CN109189076A - A kind of heavy guiding vehicle localization method and heavy guiding vehicle of view-based access control model sensor - Google Patents
A kind of heavy guiding vehicle localization method and heavy guiding vehicle of view-based access control model sensor Download PDFInfo
- Publication number
- CN109189076A CN109189076A CN201811245354.7A CN201811245354A CN109189076A CN 109189076 A CN109189076 A CN 109189076A CN 201811245354 A CN201811245354 A CN 201811245354A CN 109189076 A CN109189076 A CN 109189076A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- terrestrial reference
- coordinate
- dimensional code
- visual
- 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
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses a kind of heavy guiding vehicle localization methods of view-based access control model sensor and heavy guiding vehicle to be scanned using visual sensor by installing a set of visual sensor respectively before and after heart line in the car and parse the two dimensional code terrestrial reference positioned at ground；According to visual sensor collected two dimensional code landmark information calculate the real-time pose of vehicle and the deviation of object pose, and vehicle movement is automatically controlled according to the deviation of the real-time pose of calculated vehicle and object pose；To realize the homing guidance function of vehicle.Visual sensor used in it has automatic zoom camera lens, and detecting distance can meet vehicle automatic lifting job requirements according to vehicle lifting situation auto-focusing, adaptive detection algorithm；And the visual sensor is with microcontroller and Integrated Algorithm, real time scan and can parse corresponding information entrained by two dimensional code terrestrial reference；It is suitable for the application demand of indoor environment and outdoor environment, meets oversize vehicle high speed and low speed operation demand.
Description
Technical field
The present invention relates to heavy AGV (Automated Guided Vehicle, automated guided vehicle) technical field, tools
Body is the heavy guiding vehicle localization method and heavy guiding vehicle of a kind of view-based access control model sensor.
Background technique
With the development of intelligent industry, the demand of heavy haul transport field homing guidance is more and more.Such as shipyard, transformer
Factory, steel mill etc., the especially higher industry of industrial manufacturing automation degree, the demand to large-scale component automation transhipment are more urgent
It cuts.In automatic guided vehicle industry, guides localization method and be suitable for small-sized AGV mostly.Such as common colour band, two dimensional code sensor,
Such guidance localization method detection range is small, and detecting distance is short, is not suitable for the heavy guiding vehicle with elevating function.Application at present
Widest automatic dock heavy duty AGV guidance system is that magnetic follows closely guide mode, but this guidance mode detecting distance is shorter, needs
Road pavement is wanted to be transformed, complex process is at high cost, and GPS guidance accuracy is not high, is not suitable for indoor transporting.
Summary of the invention
For above-mentioned problems of the prior art, the present invention provides a kind of be suitable for elevating function and multi-mode
Turning function heavy type guides the heavy guiding vehicle localization method of the view-based access control model sensor of vehicle, which guides vehicle localization method packet
Include following steps:
By being respectively arranged in two visual sensors of heavy guiding vehicle center line end to end, real time scan simultaneously parses heavy type
Guide the location information and presupposed information of the two dimensional code terrestrial reference within the scope of Chinese herbaceous peony rearward vision；The presupposed information of the two dimensional code terrestrial reference
Number including the two dimensional code terrestrial reference, the location information include the picture element position information of the two dimensional code terrestrial reference, drift angle information with
And minimum unit Pixel Information；
Wherein, the picture element position information of the two dimensional code terrestrial reference is located at for the central point of the two dimensional code terrestrial reference is scanning this
X-coordinate and Y coordinate in visual field coordinate system corresponding to the Current vision sensor of two dimensional code terrestrial reference, are indicated with pixel；It is described
Drift angle information is drift angle of the two dimensional code terrestrial reference relative to the visual field coordinate system；The minimum unit Pixel Information is the two dimension
Within the vision pixel value of the minimum unit of code terrestrial reference in the Current vision sensor；
By visual sensor the minimum unit pixel a of collected current two-dimension terrestrial reference, the current two-dimension
The pixel resolution c of minimum unit side length information b and the visual sensor, the linear pass being imaged according to the visual sensor
System, calculates the visual field size d=c*b/a of the visual sensor；
Then according to the picture element position information of the current two-dimension terrestrial reference, by the visual sensor pixel resolution and
Visual field size imaging scale relationship calculates central point view corresponding to the visual sensor of the current two-dimension terrestrial reference
Coordinate P in wild coordinate system；
By the installation site of the visual sensor and the central point of the current two-dimension terrestrial reference in the visual sensor institute
Coordinate P in corresponding visual field coordinate system translates rotation formula according to coordinate system and calculates in the current two-dimension terrestrial reference
Coordinate of the heart point in vehicle axis systemVP；And it is calculated according to the presupposed information of the current two-dimension terrestrial reference described when the first two
Tie up coordinate of the central point of code terrestrial reference in earth coordinatesGP；
By the corresponding coordinate of central point of the current two-dimension terrestrial referenceVP, coordinateGP and the vehicle axis system and institute
The deviation for stating earth coordinates acquires the vehicle axis system and the earth is sat according to coordinate rotation and translation transformation method
Mark the position deviation of system, the i.e. deviation of vehicle real time position and target position；
By the location information and presupposed information difference of the front and back two dimensional code terrestrial reference that front and back visual sensor is respectively resolved to
Calculate the central point of coordinate and front and back two dimensional code terrestrial reference of the central point of front and back two dimensional code terrestrial reference in corresponding visual field coordinate system
Then coordinate in earth coordinates obtains the corresponding visual field coordinate of front and back visual sensor according to coordinate transformation method
Coordinate of the origin of system in the earth coordinates；Then the posture of the vehicle axis system Yu the earth coordinates is acquired
Deviation, the i.e. deviation of vehicle real-time attitude and targeted attitude；
Vehicle Controller according to the deviation and vehicle real-time attitude of calculated vehicle real time position and target position with
The deviation of targeted attitude calls the heavy guiding vehicle automatic job of closed loop control algorithm control.
Further, it is marked with to multiple two dimensional codes the grid-shaped heavy type that is layed in of preset constant spacing and guides vehicle institute
On the ground of working region, and multiple two dimensional code terrestrial references are distributed in the same direction.
Further, the visual field coordinate system is using the left front point of the field range of the visual sensor corresponding to it as coordinate
Origin, using the top margin of the field range of the visual sensor corresponding to it as X-axis, left side is Y-axis；
The vehicle axis system is using the geometric center of vehicle as coordinate origin, using longitudinal direction of car middle line as Y-axis, before vehicle
It is that Y-axis is positive into direction；The geodetic coordinates is positioned at the geometric center of the two dimensional code terrestrial reference in the two dimensional code terrestrial reference matrix lower left corner
It is positive by Y-axis of the forward direction of two dimensional code terrestrial reference matrix for coordinate origin.
