CN108491905A - A kind of method for positioning mobile robot, system, medium and equipment - Google Patents
A kind of method for positioning mobile robot, system, medium and equipment Download PDFInfo
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- CN108491905A CN108491905A CN201810220097.5A CN201810220097A CN108491905A CN 108491905 A CN108491905 A CN 108491905A CN 201810220097 A CN201810220097 A CN 201810220097A CN 108491905 A CN108491905 A CN 108491905A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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Abstract
The invention discloses a kind of method for positioning mobile robot, system, medium and equipment, this method includes：When mobile robot marches to the goal rule figure on default mobile route, the target ID number of goal rule figure is obtained；Wherein, mobile robot is the robot positioned using the regular figure on default mobile route, and for goal rule figure to be laid in advance to the random regular pattern on default mobile route, each regular figure has unique ID number；Screening and the first position parameter corresponding to target ID number from presetting database；Wherein, presetting database is that the database for presetting strictly all rules figure ID number and location parameter on mobile route is stored for mobile robot, and location parameter is that regular figure, paving location measures the parameter of gained in world coordinate system in advance；According to first position parameter calculate mobile robot world coordinate system second position parameter.As it can be seen that this method can improve the positioning accuracy of mobile robot.
Description
Technical field
The present invention relates to mobile robot control field, more particularly to a kind of method for positioning mobile robot, system, medium
And equipment.
Background technology
Since mobile robot can replace being accomplished manually various complicated, cumbersome work, so, mobile robot is in reality
It is widely used in border.In the prior art, mobile robot is generally by the rule being laid on the ground
Figure positions the position of mobile robot, that is, it includes each rule to be laid in regular figure on the ground
Then position coordinates of the figure in world coordinate system, then mobile robot is next by obtaining the position coordinates in regular figure
The position of mobile robot itself is positioned.But during being manually laid with regular figure, due to each in reality
The limitation of kind operating environment and artificial operating error can be laid with regular figure on the ground and regular figure reality
Including position coordinates between there are many errors, and then cause mobile robot to be generated in actual location and larger determine
Position error.
Currently, this technical problem is directed to, mainly by installing multiple code readers in mobile robot come to movement
The position of robot is positioned, or is positioned to the position of mobile robot by statistical method, still,
Mobile robot is positioned using multiple code readers, increases the design cost of mobile robot, utilization is statistical
Method positions mobile robot, and can extend the working time that mobile robot is constructed at the scene.It can be seen that sharp
More accurate positioning is carried out to the position of mobile robot with what kind of better method, be those skilled in the art urgently
It solves the problems, such as.
Invention content
In view of this, the purpose of the present invention is to provide a kind of method for positioning mobile robot, system, medium and equipment,
To improve positioning accuracy of the mobile robot in position fixing process.Its concrete scheme is as follows：
A kind of method for positioning mobile robot, including：
When mobile robot marches to the goal rule figure on default mobile route, then the goal rule figure is obtained
The target ID number of shape；Wherein, the mobile robot is to be positioned using the regular figure on the default mobile route
Robot, the goal rule figure are laid with to be advance to the random regular pattern on the default mobile route, and each
Regular figure has unique ID number；
Screening and the first position parameter corresponding to the target ID number from presetting database；Wherein, the present count
It is to store the ID number of strictly all rules figure and location parameter on the default mobile route for the mobile robot according to library
Database, location parameter are that regular figure, paving location measures the parameter of gained in world coordinate system in advance；
Second position ginseng of the mobile robot in the world coordinate system is calculated according to the first position parameter
Number.
Preferably, the mistake of the screening and the first position parameter corresponding to the target ID number from presetting database
Journey, including：
From screening position coordinates of the goal rule figure in the world coordinate system in the presetting database
(xα,yα) and deflection angle thetaα。
Preferably, described that the mobile robot is calculated in the world coordinate system according to the first position parameter
The process of second position parameter, including：
The Target Photo of goal rule figure region is shot using the camera of the mobile robot；
Obtain position coordinates (xs of the Target Photo central point A in camera coordinates systemA,yA)；
Obtain position coordinates (xs of the goal rule centre of figure point B in the camera coordinates systemB,yB) and deflection angle
Utilize the position coordinates (xA,yA) and the position coordinates (xB,yB) calculate the Target Photo central point A with
Alternate position spike (the Δ x, Δ y) of the goal rule centre of figure point B；
Wherein, (expression formula of Δ x, Δ y) is for the alternate position spike：
(Δ x, Δ y)=(k × (xB-xA),k×(yB-yA))；
In formula, (Δ x, Δ y) are the Target Photo central point A and goal rule centre of figure point B in the generation
Alternate position spike in boundary's coordinate system, k are the length of the corresponding material object of each pixel in the Target Photo；
Utilize the position coordinates (xα,yα), the deflection angle thetaα, the deflection angleWith the alternate position spike (Δ x, Δ y)
Calculate second position parameter of the goal rule figure in the world coordinate system.
