CN101183265A - Automatic guidance system based on radio frequency identification tag and vision and method thereof - Google Patents
Automatic guidance system based on radio frequency identification tag and vision and method thereof Download PDFInfo
- Publication number
- CN101183265A CN101183265A CNA2007101568638A CN200710156863A CN101183265A CN 101183265 A CN101183265 A CN 101183265A CN A2007101568638 A CNA2007101568638 A CN A2007101568638A CN 200710156863 A CN200710156863 A CN 200710156863A CN 101183265 A CN101183265 A CN 101183265A
- Authority
- CN
- China
- Prior art keywords
- rfid tag
- potentiometer
- information
- vision
- character
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic guidance system based on radio frequency identification labels and vision, and the method of the automatic guidance system. The invention is characterized in adopting a four-wheel structure, wherein two front wheels are used for steering and two rear wheels are used for driving; a direct current motor is used as the travelling and driving device, which is driven to steer by a stepping motor; the invention is provided with a wheel steering angle positioning device, so the invention has relatively high dynamic response ability; a black and white parallel guide belt is adopted as a guide path, with the radio frequency identification labels discontinuously laid below, and red work station characters arranged at both sides; CCD collects road surface information, and the brightness of light source adaptive controls according to image gray information; characters are extracted by utilizing color differences; straight lines are rapidly HOUGH transformed and identified; a control signal is sent to AGV controller after processed by an industrial control computer, and the direct current motor and the stepping motor are controlled. In order to effectively realize the communication dispatch between AGVS in real time, radio frequency identification labels are adopted for positioning, and a wireless transceiver module is adopted for communication between AGVS and a host. The invention has the advantages of good environmental adaptability and navigation precision, and lower cost.
Description
Technical field
The present invention relates to the Logistics Equipment technical field, relate in particular to a kind of automatic guidance system and method thereof based on RFID tag and vision.
Background technology
AGV (automatic guided vehicle) technology is an important embodiment of production logistics robotization advance, the guidance mode of AGV has determined the flexibility of its constituent streaming system at present, be that can decision AGV further be applied to key factor more complicated, abominable working environment, and then also affect logistics system reliability of operation and operating cost.At present, in the guidance method that is studied development and application, mainly contain: method, witness marker method, inertial navigation method and pattern-recognition method etc. are inferred in induction, optical navigation formula, chemical guiding type, magnetic inductive, position.Wherein, the vision guide technology has that information capacity is big, the path is provided with that change is simple and convenient, flexible good, the advanced technology of guiding, advantage such as high performance price ratio more, having broad application prospects, is the main flow direction of current AGV bootstrap technique and the inexorable trend of development.Yet on the China market, existing production is laid particular stress on large warehoused based on the producer of the AGVS of vision guide owing to application, more consideration versatilities, function seem too various, add reasons such as technology path, price is still expensive, and the ratio of performance to price still lacks the market competitiveness.Price can not be accepted by general enterprise, thereby has limited the AGV popularization in market at home, especially is difficult to be accepted by medium and small sized enterprises and use.
Exploitation is satisfied the needs that the logistics of middle-size and small-size manufacturing enterprise is transformed based on the production logistics intelligence delivery system of economy AGV, and this had both met the present situation of Industrial-Enterprises in China, also was to build the realistic problem that presses for solution in the process of advanced manufacturing industry base.
Summary of the invention
The purpose of this invention is to provide a kind of automatic guidance system and method thereof based on RFID tag and vision.
Automatic guidance system based on RFID tag and vision comprises car body, the car body bottom is provided with first deflecting roller, second deflecting roller, first driving wheel, second driving wheel, middle axostylus axostyle, be provided with drive motor in the car body, drive motor and electrodeless variable-speed case, drive motor controller, first accumulator, second accumulator is connected, it is characterized in that comprising land marking and onboard system two parts, land marking is: be provided with two parallel steering tapes of black and white on ground, the steering tape both sides are provided with red station character, steering tape has RFID (RFID tag), onboard system is: be provided with first in the car body rear end and keep away the barrier sensor, second keeps away the barrier sensor, be provided with the 3rd at the car body front end and keep away the barrier sensor, the 4th keeps away the barrier sensor, the CCD camera, variable light source, the light-source brightness adjustment module, the antenna of radio receiving transmitting module, in car body, be provided with stepper motor, being provided with fluted disc on stepper motor and middle axostylus axostyle pays, at the middle axostylus axostyle wheel rotary angle transmitter of getting on the bus, the wheel steering driving mechanism, in car body, be provided with industrial control computer, inverter, the RFID tag read write line, industrial control computer and CCD camera, radio receiving transmitting module, the RFID tag read write line, first transformer, the homing guidance vehicle controller is connected, guide vehicle controller and stepper motor driver, the start-up control module, second transformer is connected, the inverter and first transformer, second transformer, the 3rd transformer, first accumulator, second accumulator is connected, the RFID tag read write line is connected with receiving antenna, is provided with the external manual operation button of controller in the car body outside, the state display module, be provided with steering indicating light at the car body rear side, alarm lamp.
Described wheel steering angle sensor comprises potentiometer fixed part, potentiometer rotating part, the potentiometer rotating part by fixedly U type slot, locking knob, be fixed in the axostylus axostyle upper end, the potentiometer rotating part is provided with potentiometer first pin, potentiometer second pin, potentiometer the 3rd pin, the potentiometer fixed part is connected with connecting link, support, and support is connected with car body.
Described wheel steering driving mechanism comprises swing arm, swing arm is connected with vehicle frame by bearing pin, swing arm is connected with the transmission shaft of first deflecting roller, second deflecting roller by interior hexagonal coupling bolt, set bolt, and transmission shaft is connected with vibroshock, and vibroshock is connected with vehicle frame.
Described homing guidance vehicle controller comprises the PIC18F452 single-chip microcomputer, PIC18F452 single-chip microcomputer and wheel steering angle A/D convertor circuit, the liquid crystal display circuit module, API8108A audio alert chip, the button input, keep away barrier sensor signal modular converter, the variable light source adjustment module, the step motor drive module, the drive motor control module is connected with the MAX232 chip, the MAX232 chip is connected with serial ports, wheel steering angle A/D convertor circuit and potentiometer first pin, potentiometer second pin, potentiometer the 3rd pin is connected, and keeps away barrier sensor signal modular converter and hinders the sensor input pin and be connected with keeping away.
Described variable light source adjustment module comprises relay group control circuit, and the relay group is connected with variable light source, homing guidance vehicle controller, and the guide vehicle controller is connected with industrial computer, and industrial computer is connected with capture card, CCD camera.
