CN106054878A - Inertial guidance vehicle navigation method based on two-dimensional code positioning, and inertial guidance vehicle - Google Patents
Inertial guidance vehicle navigation method based on two-dimensional code positioning, and inertial guidance vehicle 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
The invention discloses a inertial guidance vehicle navigation method based on two-dimensional code positioning, and an inertial guidance vehicle based on the navigation method. According to the inertial guidance vehicle navigation method and the inertial guidance vehicle, a two-dimensional code label is arranged on a site, real-time online calibration can be carried out on a trajectory of the inertial guidance vehicle during the operation process thereof, the possibility of derailment is avoided, and objects on the inertial guidance vehicle can be fetched more accurately through a feedback adjustment of a position of a fetching mechanical arm at a target point.
Description
Technical field
The invention belongs to automotive vehicle airmanship, relate generally to leading of a kind of inertial guidance car based on Quick Response Code location
Boat method and inertial guidance car.
Background technology
Along with the development of industrial automation technology, automatic guide vehicle (AGV) is used widely, and automatic guided vehicle can be by
Route according to instruction runs automatically, it is not necessary to artificially interfere, therefore, it is possible to be effectively improved industrial automation, improves conevying efficiency.
Existing automatic guide vehicle air navigation aid is mainly the methods such as magnetic stripe guiding, laser aiming, but these methods are all
There is the limitation of self, in recent years, along with the development of science and technology, also occur in that some new location and navigation technologies, such as Chinese patent
The automatic guide vehicle air navigation aid based on Quick Response Code location that number CN201410296320.6 is announced, this visual guidance method energy
The flexibility of enough effective path designs improving automatic guide vehicle, but it needs equally spaced to lay a large amount of two-dimension code label,
And automatic guide vehicle can produce cumulative error after long-play, if the correction the most in addition of this fractional error can affect follow-up machine
The article that tool hands captures on automatic guide vehicle even derail.
Summary of the invention
The defect existed for above-mentioned prior art, the purpose of this utility model is that providing a kind of positions based on Quick Response Code
Inertial guidance car air navigation aid, more the navigating for automatic guide vehicle, and at automatic guide vehicle running of quickness and high efficiency
In to its path implementation real-time online calibrate.
For achieving the above object, the technical scheme is that
A kind of inertial guidance car air navigation aid based on Quick Response Code location, comprises the following steps:
Step A), the ground for the application places of inertial guidance car sets an earth axes, on the ground of application places
Multiple two-dimension code labels are set, make two-dimension code label become latticed, every two-dimension code label is all printed with this label position of storage
Put coordinate information and with the range information between adjacent two-dimension code label；Wherein, described two-dimension code label is that equidistant rule sets
Put, or described two-dimension code label can also use the random setting of Unequal distance.
Step B), the application places at inertial guidance car is provided with terminal controller, and described terminal controller is to inertia
Guide car sends the coordinate figure of impact point, and by inertial guide car contexture by self path, inertial guidance car starts after receiving instruction
Motion, and utilize the image that industrial camera collection contains two-dimension code label；
Step C), in the image collected, two-dimension code label center with two differences at acquired image center is respectively
Offset and departure, offset is the distance in inertial guidance car deviation inertial guidance track road, and departure is inertial guidance car
The deviation of distance objective station, yaw angle is the angle between the car body of inertial guidance car and inertial guidance track road；
Step D), the real-time feedback of gyroscope on inertial guidance car goes out the kinestate of inertial guidance car, according to inertial guidance
The kinestate of car and path, next step action of planning inertial guidance car, microcomputer reads two-dimension code label
Quick Response Code time, microcomputer take out next step action of inertial guidance car need with in all around four two-dimension code labels
Range information；
Step E), the microcomputer control when inertial guidance car scans the two-dimension code label of impact point, on inertial guidance car
Inertial guidance car stop motion processed, and by step C) in the offset that obtains and departure fed back to by wireless transmitter receiver device
Terminal controller, terminal controller accurately controls to capture at impact point article on inertial guidance car by the data of feedback.Or,
Described inertial guidance car is according to step C) in the offset that obtains and departure inertial guidance car is made fine position so that
Terminal controller accurately controls to capture at impact point article on inertial guidance car.
Present invention also offers a kind of inertial guidance car based on Quick Response Code positioning navigation method, including inertial guidance car car
Body 1, car body 1 is provided with microcomputer, and microcomputer drives car body 1 to move by moving control module for controlling motor,
Wireless transmitter receiver device, photographic head 2 and gyroscope it is also equipped with on car body 1,
Also include that an earth axes, described earth axes are the application places of inertial guidance car, on the ground of application places
Multiple two-dimension code labels are set, make two-dimension code label become latticed, every two-dimension code label is all printed with this label position of storage
Put coordinate information and with the range information between adjacent two-dimension code label；Wherein, described two-dimension code label is that equidistant rule sets
Put, or described two-dimension code label can also use the random setting of Unequal distance.
