CN105511466B - AGV localization method and system based on two dimensional code band - Google Patents
AGV localization method and system based on two dimensional code band Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
A kind of AGV localization method and system based on two dimensional code band, by being laid with continuous two dimensional code band in the track side of AGV, by the two dimensional code on the two dimensional code position sensor periodic reading two dimensional code band for the front-wheel side for being set to AGV, the position in orbit AGV is obtained accordingly, difference is carried out by the absolute position values to obtained two dimensional code, differential speed signal is obtained, digital signal filter then is carried out to differential speed signal, obtains accurate AGV real-time speed and location information.By the present invention in that with the Absolute position measurement method of two dimensional code band, absolute position of the AGV on any track can not only be calculated, the speed of AGV can be calculated in real time simultaneously, and it can be according to external demand for control, it is mobile with desired speed control AGV, or control AGV and stop surely to specified absolute position.
Description
Technical field
The present invention relates to a kind of technology of automation field, specifically a kind of AGV (homing guidance based on two dimensional code band
Transport vehicle) positioning and speed control system.
Background technique
In existing rail mounted AGV application occasion, AGV is moved along fixed track, and track both sides are mutual with player
Dynamic 3D game, in order to obtain preferable experience effect, 3D game needs to know the accurate real time position and in real time of AGV
Speed is smaller with the position deviation in 3D game in order to control AGV movement, it is desirable that position accurate control AGV in orbit
It sets and speed.
Existing AGV localization method mainly includes machine vision or method for ultrasonic locating.Chinese patent literature number
CN104181920A, discloses a kind of AGV positioning system based on machine vision, passes through open (bulletin) day 2014.12.03
It is laid with the label of several fixations on the ground, is acquired and is marked with camera, carries out image procossing, calculates the position of AGV.It is Chinese special
Sharp document number CN104155977A, open (bulletin) day 2014.11.09, it is open it is a kind of pass through method for ultrasonic locating, by
Ultrasonic distance detector is placed in several corners of AGV vehicle, measures the position of AGV.These methods are mainly used for position measurement, but
It is low measurement accuracy, and does not can be carried out precise speed measurement, accurate position can not be carried out during AGV dynamic mobile
The position and speed control of AGV entirety is realized in measurement and tachometric survey.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, propose a kind of AGV localization method based on two dimensional code band and
System, by pasting two dimensional code band in orbit, the position of real-time measurement AGV can be obtained by Digital Signal Processing than calibrated
The position and speed signal of true AGV, the present invention can the 3D game to track two sides provide itself accurate real time position and
Real-time speed, and can stop in designated position, and can be with command speed even running in track according to game scripts
On.
The present invention is achieved by the following technical solutions:
The present invention relates to a kind of AGV localization methods based on two dimensional code band, by being laid with continuous two in the track side of AGV
Code band is tieed up, by the two dimensional code on the two dimensional code position sensor periodic reading two dimensional code band for the front-wheel side for being set to AGV, according to
This obtains the position in orbit AGV, carries out difference by the absolute position values to obtained two dimensional code, obtains difference speed
Then signal carries out digital signal filter to differential speed signal, obtains accurate AGV real-time speed and location information.
The front-wheel of the AGV is erected on guide rail, and front-wheel can only move in orbit, and two dimensional code position sensor is fixed
In the side of front-wheel；
Position ring or speed by PID is arranged by the overall situation preferably after obtaining real-time speed and location information in the AGV
Control realizes positioning or speed control to AGV on orbital position and can determine to stop to specified in AGV ramp to stop
Target position.
Specific step is as follows by the present invention.
Step 1 is laid with whole process along orbital direction, when track road in the single-sided arrangement two dimensional code band band of I-shaped track
Line is annular, and two dimensional code band sequestration site and two dimensional code are started position overlapping, and are recorded two dimensional code initial value and two dimensional code band and cut
Only it is worth.
The sample frequency of the position data of two dimensional code position sensor, the absolute position of periodic reading AGV is arranged in step 2
It sets, difference is carried out according to eve position data and the position data at the latter moment, records the position signal of period AGV
And differential speed signal.
Step 3 carries out digital signal filter to collected position signal and differential speed signal, obtains accurate position
Set value and velocity amplitude.
Preferably, after step 3 obtains accurate positional value and velocity amplitude, according to default Script controlling AGV with specified
Speed runs to specified position and stops, and the actual speed of itself and physical location are fed back to 3D game and missed on interface
Difference amendment.
The error correction, i.e. the position and speed requirement according to 3D game scripts to AGV, controller is according to AGV's
Operating status controls using speed by PID or stops surely position algorithm.
The present invention relates to a kind of systems for realizing the above method, comprising: is set to two dimensional code band on AGV track, setting
In the two dimensional code position sensor on AGV idler wheel and it is attached thereto and obtains the control module of two-dimensional barcode information, in which:
The two dimensional code band is rearranged by several independent two dimensional codes, and each two dimensional code includes its absolute position
Value.
