounted in Ge Tai robot signing based on cursor
The mobile identification equipment of position；
3) robot carries out random walk traveling treating deployment region, robot during traveling, in robot based on light
The mobile identification equipment of tag location is positioned to robot, and when positioning successfully, then robot is continued on；When not fixed
During the success of position, then robot stops advancing, and robot is currently located region and is denoted as positioning blind area, and execution step 4)；Work as machine
Device people has been traveled through behind deployment optical label region, when not finding to position blind area, then goes to step 5)；
4) optical label is disposed according to the shape of positioning blind area, and goes to step 3)；
5) complete to treat the optical label deployment of deployment region.
2. according to claim 1 based on the region optical label quick deployment method for positioning, it is characterised in that to work as positioning blind
Area is rectangular area, and optical label is disposed in the position at four angles in the rectangular area and the centre position on four sides.
3. according to claim 1 based on the region optical label quick deployment method for positioning, it is characterised in that to work as positioning blind
Area is border circular areas, then uniformly dispose three optical labels in border circular areas.
4. according to claim 1 based on the region optical label quick deployment method for positioning, it is characterised in that to work as positioning blind
Area is delta-shaped region, then dispose optical label in the position at three angles of the delta-shaped region.
5. according to claim 2,3 or 4 based on positioning region optical label quick deployment method, it is characterised in that
During the deployment optical label of positioning blind area, when the position deployed optical label for needing to dispose optical label, then not in the position again
Deployment optical label.
6. according to claim 1 based on the region optical label quick deployment method for positioning, it is characterised in that based on cursor
The mobile identification equipment of signing position obtains robot and treats the spacing between deployed optical label in deployment region, and according to
Robot and the position of distance computation robot between deployed optical label in deployment region is treated, realize to robot
Positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610784535.1A CN106443583B (en) | 2016-08-30 | 2016-08-30 | Regional optical label rapid deployment method based on positioning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610784535.1A CN106443583B (en) | 2016-08-30 | 2016-08-30 | Regional optical label rapid deployment method based on positioning |
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| Publication Number | Publication Date |
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| CN106443583A true CN106443583A (en) | 2017-02-22 |
| CN106443583B CN106443583B (en) | 2020-09-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110470312A (en) * | 2018-05-09 | 2019-11-19 | 北京外号信息技术有限公司 | Air navigation aid and corresponding calculating equipment based on optical label network |
| WO2022142970A1 (en) * | 2020-12-29 | 2022-07-07 | 深圳市普渡科技有限公司 | Visual sign deployment prompt method and apparatus, computer device, and storage medium |
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| CN105022394A (en) * | 2014-04-29 | 2015-11-04 | 东北大学 | Mobile robot reliable location method under dynamic environment |
| CN205067727U (en) * | 2015-11-03 | 2016-03-02 | 广东技术师范学院 | Service robot positioning system based on zigBee and RFID |
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| US20130235322A1 (en) * | 2007-04-24 | 2013-09-12 | Sicpa Holding Sa | Method of marking a document or item; method and device for identifying the marked document or item; use of circular polarizing particles |
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| CN104640076A (en) * | 2015-02-03 | 2015-05-20 | 南京邮电大学 | Indoor positioning method based on wireless signal data fusion |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110470312A (en) * | 2018-05-09 | 2019-11-19 | 北京外号信息技术有限公司 | Air navigation aid and corresponding calculating equipment based on optical label network |
| WO2022142970A1 (en) * | 2020-12-29 | 2022-07-07 | 深圳市普渡科技有限公司 | Visual sign deployment prompt method and apparatus, computer device, and storage medium |
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| Publication number | Publication date |
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| CN106443583B (en) | 2020-09-01 |
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Effective date of registration: 20211129 Address after: 201306 2nd floor, no.979 Yunhan Road, Lingang New Area, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: Shanghai Guangshi fusion Intelligent Technology Co.,Ltd. Address before: 710075 Room 301, Block A, Innovation Information Building, Xi'an Software Park, No. 2 Science and Technology Road, Xi'an High-tech Zone, Shaanxi Province Patentee before: XI'AN XIAOGUANGZI NETWORK TECHNOLOGY Co.,Ltd. |
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