CN109582011A - A kind of terrestrial reference robot system positioned and its terrestrial reference and robot and robot terrestrial reference localization method that use - Google Patents
A kind of terrestrial reference robot system positioned and its terrestrial reference and robot and robot terrestrial reference localization method that use Download PDFInfo
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- CN109582011A CN109582011A CN201710911417.7A CN201710911417A CN109582011A CN 109582011 A CN109582011 A CN 109582011A CN 201710911417 A CN201710911417 A CN 201710911417A CN 109582011 A CN109582011 A CN 109582011A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- 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
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Abstract
The present invention relates to robotic technology field, the robot system positioned more particularly, to a kind of terrestrial reference and its terrestrial reference and robot and robot terrestrial reference localization method that use.A kind of robot localization terrestrial reference, including RFID card and a non-centrosymmetry pattern identification.A kind of robot of terrestrial reference positioning, including robot body, RFID card reader and camera module with locomotive function, the RFID card reader antenna is set to robot bottom, the robot bottom is equipped with shooting window, and the camera module is set in robot body and camera is shot window towards robot bottom.A kind of robot system of terrestrial reference positioning, including several above-mentioned terrestrial references and at least one above-mentioned robot and host computer form, and the host computer includes wireless communication module, and the robot also includes wireless communication module.
Description
Technical field
The present invention relates to robotic technology field, robot system more particularly, to a kind of positioning of terrestrial reference and its use
Terrestrial reference and robot and robot terrestrial reference localization method.
Background technique
Currently, with the development of robot technology store in a warehouse robot and sorting machine people carry out carrying in tolerance zone and
Sorting operation has obtained good application achievements, and target dependence is stronger over the ground for mobile robot especially VGA robot, with
For the kiva robot system of Amazon, is positioned oneself using two dimensional code terrestrial reference auxiliary robot and realize navigation, terrestrial reference
As relying on, the robot that terrestrial reference is positioned oneself is particularly important, and with the fast development of information technology, two dimensional code is extensive
Applied to each enterprise and various product, two dimensional code summarizes the relevant information of enterprise and product, can be with by scanning the two-dimensional code
Relevant information is obtained, more can be used as terrestrial reference mark current location information, robot is according to the position and robot being presently in
Target position come movement of navigating, but be used only two dimensional code terrestrial reference it is higher to the operating environment requirements of robot, robot has can
It can be stained because of ambient light interference or two dimensional code terrestrial reference and cause not identifying or misidentify, and need camera persistently to shoot and hold
It is continuous that identification judgement is carried out to every frame picture of video image, when the robot speed of service is higher to the frame number of camera and shutter
Speed has higher requirements；Still an alternative is that using RFID card as robot terrestrial reference, robot passes through its included RFID
Card reader reads the corresponding location information of RFID card currently read, but due to the non-contact characteristic of RFID card, robot
It is not easy to judge exact position when card reading, it is more difficult to judge that the current direction of robot is believed by reading a RFID card
Breath；It in the robot of warehouse logistics and sorting field profession is operated with systematization group, can not be read when there are individual terrestrial references
It takes or robot localization is inaccurate, robot system stable operation is influenced very big.
Summary of the invention
To solve the above-mentioned problems, the invention proposes a kind of robot system of terrestrial reference positioning and its terrestrial reference that uses and
Robot and robot terrestrial reference localization method.
The technical scheme adopted by the invention is that.
