CN107065879A - Visual guidance car localization method and visual guidance car based on Quick Response Code - Google Patents

Visual guidance car localization method and visual guidance car based on Quick Response Code Download PDF

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Publication number
CN107065879A
CN107065879A CN201710342183.9A CN201710342183A CN107065879A CN 107065879 A CN107065879 A CN 107065879A CN 201710342183 A CN201710342183 A CN 201710342183A CN 107065879 A CN107065879 A CN 107065879A
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CN
China
Prior art keywords
visual guidance
station
car
guidance car
camera
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Pending
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CN201710342183.9A
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Chinese (zh)
Inventor
罗哉
李冬
刘奇
刘晖
田焜
陶建国
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China Jiliang University
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China Jiliang University
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Priority to CN201710342183.9A priority Critical patent/CN107065879A/en
Publication of CN107065879A publication Critical patent/CN107065879A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control 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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0216Vehicle for transporting goods in a warehouse, factory or similar

Abstract

The present invention discloses a kind of visual guidance car localization method and visual guidance car based on Quick Response Code, include the car body of visual guidance car, the front-end and back-end of the car body are provided with the Mecanum wheel being independently arranged, Mecanum wheel is connected by decelerator with servo direct current motor, and servo direct current motor is connected with motor driver;The bottom of the car body, which is provided with camera mounting cup, camera mounting cup, is provided with camera, and camera is connected with Cortex A9 processors, and Cortex A9 processors are communicated by serial ports and motor driver.The present invention by grid location system and the real-time deviation correcting to grid route, can accurately controlling the travel direction of visual guidance car, prevent to go off course and event of derailing generation;Using embeded processor, light small camera, the own wt of whole system is set to lighten, so as to increase load weight, the Mecanum wheel for independent control of arranging in pairs or groups quickly realizes the precise positioning of visual guidance car, improves the conevying efficiency of vision guide car.