Preferably, the regular figure is Quick Response Code.
Preferably, the presetting database is stored in the flash storage or SD card or SSD hard disks of the mobile robot
In.
Preferably, further include：
The parameter that each regular figure paving location in the world coordinate system is measured using geometry precision instrument, is obtained
To location parameter of the strictly all rules figure in the world coordinate system.
Correspondingly, the invention also discloses a kind of mobile robot positioning systems, including：
ID number acquisition module, when for marching to the goal rule figure on default mobile route when mobile robot, then
Obtain the target ID number of the goal rule figure；Wherein, the mobile robot is using on the default mobile route
The robot that regular figure is positioned, the goal rule figure are to be laid in advance to arbitrary on the default mobile route
Regular figure, and each regular figure has unique ID number；
Choice of parameters module, for the screening from presetting database and the first position ginseng corresponding to the target ID number
Number；Wherein, the presetting database is to store strictly all rules figure on the default mobile route for the mobile robot
ID number and location parameter database, location parameter be to regular figure, paving location is surveyed in world coordinate system in advance
Measure the parameter of gained；
Parameter calculating module, for calculating the mobile robot in the world coordinates according to the first position parameter
Second position parameter in system.
Preferably, further include：
Parameters measurement module, for utilizing geometry precision instrument to measure each regular figure in the world coordinate system
The parameter of paving location obtains location parameter of the strictly all rules figure in the world coordinate system.
Correspondingly, the invention also discloses a kind of computer readable storage medium, on the computer readable storage medium
It is stored with computer program, the computer program realizes localization for Mobile Robot side as previously disclosed when being executed by processor
The step of method.
Correspondingly, the invention also discloses a kind of localization for Mobile Robot equipment, including：
Memory, for storing computer program；
Processor realizes the step of method for positioning mobile robot as previously disclosed when for executing the computer program
Suddenly.
In the present invention, a kind of method for positioning mobile robot, including：When mobile robot marches to default mobile route
On goal rule figure when, then obtain the target ID number of goal rule figure；Wherein, mobile robot is to utilize default movement
The robot that regular figure on path is positioned, goal rule figure are to be laid in advance to arbitrary on default mobile route
Regular figure, and each regular figure has unique ID number；From presetting database screening with target ID number corresponding to
First position parameter；Wherein, presetting database is to store to preset strictly all rules figure on mobile route for mobile robot
The database of ID number and location parameter, location parameter are that regular figure, paving location measures in world coordinate system in advance
The parameter of gained；Second position parameter of the mobile robot in world coordinate system is calculated according to first position parameter.
