CN106054878B - 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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Abstract
The invention discloses an inertial guided vehicle navigation method based on two-dimension code positioning and an inertial guided vehicle based on the navigation method.
Description
Technical Field
The invention belongs to an automatic vehicle navigation technology, and mainly relates to an inertial guidance vehicle navigation method based on two-dimension code positioning and an inertial guidance vehicle.
Background
With the development of industrial automation technology, automatic Guided Vehicles (AGVs) are widely adopted, and can automatically run according to the instructed route without human intervention, so that the industrial automation can be effectively improved, and the transportation efficiency is improved.
The existing automatic guided vehicle navigation methods are mainly magnetic stripe guidance, laser guidance and other methods, but the methods have limitations of the methods, and in recent years, with the development of science and technology, some new positioning navigation technologies also appear, for example, an automatic guided vehicle navigation method based on two-dimensional code positioning disclosed in chinese patent No. CN201410296320.6, the visual guidance method can effectively improve the flexibility of the path design of the automatic guided vehicle, but a large number of two-dimensional code labels need to be placed at equal intervals, and the automatic guided vehicle can generate accumulated errors after long-time running, and the errors can influence subsequent mechanical hands to grab articles on the automatic guided vehicle and even derail if the errors are not corrected.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the inertial guided vehicle navigation method based on two-dimensional code positioning, so that the automatic guided vehicle can be navigated more quickly and efficiently, and the track of the automatic guided vehicle can be calibrated on line in real time in the running process of the automatic guided vehicle.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an inertial guidance vehicle navigation method based on two-dimensional code positioning comprises the following steps:
step A), a ground coordinate system is set for the ground of an application place of the inertia guiding vehicle, a plurality of two-dimensional code labels are arranged on the ground of the application place, the two-dimensional code labels are in a grid shape, and position coordinate information of the labels and distance information between the labels and adjacent two-dimensional code labels are stored in each two-dimensional code label in a printing mode; the two-dimension code label is regularly arranged at equal intervals, or the two-dimension code label can also be irregularly arranged at different intervals.
Step B), a terminal controller is arranged in an application place of the inertial guidance vehicle, the terminal controller sends coordinate values of a target point to the inertial guidance vehicle, the inertial guidance vehicle plans a path autonomously, the inertial guidance vehicle starts to move after receiving an instruction, and an industrial camera is used for collecting an image containing a two-dimensional code label;
step C), in the acquired image, two difference values of the two-dimensional code label center and the acquired image center are an eccentric amount and a deviation amount respectively, the eccentric amount is the distance of the inertial guided vehicle from the inertial guided vehicle track, the deviation amount is the deviation of the inertial guided vehicle from a target station, and the yaw angle is the included angle between the vehicle body of the inertial guided vehicle and the inertial guided vehicle track;
step D), a gyroscope on the inertial guidance vehicle feeds back the motion state of the inertial guidance vehicle in real time, the next step of motion of the inertial guidance vehicle is planned according to the motion state and the path of the inertial guidance vehicle, and when the miniature industrial personal computer reads the two-dimensional code of the two-dimensional code label, the miniature industrial personal computer takes out the distance information between the miniature industrial personal computer and the four front, rear, left and right two-dimensional code labels, which are required by the next step of motion of the inertial guidance vehicle;
and E), when the inertial guided vehicle scans the two-dimensional code label of the target point, the micro industrial personal computer on the inertial guided vehicle controls the inertial guided vehicle to stop moving, the eccentric amount and the deviation amount obtained in the step C) are fed back to the terminal controller through the wireless transmitting and receiving device, and the terminal controller accurately controls and grips the object on the inertial guided vehicle at the target point through the fed-back data. Or the inertial guide vehicle performs position fine adjustment on the inertial guide vehicle according to the eccentric amount and the deviation amount obtained in the step C), so that the terminal controller accurately controls to grab the articles on the inertial guide vehicle at the target point.
The invention also provides an inertial guidance vehicle based on the two-dimensional code positioning navigation method, which comprises an inertial guidance vehicle body 1, wherein a miniature industrial personal computer is arranged on the vehicle body 1, the miniature industrial personal computer controls a motor to drive the vehicle body 1 to move through a motion control module, a wireless transmitting receiver, a camera 2 and a gyroscope are also arranged on the vehicle body 1,
the system is characterized by further comprising a ground coordinate system, wherein the ground coordinate system is an application place of the inertia guided vehicle, a plurality of two-dimensional code labels are arranged on the ground of the application place, the two-dimensional code labels are in a grid shape, and each two-dimensional code label is printed with position coordinate information for storing the label and distance information between the label and an adjacent two-dimensional code label; the two-dimensional code label is regularly arranged at equal intervals, or the two-dimensional code label can also be irregularly arranged at different intervals.