Further, it is described by the installation site of the visual sensor and the central point of the current two-dimension terrestrial reference at this
Coordinate P in visual field coordinate system corresponding to visual sensor is calculated described when the first two according to coordinate system translation rotation formula
Tie up coordinate of the central point of code terrestrial reference in vehicle axis systemVP, specifically:
Visual field coordinate system corresponding to the visual sensor is obtained relative to described as the installation site of the visual sensor
The rotation angle of vehicle axis system is 0；
It is asked by the visual field size of the visual sensor, the mounting bracket size of the visual sensor, heavy guiding vehicle size
Translation matrix of the visual field coordinate system relative to vehicle axis system corresponding to the visual sensor is obtained,
As coordinate P of the central point in the visual field coordinate system corresponding to the visual sensor of two dimensional code terrestrial reference, the visual field
Spin matrix and translation matrix of the coordinate system relative to vehicle axis system translate rotation formula according to coordinate system and calculate the two dimension
Coordinate of the central point of code terrestrial reference in vehicle axis systemVP。
Further, the corresponding coordinate of the central point by current two-dimension terrestrial referenceVP, coordinateGP and vehicle axis system
And the deviation of earth coordinates acquires the position of vehicle axis system and earth coordinates according to coordinate rotation and translation transformation method
Deviation, the i.e. deviation of vehicle real time position and target position are set, specifically:
Rotation angle θ using the drift angle information of current two-dimension terrestrial reference as earth coordinates relative to vehicle axis system, root
Spin matrix of the earth coordinates relative to the vehicle axis system is acquired according to the rotation angle θ；
According to earth coordinates relative to the spin matrix of vehicle axis system, current two-dimension terrestrial reference central point in vehicle
Coordinate of the central point of coordinate, current two-dimension terrestrial reference in coordinate system in earth coordinates, acquires geodetic coordinates and vehicle
The translation matrix of coordinate system, the i.e. deviation of vehicle real time position and target position.
Correspondingly, for above-mentioned problems of the prior art, the present invention also provides a kind of using above-mentioned heavy guiding
The heavy guiding vehicle of vehicle localization method, it includes heavy goods vehicles ontology and automatic guidance system which, which guides vehicle,；Wherein, the heavy type
Vehicle ontology includes multiple wheel groups, be separately installed in each wheel group hydraulic suspension, angular transducer, lifting solenoid valve and
Turn to solenoid valve；And the hydraulic suspension being located on four angles of the heavy goods vehicles ontology is separately installed with height sensor；
In addition, the heavy goods vehicles ontology further includes the battery pack being installed on the power unit of the heavy goods vehicles ontology and battery
Management system；Wherein, the battery management system is electrically connected with the battery pack, and the battery pack is provided with automatic charging dress
It sets；A portion wheel group in the multiple wheel group is electric driving wheel group；And each electric driving wheel group respectively with driving
Electric machine controller electrical connection, the drive motor controller are electrically connected with the battery pack；
The automatic guidance system includes communication transfer interface module, Vehicle Controller and for scanning and parse two dimensional code
Two sets of visual sensors of target location information and presupposed information；Two sets of visual sensors are installed by mounting bracket respectively
In the heavy goods vehicles ontology center line end to end, detection faces are parallel to the ground；And the visual sensor has autozoom
Camera lens, detecting distance can meet vehicle automatic lifting work according to vehicle lifting situation auto-focusing, adaptive detection algorithm
Industry demand；The visual sensor also has microcontroller and Integrated Algorithm simultaneously, being capable of real time scan and with parsing two dimensional code
Target location information and presupposed information；And the communication transfer interface module and Vehicle Controller are then mounted on the heavy goods vehicles ontology
Control cabinet in；
The power supply line of the visual sensor is electrically connected with the battery pack, and the communication line of the visual sensor passes through institute
Communication transfer interface module is stated to be electrically connected with the Vehicle Controller；The input port of the Vehicle Controller and each angular transducer,
Each height sensor is electrically connected, the output port of the Vehicle Controller and each steering solenoid valve, each lifting solenoid valve point
It is not electrically connected；The Vehicle Controller is electrically connected with the drive motor controller and the battery management system simultaneously.
Further, the electric driving wheel group includes two rubber wheels connect by inserting bridging, is pacified on the inserting bridge
Equipped with driving motor, the driving motor is electrically connected with the drive motor controller；And the inserting bridge is built-in with and two
The rubber wheel connected speed reducer and differential mechanism.
Further, the heavy goods vehicles ontology is provided with 12 wheel groups, wherein four are electric driving wheel group.
Further, the communication transfer interface module is that RS232 serial ports turns CAN communication module, is used for two visual sensings
The RS232 rs 232 serial interface signal of device output is converted to CAN bus signal all the way；The Vehicle Controller by CAN bus respectively with institute
State communication transfer interface module, the drive motor controller and battery management system electrical connection.
Further, the two dimensional code terrestrial reference is printed on the steel plate using laser printer, and solid by double-sided adhesive
Determine on the ground.
The present invention by being respectively arranged in the two sets visual sensors of heavy guiding vehicle center line end to end, centainly detect away from
Two dimensional code terrestrial reference, real time scan and the location information and presupposed information for parsing two dimensional code terrestrial reference are identified from interior auto-focusing.And lead to
The positional information calculation for crossing two dimensional code terrestrial reference goes out real time position of the vehicle in earth coordinates, passes through two sets of visual sensors
Positional information calculation goes out real-time attitude of the vehicle in earth coordinates；And then according to the inclined of vehicle attained pose and object pose
Difference instructs control vehicle automatic job in conjunction with host computer path planning.The detecting distance of visual sensor used in it can
According to vehicle lifting situation auto-focusing, it is adapted to indoor environment and outdoor environment application demand；And there is flexible in application, inspection
It is big to survey range, the fast feature of reading speed is suitable for oversize vehicle high speed and low speed operation demand.
In addition, heavy guiding vehicle of the invention is configured with load-sensitive hydraulic steering system, using full wheel independent steering skill
Art.Each wheel group is each configured with hydraulic lift system, has good compensation ability in pavement roughness, to hydraulic suspension
It is grouped, integral elevating and single-point elevating function may be implemented.Lithium battery and automatic charge device are configured, using distributed electrical
Driving method.Bicycle transports tonnage up to tens tons, and more trolley collaborations are transported up to upper kiloton.
Detailed description of the invention
Fig. 1 is the arrangement schematic diagram of the two dimensional code terrestrial reference in the present invention；
Fig. 2 is the schematic diagram of visual field coordinate system in the present invention, vehicle axis system and earth coordinates；
Fig. 3 is the system block diagram of the automatic guidance system in the present invention；
Fig. 4 is the system layout of the heavy guiding vehicle in the present invention；
Fig. 5 is the another system layout drawing of the heavy guiding vehicle in the present invention；
Fig. 6 is the structural schematic diagram of the hydraulic suspension and electric driving wheel group in the present invention.