A kind of robot localization terrestrial reference, including RFID card and a non-centrosymmetry pattern identification.Above-mentioned pattern identification is
Camera can shoot the pattern identification of imaging, and RFID card is the card containing RFID chip and radio-frequency antenna, mutually dry to prevent
It disturbs, selects passive near field pattern RFID card, different location informations is recorded in the RFID card in the terrestrial reference of different location, but it is all
The non-centrosymmetry pattern identification of robot localization terrestrial reference can be identical, above-mentioned robot localization terrestrial reference proposed by the present invention needs
Movable machine people is wanted to be equipped with RFID card reader and camera simultaneously, RFID card reader is deposited for reading RFID card in terrestrial reference
The landmark locations information of storage, while camera shoots asymmetric mark image, then passes through the asymmetric mark image of shooting
It is identified, therefrom interception mark origin and coordinate directional information, robot passes through the mark origin and coordinate direction on image
The opposite current exact position for judging robot of information and be accurately directed to, the above-mentioned image to the asymmetric mark taken into
Row knows the information of the asymmetric mark image in reference axis that the image taken can be used in method for distinguishing and system prestores
Operation identification is compared to realize；And camera shooting can be triggered by the reading of radio-frequency card or is triggered to camera
The current frame image taken is identified；Nfc card when with substitution RFID card uses in terrestrial reference of the invention its using characteristic with
RFID card difference is little, it can be understood as acts as RFID card using nfc card.It is preset on the another side of the RFID card of the card
Adhesive layer.The laying of terrestrial reference of the invention for convenience can preset adhesive layer in the one side of RFID card and is fixed on by gluing
Ground.The non-centrosymmetry figure is made using reflectorized material.In order to preferably increase identification, the non-centrosymmetry figure
Shape, which can be used reflecting coating printing reflectorized material also can be used, is cut into figure by inlaying or method of attaching and RFID card
Terrestrial reference of the invention is formed, the method for above-mentioned printing figures includes highlighting printing.
The non-centrosymmetry pattern identification is printed on RFID card.Graphic printing (or is named on RFID card face upward
Front), be conducive to implement to be laid with.
A kind of robot of terrestrial reference positioning, including robot body, RFID card reader and camera with locomotive function
Mould group, the RFID card reader antenna are set to robot bottom, and the robot bottom is equipped with shooting window, the camera mould
It is mounted in robot body and camera is shot into window towards robot bottom.The RFID card reading of the robot bottom
Device can read the RFID card in terrestrial reference, and the graph image that camera module can be put on shooting, robot can be from terrestrial reference
RFID card in read the location coordinate information of the terrestrial reference, the graph image that the ground of camera module shooting is put on can help machine
Device people further positions coordinate central point and reference axis；It is that RFID card and the terrestrial reference of non-centrosymmetry pattern identification combination is cooperated to make
With the RFID card reader of robot is used to read the landmark locations information that RFID card stores in terrestrial reference, while camera is shot
Then the pattern identification image of terrestrial reference is identified that therefrom interception identifies origin and seat by the asymmetric mark image shot
Mark directional information, robot by mark origin on image and coordinate directional information it is opposite judge robot it is current accurately
It position and is accurately directed to, the above-mentioned image to the asymmetric mark taken, which carries out knowing method for distinguishing, can be used the figure taken
It is realized as comparing operation identification with the information of the asymmetric mark image in reference axis that system prestores；The machine
The artificial mobile robot of device, generally in-wheel driving robot, robot body include shell, driving wheel, driving wheel motor,
Transmission device, power supply mould group, governor circuit mould group and external communication module group composition, external communication module group generally refer to robot and
Communication between upper host usually selects WiFi communication mould group to realize).
The camera module takes camera by the reading triggering camera shooting or triggering of RFID card current
Frame image is identified.Continuous shooting and identification not only increase computing load, less can guarantee that every frame image is all shot just
Position it is corresponding, triggering shutter when reading terrestrial reference using RFID card reader again is highly efficient accurately way, certainly may be used
To allow camera continuous work, high quality graphic is obtained by triggering high brightness flash lamp, can more be read for triggering RFID
Current frame image when card device reads information carries out identification operation.
The RFID card reader antenna is annular, shooting window of the antenna loop around the robot bottom of camera direction.For
Increase the precision of coordinate setting, so no matter the pattern identification pattern of terrestrial reference may be printed on RFID card, form overlapping,
Robot passes through above terrestrial reference from any angle, the camera shooting of robot when the card reader of robot bottom reads RFID card
Head mould group is just directed toward the pattern identification of terrestrial reference, is conducive to shooting and preferably positioning.
The robot body includes shell, driving wheel, driving wheel motor, transmission device, power supply mould group, governor circuit mould
Group and external communication module group composition.Above-mentioned external communication module group generally refers to the communication between robot and upper host, usually
WiFi communication mould group is selected to realize.
A kind of robot system of terrestrial reference positioning, including several above-mentioned terrestrial references and at least one above-mentioned robot and upper
Machine composition, the host computer include wireless communication module, and the robot also includes wireless communication module.A set of landmark system one
As be that terrestrial reference can be arranged in the potential inflection point of travelling route in all robots in the venue first, then robot need wherein
Starting is put on one ground, it is this under the premise of ground marker navigation robot system could be under the commander of host computer, all robots are all
It is moved according between instruction in the venue each landmark point.
