CN105404842A - AGV positioning, orientation and speed measurement method based on landmark two-dimensional code - Google Patents
AGV positioning, orientation and speed measurement method based on landmark two-dimensional code Download PDFInfo
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- CN105404842A CN105404842A CN201510808341.6A CN201510808341A CN105404842A CN 105404842 A CN105404842 A CN 105404842A CN 201510808341 A CN201510808341 A CN 201510808341A CN 105404842 A CN105404842 A CN 105404842A
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- agv
- quick response
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/18—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the time taken to traverse a fixed distance
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Abstract
The present invention relates to an AGV positioning, orientation and speed measurement method based on a landmark two-dimensional code, and belongs to the field of navigation and control technology. The method in the invention comprises: a camera that photographs the ground and that is mounted on an AGV continuously shooting two pictures containing a landmark two-dimensional code in a fixed time interval; obtaining a global position of a landmark point in a full travel path of the AGV by identifying the obtained landmark information through the two-dimensional code; inversely solving a local position and an angle of an AGV body relative to the landmark two-dimensional code by separately resolving a position and an angle of the two-dimensional code in the pictures; then in conjunction with the global position, obtaining an exact position and travel direction of the AGV in a global path; and obtaining the speed of the AGV when passing the landmark by calculating a position difference in the fixed time period, thereby providing position information, travel direction information and speed information needed by AGV navigation. Therefore according to the method, the position information, travel direction information and speed information of the AGV can all be obtained according to only the landmark two-dimensional code, thereby simplifying positioning, orientation, and speed measurement accessories needed by the AGV navigation.
Description
Technical field
The present invention relates to navigation and vehicle controL technical field, be specifically related to a kind of AGV positioning and directing based on terrestrial reference Quick Response Code and speed-measuring method.
Background technology
Usually, the form that Travel vehicle (AGV) guides with ground magnetic stripe, line of electric force or color belt is independently guided in the majority.At present, inertance element is often needed to obtain course and velocity information for the terrestrial reference two-dimension code navigation based on machine vision in the occasion for independently guiding Travel vehicle navigation.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is: how to simplify the positioning and directing needed for AGV navigation and the annex that tests the speed, and obtain the position of AGV, course and velocity information simultaneously.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of AGV positioning and directing based on terrestrial reference Quick Response Code and speed-measuring method, comprising the following steps:
S1, on AGV walking passageway 1, stick matrix two-dimensional code at a certain distance or at the point of the course speed that needs to locate, and the drift angle of Quick Response Code becomes a fixed angle with ground magnetic degree, the 2 D code information being undertaken encoding by certain algorithm is the some position information of landmark point, is defined as terrestrial reference Quick Response Code 3;
S2, on AGV body 5, fixedly mount camera 4;
S3, AGV body 5 is travelled on AGV walking passageway 1, when through terrestrial reference Quick Response Code 3, camera 4 takes ground image 6, by the image 6 that photographs through Denoising disposal, if the A point of the Quick Response Code 8 in image 6 in picture position, and calculated the drift angle of Quick Response Code 8 by the first monumented point 10, second monumented point 11 on Quick Response Code 8, the 3rd monumented point 12, if the position of Quick Response Code 8 in image coordinate system OXY and drift angle are (x
1, y
1, θ
1), wherein x, y are positional information, and θ is drift angle information, and takes piece image again in preset interval time t, obtain position in image coordinate system OXY of Quick Response Code 8 in the image of new shooting and drift angle is (x
2, y
2, θ
2); These three monumented points are three points of the changeless position of graphical information in all matrix two-dimensional code 2;
S4, by set coded system, Quick Response Code 8 information in the image of first time or the second shooting to be resolved, obtain the global position coordinate (x of the Quick Response Code 8 in image relative to whole driving path
p, y
p, θ
p), if the demarcation proportionate relationship of image coordinate system OXY and patch length is K, then have:
AGV body 5 position now and course coordinate are (x
p-x
1/ K, y
p-y
1/ K, θ
p-θ
1)
AGV body 5 translation now and yawing velocity are ((x
1-x
2)/Kt, (y
1-y
2)/Kt, (θ
1-θ
2)/t).
