CN104142683A - Automated guided vehicle navigation method based on two-dimension code positioning - Google Patents

Automated guided vehicle navigation method based on two-dimension code positioning Download PDF

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Publication number
CN104142683A
CN104142683A CN201410296320.6A CN201410296320A CN104142683A CN 104142683 A CN104142683 A CN 104142683A CN 201410296320 A CN201410296320 A CN 201410296320A CN 104142683 A CN104142683 A CN 104142683A
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China
Prior art keywords
automatic guide
guide vehicle
dimension code
vehicle
code label
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CN201410296320.6A
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Chinese (zh)
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CN104142683B (en
Inventor
倪菲
杨威
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上海快仓智能科技有限公司
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Priority to CN201310571271.8 priority Critical
Priority to CN2013105712718 priority
Priority to CN201310571271 priority
Application filed by 上海快仓智能科技有限公司 filed Critical 上海快仓智能科技有限公司
Priority to CN201410296320.6A priority patent/CN104142683B/en
Publication of CN104142683A publication Critical patent/CN104142683A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0216Vehicle for transporting goods in a warehouse, factory or similar

Abstract

The invention provides an automated guided vehicle navigation method based on two-dimension code positioning and relates to the technical field of navigation of automated vehicles. The automated guided vehicle navigation method based on two-dimension code positioning solves the technical problems that according to an existing method, deployment is not convenient, investment cost is high, and paths are not flexible. According to the automated guided vehicle navigation method based on two-dimension code positioning, a two-dimension code label array which is arranged in a mesh mode is attached to the ground of the site where an automated guided vehicle is applied, two-dimension code labels on the ground are obtained through a camera and are recognized when the automated guided vehicle advances, the automated guided vehicle is controlled to advance according to the position information contained in the two-dimension code labels, and thus navigation of the automated guided vehicle is achieved. The automated guided vehicle navigation method based on two-dimension code positioning has the advantages that deployment is convenient, investment cost is low, and the paths are flexible.