Description

Visual guidance car localization method and visual guidance car based on Quick Response Code
Technical field
The present invention relates to Automatic Guided Technology field, more particularly to a kind of visual guidance car localization method based on Quick Response Code And visual guidance car.
Background technology
AGV(Automatic guided vehicle)It is a kind of wheeled robot for integrating acousto-optic-electric computer, with intelligent control Make the development of system, AGV(Automatic guided vehicle)Used by more and more fields.AGV is sensed by contactless guiding Device and control system, it is not necessary to artificial interference, and it is aided with security alarm, scheduling controlling etc., can be automatically according to set planning Route, can effectively improve operating efficiency, and material is completed alone and is carried, the task such as unloading materials.
AGV system at present guide mode mainly on have the magnetic guidance mode based on electromagnetic induction;Based on supersonic sensing The ultrasonic wave guide mode of device;Las er-guidance mode based on laser reflection;But requirement of these modes to environment is high.With Science and technology continuous renewal, the guidance technology of view-based access control model guiding occurs, such as the A of China Patent No. CN 105929834 are announced The visual guidance car localization method and visual guidance car based on auxiliary locator, this method is in road surfacing Quick Response Code mark Label are recognized that but Quick Response Code itself has error, the Quick Response Code collected be obtained by decoding current two-dimension and The position of target Quick Response Code, then the position that deviation carrys out counting of carriers offset track is calculated, a large amount of errors for calculating accumulation certainly will be made Deviate into visual guidance car travel direction, influence being accurately positioned and conevying efficiency for visual guidance car.Exist for this technology Deficiency proposes the present invention.
The content of the invention
The purpose of the present invention is design a kind of the guiding car and a kind of visual guidance based on Quick Response Code of view-based access control model guiding The localization method of car.
For achieving the above object, the technical scheme is that:A kind of visual guidance car positioning based on Quick Response Code Method, comprises the following steps:
Step 1), one grid location system is set on the ground of the application places of visual guidance car, grid location system includes Grid and multiple the station two-dimension code labels being arranged on grid, station two-dimension code label be stored with this station information and with phase Four square locating pieces are posted in the distance between adjacent station information, the corner of station two-dimension code label, and four square locating pieces enclose Into rectangle and camera mounting cup etc. it is big;
Step 2), when visual guidance car is travelled along grid to aiming station, the camera on visual guidance car collects net Lattice, and by the image feedback collected to processor, by X-axis of described image base, center line be that Y-axis sets up centre coordinate system, Obtain visual guidance car deviation distance D and deviation angle θ, the real-time deviation correcting for visual guidance car is controlled, described deviation away from Referred to from D with a distance from the center deviation Y-axis of grid, deviation angle θ refers to that grid deviates the angle of Y-axis;
Step 3), when visual guidance car is by way of any station, camera collection station two-dimension code label and corresponding square locating piece, And by the image feedback collected to processor, processor is handled image, and controls four respectively by motor driver The individual Mecanum wheel fine setting visual guidance car being independently arranged, makes camera mounting cup four angular alignments, four square locating pieces, will Visual guidance car stops at predetermined station, realize visual guidance car station correction, meanwhile, obtain current station information and With the distance between adjacent stations information, visual guidance car continues to travel;
Step 4), visual guidance car is when close to next station, the information that processor is stored according to upper station two-dimension code label, Control servo direct current motor to slow down by motor driver, and next station two-dimension code label is gathered and corresponding by camera Square locating piece, whether be aiming station, if next station is not aiming station if judging next station, visual guidance car carries out work Continue to travel to aiming station after the correction of position;If next station is aiming station, visual guidance car is set to stop at predetermined station.
Further, it is provided with black belt on the grid.
A kind of visual guidance car of the visual guidance car localization method based on Quick Response Code, includes the car body of visual guidance car, Characterized in that, the front-end and back-end of the car body are provided with four Mecanum wheels being independently arranged, Mecanum wheel passes through Decelerator is connected with servo direct current motor, and servo direct current motor is connected with motor driver;The bottom centre position of the car body 30cm × 20cm × 30cm rectangular-shape camera mounting cup is installed, provided with camera and along shooting in camera mounting cup The LED of head circumferentially, the side of camera mounting cup is provided with Cortex-A9 processors, and Cortex-A9 processors pass through Serial ports is communicated with camera, motor driver respectively;
One and the matching used grid location system of visual guidance car, net are provided with the ground of the application places of visual guidance car Lattice alignment system includes grid and multiple station two-dimension code labels for being arranged on grid, and station two-dimension code label is stored with this work Position information and with the distance between adjacent stations information, the corner of station two-dimension code label is provided with four square locating pieces, four The rectangle that individual square locating piece is surrounded and camera mounting cup etc. are big.
Further, it is provided with black belt on the grid.
The beneficial effects of the invention are as follows:
1st, the present invention is by grid location system and the real-time deviation correcting to grid route, can accurately control visual guidance car Travel direction, prevent to go off course and event of derailing generation;
2nd, the present invention instead of bulky industrial computer and PLC with light small embeded processor, and industry is instead of with USB camera Camera, makes the own wt of whole system lighten, so as to increase load weight;Meanwhile, driven alone, passed through using four-wheel Four Mecanum wheels of control reach the steering of different angles, quickly realize the precise positioning of visual guidance car, improve vision The conevying efficiency of guide car;