Preferably, in step S1, terrestrial reference Quick Response Code 3 is posted on AGV walking path center line 2.
Preferably, in step S2, camera 4 is arranged on AGV body 5 axis.
Preferably, described three monumented points are the points on Quick Response Code 8 three angles.
(3) beneficial effect
The present invention utilizes the camera of taking pictures over the ground be contained on AGV to take the picture that two comprise terrestrial reference Quick Response Code continuously in Fixed Time Interval, by Quick Response Code identification obtain landmark information and obtain this landmark point and to travel global position in complete trails at AGV, by resolving the position of Quick Response Code in picture and angle respectively, the anti-AGV body that solves relative to the local location of terrestrial reference Quick Response Code and angle, then is combined with global position and obtains the exact position of AGV in global path and course; Obtain AGV by speed during this terrestrial reference by the alternate position spike calculated in this set time section, thus provide AGV navigation desired position, course and velocity information.Therefore, present invention achieves and only rely on terrestrial reference Quick Response Code can obtain the position of AGV, course and velocity information simultaneously, simplify positioning and directing and the annexes that test the speed such as the required inertance element of AGV navigation.
Accompanying drawing explanation
Fig. 1 is that the terrestrial reference Quick Response Code on AGV walking passageway arranges figure;
Fig. 2 is the installation diagram of camera on AGV body, and wherein a is side view, and b is vertical view;
Fig. 3 is the ground image that camera photographs.
Wherein, 1-AGV walking passageway; 2-AGV walking path center line; 3-terrestrial reference Quick Response Code; 4-camera; 5-AGV body; The ground image that 6-photographs; 7-camera image coordinate system; Quick Response Code in 8-image; 9-Quick Response Code coordinate in the picture; 10-first monumented point; 11-second monumented point; 12-the 3rd monumented point.
Embodiment
For making object of the present invention, content and advantage clearly, below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.
The invention provides a kind of AGV positioning and directing based on terrestrial reference Quick Response Code and speed-measuring method, comprise the following steps:
S1, on AGV walking passageway 1, stick matrix two-dimensional code at a certain distance or at the point of the course speed that needs to locate, and the drift angle of Quick Response Code becomes a fixed angle with ground magnetic degree, the 2 D code information being undertaken encoding by certain algorithm is the some position information of landmark point, is defined as terrestrial reference Quick Response Code 3; For guaranteeing that Quick Response Code is in the image of shooting, terrestrial reference Quick Response Code 3 is preferably posted on AGV walking path center line 2, as shown in Figure 1.
S2, on AGV body 5, fixedly mount camera 4, camera 4 is arranged on AGV body 5 axis, to ground shooting, as shown in Figure 2;
S3, AGV body 5 is travelled on AGV walking passageway 1, when through terrestrial reference Quick Response Code 3, camera 4 takes ground image 6, by the image 6 that photographs through Denoising disposal, if the A point of the Quick Response Code 8 in image 6 in picture position, and calculated the drift angle of Quick Response Code 8 by the first monumented point 10, second monumented point 11 on Quick Response Code 8, the 3rd monumented point 12, if the position of Quick Response Code 8 in image coordinate system OXY and drift angle are (x
1, y
1, θ
1), wherein x, y are positional information, and θ is drift angle information, in like manner, in preset interval time t, takes piece image again, obtain position in image coordinate system OXY of Quick Response Code 8 in the image of new shooting and drift angle is (x
2, y
2, θ
2), as shown in Figure 3, wherein; These three monumented points are three points of the changeless position of graphical information in all matrix two-dimensional code 2; In this step, these three monumented points are changeless three points in all matrix two-dimensional code, and the present invention uses it for the location realizing Quick Response Code innovatively.