Also including the terminal controller of an application places being arranged on inertial guidance car, described terminal controller is to inertia
Guide car sends the coordinate figure of impact point, and by inertial guide car contexture by self path, inertial guidance car starts after receiving instruction
Motion, and utilize video camera 2 to gather the image 5 containing two-dimension code label；
The real-time feedback of the described gyroscope on inertial guidance car goes out the kinestate of inertial guidance car, according to inertial guidance car
Kinestate and path, next step action of planning inertial guidance car, microcomputer reads two-dimension code label
During Quick Response Code, microcomputer take out next step action of inertial guidance car need with in all around four two-dimension code labels
Range information；
When described inertial guidance car scans the two-dimension code label of impact point, the microcomputer on inertial guidance car controls used
Property guide car stop motion, and the offset obtained and departure are fed back to terminal controller by wireless transmitter receiver device,
Terminal controller accurately controls to capture at impact point article on inertial guidance car by the data of feedback；Or, described inertia
Inertial guidance car is made fine position according to offset and departure by guide car so that terminal controller accurately controls to capture mesh
Article on inertial guidance car at punctuate.Wherein, described offset and departure are in the image collected, two-dimension code label
Center and two differences at acquired image center, offset is the distance in inertial guidance car deviation inertial guidance track road,
Departure is the deviation of inertial guidance spacing aiming station, and yaw angle is car body and the inertial guidance track road of inertial guidance car
Between angle.
The invention has the beneficial effects as follows:
A kind of based on Quick Response Code location the inertial guidance car of the present invention and air navigation aid, arrange Quick Response Code mark by ground on the scene
Sign, and in automatic guide vehicle running, its path implementation real-time online can be calibrated, it is to avoid the possibility of derailing, by instead
Feedback adjusts the position of catching robot at impact point and realizes capturing more accurately the article on inertial guidance car.
Accompanying drawing explanation
When considered in conjunction with the accompanying drawings, by referring to detailed description below, it is possible to be more completely more fully understood that the present invention with
And easily learn the advantage that many of which is adjoint, but accompanying drawing described herein is used for providing a further understanding of the present invention,
Constituting the part of the present invention, the schematic description and description of the present invention is used for explaining the present invention, is not intended that this
Bright improper restriction, wherein:
Fig. 1 is the circuit diagram of the present invention；
Fig. 2 is the air navigation aid schematic diagram of the present invention；
Fig. 3 is that invention realizes the schematic diagram in line tracking calibration.
Detailed description of the invention
Below in conjunction with accompanying drawing to the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
In conjunction with Fig. 1, Fig. 2, Fig. 3, the present invention is described as follows:
A kind of inertial guidance car air navigation aid based on Quick Response Code location, comprises the following steps:
Step A), the ground 4 for the application places of inertial guidance car sets an earth axes, on the ground 4 of application places
On multiple two-dimension code labels 3 are set, make two-dimension code label 3 become latticed, on every two-dimension code label 3 all be printed with storage two dimension
Code label 3 location coordinate information and with the range information between adjacent two-dimension code label 3；Wherein, described two-dimension code label 3 is
Equidistant rule is arranged, or described two-dimension code label can also use the random setting of Unequal distance, and the present embodiment uses
The random setting of Unequal distance.
Step B), the application places at the car body 1 of inertial guidance car is provided with terminal controller, described terminal controller
Send the coordinate figure of impact point to inertial guidance car, by inertial guide car contexture by self path, inertial guidance car receives instruction
Rear setting in motion, and utilize industrial camera 2 to gather the image containing two-dimension code label 3；
Step C), in the image 5 collected, two-dimension code label 3 center O2With acquired image 5 center O1Two differences
The amount of being off X and departure Y respectively, offset X is the distance in inertial guidance car deviation inertial guidance track road, and departure Y is
The deviation of inertial guidance spacing aiming station, driftage angle beta is between the car body of inertial guidance car and inertial guidance track road
Angle；
Step D), the gyroscope on inertial guidance car goes out inertial guidance by the feedback real-time with speed and speedometer data fusion
The kinestate of car, this kinestate comprises yaw angle information, according to this yaw angle information by motion-control module, to inertia
Guide car real-time deviation correcting, prevent the possibility of derailing, according to the kinestate of inertial guidance car and path, plan inertia
Next step action of guide car, when microcomputer reads Quick Response Code, microcomputer takes out inertial guidance car, and next step moves
Make need with the range information in all around four two-dimension code labels；
Step E), the microcomputer control when inertial guidance car scans the two-dimension code label of impact point, on inertial guidance car
Inertial guidance car stop motion processed, and by step C) in the offset X that obtains and departure Y fed back by wireless transmitter receiver device
To terminal controller, terminal controller accurately controls to capture at impact point article on inertial guidance car by the data of feedback.Or
Person, described inertial guidance car is according to step C) in the offset X that obtains and departure Y that inertial guidance car is done out position is micro-
Adjust so that terminal controller accurately controls to capture at impact point article on inertial guidance car, by step C) in the driftage angle beta that obtains
With step D) in the yaw angle information of the gyroscope that obtains and speed and speedometer carry out data fusion, generate a credibility more
High yaw angle, by this yaw angle by motion-control module, next step correction for inertial guide car controls, and prevents further
Only inertial guide car derailing.