Description of symbols:
1: two dimensional code terrestrial reference, 2: mounting bracket, 3: visual sensor, 4: communication transfer interface module,
5: Vehicle Controller, 6: battery management system, 7: drive motor controller, 8: battery pack,
9: electric driving wheel group, 10: hydraulic suspension, 11: height sensor, 12: angular transducer,
13: automatic charge device, 9-1: inserting bridge, 9-2: driving motor, 9-3: rubber wheel,
10-1: pivoting support, 10-2: lifting cylinder, 10-3: turbine and worm steering mechanism.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
First embodiment
The present embodiment provides a kind of heavy guiding vehicle localization method of view-based access control model sensor, which guides vehicle positioning side
Method the following steps are included:
S101, by being respectively arranged in two visual sensors of heavy guiding vehicle center line end to end, real time scan is simultaneously solved
The location information and presupposed information of two dimensional code terrestrial reference within the scope of the heavy guiding Chinese herbaceous peony rearward vision of analysis；
It should be noted that multiple two dimensional code terrestrial references are to be layed in heavy guiding vehicle so that preset constant spacing is grid-shaped
On the ground of place working region, and multiple two dimensional code terrestrial references are distributed in the same direction, as shown in Figure 1；Specifically, employed in this implementation
The size of two dimensional code terrestrial reference be 5mm*5mm, when laying each two dimensional code terrestrial reference horizontal spacing and longitudinal pitch be 500mm.
According to from bottom to up, sequence from left to right is successively numbered multiple two dimensional code terrestrial references.Such as from top to bottom n-th
Row, from left to right the number of the two dimensional code terrestrial reference of m row is anm.Wherein the presupposed information of two dimensional code terrestrial reference is the two dimensional code terrestrial reference
Number, such as anmNumber two dimensional code terrestrial reference presupposed information be NM.Location information include two dimensional code terrestrial reference picture element position information,
Drift angle information and minimum unit Pixel Information；
Further, the picture element position information of two dimensional code terrestrial reference is located at for the central point of the two dimensional code terrestrial reference and is scanning
X-coordinate and Y coordinate in visual field coordinate system corresponding to the Current vision sensor of the two dimensional code terrestrial reference, are indicated with pixel；Partially
Angle information is the drift angle of the two dimensional code terrestrial reference relative to visual field coordinate system；Minimum unit Pixel Information be the two dimensional code terrestrial reference most
Within the vision pixel value of the subsection in Current vision sensor；Visual field coordinate system therein is the view with visual sensor
The left front point of wild range is coordinate origin, and using the top margin of field range as X-axis, left side is the coordinate system of Y-axis.Its middle front part view
The visual field coordinate system for feeling sensor is OF, the visual field coordinate system of rear portion visual sensor is OR, as shown in Figure 2.
Before and after two sets of visual sensors are respectively arranged in vehicle centre-line by mounting bracket, the detection of each visual sensor
Face is parallel to the ground.When vehicle is preferably minimized, the detecting distance of visual sensor is 1000m, when vehicle rises to highest, depending on
The detecting distance for feeling sensor is 1600mm.The visual range of visual sensor increases with the increase of detecting distance, wherein
Minimum field range is 600mm*800mm.Therefore when the laying spacing of two dimensional code terrestrial reference is 500mm*500mm, can guarantee
Visual sensor each moment can detect at least one two dimensional code terrestrial reference, to reach the purpose of real-time control.Before wherein
The central point for the two dimensional code terrestrial reference that portion's visual sensor detects is P1, the two dimensional code terrestrial reference that rear portion visual sensor detects
Central point is defined as P2.
S102, according to visual sensor the positional information calculation of collected two dimensional code terrestrial reference go out the two dimensional code terrestrial reference
Coordinate of the central point in the visual field coordinate system corresponding to the visual sensor；
It should be noted that the visual field size of visual sensor can change, and then two dimensional code with the lifting of vehicle
The minimum unit pixel value of terrestrial reference changes therewith.Therefore the intrinsic Pixel Information of visual sensor, two dimensional code terrestrial reference are combined
Minimum unit side length information can calculate the visual field size of visual sensor.Then it is collected according to the visual sensor
The picture element position information of two dimensional code terrestrial reference can calculate the central point of the two dimensional code terrestrial reference corresponding to the visual sensor
Visual field coordinate system in coordinate.
Specific calculating process are as follows: by visual sensor the minimum unit pixel a of collected current two-dimension terrestrial reference, institute
The minimum unit side length information b of the current two-dimension and pixel resolution c of the visual sensor is stated, according to the visual sensor
The linear relationship of imaging calculates the visual field size d=c*b/a of the visual sensor；Then according to the current two-dimension
Target picture element position information P ' is calculated by the pixel resolution c and visual field size d imaging scale relationship of the visual sensor
Coordinate P of the central point of the current two-dimension terrestrial reference in the visual field coordinate system corresponding to the visual sensor；Its middle front part
Coordinate of the central point of two dimensional code terrestrial reference detected by visual sensor in its visual field coordinate system is denoted asFP1, rear portion vision
Coordinate of the central point of two dimensional code terrestrial reference detected by sensor in its visual field coordinate system is denoted asRP2。
S103, by the installation site of the visual sensor and the central point of the current two-dimension terrestrial reference in the visual sensing
Coordinate P in visual field coordinate system corresponding to device translates rotation formula according to coordinate system and calculates the current two-dimension terrestrial reference
Coordinate of the central point in vehicle axis systemVP；
It should be noted that above-mentioned vehicle axis system OVIt is using the geometric center of vehicle as coordinate origin, with longitudinal direction of car
Middle line is Y-axis, using vehicle forward direction as the coordinate system of Y-axis forward direction, as shown in Figure 2.Rotation formula is translated according to coordinate system, it can
Know:WhereinSpin matrix for B coordinate system relative to A coordinate system,For B coordinate
It is the translation matrix relative to A,AP is pose of the P point in A coordinate,BP is pose of the P point in B coordinate.Accordingly, above-mentioned meter
Calculate coordinate of the central point of two dimensional code terrestrial reference in vehicle axis systemVThe process of P specifically:
Visual field coordinate system corresponding to the visual sensor is obtained relative to described as the installation site of the visual sensor
The rotation angle of vehicle axis system is 0；By the visual field size d of the visual sensor, the visual sensor mounting bracket size,
Heavy type guiding vehicle size acquires translation matrix of the visual field coordinate system relative to vehicle axis system corresponding to the visual sensor, by
Coordinate P, the visual field coordinate system of the central point of two dimensional code terrestrial reference in the visual field coordinate system corresponding to the visual sensor are opposite
In the spin matrix and translation matrix of vehicle axis system, rotation formula is translated according to coordinate system and is calculated in the two dimensional code terrestrial reference
Coordinate of the heart point in vehicle axis systemVP。
S104 calculates the central point of the two dimensional code terrestrial reference in earth coordinates according to the presupposed information of two dimensional code terrestrial reference
CoordinateGP；
It should be noted that above-mentioned geodetic coordinates OGIt is the two dimensional code terrestrial reference to be located at the two dimensional code terrestrial reference matrix lower left corner,
Namely a11The geometric center of number two dimensional code terrestrial reference is coordinate origin, using the forward direction of two dimensional code terrestrial reference matrix as the coordinate of Y-axis forward direction
System, as shown in Figure 2.Since two dimensional code terrestrial reference is to be layed in ground so that constant spacing is latticed in the same direction, in sequence to two dimensional code
Terrestrial reference is numbered, and is input to two dimensional code terrestrial reference for the number of two dimensional code terrestrial reference as presupposed information, therefore can be according to two yards
The number of terrestrial reference is marked on the two dimensional code is calculated the coordinate in earth coordinates.