S4, by set coded system to first time or second shooting image in Quick Response Code 8 information resolve, the Quick Response Code of what analysis result indicated Quick Response Code 8 correspondence in this image is which position in AGV walking passageway 1, because the global position coordinate of the Quick Response Code of each position in AGV walking passageway 1 is made an appointment, therefore just passable, obtain the global position coordinate (x of the Quick Response Code 8 in image relative to whole driving path
p, y
p, θ
p), because the installation site of camera 4 relative to AGV is fixed all the time, if the demarcation proportionate relationship of image coordinate system OXY and patch length is K, then have:
AGV body 5 position now and course coordinate are (x
p-x
1/ K, y
p-y
1/ K, θ
p-θ
1)
Because the time interval t of two width image takings is shorter, namely the terrestrial reference Quick Response Code taken in image is same, then have
Because camera 4 is arranged on AGV, take a picture in camera 4 pairs of ground, then photo gait of march is contrary with AGV form velocity reversal, and therefore AGV speed now (containing translation and yawing velocity) is ((x
1-x
2)/Kt, (y
1-y
2)/Kt, (θ
1-θ
2)/t).
Can find out, a kind of AGV positioning and directing based on terrestrial reference Quick Response Code that the present invention proposes and speed-measuring method, the method not only can obtain the positional information of AGV on walking path, and can obtain AGV through the course of terrestrial reference Quick Response Code and velocity information.The camera of taking pictures over the ground be contained on AGV takes the picture that two comprise terrestrial reference Quick Response Code continuously in Fixed Time Interval, by Quick Response Code identification obtain landmark information and obtain this landmark point and to travel global position in complete trails at AGV, by resolving the position of Quick Response Code in pictures taken and angle respectively, the anti-AGV body that solves is relative to the local location of terrestrial reference Quick Response Code and angle, be combined with global position and obtain the exact position of AGV in global path and course, AGV is obtained by speed during this terrestrial reference by the alternate position spike calculated in this set time section, thus provide AGV navigation desired position, course and velocity information.Therefore, present invention achieves and only rely on terrestrial reference Quick Response Code can obtain the position of AGV, course and velocity information simultaneously, simplify positioning and directing and the annexes that test the speed such as the required inertance element of AGV navigation.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and distortion, these improve and distortion also should be considered as protection scope of the present invention.
Claims (4)
1., based on AGV positioning and directing and the speed-measuring method of terrestrial reference Quick Response Code, it is characterized in that, comprise the following steps:
S1, on AGV walking passageway (1), stick matrix two-dimensional code at a certain distance or at the point of the course speed that needs to locate, and the drift angle of Quick Response Code becomes a fixed angle with ground magnetic degree, the 2 D code information being undertaken encoding by certain algorithm is the some position information of landmark point, is defined as terrestrial reference Quick Response Code (3);
S2, on AGV body (5), fixedly mount camera (4);
S3, make AGV body (5) in the upper traveling of AGV walking passageway (1), when terrestrial reference Quick Response Code (3), camera (4) shooting ground image (6), by the image (6) that photographs through Denoising disposal, if the A point of the Quick Response Code (8) in image (6) in picture position, and by the first monumented point (10) on Quick Response Code (8), second monumented point (11), 3rd monumented point (12) calculates the drift angle of Quick Response Code (8), if the position of Quick Response Code (8) in image coordinate system OXY and drift angle are (x
1, y
1, θ
1), wherein x, y are positional information, and θ is drift angle information, and takes piece image again in preset interval time t, obtain position in image coordinate system OXY of Quick Response Code (8) in the image of new shooting and drift angle is (x
2, y
2, θ
2), these three monumented points are three points of the upper changeless position of graphical information of all matrix two-dimensional code (2),
S4, by set coded system, Quick Response Code (8) information in the image of first time or the second shooting to be resolved, obtain the global position coordinate (x of the Quick Response Code (8) in image relative to whole driving path
p, y
p, θ
p), if the demarcation proportionate relationship of image coordinate system OXY and patch length is K, then have:
AGV body (5) position now and course coordinate are (x
p-x
1/ K, y
p-y
1/ K, θ
p-θ
1)
AGV body (5) translation now and yawing velocity are ((x
1-x
2)/Kt, (y
1-y
2)/Kt, (θ
1-θ
2)/t).
2. the method for claim 1, is characterized in that, is attached on AGV walking path center line (2) by terrestrial reference Quick Response Code (3) in step S1.
3. the method for claim 1, is characterized in that, in step S2, camera (4) is arranged on AGV body (5) axis.