The length and width of the two dimensional code are 1cm, adjacent two dimension code interval 5mm.
The two dimensional code band is preferably disposed on the height and position of the 8cm on close ground on AGV guide rail.
The two dimensional code position sensor is based on image-capable and to calculate the biography of two dimensional code absolute position
Sensor, two dimensional code position sensor are set to the guide wheel side of AGV guide rail, and two dimensional code position sensor is with two dimensional code band spacing
5cm or so.
The control module brings line position into two dimensional code and sets identification according to built-in two dimensional code band position recognition algorithm,
Then Difference Calculation difference speed is carried out to the position of taken at regular intervals, then to progress Kalman filtering.
Technical effect
Compared with prior art, the present invention can be improved the position and speed measurement accuracy of track AGV, and be capable of providing control
The speed of system real-time control AGV processed and position.
Detailed description of the invention
Fig. 1 is two dimensional code band schematic diagram；
Fig. 2 is that position view is arranged in two dimensional code position sensor；
Fig. 3 is easy structure schematic diagram of the present invention；
Fig. 4 is embodiment flow chart；
In figure: A is two dimensional code upper left angle point position in the picture, and B is that position, C are two dimensional code upper right angle point in the picture
Position, D are two dimensional code bottom right angle point position in the picture to two dimensional code lower-left angle point in the picture, and E is that two dimensional code upper left angle point exists
Position in image vision, F are two dimensional code upper right angle point position in the picture, and G is two dimensional code lower-left angle point position in the picture, H
For two dimensional code bottom right angle point position in the picture；1 is guide rail, and 2 be guide wheel, and 3 be the connecting bracket of sensor and front-wheel, and 4 be two
Code sensor is tieed up, 5 be the two dimensional code band for being attached to guide rail side, and 6 be right rear drive sprocket, and 7 be left back driving wheel, and 8 be track AGV vehicle
Body.
Specific embodiment
The parameters of system in the present embodiment are as follows: layout type on two dimensional code band is as shown in Figure 1, single two dimensional code length and width
For 10mm, adjacent two dimensional code spacing is 5mm, and there is no limit for two-dimentional code length.Two dimensional code position sensor is fixed on front-wheel side,
In AGV moving process, keep two dimensional code position sensor and two dimensional code band at a distance of 5cm or so.
It is the number with certain rule that two dimensional code, which includes information, on two dimensional code band, can be existed for the two dimensional code center
Absolute position values on two dimensional code strip length direction.
The metrical information includes: real time position and real-time speed on AGV track.
Specific step is as follows for the present embodiment:
The first step, two dimensional code position sensor acquire a width include 2 to 3 two dimensional codes picture, identify wherein some
Two dimensional code includes information, the information be the two dimensional code center in the absolute position of two dimensional code band, while identify this two
4 corner points of code and adjacent two dimensional code, i.e. A, B, C, D, E, F, G, H are tieed up, according in this 8 each point in the picture relative image
The position of heart point can calculate the position of two two dimensional code central point relative image central points, be existed according to two dimensional code central point
Absolute position on two dimensional code band can be obtained absolute position of the two dimensional code position sensor central point on two dimensional code band.
Second step, AGV control system interval 5ms periodically acquire the absolute position of an AGV, it is in-orbit to can be obtained AGV
Road is taken up an official post the absolute position when carved.The difference of the AGV of the Difference Calculation period is carried out to the adjacent absolute position acquired twice
Component velocity.
Step 3, the position signal and differential speed signal calculate control system carry out digital signal processing algorithm, meter
Calculate accurate position and speed signal.
Step 4 carries out the closed loop speed of AGV by real-time AGV position and speed according to the demand with 3D game interaction
Degree or position control guarantee the optimal game experiencing effect of player.
The calculating includes 1) two dimensional code position sensor to a width include 2 to 3 two dimensional codes image in identify
Two dimensional code includes information, and the boundary point information of two dimensional code calculates edema with the heart involved in the relative image of two dimensional code central point in the picture
Square to position be X1, relative image central horizontal direction position is set to X2 to adjacent two dimensional code central point in the picture, according to reality
Adjacent two dimensional code central point spacing be 15mm, image center can be calculated with respect to some actual position in two dimensional code center
X=X1/ (X1+X2) * 15mm.The track absolute position values P1 that message reflection is included according to two dimensional code, can calculate two-dimentional code bit
Set physical location P=P1+X of the sensor on two dimensional code band.2) poor velocity component calculation, the absolute position acquired twice by front and back
P2 and P3 are set, difference speed V1=(P3-P2)/T is calculated, wherein T is the sampling period.Position signal and difference speed are believed
Number, using Kalman's digital filter, calculate accurate velocity amplitude.3) it is wanted according to status requirement and speed of the 3D game to AGV
It asks, control system is carried out PID control AGV and run with desired speed according to current position and speed signal, and can be accurate
Parking is in specified position.
