CN107053219B - A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
本发明公开了一种基于激光扫描仪与强反光标志的移动机器人定位方法,包括:构建由多线激光扫描仪与强反光标志组成的移动机器人环境监测系统,通过多线激光扫描仪获取的环境光强数据与距离数据实现对强反光标志的识别与相对定位。机器人初始位置未知时,计算反射标志两两连线的距离与斜率信息,进而通过数据匹配实现反射标志的全局定位,最后通过机器人与反射标志的相对位置关系实现全局环境下机器人的位置信息获取。本发明有益效果:避免了只采用距离或方向数据时感知信息过于简单,获取目标特征较少的缺点,提高了识别稳定性。
The invention discloses a mobile robot positioning method based on a laser scanner and a strong reflective mark, comprising: constructing a mobile robot environment monitoring system composed of a multi-line laser scanner and a strong reflective mark; The light intensity data and distance data realize the identification and relative positioning of strong reflective signs. When the initial position of the robot is unknown, the distance and slope information of the lines connecting the reflection marks are calculated, and then the global positioning of the reflection marks is realized through data matching. Finally, the position information of the robot in the global environment is obtained through the relative position relationship between the robot and the reflection marks. The present invention has the beneficial effects that the shortcoming of too simple sensing information and less acquisition of target features when only the distance or direction data is used is avoided, and the recognition stability is improved.
Description
技术领域technical field
本发明涉及移动机器人定位技术领域,特别涉及一种基于激光扫描仪的移动机器人定位方法。The invention relates to the technical field of mobile robot positioning, in particular to a mobile robot positioning method based on a laser scanner.
背景技术Background technique
随着机器人技术的快速发展,移动机器人在仓储物流、智能巡检、移动操作等领域有着广泛的应用需求。在机器人自主执行任务时,其在环境中所处的位置信息是运动规划的关键。以变电站智能巡检机器人为例,其常采用路面嵌入有磁物质或粘贴RFID标签等方式实现机器人的定位与导航。该类方法能够满足机器人自主运行要求,但需要对现场环境做较大改动,同时出现问题时的维修工作也非常繁琐。因而随着机器人技术及智能传感器的发展,如何采用更为高效的方法实现移动机器人定位成为了迫切需要解决的问题。With the rapid development of robotics technology, mobile robots have a wide range of application requirements in the fields of warehousing and logistics, intelligent inspection, and mobile operations. When a robot performs tasks autonomously, its location information in the environment is the key to motion planning. Taking the intelligent inspection robot of the substation as an example, it often adopts the method of embedding magnetic substances on the road or pasting RFID tags to realize the positioning and navigation of the robot. This kind of method can meet the requirements of autonomous operation of the robot, but it needs to make major changes to the on-site environment, and the maintenance work when problems occur is also very cumbersome. Therefore, with the development of robotics and intelligent sensors, how to use a more efficient method to realize the positioning of mobile robots has become an urgent problem to be solved.
目前,按照采用传感器的不同,机器人定位技术主要有两种方法:一种是采用激光传感器实现机器人的定位与导航,如中国专利文献CN202166895U公开了一种变电站智能巡检机器人的激光导航系统。该方法要求反光标志为平面形或圆柱形,固定安装于导航路径周围,并且需保证同一时刻机器人至少能检测到3个反光标志。该方法本质属于引导式导航,机器人简单的按照道路两旁反射标志的约束行走,这要求反射标志必须按规则密集安装,其实现方法较复杂,且同时检测到3个反光标志的约束条件也限制了该方法在复杂环境下的可行性。At present, according to the difference of sensors, there are two main methods of robot positioning technology: one is to use laser sensors to realize the positioning and navigation of robots. For example, Chinese patent document CN202166895U discloses a laser navigation system for intelligent inspection robots in substations. This method requires the reflective signs to be flat or cylindrical, fixedly installed around the navigation path, and to ensure that the robot can detect at least three reflective signs at the same time. This method is essentially guided navigation. The robot simply walks according to the constraints of the reflective signs on both sides of the road. This requires that the reflective signs must be densely installed according to the rules. The implementation method is complicated, and the constraints of detecting three reflective signs at the same time also limit The feasibility of this method in complex environments.