Homing guidance method based on RFID tag and vision: be provided with on ground that black and white two parallel continuously guided bands, steering tape both sides are provided with red station character, steering tape has RFID tag; Utilize edge extracting method identification black and white steering tape intersecting straight lines edge, application self-adapting is chosen Hough transformed samples point rapid extraction straight line information, and AGV is according to the deviation information track homing band of straight line; Utilize color distortion to extract the effective point set of red glyphs, and use the inclination in the slope information correction red glyphs zone of this straight line, carry out the station character recognition again; Radio-frequency identification reader/writer is written to volume coordinate information in the RFID tag that is laid under the steering tape in advance, when AGV travels to this label area, RFID antenna receives label information, and by the radio-frequency identification reader/writer reading tag information that links to each other with industrial computer, label information and other status informations send to the onboard wireless transceiver module through the RS232 serial ports in the industrial computer, the AGV main control computer that radio receiving transmitting module is housed receives this information, to the AGVS sending controling instruction, AGV adjusts state according to the steering order of main control computer by radio receiving transmitting module.
Described self-adaptation is chosen Hough transformed samples point methods: according to the slope information of last straight line, limit the angle searching scope of sampled point in the Hough conversion process; Positional information according to last straight line is divided into several regions, and the most possible area sampling density that occurs of straight line is big, and other area sampling density is little.
Described color distortion extracting method: utilize in the RGB color space difference of three Color Channels, extract effective red glyphs zone by three values of absolute value that limit red channel and blue channel gray scale difference, red channel and green channel gray scale difference, blue channel and green channel gray scale difference to the character zone susceptibility.
Described station character identifying method: to the effective point set statistics of the seven segment code character behind slant correction projection histogram, determine character left and right sides boundary coordinate according to vertical projection, horizontal projection is determined the up-and-down boundary coordinate, realizes the extraction of single character; Utilize the projection information and the structural information of single character again, analyze step by step, determine the station character.
The beneficial effect that the present invention compared with prior art has:
1. the present invention adopts that the vision guide technology has that information capacity is big, the path is provided with that change is simple and convenient, flexible good, the advanced technology of guiding, advantage such as high performance price ratio more; Steering tape of the present invention is made as two colors, increases the stability of gradient information, significantly reduces illumination effect; HOUGH change point collection adaptive is chosen system real time, strong robustness; And the inclination of character station when utilizing the guide wire slope information to proofread and correct AGV to travel, simple and convenient, easy to implement.
2. functions such as industrial computer of the present invention is engaged in mainly that realtime graphic is handled, the calculating of control algolithm and radio communication; The AGV controller is mainly realized data acquisition, step motor control, drive motor control, the demonstration of state liquid crystal display and AGV manual operation etc.; Drive the four-wheel-type structure that steering gear adopts front-wheel steer, rear wheel drive.In order to increase driving force, the direct current generator that adopts big driving torque is as travel driving unit, and front-wheel adopts two-wheel to turn to, and by step motor drive, has than the higher dynamic response capability that turns to.And this structural behaviour price ratio is high, and the market competitiveness is arranged on price, can be accepted by many medium-sized and small enterprises.
3. in order accurately to measure steering wheel angle, combine in real time with the potentiometer transformation and with the AGV controller and measure when the front vehicle wheel angle.In addition, illuminating lamp of the present invention is according to the monochrome information of CCD images acquired, calculates through industrial computer signal is passed to AGV controller repeat circuit group, and the output control by the relay group realizes the closed-loop control of illuminating lamp by the electric current of illuminating lamp.
4. in order to realize in real time the communication dispatch between AGVS effectively, the present invention adopts RFID tag to realize the location of AGV, the communication that radio receiving transmitting module realizes reaching between AGV main frame.The present invention has good adaptive capacity to environment and navigation accuracy, and cost is lower
Description of drawings
Fig. 1 is the schematic top plan view of automatic guided vehicle of the present invention;
Fig. 2 is that the master of automatic guided vehicle of the present invention looks synoptic diagram;
Fig. 3 be automatic guided vehicle of the present invention turn to the driving mechanism synoptic diagram;
Fig. 4 is the steering wheel angle measurement mechanism synoptic diagram of automatic guided vehicle of the present invention;
Fig. 5 is a homing guidance vehicle controller synoptic diagram;
Fig. 6 is the automatic illuminator block diagram of AGV;
Fig. 7 is that steering tape, station symbol are laid synoptic diagram;
Fig. 8 straight line extracts process flow diagram;
Fig. 9 is colored station symbol recognition image algorithm flow chart;
Figure 10 is used for AGVS communications localization system block diagram;
The antenna 1 that is used for wireless receiving and dispatching among the figure, first deflecting roller 2, gear pair 3, industrial control computer, radio receiving transmitting module 5, first transformer 6, rfid interrogator 7, second transformer 8, first driving wheel 9, electrodeless variable-speed case 10, first keeps away barrier sensor 11, first accumulator 12, drive motor controller 13, second accumulator 14, second keeps away barrier sensor 15, drive motor 16, second driving wheel 17, inverter 18, stepper motor driver 19, the 3rd transformer 20, AGV controller 21, start-up control module 22, stepper motor 23, second deflecting roller 24, RFID receiving antenna 25, the 3rd keeps away barrier sensor 26, CCD camera 27, illuminating lamp 28, the 4th keeps away barrier sensor 29, wheel steering angle sensor 30, camera support 31, camera angle pallet 32, camera set bolt 33, the external manual operation button 34 of controller, state display module 35, steering indicating light 36, alarm lamp 37, car body 38, set bolt 39, vibroshock 40, axostylus axostyle 41 among the AGV, vehicle frame 42, bearing pin 43, swing arm 44, interior hexagonal coupling bolt 45, potentiometer fixed part 46, fixing U type slot 47, locking knob 48, potentiometer rotating part 49, connecting link 50, support 51, potentiometer first pin 52, potentiometer second pin 53, potentiometer the 3rd pin 54.
Embodiment
As Fig. 1, shown in 2, automatic guidance system based on RFID tag and vision comprises car body 38, car body 38 bottoms are provided with first deflecting roller 2, second deflecting roller 24, first driving wheel 9, second driving wheel 17, middle axostylus axostyle 41, be provided with drive motor 16 in the car body 38, drive motor 16 and electrodeless variable-speed case 10, drive motor controller 13, first accumulator 12, second accumulator 14 is connected, be characterised in that and comprise land marking and onboard system two parts, land marking is: be provided with two parallel steering tapes of black and white on ground, the steering tape both sides are provided with red station character, steering tape has RFID tag, onboard system is: be provided with first in car body 38 rear ends and keep away barrier sensor 11, second keeps away barrier sensor 15, be provided with the 3rd at car body 38 front ends and keep away barrier sensor 26, the 4th keeps away barrier sensor 29, CCD camera 27, variable light source 28, the light-source brightness adjustment module, the antenna 1 of radio receiving transmitting module, in car body 38, be provided with stepper motor 23, on stepper motor 23 and middle axostylus axostyle 41, be provided with fluted disc and pay 3, wheel rotary angle transmitter 30 on middle axostylus axostyle 41, the wheel steering driving mechanism, in car body 38, be provided with industrial control computer 4, inverter 18, RFID tag read write line 7, industrial control computer 4 and CCD camera 27, radio receiving transmitting module 5, RFID tag read write line 7, first transformer 6, homing guidance vehicle controller 21 is connected, guide vehicle controller 21 and stepper motor driver 19, start-up control module 22, second transformer 8 is connected, the inverter 18 and first transformer 6, second transformer 8, the 3rd transformer 20, first accumulator 12, second accumulator 14 is connected, RFID tag read write line 7 is connected with receiving antenna 25, is provided with the external manual operation button 34 of controller in car body 38 outsides, state display module 35, be provided with steering indicating light 36 at car body 38 rear sides, alarm lamp 37.
Be placed in CCD27 collection information of road surface on the axis, car body dead ahead, obtain angular deviation, horizontal level deviation and station information by the image processing algorithm in the industrial computer 4, keep away barrier sensor 11 with the wheel steering angle information, first that rotary angle transmitter 30 detects, second keeps away barrier sensor 15, the 3rd keeps away barrier sensor 21, the four keeps away barrier positional information that barrier sensor 29 detects and is input to together in many deviations intelligent controller in the industrial computer.This intelligent controller is to AGV controller 21 outputs first deflecting roller 2, the rotational angle of second deflecting roller 24 and the state of drive motor, the AGV controller converts the corner information of input to drive signal on the one hand, rotate by stepper motor driver 19 drive stepping motor 23, reach the control front-wheel steer; On the other hand with of the motion of drive motor status information by drive motor controller 13 control motors 16, the electrodeless variable-speed device control of motor signal in wheel box 10 is placed in two trailing wheels of transmission shaft both sides, reaches control AGV and advances, stops, falling back, quicken and slow down.
Be placed in CCD27 on the axis, car body dead ahead, become 50 degree angles to fix with vertical direction by support 31 and pallet 32.Compare with the vertical ground installation, enlarged the look-ahead distance of AGV.For the ease of the state of observing AGV with in particular cases manually control AGV, external manual operation button 34 of controller and state display module 35 are arranged on car body 38.When the AGV unusual circumstance (as barrier), alarm lamp 37 can be opened; When AGV moved on bend, steering indicating light 36 was opened.
As shown in Figure 4, wheel steering angle sensor 30 comprises potentiometer fixed part 46, potentiometer rotating part 49, potentiometer rotating part 49 by fixedly U type slot 47, locking knob 48, be fixed in axostylus axostyle 41 upper ends, potentiometer rotating part 49 is provided with potentiometer first pin 52, potentiometer second pin 53, potentiometer the 3rd pin 54, potentiometer fixed part 46 is connected with connecting link 50, support 51, and support 51 is connected with car body 38
The potentiometer rotating part is with middle spindle rotation when wheel, fixed part is motionless, then the potentiometer resistance value changes, current resistance is by potentiometer first pin 52, potentiometer second pin 53, potentiometer the 3rd pin 54 link to each other with A/D convertor circuit in the AGV controller 21, and convert transformation result to wheel steering angle by tabling look-up.
As shown in Figure 3, the wheel steering driving mechanism comprises swing arm 44, swing arm 44 is connected with vehicle frame 42 by bearing pin 43, swing arm 44 is connected with the transmission shaft of first deflecting roller 2, second deflecting roller 24 by interior hexagonal coupling bolt 45, set bolt 39, transmission shaft is connected with vibroshock 40, and vibroshock 40 is connected with vehicle frame 42.
When AGV will turn to, stepper motor driver 19 drive stepping motor turned an angle, and the gear wheel 3 that axostylus axostyle 41 is fixed together among pinion wheel 43 drives between the step on the motor and the AGV rotates, and axostylus axostyle rotates thereupon in making.Middle axostylus axostyle drives with it and moves with rocker structure by the swing arm 44 that bearing pin 43 links to each other, thereby drives first deflecting roller 2,24 motions of second deflecting roller.In order to alleviate the vibrations of transmission fluted disc in the motion process, between centers is added with vibration abatement in the axletree of rotor wheel and AGV.
As shown in Figure 5, homing guidance vehicle controller 21 comprises the PIC18F452 single-chip microcomputer, PIC18F452 single-chip microcomputer and wheel steering angle A/D convertor circuit, the liquid crystal display circuit module, API8108A audio alert chip, the button input, keep away barrier sensor signal modular converter, the variable light source adjustment module, the step motor drive module, the drive motor control module is connected with the MAX232 chip, the MAX232 chip is connected with serial ports, wheel steering angle A/D convertor circuit and potentiometer first pin 52, potentiometer second pin 53, potentiometer the 3rd pin 54 is connected, and keeps away barrier sensor signal modular converter and hinders the sensor input pin and be connected with keeping away.
Corner information and drive motor status information that angle information, the input that keeps away the obstacle information that hinders sensor, manual button, the industrial computer that its input signal has angular transducer to detect imported by serial ports.The AGV singlechip controller sends drive signal, sends drive signal and drive the relay group to drive motor and control illuminating lamp and turn to alarm lamp to step motor drive after receiving input information.
As shown in Figure 6, the variable light source adjustment module comprises relay group control circuit, the relay group is connected with variable light source 28, homing guidance vehicle controller 21, and guide vehicle controller 21 is connected with industrial computer 4, and industrial computer 4 is connected with capture card, CCD camera 27.
The CCD images acquired, calculate this gradation of image average through industrial computer, with this average is the function that independent variable definition one and brightness average are inversely proportional to, industrial computer is passed to AGV controller with control signal by serial ports by calculating, PIC18F452 chip in the AGV controller sends instruction and drives the corresponding relays action, the conducting of respective resistance values loop, and control is by the electric current of illuminating lamp, make the CCD images acquired reach suitable brightness, realize the closed-loop control of illuminating lamp.
Homing guidance method based on RFID tag and vision: be provided with on ground that black and white two parallel continuously guided bands, steering tape both sides are provided with red station character, steering tape has RFID tag; Utilize edge extracting method identification black and white steering tape intersecting straight lines edge: at first utilize 5 * 5 gradient templates and gray level image convolution, then making it as if this grey scale pixel value after the convolution greater than certain threshold value is white point, otherwise is stain; Then on calculate and select white point to screen, remove and be communicated with the discrete noise point that is no more than 5 pixels, generate HOUGH conversion point set to be selected; Application self-adapting is chosen Hough transformed samples point rapid extraction straight line information, and AGV is according to the deviation information track homing band of straight line; Utilize color distortion to extract the effective point set of red glyphs, and use the inclination in the slope information correction red glyphs zone of this straight line, carry out the station character recognition again; Radio-frequency identification reader/writer 7 is written to volume coordinate information in the RFID tag that is laid under the steering tape in advance, when AGV travels to this label area, RFID antenna 25 receives label information, and by the radio-frequency identification reader/writer 7 reading tag information that link to each other with industrial computer 4, label information and other status informations send to onboard wireless transceiver module 5 through the RS232 serial ports in the industrial computer 4, and the RS232 serial ports of this information by industrial computer 4 sent to coupled onboard wireless communication module, the onboard wireless communication module sends to information in the main frame that radio receiving transmitting module is housed by wireless mode, main frame sends to automatic guided vehicle with steering order by radio receiving transmitting module again through calculating, automatic guided vehicle receives this steering order by the wireless module that is subjected to, and carries out the control of state adjustment and travel speed.Radio communication subsystem is made of jointly in-vehicle wireless communication module and ground maneuvers wireless communication module, distributes and is arranged in AGV and pulpit main frame, and the transmission of information is a bi-directional:
A) main frame-" AGV: download enabled instruction, and action command, controlled variable etc.
B) AGV-" main frame: positional information that RFID tag provides and the running status of AGV are returned.
Described self-adaptation is chosen Hough transformed samples point methods: according to the slope information of last straight line, limit the angle searching scope of sampled point in the Hough conversion process; Positional information according to last straight line is divided into several regions, and the most possible area sampling density that occurs of straight line is big, and other area sampling density is little.
Result according to previous frame identification straight line, HOUGH conversion point set to be selected is carried out the qualification of hunting zone: only carry out the angular region search in the scope to 20 degree about last frame time straight line inclination angle, in addition image is divided into two class zones, one class is x ∈ [m_Width/5,4 * m_Width/5], y ∈ [0,4 * m_Height/5] in the regional extent, two classes are remaining area, if the absolute value of previous frame straight slope is greater than 2, and pass the bottom in class one zone territory, then to the every line scanning in class one zone territory, to the staggered scanning of class two zone territory, otherwise to the entire image every line scanning in zone; At last self-adaptation is become the point set of selecting of sampling and carry out angle and the position deviation that straight line and true origin are extracted in the HOUGH conversion.
Described color distortion extracting method: utilize in the RGB color space difference of three Color Channels, extract effective red glyphs zone by three values of absolute value that limit red channel and blue channel gray scale difference, red channel and green channel gray scale difference, blue channel and green channel gray scale difference to the character zone susceptibility.
Extract effective point set in the character zone by colour-difference, be the point set that satisfies following formula:
min(T1(x)，T2(x))＞K，T3(x)＜min(T1(x)，T2(x))/2
T1 in the formula (x)=R (x)-G (x), T2 (x)=R (x)-B (x), T3 (x)=abs (G (x)-B (x)).R (x), G (x), B (x) represent the grey scale pixel value of redness, green, blue channel respectively, and K is a threshold value.Judge that by counting of effective point set NULI character is arranged.Character adopts the layout type of parallel unanimity with guide wire, in case determined the slope of guide wire, just can utilize slope that character is proofreaied and correct.The trimming process of character is exactly the rotary course of character in fact, and slope is that canonical is rotated counterclockwise, and slope then turns clockwise for negative, and the rotation angle size equals the absolute value at guide wire angle of inclination; Rotation center is selected in the centre coordinate of character in the calculating.
Described station character identifying method: to the effective point set statistics of the seven segment code character behind slant correction projection histogram, determine character left and right sides boundary coordinate according to vertical projection, horizontal projection is determined the up-and-down boundary coordinate, realizes the extraction of single character; Identification step to single character is as follows:
A) horizontal projection histogram calculation histogram Gradient distribution, half figure before histogrammic, search be the value of suddenling change from big to small, then need to search for from small to large sudden change value at histogrammic later half figure, then be character 1 as if two peak distance less than 1.5 times of live widths;
B) scanning character horizontal projection histogram if some peak regions are being provided with on the threshold value, and has certain width, so just think effective peak, add up the peak value number, write down the middle coordinate of each peak value, combined distance differs very near peak region.If peak value is 1, calculate the distance of this peak value mid point to character top, middle part, bottom, if near in the middle of leaving, would be 4 so; If it is nearest to leave the top, then be 7, otherwise mistake.
C) if peak value is 2, calculate the distance of two peak values, if greater than character high 2/3, so just think 0, otherwise think mistake.
D) if peak value is 3, the situation more complicated need be judged vertical line so.Horizontal projection is all carried out in each vertical line zonule, if Line_width is a live width, statistics projection number obtains WidthLineNum[i greater than the number of Line_width/2], and the character pixels in each zone is counted TotalNum[i].
If the WidthLineNum[i of regional i correspondence] greater than 3, perhaps TotalNum[i]＞Line_width * Line_width/3, so just think that there is stroke in regional i.If the upper left corner, the lower right corner do not have stroke, there is stroke in the upper right corner, the lower left corner, and then character 2; If the upper left corner, the lower left corner do not have stroke, there is stroke in the upper right corner, the lower right corner, and then character 3; If the upper right corner, the lower left corner do not have stroke, there is stroke in the upper left corner, the lower right corner, and then character 5; If the upper right corner does not have stroke, there is stroke in the upper left corner, the lower left corner, the lower right corner, and then character 6; If there is stroke in the upper right corner, the upper left corner, the lower left corner, the lower right corner, then character 8; If the lower left corner does not have stroke, there is stroke in the upper right corner, the upper left corner, the lower right corner, and then character 9; Other characters are analyzed or mistake.
Claims (9)
1. automatic guidance system based on RFID tag and vision, comprise car body (38), car body (38) bottom is provided with first deflecting roller (2), second deflecting roller (24), first driving wheel (9), second driving wheel (17), middle axostylus axostyle (41), be provided with drive motor (16) in the car body (38), drive motor (16) and electrodeless variable-speed case (10), drive motor controller (13), first accumulator (12), second accumulator (14) is connected, it is characterized in that comprising land marking and onboard system two parts, land marking is: be provided with two parallel steering tapes of black and white on ground, the steering tape both sides are provided with red station character, steering tape has RFID tag, onboard system is: be provided with first in car body (38) rear end and keep away barrier sensor (11), second keeps away barrier sensor (15), be provided with the 3rd at car body (38) front end and keep away barrier sensor (26), the 4th keeps away barrier sensor (29), CCD camera (27), variable light source (28), the light-source brightness adjustment module, the antenna of radio receiving transmitting module (1), in car body (38), be provided with stepper motor (23), on stepper motor (23) and middle axostylus axostyle (41), be provided with fluted disc and pay (3), go up wheel rotary angle transmitter (30) at middle axostylus axostyle (41), the wheel steering driving mechanism, in car body (38), be provided with industrial control computer (4), inverter (18), RFID tag read write line (7), industrial control computer (4) and CCD camera (27), radio receiving transmitting module (5), RFID tag read write line (7), first transformer (6), homing guidance vehicle controller (21) is connected, guide vehicle controller (21) and stepper motor driver (19), start-up control module (22), second transformer (8) is connected, inverter (18) and first transformer (6), second transformer (8), the 3rd transformer (20), first accumulator (12), second accumulator (14) is connected, RFID tag read write line (7) is connected with receiving antenna (25), is provided with the external manual operation button of controller (34) in car body (38) outside, state display module (35), be provided with steering indicating light (36) at car body (38) rear side, alarm lamp (37).
2. a kind of automatic guidance system according to claim 1 based on RFID tag and vision, it is characterized in that described wheel steering angle sensor (30) comprises potentiometer fixed part (46), potentiometer rotating part (49), potentiometer rotating part (49) passes through fixedly U type slot (47), locking knob (48), be fixed on middle axostylus axostyle (41) upper end, potentiometer rotating part (49) is provided with potentiometer first pin (52), potentiometer second pin (53), potentiometer the 3rd pin (54), potentiometer fixed part (46) and connecting link (50), support (51) is connected, and support (51) is connected with car body (38).
3. a kind of automatic guidance system according to claim 1 based on RFID tag and vision, it is characterized in that described wheel steering driving mechanism comprises swing arm (44), swing arm (44) is connected with vehicle frame (42) by bearing pin (43), swing arm (44) is connected with the transmission shaft of first deflecting roller (2), second deflecting roller (24) by interior hexagonal coupling bolt (45), set bolt (39), transmission shaft is connected with vibroshock (40), and vibroshock (40) is connected with vehicle frame (42).
4. a kind of automatic guidance system according to claim 1 based on RFID tag and vision, it is characterized in that described homing guidance vehicle controller (21) comprises the PIC18F452 single-chip microcomputer, PIC18F452 single-chip microcomputer and wheel steering angle A/D convertor circuit, the liquid crystal display circuit module, API8108A audio alert chip, the button input, keep away barrier sensor signal modular converter, the variable light source adjustment module, the step motor drive module, the drive motor control module is connected with the MAX232 chip, the MAX232 chip is connected with serial ports, wheel steering angle A/D convertor circuit and potentiometer first pin (52), potentiometer second pin (53), potentiometer the 3rd pin (54) is connected, and keeps away barrier sensor signal modular converter and hinders the sensor input pin and be connected with keeping away.
5. a kind of automatic guidance system according to claim 1 based on RFID tag and vision, it is characterized in that described variable light source adjustment module comprises relay group control circuit, the relay group is connected with variable light source (28), homing guidance vehicle controller (21), guide vehicle controller (21) is connected with industrial computer (4), and industrial computer (4) is connected with capture card, CCD camera (27).
6. one kind is used the homing guidance method based on RFID tag and vision of system according to claim 1, it is characterized in that being provided with on ground that black and white two parallel continuously guided bands, steering tape both sides are provided with red station character, steering tape has RFID tag; Utilize edge extracting method identification black and white steering tape intersecting straight lines edge, application self-adapting is chosen Hough transformed samples point rapid extraction straight line information, and AGV is according to the deviation information track homing band of straight line; Utilize color distortion to extract the effective point set of red glyphs, and use the inclination in the slope information correction red glyphs zone of this straight line, carry out the station character recognition again; Radio-frequency identification reader/writer (7) is written to volume coordinate information in the RFID tag that is laid under the steering tape in advance, when AGV travels to this label area, RFID antenna (25) receives label information, and by radio-frequency identification reader/writer (7) the reading tag information that links to each other with industrial computer (4), label information and other status informations send to onboard wireless transceiver module (5) through the RS232 serial ports in the industrial computer (4), the AGV main control computer that radio receiving transmitting module is housed receives this information, to the AGVS sending controling instruction, AGV adjusts state according to the steering order of main control computer by radio receiving transmitting module.
7. root a kind of homing guidance method according to claim 6 based on RFID tag and vision, it is characterized in that described self-adaptation chooses Hough transformed samples point methods:, limit the angle searching scope of sampled point in the Hough conversion process according to the slope information of last straight line; Positional information according to last straight line is divided into several regions, and the most possible area sampling density that occurs of straight line is big, and other area sampling density is little.
8. a kind of homing guidance method according to claim 6 based on RFID tag and vision, it is characterized in that described color distortion extracting method: utilize in the RGB color space difference of three Color Channels, extract effective red glyphs zone by three values of absolute value that limit red channel and blue channel gray scale difference, red channel and green channel gray scale difference, blue channel and green channel gray scale difference to the character zone susceptibility.
9. a kind of homing guidance method according to claim 6 based on RFID tag and vision, it is characterized in that described station character identifying method: to the effective point set statistics of the seven segment code character behind slant correction projection histogram, determine character left and right sides boundary coordinate according to vertical projection, horizontal projection is determined the up-and-down boundary coordinate, realizes the extraction of single character; Utilize the projection information and the structural information of single character again, analyze step by step, determine the station character.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101568638A CN100555141C (en) | 2007-11-15 | 2007-11-15 | Automatic guidance system and method thereof based on RFID tag and vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101568638A CN100555141C (en) | 2007-11-15 | 2007-11-15 | Automatic guidance system and method thereof based on RFID tag and vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101183265A true CN101183265A (en) | 2008-05-21 |
| CN100555141C CN100555141C (en) | 2009-10-28 |
Family
ID=39448569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101568638A Expired - Fee Related CN100555141C (en) | 2007-11-15 | 2007-11-15 | Automatic guidance system and method thereof based on RFID tag and vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100555141C (en) |
Cited By (53)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102156477A (en) * | 2011-05-19 | 2011-08-17 | 苏州市职业大学 | AGV (automatic guided vehicle) control platform and realizing method of AGV control platform |
| CN102320248A (en) * | 2011-06-03 | 2012-01-18 | 上海理工大学 | Intelligent tour guiding system for tour guiding vehicle |
| CN102346483A (en) * | 2011-06-07 | 2012-02-08 | 南京航空航天大学 | AGV (Automatic Guided Vehicle) operation control method based on passive RFID (radio frequency identification) and aided visual |
| CN102356367A (en) * | 2009-01-17 | 2012-02-15 | 布穆朗系统有限公司 | Variable offset positioning antenna array for enhanced guidance of automated guided vehicles (agvs) |
| CN102495612A (en) * | 2011-12-24 | 2012-06-13 | 长春艾希技术有限公司 | Electrical automatic control system device of automatic guided vehicle adopting non-contact power supply technology |
| CN102582657A (en) * | 2012-02-16 | 2012-07-18 | 佛山市顺德区嘉腾电子有限公司 | AGV (automatic guided vehicle) traffic automatic control system and AGV traffic automatic control method |
| CN102608998A (en) * | 2011-12-23 | 2012-07-25 | 南京航空航天大学 | Vision guiding AGV (Automatic Guided Vehicle) system and method of embedded system |
| CN102662401A (en) * | 2012-05-25 | 2012-09-12 | 上海电力学院 | Electromagnetic sensing tracking based navigation system |
| CN102692899A (en) * | 2011-03-18 | 2012-09-26 | 雷蒙德股份有限公司 | Integration of an autonomous industrial vehicle into an asset management system |
| CN102935638A (en) * | 2012-11-02 | 2013-02-20 | 绵阳福德机器人有限责任公司 | Integrated chassis for watt-hour meter calibrating robot |
| CN102955476A (en) * | 2012-11-12 | 2013-03-06 | 宁波韵升股份有限公司 | Automatic guided vehicle (AGV) path planning method based on radio frequency identification (RFID) technology |
| CN102968119A (en) * | 2012-11-22 | 2013-03-13 | 日东电子发展（深圳）有限公司 | Automatic visual guide vehicle for constant illumination |
| CN103309350A (en) * | 2013-05-24 | 2013-09-18 | 南京航空航天大学 | Automatic guided vehicle scheduling system and method based on global wireless precise positioning |
| CN103645737A (en) * | 2009-08-18 | 2014-03-19 | 克朗设备公司 | Systems and methods of remotely controlling a materials handling vehicle |
| CN103713633A (en) * | 2012-10-04 | 2014-04-09 | 财团法人工业技术研究院 | Travel control device and automatic guide vehicle with same |
| CN103809591A (en) * | 2012-11-09 | 2014-05-21 | 苏州宝时得电动工具有限公司 | Automatic work system |
| CN103955215A (en) * | 2014-04-15 | 2014-07-30 | 桂林电子科技大学 | Automatic obstacle avoidance trolley based on gesture recognition and control device and method of automatic obstacle avoidance trolley |
| CN104007764A (en) * | 2014-06-13 | 2014-08-27 | 苏州工业园区艾吉威自动化设备有限公司 | Agv dispatching system |
| CN104375509A (en) * | 2014-12-11 | 2015-02-25 | 山东大学 | Information fusion positioning system and method based on RFID (radio frequency identification) and vision |
| CN104407615A (en) * | 2014-11-03 | 2015-03-11 | 上海电器科学研究所（集团）有限公司 | AGV robot guide deviation correction method |
| CN104460676A (en) * | 2014-12-18 | 2015-03-25 | 南京化工职业技术学院 | Intelligent trolley based on RFID technology |
| CN104679004A (en) * | 2015-02-09 | 2015-06-03 | 上海交通大学 | Flexible path and fixed path combined automated guided vehicle and guide method thereof |
| CN104699104A (en) * | 2015-03-17 | 2015-06-10 | 武汉纺织大学 | Self-adaptive AGV (Automatic Guided Vehicle) visual navigation sight adjusting device and trace tracking method |
| CN104834284A (en) * | 2015-03-30 | 2015-08-12 | 江苏现代电力科技股份有限公司 | Automatic production line based on visual identification |
| CN105117892A (en) * | 2015-10-10 | 2015-12-02 | 广东轻工职业技术学院 | Automatic warehouse management method |
| CN105225090A (en) * | 2015-10-10 | 2016-01-06 | 广东轻工职业技术学院 | Automated warehousing management system and method |
| CN105302134A (en) * | 2015-09-18 | 2016-02-03 | 天津鑫隆机场设备有限公司 | Navigation aid lamp light intensity detection vehicle video guide method based on landmark line identification technology |
| CN105329292A (en) * | 2015-09-30 | 2016-02-17 | 皖西学院 | Height adjustable motor rotary shaft transfer device |
| CN102239455B (en) * | 2008-12-04 | 2016-04-20 | 克朗设备公司 | For the multiple zone sensing of materials handling vehicle |
| CN105518560A (en) * | 2014-10-31 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Location-based control method and apparatus, mobile machine and robot |
| CN105550676A (en) * | 2016-02-03 | 2016-05-04 | 天津市乐图软件科技有限公司 | Logistics delivery vehicle trace tracking method based on linearity CCD |
| CN103676946B (en) * | 2012-08-31 | 2016-05-18 | 苏州宝时得电动工具有限公司 | Automatic running device and state information management method thereof |
| CN105679168A (en) * | 2015-12-04 | 2016-06-15 | 南京航空航天大学 | Teaching experimental platform simulating ramp vehicle dispatching |
| CN106371446A (en) * | 2016-12-03 | 2017-02-01 | 河池学院 | Navigation and positioning system of indoor robot |
| CN106502246A (en) * | 2016-10-11 | 2017-03-15 | 浙江大学 | A kind of intelligent vehicle automated induction systems based on grader |
| CN106843218A (en) * | 2017-02-16 | 2017-06-13 | 上海理工大学 | Workshop homing guidance device dispatching method |
| CN107161644A (en) * | 2017-06-13 | 2017-09-15 | 江苏振邦医用智能装备有限公司 | The control method of intelligent carriage logistics system |
| CN107531467A (en) * | 2015-05-06 | 2018-01-02 | 克朗设备公司 | Label layout for industrial vehicle operation |
| CN108954259A (en) * | 2018-06-04 | 2018-12-07 | 芜湖徽福电子科技有限公司 | A kind of NEW ADAPTIVE light source voltage constant-current controller |
| CN108945150A (en) * | 2018-07-26 | 2018-12-07 | 郑州轻工业学院 | universal AGV |
| CN109080528A (en) * | 2018-07-27 | 2018-12-25 | 江苏大学 | A kind of automatic conveying device and method suitable for sharing bicycle |
| CN109940587A (en) * | 2019-03-26 | 2019-06-28 | 盐城工学院 | A kind of robot being loaded with intelligent vehicle chassis system |
| CN110517563A (en) * | 2019-08-14 | 2019-11-29 | 武汉光驰教育科技股份有限公司 | Interactive trigonometric function instructional device and method |
| CN110723130A (en) * | 2019-10-21 | 2020-01-24 | 张桂芹 | Independently walking agricultural mechanical equipment |
| CN111435412A (en) * | 2019-01-15 | 2020-07-21 | 东芝泰格有限公司 | Information processing apparatus, control method, reading apparatus, storage medium, and device |
| CN111897333A (en) * | 2020-07-31 | 2020-11-06 | 常州码库数据科技有限公司 | Robot walking path planning method |
| CN112525125A (en) * | 2020-12-07 | 2021-03-19 | 兰剑智能科技股份有限公司 | Method, device and equipment for calibrating consistency of AGV (automatic guided vehicle) |
| CN112612276A (en) * | 2020-12-23 | 2021-04-06 | 神华铁路装备有限责任公司 | Steering wheel control system, method and device, computer equipment and AGV |
| CN113050612A (en) * | 2019-12-26 | 2021-06-29 | 北京极智嘉科技股份有限公司 | Medium printed with positioning identification, image processing method and automatic guided vehicle |
| CN113441879A (en) * | 2021-06-05 | 2021-09-28 | 中国第一汽车股份有限公司 | Flexible lifting feeding system based on AGV and feeding control method |
| CN113917894A (en) * | 2020-07-09 | 2022-01-11 | 讯芯电子科技（中山）有限公司 | Intelligent carrier and intelligent material storage management system |
| CN114322886A (en) * | 2022-01-10 | 2022-04-12 | 深圳市中图仪器股份有限公司 | Attitude probe with multiple sensors |
| WO2023005301A1 (en) * | 2021-07-28 | 2023-02-02 | 广东奥普特科技股份有限公司 | Agv forklift intelligent guide device, agv forklift intelligent guide method and agv forklift intelligent guide system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101944205A (en) * | 2010-09-16 | 2011-01-12 | 华中科技大学 | Factory material delivery vehicle routing system |
-
2007
- 2007-11-15 CN CNB2007101568638A patent/CN100555141C/en not_active Expired - Fee Related
Cited By (71)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102239455B (en) * | 2008-12-04 | 2016-04-20 | 克朗设备公司 | For the multiple zone sensing of materials handling vehicle |
| CN102356367A (en) * | 2009-01-17 | 2012-02-15 | 布穆朗系统有限公司 | Variable offset positioning antenna array for enhanced guidance of automated guided vehicles (agvs) |
| CN102356367B (en) * | 2009-01-17 | 2014-10-29 | 布穆朗系统有限公司 | Variable offset positioning antenna array for enhanced guidance of automated guided vehicles (agvs) |
| CN103645737A (en) * | 2009-08-18 | 2014-03-19 | 克朗设备公司 | Systems and methods of remotely controlling a materials handling vehicle |
| CN102692899B (en) * | 2011-03-18 | 2016-04-20 | 雷蒙德股份有限公司 | The control system of industrial vehicle and method in operational facilities |
| CN102692899A (en) * | 2011-03-18 | 2012-09-26 | 雷蒙德股份有限公司 | Integration of an autonomous industrial vehicle into an asset management system |
| CN102156477A (en) * | 2011-05-19 | 2011-08-17 | 苏州市职业大学 | AGV (automatic guided vehicle) control platform and realizing method of AGV control platform |
| CN102320248A (en) * | 2011-06-03 | 2012-01-18 | 上海理工大学 | Intelligent tour guiding system for tour guiding vehicle |
| CN102346483A (en) * | 2011-06-07 | 2012-02-08 | 南京航空航天大学 | AGV (Automatic Guided Vehicle) operation control method based on passive RFID (radio frequency identification) and aided visual |
| CN102608998A (en) * | 2011-12-23 | 2012-07-25 | 南京航空航天大学 | Vision guiding AGV (Automatic Guided Vehicle) system and method of embedded system |
| CN102495612B (en) * | 2011-12-24 | 2014-08-13 | 长春艾希技术有限公司 | Electrical automatic control system device of automatic guided vehicle adopting non-contact power supply technology |
| CN102495612A (en) * | 2011-12-24 | 2012-06-13 | 长春艾希技术有限公司 | Electrical automatic control system device of automatic guided vehicle adopting non-contact power supply technology |
| CN102582657A (en) * | 2012-02-16 | 2012-07-18 | 佛山市顺德区嘉腾电子有限公司 | AGV (automatic guided vehicle) traffic automatic control system and AGV traffic automatic control method |
| CN102662401A (en) * | 2012-05-25 | 2012-09-12 | 上海电力学院 | Electromagnetic sensing tracking based navigation system |
| CN102662401B (en) * | 2012-05-25 | 2014-04-16 | 上海电力学院 | Electromagnetic sensing tracking based navigation system |
| CN103676946B (en) * | 2012-08-31 | 2016-05-18 | 苏州宝时得电动工具有限公司 | Automatic running device and state information management method thereof |
| CN103713633A (en) * | 2012-10-04 | 2014-04-09 | 财团法人工业技术研究院 | Travel control device and automatic guide vehicle with same |
| CN102935638A (en) * | 2012-11-02 | 2013-02-20 | 绵阳福德机器人有限责任公司 | Integrated chassis for watt-hour meter calibrating robot |
| CN103809591A (en) * | 2012-11-09 | 2014-05-21 | 苏州宝时得电动工具有限公司 | Automatic work system |
| CN102955476A (en) * | 2012-11-12 | 2013-03-06 | 宁波韵升股份有限公司 | Automatic guided vehicle (AGV) path planning method based on radio frequency identification (RFID) technology |
| CN102968119A (en) * | 2012-11-22 | 2013-03-13 | 日东电子发展（深圳）有限公司 | Automatic visual guide vehicle for constant illumination |
| CN103309350A (en) * | 2013-05-24 | 2013-09-18 | 南京航空航天大学 | Automatic guided vehicle scheduling system and method based on global wireless precise positioning |
| CN103955215A (en) * | 2014-04-15 | 2014-07-30 | 桂林电子科技大学 | Automatic obstacle avoidance trolley based on gesture recognition and control device and method of automatic obstacle avoidance trolley |
| CN104007764A (en) * | 2014-06-13 | 2014-08-27 | 苏州工业园区艾吉威自动化设备有限公司 | Agv dispatching system |
| CN105518560A (en) * | 2014-10-31 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Location-based control method and apparatus, mobile machine and robot |
| CN105518560B (en) * | 2014-10-31 | 2018-02-02 | 深圳市大疆创新科技有限公司 | A kind of location-based control method, device, removable movement machine and robot |
| US10627829B2 (en) | 2014-10-31 | 2020-04-21 | SZ DJI Technology Co., Ltd. | Location-based control method and apparatus, movable machine and robot |
| CN104407615A (en) * | 2014-11-03 | 2015-03-11 | 上海电器科学研究所（集团）有限公司 | AGV robot guide deviation correction method |
| CN104375509A (en) * | 2014-12-11 | 2015-02-25 | 山东大学 | Information fusion positioning system and method based on RFID (radio frequency identification) and vision |
| CN104460676A (en) * | 2014-12-18 | 2015-03-25 | 南京化工职业技术学院 | Intelligent trolley based on RFID technology |
| CN104460676B (en) * | 2014-12-18 | 2017-08-25 | 南京科技职业学院 | A kind of intelligent carriage based on RFID technique |
| CN104679004B (en) * | 2015-02-09 | 2017-07-11 | 上海交通大学 | Automatic guided vehicle and its guidance method that flexible path is combined with fixed route |
| CN104679004A (en) * | 2015-02-09 | 2015-06-03 | 上海交通大学 | Flexible path and fixed path combined automated guided vehicle and guide method thereof |
| CN104699104A (en) * | 2015-03-17 | 2015-06-10 | 武汉纺织大学 | Self-adaptive AGV (Automatic Guided Vehicle) visual navigation sight adjusting device and trace tracking method |
| CN104699104B (en) * | 2015-03-17 | 2018-02-02 | 武汉纺织大学 | A kind of stitching tracking of adaptive AGV vision guided navigation sight adjusting apparatus |
| CN104834284A (en) * | 2015-03-30 | 2015-08-12 | 江苏现代电力科技股份有限公司 | Automatic production line based on visual identification |
| CN107531467A (en) * | 2015-05-06 | 2018-01-02 | 克朗设备公司 | Label layout for industrial vehicle operation |
| CN105302134A (en) * | 2015-09-18 | 2016-02-03 | 天津鑫隆机场设备有限公司 | Navigation aid lamp light intensity detection vehicle video guide method based on landmark line identification technology |
| CN105329292A (en) * | 2015-09-30 | 2016-02-17 | 皖西学院 | Height adjustable motor rotary shaft transfer device |
| CN105225090B (en) * | 2015-10-10 | 2019-05-07 | 广东轻工职业技术学院 | Automated warehousing management system and method |
| CN105225090A (en) * | 2015-10-10 | 2016-01-06 | 广东轻工职业技术学院 | Automated warehousing management system and method |
| CN105117892A (en) * | 2015-10-10 | 2015-12-02 | 广东轻工职业技术学院 | Automatic warehouse management method |
| CN105117892B (en) * | 2015-10-10 | 2018-08-07 | 广东轻工职业技术学院 | A kind of automated warehousing management method |
| CN105679168A (en) * | 2015-12-04 | 2016-06-15 | 南京航空航天大学 | Teaching experimental platform simulating ramp vehicle dispatching |
| CN105550676A (en) * | 2016-02-03 | 2016-05-04 | 天津市乐图软件科技有限公司 | Logistics delivery vehicle trace tracking method based on linearity CCD |
| CN106502246A (en) * | 2016-10-11 | 2017-03-15 | 浙江大学 | A kind of intelligent vehicle automated induction systems based on grader |
| CN106371446A (en) * | 2016-12-03 | 2017-02-01 | 河池学院 | Navigation and positioning system of indoor robot |
| CN106843218A (en) * | 2017-02-16 | 2017-06-13 | 上海理工大学 | Workshop homing guidance device dispatching method |
| CN107161644B (en) * | 2017-06-13 | 2018-11-20 | 江苏振邦医用智能装备有限公司 | The control method of intelligent carriage logistics system |
| CN107161644A (en) * | 2017-06-13 | 2017-09-15 | 江苏振邦医用智能装备有限公司 | The control method of intelligent carriage logistics system |
| CN108954259A (en) * | 2018-06-04 | 2018-12-07 | 芜湖徽福电子科技有限公司 | A kind of NEW ADAPTIVE light source voltage constant-current controller |
| CN108945150A (en) * | 2018-07-26 | 2018-12-07 | 郑州轻工业学院 | universal AGV |
| CN109080528A (en) * | 2018-07-27 | 2018-12-25 | 江苏大学 | A kind of automatic conveying device and method suitable for sharing bicycle |
| CN109080528B (en) * | 2018-07-27 | 2020-09-25 | 江苏大学 | Automatic carrying device and method suitable for shared bicycle |
| CN111435412A (en) * | 2019-01-15 | 2020-07-21 | 东芝泰格有限公司 | Information processing apparatus, control method, reading apparatus, storage medium, and device |
| CN111435412B (en) * | 2019-01-15 | 2023-11-28 | 东芝泰格有限公司 | Information processing apparatus, control method, reading apparatus, storage medium, and device |
| CN109940587A (en) * | 2019-03-26 | 2019-06-28 | 盐城工学院 | A kind of robot being loaded with intelligent vehicle chassis system |
| CN110517563A (en) * | 2019-08-14 | 2019-11-29 | 武汉光驰教育科技股份有限公司 | Interactive trigonometric function instructional device and method |
| CN110517563B (en) * | 2019-08-14 | 2021-07-27 | 武汉光驰教育科技股份有限公司 | Interactive trigonometric function teaching device and method |
| CN110723130A (en) * | 2019-10-21 | 2020-01-24 | 张桂芹 | Independently walking agricultural mechanical equipment |
| CN113050612A (en) * | 2019-12-26 | 2021-06-29 | 北京极智嘉科技股份有限公司 | Medium printed with positioning identification, image processing method and automatic guided vehicle |
| CN113917894A (en) * | 2020-07-09 | 2022-01-11 | 讯芯电子科技（中山）有限公司 | Intelligent carrier and intelligent material storage management system |
| CN113917894B (en) * | 2020-07-09 | 2024-04-19 | 讯芯电子科技（中山）有限公司 | Intelligent carrier and intelligent material storage management system |
| CN111897333A (en) * | 2020-07-31 | 2020-11-06 | 常州码库数据科技有限公司 | Robot walking path planning method |
| CN112525125A (en) * | 2020-12-07 | 2021-03-19 | 兰剑智能科技股份有限公司 | Method, device and equipment for calibrating consistency of AGV (automatic guided vehicle) |
| CN112612276A (en) * | 2020-12-23 | 2021-04-06 | 神华铁路装备有限责任公司 | Steering wheel control system, method and device, computer equipment and AGV |
| CN113441879A (en) * | 2021-06-05 | 2021-09-28 | 中国第一汽车股份有限公司 | Flexible lifting feeding system based on AGV and feeding control method |
| CN113441879B (en) * | 2021-06-05 | 2023-04-07 | 中国第一汽车股份有限公司 | Flexible lifting feeding system based on AGV and feeding control method |
| WO2023005301A1 (en) * | 2021-07-28 | 2023-02-02 | 广东奥普特科技股份有限公司 | Agv forklift intelligent guide device, agv forklift intelligent guide method and agv forklift intelligent guide system |
| CN114322886A (en) * | 2022-01-10 | 2022-04-12 | 深圳市中图仪器股份有限公司 | Attitude probe with multiple sensors |
| CN114322886B (en) * | 2022-01-10 | 2024-03-22 | 深圳市中图仪器股份有限公司 | Attitude probe with multiple sensors |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100555141C (en) | 2009-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100555141C (en) | Automatic guidance system and method thereof based on RFID tag and vision | |
| CN201194114Y (en) | Automatic guidance system based on RFID label and eye sight | |
| CN205959069U (en) | AGV vision guidance system | |
| CN101561680B (en) | Embedded guidance device of autonomous vehicle and intelligent composite guidance method thereof | |
| CN103386975B (en) | A kind of vehicle obstacle-avoidance method and system based on machine vision | |
| CN107571867B (en) | Method and apparatus for controlling automatic driving vehicle | |
| CN105575119B (en) | Road conditions weather deep learning and recognition methods and device | |
| CN102346483B (en) | AGV (Automatic Guided Vehicle) operation control method based on passive RFID (radio frequency identification) and aided visual | |
| CN104375509B (en) | A kind of information fusion alignment system and method based on RFID and vision | |
| CN105807771B (en) | Station identifying system based on AGV and its control method | |
| CN101929867A (en) | Clear path detection using road model | |
| CN102955476A (en) | Automatic guided vehicle (AGV) path planning method based on radio frequency identification (RFID) technology | |
| CN105468005A (en) | Automatic trolley guiding system and method based on RFID and CCD | |
| CN107421540A (en) | A kind of Mobile Robotics Navigation method and system of view-based access control model | |
| CN109446919A (en) | A kind of vision lane keeping method based on end-to-end study | |
| CN106778548A (en) | Method and apparatus for detecting barrier | |
| CN107764256A (en) | A kind of trackless automatic Guided Vehicle system and its implementation based on RFID arrays | |
| CN107728620A (en) | A kind of Unmanned Systems of new-energy automobile and method | |
| CN108327815A (en) | The unmanned haul carrier of factory of view-based access control model control | |
| CN106218632A (en) | For the method and apparatus controlling automatic driving vehicle | |
| CN113110456B (en) | AGV trolley stable driving method and system based on artificial intelligence | |
| CN212541100U (en) | Intelligent vehicle system for logistics sorting and positioning | |
| CN106647752B (en) | differential driving type AGV control system and automatic tracking method | |
| CN108597315A (en) | A kind of sand table model of mind controller of vehicle and method | |
| CN113624248A (en) | Vehicle-road cooperative road matching method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091028 Termination date: 20111115 |