The robot system of the terrestrial reference positioning is a kind of VGA robot system.AGV is (Automated Guided
Vehicle abbreviation) implies that " automated guided vehicle ", refers to and magnetically or optically waits homing guidances device equipped with electricity, it can
It is travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions, AGV belongs to wheeled mobile robot
The robot of the scope of people (WMR-- Wheeled Mobile Robot), the terrestrial reference positioning in the present invention can be a kind of
Using RFID card and pattern identification as terrestrial reference, is realized by with the reading RFID card and identification pattern identification put on and to be guided automatically
Transport vehicle, the terrestrial reference of aforementioned present invention and the automated guided vehicle robot for meeting roboting features of the present invention constitute one kind
VGA robot system.
Steps are as follows for the localization method of terrestrial reference positioning robot's system:
The first step, robot read the RFID card information of the first coordinate points above a certain landmark point, which has recorded this
The coordinate position of landmark point, robot obtain co-ordinate position information；
Second, robot has taken the identification pattern image of a certain terrestrial reference, and robot identifies the image application pre-set image
Information judges the coordinate orientation angle that origin and identification pattern are identified in the image；Robot according to mark origin in the picture
The anti-central point and landmark image for pushing away robot body in position on origin positional relationship, judge current accurate of robot
Position；Robot judges current machine according to the relative angle that the coordinate of pattern on the pixel vertical coordinate and image of image is directed toward
Relationship between the direction of device people and the coordinate direction of terrestrial reference mark.
The premise of this method is that robot interior is stored with the coordinate recognizer that pattern is put on about ground, the base of algorithm
Plinth is to define proposition according to the coordinate and origin of this predetermined pattern, and the process of robot localization can be understood as on the image
The process for finding predetermined pattern, correctly identifies that predetermined pattern namely has identified the terrestrial reference mark figure on the image of shooting
Case position on the image and angle.
Steps are as follows for the robot navigation method of terrestrial reference positioning robot's system:
The first step, robot judged by above-mentioned position judging method, the exact position of current robot and direction；
Second, according to reception of wireless signals to target location coordinate or routing information calculate with needing the destination that passes through
Mark；
Third portion, robot alignment are directed toward next destination and advance until RFID card reader recognizes way point information；
4th, judge whether new way point information is the next destination for sailing destination planning path last time；If it is the is repeated
Three steps are repeated if not second step is then returned；
5th step, RFID card reader complete navigation after recognizing target way point information.
The information of all landmark locations can be stored in advance in robot in map and map in above-mentioned navigation procedure,
Robot can be issued into target position and path map by host computer by wireless signal, but if in this way when robot is inclined
Path and to acquisite approachs map just are calculated again through host computer when driving to destination outside path from course line, this process can be with
Inertial navigation is added to navigate to driving status of the robot between two destinations.
Its core point of terrestrial reference positioning robot system proposed by the present invention is through setting RFID card and can indicate coordinate
The terrestrial reference of direction and the combination of patterns of origin arranges place, and robot reads RFID card using RFID card reader to obtain present bit
The coordinate information set judges it currently relative to the coordinate by the pattern identification put on shooting and identify come auxiliary robot
The position deviation of origin and towards deviation, such robot can be by shooting image in conjunction with RFID card reading and camera come comprehensive
Conjunction judges its current absolute position and absolute orientation information, the strong environmental adaptability of this system, accurate positioning.
Detailed description of the invention
A kind of robot localization terrestrial reference schematic diagram 1 of Fig. 1 embodiment 1.
A kind of robot localization terrestrial reference schematic diagram 2 of Fig. 2 embodiment 1.
A kind of robot schematic diagram 1 of terrestrial reference positioning of Fig. 3 embodiment 1.
A kind of robot schematic diagram 2 of terrestrial reference positioning of Fig. 4 embodiment 1.
Mark meaning is as follows in figure: 1, RFID card；2, non-centrosymmetry pattern identification；3, RFID card reader；4, camera
Mould group；5, shoot window.
Specific embodiment
Example is proposed to specific embodiment with reference to the accompanying drawing.