S105, by the corresponding coordinate of the central point of two dimensional code terrestrial referenceVP, coordinateGP and the vehicle axis system and described big
The deviation of ground coordinate system acquires the vehicle axis system and the earth coordinates according to coordinate rotation and translation transformation method
Position deviation, i.e. the deviation of vehicle real time position and target position；
It should be noted that since visual sensor by mounting bracket is installed on vehicle front-rear center line, and vision passes
The sensor visual field does not have deviation relative to vehicle attitude, therefore two dimensional code terrestrial reference is equivalent to two relative to the drift angle of visual field coordinate system
Tie up deviation of the code terrestrial reference relative to vehicle axis system.If earth coordinates positive direction is two dimensional code terrestrial reference positive direction, it can thus be appreciated that
The deviation information of visual sensor Real-time Feedback is the deviation of vehicle axis system and earth coordinates.Therefore above-mentioned to acquire vehicle
The process of the deviation of real time position and target position specifically:
Rotation angle θ using the drift angle information of current two-dimension terrestrial reference as earth coordinates relative to vehicle axis system, root
Spin matrix of the earth coordinates relative to the vehicle axis system is acquired according to the rotation angle θAccording to spin matrixCoordinate of the central point of current two-dimension terrestrial reference in vehicle axis systemVP, the central point of current two-dimension terrestrial reference is in the earth
Coordinate in coordinate systemGP acquires the translation matrix of geodetic coordinates and vehicle axis systemThat is vehicle real time position and target
The deviation of position.
S106, by the location information and presupposed information of the front and back two dimensional code terrestrial reference that front and back visual sensor is respectively resolved to
The central point of front and back two dimensional code terrestrial reference is calculated separately out in the coordinate and front and back two dimensional code terrestrial reference in corresponding visual field coordinate system
Coordinate of the heart point in earth coordinates, then obtains the corresponding visual field of front and back visual sensor according to coordinate transformation method
Coordinate of the origin of coordinate system in earth coordinates；Then the attitude misalignment of vehicle axis system and earth coordinates is acquired, i.e.,
Vehicle real-time attitude and targeted attitude deviation；
It should be noted that carrying out vehicle with the deviation information that visual sensor is directly read since heavy goods vehicles figure is longer
Trajectory error Corrective control precision is not high.Therefore the present embodiment is existed by the positional information calculation vehicle of front and back visual sensor
Deviation information in earth coordinates is to improve precision.
Wherein, the location information of the two dimensional code terrestrial reference read by front and back sensor can calculate front and back two dimensional code terrestrial reference
Coordinate of the central point in the coordinate system of the visual fieldFP1、RThe presupposed information of P2, the two dimensional code terrestrial reference read by front and back sensor can obtain
To coordinate of the central point in earth coordinates of front and back two dimensional code terrestrial referenceGP1、GP2, then according to coordinate transformation method
Obtain front and back sensor field of view coordinate origin coordinate in geodetic coordinatesDue to front and back sensor
Visual field coordinate origin line and longitudinal direction of car centerline parallel, it is inclined so as to obtain vehicle axis system and earth coordinates posture
Difference, the i.e. drift angle of vehicle real-time attitude and targeted attitude.
S107, Vehicle Controller is according to the real-time appearance of deviation and vehicle of calculated vehicle real time position and target position
The deviation of state and targeted attitude calls the heavy guiding vehicle automatic job of closed loop control algorithm control.
It should be noted that above-mentioned control heavy type guides vehicle automatic job specifically: visual sensor is by the two dimension of reading
The minimum unit Pixel Information of code terrestrial reference, picture element position information, deviation information, presupposed information are sent to communication by serial ports and convert
Module, communication transfer interface module convert information into CAN bus information and are sent to Vehicle Controller, and Vehicle Controller is according to above-mentioned fixed
Position calculation method operation obtains the deviation of vehicle real-time pose and object pose, calls closed loop control algorithm to control vehicle respectively and turns
To solenoid valve, solenoid valve is gone up and down, heavy goods vehicles automatic job function is realized in drive motor controller movement.
Heavy guiding vehicle of the invention simultaneously system can receive host computer by wireless communication when homing guidance positions
Scheduling information controls more trolleys simultaneously and cooperates, and job task can also be preset in Vehicle Controller, completes single machine certainly
Dynamic guiding transport.
Second embodiment
Fig. 3 to Fig. 6 is please referred to, the present embodiment provides a kind of heavy guiding vehicles, and it includes heavy goods vehicles ontology which, which guides vehicle,
And automatic guidance system；Wherein, the heavy goods vehicles ontology includes synchronously control hydraulic lifting system, electronics multi-mode load-sensitive
Hydraulic steering system and 12 wheel groups are wherein separately installed with hydraulic suspension 10, angular transducer 12, lifting in each round group
Solenoid valve and steering solenoid valve；Each hydraulic suspension 10 turns comprising lifting cylinder 10-2, pivoting support 10-1, turbine and worm
To mechanism 10-3.It can control the turbine and worm steering mechanism 10-3 of hydraulic suspension 10 freely to turn to by Vehicle Controller 5, realize
Vehicle difference steering pattern.Multiple hydraulic suspensions 10 can be grouped by fluid pressure line and switch valve, can be by going up and down electromagnetism
Valve controls lifting cylinder 10-2 and stretches, and realizes vehicle totally lifting and single-point elevating function.And positioned at four of heavy goods vehicles ontology
Hydraulic suspension 10 on angle is separately installed with height sensor 11；Lifting closed-loop synchronization control can be realized by Vehicle Controller 5.
In addition, the heavy goods vehicles ontology further includes the battery pack 8 being installed on the power unit of the heavy goods vehicles ontology and electricity
Pond management system 6；Wherein, the battery management system 6 is electrically connected with the battery pack 8, and the battery pack 8 is provided with automatically
Charging unit 13；Four wheel groups in above-mentioned 12 wheel groups are electric driving wheel group 9；Electric driving wheel group 9 includes two by inserting
It fills and driving motor 9-2 is installed on the rubber wheel 9-3, the inserting bridge 9-1 of bridge 9-1 connection, the driving motor 9-2 and driving
Electric machine controller 7 is electrically connected；And the inserting bridge 9-1 is built-in with the speed reducer and differential being connected with two rubber wheel 9-3
Device.The drive motor controller 7 is electrically connected with the battery pack 8.It can be to each electric driving wheel by drive motor controller 7
The revolving speed and torque of group 9 carry out closed-loop control.