The system also comprises a terminal controller arranged at an application place of the inertial guidance vehicle, wherein the terminal controller sends coordinate values of a target point to the inertial guidance vehicle, the inertial guidance vehicle plans a path autonomously, the inertial guidance vehicle starts to move after receiving an instruction, and the camera 2 is used for acquiring an image 5 containing a two-dimensional code label;
the gyroscope on the inertial guidance vehicle feeds back the motion state of the inertial guidance vehicle in real time, the next step of action of the inertial guidance vehicle is planned according to the motion state and the path of the inertial guidance vehicle, and when the miniature industrial personal computer reads the two-dimensional code of the two-dimensional code label, the miniature industrial personal computer takes out the distance information between the two-dimensional code label and the distance information in the four two-dimensional code labels, namely the front, the rear, the left and the right, required by the next step of action of the inertial guidance vehicle;
when the inertial guided vehicle scans the two-dimensional code label of the target point, the micro industrial personal computer on the inertial guided vehicle controls the inertial guided vehicle to stop moving, and feeds the obtained eccentric amount and deviation amount back to the terminal controller through the wireless transmitting and receiving device, and the terminal controller accurately controls and grips the article on the inertial guided vehicle at the target point through the fed-back data; or the inertial guidance vehicle carries out position fine adjustment on the inertial guidance vehicle according to the eccentric amount and the deviation amount, so that the terminal controller accurately controls to grab articles on the inertial guidance vehicle at the target point. The eccentricity and the deviation are two difference values of the two-dimensional code label center and the acquired image center in the acquired image, the eccentricity is the distance of the inertial guided vehicle from the inertial guided vehicle track, the deviation is the deviation of the inertial guided vehicle from a target station, and the yaw angle is the included angle between the vehicle body of the inertial guided vehicle and the inertial guided vehicle track.
The invention has the beneficial effects that:
according to the inertial guided vehicle based on two-dimension code positioning and the navigation method, the two-dimension code labels are arranged on the site, real-time online calibration can be realized on the track of the automatic guided vehicle in the running process of the automatic guided vehicle, the possibility of derailment is avoided, and the position of the grabbing manipulator at the target point is adjusted through feedback to realize more accurate grabbing of articles on the inertial guided vehicle.
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A more complete appreciation of the invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein the accompanying drawings are included to provide a further understanding of the invention and form a part of this specification, and wherein the illustrated embodiments and descriptions thereof are intended to illustrate and not limit the invention, wherein:
FIG. 1 is a circuit schematic of the present invention;
FIG. 2 is a schematic diagram of a navigation method of the present invention;
FIG. 3 is a schematic diagram of the invention for on-line trajectory calibration.
Detailed Description
The technical scheme in the embodiment of the invention will be clearly and completely described below with reference to the accompanying drawings.
The present invention is explained below with reference to fig. 1, 2 and 3:
an inertial guidance vehicle navigation method based on two-dimensional code positioning comprises the following steps:
step A), a ground coordinate system is set for the ground 4 of an application place of the inertia guiding vehicle, a plurality of two-dimension code labels 3 are arranged on the ground 4 of the application place, the two-dimension code labels 3 are in a grid shape, and position coordinate information of the two-dimension code labels 3 and distance information between the two-dimension code labels 3 and adjacent two-dimension code labels 3 are printed on each two-dimension code label 3; wherein, two-dimensional code label 3 for equidistance rule sets up, perhaps two-dimensional code label also can adopt the irregular setting of equidistance, what this embodiment adopted is that the irregular setting of equidistance.
Step B), a terminal controller is arranged at an application place of the vehicle body 1 of the inertial guidance vehicle, the terminal controller sends coordinate values of a target point to the inertial guidance vehicle, the inertial guidance vehicle plans a path autonomously, the inertial guidance vehicle starts to move after receiving an instruction, and an industrial camera 2 is used for collecting images containing two-dimension code labels 3;
step C), in the collected image 5, the center O of the two-dimensional code label 3 2 With the centre O of the acquired image 5 1 The two difference values are an eccentric value X and a deviation value Y respectively, the eccentric value X is the distance of the inertia guided vehicle from the inertia guided vehicle track, the deviation value Y is the deviation of the inertia guided vehicle from a target station, and a yaw angle beta is the included angle between the vehicle body of the inertia guided vehicle and the inertia guided vehicle track;
d), a gyroscope on the inertial guidance vehicle is fused with speed and odometer data to feed back the motion state of the inertial guidance vehicle in real time, the motion state comprises yaw angle information, the inertial guidance vehicle is corrected in real time through a motion control module according to the yaw angle information to prevent the possibility of derailment, the next action of the inertial guidance vehicle is planned according to the motion state and the path of the inertial guidance vehicle, and when the micro industrial personal computer reads the two-dimensional code, the micro industrial personal computer takes out the distance information between the next action of the inertial guidance vehicle and four front, rear, left and right two-dimensional code labels;
and E), when the inertial guided vehicle scans the two-dimensional code label of the target point, the micro industrial personal computer on the inertial guided vehicle controls the inertial guided vehicle to stop moving, the eccentric amount X and the deviation amount Y obtained in the step C) are fed back to the terminal controller through the wireless transmitting and receiving device, and the terminal controller accurately controls and captures the article on the inertial guided vehicle at the target point through the fed-back data. Or the inertial guided vehicle performs position fine adjustment on the inertial guided vehicle according to the eccentric amount X and the deviation amount Y obtained in the step C), so that the terminal controller accurately controls to grab articles on the inertial guided vehicle at a target point, data fusion is performed on the yaw angle beta obtained in the step C) and the yaw angle information of the gyroscope, the speed and the odometer obtained in the step D), a yaw angle with higher reliability is generated, and the yaw angle is used for next-step deviation correction control of the inertial guided vehicle through the motion control module, so that the inertial guided vehicle is further prevented from derailing.
