CN116382264A - Mobile body control system, mobile body and surface - Google Patents

Abstract

A moving body control system includes at least one moving body that autonomously moves on a surface having a code pattern, and the moving body can acquire own coordinate position and rotation angle information according to the acquired code pattern. The code pattern is printed on the surface of a block of placemat. The mobile body is provided with an external module which is used for completing the preset function. The number of the mobile bodies is plural, and the mobile bodies can communicate with each other or with other external devices in a wireless manner. The coding pattern consists of virtual grid points which are uniformly arranged along the direction of the rectangular coordinate X, Y axis of the surface and visible mark points which are arranged in an offset manner relative to the virtual grid points along the positive or negative direction of the X or Y axis, and binary assignment of the rectangular coordinate X, Y axis of each visible mark point is respectively constructed into a cyclic bit sequence conforming to the Debrucine sequence rule according to different offset positions of each visible mark point.

Description

A mobile body control system, mobile body and surface

technical field

The invention belongs to the technical field of mobile robots, and in particular relates to a mobile body control system, a mobile body and a surface.

Background technique

For the swarm control of indoor moving objects, it is generally necessary to perceive the position and attitude information of each moving object with high precision and low latency, and further implement swarm control through algorithms. The mobile body here can also be considered as a mobile robot. With the increasing demands of R&D personnel and users for mobile objects that can meet swarm control, mobile objects are increasingly required to have the characteristics of small size, precise positioning, and instant communication. At present, for indoor moving objects, Wi-Fi positioning, Bluetooth positioning, radio frequency identification RFID positioning, ZigBee positioning, UWB ultra-wideband technology positioning, ultrasonic positioning, infrared positioning, inertial navigation positioning, machine vision positioning and other methods have been proposed. In particular, positioning methods based on OID codes have also been proposed in recent years.

in,

Wi-Fi positioning technology uses the information of wireless access points as the basis and premise to locate the connected mobile device. Which hotspot or base station the device is close to, that is, where it is considered to be. If there are multiple sources nearby, Then the positioning accuracy can be further improved by the triangulation positioning method. However, the accuracy of Wi-Fi positioning is about 1 meter to 20 meters, and the power consumption is relatively high, the cost is relatively high, and there are co-channel interference problems.

Bluetooth positioning technology is based on RSSI (Received Signal Strength Indication, signal field strength indication) positioning principle, with lower energy consumption, the highest accuracy is about 1 meter to 10 meters, and the stability is average.

RFID positioning technology reads the characteristic information of the target RFID tag (such as ID, received signal strength, etc.) through a set of fixed readers, and uses methods such as nearest neighbor method, multilateral positioning method, and received signal strength to determine the location of the tag. But its accuracy is general, and there is no function of communication transmission.

Ultra-wideband (Ultra-Wide Band, UWB) technology is a wireless carrier communication technology, which uses nanosecond-level non-sinusoidal narrow pulses to transmit data, and it occupies a wide spectrum range. By placing 4 UWB base stations in the space, centimeter-level positioning of the robot can be achieved. However, the cost of this positioning technology is relatively high.

Infrared positioning technology mainly has two specific implementation methods. One is to attach an electronic tag that emits infrared rays to the positioning object, and measure the distance or angle of the signal source through multiple infrared sensors placed indoors to calculate the location of the object. , this method is susceptible to interference from heat sources, lights, etc., and the communication distance is relatively short; another method of infrared positioning is infrared weaving, that is, the infrared network woven by multiple pairs of transmitters and receivers covers the space to be measured, directly However, this method is expensive.

Most of the ultrasonic positioning technology currently adopts the reflective ranging method. The system consists of a main range finder and several electronic tags. The main range finder can be placed on the mobile robot body, and each electronic tag is placed at a fixed position in the indoor space.

Inertial navigation technology mainly uses the motion data collected by terminal inertial sensors, such as acceleration sensors, gyroscopes, etc. to measure the speed, direction, acceleration and other information of objects. Based on the dead reckoning method, the position information of objects is obtained through various calculations. The cost is lower, but there is a cumulative error.

There are usually two methods for visual navigation and positioning technology. One is to install a camera on the moving body, and use the image processing module to obtain the known coordinate information of the scene object or label in the world coordinate system, thereby calculating the pose coordinate information of the moving body in the world coordinate system, and realizing the moving body The other is to install a fiducial mark on the moving body, install a camera on the environment, and calculate the position and attitude of the robot with the help of the position of the fiducial mark in the camera.

OID code positioning technology: OID is the abbreviation of Optical Identification, which is a kind of optical identification code. OID builds the most novel and convenient interface bridge between printed matter and digital system. Each OID coded graphic is composed of many subtle and difficult-to-distinguish points according to specific rules, and corresponds to a set of specific values. The biggest difference from other optical identification codes is that the miniaturized bottom code not only has the characteristics of confidentiality and low visual interference, but also can be hidden under the color pattern of printed matter.

Contents of the invention

One of the embodiments of the present invention is a mobile body control system based on continuous optical identification codes. The system can be aimed at the control of a single mobile body or the cluster control of multiple mobile bodies.

The mobile body moves autonomously on a surface with a coded pattern, and the mobile body obtains its own coordinate position and rotation angle information according to the obtained coded pattern during the movement. The coding pattern is printed on the surface of a locating mat. The mobile body has external modules, and different external modules can be used to complete different predetermined functions. The mobile bodies can communicate with each other or between the mobile body and external devices in a wireless manner.

The coding pattern is composed of invisible virtual grid points arranged uniformly along the X and Y axis directions of rectangular coordinates, and real visible marking points set at different positions along the X or Y axis directions relative to each virtual grid point, The binary assignments of the Cartesian coordinates X and Y axes of each visible marker point according to the different positions are respectively constructed as cyclic bit sequences conforming to the De Bruin sequence rules.

Further, the cyclic bit sequence is based on a position code, and the position code is constructed to conform to the De Bruin sequence rule of B(2,n), that is, the position code is composed of a sequence of 1 and 0, that is, a bit sequence, and the position code The characteristic of the sequence is that each encoding generates a n-bit long bit sequence is unique, and the position coding sequence is cyclic, which means that when the tail end of the position coding sequence is connected to its head end, there is such a feature, n A bit sequence of bit length always has a uniquely defined position number in the position coding sequence.

Further, the position code also has the following characteristics: in the position code sequence, a bit sequence with a length of (n+m) bits appears only once and never appears in the form of bitwise inversion and position reversal (wherein m≥1) . It is thus ensured that when the code pattern is rotated by 90°, 180° or 270°, the direction in which the code is rotated can be determined by identifying a bit sequence of (n+m) bit length in a plurality of rows and columns.

Further, the X-coordinate coding method of the coding pattern is: according to the offset of the position coding between the columns and/or the value of the starting position of the sequence in each column, define the X-coordinate position number, and then determine the X-coordinate; Y The coordinate encoding method is: according to the offset of the position encoding between each row and/or the value of the starting position of the sequence in each row, define the Y coordinate position number, and then determine the Y coordinate.

The position coordinates of the surface are in one-to-one correspondence with the code recognition unit composed of a plurality of visible marking points of the coding pattern in the area, that is, the mobile body can calculate the code recognition unit composed of a plurality of visible marking points in a certain area. The location coordinates of the region. And the corresponding relationship between the position coordinates of the surface and the coding identification unit is continuous rather than discontinuous, that is, two coding identification units partially overlapping in the coding pattern can encode two different coordinates; or any adjacent The two coordinates correspond to overlapping visible marking points in the coding recognition unit of the coding pattern.

The encoding and decoding method based on the continuous optical identification code provided by the embodiment of the present invention, compared with other optical identification code methods such as OID, can encode more position information, obtain higher positioning accuracy, and can calculate the relative optical identification code by algorithm. The rotation angle of the code, so that the mobile body can obtain the precise coordinate position (x, y) and rotation angle θ on the positioning pad. Compared with traditional Wi-Fi positioning, Bluetooth positioning, inertial navigation positioning, machine vision positioning and other methods, the positioning method of the mobile object in the embodiment of the present invention can reach the submillimeter level, the angular accuracy can reach 1.5°, and it has software and hardware Low cost, lower energy consumption, no cumulative error, insensitive to ambient light sources, easy and quick layout, no need for calibration, smaller space size, etc., are more suitable for application on micro-sized mobile objects. If the continuous optical identification code system is applied to the group control of moving bodies, each moving body can accurately perceive its own pose in real time, so that the system has faster response speed and better control accuracy.

Description of drawings

The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are shown by way of illustration and not limitation, in which:

Fig. 1 is a schematic diagram of a mobile body control system according to one embodiment of the present invention.

Fig. 2 is a schematic diagram of a mobile body according to one embodiment of the present invention.

Fig. 3 is a schematic bottom view of a mobile body according to one embodiment of the present invention.

Fig. 4 is a schematic front view of a mobile body according to one embodiment of the present invention.

Fig. 5 is a schematic top view of a mobile body according to one embodiment of the present invention.

Fig. 6 is a schematic side view of a mobile body according to one embodiment of the present invention.

Fig. 7 is a schematic diagram of the internal structure of a mobile body according to one embodiment of the present invention.

Fig. 8 is a schematic side view of the internal structure of the mobile body according to one embodiment of the present invention.

Fig. 9 is a schematic rear view of the internal structure of the mobile body according to one embodiment of the present invention.

Fig. 10 is a schematic block diagram of the functional module configuration of the mobile body according to one embodiment of the present invention.

Fig. 11 is a schematic block diagram of the configuration of circuit module functional units in a mobile body according to one embodiment of the present invention.

Fig. 12 is a schematic diagram of the front and back structures of the first circuit board in the mobile body according to one embodiment of the present invention.

Fig. 13 is a schematic diagram of the front and back structures of the second circuit board in the mobile body according to one embodiment of the present invention.

Fig. 14 is a schematic diagram of a first external module according to one embodiment of the present invention.

Fig. 15 is a schematic diagram of the installation and attachment of the first external module to the mobile body according to one embodiment of the present invention.