The automatic guidance system includes communication transfer interface module 4, Vehicle Controller 5 and for scanning and parsing two dimensional code
The location information of terrestrial reference 1 and two sets of visual sensors 3 of presupposed information；Two sets of visual sensors 3 are pacified by mounting bracket 2 respectively
End to end, the communication transfer interface module 4 and the Vehicle Controller 5 are mounted on described center line loaded on the heavy goods vehicles ontology
In the control cabinet of heavy goods vehicles ontology；Mounting bracket 2 therein is adjustable support, is welded on vehicle frame, flat with vehicle loading face
Together, guarantee not influencing vehicle handling goods.And headstock and the tailstock are stretched out, guarantee that 3 detection faces of visual sensor are not blocked.
In addition, being provided with reinforcing rib in the present embodiment on adjustable support, guarantee that the installation of visual sensor 3 is stablized.Simultaneously
The small rack that adjustable support is used to install visual sensor 3 can finely tune the setting angle of 3 horizontal direction of visual sensor, guarantee
3 setting angle of visual sensor and vehicle attitude deviation are zero.
The power supply line of the visual sensor 3 is electrically connected with the battery pack 8, and the communication line of the visual sensor 3 is logical
The communication transfer interface module 4 is crossed to be electrically connected with the Vehicle Controller 5；The input port of the Vehicle Controller 5 and each angle
Sensor 12, each height sensor 11 are electrically connected, the output port of the Vehicle Controller 5 and each steerings solenoid valve, respectively
Lifting solenoid valve is electrically connected；The Vehicle Controller 5 and the drive motor controller 7 and battery management system 6 simultaneously
It is electrically connected.
Further, above-mentioned visual sensor 3 uses Cognex DM360 series of products, simultaneously with small controller
Integrated Algorithm can quickly scan the two dimensional code landmark information in visual range.With liquid automatic zoom camera lens, detecting distance
Vehicle automatic lifting job requirements can be met according to vehicle lifting situation auto-focusing, adaptive detection algorithm；Detecting distance
Greater than 1000mm, it is suitable for the distance change detection demand of 800mm or more.Detection range is greater than 500mm*500mm.And the vision
3 automatic light source of sensor remains to quickly detect in insufficient light, can meet indoor and outdoor guiding demand.
Above-mentioned communication transfer interface module 4 is that RS232 serial ports turns CAN communication module, for export two visual sensors 3
RS232 rs 232 serial interface signal is converted to CAN bus signal all the way and is transferred to above-mentioned Vehicle Controller 5；The Vehicle Controller 5 selects easy good fortune
Men company CR0234 programmable controller, protective are high, carry I/O, by CAN bus respectively with communication transfer interface module 4, drive
Dynamic electric machine controller 7 and battery management system 6 are electrically connected.The homing guidance program of the Vehicle Controller 5 includes signal processing
Module, Logic control module, security protection module, obstacle avoidance module, communication module, monitoring, diagnosing module etc..
Above-mentioned two dimensional code terrestrial reference 1 is printed on sheet metal using laser printer, proof strength.And sheet metal carries out surface
Processing, changes its light-reflecting property, visual sensor 3 is enable reliably rapidly to read.Two dimensional code terrestrial reference 1 is used double after completing
Face glue fixes on the ground, to not damage original road surface on the basis of guaranteeing stability, has flexible application.
The present invention devises a kind of suitable for having the function of the positioning side of elevating function and multi-mode steering heavy type guiding vehicle
Method and heavy guiding vehicle.Be applicable to heavy goods vehicles indoor and outdoor homing guidance demand, positioning accuracy reaches grade, detection away from
From that can automatically adjust, it is suitable for vehicle automatic job demand, detection range is big, meets oversize vehicle motion control demand.
Detection speed is fast, and recognition speed reaches 42 frames/second, can meet vehicle high-speed operation demand.Detection information is abundant, and guiding control is calculated
Method being capable of flexible expansion.
Using two sets of visual sensor blending algorithms, heavy goods vehicles attitude detection precision is improved, heavy goods vehicles track following is made
Control is possibly realized.The infrastructure requirement complicated compared to magnetic nail, is marked on to the two dimensional code of special process of the invention and has both surely
While qualitative, the application demand of flexible expansion can be met.Heavy guiding vehicle of the invention simultaneously configures hydraulic suspension, has good
Good compensation ability.Hydraulic lifting system is configured, has automatic lifting operation function.Configure distributed electrical driving wheel group, structure
Compact control precision is high.
It should be noted that the terms "include", "comprise" or its any other variant are intended to contain in the embodiment of the present invention
Lid non-exclusive inclusion, so that the process, method, article or the terminal device that include a series of elements not only include that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of terminal device.In the absence of more restrictions, the element limited by sentence "including a ...", and
It is not precluded in the process, method including the element, article or terminal device that there is also other identical elements.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For, the present invention can have various modifications and variations.All within the spirits and principles of the present invention, made any modification, equivalent
Replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of heavy guiding vehicle localization method of view-based access control model sensor, which is characterized in that the heavy guiding vehicle positioning side
Method the following steps are included:
By being respectively arranged in two visual sensors of heavy guiding vehicle center line end to end, real time scan simultaneously parses heavy guiding
The location information and presupposed information of two dimensional code terrestrial reference within the scope of Chinese herbaceous peony rearward vision；The presupposed information of the two dimensional code terrestrial reference includes
The number of the two dimensional code terrestrial reference, the location information include the picture element position information of the two dimensional code terrestrial reference, drift angle information and most
Subsection Pixel Information；
Wherein, the picture element position information of the two dimensional code terrestrial reference is located at for the central point of the two dimensional code terrestrial reference is scanning the two dimension
X-coordinate and Y coordinate in visual field coordinate system corresponding to the Current vision sensor of code terrestrial reference, are indicated with pixel；The drift angle
Information is drift angle of the two dimensional code terrestrial reference relative to the visual field coordinate system；The minimum unit Pixel Information is for the two dimensional code
Within the vision pixel value of the target minimum unit in the Current vision sensor；
By visual sensor the minimum unit pixel a of collected current two-dimension terrestrial reference, the current two-dimension minimum
The pixel resolution c of unit side length information b and the visual sensor, according to the linear relationship that the visual sensor is imaged, meter
Calculate the visual field size d=c*b/a of the visual sensor；
Then pixel resolution and the visual field according to the picture element position information of the current two-dimension terrestrial reference, by the visual sensor
Size imaging scale relationship, the central point visual field corresponding to the visual sensor for calculating the current two-dimension terrestrial reference are sat
Coordinate P in mark system；
As the installation site of the visual sensor and the central point of the current two-dimension terrestrial reference corresponding to the visual sensor
Visual field coordinate system in coordinate P, rotation formula is translated according to coordinate system and calculates the central point of the current two-dimension terrestrial reference
Coordinate in vehicle axis systemVP；And the current two-dimension is calculated according to the presupposed information of the current two-dimension terrestrial reference
Coordinate of the central point of terrestrial reference in earth coordinatesGP；
By the corresponding coordinate of central point of the current two-dimension terrestrial referenceVP, coordinateGP and the vehicle axis system and described big
The deviation of ground coordinate system acquires the vehicle axis system and the earth coordinates according to coordinate rotation and translation transformation method
Position deviation, i.e. the deviation of vehicle real time position and target position；
The location information and presupposed information for the front and back two dimensional code terrestrial reference being respectively resolved to by front and back visual sensor calculate separately
The central point of coordinate and front and back two dimensional code terrestrial reference of the central point of front and back two dimensional code terrestrial reference in corresponding visual field coordinate system is big out
Then coordinate in ground coordinate system obtains the corresponding visual field coordinate system of front and back visual sensor according to coordinate transformation method
Coordinate of the origin in the earth coordinates；Then the posture for acquiring the vehicle axis system and the earth coordinates is inclined
Difference, the i.e. deviation of vehicle real-time attitude and targeted attitude；
Vehicle Controller is according to the deviation and vehicle real-time attitude and target of calculated vehicle real time position and target position
The deviation of posture calls the heavy guiding vehicle automatic job of closed loop control algorithm control.