4. the method as described in claim 1 or 2 or 3, is characterized in that, described three monumented points are the points on Quick Response Code (8) three angles.
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|---|---|---|---|
| CN201510808341.6A CN105404842B (en) | 2015-11-19 | 2015-11-19 | AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code |
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|---|---|---|---|
| CN201510808341.6A CN105404842B (en) | 2015-11-19 | 2015-11-19 | AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code |
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| CN105404842B CN105404842B (en) | 2017-12-05 |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105823419A (en) * | 2016-05-11 | 2016-08-03 | 上海振华重工电气有限公司 | Reference band for detecting machine visual pose |
| CN106444766A (en) * | 2016-10-21 | 2017-02-22 | 北京京东尚科信息技术有限公司 | AGV(automatic guided vehicle) and control method thereof |
| CN107451508A (en) * | 2017-09-20 | 2017-12-08 | 天津通信广播集团有限公司 | A kind of self-defined Quick Response Code position and azimuth determining system and implementation method |
| CN107462742A (en) * | 2017-09-05 | 2017-12-12 | 北京聚利科技股份有限公司 | Speed measurement method, measurement apparatus, measuring system and vehicle |
| CN107607738A (en) * | 2017-08-29 | 2018-01-19 | 安徽千里眼信息科技有限公司 | A kind of floor truck positioning speed-measuring system based on communication transfer |
| CN108189027A (en) * | 2017-12-19 | 2018-06-22 | 朱宁波 | mobile robot control method |
| CN108592906A (en) * | 2018-03-30 | 2018-09-28 | 合肥工业大学 | AGV complex navigation methods based on Quick Response Code and inertial sensor |
| CN108858124A (en) * | 2018-09-07 | 2018-11-23 | 北京特种机械研究所 | Its method for carrying mechanical arm position is demarcated using AGV location information |
| WO2018223355A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳市乃斯网络科技有限公司 | Game map positioning implementation method and system |
| CN109282993A (en) * | 2018-08-23 | 2019-01-29 | 湖南农业大学 | A kind of shoe rail integration transferring platform and crawler body skidding detection method |
| CN110039539A (en) * | 2019-04-04 | 2019-07-23 | 肖卫国 | A kind of method, computer-readable medium and system carrying out transport operation based on automatic transporting trolley |
| CN110262507A (en) * | 2019-07-04 | 2019-09-20 | 杭州蓝芯科技有限公司 | A kind of camera array robot localization method and device based on 5G communication |
| CN111256676A (en) * | 2018-11-30 | 2020-06-09 | 杭州海康机器人技术有限公司 | Mobile robot positioning method, device and computer readable storage medium |
| CN111693834A (en) * | 2020-06-18 | 2020-09-22 | 国网福建省电力有限公司福州供电公司 | Lightweight carrying type partial discharge detection device and detection method |
| CN111930133A (en) * | 2020-07-20 | 2020-11-13 | 贵州电网有限责任公司 | Transformer substation secondary screen cabinet inspection method based on rotor unmanned aerial vehicle |
| CN112346446A (en) * | 2019-08-08 | 2021-02-09 | 阿里巴巴集团控股有限公司 | Code-shedding recovery method and device for automatic guided transport vehicle and electronic equipment |
| CN112364960A (en) * | 2020-11-16 | 2021-02-12 | 北京特种机械研究所 | Special equipment control system based on RFID |
| CN113128243A (en) * | 2019-12-31 | 2021-07-16 | 苏州协尔智能光电有限公司 | Optical recognition system, optical recognition method and electronic equipment |
| CN113256713A (en) * | 2021-06-10 | 2021-08-13 | 浙江华睿科技有限公司 | Pallet position identification method and device, electronic equipment and storage medium |
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|---|---|---|---|---|
| CN105823419A (en) * | 2016-05-11 | 2016-08-03 | 上海振华重工电气有限公司 | Reference band for detecting machine visual pose |