This system can be not limited to determining for recreation ground track AGV with the mobile platform use occasion with various rail mounteds
Position and speed control system, for the precision of position measurement in 1mm, the measurement accuracy of speed is related with sample frequency, and tachometric survey misses
Difference is within 30mm/s；Either rear wheel drive mode, or front-wheel drive mode drives wheel speed control by control
AGV movement speed in orbit processed, realizes the speed control and position control of AGV；This system, which can control AGV, determines off-position and sets mistake
Difference is in ± 5mm range, and speed control error is within 5%.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (4)
1. a kind of localization method of the AGV positioning system based on two dimensional code band, which is characterized in that the system comprises: it is set to
Length and width on AGV track side are 1cm, the two dimensional code band of adjacent spaces 5mm, the two-dimentional code position for being set to AGV front-wheel side
Sensor and the control module for being attached thereto and obtaining two-dimensional barcode information, in which: two dimensional code band is by several independent two dimensions
Code rearranges, and each two dimensional code includes its absolute position values；Control module according to built-in two dimensional code band position recognition algorithm,
Line position is brought into two dimensional code and sets identification, Difference Calculation difference speed then is carried out to the position of taken at regular intervals and obtains position signal
And differential speed signal, Kalman filtering, the two dimensional code band setting then are carried out to position signal and differential speed signal
In the height and position of the 8cm on ground close on AGV guide rail；
The two dimensional code position sensor is based on image-capable and to calculate the sensor of two dimensional code absolute position,
Two dimensional code position sensor is set to the front-wheel side of AGV, and two dimensional code position sensor and two dimensional code band spacing are 5cm；It is described
Accurate location X=P1+X1/ (X1+X2) * 15 of the two dimensional code position sensor center on two dimensional code band, in which: P1 is track
Absolute position values, X1 are the relative image central horizontal direction position of two dimensional code central point in the picture, and X2 is adjacent two dimensional code
Central point relative image central horizontal direction position in the picture, unit mm；
It is in orbit accordingly to obtain AGV for two dimensional code on the two dimensional code position sensor periodic reading two dimensional code band
Position carries out difference by the absolute position values to obtained two dimensional code, differential speed signal is obtained, then to difference speed
Signal carries out digital signal filter, obtains accurate AGV real-time speed and location information, specifically includes the following steps:
Step 1 is laid with whole process along orbital direction, when track road in the single-sided arrangement two dimensional code band of the I shape track of AGV
Line be annular, two dimensional code band sequestration site and two dimensional code start position overlapping, and record two dimensional code band initial value and two dimensional code band
Cutoff value；
Step 2, the sample frequency of the position data of setting two dimensional code position sensor, the absolute position of periodic reading AGV,
Difference is carried out according to eve position data and the position data at the latter moment, records period AGV between the forward and backward moment
Position signal and differential speed signal；
Step 3 carries out digital signal filter to collected position signal and differential speed signal, obtains accurate positional value
And velocity amplitude.
2. according to the method described in claim 1, it is characterized in that, the AGV, after obtaining real-time speed and location information,
By the overall situation, position ring or speed by PID control are set, realize to positioning of the AGV on orbital position or speed control and
It can determine to stop to specified target position in AGV ramp to stop.
3. according to the method described in claim 1, it is characterized in that, after step 3 obtains accurate positional value and velocity amplitude, root
It runs to specified position according to default Script controlling AGV with specified speed to stop, and by itself actual speed and actual bit
It sets and feeds back to 3D game and do error correction on interface.
4. according to the method described in claim 3, it is characterized in that, the error correction, i.e., according to 3D game scripts to AGV's
Position and speed requirement, controller control using speed by PID or stop surely position algorithm according to the operating status of AGV.
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| 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 |
| CN106347215A (en) * | 2016-10-31 | 2017-01-25 | 长安大学 | Special-section variable speed-limiting detection system and method based on dynamic two-dimensional codes |
| CN106989746A (en) * | 2017-03-27 | 2017-07-28 | 远形时空科技（北京）有限公司 | Air navigation aid and guider |
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| TWI628415B (en) * | 2017-09-13 | 2018-07-01 | 國立清華大學 | Positioning and measuring system based on image scale |
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| CN108268044B (en) * | 2018-01-31 | 2021-06-22 | 浙江国自机器人技术股份有限公司 | Mobile robot in-place precision control method, system, medium and equipment |
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| CN109669455A (en) * | 2018-12-26 | 2019-04-23 | 深圳市招科智控科技有限公司 | A kind of the AGV positioning system and method for view-based access control model two dimensional code |
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| CN113845064B (en) * | 2021-08-05 | 2023-05-09 | 乐仓信息科技有限公司 | Positioning method and system for material bearing device with round support legs |
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