2. the heavy guiding vehicle localization method of view-based access control model sensor as described in claim 1, which is characterized in that multiple described
It is marked with to two dimensional code on the grid-shaped ground for being layed in heavy guiding vehicle place working region of preset constant spacing, and multiple
Two dimensional code terrestrial reference is distributed in the same direction.
3. the heavy guiding vehicle localization method of view-based access control model sensor as claimed in claim 2, which is characterized in that the visual field
Coordinate system is using the left front point of the field range of the visual sensor corresponding to it as coordinate origin, with the visual sensing corresponding to it
The top margin of the field range of device is X-axis, and left side is Y-axis；
The vehicle axis system is using the geometric center of vehicle as coordinate origin, using longitudinal direction of car middle line as Y-axis, with vehicle advance side
To for Y-axis forward direction；The geodetic coordinates is to sit with the geometric center for being located at the two dimensional code terrestrial reference in the two dimensional code terrestrial reference matrix lower left corner
Origin is marked, using the forward direction of two dimensional code terrestrial reference matrix as Y-axis forward direction.
4. the heavy guiding vehicle localization method of view-based access control model sensor as described in claim 1, which is characterized in that described by this
Central point visual field corresponding to the visual sensor of the installation site of visual sensor and the current two-dimension terrestrial reference is sat
Coordinate P in mark system translates rotation formula according to coordinate system and calculates the central point of the current two-dimension terrestrial reference in vehicle seat
Coordinate in mark systemVP, specifically:
Visual field coordinate system corresponding to the visual sensor is obtained relative to the vehicle as the installation site of the visual sensor
The rotation angle of coordinate system is 0；
This is acquired by the visual field size of the visual sensor, the mounting bracket size of the visual sensor, heavy guiding vehicle size
Translation matrix of the visual field coordinate system relative to vehicle axis system corresponding to visual sensor,
As coordinate P, visual field coordinate in the visual field coordinate system corresponding to the visual sensor of central point of two dimensional code terrestrial reference
It is the spin matrix and translation matrix relative to vehicle axis system, rotation formula is translated with calculating the two dimensional code according to coordinate system
Coordinate of the target central point in vehicle axis systemVP。
5. the heavy guiding vehicle localization method of view-based access control model sensor as claimed in claim 4, which is characterized in that described by working as
The corresponding coordinate of central point of preceding two dimensional code terrestrial referenceVP, coordinateGThe deviation of P and vehicle axis system and earth coordinates, according to seat
Mark rotation and translation transformation method, acquire the position deviation of vehicle axis system and earth coordinates, i.e. vehicle real time position and mesh
The deviation of cursor position, specifically:
Rotation angle θ using the drift angle information of current two-dimension terrestrial reference as earth coordinates relative to vehicle axis system, according to institute
It states rotation angle θ and acquires spin matrix of the earth coordinates relative to the vehicle axis system；
According to earth coordinates relative to the spin matrix of vehicle axis system, current two-dimension terrestrial reference central point in vehicle coordinate
Coordinate of the central point of coordinate, current two-dimension terrestrial reference in system in earth coordinates, acquires geodetic coordinates and vehicle coordinate
The translation matrix of system, the i.e. deviation of vehicle real time position and target position.
6. a kind of heavy guiding vehicle using heavy guiding vehicle localization method according to any one of claims 1 to 5, special
Sign is that the heavy guiding vehicle includes heavy goods vehicles ontology and automatic guidance system；
Wherein, the heavy goods vehicles ontology includes multiple wheel groups, is separately installed with hydraulic suspension, angle sensor in each wheel group
Device, lifting solenoid valve and steering solenoid valve；And the hydraulic suspension being located on four angles of the heavy goods vehicles ontology is installed respectively
There is height sensor；
In addition, the heavy goods vehicles ontology further includes the battery pack being installed on the power unit of the heavy goods vehicles ontology and battery management
System；Wherein, the battery management system is electrically connected with the battery pack, and the battery pack is provided with automatic charge device；
A portion wheel group in the multiple wheel group is electric driving wheel group；And each electric driving wheel group respectively with driving motor
Controller electrical connection, the drive motor controller are electrically connected with the battery pack；
The automatic guidance system includes communication transfer interface module, Vehicle Controller and for scanning and parsing two dimensional code terrestrial reference
Two sets of visual sensors of location information and presupposed information；Two sets of visual sensors pass through mounting bracket respectively and are installed on institute
State the center line of heavy goods vehicles ontology end to end, detection faces are parallel to the ground；And the visual sensor has automatic zoom camera lens,
Its detecting distance can meet vehicle automatic lifting operation need according to vehicle lifting situation auto-focusing, adaptive detection algorithm
It asks；The visual sensor also has microcontroller and Integrated Algorithm simultaneously, real time scan and can parse two dimensional code terrestrial reference
Location information and presupposed information；And the communication transfer interface module and Vehicle Controller are then mounted on the control of the heavy goods vehicles ontology
In case processed；
The power supply line of the visual sensor is electrically connected with the battery pack, and the communication line of the visual sensor passes through described logical
Letter conversion module is electrically connected with the Vehicle Controller；The input port of the Vehicle Controller and each angular transducer, each height
Degree sensor is electrically connected, the output port of the Vehicle Controller and each steering solenoid valve, each lifting solenoid valve difference electricity
Connection；The Vehicle Controller is electrically connected with the drive motor controller and the battery management system simultaneously.
7. heavy guiding vehicle as claimed in claim 6, which is characterized in that the electric driving wheel group includes two by inserting bridge
The rubber wheel of connection is equipped with driving motor on the inserting bridge, and the driving motor is electrically connected with the drive motor controller
It connects；And the inserting bridge is built-in with the speed reducer and differential mechanism being connected with two rubber wheels.
8. heavy guiding vehicle as claimed in claim 6, which is characterized in that the heavy goods vehicles ontology is provided with 12 wheel groups,
Wherein four are electric driving wheel group.
9. heavy guiding vehicle as claimed in claim 6, which is characterized in that the communication transfer interface module is that RS232 serial ports turns CAN
Communication module, the RS232 rs 232 serial interface signal for exporting two visual sensors are converted to CAN bus signal all the way；The vehicle
Set controller by CAN bus respectively with the communication transfer interface module, the drive motor controller and the battery management
System electrical connection.