As shown in Fig. 1 ~ 4, a kind of robot localization terrestrial reference, including RFID card and a non-centrosymmetry pattern identification,
Middle RFID card selection work frequency: 13.56MHz, communications protocol: ISO14443, shell are sealed using plastics 100mm*100mm*1mm
Dress, and it is printed on non-centrosymmetry pattern identification as shown in the figure on package casing front, it is preset at the package casing back side double
Face glue.A kind of robot of terrestrial reference positioning, it is characterized in that: include the robot body with locomotive function, RFID card reader and
Camera module, the RFID card reader antenna are set to robot bottom, working frequency: 13.56MHz, communications protocol:
ISO14443, the robot bottom are equipped with the shooting window of 160mm*160mm, and the camera module selects 8,000,000 pixels
Camera is set in robot body and camera is shot window towards robot bottom, and robot body includes casting aluminium
The shell on the chassis of alloy and ABS upper cover composition, two driving wheels, driving wheel motor select 1kW servo motor, transmission device choosing
With planetary reducer, power supply mould group selects 18650 lithium battery groups of electrification power management circuits, governor circuit using ARM as core mould
Group and external communication module group select WiFi communication mould group to realize the communication between robot and upper host.It is preparatory when paving system
By cartographic information (including all landmark informations on map) and the identification pattern recognition methods put on be stored in robot, terrestrial reference
Steps are as follows for the localization method of positioning robot's system: the first step, and robot reads the first coordinate above a certain landmark point
The RFID card information of point, the information have recorded the coordinate position of the landmark point, and robot obtains co-ordinate position information；Second,
Robot has taken the identification pattern image of a certain terrestrial reference, which is judged this by robot
The coordinate orientation angle of origin and identification pattern is identified in image；Robot pushes away machine according to the position of mark origin in the picture is counter
The positional relationship of origin on the central point and landmark image of device human body, judges the current exact position of robot；Robot
The direction of current robot is judged according to the relative angle that the coordinate of pattern on the pixel vertical coordinate of image and image is directed toward
Relationship between the coordinate direction of terrestrial reference mark.The process of robot localization can be understood as finding predetermined pattern on the image
Process, correctly identify that predetermined pattern namely has identified terrestrial reference identification pattern on the image of shooting on the image
Position and angle.When needing robot to be moved to some target position from a position, first target position terrestrial reference coordinate is sent out
Robot is given, then robot is judged by above-mentioned position judging method, the exact position of current robot and direction；Root
According to reception of wireless signals to target location coordinate or routing information calculate and need the destination terrestrial reference that passes through；Robot alignment refers to
It advances to next destination until RFID card reader recognizes way point information；Rerun above-mentioned steps, until robot passes through
After all terminal destinations, RFID card reader completes navigation after recognizing target way point information.
Claims (10)
1. a kind of robot localization terrestrial reference, it is characterized in that: including RFID card and a non-centrosymmetry pattern identification.
2. a kind of robot localization terrestrial reference according to claim 1, it is characterized in that: the non-centrosymmetry pattern identification prints
In on RFID card.
3. a kind of robot of terrestrial reference positioning, it is characterized in that: include the robot body with locomotive function, RFID card reader and
Camera module, the RFID card reader antenna are set to robot bottom, and the robot bottom is equipped with shooting window, described to take the photograph
It is mounted in robot body as head mould and camera is shot into window towards robot bottom.
4. a kind of terrestrial reference positioning robot according to claim 3, it is characterized in that: the camera module passes through RFID card
Reading triggering camera shooting or triggering the current frame image that camera takes is identified.
5. a kind of terrestrial reference positioning robot according to claim 3, it is characterized in that: the RFID card reader antenna is ring
Shape, shooting window of the antenna loop around the robot bottom of camera direction.
6. a kind of terrestrial reference positioning robot according to claim 3, it is characterized in that: the robot body include shell,
Driving wheel, driving wheel motor, transmission device, power supply mould group, governor circuit mould group and external communication module group composition.
7. a kind of robot localization terrestrial reference according to claim 1 and a kind of terrestrial reference as claimed in claim 3 position machine
A kind of robot system of terrestrial reference positioning of people, including several above-mentioned terrestrial references and at least one above-mentioned robot and upper unit
At the host computer includes wireless communication module, and the robot also includes wireless communication module.
8. a kind of terrestrial reference positioning robot system according to claim 7, it is characterized in that: the robot of terrestrial reference positioning
System is a kind of VGA robot system.
