CN107782305B - Mobile robot positioning method based on digital letter recognition - Google Patents
Mobile robot positioning method based on digital letter recognition Download PDFInfo
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- CN107782305B CN107782305B CN201710867536.7A CN201710867536A CN107782305B CN 107782305 B CN107782305 B CN 107782305B CN 201710867536 A CN201710867536 A CN 201710867536A CN 107782305 B CN107782305 B CN 107782305B
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- G—PHYSICS
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Abstract
The invention provides a mobile robot positioning method based on alphanumeric identification, which comprises the following steps: making an identification picture, and setting a serial number identification for acquiring coordinate information and an angle identification for acquiring direction and angle information on the identification picture; placing a robot working area in a world coordinate system, laying a plurality of identification pictures in the working area, and establishing a serial number identification-coordinate comparison table; in the process of robot moving, when the identification picture is shot, identifying the serial number identification, and obtaining the coordinate information corresponding to the current serial number identification through the comparison with the serial number identification-coordinate comparison table; and simultaneously, identifying the angle identification, and acquiring the current traveling direction of the robot and the offset angle relative to the world coordinate system. The identification picture of the invention contains the identification of the coordinate information as a number letter, has the advantages of enough numbering information, simple and convenient reading and the like, does not need to be aligned, and can correctly read the information no matter the information is scanned at any angle.
Description
Technical Field
The present invention is in the field of mobile robot positioning, and more particularly, to mobile robot positioning based on ground reference markers for effectively controlling the correct operation of a mobile robot in an automated factory or automated warehouse.
Background
With the progress of science and technology, mobile robots are more and more widely applied, especially in the industrial fields of warehouse logistics, mobile operation and the like. In order to effectively control the correct operation of the mobile robot in an automated factory or an automated warehouse, the mobile robot needs to be accurately positioned, and a route is planned on the basis of the accurate positioning. Therefore, it is a problem to be solved to find a method for accurately and quickly positioning a mobile robot. Most mobile robots today use technologies such as RFID, electromagnetic induction, machine vision, and laser for positioning. While these positioning techniques are mature, electromagnetic induction techniques are difficult to alter paths; the machine vision positioning is complex and the real-time performance is poor; the laser technology has complex positioning circuit and higher cost.
Disclosure of Invention
Based on the problems of positioning precision and cost in the prior art, the invention provides a mobile robot positioning method based on alphanumeric identification.
The invention adopts the following technical scheme:
a mobile robot positioning method based on number letter recognition comprises the following steps:
step (1): making an identification picture, wherein a serial number identification for acquiring coordinate information and an angle identification for acquiring direction and angle information are arranged on the identification picture;
step (2): placing a robot working area in a world coordinate system, laying a plurality of identification pictures in the working area, and establishing a serial number identification-coordinate comparison table;
and (3): in the process of robot moving, when the identification picture is shot, identifying the serial number identification, and obtaining the coordinate information corresponding to the current serial number identification through the comparison with the serial number identification-coordinate comparison table; and simultaneously, identifying the angle identification, acquiring the current traveling direction of the robot and the offset angle relative to the world coordinate system, and positioning the robot according to the current coordinate information, the traveling direction and the offset angle of the robot.
In the step (1), the angle identifier comprises a reference line with a direction, and if one axis of the picture coordinate system, the robot coordinate system and the world coordinate system is set as a reference axis and one direction of the reference axis is a positive direction, an included angle between the reference line and the positive direction of the reference axis of the picture coordinate system is known; after the robot identifies the reference line in the identification picture, an included angle between the reference line and the positive direction of the reference axis of the robot coordinate system under the robot coordinate system is calculated, the included angle between the reference line and the positive direction of the reference axis of the world coordinate system is obtained according to the relation between the picture coordinate system and the world coordinate system, and further the deviation angle of the mobile robot relative to the positive direction of the reference axis of the world coordinate system is obtained.
After the robot identifies the coordinate of the current position, the coordinate of the current position is compared with the coordinate of the next position stored in the robot, the next traveling direction of the robot from the current coordinate to the coordinate of the next position is judged, then the offset angle of the current robot relative to the next traveling direction is obtained according to the offset angle of the reference line and the positive direction of the reference axis of the world coordinate system, and after the robot rotates relative to the reference axis of the world coordinate system by the offset angle, the robot advances along the next traveling direction until the target position is reached.
Two circular optical mark points with different radiuses are arranged on the mark picture, the circle center connecting line of the two circular optical mark points is used as a datum line, and the positive direction of the datum line is the direction from the large circular optical mark point to the small circular optical mark point or the direction from the small circular optical mark point to the large circular optical mark point;
when the plurality of identification pictures are laid in the work site, the reference lines are parallel to each other and have the same direction.
In the step (1), the number identification on the same identification picture comprises at least one group of small combinations consisting of n number letter symbols, each small combination corresponds to one group of numbers, each group of numbers corresponds to one coordinate in the number identification-coordinate comparison table, and a plurality of small combinations on the same identification picture correspond to the same group of numbers.
In the step (2), the work site is divided into grids with the same size and length and width in the world coordinate system, and an identification picture is laid on the top point of each grid.
And the position of the next coordinate is obtained by the monitoring end according to the path optimization algorithm and then is sent in real time, or is obtained by the path optimization algorithm stored in the robot.
The invention has the beneficial effects that: the identification picture of the invention contains the identification of the coordinate information as a number letter, has the advantages of enough numbering information, simple and convenient reading and the like, does not need to be aligned, and can correctly read the information no matter the information is scanned at any angle. The positioning method has the advantages of flexible deployment, low cost, simple and convenient ground identification reading and wide application.
Drawings
Fig. 1 is a design drawing of a alphanumeric identification picture.
Fig. 2 is a schematic diagram of a work site layout.
Fig. 3 is a flow chart of the positioning principle.
Fig. 4 is a schematic view of the angle calculation principle.
FIG. 5 is a schematic diagram of an image and processing procedure.
Fig. 6 is a schematic diagram of three coordinate systems.
Fig. 7 is a schematic view of angle conversion of three coordinate systems.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The method of the invention sets the working area in the world coordinate system, positions the robot by setting the picture containing the number of the number letter and the optical mark point on the ground of the working area as the ground mark, and then further plans the route of the robot according to the current position. The method comprises the steps of pasting a plurality of identification pictures on the ground of a working area, wherein each identification picture comprises position information and direction information of the identification picture in a world coordinate system, arranging the identification as a mesh grid on the ground, reading the ground identification through a camera arranged on a mobile robot when the mobile robot runs in a warehouse, and transmitting the ground identification to a control system through a wireless network, so that the current position is obtained, and the traveling route of the robot is planned according to the current position. The invention contains the advantages that the identification of the coordinate information is a number letter, the number information is sufficient, the reading is simple and convenient, the alignment is not needed, and the information can still be correctly read no matter the scanning is carried out at any angle. The positioning method has the advantages of flexible deployment, low cost, simple and convenient ground identification reading and wide application.
The technical scheme of the invention comprises three coordinate systems: world coordinate system, robot coordinate system, picture coordinate system. The working area is located in a world coordinate system, the robot is provided with a robot coordinate system, the identification picture is provided with a picture coordinate system, and the picture coordinate system is parallel to the world coordinate system or has a certain included angle with an axis serving as a reference axis in the world coordinate system. The positioning of the robot refers to obtaining a walking direction and an offset angle of the robot in a world coordinate system, the walking direction of the robot refers to a direction in which the robot walks along an X axis or a Y axis in the world coordinate system on a walking path, and the walking direction of the robot changes according to different routes, for example, in the process that the robot travels along the positive direction of the X axis of the world coordinate system, if the position of a next coordinate point is not in the current traveling direction, the next traveling direction is different from the current traveling direction and is a certain direction of the other axis of the world coordinate system; the offset angle of the robot is an offset angle of the robot with respect to the following traveling direction, that is, the offset angle of the robot is an offset angle of the robot with respect to a certain axis in the world coordinate system. For example, in the present invention, the current walking direction takes the positive direction of the X axis of the world coordinate system as the walking direction, and in the process of the robot walking, if the identification picture is taken, that is, the walking information of the robot obtained by using the identification picture is used, the robot is independently positioned once, and then compared with the next walking direction, if the robot deviates from the next walking direction, the walking direction of the robot can be adjusted according to the deviation angle.
The mobile robot positioning method based on the number letter recognition specifically realizes the following process.
Step (1), making an identification picture to be pasted in a working area, and setting a number identification and an angle identification on the identification picture, wherein the number identification is a group of numbers or letters or a combination of the numbers and the letters and is used for identifying the coordinate of the picture in a world coordinate system, the angle identification is a datum line with a direction, a picture coordinate system, a robot coordinate system and one of an X axis and a Y axis of the world coordinate system (such as a Y axis) are set in advance as reference axes for calculating offset angles, and the direction of the reference axes (such as the positive direction of the Y axis) is a positive direction, so that after the identification picture is pasted, an included angle between the datum line and the positive direction of the reference axes of the picture coordinate system is known; after the robot identifies the reference line in the identification picture, an included angle between the positive direction of the reference line and the positive direction of the reference axis of the robot coordinate system under the robot coordinate system is calculated, the included angle between the reference line and the positive direction of the reference axis of the world coordinate system is obtained according to the relation between the picture coordinate system and the world coordinate system, and then the deviation angle of the mobile robot relative to the positive direction of the reference axis of the world coordinate system is obtained.
After recognizing the coordinates of the current position and before the robot advances to the next coordinate point, the robot knows the next coordinate point, and the position of the next coordinate point is sent through the remote monitoring end.
After recognizing the coordinate of the current position, the robot compares the coordinate of the current position with the coordinate of the next position stored in the robot, judges the next traveling direction of the robot from the current coordinate to the coordinate of the next position, then calculates the offset angle of the current robot relative to the next traveling direction according to the offset angle of the reference line and the positive direction of the reference axis of the world coordinate system, and after rotating the offset angle relative to the reference axis of the world coordinate system, the robot advances along the next traveling direction until reaching the final target position.
And (2) placing the robot work area in a world coordinate system, laying a plurality of identification pictures in the work area, and establishing a number identification-coordinate comparison table.
Step (3), in the moving process of the robot, when the identification picture is shot, identifying the number identification, and obtaining the current coordinate information through comparison with a number identification-coordinate comparison table; and simultaneously identifying the angle identification, acquiring the advancing direction of the robot and the offset angle relative to the world coordinate system, and positioning the robot according to the coordinate information, the advancing direction and the offset angle.
In order to facilitate coordinate setting and deviation correction in advancing, a work site is divided into grids with the same size and length and width in a world coordinate system, and an identification picture is laid on each grid vertex, namely the identification picture is pasted on the vertex. In the moving process of the robot, when the identification picture is shot, the current coordinate information is obtained through the number identification in the identification picture, the current walking direction and the offset angle are obtained through the angle information of the identification picture, and the positioning information of the robot is obtained according to the current coordinate information, the walking direction and the offset angle.
And setting a reference line in the identification picture, wherein the reference line is used for calculating the walking direction and the offset angle of the robot, and the design of the reference line can select a line form, or can select two circular optical marking points with different radiuses as shown in figure 1. After the marked picture is obtained, the circle centers of the circular optical mark points in the marked picture are analyzed through picture processing, the circle center connecting line of the two circular optical mark points is a datum line, because a straight line in a coordinate system has a direction, in order to ensure that the datum lines of all vertexes in a grid are consistent in direction during calculation, when the marked picture is attached to the vertex, the directions are consistent, namely the upper position and the lower position of the circular optical mark points with the large radius and the small radius are the same, namely all the datum lines are arranged in parallel.
Because the included angle between the reference line in the marked picture and the positive direction of the reference axis of the world coordinate system is constant, after the robot identifies the reference line in the marked picture, the offset angle and the walking direction of the mobile robot relative to the world coordinate system are obtained through the relation among the robot coordinate system, the picture coordinate system and the world coordinate system, and then the walking angle of the robot is adjusted.
As shown in fig. 7, which is a schematic diagram of coordinate system transformation according to the present invention, the robot coordinate system to be solved has a deflection angle C in the world coordinate system. And the deflection direction is defined by a Y-axis reference axis, and the positive direction of the Y-axis is the set positive direction, namely:
(1) deflection angle direction: clockwise is negative; counterclockwise is positive.
(2) The deflection angle of the picture coordinate system relative to the world coordinate system is A; (it has been established after the picture is placed on the ground, typically A is defined as 0 °); the deflection angle between the reference line of the picture and the picture coordinate system is B (after the reference line is set, the angle is determined and is generally defined as 0 degrees); the deflection angle of the robot coordinate system relative to the world coordinate system is C, and the angle is an angle to be solved;
(3) after the robot shoots the identification picture, processing is carried out, a reference line in the picture is obtained, and meanwhile, the deflection angle of the reference line in the picture and the robot coordinate system in the robot coordinate system is D;
the method for calculating the deflection angle C of the robot coordinate system in the world coordinate system on the basis of the known data comprises the following steps:
1: identifying a reference line of an identification picture shot by a robot, and acquiring a deflection angle of the reference line relative to a world coordinate system as A + B;
2: after the robot identifies the picture, under a robot coordinate system, the deflection angle of a picture reference line relative to the robot coordinate system is D = A + B-C; since A, B, D is known, then C = a + B-D.
The identification picture provided by the invention is provided with at least one group of combinations consisting of n number letter symbols, each combination corresponds to one group of numbers, and a plurality of combinations on the same identification picture correspond to the same group of numbers; and after the robot acquires the serial number identification, comparing the serial number identification with the serial number identification-coordinate corresponding table to acquire the coordinate of the current identification picture.
In the working process of the robot in the working area, a camera of the mobile robot is used for shooting images, and identification pictures with identifications are obtained. And preprocessing the picture and filtering noise points. And identifying two circular mark points from the picture, and respectively calculating the center coordinates of the circular mark points. And calculating the offset angle of the picture in the robot coordinate system by taking the connecting line of the central coordinates of the two mark points as a reference line, and acquiring the offset angle and the walking direction of the mobile robot relative to the world coordinate system according to the offset angle of the known reference line (the mark picture is laid in the set direction, and the direction is fixed and known) relative to the world coordinate system.
And the mobile robot processes the picture according to the calculated datum line information, sequentially and longitudinally divides the picture by using the minimum connected domain, matches the divided target with the template, acquires the number identification contained in the number letter, and queries a number identification-coordinate correspondence table so as to acquire the coordinate of the mobile robot in the work site map. Planning the path information of the mobile robot according to the coordinate position and the walking direction acquired at each identifier; and the deviation rectification adjustment is carried out on the mobile robot according to the deviation angle, so that the accumulated error can be corrected in time, and the positioning precision is ensured.
Fig. 1 shows an embodiment of an identification picture according to the present invention.
As shown in fig. 1, the identification picture is composed of three parts: picture background (white), two circular optical marker points (black), the number letter to be recognized (black). The optical mark points are two black circles with different radiuses and are respectively arranged at specific positions of the picture, for example, a small circle is arranged above the middle, and a large circle is arranged below the middle. The number to be recognized is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, and the letter to be recognized is a, B, C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z, for a total of 36 numeric alphabet symbols. Optionally selecting n (n is more than or equal to 1) number letter symbols from 36 symbols as a combination, arranging all the combinations which can appear in sequence, forming each m (m is more than or equal to 1) small combinations into a large combination in sequence, and numbering the large combinations in sequence. The large combination is composed of m × n number letter symbols, the small combinations of n number letters in each row correspond to the same number, the number letter contents of the small combinations in each row can be different or the same, but it is required to ensure that the number information corresponding to the m small combinations is the same, that is, one large combination only contains one number information. The repeated information design of the number information in the identification picture can avoid the problem that the number cannot be identified due to the shielding of the picture, and the reading accuracy of the number is improved. When the identification picture is used, the number information corresponding to the picture used in the map is ensured to be different.
The identification picture shown in fig. 1 includes two marked circles located at the upper middle position and the lower middle position, and a 3 × 3 combination of alphanumerics located at the middle position. The middle alphanumerics are divided into 3 small combinations, i.e. (567, 89F, QDP) three small combinations, each corresponding to one identical number. When fig. 1 is used in the map, for example, an identification picture having (567, QDP, 89F), (567, 567, 567), etc. corresponding to the same number is not usable.
As shown in fig. 2, the whole work site is divided into grids of equal size, the identification pictures are attached to the vertexes of the single small grid, the centers of the pictures correspond to the centers of the vertexes, and the directions of the pictures at all the grids are ensured to be consistent, that is, all the picture small circles are on top or all the picture large circles are on top, and the picture takes the example that all the picture small circles are on top. And after the identification picture is pasted, storing a serial number identification-coordinate corresponding table. As shown in fig. 2, the field is divided into 5 × 5 grids, and the identification pictures are attached to the vertex positions of the grids, so that the coordinates corresponding to the first identification picture 1 on the right side are (4, 4), and the coordinates corresponding to the identification picture 2 are (2, 4).
And after the identification picture is pasted and the comparison table is established, the robot can be positioned.
As shown in the flowchart of fig. 3, the positioning method of the present invention includes acquiring the position coordinates and the offset angle of the mobile robot. Firstly, receiving a picture shot by a camera arranged on a robot, preprocessing the picture and processing noise. And extracting optical mark points to obtain the offset angle of the mobile robot. And acquiring the position coordinates of the mobile robot by identifying the number of the number letter.
The specific process is as follows:
(1) picture preprocessing
And receiving a picture shot by the mobile robot, and preprocessing the picture. And changing the size of the picture according to the pixels of the camera, and compressing the picture. And (4) pixel inversion is carried out, binarization processing is carried out, and the image is converted into a single-channel gray image. And carrying out filtering operation to remove noise points.
(2) Identifying circular indicia
And extracting the outlines of two optical mark circles in the picture subjected to preprocessing, finding out two circular marks, and calculating the center coordinate of each circular mark in an image coordinate system. And detecting the circular mark by using Hough transform, excluding other interference circles according to the pixel area range of the set circular mark, and calculating the center coordinates of the circles within the range. And sequencing the detected circles, and only acquiring the coordinates of the centers of the two mark points.
(3) Obtaining a walking direction and an offset angle
Extracting the outlines of the two marking circles, finding out two circular marking points, and calculating the center coordinate of each marking point in an image coordinate system. And connecting the central connecting line of the two marking points as a reference line, calculating the slope of the reference line in the robot coordinate system, further acquiring the deviation angle of the reference line in the robot coordinate system relative to the positive direction of the reference axis of the robot coordinate system, then acquiring the deviation angle of the identification picture in the image coordinate system through the corresponding relation between the image coordinate system and the robot coordinate system, and further calculating to obtain the deviation angle of the mobile robot in the world coordinate system.
(4) Obtaining position coordinates
Each identification picture corresponds to different number-letter combinations and represents a unique number. Each number corresponds to a position coordinate in the world coordinate system, and the corresponding table of the number identification-coordinate comparison table is stored. Whether the picture is reversed or not is judged according to the large circle and the small circle, and according to the setting of the embodiment, the small circle is in the forward direction on the upper picture and in the reverse direction on the lower picture. If the small circle is below, the rotation angle is added to 180 degrees, otherwise, the operation is not carried out. And carrying out affine transformation on the image. And carrying out segmentation processing on the transformed image to obtain the minimum external rectangular frame of all the connected regions, and removing the rectangular frame generated by noise points. And sequencing the segmented numbers and letters to ensure that the output numbers and letters are consistent with the sequence of the original image. And comparing the similarity of the segmented target with the template, wherein the highest similarity is the best match, outputting the identified digital-letter information, and obtaining 3 groups of combinations respectively containing 3 digital-letter symbols. And obtaining the number information corresponding to each small combination according to a pre-stored information table. And analyzing the 3 pieces of numbering information to obtain the numbering information corresponding to the identification picture. And comparing the position coordinates of the mobile robot in a world coordinate system with a prestored serial number identification-coordinate comparison table.