Description

Based on the automatic guide vehicle air navigation aid of Quick Response Code location
Technical field
The present invention relates to automotive vehicle airmanship, particularly relate to a kind of technology of the automatic guide vehicle air navigation aid based on Quick Response Code location.
Background technology
In order to improve the automatization level of factory and the sorting of logistics stockyard, automatic guide vehicle (AGV) is adopted widely.Automatic guide vehicle can move automatically according to the route of instruction, does not need artificial interference, therefore can greatly reduce the cost of labor of factory and logistics stockyard inside transport, and effectively improves conevying efficiency, significantly reduces error rate simultaneously.
On automatic guide vehicle, be all equipped with the vehicle control device of advancing for controlling it, vehicle control device can march to target location according to the path planning control automatic guide vehicle of setting.Existing automatic guide vehicle air navigation aid mainly contains following several:
1) magnetic stripe bootstrap technique, such as disclosing a kind of method and apparatus of electromagnetic guide in the Patent document number Chinese patent literature that is CN102156475, the method was buried magnetic stripe underground going on path of automatic guide vehicle, automatic guide vehicle is advanced along the path of magnetic stripe, the major defect of the method is at applied field construction volume on the ground larger, route is too single simultaneously, cannot change flexibly path;
2) laser aiming method, such as disclosing the navigate mode of a kind of industrial laser aiming AGV in the Patent document number Chinese patent literature that is CN201993646U, the method is arranged label in AGV application place, utilize laser instrument to realize navigation, the major defect of the method is that label is easily blocked, cause navigating malfunctioning, and the input cost of laser instrument is also higher, route is underaction also;
3) magnetic is followed closely in conjunction with RFID method, such as disclosing the AGV air navigation aid of a kind of magnetic stripe in conjunction with RFID in the Patent document number Chinese patent literature that is CN103268116A, the method can represent the coordinate position of vehicle in application place with RFID, route is relatively flexible, but it is problematic in that magnetic is followed closely and RFID laying project amount is larger, and magnetic railings ruler Costco Wholesale is higher.
Summary of the invention
For the defect existing in above-mentioned prior art, it is convenient that technical matters to be solved by this invention is to provide a kind of arrangement, and input cost is low, and the route automatic guide vehicle air navigation aid based on Quick Response Code location flexibly.
In order to solve the problems of the technologies described above, a kind of automatic guide vehicle air navigation aid based on Quick Response Code location provided by the present invention, relate to automatic guide vehicle, camera, vehicle control device are housed on described automatic guide vehicle, and for detection of the wheel speed sensors of automatic guide vehicle driving wheel operating mode, it is characterized in that, concrete grammar is as follows:
For setting an earth axes in the application places ground of automatic guide vehicle, application places ground at automatic guide vehicle posts multiple two-dimension code labels, and it is latticed that the equidistant interval of each two-dimension code label cloth is set as, and is all printed with the Quick Response Code that comprises this label position coordinate figure on every two-dimension code label;
Be provided with instruction transmitting terminal in the application places of automatic guide vehicle, utilize instruction transmitting terminal to issue coordinate figure and the path planning of source location to the vehicle control device on automatic guide vehicle;
When automatic guide vehicle is advanced on application places ground, vehicle control device detects rotating speed and the rotation direction of automatic guide vehicle driving wheel by wheel speed sensors, and catch in real time ground image by camera, analyze in the ground image catching whether include complete two-dimension code label image again, and advance according to analysis result control automatic guide vehicle;
If do not include complete two-dimension code label image in the first frame ground image that vehicle control device captures, export error signal to warning parts, described warning parts are mounted in the parts that can export sound and light alarm signal on automatic guide vehicle, or set up with vehicle control device the communication terminal that has communication link;
If include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to this position of two-dimension code label image in ground image, calculate the grid azimuth between automatic guide vehicle and this two-dimension code label, and extract the Quick Response Code in this two-dimension code label from this two-dimension code label image, again extracted Quick Response Code is scaled to the coordinate figure of this two-dimension code label position, then according to the coordinate figure of source location, path planning, grid azimuth between automatic guide vehicle and this two-dimension code label, the coordinate figure of this two-dimension code label position, and the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, thereby controlling automatic guide vehicle advances,
If do not include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, advance thereby control automatic guide vehicle.
Further, the final position of the path planning that instruction transmitting terminal issues to the vehicle control device on automatic guide vehicle at every turn, is the position that posts two-dimension code label.
Further, light filling source is housed on automatic guide vehicle, this light filling source is an annular luminous source, and camera is arranged on the geometric center of automatic guide vehicle, and the camera lens of camera is downwards just to ground, and the optical axis of camera is through the ring heart in light filling source.
Automatic guide vehicle air navigation aid based on Quick Response Code location provided by the invention, adopt two-dimension code label to identify coordinate position, the deployment of two-dimension code label is simple fast, cost of manufacture is also extremely low, and two-dimension code label is grid and arranges, route is very flexible, all two-dimension code labels can be designed to route through point, automatic guide vehicle utilizes camera to catch two-dimension code label image, when identification two-dimension code label, automatic guide vehicle is positioned at directly over Quick Response Code, having blocked all extraneous light disturbs, provide stable illumination with vehicle self-carrying light source, can greatly improve identification stability.
Brief description of the drawings
Fig. 1 is the schematic diagram of the automatic guide vehicle air navigation aid based on Quick Response Code location of the embodiment of the present invention;
Fig. 2 is the two-dimension code label schematic diagram in the automatic guide vehicle air navigation aid based on Quick Response Code location of the embodiment of the present invention.
Embodiment
Below in conjunction with brief description of the drawings, embodiments of the invention are described in further detail, but the present embodiment is not limited to the present invention, every employing analog structure of the present invention and similar variation thereof, all should list protection scope of the present invention in.
As Figure 1-Figure 2, a kind of automatic guide vehicle air navigation aid based on Quick Response Code location that the embodiment of the present invention provides, relate to automatic guide vehicle 1, on described automatic guide vehicle 1, camera 5, vehicle control device are housed, and for detection of the wheel speed sensors of automatic guide vehicle driving wheel operating mode, it is characterized in that, concrete grammar is as follows:
For setting an earth axes in the application places ground 9 of automatic guide vehicle 1, post multiple two-dimension code labels 2 on the application places ground 9 of automatic guide vehicle, and it is latticed that each two-dimension code label 2 equidistant interval cloth are set as, and is all printed with the Quick Response Code that comprises this label position coordinate figure on every two-dimension code label 2;
Be provided with instruction transmitting terminal 11 in the application places of automatic guide vehicle, utilize instruction transmitting terminal 11 to issue coordinate figure and the path planning 10 of source location B to the vehicle control device on automatic guide vehicle 1, the path planning that instruction transmitting terminal issues should be tried one's best many through two-dimension code label, to ensure that automatic guide vehicle can switch to the operating mode that can capture complete two-dimension code label image by the operating mode that does not capture complete two-dimension code label image at short notice in traveling process;
When automatic guide vehicle 1 is advanced on application places ground 9, vehicle control device detects rotating speed and the rotation direction of automatic guide vehicle driving wheel by wheel speed sensors, and catch in real time ground image by camera 5, analyze in the ground image catching whether include complete two-dimension code label image again, and advance according to analysis result control automatic guide vehicle;
If do not include complete two-dimension code label image in the first frame ground image that vehicle control device captures, export error signal to warning parts, with prompting staff, described warning parts are mounted in hummer, warning lamp etc. on automatic guide vehicle can export the parts of sound and light alarm signal, can be also to set up with vehicle control device the communication terminal that has communication link;
If include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to this position of two-dimension code label image in ground image, calculate the grid azimuth between automatic guide vehicle and this two-dimension code label, and extract the Quick Response Code in this two-dimension code label from this two-dimension code label image, again extracted Quick Response Code is scaled to the coordinate figure of this two-dimension code label position, then according to the coordinate figure of source location, path planning, grid azimuth between automatic guide vehicle and this two-dimension code label, the coordinate figure of this two-dimension code label position, and the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, thereby controlling automatic guide vehicle advances,
If do not include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, thereby controlling automatic guide vehicle advances, due to complete in the rotating speed of automatic guide vehicle driving wheel in this case, rotation direction is calculated the follow-up direct of travel of automatic guide vehicle, therefore can there is error in its result of calculation, this error can be accumulated in time and be increased, only have when including in the ground image that vehicle control device captures after complete two-dimension code label image, can dispose error,
Significantly, in automatic guide vehicle traveling process, two-dimension code label can leave the visual field of camera unavoidably, but because each two-dimension code label is set as latticed at the equidistant interval, application places ground of automatic guide vehicle cloth, so vehicle control device did not capture after complete two-dimension code label image in the short time, complete two-dimension code label image will inevitably be again captured, thereby the error of calculation causing while not capturing complete two-dimension code label image can be removed
In the embodiment of the present invention, when making automatic guide vehicle 1 at every turn from the initial point A of path planning 10, in the first frame ground image that vehicle control device captures, can include complete two-dimension code label image, the final position B of the path planning 10 that instruction transmitting terminal issues to the vehicle control device on automatic guide vehicle at every turn, is the position that posts two-dimension code label.
In the embodiment of the present invention, light filling source is housed on automatic guide vehicle, this light filling source is an annular luminous source, and camera is arranged on the geometric center of automatic guide vehicle, and the camera lens of camera is downwards just to ground, and the optical axis of camera is through the ring heart in light filling source.
In the embodiment of the present invention, described instruction transmitting terminal is computing machine, described vehicle control device is prior art, be specially built-in industrial control machine, vehicle control device connects camera by Ethernet, vehicle control device is by wireless network link order transmitting terminal, and vehicle control device connects wheel speed sensors by CAN bus.