9. a kind of terrestrial reference positioning robot system according to claim 7, terrestrial reference positioning robot's system are determined
Position method and step is as follows:
The first step, robot read the RFID card information of the first coordinate points above a certain landmark point, which has recorded this
The coordinate position of landmark point, robot obtain co-ordinate position information；
Second, robot has taken the identification pattern image of a certain terrestrial reference, and robot identifies the image application pre-set image
Information judges the coordinate orientation angle that origin and identification pattern are identified in the image；Robot according to mark origin in the picture
The anti-central point and landmark image for pushing away robot body in position on origin positional relationship, judge current accurate of robot
Position；Robot judges current machine according to the relative angle that the coordinate of pattern on the pixel vertical coordinate and image of image is directed toward
Relationship between the direction of device people and the coordinate direction of terrestrial reference mark.
10. a kind of terrestrial reference positioning robot system according to claim 7, the machine of terrestrial reference positioning robot's system
Steps are as follows for device people air navigation aid:
The first step, robot judged by above-mentioned position judging method, the exact position of current robot and direction；
Second, according to reception of wireless signals to target location coordinate or routing information calculate with needing the destination that passes through
Mark；
Third portion, robot alignment are directed toward next destination and advance until RFID card reader recognizes way point information；
4th, judge whether new way point information is the next destination for sailing destination planning path last time；If it is the is repeated
Three steps are repeated if not second step is then returned；
5th step, RFID card reader complete navigation after recognizing target way point information.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710911417.7A CN109582011A (en) | 2017-09-29 | 2017-09-29 | A kind of terrestrial reference robot system positioned and its terrestrial reference and robot and robot terrestrial reference localization method that use |
| PCT/CN2018/107964 WO2019062814A1 (en) | 2017-09-29 | 2018-09-27 | Landmark-based positioning robot system, landmark and robot used thereby, and robot landmark-based positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710911417.7A CN109582011A (en) | 2017-09-29 | 2017-09-29 | A kind of terrestrial reference robot system positioned and its terrestrial reference and robot and robot terrestrial reference localization method that use |
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| CN109582011A true CN109582011A (en) | 2019-04-05 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110421597A (en) * | 2019-09-02 | 2019-11-08 | 西安安森智能机器人有限公司 | A kind of the automatic switch door system and its control method of robot control |
| CN111413989A (en) * | 2020-04-13 | 2020-07-14 | 苏州华兴源创科技股份有限公司 | AGV-based laser positioning system and method |
| CN114459483A (en) * | 2021-12-30 | 2022-05-10 | 上海交通大学 | Landmark navigation map construction and application method and system based on robot navigation |
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| JP4369439B2 (en) * | 2006-03-17 | 2009-11-18 | 富士通株式会社 | Robot position control device and robot self-position recovery method |
| CN103123682B (en) * | 2013-01-17 | 2015-09-16 | 无锡普智联科高新技术有限公司 | The mobile robot positioning system of rule-based graphic code composite label and method |
| CN104407615B (en) * | 2014-11-03 | 2017-01-25 | 上海电器科学研究所（集团）有限公司 | AGV robot guide deviation correction method |
| US9588519B2 (en) * | 2015-03-17 | 2017-03-07 | Amazon Technologies, Inc. | Systems and methods to facilitate human/robot interaction |
| CN106774335B (en) * | 2017-01-03 | 2020-01-21 | 南京航空航天大学 | Multi-view vision and inertial navigation based guiding device, landmark layout and guiding method |
| CN207380552U (en) * | 2017-09-29 | 2018-05-18 | 凌子龙 | A kind of robot of terrestrial reference positioning |
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2018
- 2018-09-27 WO PCT/CN2018/107964 patent/WO2019062814A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110421597A (en) * | 2019-09-02 | 2019-11-08 | 西安安森智能机器人有限公司 | A kind of the automatic switch door system and its control method of robot control |
| CN111413989A (en) * | 2020-04-13 | 2020-07-14 | 苏州华兴源创科技股份有限公司 | AGV-based laser positioning system and method |
| CN114459483A (en) * | 2021-12-30 | 2022-05-10 | 上海交通大学 | Landmark navigation map construction and application method and system based on robot navigation |
| CN114459483B (en) * | 2021-12-30 | 2023-11-07 | 上海交通大学 | Landmark navigation map construction and application method and system based on robot navigation |
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| WO2019062814A1 (en) | 2019-04-04 |
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