As it can be seen that being that the regular figure on the default mobile route advanced to mobile robot carries out first in the present invention
Label so that there are one unique ID numbers for each regular figure on default mobile route, then, to each rule schema
Location parameter of the shape in world coordinate system is demarcated, and position ginseng of each regular figure in world coordinate system is obtained
The mapping relations of location parameter and ID number of each regular figure in world coordinate system again, are stored in preset data by number
In library, and presetting database is stored in mobile robot.When mobile robot marches to the target on default mobile route
When regular figure, mobile robot can obtain the target ID number of goal rule figure；Then, mobile robot is in present count
According to first position parameter of the screening with the goal rule figure corresponding to target ID number in world coordinate system in library, finally, move
Mobile robot calculates mobile robot in world coordinate system by location parameter of the goal rule figure in world coordinate system
Second position parameter.Obviously, in the present invention, because being the position ginseng for directly acquiring regular figure in world coordinate system
Number, eliminate in the prior art to the correction course of location parameter in regular figure, so, through the invention in method can
More accurate positioning is carried out to the position of mobile robot, and the present invention realizes that process is simple and practicable, significantly improves movement
The application range of robot.Correspondingly, the invention also discloses a kind of mobile robot positioning system, medium and equipment, equally
With above-mentioned advantageous effect.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow chart of method for positioning mobile robot provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another method for positioning mobile robot provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of the position coordinates of regular figure provided in an embodiment of the present invention；
Fig. 4 is a kind of structure chart of mobile robot positioning system provided in an embodiment of the present invention；
Fig. 5 is a kind of structure chart of localization for Mobile Robot equipment provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of method for positioning mobile robot, as shown in Figure 1, this method includes：
Step S11：When mobile robot marches to the goal rule figure on default mobile route, then target rule are obtained
The then target ID number of figure；
Wherein, mobile robot is the robot positioned using the regular figure on default mobile route, target rule
Then figure is to be laid in advance to the random regular pattern on default mobile route, and each regular figure has unique ID
Number；
Step S12：Screening and the first position parameter corresponding to target ID number from presetting database；
Wherein, presetting database be for mobile robot store preset mobile route on strictly all rules figure ID number with
The database of location parameter, location parameter are that regular figure, paving location measures gained in world coordinate system in advance
Parameter；
In the present embodiment, it is first to being laid with regular figure on the ground into line label so that mobile robot exists
Each regular figure on default mobile route is corresponding to it there are one unique ID number, that is, establishing mobile robot
The mapping relations one by one of regular figure and ID number on default mobile route.Then, to mobile robot in default mobile route
On position of each regular figure in world coordinate system demarcated, obtain each regular figure in world coordinate system
In position coordinates the mapping relations of the position coordinates of regular figure and ID number are finally stored in the storage of mobile robot
In device, for use of the mobile robot in subsequent step.
It should be noted that in practical application, mobile robot can preset by high precision measuring instrument
Regular figure on mobile route measures calibration.It is also contemplated that being preset in mobile robot artificial on mobile route
When being laid with regular figure, certain site error and deflection angle error can be all generated, moreover, deflection angle error is calculating moving machine
When position coordinates of the device people in position coordinates system of the world, particularly evident accumulated error is will produce, and in the present embodiment, it is
The position to regular figure in world coordinate system is demarcated in advance, so, through this embodiment in method can have
Effect reduces accumulated error of the mobile robot in position fixing process.
It is to utilize mobile robot first specifically, during mobile robot is advanced on default mobile route
On camera obtain preset mobile route on any one regular figure namely goal rule figure；Then, mobile robot
By communication bus by the controller of the goal rule graphics transport got to mobile robot, again, mobile robot is logical
It crosses controller goal rule figure is identified, obtains the ID number of goal rule figure, that is, target ID number；Work as moving machine
Device people has got after target ID number, so that it may to utilize the target ID number got to screen in the preset database and Target id
First position parameter corresponding to number, that is, position coordinates of the goal rule figure in world coordinate system.It needs to illustrate
It is that communication bus herein can be the either other high-speed buses of Ethernet, USB, not limit specifically herein.
Step S13：Second position parameter of the mobile robot in world coordinate system is calculated according to first position parameter.
It is also contemplated that when mobile robot has screened goal rule figure in the preset database by target ID number
When position coordinates of the shape in world coordinate system, so that it may by using goal rule figure in terms of position coordinates in world coordinate system
Calculate position coordinates of the mobile robot in world coordinate system.
Specifically, when mobile robot has got the of goal rule figure in world coordinate system by target ID number
It is that the first position coaptation using goal rule figure in world coordinate system goes out moving machine first after one location parameter
The camera of device people under position coordinates system of the world at a distance from goal rule figure, then according to camera in mobile robot
On installation site, extrapolate position of the mobile robot in position coordinates system of the world.
