CN110857858A - A road sign for robot two-dimensional code navigation - Google Patents
A road sign for robot two-dimensional code navigation Download PDFInfo
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- CN110857858A CN110857858A CN201810964642.1A CN201810964642A CN110857858A CN 110857858 A CN110857858 A CN 110857858A CN 201810964642 A CN201810964642 A CN 201810964642A CN 110857858 A CN110857858 A CN 110857858A
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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
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a road sign for robot two-dimensional code navigation, and belongs to the technical field of robot navigation road signs. The road sign comprises a circular road sign, wherein a square frame is inscribed in the circular road sign, and a two-dimensional code containing position information of a road sign relative to a world coordinate system is arranged in the square frame. The method comprises the steps that a circular road sign board containing a square frame and two-dimensional code information is adopted, the two-dimensional code information is read through intelligent camera equipment, and position information of the circular road sign board relative to a world coordinate system is obtained; then, the circular road sign is used for realizing centering and orientation, and the position information of the robot relative to the circular road sign is calculated, so that the position information of the robot relative to a world coordinate system is obtained; the rotation information of the road sign relative to the robot is calculated by using the square frame, and finally the position and posture information of the robot relative to the world coordinate system can be accurately obtained.
Description
Technical Field
The invention relates to a road sign for robot two-dimensional code navigation, and belongs to the technical field of robot navigation road signs.
Background
A signpost is a type of signpost that contains information about the way. People can go to the desired place according to the position indication on the road sign. With the development of science and technology, robots capable of moving autonomously are increasingly moved into the lives of the public. In the current robot navigation, under the outdoor sunny weather condition, the positioning navigation can be carried out through a GPS. However, for indoor robot navigation, a plurality of modes are adopted at present, and according to different application scenes, the technology for realizing positioning mainly comprises the following steps: laser, infrared, ultrasonic, vision, etc. However, these navigation techniques are relatively high in cost, or the hardware cost is high, such as laser, infrared and ultrasonic navigation, and a precise sensor is required; or the software algorithm is difficult to realize, and navigation cannot be realized completely depending on image recognition at present like a visual navigation mode. Therefore, a scheme of the two-dimensional code navigation road sign with mature software algorithm, low price and accuracy is designed. The two-dimensional Code is a special black-and-white pattern distributed in a certain regular direction by using a specific geometric pattern, specific Data information is recorded on the pattern, and popular two-dimensional codes comprise Data Matrix, PDF417, QR Code and the like. The positioning and navigation scheme based on the vision and two-dimensional code road sign has the advantages of low price and high efficiency.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the road sign for robot two-dimensional code navigation is provided, and the problem that software and hardware costs are high in the existing robot navigation technology is solved.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a road sign for robot two-dimensional code navigation comprises a circular road sign board, a square frame is inscribed in the circular road sign board, and a two-dimensional code containing position information of the road sign relative to a world coordinate system is arranged in the square frame.
As a preferred example, the information included in the two-dimensional code is ID numbers of landmarks, and each landmark in the world coordinate system is marked in a one-to-one correspondence manner according to the ID number and the position information.
The invention has the beneficial effects that: the method comprises the steps that a circular road sign board containing a square frame and two-dimensional code information is adopted, the two-dimensional code information is read through intelligent camera equipment, and position information of the circular road sign board relative to a world coordinate system is obtained; then, the circular road sign is used for realizing centering and orientation, and the position information of the robot relative to the circular road sign is calculated, so that the position information of the robot relative to a world coordinate system is obtained; the rotation information of the road sign relative to the robot is calculated by using the square frame, and finally the position and posture information of the robot relative to the world coordinate system can be accurately obtained.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a flowchart of the steps of calculating the position and posture information of the robot relative to the circular road sign.
In the figure: the road sign board comprises a circular road sign board 1, a square frame 2 and a two-dimensional code 3.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purpose and the efficacy of the invention easy to understand, the invention is further described with reference to the specific drawings.
As shown in fig. 1, the road sign for robot two-dimensional code navigation comprises a circular road sign 1, a square frame 2 is inscribed in the circular road sign 1, and a two-dimensional code 3 containing position information of the road sign relative to a world coordinate system is arranged in the square frame 2.
The information contained in the two-dimensional code 3 is the ID serial number of the landmark, and all landmarks in the world coordinate system are marked in a one-to-one correspondence mode according to the ID serial number and the position information. For example, signpost No. 1 (longitude of signpost No. 1, latitude of signpost No. 1).
The method comprises the steps that a circular road sign 1 containing square frames 2 and two-dimensional codes 3 is adopted, the two-dimensional codes 3 are read through intelligent camera equipment, and position information of the circular road sign 1 relative to a world coordinate system is obtained; then, the circular shape of the circular road sign 1 is used for realizing centering and orientation, and the position information of the robot relative to the circular road sign 1 is calculated, so that the position information of the robot relative to a world coordinate system is obtained; the rotation information of the landmark relative to the robot is calculated by using the square frame 2, and finally the position and posture information of the robot relative to the world coordinate system can be accurately obtained.