Present invention also offers a kind of inertial guidance car based on Quick Response Code positioning navigation method, including inertial guidance car car
Body 1, car body 1 is provided with microcomputer, and microcomputer drives car body 1 to move by moving control module for controlling motor,
Wireless transmitter receiver device, photographic head 2 and gyroscope it is also equipped with on car body 1,
Also include that an earth axes, described earth axes are the application places of inertial guidance car, on the ground 4 of application places
Multiple two-dimension code labels 3 are set, make two-dimension code label 3 become latticed, every two-dimension code label 3 is all printed with this label of storage
3 location coordinate informations and with the range information between adjacent two-dimension code label 3；Wherein, described two-dimension code label 3 is equidistant rule
Then arrange, or described two-dimension code label can also use the random setting of Unequal distance.The present embodiment uses Unequal distance random
Then arrange.
Also including the terminal controller of an application places being arranged on inertial guidance car, described terminal controller is to inertia
Guide car sends the coordinate figure of impact point, and by inertial guide car contexture by self path, inertial guidance car starts after receiving instruction
Motion, and utilize video camera 2 to gather the image 5 containing two-dimension code label；
Gyroscope Negotiation speed on inertial guidance car and the real-time feedback of speedometer go out the kinestate of inertial guidance car, according to
The kinestate of inertial guidance car and path, next step action of planning inertial guidance car, microcomputer reads two
Dimension code time, microcomputer take out next step action of inertial guidance car need with in all around four two-dimension code labels away from
From information；
When inertial guidance car scans the two-dimension code label of impact point, the microcomputer on inertial guidance car controls inertial guidance
Car stop motion, and the offset X obtained and departure Y are fed back to terminal controller, terminal by wireless transmitter receiver device
Controller accurately controls to capture at impact point article on inertial guidance car by the data of feedback；Or, described inertial guidance
Inertial guidance car is made fine position according to offset X and departure Y by car so that terminal controller accurately controls to capture target
Article on inertial guidance car at Dian.Wherein, described offset X and departure Y are in the image 5 collected, Quick Response Code mark
Sign 3 center O2With acquired image 5 center O1Two differences, offset X be inertial guidance car deviate inertial guidance track road
Distance, departure Y is the deviation of inertial guidance spacing aiming station, and driftage angle beta is car body and the inertia of inertial guidance car
Angle between guide car track.
Described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the present invention
In embodiment, the every other enforcement that those of ordinary skill in the art are obtained under not making creative work premise
Example, broadly falls into the scope of protection of the invention.
Claims (8)
1. an inertial guidance car air navigation aid based on Quick Response Code location, it is characterised in that comprise the following steps: step A),
Ground for the application places of inertial guidance car sets an earth axes, arranges multiple two dimensions on the ground of application places
Code label, make two-dimension code label become latticed, on every two-dimension code label all be printed with storage this label position coordinate information and
With the range information between adjacent two-dimension code label；Step B), the application places at inertial guidance car is provided with terminal control
Device, described terminal controller sends the coordinate figure of impact point to inertial guidance car, by inertial guide car contexture by self path, used
Property guide car receives setting in motion after instruction, and utilizes the image that industrial camera collection contains two-dimension code label；Step
C), in the image collected, two difference amounts of being off respectively at two-dimension code label center and acquired image center and
Departure, offset is the distance in inertial guidance car deviation inertial guidance track road, and departure is inertial guidance spacing target
The deviation of station, yaw angle is the angle between the car body of inertial guidance car and inertial guidance track road；Step D), inertia draws
The real-time feedback of gyroscope on guide-car goes out the kinestate of inertial guidance car, according to the kinestate of inertial guidance car and
Path, next step action of planning inertial guidance car, when microcomputer reads the Quick Response Code of two-dimension code label, miniature industry control
Machine take out next step action of inertial guidance car need with the range information in all around four two-dimension code labels；Step E),
When inertial guidance car scans the two-dimension code label of impact point, the microcomputer on inertial guidance car controls inertial guidance car
Stop motion, and by step C) in the offset that obtains and departure feed back to terminal controller by wireless transmitter receiver device,
Terminal controller accurately controls to capture at impact point article on inertial guidance car by the data of feedback.