As it can be seen that in the present embodiment, first, be regular figure on the default mobile route advanced to mobile robot into
Line label so that there are one unique ID numbers for each regular figure on default mobile route, then, to each rule
Location parameter of the figure in world coordinate system is demarcated, and position ginseng of each regular figure in world coordinate system is obtained
The mapping relations of location parameter and ID number of each regular figure in world coordinate system again, are stored in preset data by number
In library, and presetting database is stored in mobile robot.When mobile robot marches to the target on default mobile route
When regular figure, mobile robot can obtain the target ID number of goal rule figure；Then, mobile robot is in present count
According to first position parameter of the screening with the goal rule figure corresponding to target ID number in world coordinate system in library, finally, move
Mobile robot calculates mobile robot in world coordinate system by location parameter of the goal rule figure in world coordinate system
Second position parameter.Obviously, in the present embodiment, because being the position ginseng for directly acquiring regular figure in world coordinate system
Number, eliminate in the prior art to the correction course of location parameter in regular figure, so, through this embodiment in method energy
Enough positions to mobile robot carry out more accurate positioning, and the method in the present embodiment realizes that process is simple and practicable, shows
Write the application range for improving mobile robot.
On the basis of above-described embodiment, the present embodiment is further described and optimizes to technical solution, such as Fig. 2 institutes
Show, specifically, above-mentioned steps S12：The process of screening and the first position parameter corresponding to target ID number from presetting database,
Including：
Step S121：From position coordinates (x of the screening goal rule figure in world coordinate system in presetting databaseα,yα)
And deflection angle thetaα。
Specifically, in the present embodiment, (xα,yα) it is position coordinates of the goal rule figure in world coordinate system, θαFor
The deflection angle in world coordinate system of goal rule figure.When mobile robot marches to the rule of the target on default mobile route
Then when figure, it is the target ID number for obtaining goal rule figure by the camera of mobile robot first, then utilizes target
ID number screens position coordinates (x of the goal rule figure in world coordinate system in the preset databaseα,yα) and deflection angle thetaα.So
Afterwards, the position coordinates (x using the goal rule figure got in world coordinate systemα,yα) and deflection angle thetaαCalculate moving machine
Position coordinates of the device people in world coordinate system.
It is also contemplated that in the prior art, it is difficult to the error of coordinate to regular figure on default mobile route
It is corrected with deflection angle error, so position error of the mobile robot in position fixing process can be caused, and in the present embodiment
In, be the position coordinates and deflection angle of presetting the regular figure on mobile route are demarcated in advance, so, mobile machine
People does not obtain the position coordinates and deflection angle of regular figure devious, directly acquires in subsequent position fixing process
Position coordinates of the regular figure in world coordinate system.Obviously, through this embodiment in method can greatly improve movement
Positioning accuracy of the robot in position fixing process.As shown in figure 3, being a kind of regular figure provided in an embodiment of the present invention in the world
Position coordinates (the x of central point in coordinate systemα,yα) and deflection angle thetaαSchematic diagram, wherein deflection angle thetaαFor regular figure
Deflection angle of the center line relative to world coordinate system y direction.
Correspondingly, above-mentioned steps S13：Second of mobile robot in world coordinate system is calculated according to first position parameter
The process of location parameter, including step S131 to step S135.
Step S131：Utilize the Target Photo of the camera photographic subjects regular figure region of mobile robot；
Step S132：Obtain position coordinates (xs of the Target Photo central point A in camera coordinates systemA,yA)；
It is also contemplated that when mobile robot screens goal rule figure in the preset database by target ID number
Position coordinates (x in world coordinate systemα,yα) and deflection angle thetaαAfter, goal rule figure can be utilized in world coordinate system
In position coordinates (xα,yα) and deflection angle thetaαPosition coordinates of the mobile robot in world coordinate system are calculated.