10. heavy guiding vehicle as claimed in claim 6, which is characterized in that the two dimensional code terrestrial reference is existed using laser printer
It prints on steel plate, and is fixed on the ground by double-sided adhesive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811245354.7A CN109189076B (en) | 2018-10-24 | 2018-10-24 | Heavy guided vehicle positioning method based on visual sensor and heavy guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811245354.7A CN109189076B (en) | 2018-10-24 | 2018-10-24 | Heavy guided vehicle positioning method based on visual sensor and heavy guided vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109189076A true CN109189076A (en) | 2019-01-11 |
| CN109189076B CN109189076B (en) | 2021-08-31 |
Family
ID=64943275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811245354.7A Active CN109189076B (en) | 2018-10-24 | 2018-10-24 | Heavy guided vehicle positioning method based on visual sensor and heavy guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109189076B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186459A (en) * | 2019-05-27 | 2019-08-30 | 深圳市海柔创新科技有限公司 | Air navigation aid, mobile vehicle and navigation system |
| CN110806749A (en) * | 2019-10-31 | 2020-02-18 | 成都四威高科技产业园有限公司 | Accurate positioning method and system for differential drive AGV |
| CN112327818A (en) * | 2019-07-19 | 2021-02-05 | 杭州海康机器人技术有限公司 | Method for correcting pose deviation of guide graph and walking equipment |
| CN112445220A (en) * | 2019-08-30 | 2021-03-05 | 北京京东乾石科技有限公司 | Control method and device for automatic guided vehicle, storage medium and electronic equipment |
| CN112729123A (en) * | 2020-12-21 | 2021-04-30 | 广州安特激光技术有限公司 | Distance measuring system and method based on machine vision |
| CN114397883A (en) * | 2021-11-11 | 2022-04-26 | 安徽昌永得机械有限公司 | Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions |
| CN117112867A (en) * | 2023-10-24 | 2023-11-24 | 四川国蓝中天环境科技集团有限公司 | Heavy vehicle emission calculation and visualization method based on GPS track data |
Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201800541U (en) * | 2010-07-05 | 2011-04-20 | 湖北三江航天万山特种车辆有限公司 | Self-propelled modular combined transport vehicle |
| CN102390232A (en) * | 2011-10-25 | 2012-03-28 | 上海交通大学 | Vertical lifting hydraulic hanging mechanism |
| CN102789233A (en) * | 2012-06-12 | 2012-11-21 | 湖北三江航天红峰控制有限公司 | Vision-based combined navigation robot and navigation method |
| US20130054129A1 (en) * | 2011-08-26 | 2013-02-28 | INRO Technologies Limited | Method and apparatus for using unique landmarks to locate industrial vehicles at start-up |
| CN103123682A (en) * | 2013-01-17 | 2013-05-29 | 无锡普智联科高新技术有限公司 | System and method for positioning mobile robot based on regular graphic code composite tags |
| CN103342313A (en) * | 2013-07-19 | 2013-10-09 | 徐州华恒机器人系统有限公司 | Heavy-load intelligent large-range lifting trolley |
| US9157757B1 (en) * | 2014-09-03 | 2015-10-13 | Sharp Laboratories Of America, Inc. | Methods and systems for mobile-agent navigation |
| CN105243366A (en) * | 2015-10-10 | 2016-01-13 | 北京微尘嘉业科技有限公司 | Two-dimensional code based vehicle positioning method |
| CN105388899A (en) * | 2015-12-17 | 2016-03-09 | 中国科学院合肥物质科学研究院 | An AGV navigation control method based on two-dimension code image tags |
| CN105467998A (en) * | 2015-12-31 | 2016-04-06 | 厦门思尔特机器人系统股份公司 | Heavy load lifting type AGV |
| CN105511462A (en) * | 2015-11-30 | 2016-04-20 | 北京卫星制造厂 | Vision-based AGV navigation method |
| CN105607635A (en) * | 2016-01-05 | 2016-05-25 | 东莞市松迪智能机器人科技有限公司 | Panoramic optic visual navigation control system of automatic guided vehicle and omnidirectional automatic guided vehicle |
| CN205345045U (en) * | 2015-12-10 | 2016-06-29 | 湖北三江航天万山特种车辆有限公司 | Multiaxis can turn to scalable jiayouche |
| US20160313740A1 (en) * | 2014-01-14 | 2016-10-27 | Grenzebach Maschinenbau Gmbh | Orientation device for electrically operated transportation vehicles, automatically guided in factory building |
| CN106094822A (en) * | 2016-06-27 | 2016-11-09 | 中国计量大学 | Inertial guide car localization method based on auxiliary locator and inertial guide car |
| CN107272694A (en) * | 2017-07-18 | 2017-10-20 | 北京星航机电装备有限公司 | One kind is based on Mecanum wheel independent navigation omnidirectional vehicle control |
| CN107264618A (en) * | 2017-06-09 | 2017-10-20 | 湖北三江航天万山特种车辆有限公司 | A kind of hydraulic system of special trailer |
| CN107272690A (en) * | 2017-07-07 | 2017-10-20 | 中国计量大学 | Inertial guide car air navigation aid and inertial guide car based on binocular stereo vision |
| CN206710891U (en) * | 2017-05-16 | 2017-12-05 | 中国计量大学 | A kind of visual guidance car based on Quick Response Code |
| CN107908190A (en) * | 2017-12-14 | 2018-04-13 | 中国计量大学 | Visual guidance method and visual guidance car based on rigid body translation |
| CN108225303A (en) * | 2018-01-18 | 2018-06-29 | 水岩智能科技（宁波）有限公司 | Two-dimensional code positioning label, and positioning navigation system and method based on two-dimensional code |
| CN108248326A (en) * | 2018-01-24 | 2018-07-06 | 中国石油大学(华东) | A kind of cross-country chassis height intelligent regulating system of multi-axle heavy type |
-
2018
- 2018-10-24 CN CN201811245354.7A patent/CN109189076B/en active Active
Patent Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201800541U (en) * | 2010-07-05 | 2011-04-20 | 湖北三江航天万山特种车辆有限公司 | Self-propelled modular combined transport vehicle |
| US20130054129A1 (en) * | 2011-08-26 | 2013-02-28 | INRO Technologies Limited | Method and apparatus for using unique landmarks to locate industrial vehicles at start-up |
| CN102390232A (en) * | 2011-10-25 | 2012-03-28 | 上海交通大学 | Vertical lifting hydraulic hanging mechanism |
| CN102789233A (en) * | 2012-06-12 | 2012-11-21 | 湖北三江航天红峰控制有限公司 | Vision-based combined navigation robot and navigation method |
| CN103123682A (en) * | 2013-01-17 | 2013-05-29 | 无锡普智联科高新技术有限公司 | System and method for positioning mobile robot based on regular graphic code composite tags |
| CN103342313A (en) * | 2013-07-19 | 2013-10-09 | 徐州华恒机器人系统有限公司 | Heavy-load intelligent large-range lifting trolley |
| US20160313740A1 (en) * | 2014-01-14 | 2016-10-27 | Grenzebach Maschinenbau Gmbh | Orientation device for electrically operated transportation vehicles, automatically guided in factory building |
