CN107490379A - Utilize the method and system of Quick Response Code terrestrial reference positioning AGV operating point locations - Google Patents

Utilize the method and system of Quick Response Code terrestrial reference positioning AGV operating point locations Download PDF

Info

Publication number
CN107490379A
CN107490379A CN201710748607.1A CN201710748607A CN107490379A CN 107490379 A CN107490379 A CN 107490379A CN 201710748607 A CN201710748607 A CN 201710748607A CN 107490379 A CN107490379 A CN 107490379A
Authority
CN
China
Prior art keywords
points
quick response
response code
terrestrial reference
center
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710748607.1A
Other languages
Chinese (zh)
Other versions
CN107490379B (en
Inventor
胡斌
李球球
梁旭
封华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Special Intelligent Technology Co Ltd
Original Assignee
Shandong Special Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shandong Special Intelligent Technology Co Ltd filed Critical Shandong Special Intelligent Technology Co Ltd
Priority to CN201710748607.1A priority Critical patent/CN107490379B/en
Publication of CN107490379A publication Critical patent/CN107490379A/en
Application granted granted Critical
Publication of CN107490379B publication Critical patent/CN107490379B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06037—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking multi-dimensional coding

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a kind of method and system that AGV operating point locations are positioned using Quick Response Code terrestrial reference, the picture for including Quick Response Code terrestrial reference is obtained first with the camera installed on AGV, picture is analyzed using vision technique, identify the center of mass point of outermost square on three corners in Quick Response Code terrestrial reference, analyze two center of mass point on diagonal, and the present position of Quick Response Code terrestrial reference is judged according to the central point of the center of mass point on two diagonal, the direction of rotation of Quick Response Code terrestrial reference is obtained further according to the relation of these three center of mass point；The content information representated by Quick Response Code terrestrial reference 1 can be obtained using zbar algorithms simultaneously, different information can distinguish different work.The present invention accurately calculates AGV position coordinates and angle correction by Quick Response Code terrestrial reference, and calculating process is simple and reliable, easily realizes, is easy to robotic arm adjustment to carry out high-precision work.