Specifically, being that mobile robot passes through camera photographic subjects regular figure region first in this embodiment
Target Photo, alternatively it is conceivable to, mobile robot on default mobile route during advancing, it is impossible to get not
There is the goal rule figure of any background patterns, so, in the present embodiment, mobile robot is shot by camera first
Include the Target Photo of goal rule figure, then, Target Photo central point A is calculated in the Target Photo got in phase
Position coordinates (x in machine coordinate systemA,yA)。
Step S133：Obtain position coordinates (xs of the goal rule centre of figure point B in camera coordinates systemB,yB) and deflection
Angle
Step S134：Utilize position coordinates (xA,yA) and position coordinates (xB,yB) calculate Target Photo central point A and target
Alternate position spike (the Δ x, Δ y) of regular figure central point B；
Wherein, (expression formula of Δ x, Δ y) is alternate position spike：
(Δ x, Δ y)=(k × (xB-xA),k×(yB-yA))；
In formula, (Δ x, Δ y) are Target Photo central point A and goal rule centre of figure point B in world coordinate system
Alternate position spike, k are the length of the corresponding material object of each pixel in Target Photo；
Step S135：Utilize position coordinates (xα,yα), deflection angle thetaα, deflection angle(Δ x, Δ y) calculate target with alternate position spike
Second position parameter of the regular figure in world coordinate system；
It should be noted that goal rule figure herein is the picture for removing background patterns in Target Photo.It can think
To, using goal rule figure camera coordinates system central point B position coordinates (xB,yB) and Target Photo camera sit
Position coordinates (the x of mark system central point AA,yA), so that it may Target Photo central point A and goal rule centre of figure point is calculated
Alternate position spike (Δ xs, Δ y), that is, (Δ x, Δ y)=(k × (x of the B in world coordinate systemB-xA),k×(yB-yA)), wherein
K is the length of the corresponding material object of each pixel in Target Photo, it is clear that calculation in this way, it will be able to get mesh
It marks on a map Target Photo central point A and length of the goal rule centre of figure point B in world coordinate system in piece.
Then, according to getting position coordinates (x of the goal rule centre of figure point in world coordinate systemα,yα), target
Position coordinates (xs of the center picture point A in camera coordinates systemA,yA) and goal rule centre of figure point B in camera coordinates system
Position coordinates (xB,yB) position coordinates of the mobile robot in world coordinate system can be calculated.
Specifically, position coordinates (the x according to goal rule centre of figure point in world coordinate systemα,yα) and Target Photo
Central point A and position coordinates poor (Δ xs, Δ y), so that it may to extrapolate of the goal rule centre of figure point B in world coordinate system
Position coordinates of the Target Photo central point A in world coordinate system, then, reckoning obtain in mobile robot camera in the world
Finally mobile robot is calculated according to installation site of the camera in mobile robot in position coordinates in coordinate system
Location parameter in world coordinate system.
Moreover, the deflection angle theta according to goal rule figure in world coordinate systemαWith goal rule figure in picture
Deflection angleIt can be obtained by the installation angle of camera in mobile robotThen, existed according to mobile robot
When design, setting angle of the camera in mobile robot, so that it may to extrapolate mobile robot in world coordinate system
Deflection angle.Obviously, through this embodiment in method enable to mobile robot to obtain higher positioning accuracy.
On the basis of above-described embodiment, the present embodiment is further detailed and optimizes to technical solution, specifically
, regular figure is Quick Response Code.
It is understood that mobile robot is carried out by the regular figure being laid on the ground on either ceiling
The position of mobile robot is positioned, the form of expression of regular figure is varied.Specifically, in the present embodiment,
It is that regular figure is designed as Quick Response Code.It is also contemplated that Quick Response Code can be by specific geometric figure according to certain volume
Information in code mode recordable picture, so, Quick Response Code can store more pictorial informations.Certainly, according to actual conditions
It needs, regular figure can also be designed as to other pattern identifications, do not limited specifically herein.
On the basis of above-described embodiment, the present embodiment is further detailed and optimizes to technical solution, specifically
, presetting database is stored in flash storage or SD card or the SSD hard disks of mobile robot.
It is understood that when establish mobile robot on default mobile route each regular figure in world coordinates
Position coordinates in system and after the mapping relations of ID number, need the memory that these mapping relations are stored in mobile robot
In the middle, it specifically, in practical application, can be deposited as mobile robot using flash storage or SD card or SSD hard disks
Store up the memory of presetting database.
In practical applications, presetting database can be stored in the flash storage of mobile robot, can be thought
To being, since flash storage is a kind of non-volatile memory of long-life, moreover, flash storage is in power blackout situation
Under remain able to preserve stored data information, so, in the present embodiment, presetting database can be stored in Flash
In memory, and then improve application range of the mobile robot in practical application；Or it can also be by preset data inventory
Storage is in the SD card of mobile robot, since SD card storage speed is fast, compact, it is possible to reduce memory in moving machine
Occupied space in device people so that the volume of mobile robot is more compact；Also or it is that presetting database is stored in movement
In the SSD hard disks of robot, it is clear that since SSD hard disk startups speed is fast, reading storage data delay therein is smaller, institute
If storing presetting database in SSD hard disks, mobile robot digital independent in practical applications can be improved
Speed, and then improve user experience.Certainly, in practical application, presetting database can also be stored in mobile robot
Other memories in, do not limit specifically herein.