Fig. 16 is a schematic diagram of a first external module installed on a mobile body according to one embodiment of the present invention.

Fig. 17 is a schematic diagram of a mobile body controlling a first external module to perform tasks according to one embodiment of the present invention.

Fig. 18 is a schematic diagram of a second external module according to one embodiment of the present invention.

Fig. 19 is a schematic diagram of a second external module attached to a mobile body according to one embodiment of the present invention.

Fig. 20 is a schematic diagram of a second external module attached and installed on a mobile body according to one embodiment of the present invention.

Fig. 21 is a schematic diagram of a mobile body performing tasks by means of a second external module according to one embodiment of the present invention.

Fig. 22 is a schematic diagram of a third external module according to one embodiment of the present invention.

Fig. 23 is a schematic diagram of a third external module attached to a mobile body according to one embodiment of the present invention.

Fig. 24 is a schematic diagram of a third external module attached to a mobile body according to one embodiment of the present invention.

Fig. 25 is a schematic diagram of a mobile object displaying a custom pattern by means of a third external module according to one embodiment of the present invention.

Fig. 26 is a schematic diagram of a fourth external module according to one embodiment of the present invention.

Fig. 27 is a schematic diagram of a fourth external module attached to a mobile body according to one embodiment of the present invention.

Fig. 28 is a schematic diagram of a fourth external module attached to a mobile body according to one embodiment of the present invention.

Fig. 29 is a schematic diagram of a positioning mat marked with a visible pattern and a coding pattern according to one embodiment of the present invention.

FIG. 30 is a partially enlarged schematic diagram according to A in FIG. 29 .

Fig. 31 is a schematic diagram of a coding pattern according to one embodiment of the present invention.

Fig. 32 is a schematic diagram of marking point positioning according to one embodiment of the present invention.

FIG. 33 is a schematic diagram of shifting column sequences and encoding X coordinates according to one embodiment of the present invention.

Fig. 34 is a schematic diagram of encoding X coordinates according to one embodiment of the present invention.

Fig. 35 is a schematic diagram of offsetting the row sequence and encoding the Y coordinate according to one embodiment of the present invention.

Fig. 36 is a schematic diagram of encoding the Y coordinate according to one embodiment of the present invention.

Fig. 37 is a schematic diagram of joint encoding of XY coordinates according to one embodiment of the present invention.

Fig. 38 is a schematic diagram of converting joint coding of XY coordinates into coding patterns according to one embodiment of the present invention.

Fig. 39 is a schematic diagram of performing rotation correction on a code recognition unit according to one embodiment of the present invention.

Fig. 40 is a schematic diagram of steps of decoding a position coding unit according to one embodiment of the present invention.

Fig. 41 is an example diagram of an image with a rotation angle collected by an image sensor according to one embodiment of the present invention.

FIG. 42 is a partially enlarged schematic diagram at point A in FIG. 41 .

Fig. 43 is an example diagram of a grid estimation method according to one embodiment of the present invention.

Fig. 44 is a schematic diagram of a single mobile body positioning and navigation control system according to one embodiment of the present invention.

Fig. 45 is a schematic diagram of multiple mobile body clusters according to one embodiment of the present invention.

Fig. 46 is a schematic diagram of a cluster control system for multiple moving bodies according to one embodiment of the present invention.

Fig. 47 is a schematic diagram of a communication method of a multi-mobile cluster control system according to one embodiment of the present invention.

Fig. 48 is a schematic diagram of a communication method of a multi-mobile cluster control system according to one embodiment of the present invention.

Fig. 49 is a schematic diagram of a communication method of a multi-mobile cluster control system according to one embodiment of the present invention.

Fig. 50 is an example diagram of an instruction card according to one embodiment of the present invention.

Fig. 51 is a schematic diagram of an existing optical identification code code identification.

10—moving body, 11—first circuit board, 12—second circuit board, 110—circuit module, 111—control unit, 112—optical unit, 112a—image sensor module, 112b— —Fill light, 113—Power unit, 113a—Charging interface, 113b—Power management module, 114—Drive unit, 115—Communication unit, 116—Sensing unit, 117—Display unit, 118——sound unit, 119——expansion unit,

120—motion module, 121—motor, 122—drive wheel, 123—universal wheel, 130—battery module,

140——shell module, 141——shell upper cover, 142——shell chassis, 20——first external module, 20'——second external module, 20”——third external module, 20” '—the fourth external module,

30—location pad, 31—visible pattern, 32—encoded pattern,

41—mark point, 42—virtual grid line, 43—virtual grid point, 44a—first partial surface, 44b—second partial surface,

51—image sensor image, 52—mark point connection, 53—shortest mark point connection, 61—processing equipment,

71—Command card.

Detailed ways

For indoor mobile objects, the existing Wi-Fi positioning, Bluetooth positioning, radio frequency identification RFID positioning, ZigBee positioning, UWB ultra-wideband technology positioning, ultrasonic positioning, and infrared positioning methods basically use the nearest neighbor method, multilateral positioning method, received signal strength, etc. In principle, its accuracy can only reach the meter level, and it must rely on the base station outside the mobile body. The mobile itself must also be equipped with corresponding communication equipment and have communication capabilities. The overall solution costs are high and power consumption is high. In addition, the above methods can only detect the position of the moving object, but cannot obtain the attitude of the moving object, which has great limitations.

The inertial navigation positioning method is based on the dead reckoning method, which can obtain the position and attitude, but it will produce a non-negligible cumulative error, and it must be coordinated with other positioning methods to achieve accurate positioning.

Conventional machine vision positioning methods need to install cameras or paste fiducial marks on the environment or moving objects respectively, so as to obtain more accurate positions and attitudes. However, configuring the camera and fiducial markers requires calibration of the internal and external parameters of the camera. The calibration steps are cumbersome, and it is difficult to quickly arrange after changing the environment. The requirements for light source conditions are more stringent, the calculation is larger, and the cost of software and hardware is also higher.

The application of optical identification codes to the positioning and navigation of mobile objects has been disclosed. For example, after the optical identification code is collected by the image sensor module, the position of the moving object can be calculated. According to the two positions before and after, the moving direction and moving distance can be calculated, and the forward path at the next moment can be determined. However, the existing solutions all have obvious defects:

(1) The optical identification codes (including OID identification codes) are block-independent, intermittent rather than continuous, and the image sensor module must include a complete optical identification code area in order to correctly identify the position;

(2) Based on the characteristics described in (1), the accuracy of this positioning method is at least the size of the side length of a complete optical coding area, which is about 3-5mm in actual situations;

倍，面积为8倍，如图48所示；(3) Based on the characteristics described in (1), in order to identify a complete optical coding area, the side length of the field of view collected by the image sensor module is required to be at least twice the side length of the optical identification code area, and the area is 4 times; if Considering the rotation, the side length is

times, the area is 8 times, as shown in Figure 48;

(4) Based on the situation described in (1), if there is stain or damage in the identified optical identification code area, the optical identification code area is completely unreadable. Further, when the dead point rate of the optical identification code on the paper reaches 1/36, the paper is unreadable;

(5) Based on the requirement of a larger field of view in (4), the distance between the lens and the image sensor module (CCD or CMOS) needs to be farther, which will result in a larger size of the overall device; or a wide-angle lens can be used to reduce the The distance between the lens and the image sensor module is small, but it will cause barrel-shaped distortion of the image, which requires the use of algorithms for distortion correction, which affects computing efficiency;

(6) Based on the requirement of a large field of view described in (4), in order to accurately identify the position of each code point, it is necessary to use an image sensor module (CCD or CMOS) with a higher resolution, which will further increase the cost and affect the calculation efficiency;

(7) Based on the larger requirement of the field of view described in (4), the number of code points in the field of view is large, which will reduce the computational efficiency;

(8) Based on the larger field of view requirement described in (4), it is possible that 4 optical identification code blocks appear in the field of view at the same time, and at this time, the problem of anti-collision needs to be dealt with;

(9) In the existing system, the binary information is usually decoded according to the optical identification code, and then the corresponding coordinate information is calculated, but the rotation angle between the moving body and the optical identification code cannot be calculated, and the Afterwards, the current direction of progress is calculated according to two or more position information fittings, and the error is relatively large; (10) Based on the characteristics of (9), when the moving body rotates in situ, or is moved by people and other objects , the moving body cannot distinguish its own rotation angle.

According to one or more embodiments, as shown in FIG. 1 , a mobile body and a mobile body cluster control system include a mobile body 10 , an external module 20 , and a positioning pad 30 . Among them, the mobile body structure, the mobile body 10 can move and rotate in the horizontal direction, and has a certain communication function. Fig. 2 is an example diagram of the mobile body 10, Fig. 3 is an example of a bottom view of the mobile body 10, Fig. 4 is an example of a front view of the mobile body 10, Fig. 5 is an example of a top view of the mobile body 10, Fig. 6 is a mobile An example of a side view of body 10.

As shown in FIGS. 2 to 6 , the moving body 10 is closed by a housing upper cover 141 and a housing chassis 142 . Two driving wheels 122 and one universal wheel 123 are arranged on the bottom of the mobile body 10 to contact the ground, so that the mobile body 10 can move on the surface where the mobile body 10 is located. An optical unit 112 is disposed at the bottom of the mobile body 10 , which can recognize and read patterns on the surface of the mobile body 10 . The bottom of the mobile body 10 is provided with a charging interface 113 a, which can supply power to the mobile body 10 . The front of the mobile body 10 is equipped with an expansion unit 119 that can be connected with various external modules 20 . A display unit 117 is disposed on the top of the mobile body 10, and can display patterns or characters as required.

Figure 7 is an example of the mobile body 10 after removing the housing upper cover 141, Figure 8 is an example of a side view of the mobile body 10 after the housing upper cover 141 is removed, and Figure 9 is an example of the mobile body 10 removing the housing upper cover 141 Example of rear view of rear.

FIG. 10 is a functional configuration block diagram of a mobile body 10 in the present disclosure. The mobile body 10 can be divided into a circuit module 110 , a motion module 120 , a battery module 130 , and a housing module 140 .