| US9157757B1 (en) * | 2014-09-03 | 2015-10-13 | Sharp Laboratories Of America, Inc. | Methods and systems for mobile-agent navigation |
| CN105243366A (en) * | 2015-10-10 | 2016-01-13 | 北京微尘嘉业科技有限公司 | Two-dimensional code based vehicle positioning method |
| CN105511462A (en) * | 2015-11-30 | 2016-04-20 | 北京卫星制造厂 | Vision-based AGV navigation method |
| CN205345045U (en) * | 2015-12-10 | 2016-06-29 | 湖北三江航天万山特种车辆有限公司 | Multiaxis can turn to scalable jiayouche |
| CN105388899A (en) * | 2015-12-17 | 2016-03-09 | 中国科学院合肥物质科学研究院 | An AGV navigation control method based on two-dimension code image tags |
| CN105467998A (en) * | 2015-12-31 | 2016-04-06 | 厦门思尔特机器人系统股份公司 | Heavy load lifting type AGV |
| CN105607635A (en) * | 2016-01-05 | 2016-05-25 | 东莞市松迪智能机器人科技有限公司 | Panoramic optic visual navigation control system of automatic guided vehicle and omnidirectional automatic guided vehicle |
| CN106094822A (en) * | 2016-06-27 | 2016-11-09 | 中国计量大学 | Inertial guide car localization method based on auxiliary locator and inertial guide car |
| CN206710891U (en) * | 2017-05-16 | 2017-12-05 | 中国计量大学 | A kind of visual guidance car based on Quick Response Code |
| CN107264618A (en) * | 2017-06-09 | 2017-10-20 | 湖北三江航天万山特种车辆有限公司 | A kind of hydraulic system of special trailer |
| CN107272690A (en) * | 2017-07-07 | 2017-10-20 | 中国计量大学 | Inertial guide car air navigation aid and inertial guide car based on binocular stereo vision |
| CN107272694A (en) * | 2017-07-18 | 2017-10-20 | 北京星航机电装备有限公司 | One kind is based on Mecanum wheel independent navigation omnidirectional vehicle control |
| CN107908190A (en) * | 2017-12-14 | 2018-04-13 | 中国计量大学 | Visual guidance method and visual guidance car based on rigid body translation |
| CN108225303A (en) * | 2018-01-18 | 2018-06-29 | 水岩智能科技（宁波）有限公司 | Two-dimensional code positioning label, and positioning navigation system and method based on two-dimensional code |
| CN108248326A (en) * | 2018-01-24 | 2018-07-06 | 中国石油大学(华东) | A kind of cross-country chassis height intelligent regulating system of multi-axle heavy type |
Non-Patent Citations (3)
| Title |
|---|
| WU, XING: "An automated guided mechatronic tractor for path tracking of heavy-duty robotic vehicles", 《MECHATRONICS》 * |
| 常中华: "基于BD和QR码的AGV研究与设计", 《青岛大学学报(自然科学版)》 * |
| 石陈陈: "自动导引车多摄像机主动导引系统的协同标定", 《仪器仪表学报》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186459A (en) * | 2019-05-27 | 2019-08-30 | 深圳市海柔创新科技有限公司 | Air navigation aid, mobile vehicle and navigation system |
| CN110186459B (en) * | 2019-05-27 | 2021-06-29 | 深圳市海柔创新科技有限公司 | Navigation method, mobile carrier and navigation system |
| CN112327818A (en) * | 2019-07-19 | 2021-02-05 | 杭州海康机器人技术有限公司 | Method for correcting pose deviation of guide graph and walking equipment |
| CN112327818B (en) * | 2019-07-19 | 2023-06-23 | 杭州海康机器人股份有限公司 | Method for correcting pose deviation of guide graph and walking equipment |
| CN112445220A (en) * | 2019-08-30 | 2021-03-05 | 北京京东乾石科技有限公司 | Control method and device for automatic guided vehicle, storage medium and electronic equipment |
| CN110806749A (en) * | 2019-10-31 | 2020-02-18 | 成都四威高科技产业园有限公司 | Accurate positioning method and system for differential drive AGV |
| CN112729123A (en) * | 2020-12-21 | 2021-04-30 | 广州安特激光技术有限公司 | Distance measuring system and method based on machine vision |
| CN114397883A (en) * | 2021-11-11 | 2022-04-26 | 安徽昌永得机械有限公司 | Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions |
| CN117112867A (en) * | 2023-10-24 | 2023-11-24 | 四川国蓝中天环境科技集团有限公司 | Heavy vehicle emission calculation and visualization method based on GPS track data |
| CN117112867B (en) * | 2023-10-24 | 2024-01-09 | 四川国蓝中天环境科技集团有限公司 | Heavy vehicle emission calculation and visualization method based on GPS track data |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109189076B (en) | 2021-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109189076A (en) | A kind of heavy guiding vehicle localization method and heavy guiding vehicle of view-based access control model sensor | |
| CN105883424B (en) | Can autonomous stacking AGV devices | |
| CN209008730U (en) | A kind of heavy guiding vehicle of view-based access control model sensor | |
| CN104111657B (en) | A kind of can the automatic Guided Vehicle of omnidirectional running | |
| CN110243380B (en) | Map matching method based on multi-sensor data and angle feature recognition | |
| CN105468001A (en) | Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof | |
| CN103383570A (en) | Automatic guided vehicle capable of moving in all directions | |
| CN205375188U (en) | Formula AGV navigation dolly slips into | |
| CN105081524B (en) | In welding process, the online dynamic programming of track follows the tracks of collaborative control method with welding bead | |
| CN102666326A (en) | Automatic conveying equipment for roll body | |
| CN108861514B (en) | Full-automatic coil stock carrying AGV robot and control method thereof | |
| CN108437955B (en) | Vehicle attitude adjusting method and device | |
| CN110147100A (en) | A kind of AGV platform and air navigation aid with high-precision navigation locating function | |
| CN108459600A (en) | A kind of vision navigation system of AGV trolleies | |
| CN103017726A (en) | Robot pose error measuring system and method in Cartesian coordinate mode | |
| CN212329961U (en) | Unmanned wall welding robot that climbs based on vision measurement | |
| CN208856543U (en) | A kind of industry loading vehicles positioning device | |
| CN110440806A (en) | A kind of AGV accurate positioning method that laser is merged with two dimensional code | |
| JP6475788B2 (en) | Automatic transfer device | |
| CN211061900U (en) | Autonomous navigation logistics robot control system | |
| CN109375631A (en) | A kind of system and method for realizing high speed magnetic navigation identification | |
| CN207937872U (en) | A kind of avoidance trolley | |
| KR20090126570A (en) | A crane control system and method | |
| CN212921203U (en) | Positioning control system of battery replacement equipment | |
| CN113605766B (en) | Detection system and position adjustment method of automobile carrying robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |