阅读说明：本技术 反光标辨识方法及移动机器人系统 (Reflecting sign discrimination method and mobile-robot system ) 是由 崔江伟 韩奎 于 2019-08-29 设计创作，主要内容包括：本发明提供一种反光标辨识方法及移动机器人系统,反光标辨识方法包括：S1、持续接收激光反射信号,并记录每一激光反射信号的编码器计数值；S2、遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2；S3、根据每一反光标的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前位置下与每一反光标的夹角；每一反光标对应的夹角包括：起始夹角θ1,终止夹角θ2；S4、根据获得的夹角辨识反光标。本发明通过反光标与移动机器人的夹角及其他已知参数获得校验参数,并进一步的通过该校验参数对已知参数进行校验,进而判断确认的反光标是否正确或进行反光标的区分。(The present invention provides a kind of reflecting sign discrimination method and mobile-robot system, reflecting sign discrimination method include: S1, persistently receive laser reflection signal, and records the encoder to count value of each laser reflection signal；S2, the received encoder to count value of traversal obtain the start code device count value N1 of corresponding reflecting sign and terminate encoder to count value N2；S3, angle of the mobile robot under current location with each reflecting sign is obtained according to the start code device count value N1 and termination encoder to count value N2 of each reflecting sign；The corresponding angle of each reflecting sign includes: starting angle theta 1, terminates angle theta 2；S4, reflecting sign is recognized according to the angle of acquisition.The present invention obtains checking parameter by the angle of reflecting sign and mobile robot and other known parameters, and further verifies by the checking parameter to known parameters, and then whether correctly or the differentiation of progress reflecting sign judge the reflecting sign of confirmation.)

1. a kind of reflecting sign discrimination method, characterized in that described method includes following steps:

S1, laser reflection signal is persistently received, and records the encoder to count value of each laser reflection signal；

S2, the received encoder to count value of traversal obtain the start code device count value N1 of corresponding reflecting sign and terminate encoder Count value N2；

S3, existed according to the start code device count value N1 and termination encoder to count value N2 acquisition mobile robot of each reflecting sign Under current location with the angle of each reflecting sign；The corresponding angle of each reflecting sign includes: starting angle theta 1, terminates angle theta 2；Wherein, N indicates the maximum count of current encoder；

S4, reflecting sign is recognized according to the angle of acquisition.

2. reflecting sign discrimination method according to claim 1, characterized in that step S4 is specifically included:

S41, the folder for obtaining mobile robot course zero point to corresponding reflecting sign is calculated according to starting angle theta 1 and termination angle theta 2 Angle Δ θ；Δ θ=| θ 2- θ 1 |；

S42, according to the coordinate value of each reflecting sign, it is corresponding obtain angle Δ θ when mobile robot coordinate value, obtain each anti- The developed width w of the actual range d and each reflecting sign of cursor and mobile robot；According to actual range d and matched Angle Δ θ obtains the molded breadth w1 of each reflecting sign,

Whether S43, the molded breadth w1 for judging each reflecting sign and its developed width w identical, if so, confirmation currently confirm it is anti- Cursor is correct.

3. reflecting sign discrimination method according to claim 2, characterized in that step S42 further include:

According to the molded breadth w1 of each reflecting sign, the reflecting sign corresponding theoretical verification width w2, w2=w1/ ε 1, ε 1 are obtained For constant, value range be 1 ∈ of ε (0,1]；

Step S43 is specifically included:

Judge whether the theoretical verification width w2 and its developed width w of each reflecting sign identical, if so, confirmation currently confirm it is anti- Cursor is correct.

4. reflecting sign discrimination method according to claim 1, characterized in that step S4 is specifically included:

S41 ', the folder for obtaining mobile robot course zero point to corresponding reflecting sign is calculated according to starting angle theta 1 and termination angle theta 2 Angle Δ θ；Δ θ=| θ 2- θ 1 |；

S42 ', according to the coordinate value of each reflecting sign, it is corresponding obtain angle Δ θ when mobile robot coordinate value, obtain each The developed width w of the actual range d and each reflecting sign of reflecting sign and mobile robot；According to the reality of each reflecting sign Width w and matched angle Δ θ obtains the theoretical distance d1 of each reflecting sign to mobile robot,

Whether S43 ', the theoretical distance d1 for judging each reflecting sign and its actual range d are identical, if so, what confirmation currently confirmed Reflecting sign is correct.

5. reflecting sign discrimination method according to claim 4, characterized in that step S42 ' further include:

According to the theoretical distance d1 of each reflecting sign, corresponding theory checking distance d2, the d2=d1/ ε 2 of the reflecting sign, ε 2 are obtained For constant, value range be 2 ∈ of ε (0,1]；

Step S43 ' is specifically included:

Judge whether the theoretical checking distance d2 and its actual range d of each reflecting sign identical, if so, confirmation currently confirm it is anti- Cursor is correct.

6. reflecting sign discrimination method according to claim 1, characterized in that step S4 is specifically included:

S41 ", during mobile robot continuous moving, obtain mobile robot course zero point to right at interval of preset time The angle Δ θ of reflecting sign is answered, and the angle Δ θ that the previous time obtains is indicated with the first angle Δ θ 1, latter time is obtained Angle Δ θ be indicated with Δ θ 2；

Δ θ 1=| θ 12- θ 11 |, Δ θ 2=| θ 22- θ 21 |, wherein θ 11 indicates to form the starting angle of the first angle Δ θ 1, θ 12 indicate to form the termination angle of the first angle Δ θ 1, and θ 21 indicates to form the starting angle of the second angle Δ θ 2, and θ 22 indicates shape At the termination angle of the second angle Δ θ 2；

S42 ", judgement | Δ θ 2- Δ θ 1 | whether it is not more than systemic presupposition difference threshold, if so, the first angle Δ θ 1 of confirmation and the Two angle Δ θ 2 are from same reflecting sign.