The introduction of each module is expanded below.

FIG. 11 is a block diagram of the functional configuration of the circuit module 110 in the mobile body 10 . The circuit module is composed of a control unit 111 , an optical unit 112 , a power supply unit 113 , a drive unit 114 , a communication unit 115 , a sensor unit 116 , a display unit 117 , an audio unit 118 and an expansion unit 119 .

FIG. 12 is an example diagram of the circuit board 11 in the mobile body 10 , and FIG. 13 is an example diagram of the circuit board 12 in the mobile body 10 . The circuit board 11 and the circuit board 12 are physical carriers on which the circuit module 10 is supported in this example.

In this example, the control unit 111 is a single-chip microcontroller, mainly including a microprocessor (CPU), memory (random access memory RAM, read-only memory ROM) and various input/output interfaces (including timer/counter, Parallel I/O interface, serial port, A/D converter, and pulse width modulation (PWM)). The control unit 111 can process signals from other circuit units or control other circuit units, so as to fully control the mobile body 10 .

In this example, the optical unit 112 includes a supplementary light 112b for outputting light to the positioning mat 30 and an image sensor module 112a for detecting light reflected from the positioning mat 30 (as shown in FIGS. 12 and 13 ).

When the mobile body 10 is placed on the positioning mat 30, the image sensor module 112a can take an image on the positioning mat 30, and send the image signal to the control unit 111 for decoding processing, and then obtain the position of the mobile body 10 on the positioning mat 30. Position coordinates and relative rotation angles.

Preferably, the optical unit 112 should be arranged at the center of the bottom of the moving body 10 so as to directly calculate and obtain the position coordinates and rotation angle of the geometric center of the moving body 10 on the positioning pad 30 . The optical unit 112 can also be located at other positions on the bottom of the moving body 10 , but the position coordinates and rotation angles of the geometric center and the kinematic center of the moving body 10 on the positioning pad 30 can be calculated through additional coordinate transformation.

The image sensor module 112a includes an image sensor element (CCD or CMOS) and a lens assembly.

Preferably, the image sensor element is required to have a global shutter function and a relatively high frame rate (120fps-240fps), so as to collect images without smear or deformation and increase the positioning frequency of the moving body 10 .

Preferably, the image sensor element can select the CCD or CMOS that the output format is a black and white image for use, and it is not necessary to select the CCD or CMOS that the output format is a color image, which can further reduce the hardware cost of the image sensor element, reduce the calculation amount of image processing, and improve Computational efficiency.

Preferably, an infrared filter or other filters can be added to the lens assembly as required.

The fill light 112b provides a uniform and stable light source environment for the image sensor module 112a to ensure that the latter can capture accurate and clear images on the positioning mat 30 .

The supplementary light 112b can choose white supplementary light, green supplementary light, blue supplementary light, red supplementary light, infrared supplementary light or ultraviolet supplementary light according to the characteristics of the pattern on the image sensor module 112 and the positioning pad 30 .

In this example, the fill light 112b uses near-infrared light to fill the light, so as to better recognize the coding pattern 210 printed on the positioning pad 30 by a material that absorbs near-infrared light.

The power supply unit 113 plays a role in electric energy conversion, distribution, detection and other electric energy management in the circuit module 110 to ensure the normal operation of the circuit module 110, the motion module 120 and other modules.

The power supply unit 113 includes, but is not limited to, a charging interface 113a and a power management module 113b (which can realize power conversion, power distribution and detection, battery charge and discharge management, wireless charging management, voltage reference, display screen drive, voltage and current detection, etc.). In order to make the mobile body 10 suitable for a large number of trunking systems, the charging of the mobile body 10 should be convenient and efficient. To this end, the structure of the charging structure 113a can be improved, or the mobile body 10 can be charged in a wireless charging manner.

The drive unit 114 is used to drive the two motors 121 in the motion module 120 to move. The rotation direction, speed and torque of the two motors 121 can be controlled to finally drive the rotation of the two driving wheels 122 to control the movement of the mobile body 10 .

The communication unit 115 can be used for the mobile body 10 to communicate with other external devices, or receive information from other external devices. The communication unit 115 adopts a wireless communication method (such as Bluetooth, BLE, Wi-Fi, ZigBee and other conventional communication technologies, as well as radio communication, microwave communication, free space optical communication, acoustic communication, electromagnetic induction communication). The communication unit 115 can send information such as its own ID, pose, and sensor data to other external devices, and can also receive information such as motion instructions from other external devices. When there are multiple mobile bodies 10 in the system, each mobile body 10 can also communicate with each other through the communication unit 115 .

The sensing unit 116 includes components such as a gyroscope and an acceleration sensor, a sensor for motor speed measurement, a temperature sensor, a distance sensor, a touch switch or other switches. The gyroscope and the acceleration sensor can enable the mobile body 10 to have the ability to obtain its own posture, which can be used for the feedback of the motion state of the mobile body 10, or to expand the human-computer interaction mode; the motor speed sensor can feedback the actual rotation direction, angle and speed of the motor, and improve The closed-loop control performance of the mobile body 10; the temperature sensor can detect the internal temperature of the mobile body 10 to prevent overheating and malfunction, or detect the external ambient temperature; the distance sensor can be optionally configured at the front of the bottom of the mobile body 10 to prevent the mobile body 10 from the desktop Wait for the platform to fall; the touch switch or other switches can be used for functions such as waking up and shutting down the circuit module 110 of the mobile body 10, and switching functions.

The display unit 117 is a multi-color LED dot matrix arranged on the top of the mobile body 10, which is connected to the circuit board 11 and the circuit board 12 by means of wiring, etc., and controlled by the control unit 111, it can display the state of the mobile body 10, lift aesthetics etc. In addition, the display unit 117 may include single-color LED lamp beads, multi-color LED lamp beads, single-color LED dot matrix, multi-color LED dot matrix, single-color ink screen, multi-color ink screen, liquid crystal display LCD, organic light-emitting semiconductor OLED , a display screen with a touch screen, etc., and the display brightness can be adjusted, and the display unit 117 can also be arranged at other positions of the mobile body 10 .

The sound unit 118 includes components such as an audio recognition chip, an audio decoding chip, a microphone, a speaker, or a buzzer. The sound unit 118 can recognize features such as the loudness and frequency of the external environment sound by means of a speaker; it can recognize voice by means of a microphone and an audio recognition chip, and then make the control unit 111 control the mobile body 10 to perform certain operations; A sound or sound effect to achieve better human-computer interaction effect.

The expansion unit 119 can be arranged on the front of the mobile body 10 for connecting with the external module 20 . The expansion unit 119 includes connection means and an electrical interface. The connecting device in this example is a magnetic connection structure. In addition, the connection device can also be configured in the form of a slot buckle, an electromagnet, a mechanism capable of controlling the direction of the magnetic field of the magnet, or a combination of various connection structures.

Preferably, the connection device is an electromagnet, or a mechanism capable of controlling the direction of the magnetic field, so that the mobile body 10 can control the connection and separation of the external module without external assistance.

The electrical interface in this example includes a power interface and a signal interface.

Wherein, the power interface can realize power transmission between the mobile body 10 and the external module 20 . For example, the mobile body 10 can supply power to the electronic devices in the external module 20 ; or the external module 20 can charge the mobile body 10 through the expansion unit 119 .

In this example, the signal interface adopts a serial transmission bus (I2C), which can realize two-way data communication between the mobile body 10 and the external module 20, and can also use the addressing function of the I2C bus to make the control unit 110 distinguish the connected external modules. Type of module 20. In addition, the signal interface may adopt a general asynchronous transceiver (SCI), a serial peripheral interface (SPI), a CAN bus, a LIN bus, a general-purpose input/output (GPIO), or a combination of multiple interfaces.

In this example, the motion module 120 of the mobile body 10 includes two motors 121 , two driving wheels 122 and one universal wheel 123 . The motor 121 is connected to the circuit module 110 , and the drive unit 114 can control the direction, speed and torque of the motor 121 . The motor 121 directly or indirectly controls the rotation of the driving wheel 122 . The two driving wheels 122 and the universal wheel 123 are in contact with the ground, and the mobile body 10 can move on the surface on which it is located.

As shown in FIGS. 7-9 , the battery module 130 includes a battery and a battery management device. The battery module 130 is connected to the power supply unit 113 , which can provide stable and reliable power for the circuit module 110 and the motion module 120 , and can also charge the battery module 130 through the circuit module 110 .

The shell module 140 plays the role of waterproof and dustproof, protecting the internal structure, and improving aesthetics.

In this example, the housing module 140 is composed of a housing upper cover 141 and a housing chassis 142 , and the two can be connected and fixed by buckling, welding, gluing and the like.

In this disclosure, the external module is a relatively independent component, and a magnetic attraction unit 210 is arranged at a suitable position on the rear thereof, which can be attached to the expansion unit 119 of the mobile body 10 to achieve close connection and electrical conduction, and the mobile body 10 It can be moved together with the external modules.

According to the different functions of the external modules, the present disclosure provides four examples of external modules——external module 20, external module 20', external module 20" and external module 20"'.

Actuators such as motors, steering gears, relays, and buzzers can be configured on the external module, and corresponding motion mechanisms can be configured. At this time, the mobile body 10 can control the movement or work of the external module 20 . The embodiment of the present disclosure provides an embodiment of a bucket-shaped external module 20 installed with a steering gear. Figure 14 is an example diagram of the external module 20, Figure 15 is an example diagram of the external module 20 about to be attached to the mobile body 10, Figure 16 is an example diagram of the external module 20 already attached to the mobile body 10, and Figure 17 is An example diagram of the mobile body 10 controlling the movement of the external module 20 and performing special functions. After the external module 20 is attached to the mobile body 10, the mobile body 10 and the external module 20 together constitute a forklift model, which can carry the cargo model.