As shown in fig. 2, the calculation steps of the position and posture of the robot relative to the circular road sign 1 are further described as follows:
(1) collecting an image: shooting the road sign through the existing intelligent camera equipment to obtain an image;
(2) image processing: respectively finishing the calculation of centering and orientation information and the calculation of rotation information by using a known fitting technology according to a circle and a square in an image through the conventional image algorithm;
(3) as a result: and obtaining the position and posture information (pose information for short) of the robot relative to the circular road sign 1.
The position and posture information of the robot relative to the world coordinate system can be determined by combining the position information of the circular road sign 1 relative to the world coordinate system included in the obtained two-dimensional code 3.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides a road sign for robot two-dimensional code navigation which characterized in that: the road sign comprises a circular road sign, wherein a square frame is inscribed in the circular road sign, and a two-dimensional code containing position information of a road sign relative to a world coordinate system is arranged in the square frame.
2. A landmark for robotic two-dimensional code navigation according to claim 1, wherein: and the information contained in the two-dimensional code is the ID serial number of the signpost.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810964642.1A CN110857858A (en) | 2018-08-23 | 2018-08-23 | A road sign for robot two-dimensional code navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810964642.1A CN110857858A (en) | 2018-08-23 | 2018-08-23 | A road sign for robot two-dimensional code navigation |
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| CN110857858A true CN110857858A (en) | 2020-03-03 |
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| CN201810964642.1A Pending CN110857858A (en) | 2018-08-23 | 2018-08-23 | A road sign for robot two-dimensional code navigation |
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| CN102735217A (en) * | 2012-06-14 | 2012-10-17 | 燕山大学 | Indoor robot vision autonomous positioning method |
| CN103123682A (en) * | 2013-01-17 | 2013-05-29 | 无锡普智联科高新技术有限公司 | System and method for positioning mobile robot based on regular graphic code composite tags |
| CN106248074A (en) * | 2016-09-14 | 2016-12-21 | 哈工大机器人集团上海有限公司 | A kind of for determining the road sign of robot location, equipment and the method distinguishing label |
| CN106323294A (en) * | 2016-11-04 | 2017-01-11 | 新疆大学 | Positioning method and device for patrol robot of transformer substation |
| CN106969766A (en) * | 2017-03-21 | 2017-07-21 | 北京品创智能科技有限公司 | A kind of indoor autonomous navigation method based on monocular vision and Quick Response Code road sign |
| CN106991909A (en) * | 2017-05-25 | 2017-07-28 | 锥能机器人（上海）有限公司 | One kind is used for sterically defined land marking |
| KR20180076815A (en) * | 2016-12-28 | 2018-07-06 | 한국과학기술원 | Method and apparatus for estimating localization of robot in wide range of indoor space using qr marker and laser scanner |
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2018
- 2018-08-23 CN CN201810964642.1A patent/CN110857858A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102735235A (en) * | 2012-06-07 | 2012-10-17 | 无锡普智联科高新技术有限公司 | Indoor mobile robot positioning system and method based on two-dimensional code |
| CN102735217A (en) * | 2012-06-14 | 2012-10-17 | 燕山大学 | Indoor robot vision autonomous positioning method |
| CN103123682A (en) * | 2013-01-17 | 2013-05-29 | 无锡普智联科高新技术有限公司 | System and method for positioning mobile robot based on regular graphic code composite tags |
| CN106248074A (en) * | 2016-09-14 | 2016-12-21 | 哈工大机器人集团上海有限公司 | A kind of for determining the road sign of robot location, equipment and the method distinguishing label |
| CN106323294A (en) * | 2016-11-04 | 2017-01-11 | 新疆大学 | Positioning method and device for patrol robot of transformer substation |
| KR20180076815A (en) * | 2016-12-28 | 2018-07-06 | 한국과학기술원 | Method and apparatus for estimating localization of robot in wide range of indoor space using qr marker and laser scanner |
| CN106969766A (en) * | 2017-03-21 | 2017-07-21 | 北京品创智能科技有限公司 | A kind of indoor autonomous navigation method based on monocular vision and Quick Response Code road sign |
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Effective date of registration: 20200708 Address after: 200000 C building, No. two, 888 West Road, Nanhui new town, Pudong New Area, Shanghai, China Applicant after: Shanghai Zhiyuan Hongye Intelligent Technology Co., Ltd Address before: Room 1202 and 1203, 77 Zhenggao Road, Yangpu District, Shanghai Applicant before: SHANGHAI AWINNER ROBOTICS Co.,Ltd. |
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Application publication date: 20200303 |
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