7. a kind of reflecting sign discrimination method, characterized in that described method includes following steps:

M1, laser reflection signal is persistently received, and records the encoder to count value of each laser reflection signal；

M2, the received encoder to count value of traversal obtain the start code device count value N1 of corresponding reflecting sign and terminate encoder Count value N2；

M3, each reflecting sign pair is obtained according to the start code device count value N1 and termination encoder to count value N2 of each reflecting sign The encoder to count intermediate value N answered_mid,

If M4, obtaining at least two identical coding count intermediate value N in synchronization_mid, then according to in identical coding count Value N_midThe corresponding start code device count value N1 of reflecting sign and terminate encoder to count value N2 obtain mobile robot current When inscribe the angle with each reflecting sign respectively；The corresponding angle of each reflecting sign includes: starting angle theta 1, terminate angle theta 2 with And mobile robot course zero point is to the angle Δ θ of corresponding reflecting sign；Δ θ=| θ 2- θ 1 |, wherein the maximum count of N expression current encoder；

M5, distinguished according to each angle Δ θ, the changing coordinates of mobile robot and the coordinate of reflecting sign of acquisition it is different Reflecting sign, wherein angle Δ θ is bigger, and position of the corresponding reflecting sign apart from mobile robot is closer.

8. a kind of mobile-robot system, which is set in a working region, and several known seats are arranged in the working region The reflecting sign of scale value, characterized in that the system comprises:

Laser emission receiving module for persistently receiving laser reflection signal, and records the encoder of each laser reflection signal Count value；

Counting module, for traversing received encoder to count value, obtain corresponding reflecting sign start code device count value N1 and Terminate encoder to count value N2；

Processing module, for being moved according to the start code device count value N1 and termination encoder to count value N2 of each reflecting sign Angle of the mobile robot under current location with each reflecting sign；The corresponding angle of each reflecting sign includes: starting angle theta 1, eventually Only angle theta 2；Wherein, N indicates the maximum count of current encoder；

Output module is recognized, for recognizing reflecting sign according to the angle of acquisition.

9. mobile-robot system according to claim 8, characterized in that identification output module is specifically used for:

The angle Δ for obtaining mobile robot course zero point to corresponding reflecting sign is calculated according to starting angle theta 1 and termination angle theta 2 θ；Δ θ=| θ 2- θ 1 |；

Mobile robot coordinate value when according to the coordinate value of each reflecting sign, corresponding acquisition angle Δ θ, obtains each reflecting sign With the actual range d of the mobile robot and developed width w of each reflecting sign；According to actual range d and matched angle Δ θ obtains the molded breadth w1 of each reflecting sign,

Judge whether the molded breadth w1 and its developed width w of each reflecting sign are identical, if so, the reflecting sign that confirmation currently confirms Correctly.

10. mobile-robot system according to claim 9, characterized in that identification output module is also used to:

According to the molded breadth w1 of each reflecting sign, the reflecting sign corresponding theoretical verification width w2, w2=w1/ ε 1, ε 1 are obtained For constant, value range be 1 ∈ of ε (0,1]；

Judge whether the theoretical verification width w2 and its developed width w of each reflecting sign identical, if so, confirmation currently confirm it is anti- Cursor is correct.

11. mobile-robot system according to claim 8, characterized in that identification output module is specifically used for:

The angle Δ for obtaining mobile robot course zero point to corresponding reflecting sign is calculated according to starting angle theta 1 and termination angle theta 2 θ；Δ θ=| θ 2- θ 1 |；

Mobile robot coordinate value when according to the coordinate value of each reflecting sign, corresponding acquisition angle Δ θ, obtains each reflecting sign With the actual range d of the mobile robot and developed width w of each reflecting sign；According to the developed width w of each reflecting sign with And matched angle Δ θ obtains the theoretical distance d1 of each reflecting sign to mobile robot,

Judge whether the theoretical distance d1 and its actual range d of each reflecting sign are identical, if so, the reflecting sign that confirmation currently confirms Correctly.

12. mobile-robot system according to claim 11, characterized in that identification output module is also used to:

According to the theoretical distance d1 of each reflecting sign, corresponding theory checking distance d2, the d2=d1/ ε 2 of the reflecting sign, ε 2 are obtained For constant, value range be 2 ∈ of ε (0,1]；

Judge whether the theoretical checking distance d2 and its actual range d of each reflecting sign identical, if so, confirmation currently confirm it is anti- Cursor is correct.

13. mobile-robot system according to claim 8, characterized in that identification output module is specifically used for:

During mobile robot continuous moving, it is reflective to correspondence that mobile robot course zero point is obtained at interval of preset time Target angle Δ θ, and the angle Δ θ that the previous time obtains is indicated with the first angle Δ θ 1, the angle that latter time is obtained Δ θ is indicated with Δ θ 2；

Δ θ 1=| θ 12- θ 11 |, Δ θ 2=| θ 22- θ 21 |, wherein θ 11 indicates to form the starting angle of the first angle Δ θ 1, θ 12 indicate to form the termination angle of the first angle Δ θ 1, and θ 21 indicates to form the starting angle of the second angle Δ θ 2, and θ 22 indicates shape At the termination angle of the second angle Δ θ 2；

Judgement | Δ θ 2- Δ θ 1 | whether it is not more than systemic presupposition difference threshold, if so, the first angle Δ θ 1 of confirmation and the second angle Δ θ 2 is from same reflecting sign.

14. a kind of mobile-robot system, which is set in a working region, and several known seats are arranged in the working region The reflecting sign of scale value, characterized in that the system comprises:

Laser emission receiving module for persistently receiving laser reflection signal, and records the encoder of each laser reflection signal Count value；

Counting module, for traversing received encoder to count value, obtain corresponding reflecting sign start code device count value N1 and Terminate encoder to count value N2；According to the start code device count value N1 of each reflecting sign and terminate encoder to count value N2 acquisition The corresponding encoder to count intermediate value N of each reflecting sign_mid,

Processing module, if for obtaining at least two identical coding count intermediate value N in synchronization_mid, then identical according to having Coding count intermediate value N_midThe corresponding start code device count value N1 of reflecting sign and terminate encoder to count value N2 obtain moving machine Device people angle with each reflecting sign respectively under current time；The corresponding angle of each reflecting sign includes: starting angle theta 1, eventually Only angle theta 2 and mobile robot course zero point to corresponding reflecting sign angle Δ θ； Δ θ=| θ 2- θ 1 |, wherein the maximum count of N expression current encoder；

Output module is recognized, for according to each angle Δ θ of acquisition, the changing coordinates of mobile robot and reflecting sign Coordinate distinguishes different reflecting signs, wherein angle Δ θ is bigger, and position of the corresponding reflecting sign apart from mobile robot is closer.

Technical field

The present invention relates to field of intelligent control more particularly to a kind of reflecting sign discrimination methods and mobile-robot system.

Background technique

In the application of mobile robot, navigation refers to that mobile robot perceives environment and oneself state by sensor, In fact now with object-oriented autokinetic movement in the environment of barrier；4 modules of successful needs of navigation, perception, positioning, recognize with And motion control, wherein positioning is most basic link during Mobile Robotics Navigation, and so-called positioning is exactly determination moving machine The real-time pose of device people in the environment.The relatively broad location technology of current application includes: vision guided navigation positioning, global positioning system System, differential GPS positioning, laser signal positioning etc..

Laser signal positioning method is applied in mobile robot because preferably, becomes the mainstream side of localization for Mobile Robot Formula, localization for Mobile Robot mode in the prior art can refer to notification number CN103542846, a kind of denomination of invention " moving machine Device people system and localization method ", program description: mobile robot includes laser, and laser emits laser signal to reflective Reflection signal is formed after mark, by the reflective cursor position of reflection signal and known coordinate, can get mobile robot current location Relative to the angle value of any two reflecting sign, and the present bit of mobile robot is further accurately positioned according to angle value It sets.

However, in practical applications, during laser rotation is turned around, in order to obtain the reflection relative to more reflecting signs Signal needs continuous agitation to emit signal, in this way, corresponding to each reflecting sign, can receive a plurality of reception signal；Correspondingly, Become particularly important by receiving signal distinguishing reflecting sign, accurately distinguish the basis that reflecting sign is positioning mobile robot position, And in the prior art, mobile robot independently passes through multiple scarce capacities for receiving signal distinguishing reflecting sign, and positioning is caused to be imitated Fruit is poor.

Summary of the invention

In order to solve the above technical problems, the purpose of the present invention is to provide a kind of reflecting sign discrimination method and mobile robots System.

One of in order to achieve the above-mentioned object of the invention, an embodiment of the present invention provides a kind of reflecting sign discrimination method, described Method includes the following steps: S1, persistently receives laser reflection signal, and records the encoder to count of each laser reflection signal Value；S2, the received encoder to count value of traversal obtain the start code device count value N1 of corresponding reflecting sign and terminate encoder meter Numerical value of N 2；S3, mobile machine is obtained according to the start code device count value N1 and termination encoder to count value N2 of each reflecting sign Angle of the people under current location with each reflecting sign；The corresponding angle of each reflecting sign includes: starting angle theta 1, terminates angle θ2； Wherein, N indicates the maximum count of current encoder；S4, the angle according to acquisition Recognize reflecting sign.

As the further improvement of an embodiment of the present invention, step S4 is specifically included: S41, according to starting 1 and of angle theta It terminates angle theta 2 and calculates the angle Δ θ for obtaining mobile robot course zero point to corresponding reflecting sign；Δ θ=| θ 2- θ 1 |；S42, root Mobile robot coordinate value when according to the coordinate value of each reflecting sign, corresponding acquisition angle Δ θ, obtains each reflecting sign and movement The actual range d of the robot and developed width w of each reflecting sign；It is obtained according to actual range d and matched angle Δ θ The molded breadth w1 of each reflecting sign is obtained,S43, the molded breadth w1 for judging each reflecting sign and in fact Whether border width w is identical, if so, the reflecting sign that confirmation currently confirms is correct.

As the further improvement of an embodiment of the present invention, step S42 further include: wide according to the theory of each reflecting sign Spend w1, obtain the corresponding theoretical verification width w2 of the reflecting sign, w2=w1/ ε 1, ε 1 is constant, value range be 1 ∈ of ε (0, 1]；Step S43 is specifically included: judge whether the theoretical verification width w2 and its developed width w of each reflecting sign is identical, if so, Confirm that the reflecting sign currently confirmed is correct.

As the further improvement of an embodiment of the present invention, step S4 is specifically included: S41 ', according to starting 1 and of angle theta It terminates angle theta 2 and calculates the angle Δ θ for obtaining mobile robot course zero point to corresponding reflecting sign；Δ θ=| θ 2- θ 1 |；S42', Mobile robot coordinate value when according to the coordinate value of each reflecting sign, corresponding acquisition angle Δ θ, obtains each reflecting sign and moves The actual range d of the mobile robot and developed width w of each reflecting sign；According to the developed width w of each reflecting sign and The angle Δ θ matched obtains the theoretical distance d1 of each reflecting sign to mobile robot,S43 ', judge it is each Whether the theoretical distance d1 and its actual range d of reflecting sign are identical, if so, the reflecting sign that confirmation currently confirms is correct.

As the further improvement of an embodiment of the present invention, step S42 ' further include: according to the theory of each reflecting sign Distance d1 obtains corresponding theory checking distance d2, the d2=d1/ ε 2 of the reflecting sign, and ε 2 is constant, and value range is 2 ∈ of ε (0,1]；Step S43 ' is specifically included: judge whether the theoretical checking distance d2 of each reflecting sign and its actual range d are identical, if It is to confirm that the reflecting sign currently confirmed is correct.

As the further improvement of an embodiment of the present invention, step S4 is specifically included: S41 ", continuous in mobile robot In moving process, the angle Δ θ of mobile robot course zero point to corresponding reflecting sign is obtained at interval of preset time, and will be previous The angle Δ θ that time obtains is indicated with the first angle Δ θ 1, and the angle Δ θ that latter time obtains is indicated with Δ θ 2；Δθ 1=| θ 12- θ 11 |, Δ θ 2=| θ 22- θ 21 |, wherein θ 11 indicates to form the starting angle of the first angle Δ θ 1, the expression shape of θ 12 At the termination angle of the first angle Δ θ 1, θ 21 indicates to form the starting angle of the second angle Δ θ 2, and θ 22 indicates to form the second folder The termination angle of angle Δ θ 2；S42 ", judgement | Δ θ 2- Δ θ 1 | whether it is not more than systemic presupposition difference threshold, if so, confirmation first Angle Δ θ 1 and the second angle Δ θ 2 are from same reflecting sign.

One of in order to achieve the above-mentioned object of the invention, an embodiment of the present invention provides a kind of reflecting sign discrimination method, described Method includes the following steps: M1, persistently receives laser reflection signal, and records the encoder to count of each laser reflection signal Value；M2, the received encoder to count value of traversal obtain the start code device count value N1 of corresponding reflecting sign and terminate encoder meter Numerical value of N 2；M3, according to the start code device count value N1 of each reflecting sign and terminate encoder to count value N2 obtain it is each reflective Mark corresponding encoder to count intermediate value N_mid,If M4, obtaining at least two identical volumes in synchronization Code counts intermediate value N_mid, then according to identical coding count intermediate value N_midThe corresponding start code device count value N1 of reflecting sign and It terminates encoder to count value N2 and obtains mobile robot angle with each reflecting sign respectively under current time；Each reflecting sign Corresponding angle includes: starting angle theta 1, terminates the angle of angle theta 2 and mobile robot course zero point to corresponding reflecting sign Δθ；Δ θ=| θ 2- θ 1 |, wherein the maximum count of N expression current encoder；M5, Different reflecting signs is distinguished according to each angle Δ θ, the changing coordinates of mobile robot and the coordinate of reflecting sign of acquisition, Wherein, angle Δ θ is bigger, and position of the corresponding reflecting sign apart from mobile robot is closer.

One of in order to achieve the above-mentioned object of the invention, an embodiment of the present invention provides a kind of mobile-robot system, this is System is set in a working region, and the reflecting sign of several known coordinate values is arranged in the working region, the system comprises: laser Transmitting and receiving module for persistently receiving laser reflection signal, and records the encoder to count value of each laser reflection signal；Meter Digital-to-analogue block obtains the start code device count value N1 of corresponding reflecting sign and terminates and compile for traversing received encoder to count value Code device count value N2；Processing module, for the start code device count value N1 and termination encoder to count according to each reflecting sign Value N2 obtains angle of the mobile robot under current location with each reflecting sign；The corresponding angle of each reflecting sign included: Beginning angle theta 1 terminates angle theta 2；Wherein, N indicates the maximum count of current encoder； Output module is recognized, for recognizing reflecting sign according to the angle of acquisition.

As the further improvement of an embodiment of the present invention, recognizes output module and be specifically used for: according to each reflecting sign Coordinate value, corresponding mobile robot coordinate value when obtaining angle Δ θ, obtain the reality of each reflecting sign and mobile robot The developed width w of distance d and each reflecting sign；Each reflecting sign is obtained according to actual range d and matched angle Δ θ Molded breadth w1,Judge whether the molded breadth w1 and its developed width w of each reflecting sign are identical, If so, the reflecting sign that confirmation currently confirms is correct.

As the further improvement of an embodiment of the present invention, recognizes output module and be also used to: according to each reflecting sign Molded breadth w1 obtains the corresponding theoretical verification width w2 of the reflecting sign, and w2=w1/ ε 1, ε 1 is constant, and value range is ε 1 ∈ (0,1]；Judge whether the theoretical verification width w2 and its developed width w of each reflecting sign is identical, if so, the current confirmation of confirmation Reflecting sign it is correct.

It as the further improvement of an embodiment of the present invention, recognizes output module and is specifically used for: according to starting angle theta 1 Acquisition mobile robot course zero point is calculated to the angle Δ θ for corresponding to reflecting sign with angle theta 2 is terminated；Δ θ=| θ 2- θ 1 |；According to Mobile robot coordinate value when the coordinate value of each reflecting sign, corresponding acquisition angle Δ θ, obtains each reflecting sign and moving machine The actual range d of the device people and developed width w of each reflecting sign；According to the developed width w of each reflecting sign and matched Angle Δ θ obtains the theoretical distance d1 of each reflecting sign to mobile robot,Judge each reflecting sign Whether theoretical distance d1 and its actual range d are identical, if so, the reflecting sign that confirmation currently confirms is correct.

As the further improvement of an embodiment of the present invention, recognizes output module and be also used to: according to each reflecting sign Theoretical distance d1 obtains corresponding theory checking distance d2, the d2=d1/ ε 2 of the reflecting sign, and ε 2 is constant, and value range is ε 2 ∈ (0,1]；Judge whether the theoretical checking distance d2 and its actual range d of each reflecting sign are identical, if so, the current confirmation of confirmation Reflecting sign it is correct.

It as the further improvement of an embodiment of the present invention, recognizes output module and is specifically used for: connecting in mobile robot In continuous moving process, obtain the angle Δ θ of mobile robot course zero point to corresponding reflecting sign at interval of preset time, and will before The angle Δ θ that one time obtained is indicated with the first angle Δ θ 1, and the angle Δ θ that latter time obtains is indicated with Δ θ 2； Δ θ 1=| θ 12- θ 11 |, Δ θ 2=| θ 22- θ 21 |, wherein θ 11 indicates to form the starting angle of the first angle Δ θ 1,12 table of θ Show to form the termination angle of the first angle Δ θ 1, θ 21 indicates to form the starting angle of the second angle Δ θ 2, and θ 22 indicates to form the The termination angle of two angle Δ θ 2；Judgement | Δ θ 2- Δ θ 1 | whether it is not more than systemic presupposition difference threshold, if so, confirmation first Angle Δ θ 1 and the second angle Δ θ 2 are from same reflecting sign.

One of in order to achieve the above-mentioned object of the invention, an embodiment of the present invention provides a kind of mobile-robot system, this is System is set in a working region, and the reflecting sign of several known coordinate values is arranged in the working region, the system comprises: laser Transmitting and receiving module for persistently receiving laser reflection signal, and records the encoder to count value of each laser reflection signal；Meter Digital-to-analogue block obtains the start code device count value N1 of corresponding reflecting sign and terminates and compile for traversing received encoder to count value Code device count value N2；It is obtained according to the start code device count value N1 of each reflecting sign and termination encoder to count value N2 each anti- The corresponding encoder to count intermediate value N of cursor_mid,Processing module, if for being obtained at least in synchronization Two identical coding count intermediate value N_mid, then according to identical coding count intermediate value N_midThe corresponding start code of reflecting sign It device count value N1 and terminates encoder to count value N2 and obtains mobile robot folder with each reflecting sign respectively under current time Angle；The corresponding angle of each reflecting sign includes: starting angle theta 1, terminates angle theta 2 and mobile robot course zero point to correspondence The angle Δ θ of reflecting sign；Δ θ=| θ 2- θ 1 |, wherein N indicates current encoder Maximum count；Output module is recognized, for according to each angle Δ θ of acquisition, changing coordinates of mobile robot and reflective Target coordinate distinguishes different reflecting signs, wherein angle Δ θ is bigger, position of the corresponding reflecting sign apart from mobile robot It is closer.

Compared with prior art, reflecting sign discrimination method and mobile-robot system of the invention, it is each by corresponding to The start code device count value N1 of reflecting sign and encoder to count value N2 is terminated, can calculate and obtain reflecting sign and mobile robot Angle obtains checking parameter by calculating the angle obtained and other known parameters, and further passes through the checking parameter pair Known parameters are verified, and then judge whether the reflecting sign of confirmation is correct or carries out the differentiation of reflecting sign.

Detailed description of the invention

Fig. 1 is the flow diagram for the reflecting sign discrimination method that an embodiment of the present invention provides；

Fig. 2 is the structural schematic diagram of a specific example of the invention；

Fig. 3,4,5 are the preferable implementation process schematic diagram of 1 step S4 of corresponding diagram respectively；

Fig. 6 is the flow diagram for the reflecting sign discrimination method that a further embodiment of the present invention provides；

Fig. 7 is the module diagram for the mobile-robot system that an embodiment of the present invention provides.

Specific embodiment

Hereinafter, the present invention will be described in detail with reference to various embodiments shown in the accompanying drawings.But these embodiments are not The limitation present invention, structure that those skilled in the art are made according to these embodiments, method or change functionally It changes and is included within the scope of protection of the present invention.

Mobile-robot system of the invention can be mowing mobile-robot system, or mobile-robot system of sweeping the floor Deng, automatically walk in working region to be mowed, dust suction work；Several known coordinate values are set in the working region Reflecting sign, and known to the width of each reflecting sign, height；The mobile robot includes: ontology, is set on ontology and can be with The turntable of 360 degree rotation, the laser being set on the turntable and control module.

The laser can emit laser signal by the frequency of setting, can be anti-when laser signal exposes to reflecting sign Cursor reflects and forms laser reflection signal, and the control module can be reflective according to the laser reflection signal identification received Mark.

As shown in connection with fig. 1, the reflecting sign discrimination method that an embodiment of the present invention provides, which comprises

S1, laser reflection signal is persistently received, and records the encoder to count value of each laser reflection signal.

S2, the received encoder to count value of traversal obtain the start code device count value N1 of corresponding reflecting sign and terminate and compile Code device count value N2.

S3, mobile machine is obtained according to the start code device count value N1 and termination encoder to count value N2 of each reflecting sign Angle of the people under current location with each reflecting sign；The corresponding angle of each reflecting sign includes: starting angle theta 1, terminates angle θ2；Wherein, N indicates the maximum count of current encoder.

S4, reflecting sign is recognized according to the angle of acquisition.

For step S1, when laser signal exposes to reflecting sign, can be reflected by reflecting sign, and then receive fixed frequency Continuous impulse, and form laser reflection signal；During turntable rotation is turned around, corresponds to each reflecting sign, can get more A laser reflection signal；And in laser reflection signal emission process, encoder can continue record encoder to count value.

The count value that encoder to count value is the time intervals such as one group and is arranged by ascending or descending order, in this application, because It is different for the receiving time of laser reflection signal, in this way, each laser reflection signal is by reception during turntable rotation is turned around Timing corresponds to different encoder to count values.

For step S2, in received laser reflection signal, correspond to each reflecting sign, laser alignment once irradiating extremely When reflecting sign and last time expose to reflecting sign, an encoder to count value is corresponded to, the present invention will expose to for the first time Corresponding encoder to count value when marking that shines is defined as start code device count value N1, and it is same luminous will to expose to this for the last time Corresponding encoder to count value is defined as terminating encoder to count value N2 when mark.

For step S3, as shown in connection with fig. 2, mobile robot 10 when a certain position persistently receives laser reflection signal, Light X1, X2 of laser reflection signal have angle with mobile robot course zero point X3 respectively, in present embodiment, swash Light turntable rotates clockwise, in this way, by the angle between the light X1 of laser reflection signal and mobile robot course zero point X3 It is defined as starting angle theta 1, the angle between the light X2 of laser reflection signal and mobile robot course zero point X3 is defined as Terminate angle theta 2.

In the specific embodiment of the invention, angle theta 1 is originated, terminates the size of angle theta 2 by forming the laser of the angle It reflects signal and moment corresponding encoder to count value correlation occurs；That is: Wherein, N is indicated The maximum count of current encoder.In the specific example, it be 3159, N value is 8192 that N1 value, which is 3156, N2 value,.

For step S4, as shown in connection with fig. 3, in the first better embodiment of the invention, verified by the width of reflecting sign Whether selected reflecting sign is correct.Correspondingly, step S4 is specifically included: S41, being calculated according to starting angle theta 1 and termination angle theta 2 Obtain the angle Δ θ of mobile robot course zero point to corresponding reflecting sign；Δ θ=| θ 2- θ 1 |；S42, according to each reflecting sign Coordinate value, corresponding mobile robot coordinate value when obtaining angle Δ θ, obtain each reflecting sign and mobile robot it is practical away from From the d and developed width w of each reflecting sign；Each reflecting sign is obtained according to actual range d and matched angle Δ θ Molded breadth w1,S43, the molded breadth w1 for judging each reflecting sign and its developed width w whether phase Together, if so, confirming that the reflecting sign currently confirmed is correct.

Further, if the molded breadth w1 for the one of reflecting sign chosen and its developed width w be not identical, then it represents that The reflecting sign chosen is incorrect, needs to select reflecting sign again and recalculate.The incorrect reason of reflecting sign is for example: other are anti- The influence etc. of light barrier, is not repeated further herein.

In an of the invention better embodiment, it is contemplated that reflecting sign surface be stained and the factors such as the material of reflecting sign It influences, the molded breadth w1 of acquisition can be corrected, specifically, step S42 further include: according to the theory of each reflecting sign Width w1 obtains the corresponding theoretical verification width w2 of the reflecting sign, and w2=w1/ ε 1, ε 1 is constant, and value range is 1 ∈ of ε (0,1]；Step S43 is specifically included: judge whether the theoretical verification width w2 and its developed width w of each reflecting sign is identical, if It is to confirm that the reflecting sign currently confirmed is correct.

In second better embodiment of the invention, as shown in connection with fig. 4, verified at a distance from mobile robot by reflecting sign Whether selected reflecting sign is correct.Correspondingly, step S4 is specifically included: S41 ', being counted according to starting angle theta 1 and termination angle theta 2 Calculate the angle Δ θ for obtaining mobile robot course zero point to corresponding reflecting sign；Δ θ=| θ 2- θ 1 |；S42 ', according to each reflective Mobile robot coordinate value when target coordinate value, corresponding acquisition angle Δ θ, obtains the reality of each reflecting sign and mobile robot The developed width w of border distance d and each reflecting sign；According to the developed width w of each reflecting sign and matched angle Δ θ The theoretical distance d1 of each reflecting sign to mobile robot is obtained,S43 ', the reason for judging each reflecting sign It is whether identical by distance d1 and its actual range d, if so, the reflecting sign that confirmation currently confirms is correct.

Further, if the one of reflecting sign chosen and the theoretical distance d1 and actual range d of mobile robot not It is identical, then it represents that the reflecting sign chosen is incorrect, needs to select reflecting sign again and recalculate.The incorrect reason of reflecting sign Such as: the influence etc. of other reflective barriers is not repeated further herein.

In an of the invention better embodiment, it is contemplated that reflecting sign surface be stained and the factors such as the material of reflecting sign It influences, the theoretical distance d1 of acquisition can be corrected, specifically, step S42 ' further include: according to the reason of each reflecting sign By distance d1, corresponding theory checking distance d2, the d2=d1/ ε 2 of the reflecting sign is obtained, ε 2 is constant, and value range is 2 ∈ of ε (0,1]；Step S43 ' is specifically included: judge whether the theoretical checking distance d2 of each reflecting sign and its actual range d are identical, if It is to confirm that the reflecting sign currently confirmed is correct.

In third better embodiment of the present invention, as shown in connection with fig. 5, step S4 is specifically included: S41 ", in mobile robot During continuous moving, the angle Δ θ of mobile robot course zero point to corresponding reflecting sign is obtained at interval of preset time, and will The angle Δ θ that the previous time obtains indicates that the angle Δ θ for obtaining latter time carries out table with Δ θ 2 with the first angle Δ θ 1 Show；Δ θ 1=| θ 12- θ 11 |, Δ θ 2=| θ 22- θ 21 |, wherein θ 11 indicates to form the starting angle of the first angle Δ θ 1, θ 12 Indicate that the termination angle of the first angle Δ θ 1 of formation, θ 21 indicate to form the starting angle of the second angle Δ θ 2, θ 22 indicates to be formed The termination angle of second angle Δ θ 2；S42 ", judgement | Δ θ 2- Δ θ 1 | whether it is not more than systemic presupposition difference threshold, if so, really The first angle Δ θ 1 and the second angle Δ θ 2 are recognized from same reflecting sign.

As shown in connection with fig. 6, the reflecting sign discrimination method that a further embodiment of the present invention provides, the discrimination method specifically wrap It includes: M1, persistently receiving laser reflection signal, and record the encoder to count value of each laser reflection signal；

M2, the received encoder to count value of traversal obtain the start code device count value N1 of corresponding reflecting sign and terminate and compile Code device count value N2；

M3, according to the start code device count value N1 of each reflecting sign and terminate encoder to count value N2 obtain it is each reflective Mark corresponding encoder to count intermediate value N_mid,

If M4, obtaining at least two identical coding count intermediate value N in synchronization_mid, then according to identical coding meter Number intermediate value N_midThe corresponding start code device count value N1 of reflecting sign and terminate encoder to count value N2 obtain mobile robot exist Angle with each reflecting sign respectively under current time；The corresponding angle of each reflecting sign includes: starting angle theta 1, terminates angle θ 2 and mobile robot course zero point to corresponding reflecting sign angle Δ θ；

Δ θ=| θ 2- θ 1 |, wherein the maximum count of N expression current encoder；

M5, it is distinguished not according to the coordinate of each angle Δ θ of acquisition, the changing coordinates of mobile robot and reflecting sign Same reflecting sign, wherein angle Δ θ is bigger, and position of the corresponding reflecting sign apart from mobile robot is closer.

It should be noted that the implementation process of above-mentioned steps M1 and M2 are identical as the implementation process of step S1 and S2, herein It is not repeated further.For step M3, corresponds to same reflecting sign, several laser reflection signals can be generated, correspondingly, It can correspond to and generate several encoder to count values；In concrete application of the present invention, correspond to a reflecting sign, is calculated to reduce Amount usually can only choose one of encoder to count value for subsequent calculating, correspondingly, the encoder to count value can choose The start code device count value N1 of each reflecting sign and coding count intermediate value N for terminating encoder to count value N2_mid。

Further, when two or more reflecting signs and mobile robot are on same straight line, for every A reflecting sign, corresponding coding count intermediate value N_midIdentical, in order to distinguish the different reflecting signs on the straight line, the present invention is preferable In embodiment, acquisition forms coding count intermediate value N_midStart code device count value N1 and terminate encoder to count value N2, And further according to formula Δ θ=| θ 2- θ 1 | it obtains and corresponds to each reflecting sign Angle Δ θ further by the size of the angle Δ θ of each reflecting sign, can determine the reflecting sign apart from mobile robot Distance, and then determine coding count value intermediate value N_midCorresponding specific reflecting sign.

As shown in connection with fig. 7, the mobile-robot system that an embodiment of the present invention provides, the system are set to a working region It is interior, the reflecting sign of several known coordinate values is set in the working region, the system comprises: Laser emission receiving module 100, Counting module 200, processing module 300 and identification output module 400.

In an embodiment of the present invention, Laser emission receiving module 100 is recorded for persistently receiving laser reflection signal The encoder to count value of each laser reflection signal；Counting module 200 is corresponded to for traversing received encoder to count value The start code device count value N1 and termination encoder to count value N2 of reflecting sign；Processing module 300 is used for according to each reflecting sign Start code device count value N1 and terminate encoder to count value N2 obtain mobile robot under current location with it is each reflective Target angle；The corresponding angle of each reflecting sign includes: starting angle theta 1, terminates angle theta 2；Wherein, N indicates the maximum count of current encoder；It recognizes output module 400 and is used for root Reflecting sign is recognized according to the angle of acquisition.

In first specific implementation of the invention, identification output module 400 is specifically used for: according to starting angle theta 1 and terminating Angle theta 2 calculates the angle Δ θ for obtaining mobile robot course zero point to corresponding reflecting sign；Δ θ=| θ 2- θ 1 |；According to each anti- The coordinate value of cursor, corresponding mobile robot coordinate value when obtaining angle Δ θ obtain each reflecting sign and mobile robot The developed width w of actual range d and each reflecting sign；It is obtained according to actual range d and matched angle Δ θ each anti- The molded breadth w1 of cursor,Judge each reflecting sign molded breadth w1 and its developed width w whether It is identical, if so, the reflecting sign that confirmation currently confirms is correct.

Further, identification output module 400 is also used to: according to the molded breadth w1 of each reflecting sign, it is reflective to obtain this Mark corresponding theoretical verification width w2, w2=w1/ ε 1, ε 1 is constant, value range be 1 ∈ of ε (0,1]；Judge each reflective Target theory verifies width w2 and whether its developed width w is identical, if so, the reflecting sign that confirmation currently confirms is correct.

In second specific implementation of the invention, identification output module 400 is specifically used for: according to starting angle theta 1 and terminating Angle theta 2 calculates the angle Δ θ for obtaining mobile robot course zero point to corresponding reflecting sign；Δ θ=| θ 2- θ 1 |；According to each anti- The coordinate value of cursor, corresponding mobile robot coordinate value when obtaining angle Δ θ obtain each reflecting sign and mobile robot The developed width w of actual range d and each reflecting sign；According to the developed width w of each reflecting sign and matched angle Δ θ obtains the theoretical distance d1 of each reflecting sign to mobile robot,Judge each reflecting sign it is theoretical away from It is whether identical from d1 and its actual range d, if so, the reflecting sign that confirmation currently confirms is correct.

Further, identification output module 400 is also used to: according to the theoretical distance d1 of each reflecting sign, it is reflective to obtain this Mark corresponding theory checking distance d2, d2=d1/ ε 2, ε 2 is constant, value range be 2 ∈ of ε (0,1]；Judge each reflective Whether target theory checking distance d2 and its actual range d are identical, if so, the reflecting sign that confirmation currently confirms is correct.

In third specific implementation of the present invention, identification output module 400 is specifically used for: in mobile robot continuous moving In the process, the angle Δ θ of mobile robot course zero point to corresponding reflecting sign is obtained at interval of preset time, and by the previous time The angle Δ θ of acquisition is indicated with the first angle Δ θ 1, and the angle Δ θ that latter time obtains is indicated with Δ θ 2；Δ θ 1=| θ 12- θ 11 |, Δ θ 2=| θ 22- θ 21 |, wherein θ 11 indicates to form the starting angle of the first angle Δ θ 1, and θ 12 indicates to form the The termination angle of one angle Δ θ 1, θ 21 indicate to form the starting angle of the second angle Δ θ 2, second angle Δ θ of the expression formation of θ 22 2 termination angle；Judgement | Δ θ 2- Δ θ 1 | whether it is not more than systemic presupposition difference threshold, if so, confirmation 1 He of the first angle Δ θ Second angle Δ θ 2 is from same reflecting sign.

In the another better embodiment of the present invention, mobile-robot system, the system is set in a working region, the work Make the reflecting sign that several known coordinate values are set in region, the system equally includes: Laser emission receiving module 100, is counted Module 200, processing module 300 and identification output module 400.

In this embodiment, Laser emission receiving module 100 is for persistently receiving laser reflection signal, and records each The encoder to count value of laser reflection signal；It is reflective to obtain correspondence for traversing received encoder to count value for counting module 200 Target start code device count value N1 and termination encoder to count value N2；According to the start code device count value N1 of each reflecting sign Encoder to count value N corresponding with the encoder to count value N2 each reflecting sign of acquisition is terminated_mid,Processing If module 300 is used to obtain at least two identical coding count value N in synchronization_mid, then according to identical coding count Value N_midThe corresponding start code device count value N1 of reflecting sign and terminate encoder to count value N2 obtain mobile robot current When inscribe the angle with each reflecting sign respectively；The corresponding angle of each reflecting sign includes: starting angle theta 1, terminate angle theta 2 with And mobile robot course zero point is to the angle Δ θ of corresponding reflecting sign； Δ θ=| θ 2- θ 1 |, wherein the maximum count of N expression current encoder；Output module 400 is recognized to be used for each angle Δ θ according to acquisition, move The changing coordinates of mobile robot and the coordinate of reflecting sign distinguish different reflecting signs, wherein angle Δ θ is bigger, corresponding Position of the reflecting sign apart from mobile robot is closer.

It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description Specific work process, can be with reference to the corresponding process in preceding method embodiment, details are not described herein.

Compared with prior art, reflecting sign discrimination method and mobile-robot system of the invention, it is each by corresponding to The start code device count value N1 of reflecting sign and encoder to count value N2 is terminated, can calculate and obtain reflecting sign and mobile robot Angle obtains checking parameter by calculating the angle obtained and other known parameters, and further passes through the checking parameter pair Known parameters are verified, and then judge whether the reflecting sign of confirmation is correct or carries out the differentiation of reflecting sign.

In several embodiments provided herein, it should be understood that disclosed system, system and method can To realize by another way.For example, system embodiment described above is only schematical, for example, the mould The division of block, only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple modules or Component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point is shown The mutual coupling, direct-coupling or communication connection shown or discussed can be through some interfaces, between system or module Coupling or communication connection are connect, can be electrical property, mechanical or other forms.

The module as illustrated by the separation member may or may not be physically separated, aobvious as module The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple On network module.Some or all of the modules therein can be selected to realize present embodiment scheme according to the actual needs Purpose.

In addition, can integrate in a processing module in each functional module in each embodiment of the application, it can also To be that modules physically exist alone, can also be integrated in a module with 2 or 2 with upper module.Above-mentioned integrated mould Block both can take the form of hardware realization, can also realize in the form of hardware adds software function module.

The above-mentioned integrated module realized in the form of software function module, can store and computer-readable deposit at one In storage media.Above-mentioned software function module is stored in a storage medium, including some instructions are used so that a computer It is each that system (can be personal computer, server or network system etc.) or processor (processor) execute the application The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read- Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various It can store the medium of program code.

Finally, it should be noted that embodiment of above is only to illustrate the technical solution of the application, rather than its limitations；To the greatest extent Pipe is described in detail the application referring to aforementioned embodiments, those skilled in the art should understand that: its according to It can so modify to technical solution documented by aforementioned each embodiment, or part of technical characteristic is equal Replacement；And these are modified or replaceed, each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution Spirit and scope.