| CN105823419B (en) * | 2016-05-11 | 2019-07-12 | 上海振华重工电气有限公司 | Reference band for the detection of machine vision pose |
| CN106444766A (en) * | 2016-10-21 | 2017-02-22 | 北京京东尚科信息技术有限公司 | AGV(automatic guided vehicle) and control method thereof |
| WO2018072712A1 (en) * | 2016-10-21 | 2018-04-26 | 北京京东尚科信息技术有限公司 | Agv transport vehicle and control method therefor |
| WO2018223355A1 (en) * | 2017-06-09 | 2018-12-13 | 深圳市乃斯网络科技有限公司 | Game map positioning implementation method and system |
| CN107607738A (en) * | 2017-08-29 | 2018-01-19 | 安徽千里眼信息科技有限公司 | A kind of floor truck positioning speed-measuring system based on communication transfer |
| CN107462742A (en) * | 2017-09-05 | 2017-12-12 | 北京聚利科技股份有限公司 | Speed measurement method, measurement apparatus, measuring system and vehicle |
| CN107451508A (en) * | 2017-09-20 | 2017-12-08 | 天津通信广播集团有限公司 | A kind of self-defined Quick Response Code position and azimuth determining system and implementation method |
| CN108189027A (en) * | 2017-12-19 | 2018-06-22 | 朱宁波 | mobile robot control method |
| CN108592906A (en) * | 2018-03-30 | 2018-09-28 | 合肥工业大学 | AGV complex navigation methods based on Quick Response Code and inertial sensor |
| CN108592906B (en) * | 2018-03-30 | 2020-02-14 | 合肥工业大学 | AGV composite navigation method based on two-dimensional code and inertial sensor |
| CN109282993A (en) * | 2018-08-23 | 2019-01-29 | 湖南农业大学 | A kind of shoe rail integration transferring platform and crawler body skidding detection method |
| CN108858124A (en) * | 2018-09-07 | 2018-11-23 | 北京特种机械研究所 | Its method for carrying mechanical arm position is demarcated using AGV location information |
| CN111256676A (en) * | 2018-11-30 | 2020-06-09 | 杭州海康机器人技术有限公司 | Mobile robot positioning method, device and computer readable storage medium |
| CN111256676B (en) * | 2018-11-30 | 2022-02-11 | 杭州海康机器人技术有限公司 | Mobile robot positioning method, device and computer readable storage medium |
| CN110039539A (en) * | 2019-04-04 | 2019-07-23 | 肖卫国 | A kind of method, computer-readable medium and system carrying out transport operation based on automatic transporting trolley |
| CN110039539B (en) * | 2019-04-04 | 2023-10-10 | 肖卫国 | Method, computer readable medium and system for carrying operation based on automatic carrying trolley |
| CN110262507A (en) * | 2019-07-04 | 2019-09-20 | 杭州蓝芯科技有限公司 | A kind of camera array robot localization method and device based on 5G communication |
| CN110262507B (en) * | 2019-07-04 | 2022-07-29 | 杭州蓝芯科技有限公司 | Camera array robot positioning method and device based on 5G communication |
| CN112346446A (en) * | 2019-08-08 | 2021-02-09 | 阿里巴巴集团控股有限公司 | Code-shedding recovery method and device for automatic guided transport vehicle and electronic equipment |
| CN113128243A (en) * | 2019-12-31 | 2021-07-16 | 苏州协尔智能光电有限公司 | Optical recognition system, optical recognition method and electronic equipment |
| CN111693834A (en) * | 2020-06-18 | 2020-09-22 | 国网福建省电力有限公司福州供电公司 | Lightweight carrying type partial discharge detection device and detection method |
| CN111930133A (en) * | 2020-07-20 | 2020-11-13 | 贵州电网有限责任公司 | Transformer substation secondary screen cabinet inspection method based on rotor unmanned aerial vehicle |
| CN112364960A (en) * | 2020-11-16 | 2021-02-12 | 北京特种机械研究所 | Special equipment control system based on RFID |
| CN113256713A (en) * | 2021-06-10 | 2021-08-13 | 浙江华睿科技有限公司 | Pallet position identification method and device, electronic equipment and storage medium |
| CN113256713B (en) * | 2021-06-10 | 2021-10-15 | 浙江华睿科技股份有限公司 | Pallet position identification method and device, electronic equipment and storage medium |
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|---|---|
| CN105404842B (en) | 2017-12-05 |
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