Claims (3)

1. the automatic guide vehicle air navigation aid based on Quick Response Code location, relate to automatic guide vehicle, camera, vehicle control device are housed on described automatic guide vehicle, and for detection of the wheel speed sensors of automatic guide vehicle driving wheel operating mode, it is characterized in that, concrete grammar is as follows:
For setting an earth axes in the application places ground of automatic guide vehicle, application places ground at automatic guide vehicle posts multiple two-dimension code labels, and it is latticed that the equidistant interval of each two-dimension code label cloth is set as, and is all printed with the Quick Response Code that comprises this label position coordinate figure on every two-dimension code label;
Be provided with instruction transmitting terminal in the application places of automatic guide vehicle, utilize instruction transmitting terminal to issue coordinate figure and the path planning of source location to the vehicle control device on automatic guide vehicle;
When automatic guide vehicle is advanced on application places ground, vehicle control device detects rotating speed and the rotation direction of automatic guide vehicle driving wheel by wheel speed sensors, and catch in real time ground image by camera, analyze in the ground image catching whether include complete two-dimension code label image again, and advance according to analysis result control automatic guide vehicle;
If do not include complete two-dimension code label image in the first frame ground image that vehicle control device captures, export error signal to warning parts, described warning parts are mounted in the parts that can export sound and light alarm signal on automatic guide vehicle, or set up with vehicle control device the communication terminal that has communication link;
If include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to this position of two-dimension code label image in ground image, calculate the grid azimuth between automatic guide vehicle and this two-dimension code label, and extract the Quick Response Code in this two-dimension code label from this two-dimension code label image, again extracted Quick Response Code is scaled to the coordinate figure of this two-dimension code label position, then according to the coordinate figure of source location, path planning, grid azimuth between automatic guide vehicle and this two-dimension code label, the coordinate figure of this two-dimension code label position, and the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, thereby controlling automatic guide vehicle advances,
If do not include complete two-dimension code label image in the ground image that vehicle control device captures, vehicle control device is according to the rotating speed of automatic guide vehicle driving wheel, rotation direction, calculate the follow-up direct of travel of automatic guide vehicle, advance thereby control automatic guide vehicle.
2. the automatic guide vehicle air navigation aid based on Quick Response Code location according to claim 1, it is characterized in that: the final position of the path planning that instruction transmitting terminal issues to the vehicle control device on automatic guide vehicle at every turn, is the position that posts two-dimension code label.
3. the automatic guide vehicle air navigation aid based on Quick Response Code location according to claim 1, it is characterized in that: light filling source is housed on automatic guide vehicle, this light filling source is an annular luminous source, camera is arranged on the geometric center of automatic guide vehicle, the camera lens of camera is downwards just to ground, and the optical axis of camera is through the ring heart in light filling source.
CN201410296320.6A 2013-11-15 2014-06-27 Based on the automatic guide vehicle navigation method of Quick Response Code location CN104142683B (en)

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