Sensors such as ultrasonic ranging, TOF laser ranging, photoresistor, photodiode, tact switch, reed switch, photoelectric switch, microphone, camera, NFC card reader, etc. can be configured on the external module. Module 20' extends functionality. An embodiment of the present disclosure provides an external module 20' configured with an ultrasonic sensor. Figure 18 is an example diagram of an external module 20', Figure 19 is an example diagram of an external module 20' that is about to be attached to the mobile body 10, and Figure 20 is an example diagram of an external module 20' that has been attached to the mobile body 10, Fig. 21 is an example diagram of the mobile body 10 performing special functions by means of the external module 20'. When the external module 20' is attached to the mobile body 10, the mobile body 10 can sense whether there is an obstacle ahead, and if there is an obstacle, it can go around autonomously.

Displays such as LEDs, lasers, ink screens, LCDs, and OLEDs can be configured on the external module. At this time, the mobile body 10 can control the external module 20" to emit light or display text, patterns or colors. This disclosure provides an external display equipped with an LCD display. Module 20". Figure 22 is an example diagram of the external module 20", Figure 23 is an example diagram of the external module 20" about to be attached to the mobile body 10, and Figure 24 is an example diagram of the external module 20" already attached to the mobile body 10, Fig. 25 is an example diagram of the mobile body 10 displaying a custom pattern by means of an external module 20". When the external module 20" is attached to the mobile body 10, the mobile body 10 can have the functions of emitting light, displaying characters, patterns or colors, expanding the functions of the mobile body 10 and meeting more usage scenarios.

The external module can also be a modeling module without special function. The present disclosure provides a car-shaped external module 20"'. Figure 26 is an example diagram of the external module 20"', and Figure 27 is an example diagram of the external module 20"' about to be attached to the mobile body 10, and Figure 28 is An example diagram of the external module 20 ″' attached to the mobile body 10 . The external module 20"' can be placed on the top of the mobile body 10 to realize the connection. At this time, the aesthetics of the mobile body 10 can be improved, and the mobile body 10 can play a specific role.

In addition, the external module may also be a charging module capable of charging the mobile body 10 .

In addition, since the expansion unit 119 of the disclosed example adopts a serial transmission bus (I2C) interface, it has the ability to communicate with multiple sub-devices at the same time, therefore, a single external module can also be the above-mentioned actuator module, sensor module, display module, modeling module , The combination of various functional accessories of the charging module to achieve richer functions.

The external module can not only be connected to the front of the mobile body 10, but also can be embedded in the upper part of the mobile body 10 or other parts through a specific structure; the external module can be connected with the expansion unit 119 or not connected with the expansion unit 119; the external module can It may be electrically connected with the expansion unit 119 , or may not be electrically connected with the expansion unit 110 .

According to one or more embodiments, a mobile body cluster control system, a single or multiple mobile bodies move on a coded surface, which can be a surface of a positioning mat 30, as shown in Fig. 29 and Fig. 30 . There are two patterns marked on the positioning mat 30 , including a visible pattern 31 and a coding pattern 32 . The visible pattern 31 is a pattern that is expected to be directly observed by human eyes, and mainly plays the role of intuitively conveying information to people and beautifying the decoration. Therefore, the visible pattern 31 needs to be printed with a material that can reflect or absorb visible light for humans; meanwhile, in order to avoid interference with the optical unit 112 reading the coding pattern 32, the visible pattern 31 should avoid printing with infrared-readable materials as much as possible. Specifically, the most commonly used four-color printing process (four-color printing) in the printing industry can be used, that is, three primary colors (yellow, magenta, cyan) and black are used for printing by subtractive color method. Preferably, during printing, it is necessary to control the densities of yellow, magenta, cyan and black not to be too high, so as not to affect the recognition of the coding pattern 32 by the optical unit 112 in the darker region of the visible pattern 31 .

The coding pattern 32 is a pattern that is expected to be recognized by the optical unit 112 of the moving body 10 , and mainly serves to encode position information so that the moving body 10 can recognize its own coordinate position and relative rotation direction on the positioning mat 30 . Since the coding pattern 32 is composed of dense and fine optical identification codes printed on the surface of the positioning pad 30, if it is printed with a material that can reflect or absorb visible light of human beings, it may affect the perception of the user. Thus, the encoding pattern 32 is ideally only visible in the near infrared spectrum (NIR), infrared spectrum (IR) or ultraviolet spectrum (UV), and is completely invisible to the human eye. The coding pattern 32 in the present disclosure is printed using materials that absorb invisible light, specifically, ink (or toner, etc.) that absorbs near-infrared spectrum, and its peak absorption frequency is approximately the same as the wavelength of light emitted by the supplementary light 112b. Therefore, in the field of view of the image sensor module 112a, the printed part of the encoding pattern 32, that is, the optical identification code, appears black, while the non-printed surface appears white. The following describes in detail the encoding method of the continuous optical identification code and the marking point configuration method involved therein.

Assume that the positioning mat 30 has an X coordinate axis and a Y coordinate axis, and a coding pattern 32 is printed thereon, as shown in FIG. 31 , a part of the coding pattern 32 on the positioning mat. The optical unit 112 of the moving body acquires position coordinates and rotation angle information by scanning any complete 8*8 code identification unit. As shown in FIG. 31 , the first code recognition unit 44a can code the first position information, and the second code recognition unit 44b can code the second position information. Both identification units have partially identical marking points 41 .

A-d in Fig. 32 shows how to design and how to locate the marking point 41 in this embodiment. To facilitate understanding, virtual grid lines 42 are introduced as auxiliary lines, and virtual grid points 43 are introduced as auxiliary points. The virtual grid lines 42 equidistantly distributed in the horizontal and vertical directions of the positioning mat 30 cross each other to form virtual grid points 43, and the value of each marked point 41 depends on the relative position of the marked point 41 with respect to the virtual grid point 43 . In this embodiment, the distance between the marker point 41 and the virtual grid point 43 is 1/6 of the distance between adjacent virtual grid lines.

The marked point in Figure 32a represents the value 1, the marked point in Figure 32b represents the value 2, the marked point in Figure 32c represents the value 3, and the marked point in Figure 32d represents the value 4, on this basis, the binary method can be used to The four marker points 41 are divided into position code values for X and Y coordinates, as shown in the table below.

tagged value X-encoded value Y-coded value 1 1 1 2 1 0 3 0 0 4 0 1

In this way, each location can be coded with multiple marker points.

The encoding method involved in the encoding pattern 32 will be described below by way of example.

1. Configuration method of position code recognition unit

As shown in FIG. 33-FIG. 38 , the method in the present disclosure is described by taking a four-bit sequence as an example.

1.1. X coordinate coding

The position code needs to conform to the B(2,4) De Bruin sequence rule. The position code is composed of a sequence of 1 and 0, that is, a bit sequence. The characteristic of this position code sequence is that each four-bit long bit sequence is unique in the position code sequence. The position-coding sequence is circular, which means that there is also such a feature when the tail of the position-coding sequence is joined to its head. A four-bit long bit sequence therefore always has a uniquely defined position number in the position coding sequence.

If the four-bit sequence is to have the above-mentioned characteristics, the position coding sequence can be at most 16 bits long (ie B(2,4) de Bruin sequence). In this example, only a seven-bit long bit sequence (quasi-De Bruin sequence) is used, as follows:

0 0 0 1 0 1 0

This bit sequence consists of seven unique four-bit bit sequences that encode the position number in the sequence, as follows:

position number in sequence four-bit sequence 0 0001 1 0010 2 0101 3 1010 4 0100 5 1000 6 0000

To encode an X-coordinate, the bit sequence is written sequentially in columns on all surfaces to be encoded, the leftmost column C ₀ corresponding to an X-coordinate of zero (0). Thus, within a column, the sequence of bits can be repeated several times in succession.

The encoding is performed based on the offset between adjacent bit sequences in adjacent columns, and the size of the offset is determined by the position number of the four-bit bit sequence in the position encoding sequence. Figure 33 shows how to calculate the offset for the adjacent sequence in the X direction in the embodiment of the present disclosure, the offset of the C _k+1th column in the figure is (ml) mod7.

In this example, each position is identified by a code consisting of 5*5 markers, thus resulting in five vertical bit sequences and four offsets △ for encoding the X-coordinate, each offset in Between 0-6.

In order to avoid an overly symmetrical coding pattern, this embodiment performs coding in the following manner: For four offsets, one of the offsets △ ₀ is always a value of 1 or 2, which refers to the position code identification unit The least significant digit S ₀ of the digits of the position in the X direction. The values of the other three offsets Δ ₁ , Δ ₂ , Δ ₃ are all in the range of 3-6, and they refer to the three most significant digits S ₁ , S ₂ , S ₃ of the coordinates for the position-coding identification unit. In other words, after determining the position number of the leftmost column C ₀ , start encoding the column from C ₁ , so that the offset is as follows:

(3 to 6), (3 to 6), (3 to 6), (1 to 2); (3 to 6), (3 to 6), (3 to 6), (1 to 2); (3 to 6), (3 to 6), (3 to 6), (1 to 2)...

As in Figure 34, the X-coordinate is encoded based on the offset between adjacent bit sequences in adjacent columns. After the position number of the leftmost column C ₀ is selected as 0, the offsets between adjacent bit sequences in subsequent adjacent columns are 3, 3, 3, 1; 3, 3, 3, 2; 3, 3 _{. _ _ _} The numbers are 3, 6, 2, 3, 6, 2, 5, 0, 3, 6, 3, 4, 0, 3...

Each X coordinate is thus coded with three offsets Δ ₁ , Δ ₂ , Δ ₃ between 3 and 6 and an offset Δ ₀ of 1 or 2. Four digital offsets S 3 , S ₂ , S 1 , S are obtained by subtracting one ( ₁ ) from the lowest offset △ 0 and three ( ₃ ) from the other offsets △ ₁ , _{△ 2 ,} △ _{3 0} , they directly give the position number of the position code recognition unit in the X direction based on the digital offset, and the X coordinate can be directly determined from the position number, as shown in the following example. On the X-coordinate, the position number of the position code identification unit is:

32×S ₃ +8×S ₂ +2×S ₁ +S ₀

In order to provide a further description of the present invention according to this embodiment, a specific example of the embodiment based on position coding is given below.

As shown in Fig. 34, the position numbers of the 5-column sequence of the position code identification unit W1 are 0, 3, 6, 2, 3 respectively, then the offsets along the X-coordinate direction are 3, 3, 3, 1 respectively, Then its position number is:

32×(3-3)+8×(3-3)+2×(3-3)+(1-1)＝0

Then the column number corresponding to the first column of the position code identification unit W1 is

0×4=0

The position numbers of the 5-column sequence of the position code recognition unit W3 are 5, 1, 4, 0, 1 respectively, then the offset along the X-coordinate direction is the same as that of W1, and it is also 3, 3, 3, 1 Decodes out the same column number.

The position numbers of the 5 columns of the position coding recognition unit W2 are 3, 6, 2, 5, 0 respectively, and the offsets of the column sequences along the X-coordinate direction are 3, 3, 3, 2 respectively, then the position numbers for:

32×(3-3)+8×(3-3)+2×(3-3)+(2-1)＝1

Then the column number corresponding to the first column of the position code identification unit W2 is

1×4=4

However, in many cases, the local unit of the coded pattern captured by the mobile body includes a 5×5 mark, but also contains a part with two position numbers. At this time, since the value of the least significant digit is always 1 or 2, the complete position number can be easily constructed, and the column number of the first column of the local unit can be obtained.

As shown in Figure 34, the position numbers of the 5 columns of the position code recognition unit W4 are 2, 5, 0, 3, 6 respectively, and the offsets of the column sequences along the X-coordinate direction are 3, 2, 3, 3 respectively , then its position number is:

32×(3-3)+8×(3-3)+2×(3-3)+(2-1)＝1

Since the minimum offset 2 is located at the second position and not at the end, the column number corresponding to the first column of the position coding identification unit W4 is:

1×4+(4-2)=6

Therefore, using the above principle, the code identification unit 0, 1, 2, 3, ..., 127 can be encoded by using the position number of the code identification unit. number. These offsets are encoded with a bitmap based on the above sequence. The bitmap can finally be graphically coded with the marker points in Figure 31.

1.2. Y coordinate coding

According to approximately the same principle as for the X-coordinate, the Y-coordinate is coded by means of the position-coding recognition unit. The same cyclic sequence as used in X-coding, repeated in horizontal rows on the surface to be position-coded. More precisely for the X coordinate, each row starts at a different position in the sequence, and the different positions correspond to different bit sequences. However, for the Y coordinate, instead of using an offset, the coordinate is encoded with a value based on the start of the sequence in each row. When the X-coordinates are determined for a partial surface with 5*5 marks, for each row it is in fact possible to determine the starting positions in the sequence, and the position numbers of these starting sequences are then used in the Y-coding of the 5*5 marks, Figure 35 shows how to obtain the code of the starting position for the row sequence in the Y direction in the embodiment of the present invention, the code of the R _kth row in the figure is l, and the code of the R _k+1th row is m.

In Y-coding, the least significant number S ₀ is determined by making it the only number with a value within a certain range. In this example, to indicate that the row concerns the least significant digit S ₀ in the position code identification unit, one of the five rows begins at positions 0 to 1 in the sequence; to indicate that the other digits S ₁ , S 2 , S ₂ , S ₃ , S ₄ , and the other four lines start from any position from 2 to 6. In the Y direction there is thus a series of values, starting with the topmost row R ₀ , as follows:

(2 to 6), (2 to 6), (2 to 6), (2 to 6), (0 to 1); (2 to 6), (2 to 6), (2 to 6), (2 to 6), (0 to 1); (2 to 6), ...

Thus, each position code identification unit is coded with four values between 2 and 6 and a lowest value between 0 and 1.

If you subtract zero (0) from the lowest value and subtract two (2) from the other values, similar to the situation in the X coordinate, you can obtain the positions S ₀ , S ₁ , S in the Y direction based on the digital offset _2. S ₃ , S ₄ , from which the position number of the position code identification unit on the Y-coordinate can be directly determined, namely:

250×S ₄ +50×S ₃ +10×S ₂ +2×S ₁ +S ₀

In order to provide a further description of the present invention according to this embodiment, a specific example of the embodiment based on position coding is given below. As shown in Figure 36, the Y-coordinate is encoded based on the position number of the start sequence of each row.

In the Y-code of the position code recognition unit W1, the sequence position numbers corresponding to the horizontal bit sequence are 2, 2, 2, 2, 0. Since these horizontal bit sequences start from row 0, the position numbers of the initial sequence are 2, 2, 2, 2, 0. Then the position number is:

250×(2-2)+50×(2-2)+10×(2-2)+2×(2-2)+(0-0)＝0

That is, the row number corresponding to the first row of position code recognition unit W1 is

0×5=0

In the Y-code of the position code identification unit W2, the sequence position numbers corresponding to the horizontal bit sequence are 6, 6, 6, 6, 4. Since these horizontal bit sequences start from line 4, the position numbers of the initial sequence are 2, 2, 2, 2, 0. Then the position number can also be calculated as:

250×(2-2)+50×(2-2)+10×(2-2)+2×(2-2)+(0-0)＝0

That is, the row number corresponding to the first row of the position code recognition unit W2 is

0×5=0

In the Y-code of the position code identification unit W3, the sequence position numbers corresponding to the horizontal bit sequence are 2, 2, 2, 2, 1. Since these horizontal bit sequences start from row 0, the position numbers of the initial sequence are 2, 2, 2, 2, 1. Then the position number is:

250×(2-2)+50×(2-2)+10×(2-2)+2×(2-2)+(1-0)＝1

That is, the row number corresponding to the first row of the position code recognition unit W3 is

1×5=5

Also, in many cases, the mobile body captures local cells of the coded pattern that include 5x5 marks, but also contain parts of two Y-coded position numbers. At this time, since the value of the least significant digit is always 0 or 1, the complete position number can be easily constructed, and the column number of the first column of the local unit can be obtained.

In the Y-code of the position code recognition unit W4, the sequence position numbers corresponding to the horizontal bit sequence are 1, 1, 0, 1, 1. Since these horizontal bit sequences start from row 7 (C ₆ ), that is, the position number of the start sequence is these values minus 6 modulo 7, and the position numbers 2, 2, 1, 2, 2 of the start position are obtained. Then the position number is:

250×(2-2)+50×(2-2)+10×(2-2)+2×(2-2)+(1-0)＝1

Since the least significant bit is at the third bit and not at the end, the row number corresponding to the first row of the position code identification unit W4 is:

1×5+(5-3)＝7

So far, the coordinates of the leftmost column and the top row of the four position code recognition units of W1, W2, W3, and W4 can be completely calculated—W1(0,0), W2(4,0), W3(0,5 ), W4(6,7).

1.3. Joint encoding of XY coordinates

As shown in Fig. 37 and Fig. 38, according to the X-coordinate code, the Y-coordinate code and the binary position code value, a complete coding pattern can be constructed.

Using the above method, it is possible to encode 4*4*4*2=128 position numbers in the X direction for a position encoding identification unit with a size of 5*5. Each position code identification unit includes four offsets, and there are four situations where the minimum offset △ ₀ appears, and 4*128=512 columns or X coordinates are obtained. In addition, it is possible to encode 5*5*5*5*2=1250 position numbers in the Y direction to the position code identification unit. Each such position number consists of 5 rows of horizontal bit sequences, resulting in 5*1250=6250 rows or Y coordinates. A total of 512*6250=3,200,000 coordinate positions can thus be encoded.

However, since X-coding is based on offsets, if one considers that the first sequence can start at seven different positions, it is possible to encode 7*3,000,000 = 22,400,000 positions for 7 different encoding patterns. When the X and Y coordinates have been determined, the starting position of the first sequence in the first column K ₀ can be calculated.

1.4. Rotation correction method of position code recognition unit

The partial surface read by the image sensor can have four different rotational positions, 0°, 90°, 180° or 270° with respect to the position-coding recognition unit. The code to be read is position-reversed and bit-flipped in either the X-direction or the Y-direction, or both, compared to the case of .

If the next bit in the bit sequence is added to the four bit sequence, a five bit sequence is obtained. The feature of the above position coding sequence 0 0 0 1 0 1 0 is that it only contains two "1", and all five-bit sequences must contain at least three 0's. However, the partial surface will likely be recognized as three 1's after rotation, so if it is found that the five-digit sequence has no position number in the bit array, it can be concluded that the partial surface should probably be rotated and the rotation correction should be performed .

An example is given here to illustrate the rotation correction method of the position code recognition unit.

Taking the position code recognition unit W4 in FIG. 38 as an example, when there is no rotation direction, it is assumed that these marked points are captured by the optical unit 112 . These 5*5 markers will be decoded to the following values:

As shown in Figure 39, rotate the position code recognition unit W4 clockwise by 0°, 90°, 180° and 270°.

When the position code recognition unit W4 rotates 0 degrees clockwise, after these values are further decoded into binary X- and Y-coded values, it can be seen that each column of the X code contains at least three 0s, and each row of the Y code , also contain at least three 0s, which meet the verification requirements, indicating that the angle has not been rotated.

When the position code recognition unit W4 is rotated 90 degrees clockwise and then captured by the optical unit 112, it can be found that each column of the X-code contains at least three zeros, while each row of the Y-code does not satisfy at least three zeros. Including the requirement of three zeros, it can be judged that the code recognition unit has been rotated 90 degrees clockwise.

When the position code recognition unit W4 rotates 180 degrees clockwise and is captured by the optical unit 112, it can be found that the columns of the X-code and the rows of the Y-code after decoding do not meet the requirement of at least three zeros. At this time, it can be judged that the code recognition unit has been rotated 180 degrees clockwise.

When the position code recognition unit W4 rotates 270 degrees clockwise and is captured by the optical unit 112, it can be found that each column of the X-code does not meet the requirement of at least three zeros, while each row of the Y-code does not satisfy the requirement of at least three zeros. If it contains at least three zeros, it can be judged that the code recognition unit has been rotated 270 degrees clockwise.

Therefore, among the above four angles, only one direction can be decoded correctly.

When the decoded 5*5 matrix does not meet the requirements, the current rotation position (90°, 180° or 270°) of the 5*5 position coding recognition unit can be deduced according to the wrong position of the row or column. Alternatively, the control unit 111 may also rotate the matrix, and perform a corresponding transformation on each element value until it can be decoded correctly. At this time, the control unit 111 can also know the relative rotation angle between the encoding pattern and the moving body.

1.5. An example is given below

In practical applications, the present disclosure adopts a five-bit cyclic bit sequence with a length of 18, that is, a cyclic bit sequence composed of 0 and 1 is generated, and its 5-bit subsequence only appears once if it exists, that is, a A five-bit quasi-De Bruin bit sequence of length 18.

0 0 0 0 1 0 0 1 1 1 0 1 1 0 1 0 1 1

For each five-bit subsequence, its position number is between 0-17.

In this example, each position is identified by an encoding consisting of 6*6 markers, thus resulting in six vertical bit sequences and five offsets for encoding the X-coordinate, each offset at 0 Between -17.

because

18＝2×3×3

A bijective φ can be constructed, for each offset r∈{0,…,17}, there is a unique (a ₁ ,a ₂ ,a ₃ )∈{(a ₁ ,a ₂ ,a ₃ )| a ₁ ,a ₃ ∈{0,1,2},a ₂ ∈{0,1}}, we can make:

r＝6a ₃ +3a ₂ +a ₁

That is, φ(r)=(φ ₁ (r),φ ₂ (r),φ ₃ (r))=(a ₁ ,a ₂ ,a ₃ ).

For l from 1 to 3, define the secondary sequence {a _l,n } _n≥1 , the sequences {a _1,n } _n≥1 and {a _3,n } _n≥1 are composed of five The quasi-De Bruin sequence of the first-order alphabet {0,1,2} is repeatedly formed, while the sequence {a _2,n } _{n≥1 is} formed by repeating the quasi-DeBruin sequence of the fifth-order alphabet {0,1} of length 29 Lu Yin sequence formed. The lengths of these quasi-De Bruin sequences are selected as relatively prime numbers, so that the least common multiple of all lengths is their product, that is, lcm(236,241,29)=236·241·29=1,649,404.

Therefore, for d _k in any offset sequence, there is d _k = φ ^-1 ((a _1,k ,a _2,k ,a _3,k )), meaning that the offset sequence of length 5 Any subsequence occurs every 1,649,404 elements.

For both the X-coordinate and the Y-coordinate, the above-mentioned coding method can be adopted, and a total of 1,649,404 ² ≈2.7×10 ¹² unique coordinates can be coded. Assuming that the distance between the virtual grid lines is 0.5mm, using this example, a plane with a size of about 824,702m×824,702m can be encoded, which is about 9.5×10 ⁷ standard football fields.

So far it has been assumed that the moving body perceives the pattern of position-coding units without any rotation. However, in a real-world environment, the 6*6 matrix may be rotated by 0°, 90°, 180° or 270°, and the points may still represent the correct encoded information. So a choice among these four has to be made before doing the actual decoding.

There are 3 wrong choices, each of which will cause at least one axis to be read in the opposite direction. Reading a point in the opposite direction is equivalent to reversing the position of the encoded sequence and flipping the bits. Therefore, a mechanism to detect this action is required. This is ensured by choosing the main number sequence such that the 6-bit length bit sequence in the above five-bit cyclic bit sequence occurs only once and never in the form of bitwise inversion and reversed position.

For example, the 6-bit length subsequence 0 0 0 0 1 0 occurs only once in the above sequence, but the bitwise inversion of the 6-bit length bit sequence 0 0 0 0 1 0 and the reversed position sequence 1 0 1 1 1 1 is not in the above sequence.

Therefore, if a 6-digit long bit sequence in some row or column is not found in the main number sequence, the direction containing the row or column must be read in the wrong direction and can be wrong according to the row or column Position, deduce the current rotational position (90°, 180° or 270°) of the 6*6 position encoding unit. Specifically: when the position encoding unit rotates 90°, the column satisfies the condition, but the row does not meet the condition; when the position encoding unit rotates 180°, neither the row nor the column meets the condition; when the position encoding unit rotates 270° , the row satisfies the condition and the column does not.

When the rotational position is known, the position encoding unit can be rotated to the correct position before decoding.

Compared with the existing positioning methods, the continuous optical identification code method used in the embodiments of the present disclosure can set the distance between adjacent parallel virtual grid lines to about 0.5mm, so the system can have submillimeter level positioning accuracy (up to 0.3-0.6mm), and the image sensor module needs to recognize a small field of view, which can further reduce the resolution requirements of the image sensor module, with high precision, low cost, small size, low power consumption, and computational efficiency. High, strong redundancy, can accurately obtain the advantages of rotation angle.

At the same time, according to the existing scheme of constructing coding patterns based on De Bruin sequences, although the position coding units at different rotation angles can also be corrected and decoded correctly, the image sensor needs to additionally identify multiple rows or/and columns. For example, in order to correctly decode 4*4 position encoding units with different rotation directions, the image sensor needs to identify recognition points within a 5*5 range, which means fewer positions that can be encoded. Whereas the present disclosure will be used to correct for the increased rows and columns for rotation, it is also used to encode X and Y coordinates, thus being able to encode more positions. Taking the identification of a position encoding unit with a size of 5*5 as an example, in the case of using the same four-bit sequence, only 672,000 positions can be encoded, while the embodiment of the present disclosure can encode 3,200,000 positions.

Therefore, the embodiment of the present disclosure proposes a method of obtaining the rotation angle of the moving body relative to the positioning pad on the basis of referring to the existing encoding method to obtain the position information of the moving body, so as to better understand the movement of a single moving body and the clustering of multiple moving bodies. Make planning and control; and improve the problem of correcting the rotation of the position encoding unit and correct decoding, so that the system can encode more position information under the condition of the same main number sequence and the same field of view of the image sensor.

1.6. Optical identification code change method

A mobile body group control system, wherein, in the above embodiment, each optical identification code is in one-to-one correspondence with the position coordinates on the positioning mat 30 . However, in some usage scenarios, it is desired to transmit specific instructions to the mobile body 10 by means of optical identification codes, and it is desired to direct all optical identification codes in a certain area to a unique instruction, as shown in FIG. Similar to the printed visual patterns 31 and coded patterns 32 , but the instruction card 71 is intended to make the mobile body 10 perform instructions such as forward, rotate, turn on the volume, and turn off the display, rather than defining coordinate positions.

The present disclosure provides two other variation methods of the optical identification code to meet such scenarios.

1.6.1. Utilize the unused optical identification code of the positioning pad

Since the optical identification code encoding method of the present invention can encode a large number of position coding units, in most cases, the positioning mat 30 can only use a very small number of position coding units.

The position coding units that are not occupied by the positioning pad 30 can be printed on the instruction card 71 , and all position coordinates on each instruction card are associated with expected instructions in the control unit 111 .

1.6.2. Generate a new type of cyclic optical identification code

When encoding the position encoding units on the place mat 30, restrictions have been imposed on the encoding rules for the X-coordinate and the Y-coordinate.

Taking the above-mentioned embodiment as an example, when encoding the X coordinate: For the four offsets, one of the offsets △ ₀ is always a value of 1 or 2, which refers to the position used to represent the position coding identification unit in the X direction. The least significant digit S ₀ of the number. The values of the other three offsets Δ ₁ , Δ ₂ , Δ ₃ are all in the range of 3-6, and they refer to the three most significant digits S ₁ , S ₂ , S ₃ of the coordinates for the position-coding identification unit.

When encoding the Y coordinate: the least significant number S ₀ is determined by making it the only number with a value within a certain range. To indicate that this row concerns the least significant digit S ₀ in the position code identification unit, one of the five rows begins at positions 0 to 1 in the sequence; to indicate the other digits S ₁ , S ₂ , S ₃ , S ₄ in the code window , and the other four lines start anywhere from 2 to 6.

When encoding an instruction card 71, different rules may be used. like:

When encoding the X coordinate: one of the offsets △ ₀ is always 0, which refers to the least significant digit S ₀ of the number used to represent the position of the position encoding identification unit in the X direction. The values of the other three offsets Δ ₁ , Δ ₂ , Δ ₃ are all in the range of 3-6, and they refer to the three most significant digits S ₁ , S ₂ , S ₃ of the coordinates for the position-coding identification unit. And the four offsets are continuously cycled in the X direction, such as:

(0), (3), (4), (5); (0), (3), (4), (5); (0), (3), (4), (5); ...

When encoding the Y coordinate: one of the offsets △ ₀ is always 1, which refers to the least significant digit S ₀ of the number used to indicate the position of the position encoding identification unit in the Y direction. The values of the other three offsets Δ ₁ , Δ ₂ , Δ ₃ are all in the range of 3-6, and they refer to the three most significant digits S ₁ , S ₂ , S ₃ of the coordinates for the position-coding identification unit. And the four offsets are continuously cycled in the X direction, such as:

(1), (4), (5), (6); (1), (4), (5), (6); (1), (4), (5), (6); ... The number value of the instruction card 71 can be uniquely specified as:

X＝16×S ₃ +4×S ₂ +1×S ₁

Y＝16×S ₄ +4×S ₃ +1×S ₂

In the example above, the ID values are:

X＝16×S ₃ +4×S ₂ +1×S ₁

=16×(5-3)+4×(4-3)+1×(3-3)

=36

Y＝16×S ₄ +4×S ₃ +1×S ₂

=16×(6-3)+4×(5-3)+1×(4-3)

=57

Then the serial number of the instruction is (36, 57), for example, the serial number may correspond to the "forward" instruction. Based on this method, 64*64=4096 kinds of information can be encoded, which can meet the quantity requirement of the instruction card 71 . And for any area on the instruction card 71, only the unique numbering value can only be read out.

Since the same position sequence is adopted, the coding pattern on the instruction card 71 also has the feature of rotation correction, and the mobile body 10 can read the correct coding information from various angles.

Therefore, the embodiments of the present disclosure propose an encoding method for an instruction encoding pattern based on a position encoding pattern, which can identify an encoding pattern in a certain area as a specific instruction without conflicting with the position encoding pattern.

2. Single moving object decoding and positioning method

According to one or more embodiments, a mobile body cluster control system, wherein the decoding and positioning method for a single mobile body is as follows.

Figure 40 shows an example of decoding steps for the position encoding unit provided by the present disclosure. After the image acquired by the optical unit 112 undergoes image processing, grid estimation, probability processing, and pose calculation, the location of the moving body 10 can be obtained. The coordinates (x, y) on the pad 30 and the rotation direction θ relative to the positioning pad 30 .

2.1. Image processing

Due to the short distance between the optical unit 112 and the positioning pad 30 in practical applications, the image sensor module 112a may use a wide-angle lens to expand the imaging area as much as possible while reducing the height of the image sensor module 112a. This generally results in barrel distortion, so the control unit 111 first corrects the image for barrel distortion.

Then, the image is processed by global thresholding and blob thresholding algorithms, and the centroids of blobs correspond to the locations of points.

2.2. Grid Estimation

As shown in FIG. 41 , it is the image collected by the image sensor, the image processed in the first step, and the position of each marker point 41 has been obtained at this time.

In order to find an initial grid estimate, a neighborhood connection of marked points 41 is used: for each marked point 41, the four nearest neighbors are first determined, and then each marked point 41 is connected to the four nearest neighbors, A marked line 52 (dotted line in the figure) is formed.

Further, among all the marked point lines 52 in the field of view, all the shortest marked point lines 53 (black solid lines in the figure) are found, and the pixel size of the shortest marked point line 53 in the field of view can be calculated.

As shown in Fig. 41-Fig. 43, it can be seen from the distribution law of the marked point 41 relative to the network point 43 in Fig. 32: only when the network coordinates of a pair of marked points are adjacent on the u and v axes, the shortest marked point connection will be generated 53.

Since the distance δ between the offset virtual grid points 43 of the stipulation mark point 42 is 1/6 of the adjacent virtual grid line spacing d in this example, therefore, the length of the shortest mark point connection line 53 is the adjacent virtual grid 2/3 of the line spacing d.

Thus, the pixel size d between adjacent virtual grid lines in the field of view can be calculated according to the pixel size of the shortest line 53 between marked points in the field of view, and the length of this dimension can be used as the unit length of the vector base {u, v}.

Further, one end point 54 of the shortest marked point line 54 can be used as the starting point, and the point extending outward along the shortest marked point line 53 for a distance of δ=d/6 can be used as the origin of the vector basis {u, v}. The u direction is defined as extending outward along the shortest marking point connecting line 53, and a v direction perpendicular to the u direction is further obtained.

Further, the rotation direction θ of the vector basis {u, v} in the field of view is the rotation direction θ between the mobile body 10 and the positioning pad 30 .

After the vector basis {u, v} is obtained, u, v can be used as the reference to estimate the virtual grid line 42 and obtain the pixel coordinates of all virtual grid points 43 within the field of view.

In addition to the above-mentioned method for realizing grid estimation by finding the shortest marked point connection 53, the present invention proposes another method for grid estimation:

After finding all the marked point lines 52 in the field of view, all the marked point lines 52 are represented by a downward vector, and then a clustering algorithm is used for the end point of the vector. Since the marked points 41 basically obey the random uniform distribution, the direction towards the centroid of the points connecting the starting point and the clustering is basically the direction of the virtual grid line 42, and the distance between the starting point and the centroid of the points obtained by clustering can be as the distance between adjacent virtual grid lines 42 .

2.3. Probability processing

Due to errors generated in steps such as image acquisition, image processing, and network estimation, it is impossible for the marker point 41 to be absolutely ideally positioned directly above, directly to the left, directly to the right, and directly below the virtual grid point 43 .

The probabilistic processing step aims at calculating the probability that each marked point 41 is assigned one of the four symbols (up, down, left, right).

Assuming that the drift of the marker point 41 relative to the virtual grid point 43 obeys a Gaussian distribution, by constructing a quasi-probability distribution function, the probability that each marker point 41 correctly represents the symbol 0 or 1 on the X-coordinate and Y-coordinate can be determined.

After processing according to the above probability, the best 6*6 position coding area is further selected, so that the position coding area has the smallest possibility of decoding error.

2.4. Pose calculation

When the position sequence and secondary sequence of the mobile body are known, after correcting the rotation direction of the position coding unit (referring to 0°, 90°, 180°, 270°), the coordinates (x, y).

According to the probability value of each marker point 41 in the best 6*6 position coding area, the grid can also be further adjusted and optimized through the algorithm to obtain the absolute grid coordinates, and output the adjusted and optimized coordinates (x, y) and θ values.

2.5. Single moving body positioning and navigation control

Fig. 44 is an example diagram of the positioning and navigation control method for a single mobile object in the present invention.

The control unit 111 controls the motion module 120 through the drive unit 114 to control the moving direction and speed of the mobile body 10 . The optical unit 112 captures the coding pattern 32 directly below the moving body 10 in real time, and transmits the acquired image data to the control unit 111 for decoding, so as to calculate the measured position (x, y) and the measured angle θ, and compare them with the expected An error comparison is performed between the position (x, y) and the expected speed, and a control algorithm is used to perform feedback correction on the position and speed, and then send a new control signal to the drive unit 114 . This cycle realizes precise position and speed closed-loop control.

The above-mentioned measured position (x, y) and the measured angle θ can be sent to the external device through the communication unit 115; Obtained from an external device.

3. Multi-moving body swarm control method

According to one or more embodiments, a mobile body group control system, wherein a plurality of mobile body group control methods are as follows.

Figure 45 is a schematic configuration diagram of the multi-mobile cluster control of the present invention. It is sufficient to place multiple mobile bodies 10 on the same positioning pad 30 .

Fig. 46 is an example diagram of a multi-mobile body cluster control method according to the present invention. When constructing a multi-moving body cluster control system, it is necessary to have a processing device 61 with communication capabilities, which senses the pose information and activity event logic of several or all moving bodies 10 through wireless communication, and then deploys each moving body through a cluster control algorithm. The movement of the mobile body 10, and transmit instructions to each mobile body 10 through wireless communication, and control the movement of the mobile body 10.

The group architecture of the mobile body 10 can be centralized, distributed or mixed.

Figure 47 is an example diagram of a communication method for cluster control of multiple mobile bodies in the present invention, adopting a centralized group architecture. Wherein, the processing device 61 may be a computer device, or may be a certain mobile body 10 .

Figure 48 is an example diagram of another communication method for cluster control of multiple mobile bodies in the present invention, which adopts a distributed group architecture. Among them, each mobile body 10 is in an equal relationship, and information such as pose information and control instructions can be transmitted and received from each other.

Figure 49 is an example diagram of another communication method for multi-mobile group control in the present invention, which adopts a hybrid group architecture, which is a hybrid structure between centralized and distributed. Among them, the processing device 61 can receive and process the pose information from each mobile body 10, and can also transmit control instructions to each mobile body 10; at the same time, each mobile body 10 can also transmit and receive pose information and control instructions from each other. and other information.

According to one or more embodiments, a mobile body cluster control system, for the mobile body, in the above example, the physical carrier of the circuit module 110 of the mobile body 10 - the circuit board 11 and the circuit board 12 are printed circuit boards (PCB ), but it can also be a flexible circuit board (FPC), or any other way that can communicate with each unit.

In the above examples, the control unit 111 of the mobile body 10 is a single-chip microcontroller, but the control unit 111 can be any computing device such as a computer, FPGA, server, tablet, or mobile phone.

In the above examples, the driving unit 114 is only used to drive the motion module 120, but it can also be used to drive other devices. For example, the drive unit 114 can drive the electromagnet, steering gear or motor inside the moving body 10 , so that the moving body 10 has the capability of self-controlling and connecting and separating the external module 20 .

In the above example, the motion module 120 of the mobile body 10 adopts a two-wheel differential mobile chassis, but the relative position between the driving wheel 122 and the universal wheel 123 is not limited. And the motion module 120 can also adopt an all-round mobile chassis such as an air suspension type, an all-wheel steering type, a mecanum wheel type, and a ball track omnidirectional mobile mechanism. The motion module 120 may not only be a wheel-type moving mechanism, but also a crawler-type moving mechanism or a foot-type moving mechanism. The mobile body 10 may also not include an active motion module 120 , and may be moved by means of being picked up and pushed by human hands.

As far as the position of the external module 20 relative to the mobile body 10 is concerned, the external module 20 can be connected to the front, top, side, rear, bottom or a combination of multiple of the mobile body 10 .

As far as the motion mode of the external module 20 is concerned, the external module 20 can move together with the mobile body 10, and can drive the mobile body 10 to move (such as a drive wheel is installed on the external module 20, and the mobile body 10 is placed on the side of the external module 20). upper part), or not move with the mobile body 10 (as the external module 20 fixed on the positioning pad 30, only the mobile body 10 and this external module can be controlled by communication when they are close to and connected).

As far as the functions of the external module 20 are concerned, the external module can function as a sensor module, an actuator module, a display module, a modeling module, a charging module, etc., or a combination of the above functions.

As far as the connection method (the method of transmitting information or energy) between the external module 20 and the mobile body 10 is concerned, various methods or combinations such as mechanical connection, electrical connection, magnetic connection, wireless connection, etc. may be used.

According to one or more embodiments, a mobile body swarm control system, wherein, in the above example, the positioning pad 30 is a rigid rectangular paper plane with single layer and single side printing. However:

The positioning pad 30 is not limited to a single layer, and may also be multi-layered. If the bottom layer is made of opaque material printed with a visible pattern 31, and the top layer is made of a transparent or translucent material printed with a coded pattern 32, the two layers can be glued and fixed, or can be used separately.

The positioning pad 30 is not limited to single-sided printing, and may also be double-sided printing. Therefore, different visible patterns 31 and coding patterns 32 can be printed on the front and back of the positioning mat 30, and the positioning mat can be used in different scenarios.

The material of the positioning pad 30 is not limited to paper, and can be various materials such as plastic, cloth, rubber, etc., and can also be electronic screens or surfaces such as LED, electronic ink screen, LCD, OLED, etc., and the coding pattern 32 is displayed on the screen. This makes it easier to configure the visible pattern 31 and the coded pattern 32 in the placemat 30 .

The planar shape of the positioning pad 30 is not limited to a rectangle, but can be any shape. Such as regular triangles, pentagons, hexagons, circles, etc., can also be irregular polygons or curves.

The shape of the positioning pad 30 is not limited to a plane, but also can be three-dimensional. For example, the positioning pad can be folded into a certain spatial shape, or it can originally have a three-dimensional shape.

The number of positioning pads 30 is not limited to one, and may also be multiple. If multiple positioning pads 30 are spliced together, the mobile body 10 can move across multiple positioning pads 30 through an appropriate algorithm and still obtain its own coordinates. Can enrich the playing method of positioning pad 30 like this.

In the above invention example, the visible pattern 31 on the positioning pad 30 is printed in four colors, and the coding pattern 32 is printed with an infrared-absorbing material. However, both types of patterns can be printed by materials that absorb, reflect or excite the visible spectrum, infrared spectrum (NIR), infrared spectrum (IR) or ultraviolet spectrum (UV), as long as the coding pattern 32 can be correctly identified.

According to one or more embodiments, a method for encoding and decoding a continuous optical identification code, a mobile body equipped with an optical unit and capable of decoding the optical identification code proposed in the present disclosure to obtain position coordinates and rotation angles, can be attached to a mobile An external module on the body, a positioning pad printed with an optical identification code, and a method and system for realizing cluster control by means of multiple moving bodies.

Mobile body—consists of a circuit module, a motion module, a battery module, a housing module, etc., and the circuit module includes a control unit, an optical unit, a power supply unit, a drive unit, a communication unit, a sensing unit, a display unit, a sound unit, Extension unit and other units. The key point is that it has the functions of moving on a plane, recognizing the optical identification code on the plane, attaching external modules, and being able to communicate with external devices.

Among them, the optical unit includes an image sensor module and a supplementary light, and the supplementary light should work in the sensitive area of the image sensor module.

The expansion unit includes the connection device and the electrical interface. The connection device can be a magnetic connection structure, a slot buckle structure, and the connection device can also be an electromagnet device, a structure that can control the direction of the magnetic field, etc., so that the mobile body can control itself and connect or separate the external module; the electrical interface includes a power interface. And the bus signal, it can provide power supply and two-way data communication to the external module in time, and can also use the addressing function of the bus to distinguish the types of different external modules connected.

Positioning mat - the positioning mat has a visible pattern that can be directly observed by the naked eye, and a coded pattern that can be collected by the optical unit of the moving body. The visible pattern and the coding pattern are respectively printed with materials that absorb/reflect visible light or invisible light.

External Modules - External modules contain mechanical and electrical connections that match the expansion unit. The external module can be configured as a sensor module, an actuator module, a display module, a styling module, a charging module or a functional combination of various modules.

The methods involved in the mobile cluster control system of the present disclosure include: a position code recognition unit configuration method, a single mobile body decoding and positioning method, and a multi-mobile body cluster control method.

Configuration method of the position coding recognition unit - define four marking points and corresponding values through the direction of the marking point offset from the virtual grid line, corresponding to the 01 codes of X and Y respectively. Design a cyclic bit sequence. For the X coordinate, the X coordinate position number is defined according to the offset of the cyclic bit sequence between the columns; for the Y coordinate, the value of the starting position of the sequence in each row or according to the The offset of the cyclic bit sequence defines the Y coordinate position number. With the help of the characteristics of the cyclic bit sequence in the higher bit sequence, the correct correction of the coding of different rotation directions is realized.

For the different requirements of the positioning pad and the instruction card, a method of using two kinds of coding in the same system to realize the difference is proposed, and the two coding methods do not interfere with each other.

Single moving body decoding and positioning method - after the image acquired by the optical unit is processed by the control unit for image processing, grid estimation, probability processing, and pose calculation, the coordinates (x, y) of the moving body on the positioning mat and Relative to the rotation direction θ of the positioning pad. Furthermore, the movement of the mobile body can be fed back.

Multi-moving body cluster control method - with the help of processing equipment with communication capabilities, the pose information and activity event logic of the moving body are perceived through wireless communication, and then the movement of each moving body is allocated through the cluster control algorithm, and the wireless communication method Send instructions to each moving body to control the movement of the moving body.

Based on the above technical solutions, the beneficial effects of the present invention include:

1. One-to-one correspondence between the micro-optical identification code printed on the plane and the position coordinates, the absolute coordinates of the moving body on the positioning pad can be obtained without accumulative errors.

2. It has unlimited scalability, and each mobile body can position itself.

3. Compared with the OID coding pattern providing instructions to the moving body, the present disclosure is designed to work while moving and can be used for real-time trajectory tracking of the moving body.

4. No calibration required.

5. Insensitive to ambient light sources, as long as the device stays on the surface, it can completely resist occlusion and lighting conditions.

6. The deployment is simple and fast, and the positioning pad can be printed, transported, carried and stored more conveniently.

7. The coding pattern is printed with materials that absorb invisible light, which can be covered on the visible pattern without affecting the appearance.

8. Improve the encoding and decoding method, the positioning accuracy is improved from millimeter level to sub-millimeter level, and the rotation angle of the moving object under each frame of image can be calculated by algorithm.

9. Improve the encoding and decoding methods, and can encode and decode more positional information under the condition that the length of the positional encoding sequence is the same and the field of view of the image sensor is the same.

10. The working area is limited only by the size of the locating pad, if the stitching can be calibrated, multiple locating pads can be stitched together to cover a larger area.

11. Multiple encodings can be used in the same system to distinguish positions and instructions, and multiple encoding methods do not interfere with each other.

It should be understood that in the embodiments of the present invention, the term "and/or" is only an association relationship describing associated objects, indicating that there may be three relationships. For example, A and/or B may mean that A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the relationship between hardware and software Interchangeability. In the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the technical scope disclosed in the present invention. Modifications or replacements shall all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (14)

1. A mobile body control system, characterized in that the system comprises, At least one mobile body, the mobile body autonomously moves on a surface with a coded pattern, and the mobile body can obtain its own coordinate position and rotation angle information according to the obtained coded pattern. 2. The moving body control system according to claim 1, wherein the coding pattern is printed on the surface of a positioning mat. 3. The mobile body control system according to claim 1, wherein the mobile body has an external module, and the external module is used to complete predetermined functions. 4. The mobile body control system according to claim 1, characterized in that there are multiple mobile bodies, and the mobile bodies can communicate with each other or with other external devices in a wireless manner. 5. The mobile body control system according to claim 2, wherein the coding pattern consists of virtual grid points arranged uniformly along the Cartesian coordinates X and Y axis directions of the surface, and virtual grid points corresponding to each virtual grid point It is composed of visible markers offset along the positive or negative direction of the X or Y axis, and the binary assignments of the Cartesian coordinates X and Y axes of each visible marker are constructed respectively according to the different offset positions of the visible markers is a cyclic bit sequence that conforms to the De Bruin sequence rule. 6. mobile body control system according to claim 5, is characterized in that, described cyclic bit sequence is based on a kind of position code, and the structure of this position code conforms to the De Bruin sequence rule of B(2,n), namely The position code consists of a bit sequence of 1 or 0, The encoding feature of the position encoding sequence is that each encoding generates an n-bit long bit sequence that is unique, and the encoding of the position encoding sequence is cyclic, so that, When the tail end of the position-coding sequence is connected to its head-end, it has the feature that the n-bit long bit sequence always has a uniquely determined position number in the position-coding sequence. 7. The mobile body control system according to claim 6, wherein the position code also possesses the following features: The bit sequence encoding of each (n+m) bit length in the position encoding sequence is unique, and excludes the bitwise inversion and the encoding form of inverting the position, where m≥1, Such that when the encoding pattern is rotated by 90°, 180° or 270°, the direction in which the encoding pattern is rotated is determined by identifying a bit sequence of (n+m) bit length in a plurality of rows and columns. 8. The mobile body control system according to claim 6, wherein: The X-coordinate coding method of the coding pattern is to define the X-coordinate position number according to the offset of the position coding between each column and/or the value of the starting position of the sequence in each column, and then determine the X-coordinate; The Y coordinate encoding method is to define the Y coordinate position number according to the offset of the position encoding between each row and/or the value of the starting position of the sequence in each row, and then determine the Y coordinate. 9. The mobile body control system according to claim 6, characterized in that, the position coordinates of the surface correspond one-to-one to the code recognition unit formed by a plurality of visible marking points of the code pattern in the area, that is, the mobile body can pass through Decode the code recognition unit composed of multiple visible marking points in the moving area to calculate the position coordinates of the area. 10. The mobile body control system according to claim 7, wherein the judgment of the rotation direction of the mobile body includes correcting the calculation of the rotation direction by decoding the position code of the coding pattern. nuclear. 11. The mobile object control system according to claim 5, wherein the unused marking points in the encoding pattern can be encoded as preset instructions for the mobile object. 12. A mobile body used in the control system according to claim 1, characterized in that the mobile body has an expansion unit, and the expansion unit includes a connection device and an electrical interface for connecting a preset external module. 13. The mobile body according to claim 8, wherein the external module can be configured as one or a combination of a sensor module, an actuator module, a display module, or a modeling module. 14. A surface used in the control system according to claim 1, characterized in that the surface has a coding pattern printed with a material that absorbs/reflects visible light or invisible light.

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