另一种是采用机器视觉的定位方法,如中国专利文献CN105700532A公开了一种基于视觉的变电站巡检机器人导航定位控制方法。该方法需预置导航路径和停靠位置标志,然后机器人通过视觉相机识别标志线上不同形状的标志,进而实现机器人的定位。该种方式的不足之处是需提前绘出机器人的路径及标志点,且在雨雪或光照变化剧烈时,感知相机的性能会受到一定的影响。The other is a positioning method using machine vision. For example, Chinese patent document CN105700532A discloses a vision-based navigation and positioning control method for a substation inspection robot. This method needs to preset the navigation path and the parking position mark, and then the robot recognizes the marks of different shapes on the mark line through the visual camera, and then realizes the positioning of the robot. The disadvantage of this method is that the robot's path and marker points need to be drawn in advance, and the performance of the perception camera will be affected to a certain extent when the rain, snow or light changes drastically.
由于移动机器人往往工作在室外环境,因而需要适应特殊的环境条件和多种工作模式,同时,不同的用户由于已经提前构建了生产现场,这要求机器人必须在尽量少的改变现场环境的条件下,实现准确、稳定的定位与导航。Because mobile robots often work in outdoor environments, they need to adapt to special environmental conditions and multiple working modes. At the same time, different users have built production sites in advance, which requires robots to change the site environment as little as possible. Achieve accurate and stable positioning and navigation.
发明内容SUMMARY OF THE INVENTION
本发明的目的就是为了解决上述难题,提供了一种基于激光扫描仪与强反光标志的移动机器人定位方法,能够实现复杂环境下的高可靠性,高精度运行,运行方式灵活,抗干扰能力强,适用于强磁、强辐射等特殊环境。The purpose of the present invention is to solve the above problems, and to provide a mobile robot positioning method based on a laser scanner and strong reflective signs, which can realize high reliability, high precision operation, flexible operation mode and strong anti-interference ability under complex environment. , suitable for special environments such as strong magnetism and strong radiation.
为实现上述目的,本发明的具体方案如下:For achieving the above object, the concrete scheme of the present invention is as follows:
一种基于激光扫描仪与强反光标志的移动机器人定位方法,包括:A mobile robot positioning method based on laser scanners and strong reflective signs, comprising:
(1)构建生产现场的坐标关系{Ow},选取特定位置作为坐标系原点,并沿东北天方向构建XYZ坐标轴;(1) Construct the coordinate relationship {O w } of the production site, select a specific position as the origin of the coordinate system, and construct the XYZ coordinate axis along the northeast sky direction;
(2)构建由多线激光扫描仪与强反光标志组成的移动机器人环境监测系统,记录每个强反光标志在生产现场的位置坐标{xfi,yfi,zfl};并计算相邻两个强反光标志位置坐标之间的距离与相邻两个强反光标志连线的斜率{L,K};(2) Build a mobile robot environment monitoring system composed of multi-line laser scanners and strong reflective signs, record the position coordinates {x fi , y fi , z fl } of each strong reflective sign on the production site; and calculate the adjacent two The distance between the position coordinates of a strong reflective mark and the slope of the line connecting two adjacent strong reflective marks {L, K};
(3)读取激光扫描仪每帧数据P={D,Δ,S},其中D为距离数据,Δ为角度数据,S为反射光强度数据,根据数据P确定作为强反光标志的点;(3) Read the data P={D,Δ,S} of each frame of the laser scanner, where D is the distance data, Δ is the angle data, and S is the reflected light intensity data, and the point as the strong reflection mark is determined according to the data P;
(4)计算强反光标志在激光扫描仪探测视场下的坐标pv;(4) Calculate the coordinate p v of the strong reflective mark under the detection field of view of the laser scanner;
(5)如果机器人在生产现场的初始位置已知,进入步骤(6);否则,转入步骤(7);(5) If the initial position of the robot at the production site is known, go to step (6); otherwise, go to step (7);
(6)根据激光扫描仪探测视场下作为强反光标志的点pv,确定强反光标志在生产现场的真实坐标Ptv;根据坐标Ptv,确定当前机器人在现场基坐标系{Ow}下的坐标;(6) According to the point p v of the strong reflective mark in the detection field of view of the laser scanner, determine the real coordinates P tv of the strong reflective mark on the production site; according to the coordinates P tv , determine the current robot in the field base coordinate system {O w } the coordinates below;
(7)确定激光扫描仪探测视场下相邻反射标志的距离与斜率信息,然后与已知的相邻反射标志在生产现场构成的线段信息相匹配,通过线段特征识别出构成线段的两个反射标志的位置坐标,得出pv点在生产现场坐标关系{Ow}下的坐标Ptv;根据坐标Ptv及pv,得出机器人在现场基坐标系{Ow}下的坐标。(7) Determine the distance and slope information of the adjacent reflection marks in the detection field of view of the laser scanner, and then match with the line segment information formed by the known adjacent reflection marks at the production site, and identify the two lines that constitute the line segment through the line segment features. The position coordinates of the reflection marks are used to obtain the coordinates P tv of the p v point in the production site coordinate relationship {O w }; according to the coordinates P tv and p v , the coordinates of the robot under the site base coordinate system {O w } are obtained.
进一步地,所述步骤(7)中,将得出的机器人在现场基坐标系{Ow}下的坐标作为初始坐标,按照步骤(6)的方法确定机器人在现场基坐标系{Ow}下的当前坐标。Further, in the step (7), the obtained coordinates of the robot in the on-site base coordinate system {O w } are taken as the initial coordinates, and the robot is determined in the on-site base coordinate system {O w } according to the method in step (6). the current coordinates under.
进一步地,所述步骤(2)中,移动机器人环境监测系统具体包括:Further, in the step (2), the mobile robot environment monitoring system specifically includes:
在移动机器人上安装激光扫描仪,将强反光标志沿着激光扫描仪的视场方向布置,粘贴在地面或建筑物上。Install a laser scanner on the mobile robot, arrange the strong reflective signs along the field of view of the laser scanner, and paste them on the ground or buildings.
进一步地,所述步骤(3)中,作为强反光标志的点满足:Further, in the described step (3), the point as the strong reflective sign satisfies:
其中,t1,t2,t3....为不同距离下的反射光强阈值;di为距离数据,si为反射光强度数据,i=0,1,2,...540。Among them, t 1 , t 2 , t 3 .... are the reflected light intensity thresholds at different distances; d i is the distance data, s i is the reflected light intensity data, i=0,1,2,...540 .
进一步地,所述步骤(4)中,强反光标志在激光坐标系下的坐标pv为:Further, in the step (4), the coordinate p v of the strong reflective mark in the laser coordinate system is:
其中,dv为激光扫描仪测得的距离值,δvy为该距离值与水平方向的夹角,δvz为该距离值与垂直方向的夹角。Among them, d v is the distance value measured by the laser scanner, δ vy is the angle between the distance value and the horizontal direction, and δ vz is the angle between the distance value and the vertical direction.
进一步地,所述步骤(6)中,确定强反光标志在生产现场的真实坐标Ptv的方法具体为:Further, in the described step (6), the method for determining the real coordinates P tv of the strong reflective sign at the production site is specifically:
由机器人在生产现场的位置Or=(xr,yr,zr)与激光在机器人上的安装位置Pl=(xl,yl,zl),计算出激光坐标系下的pv点在生产现场坐标关系{Ow}下的坐标Pv=Or+Pl=(xr,yr,zr)+(xl,yl,zl);According to the position Or = (x r , y r , z r ) of the robot on the production site and the installation position of the laser on the robot P l = (x l , y l , z l ), calculate p in the laser coordinate system The coordinates of point v under the coordinate relationship {O w } of the production site P v =O r +P l =(x r ,y r ,z r )+(x l ,y l ,z l );
通过最小距离计算,寻找Pv点在反射标志数据库{xfi,yfi,zfl}中的距离最近点Ptv=(Pvx,Pvy,Pvx); Find the closest point P tv =(P vx , P vy , P vx ) in the reflection mark database {x fi , y fi , z fl } by the minimum distance calculation;
将Ptv点坐标作为Pv在生产现场的真实坐标。Take P tv point coordinates as the real coordinates of P v at the production site.
进一步地,所述步骤(6)中,当前机器人在现场基坐标系{Ow}下的坐标具体为:Further, in the step (6), the coordinates of the current robot under the on-site base coordinate system {O w } are specifically:
本发明的有益效果:Beneficial effects of the present invention:
与传统定位方法相比,本系统无需磁导航方式下复杂的地面处理工作,也不会有机器视觉方法对雨雪、光照等环境的敏感度,因而增加了系统的适用性。Compared with the traditional positioning method, the system does not need complex ground processing work under the magnetic navigation method, and does not have the sensitivity of the machine vision method to the environment such as rain, snow and light, thus increasing the applicability of the system.
同时,该系统与以往采用激光传感器进行机器人定位方法相比,其优点如下:At the same time, compared with the previous robot positioning method using laser sensors, the system has the following advantages:
一、提出采用激光扫描仪距离数据与反射光强度相结合的方法实现特定标志的识别,避免了只采用距离或方向数据时感知信息过于简单,获取目标特征较少的缺点,提高了识别稳定性;1. A method of combining the distance data of a laser scanner and the intensity of reflected light is proposed to realize the identification of specific signs, which avoids the shortcomings of too simple perception information and fewer target features when only using distance or direction data, and improves the recognition stability. ;
二、通过激光扫描仪测得的机器人与反射标志之间的距离与角度关系即可求得机器人在全局坐标系下的位置坐标,减小了算法复杂度,同时克服了传统激光SLAM定位方法下大量的数据处理过程,缩小了运算量,提高了算法的效率;2. The position coordinates of the robot in the global coordinate system can be obtained by the distance and angle relationship between the robot and the reflection mark measured by the laser scanner, which reduces the algorithm complexity and overcomes the traditional laser SLAM positioning method. A large number of data processing processes reduce the amount of calculation and improve the efficiency of the algorithm;
三、初始时刻确定了机器人在生产现场的坐标后,机器人感知范围内只需识别1个反射标志就可实现其在生产现场的实时坐标获取,避免了至少需要同时探测到3个反射标志的约束,因而不需要很高的标志设置密度,对生产现场的改动较少,减小了系统复杂性。3. After the coordinates of the robot at the production site are determined at the initial moment, the robot only needs to recognize one reflection mark within the perception range to realize its real-time coordinate acquisition at the production site, avoiding the constraint that at least three reflection marks need to be detected at the same time. , so it does not need a high density of sign setting, less changes are made to the production site, and the complexity of the system is reduced.
附图说明Description of drawings
图1是本发明的移动机器人反射标志识别及线段特征提取示意图;1 is a schematic diagram of mobile robot reflective mark identification and line segment feature extraction of the present invention;
图2为本发明提供的移动机器人自主运行时的定位示意图;Fig. 2 is the positioning schematic diagram of the mobile robot provided by the present invention during autonomous operation;
其中,1.机器人,2.激光扫描仪,3.强反光标志,4.行走路径。Among them, 1. Robot, 2. Laser scanner, 3. Strong reflective sign, 4. Walking path.
具体实施方式:Detailed ways:
下面结合附图对本发明进行详细说明:The present invention is described in detail below in conjunction with the accompanying drawings:
本发明公开了一种基于激光扫描仪2与强反光标志3的移动机器人1定位方法,该方法的基本原理为:构建由多线激光扫描仪2与强反光标志3组成的移动机器人1环境监测系统,通过多线激光扫描仪2获取的环境光强数据与距离数据实现对强反光标志3的识别与相对定位,然后计算反射标志两两连线的距离与斜率信息,进而通过数据匹配实现反射标志的全局定位,最后通过机器人1与反射标志的相对位置关系实现全局环境下机器人1的位置信息获取。The invention discloses a positioning method of a mobile robot 1 based on a laser scanner 2 and a strong reflective mark 3 . The basic principle of the method is: constructing a mobile robot 1 composed of a multi-line laser scanner 2 and a strong reflective mark 3 for environmental monitoring The system realizes the identification and relative positioning of the strong reflective marks 3 through the ambient light intensity data and distance data obtained by the multi-line laser scanner 2, and then calculates the distance and slope information of the two connecting lines of the reflective marks, and then realizes the reflection through data matching. The global positioning of the mark, and finally the acquisition of the position information of the robot 1 in the global environment is achieved through the relative positional relationship between the robot 1 and the reflection mark.
具体技术方案如下:The specific technical solutions are as follows:
(1)构建生产现场的坐标关系{Ow},选取特定位置作为坐标系原点,并沿东北天方向构建XYZ坐标轴;(1) Construct the coordinate relationship {O w } of the production site, select a specific position as the origin of the coordinate system, and construct the XYZ coordinate axis along the northeast sky direction;
(2)构建由多线激光扫描仪2与强反光标志3组成的移动机器人1环境监测系统;具体包括:在移动机器人1上安装多线激光扫描仪2,将强反光标志3沿着激光扫描仪2的视场方向布置,粘贴在地面或建筑物上。(2) Build an environment monitoring system for the mobile robot 1 composed of a multi-line laser scanner 2 and a strong reflective mark 3; specifically, it includes: installing a multi-line laser scanner 2 on the mobile robot 1, and scanning the strong reflective mark 3 along the laser The field of view direction of the instrument 2 is arranged, and it is pasted on the ground or building.
多线激光扫描仪2采用16线VLP16传感器。其探测距离为100米,在竖直方向可实现±15°范围扫描。The multi-line laser scanner 2 uses a 16-line VLP16 sensor. Its detection distance is 100 meters, and it can scan within a range of ±15° in the vertical direction.
强反光标志3为汽车级反射标贴。为实现与环境色彩的匹配,其上可依照环境颜色粘贴透光薄膜。强反光标志3粘贴在地面或建筑物均可,只需沿着激光扫描仪2的视场方向。Strong reflective sign 3 is an automotive grade reflective sticker. In order to match the color of the environment, a light-transmitting film can be pasted on it according to the color of the environment. The strong reflective sign 3 can be pasted on the ground or buildings, and only needs to be along the direction of the field of view of the laser scanner 2 .
图1为本发明的移动机器人1反射标志识别及线段特征提取示意图;1 is a schematic diagram of a mobile robot 1 for reflective mark identification and line segment feature extraction according to the present invention;
机器人1上安装有16线激光扫描仪2,该扫描仪可做垂直方向±15°水平方向360°扫描,其垂直扫描间隔为2°,水平扫描间隔位0.1°–0.4°,每个扫描点的有效距离为100米,图1中示意性的画出了5条扫描线。强反光标志3粘贴在环境中,其粘贴规则没有特殊要求,只需保证至少有一个强反光标志出现在在扫描仪视场内即可。A 16-line laser scanner 2 is installed on the robot 1. The scanner can scan 360° in the vertical direction ±15° in the horizontal direction. The vertical scanning interval is 2°, and the horizontal scanning interval is 0.1°–0.4°. Each scanning point The effective distance is 100 meters, and 5 scan lines are schematically drawn in Figure 1. The strong reflective mark 3 is pasted in the environment, and there are no special requirements for its pasting rules, it is only necessary to ensure that at least one strong reflective mark appears in the field of view of the scanner.
(3)记录每个强反光标志3在生产现场的位置坐标{xfi,yfi,zfi},存入强反光标志3数据库;并计算相邻两个强反光标志3位置坐标之间的距离与相邻两个强反光标志3连线的斜率{L,K};(3) Record the position coordinates {x fi , y fi , z fi } of each strong reflective mark 3 on the production site, and store it in the strong reflective mark 3 database; and calculate the difference between the position coordinates of two adjacent strong reflective marks 3 The slope {L,K} of the line connecting the distance and the adjacent two strong reflective signs 3;
(4)读取激光扫描仪2每帧数据P={D,Δ,S},其中D为距离数据,Δ为角度数据,S为反射光强度数据;D=(d1,d2,...,di),Δ=(δ1,δ2...δi),δi=(δix,δiz),S=(s1,s2...si),i=0,1,2,...540。(4) Read the data P={D,Δ,S} of each frame of the laser scanner 2, where D is the distance data, Δ is the angle data, and S is the reflected light intensity data; D=(d 1 ,d 2 ,. ..,d i ), Δ=(δ 1 ,δ 2 ... δ i ), δ i =(δ ix ,δ iz ), S=(s 1 ,s 2 ... s i ), i= 0,1,2,...540.
然后选取满足下式的点作为反射标志。Then select points satisfying the following formula as reflection marks.
t1,t2,t3....为不同距离下的反射光强阈值;di为距离数据,si为反射光强度数据,i=0,1,2,...540。t 1 , t 2 , t 3 .... are the reflected light intensity thresholds at different distances; d i is the distance data, s i is the reflected light intensity data, i=0, 1, 2,...540.
(5)确定强反光标志3在激光扫描仪2探测视场下的坐标pv;(5) determine the coordinate p v of the strong reflective mark 3 under the detection field of view of the laser scanner 2;
反射标志在激光坐标系下的坐标pv为The coordinate p v of the reflection mark in the laser coordinate system is
其中,dv为激光扫描仪测得的距离值,δvy为该距离值与水平方向的夹角,δvz为该距离值与垂直方向的夹角。Among them, d v is the distance value measured by the laser scanner, δ vy is the angle between the distance value and the horizontal direction, and δ vz is the angle between the distance value and the vertical direction.
(6)根据机器人1当前位置是否已知,进行如下操作:(6) According to whether the current position of robot 1 is known, perform the following operations:
1)若机器人1当前位置已知,则由机器人1在生产现场的位置Or=(xr,yr,zr)与激光在机器人1上的安装位置Pl=(xl,yl,zl),计算出激光坐标系下的pv点在生产现场坐标关系{Ow}下的坐标Pv=Or+Pl=(xr,yr,zr)+(xl,yl,zl)。1) If the current position of the robot 1 is known, the position Or = (x r , y r , z r ) of the robot 1 on the production site and the installation position of the laser on the robot 1 P l = (x l , y l , z l ), calculate the coordinates of the p v point in the laser coordinate system under the coordinate relationship {O w } of the production site P v =O r +P l =(x r ,y r ,z r )+(x l ,y l ,z l ).
然后通过最小距离计算,寻找Pv点在反射标志数据库{xfi,yfi,zfi}中的距离最近点Ptv=(Pvx,Pvy,Pvz),进而将此最近点作为Pv在生产现场的真实坐标,实现对反射标志的定位。Then, through the calculation of the minimum distance, find the closest point P tv =(P vx ,P vy ,P vz ) in the reflection mark database {x fi ,y fi ,z fi } of the point P v , and then use this closest point as P v The real coordinates of the production site to realize the positioning of the reflection marks.
接下来随着机器人1位置的移动,实时更新pv信息,然后借助Ptv,则可反推出机器人1在现场基坐标系{Ow}下的坐标 Next, with the movement of the robot 1, the p v information is updated in real time, and then with the help of P tv , the coordinates of the robot 1 in the field base coordinate system {O w } can be reversed.
2)若机器人1当前位置未知,则此时机器人1需首先借助探测到的相邻两个反射标志信息,确定激光扫描仪2探测视场下相邻反射标志的距离与斜率信息,然后与已知的相邻反射标志在生产现场构成的线段信息相匹配,通过线段特征识别出构成线段的两个反射标志的位置坐标,得出pv点在生产现场坐标关系{Ow}下的坐标Ptv;根据坐标Ptv及pv,及1)中公式得出机器人1在现场基坐标系{Ow}下的坐标OR。2) If the current position of the robot 1 is unknown, then the robot 1 needs to first determine the distance and slope information of the adjacent reflection marks under the detection field of view of the laser scanner 2 with the help of the detected information of two adjacent reflection marks, and then use the detected information of the adjacent reflection marks. The line segment information formed by the known adjacent reflection marks at the production site is matched, and the position coordinates of the two reflection marks constituting the line segment are identified by the line segment features, and the coordinate P of the point p v in the production site coordinate relationship {O w } is obtained. tv ; according to the coordinates P tv and p v , and the formula in 1), the coordinate OR of the robot 1 under the on-site base coordinate system {O w } is obtained.
将得出的机器人1在现场基坐标系{Ow}下的坐标作为初始坐标,然后按照步骤(6)的方法就可以直接确定机器人1在现场基坐标系{Ow}下的当前坐标。The obtained coordinates of the robot 1 in the site base coordinate system {O w } are used as the initial coordinates, and then the current coordinates of the robot 1 under the site base coordinate system {O w } can be directly determined according to the method in step (6).
由上述公式可知,机器人1只需识别一个反射标志就可实现其在生产现场的坐标定位,因而该方法提高了机器人1定位的效率。It can be seen from the above formula that the robot 1 only needs to recognize one reflective mark to realize its coordinate positioning on the production site, so this method improves the positioning efficiency of the robot 1 .
图2为本发明提供的移动机器人1自主运行时的定位示意图;Fig. 2 is the positioning schematic diagram of the mobile robot 1 provided by the present invention during autonomous operation;
图中强反光标志3分别粘贴在不同的物体上。机器人1按照行走路径4行走时,随着位置的变化,机器人1会锁定不同的反光材料,在不同时刻,只要保证机器人1会扫描到一个标志,则机器人1在运动中的位置就可以实时获取。In the figure, the strong reflective marks 3 are respectively pasted on different objects. When the robot 1 walks according to the walking path 4, with the change of the position, the robot 1 will lock different reflective materials. At different times, as long as the robot 1 can scan a sign, the position of the robot 1 in motion can be obtained in real time. .
上述虽然结合附图对本发明的具体实施方式进行了描述,但并非对本发明保护范围的限制,所属领域技术人员应该明白,在本发明的技术方案的基础上,本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they do not limit the scope of protection of the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to pay creative work. Various modifications or deformations that can be made are still within the protection scope of the present invention.
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