A kind of inertial guidance car air navigation aid based on Quick Response Code location the most according to claim 1, it is characterised in that institute
State step A) in, described two-dimension code label is that equidistant rule is arranged.
A kind of inertial guidance car air navigation aid based on Quick Response Code location the most according to claim 1, it is characterised in that institute
State step A) in, described two-dimension code label is the random setting of Unequal distance.
A kind of inertial guidance car air navigation aid based on Quick Response Code location the most according to claim 1, it is characterised in that institute
State step E) in, described inertial guidance car is according to step C) in the offset that obtains and departure inertial guidance car is made position
Put fine setting so that terminal controller accurately controls to capture at impact point article on inertial guidance car.
5. an inertial guidance car based on Quick Response Code positioning navigation method as claimed in claim, it is characterised in that include
Inertial guidance car car body (1), car body is provided with microcomputer on (1), and microcomputer is by moving control module for controlling electricity
Machine drives car body (1) motion, car body (1) is also equipped with wireless transmitter receiver device, photographic head (2) and gyroscope, also includes
One earth axes, described earth axes is the application places of inertial guidance car, and the ground (4) of application places arranges multiple
Two-dimension code label (3), makes two-dimension code label (3) become latticed, and every (3) are all printed with storage this two-dimension code label (3) position
Put coordinate information and with the range information between adjacent two-dimension code label (3)；Also include an application being arranged on inertial guidance car
The terminal controller in place, described terminal controller sends the coordinate figure of impact point to inertial guidance car, by inertial guide car
Contexture by self path, inertial guidance car receives setting in motion after instruction, and utilizes video camera (2) to gather containing two-dimension code label
Image (5)；The real-time feedback of the described gyroscope on inertial guidance car goes out the kinestate of inertial guidance car, according to used
Property the kinestate of guide car and path, next step action of planning inertial guidance car, microcomputer reads two dimension
Code label Quick Response Code time, microcomputer take out next step action of inertial guidance car need with all around four Quick Response Codes
Range information in label；When described inertial guidance car scans the two-dimension code label of impact point, micro-on inertial guidance car
Type industrial computer controls inertial guidance car stop motion, and the offset obtained and departure is fed back by wireless transmitter receiver device
To terminal controller, terminal controller accurately controls to capture at impact point article on inertial guidance car by the data of feedback；Its
In, described offset and departure are in the image collected, two-dimension code label center and acquired image center
Two differences, offset is the distance in inertial guidance car deviation inertial guidance track road, and departure is inertial guidance spacing mesh
The deviation of mark station, yaw angle is the angle between the car body of inertial guidance car and inertial guidance track road.
A kind of inertial guidance car based on Quick Response Code location the most according to claim 5, it is characterised in that described two dimension
Code label is that equidistant rule is arranged.
A kind of inertial guidance car based on Quick Response Code location the most according to claim 5, it is characterised in that described two dimension
Code label is the random setting of Unequal distance.
A kind of inertial guidance car based on Quick Response Code location the most according to claim 5, it is characterised in that described inertia
Inertial guidance car is made fine position according to offset and departure by guide car so that terminal controller accurately controls to capture mesh
Article on inertial guidance car at punctuate.
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| CN106950972A (en) * | 2017-05-15 | 2017-07-14 | 上海音锋机器人股份有限公司 | A kind of automatic guided vehicle AGV and its route method for correcting error |
| CN107065879A (en) * | 2017-05-16 | 2017-08-18 | 中国计量大学 | Visual guidance car localization method and visual guidance car based on Quick Response Code |
| CN107132844A (en) * | 2017-05-24 | 2017-09-05 | 浙江大学 | A kind of mobile robot is based on attitude detection module and distinguishingly target motion from antidote |
| CN107168338A (en) * | 2017-07-07 | 2017-09-15 | 中国计量大学 | Inertial guide car air navigation aid and inertial guide car based on millimetre-wave radar |
| CN107272684A (en) * | 2017-06-21 | 2017-10-20 | 安徽瑞弋自动化科技有限公司 | A kind of automatic guide vehicle control and method |
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| CN107272684A (en) * | 2017-06-21 | 2017-10-20 | 安徽瑞弋自动化科技有限公司 | A kind of automatic guide vehicle control and method |
| CN107168338A (en) * | 2017-07-07 | 2017-09-15 | 中国计量大学 | Inertial guide car air navigation aid and inertial guide car based on millimetre-wave radar |
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