3rd, the present invention have followed miniaturization, intelligent, the design concept of cost degradation.
Brief description of the drawings
Fig. 1 is the structural representation of visual guidance car of the present invention;
Fig. 2 is the structural representation of camera mounting cup;
Fig. 3 is the structural representation of grid location system;
Fig. 4 is visual guidance car deviation distance D and deviation angle θ schematic diagram.
Embodiment
The technical scheme in the embodiment of the present invention is clearly and completely described below in conjunction with accompanying drawing.
As shown in figure 1, being described as follows with reference to Fig. 1-4 pairs of specific implementations of the invention:
A kind of visual guidance car localization method based on Quick Response Code, comprises the following steps:
Step 1), one grid location system is set on the ground of the application places of visual guidance car 1, grid location system includes Black belt 6, station two-dimension code label are provided with grid and multiple the station two-dimension code labels 11 being arranged on grid, grid 11 be stored with this station information and with the distance between adjacent stations information, the corner of station two-dimension code label 11 posts four Square locating piece 12, the rectangle that four square locating pieces 12 are surrounded and the grade of camera mounting cup bottom surface 4 are big;
Step 2), when visual guidance car 1 is travelled along black belt 6 to aiming station, the camera 2 on visual guidance car 1 Collect black belt 6, and by the image feedback collected to Cortex-A9 processors 3, by X-axis of described image base, in Line is that Y-axis sets up centre coordinate system, obtains the deviation distance D of visual guidance car 1 and deviation angle θ, the reality for visual guidance car 1 When correction control, described deviation distance D refers to the distance of the center deviation Y-axis of black belt 6, and deviation angle θ is referred to Black belt 6 deviates the angle of Y-axis;
Step 3), when visual guidance car 1 is by way of any station, camera 2 gathers station two-dimension code label 11 and corresponding square fixed Position block, and by the image feedback collected to Cortex-A9 processors 3, Cortex-A9 processors 3 are handled image, and Control four Mecanum wheel 10 being independently arranged fine setting visual guidance cars 1 respectively by motor driver 8, camera is installed The square locating piece 12 of 4 four angular alignment four is covered, visual guidance car 1 is stopped to predetermined station, the work of visual guidance car 1 is realized Position correction, meanwhile, obtain current station information and with the distance between adjacent stations information, visual guidance car 1 continues to travel;
Step 4), visual guidance car 1 is when close to next station, and Cortex-A9 processors 3 are according to upper station two-dimension code label The information of 11 storages, controls servo direct current motor 5 to slow down, and gather next station two by camera 2 by motor driver 8 Code label 11 and corresponding square locating piece 12 are tieed up, whether be aiming station, if next station is not target if judging next station Station, visual guidance car 1 continues to travel to aiming station after carrying out station correction;If next station is aiming station, make vision Guiding car 1 stops at predetermined station.
A kind of visual guidance car of the visual guidance car localization method based on Quick Response Code, includes the car body of visual guidance car 1, The front-end and back-end of the car body are provided with four Mecanum wheels being independently arranged 10, and Mecanum wheel 10 passes through decelerator 9 It is connected with servo direct current motor 5, servo direct current motor 5 is connected with motor driver 8;Install in the bottom centre position of the car body There is a 30cm × 20cm × 30cm rectangular-shape camera mounting cup 4, provided with camera 2 and along shooting in camera mounting cup 4 First 2 LED 7 circumferentially, the side of camera mounting cup 4 is provided with Cortex-A9 processors, Cortex-A9 processors Communicated respectively with camera, motor driver by serial ports.
One grid location system is set on the ground of the application places of visual guidance car 1, and visual guidance car 1 is supporting makes With grid location system includes being provided with black on grid and multiple the station two-dimension code labels 11 being arranged on grid, grid Adhesive tape 6, station two-dimension code label 11 be stored with this station information and with the distance between adjacent stations information, station Quick Response Code Four square locating pieces 12 are posted in the corner of label 11, the rectangle that four square locating pieces 12 are surrounded and camera mounting cup bottom surface 4 grades are big;
When visual guidance car 1 is travelled along black belt 6 to aiming station, the camera 2 on visual guidance car 1 collects black Coloring agent band 6, and by the image feedback collected to Cortex-A9 processors 3, by X-axis of described image base, center line be Y-axis Centre coordinate system is set up, the deviation distance D of visual guidance car 1 and deviation angle θ, the real-time deviation correcting for visual guidance car 1 is obtained Control, described deviation distance D refers to the distance of the center deviation Y-axis of black belt 6, and deviation angle θ refers to black glue With 6 angles for deviateing Y-axis;
When visual guidance car 1 is by way of any station, the collection station of camera 2 two-dimension code label 11 and corresponding square locating piece, and By the image feedback collected to Cortex-A9 processors 3, Cortex-A9 processors 3 are handled image, and pass through electricity Machine driver 8 controls four Mecanum wheel 10 being independently arranged fine setting visual guidance cars 1 respectively, makes camera mounting cup 4 four The square locating piece 12 of angular alignment four, visual guidance car 1 is stopped at predetermined station, realizes that the station of visual guidance car 1 is rectified Just, meanwhile, obtain current station information and with the distance between adjacent stations information, visual guidance car 1 continues to travel;
Visual guidance car 1 is when close to next station, and Cortex-A9 processors 3 are stored according to upper station two-dimension code label 11 Information, control servo direct current motor 5 to slow down by motor driver 8, and next station Quick Response Code mark gathered by camera 2 Label 11 and corresponding square locating piece 12, whether be aiming station, if next station is not aiming station if judging next station, depending on Feel that guiding car 1 continues to travel to aiming station after carrying out station correction;If next station is aiming station, make visual guidance car 1 Stop at predetermined station.
Described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based in the present invention Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all Belong to the scope of the present invention.