On the basis of above-described embodiment, the present embodiment is further detailed and optimizes to technical solution.Specifically
, the coordinate of each regular figure paving location in world coordinate system is measured using geometry precision instrument, obtains all rule
Then position coordinates of the figure in world coordinate system.
In the present embodiment, geometry precision instrument can also be utilized to preset mobile route to being laid on mobile robot in advance
On position coordinates of each regular figure in world coordinate system demarcated.Specifically, ought be manually to presetting mobile route
On regular figure laying finish after, regular figure can be identified using geometry precision instrument first, when geometry is smart
After close instrument recognizes regular figure, geometry precision instrument is using its internal sensor come to scanning obtained regular figure
In parameters feature measure, then the sensor in geometry precision instrument divides the obtained regular figure of scanning
Analysis, finally obtains position coordinates of the regular figure in world coordinate system.Certainly, geometry precision instrument herein can be profile
Instrument, scanner either angular instrument etc..In practical application, other precision instruments can also be utilized to exist mobile robot
Each regular figure on default mobile route is demarcated, and is not limited specifically herein.
Correspondingly, the invention also discloses a kind of mobile robot positioning systems, as shown in figure 4, the system includes：
ID number acquisition module 31, when for marching to the goal rule figure on default mobile route when mobile robot,
Then obtain the target ID number of goal rule figure；Wherein, mobile robot be using preset mobile route on regular figure into
The robot of row positioning, goal rule figure are laid with to be advance to the random regular pattern on default mobile route, and each
Regular figure has unique ID number；
Choice of parameters module 32, for the screening from presetting database and the first position parameter corresponding to target ID number；
Wherein, presetting database is that the ID number and location parameter of presetting strictly all rules figure on mobile route are stored for mobile robot
Database, location parameter be in advance to regular figure in world coordinate system paving location measure gained parameter；
Parameter calculating module 33, for calculating second of mobile robot in world coordinate system according to first position parameter
Location parameter.
Preferably, choice of parameters module 32 includes：
Choice of parameters unit, for being sat from position of the screening goal rule figure in world coordinate system in presetting database
Mark (xα,yα) and deflection angle thetaα。
Preferably, parameter calculating module 33 includes：
Picture acquiring unit, the target for the camera photographic subjects regular figure region using mobile robot
Picture；
First coordinate acquiring unit, for obtaining position coordinates (xs of the Target Photo central point A in camera coordinates systemA,
yA)；
Second coordinate acquiring unit, for obtaining position coordinates of the goal rule centre of figure point B in camera coordinates system
(xB,yB) and deflection angle
Alternate position spike computing unit, for utilizing position coordinates (xA,yA) and position coordinates (xB,yB) calculate in Target Photo
Alternate position spike (the Δ x, Δ y) of heart point A and goal rule centre of figure point B；
Wherein, (expression formula of Δ x, Δ y) is alternate position spike：
(Δ x, Δ y)=(k × (xB-xA),k×(yB-yA))；
In formula, (Δ x, Δ y) are Target Photo central point A and goal rule centre of figure point B in world coordinate system
Alternate position spike, k are the length of the corresponding material object of each pixel in Target Photo；
Parameter calculation unit, for utilizing position coordinates (xα,yα), deflection angle thetaα, deflection angleWith alternate position spike (Δ x, Δ y)
Calculate second position parameter of the goal rule figure in world coordinate system.
Preferably, which further includes：
Parameters measurement module is laid with for utilizing geometry precision instrument to measure each regular figure in world coordinate system
The parameter of position obtains location parameter of the strictly all rules figure in world coordinate system.
Correspondingly, the invention also discloses a kind of computer readable storage medium, stored on computer readable storage medium
There is computer program, the step of method for positioning mobile robot as previously disclosed is realized when computer program is executed by processor
Suddenly.