The invention also provides an inertial guidance vehicle based on the two-dimensional code positioning navigation method, which comprises an inertial guidance vehicle body 1, wherein a miniature industrial personal computer is arranged on the vehicle body 1, the miniature industrial personal computer controls a motor to drive the vehicle body 1 to move through a motion control module, a wireless transmitting receiver, a camera 2 and a gyroscope are also arranged on the vehicle body 1,
the system is characterized by further comprising a ground coordinate system, wherein the ground coordinate system is an application place of the inertia guided vehicle, a plurality of two-dimensional code labels 3 are arranged on the ground 4 of the application place, the two-dimensional code labels 3 are in a grid shape, and position coordinate information of the labels 3 and distance information between the labels 3 and adjacent two-dimensional code labels are printed on each two-dimensional code label 3; wherein, two-dimensional code label 3 be equidistance rule setting, perhaps two-dimensional code label also can adopt not equidistance rule setting. The present embodiment employs an irregular setting of the unequal distances.
The system also comprises a terminal controller arranged at an application place of the inertial guidance vehicle, wherein the terminal controller sends coordinate values of a target point to the inertial guidance vehicle, the inertial guidance vehicle plans a path autonomously, the inertial guidance vehicle starts to move after receiving an instruction, and the camera 2 is used for acquiring an image 5 containing a two-dimensional code label;
the gyroscope on the inertial guidance vehicle feeds back the motion state of the inertial guidance vehicle in real time through a speed and mileometer, the next action of the inertial guidance vehicle is planned according to the motion state and the path of the inertial guidance vehicle, and when the micro industrial personal computer reads the two-dimensional code, the micro industrial personal computer takes out the distance information between the two-dimensional code labels and the four two-dimensional code labels on the front, the back, the left and the right, which are required by the next action of the inertial guidance vehicle;
when the inertial guided vehicle scans the two-dimensional code label of the target point, the micro industrial personal computer on the inertial guided vehicle controls the inertial guided vehicle to stop moving, and feeds the obtained eccentric quantity X and deviation quantity Y back to the terminal controller through the wireless transmitting and receiving device, and the terminal controller accurately controls and captures the article on the inertial guided vehicle at the target point through the fed back data; or the inertial guidance vehicle carries out position fine adjustment on the inertial guidance vehicle according to the eccentric quantity X and the deviation quantity Y, so that the terminal controller accurately controls and grips articles on the inertial guidance vehicle at the target point. Wherein, the eccentric amount X and the deviation amount Y are the center O of the two-dimensional code label 3 in the collected image 5 2 With the centre O of the acquired image 5 1 The eccentricity X is the distance of the inertia guided vehicle from the inertia guided vehicle track, the deviation Y is the deviation of the inertia guided vehicle from a target station, and the yaw angle beta is the included angle between the vehicle body of the inertia guided vehicle and the inertia guided vehicle track.