Claims (4)

1. a kind of visual guidance car localization method based on Quick Response Code, it is characterised in that comprise the following steps:
Step 1), one grid location system is set on the ground of the application places of visual guidance car, grid location system includes Grid and multiple the station two-dimension code labels being arranged on grid, station two-dimension code label be stored with this station information and with phase Four square locating pieces are posted in the distance between adjacent station information, the corner of station two-dimension code label, and four square locating pieces enclose Into rectangle and camera mounting cup etc. it is big;
Step 2), when visual guidance car is travelled along grid to aiming station, the camera on visual guidance car collects net Lattice, and by the image feedback collected to processor, by X-axis of described image base, center line be that Y-axis sets up centre coordinate system, Obtain visual guidance car deviation distance D and deviation angle θ, the real-time deviation correcting for visual guidance car is controlled, described deviation away from Referred to from D with a distance from the center deviation Y-axis of grid, deviation angle θ refers to that grid deviates the angle of Y-axis;
Step 3), when visual guidance car is by way of any station, camera collection station two-dimension code label and corresponding square locating piece, And by the image feedback collected to processor, processor is handled image, and controls four respectively by motor driver The individual Mecanum wheel fine setting visual guidance car being independently arranged, makes camera mounting cup four angular alignments, four square locating pieces, will Visual guidance car stops at predetermined station, realize visual guidance car station correction, meanwhile, obtain current station information and With the distance between adjacent stations information, visual guidance car continues to travel;
Step 4), visual guidance car is when close to next station, the information that processor is stored according to upper station two-dimension code label, Control servo direct current motor to slow down by motor driver, and next station two-dimension code label is gathered and corresponding by camera Square locating piece, whether be aiming station, if next station is not aiming station if judging next station, visual guidance car carries out work Continue to travel to aiming station after the correction of position;If next station is aiming station, visual guidance car is set to stop at predetermined station.
2. a kind of visual guidance car localization method based on Quick Response Code according to claim 1, it is characterised in that the net Black belt is provided with lattice.
3. a kind of visual guidance car using the visual guidance car localization method as claimed in claim 1 based on Quick Response Code, bag Include the car body of visual guidance car, it is characterised in that the front-end and back-end of the car body are provided with four Mikes being independently arranged and received Nurse wheel, Mecanum wheel is connected by decelerator with servo direct current motor, and servo direct current motor is connected with motor driver;It is described The bottom centre position of car body is provided with 30cm × 20cm × 30cm rectangular-shape camera mounting cup, camera mounting cup LED provided with camera and along camera circumferentially, the side of camera mounting cup is provided with Cortex-A9 processors, Cortex-A9 processors are communicated with camera, motor driver respectively by serial ports;
One and the matching used grid location system of visual guidance car, net are provided with the ground of the application places of visual guidance car Lattice alignment system includes grid and multiple station two-dimension code labels for being arranged on grid, and station two-dimension code label is stored with this work Position information and with the distance between adjacent stations information, the corner of station two-dimension code label is provided with four square locating pieces, four The rectangle that individual square locating piece is surrounded and camera mounting cup etc. are big.
4. a kind of visual guidance car of visual guidance car localization method based on Quick Response Code according to claim 3, it is special Levy and be, black belt is provided with the grid.
CN201710342183.9A 2017-05-16 2017-05-16 Visual guidance car localization method and visual guidance car based on Quick Response Code Pending CN107065879A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107992000A (en) * 2017-11-13 2018-05-04 河南森源电气股份有限公司 A kind of intelligent industrial production method and system for merging autonomous navigation vehicle
CN108388245A (en) * 2018-01-26 2018-08-10 温州大学瓯江学院 A kind of AGV trolleies indoor positioning navigation system and its control method
CN108419013A (en) * 2018-03-19 2018-08-17 浙江国自机器人技术有限公司 A kind of image capturing system and mobile robot
CN109508021A (en) * 2018-12-29 2019-03-22 歌尔股份有限公司 A kind of guidance method of automatic guided vehicle, device and system
CN111208827A (en) * 2020-02-20 2020-05-29 冯健 Projection type AGV two-dimensional code navigation system and application thereof

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107992000A (en) * 2017-11-13 2018-05-04 河南森源电气股份有限公司 A kind of intelligent industrial production method and system for merging autonomous navigation vehicle
CN108388245A (en) * 2018-01-26 2018-08-10 温州大学瓯江学院 A kind of AGV trolleies indoor positioning navigation system and its control method
CN108419013A (en) * 2018-03-19 2018-08-17 浙江国自机器人技术有限公司 A kind of image capturing system and mobile robot
CN108419013B (en) * 2018-03-19 2020-07-28 浙江国自机器人技术有限公司 Image acquisition system and mobile robot
CN109508021A (en) * 2018-12-29 2019-03-22 歌尔股份有限公司 A kind of guidance method of automatic guided vehicle, device and system
CN111208827A (en) * 2020-02-20 2020-05-29 冯健 Projection type AGV two-dimensional code navigation system and application thereof

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