Correspondingly, the invention also discloses a kind of localization for Mobile Robot equipment, as shown in figure 5, the positioning device includes：
Memory 41, for storing computer program；
Processor 42 realizes the step of method for positioning mobile robot as previously disclosed when for executing computer program
Suddenly.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
A kind of method for positioning mobile robot provided by the present invention, system, medium and equipment have been carried out in detail above
It introduces, principle and implementation of the present invention are described for specific case used herein, the explanation of above example
It is merely used to help understand the method and its core concept of the present invention；Meanwhile for those of ordinary skill in the art, according to this
The thought of invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not answered
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of method for positioning mobile robot, which is characterized in that including：
When mobile robot marches to the goal rule figure on default mobile route, then the goal rule figure is obtained
Target ID number；Wherein, the mobile robot is the machine positioned using the regular figure on the default mobile route
People, the goal rule figure are to be laid in advance to the random regular pattern on the default mobile route, and each is regular
Figure has unique ID number；
Screening and the first position parameter corresponding to the target ID number from presetting database；Wherein, the presetting database
To store the ID number of strictly all rules figure and the data of location parameter on the default mobile route for the mobile robot
Library, location parameter are that regular figure, paving location measures the parameter of gained in world coordinate system in advance；
Second position parameter of the mobile robot in the world coordinate system is calculated according to the first position parameter.
2. according to the method described in claim 1, it is characterized in that, the screening from presetting database and the target ID number
The process of corresponding first position parameter, including：
From screening position coordinates (x of the goal rule figure in the world coordinate system in the presetting databaseα,yα)
And deflection angle thetaα。
3. according to the method described in claim 2, it is characterized in that, described calculate the movement according to the first position parameter
The process of second position parameter of the robot in the world coordinate system, including：
The Target Photo of goal rule figure region is shot using the camera of the mobile robot；
Obtain position coordinates (xs of the Target Photo central point A in camera coordinates systemA,yA)；
Obtain position coordinates (xs of the goal rule centre of figure point B in the camera coordinates systemB,yB) and deflection angle
Utilize the position coordinates (xA,yA) and the position coordinates (xB,yB) calculate the Target Photo central point A and the mesh
Mark alternate position spike (the Δ x, Δ y) of regular figure central point B；
Wherein, (expression formula of Δ x, Δ y) is for the alternate position spike：
(Δ x, Δ y)=(k × (xB-xA),k×(yB-yA))；
In formula, (Δ x, Δ y) are that the Target Photo central point A and goal rule centre of figure point B is sat in the world
Alternate position spike in mark system, k are the length of the corresponding material object of each pixel in the Target Photo；
Utilize the position coordinates (xα,yα), the deflection angle thetaα, the deflection angle(Δ x, Δ y) are calculated with the alternate position spike
Second position parameter of the goal rule figure in the world coordinate system.
4. according to the method described in claim 1, it is characterized in that, the regular figure is Quick Response Code.
5. according to the method described in claim 1, it is characterized in that, the presetting database is stored in the mobile robot
In flash storage or SD card or SSD hard disks.
6. method according to any one of claims 1 to 5, which is characterized in that further include：
The parameter that each regular figure paving location in the world coordinate system is measured using geometry precision instrument obtains institute
Location parameter of the regular figure in the world coordinate system.
7. a kind of mobile robot positioning system, which is characterized in that including：
ID number acquisition module then obtains when for marching to the goal rule figure on default mobile route when mobile robot
The target ID number of the goal rule figure；Wherein, the mobile robot is to utilize the rule on the default mobile route
The robot that figure is positioned, the goal rule figure are to be laid in advance to any regular on the default mobile route
Figure, and each regular figure has unique ID number；
Choice of parameters module, for the screening from presetting database and the first position parameter corresponding to the target ID number；Its
In, the presetting database is that the ID number of strictly all rules figure on the default mobile route is stored for the mobile robot
With the database of location parameter, location parameter is that regular figure, paving location measures gained in world coordinate system in advance
Parameter；
Parameter calculating module, for calculating the mobile robot in the world coordinate system according to the first position parameter
Second position parameter.
8. system according to claim 7, which is characterized in that further include：
Parameters measurement module is laid with for utilizing geometry precision instrument to measure each regular figure in the world coordinate system
The parameter of position obtains location parameter of the strictly all rules figure in the world coordinate system.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes such as claim 1 to 6 any one of them localization for Mobile Robot when the computer program is executed by processor
The step of method.
10. a kind of localization for Mobile Robot equipment, which is characterized in that including：
Memory, for storing computer program；
Processor is realized when for executing the computer program as claim 1 to 6 any one of them mobile robot is fixed
The step of position method.
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