The invention improves the robustness of the mobile robot positioning algorithm, the algorithm has the anti-noise and anti-geometric deformation capabilities, the position and the offset angle of the mobile robot are obtained based on the single camera, the hardware cost and the system complexity are reduced, and the method has high application and popularization values.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the overall concept of the present invention, and these should also be considered as the protection scope of the present invention.
Claims (4)
1. A mobile robot positioning method based on digital-letter recognition is characterized by comprising the following steps:
step (1): making an identification picture, wherein a serial number identification for acquiring coordinate information and an angle identification for acquiring direction and angle information are arranged on the identification picture;
the angle mark comprises a reference line with a direction, and an included angle between the reference line and the positive direction of the reference axis of the picture coordinate system is known by setting one axis of the picture coordinate system, the robot coordinate system and the world coordinate system as the reference axis and setting one direction of the reference axis as the positive direction; after identifying the reference line in the identification picture, the robot calculates an included angle between the reference line and the positive direction of the reference axis of the robot coordinate system under the robot coordinate system, acquires the included angle between the reference line and the positive direction of the reference axis of the world coordinate system according to the relation between the picture coordinate system and the world coordinate system, and further acquires the offset angle of the mobile robot relative to the positive direction of the reference axis of the world coordinate system;
two circular optical mark points with different radiuses are arranged on the mark picture, the circle center connecting line of the two circular optical mark points is used as a datum line, and the positive direction of the datum line is the direction from the large circular optical mark point to the small circular optical mark point or the direction from the small circular optical mark point to the large circular optical mark point;
when the plurality of identification pictures are laid in a working site, the datum lines are parallel to each other and have the same direction;
the number marks on the identification pictures comprise at least one group of small combinations consisting of n number letter symbols, each small combination corresponds to one group of numbers, each group of numbers corresponds to one coordinate in the number mark-coordinate comparison table, and a plurality of small combinations on the same identification picture correspond to the same group of numbers;
step (2): placing a robot working area in a world coordinate system, laying a plurality of identification pictures in the working area, and establishing a serial number identification-coordinate comparison table;
and (3): in the process of robot moving, when the identification picture is shot, identifying the serial number identification, and obtaining the coordinate information corresponding to the current serial number identification through the comparison with the serial number identification-coordinate comparison table; and simultaneously, identifying the angle identification, acquiring the current traveling direction of the robot and the offset angle relative to the world coordinate system, and positioning the robot according to the current coordinate information, the traveling direction and the offset angle of the robot.
2. The mobile robot positioning method based on alphanumeric recognition as claimed in claim 1, wherein:
after the robot identifies the coordinate of the current position, the coordinate of the current position is compared with the coordinate of the next position stored in the robot, the next traveling direction of the robot from the current coordinate to the coordinate of the next position is judged, then the offset angle of the current robot relative to the next traveling direction is obtained according to the offset angle of the reference line and the positive direction of the reference axis of the world coordinate system, and after the robot rotates relative to the reference axis of the world coordinate system by the offset angle, the robot advances along the next traveling direction until the target position is reached.
3. The mobile robot positioning method based on alphanumeric recognition as claimed in claim 1, wherein:
in the step (2), the work site is divided into grids with the same size and length and width in the world coordinate system, and an identification picture is laid on the top point of each grid.
4. The mobile robot positioning method based on alphanumeric recognition as claimed in claim 2, wherein:
and the next position coordinate is obtained by the monitoring terminal according to the path optimization algorithm and then is sent in real time, or is obtained by the path optimization algorithm stored in the robot.
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