The described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Claims (8)
1. An inertial guidance vehicle navigation method based on two-dimensional code positioning is characterized by comprising the following steps: step A), a ground coordinate system is set for the ground of an application place of the inertia guided vehicle, a plurality of two-dimensional code labels are arranged on the ground of the application place, the two-dimensional code labels are in a grid shape, and position coordinate information of the labels and distance information between the labels and adjacent two-dimensional code labels are printed on each two-dimensional code label; step B), a terminal controller is arranged in an application place of the inertial guidance vehicle, the terminal controller sends coordinate values of a target point to the inertial guidance vehicle, the inertial guidance vehicle plans a path autonomously, the inertial guidance vehicle starts to move after receiving an instruction, and an industrial camera is used for collecting an image containing a two-dimensional code label; step C), in the acquired image, two difference values of the two-dimensional code label center and the acquired image center are an eccentric quantity and a deviation quantity respectively, the eccentric quantity is the distance of the inertial guidance vehicle from an inertial guidance vehicle track, the deviation quantity is the deviation of the inertial guidance vehicle from a target station, and a yaw angle is an included angle between a vehicle body of the inertial guidance vehicle and the inertial guidance vehicle track; step D), a gyroscope on the inertial guidance vehicle feeds back the motion state of the inertial guidance vehicle in real time, the next step of motion of the inertial guidance vehicle is planned according to the motion state and the path of the inertial guidance vehicle, and when the miniature industrial personal computer reads the two-dimensional code of the two-dimensional code label, the miniature industrial personal computer takes out the distance information between the miniature industrial personal computer and the four front, rear, left and right two-dimensional code labels, which are required by the next step of motion of the inertial guidance vehicle; and E), when the inertial guided vehicle scans the two-dimensional code label of the target point, the micro industrial personal computer on the inertial guided vehicle controls the inertial guided vehicle to stop moving, the eccentric amount and the deviation amount obtained in the step C) are fed back to the terminal controller through the wireless transmitting and receiving device, and the terminal controller accurately controls and grips the article on the inertial guided vehicle at the target point through the fed-back data.
2. The inertial guided vehicle navigation method based on two-dimensional code positioning according to claim 1, wherein in step a), the two-dimensional code labels are regularly set for equal distance.
3. The inertial guided vehicle navigation method based on two-dimensional code positioning according to claim 1, wherein in step a), the two-dimensional code labels are irregularly arranged at unequal intervals.
4. The inertial guided vehicle navigation method based on two-dimensional code positioning according to claim 1, wherein in the step E), the inertial guided vehicle makes position fine adjustment on the inertial guided vehicle according to the eccentricity and the deviation obtained in the step C), so that the terminal controller accurately controls to grab the articles on the inertial guided vehicle at the target point.
5. The inertia guided vehicle based on the two-dimension code positioning and navigation method is characterized by comprising an inertia guided vehicle body (1), wherein a micro industrial personal computer is installed on the vehicle body (1) and controls a motor to drive the vehicle body (1) to move through a motion control module, a wireless transmitting receiver, a camera (2) and a gyroscope are also installed on the vehicle body (1), the inertia guided vehicle further comprises a ground coordinate system, the ground coordinate system is an application place of the inertia guided vehicle, a plurality of two-dimension code labels (3) are arranged on the ground (4) of the application place, the two-dimension code labels (3) are in a grid shape, and position coordinate information of each two-dimension code label (3) and distance information between each two-dimension code label (3) and the two-dimension code label (3) are stored in a printing manner; the system also comprises a terminal controller arranged at an application place of the inertial guidance vehicle, wherein the terminal controller sends coordinate values of a target point to the inertial guidance vehicle, the inertial guidance vehicle plans a path autonomously, the inertial guidance vehicle starts to move after receiving an instruction, and an image (5) containing a two-dimensional code label is collected by using a camera (2); the gyroscope on the inertial guidance vehicle feeds back the motion state of the inertial guidance vehicle in real time, the next step of action of the inertial guidance vehicle is planned according to the motion state and the path of the inertial guidance vehicle, and when the miniature industrial personal computer reads the two-dimensional code of the two-dimensional code label, the miniature industrial personal computer takes out the distance information between the two-dimensional code label and the distance information in the four two-dimensional code labels, namely the front, the rear, the left and the right, required by the next step of action of the inertial guidance vehicle; when the inertial guided vehicle scans the two-dimensional code label of the target point, the micro industrial personal computer on the inertial guided vehicle controls the inertial guided vehicle to stop moving, and feeds the obtained eccentric amount and deviation amount back to the terminal controller through the wireless transmitting and receiving device, and the terminal controller accurately controls and grips the article on the inertial guided vehicle at the target point through the fed-back data; the eccentricity and the deviation are two difference values of the center of the two-dimensional code label and the center of the acquired image in the acquired image, the eccentricity is the distance of the inertial guidance vehicle from the inertial guidance vehicle track, the deviation is the deviation of the inertial guidance vehicle from a target station, and the yaw angle is the included angle between the vehicle body of the inertial guidance vehicle and the inertial guidance vehicle track.
6. The inertial guidance vehicle based on two-dimensional code location of claim 5, characterized in that the two-dimensional code label is set for equidistant rule.
7. The inertial guided vehicle based on two-dimensional code positioning of claim 5, characterized in that the two-dimensional code labels are irregularly arranged at unequal intervals.
8. The inertial guided vehicle based on two-dimensional code positioning according to claim 5, characterized in that the inertial guided vehicle makes fine position adjustment according to the eccentric amount and the deviation amount, so that the terminal controller precisely controls to grab the object on the inertial guided vehicle at the target point.
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