Description

Utilize the method and system of Quick Response Code terrestrial reference positioning AGV operating point locations
Technical field
AGV positioning fields of the present invention, it is particularly a kind of to position the method for AGV operating point locations using Quick Response Code terrestrial reference and be System.
Background technology
With high-tech development, the means of transportation of material has been converted to small using self-navigation via manual power assisting transport Car AGV (Automatic Guided Vehicle) carries out full automatic transport, and AGV is moved with some navigation modes Dynamic, mainly there are the modes such as electromagnetic navigation, ultrasonic wave navigation, laser navigation and vision guided navigation.With arriving for industrial 4.0 epoch Come, AGV is not only used as material transportation instrument, but also need to carry the replacing that robotic arm is operated station, so as to hold The different high-precision work of row.And AGV carries robotic arm when reaching work station by certain navigation mode, often substantially Position, position and direction are all less accurate, robotic arm can not be normally carried out high-precision work.
The content of the invention
The present invention is intended to provide a kind of method and system that AGV operating point locations are positioned using Quick Response Code terrestrial reference, accurate meter AGV position coordinates and angle correction is calculated, is easy to robotic arm adjustment to carry out high-precision work.
In order to solve the above technical problems, the technical solution adopted in the present invention is：One kind utilizes Quick Response Code terrestrial reference positioning AGV The method of operating point location, comprises the following steps：
1) image for including Quick Response Code terrestrial reference is obtained, the image got is converted into gray-scale map, and to the gray-scale map Pre-processed, remove the noise of the gray-scale map, be then partitioned into the bianry image for only including Quick Response Code terrestrial reference；
2) the area matched institute with outermost square on three corners of Quick Response Code terrestrial reference in the bianry image is obtained There is profile, judge the square profiles for whether thering is angle to be right angle in all profiles successively, it is not right angle to delete angle Profile, preserve the square profiles that angle is right angle；
3) calculate the center of mass point of preserved square profiles, the coordinate for obtaining three center of mass point be respectively A (A.x, A.y), B (B.x, B.y), C (C.x, C.y)；
4) A, B are asked for；B、C；A, the squared-distance between C, three distance values dxy1, dxy2, dxy3 are obtained, judged Dxy1, dxy2, dxy3 size, two center of mass point corresponding to maximum value are two center of mass point on diagonal；
5) calculation procedure 4) the midpoint Q of two center of mass point lines coordinate on obtained diagonal, judge Q points whether in image Center, if just the heart, Q points are exactly the position that station is precisely put in the picture；If the not heart in the picture, calculate Q points with The X-direction at bianry image center and the spacing of Y-direction, and above-mentioned spacing is sent to AGV and is adjusted, so that the Q in image Point precisely puts position convergence to station close to picture centre, i.e. AGV, until overlapping；
6) determine to tilt radian using two center of mass point on diagonal, using another center of mass point and the orientation of Q points with And the inclination radian determines angle correction, and the angle correction is sent into AGV and is adjusted correspondingly, to reach AGV The accurate direction in operating point；
7) content information of Quick Response Code terrestrial reference is identified.
In step 1), the gray-scale map is pre-processed using Gaussian filter algorithm, filters out the noise of the gray-scale map； The bianry image for only including Quick Response Code terrestrial reference is obtained with fixed threshold split plot design.Implementation process is simple and reliable.
In step 4), the calculation formula of the squared-distance dxy1 between A points and B points is：
Dxy1=(A.x-B.x) × (A.x-B.x)+(A.y-B.y) × (A.y-B.y).
Squared-distance dxy3 between B points and squared-distance dxy2 and the A point and C points of C points also uses same principle meter Calculate, i.e.,：
The calculation formula of B points and the squared-distance dxy2 of C points is：
Dxy2=(B.x-C.x) × (B.x-C.x)+(B.y-C.y) × (B.y-C.y)；
The calculation formula of squared-distance dxy3 between A points and C points is：
Dxy3=(A.x-C.x) × (A.x-C.x)+(A.y-C.y) × (A.y-C.y).
It is true by formula θ=tan^ (- 1) (dy/dx) if two center of mass point on diagonal are B points and C points in step 6) Determine the inclination radian of B points and C point lines；Wherein, dx=| B.x-C.x |；Dy=| B.y-C.y |.
In step 6), angle correction is determined using the orientation and the inclination radian of another center of mass point A and Q points Detailed process includes：
1) orientation according to residing for A points and Q points carries out radian compensation：
If ((Q.x-A.x)≤0＆＆ (Q.y-A.y)>0) it is first quartile, to mark A points and orientation residing for Q points, then mends It is pi/2 to repay radian；
(if (Q.x-A.x)>0＆＆ (Q.y-A.y) >=0), the orientation residing for mark A points and Q points is the second quadrant, then mends Radian is repaid as 0；
If ((Q.x-A.x) >=0＆＆ (Q.y-A.y)<0) it is third quadrant, to mark A points and orientation residing for Q points, then mends It is (- pi/2) to repay radian；
(if (Q.x-A.x)<0＆＆ (Q.y-A.y) >=0), the orientation residing for mark A points and Q points is fourth quadrant, then mends It is π to repay radian；
Wherein , ＆＆ represent logical relation with；(Q.x, Q.y) is the coordinate of Q points；
2) angle correction is determined using following methods：
Orientation residing for A points and Q points is first quartile, if dx=0, angle correction is 45 °；Other, angle correction is：
Ang=(θ+pi/2-π/4) × 180/ π；
Orientation residing for A points and Q points is the second quadrant, if dy=0, angle correction is -45 °；Other, angle correction For：
Ang=(- θ+π/4) × 180/ π；
Orientation residing for A points and Q points is third quadrant, if dx=0, angle correction is -135 °；Other, angle correction is：
Ang=(θ-pi/2-π/4) × 180/ π；
Orientation residing for A points and Q points is fourth quadrant, if dy=0, angle correction is 135 °；Other, angle correction is：
Ang=(- θ+π+π/4) × 180/ π.
The span of above-mentioned angle correction is -180 °~180 °.
In the present invention, the content information of Quick Response Code terrestrial reference is obtained using zbar algorithms.
Correspondingly, present invention also offers a kind of system that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is wrapped Include：
Bianry image acquiring unit, for obtaining the image for including Quick Response Code terrestrial reference, the image got is converted into ash Degree figure, and the gray-scale map is pre-processed, the noise of the gray-scale map is removed, is then partitioned into and only includes Quick Response Code terrestrial reference Bianry image；
Contours extract unit, it is square with outermost on three corners of Quick Response Code terrestrial reference in the bianry image for obtaining Area matched all profiles, judge the square profiles for whether thering is angle to be right angle in all profiles successively, delete Angle is not the profile at right angle, preserves the square profiles that angle is right angle；
Center of mass point computing unit, for calculating the center of mass point of preserved square profiles, obtain the seat of three center of mass point Mark is respectively A (A.x, A.y), B (B.x, B.y), C (C.x, C.y)；
First judging unit, for asking for A, B；B、C；A, the squared-distance between C, three distance value dxy1 are obtained, Dxy2, dxy3, judge dxy1, dxy2, dxy3 size, and two center of mass point corresponding to maximum value are two barycenter on diagonal Point；
Second judging unit, for the coordinate according to the midpoint Q of two center of mass point lines on diagonal, judge Q points whether The center of image, if just the heart, Q points are exactly the position that station is precisely put in the picture；If the not heart in the picture, calculates Q Point and the X-direction at bianry image center and the spacing of Y-direction, and above-mentioned spacing is sent to AGV and is adjusted, so that in image Q points precisely put position convergence to station close to picture centre, i.e. AGV, until overlap；
Amending unit, for determining to tilt radian using two center of mass point on diagonal, utilize another center of mass point and Q The orientation of point and the inclination radian determine angle correction, and the angle correction is sent into AGV and is adjusted correspondingly, To reach the accurate direction in AGV operating point；
Recognition unit, for identifying the content information of Quick Response Code terrestrial reference.
The bianry image acquiring unit includes：
Image capture module, for obtaining the image for including Quick Response Code terrestrial reference；
Modular converter, for the image got to be converted into gray-scale map；
Pretreatment module, for being pre-processed to the gray-scale map, remove the noise of the gray-scale map；
Split module, for being partitioned into the bianry image for only including Quick Response Code terrestrial reference from the gray-scale map for removing noise.
The amending unit includes：
Radian computing unit is tilted, for determining to tilt radian using two center of mass point on diagonal；
Angle correction computing unit, orientation and the inclination radian for another center of mass point and Q points determine to repair Positive-angle；
Communication unit, for the angle correction to be sent into AGV and is adjusted correspondingly, to reach AGV work The accurate direction of point.
The specific work process of the angle correction computing unit includes：
1) orientation according to residing for A points and Q points carries out radian compensation：
If ((Q.x-A.x)≤0＆＆ (Q.y-A.y)>0) it is first quartile, to mark A points and orientation residing for Q points, then mends It is pi/2 to repay radian；
(if (Q.x-A.x)>0＆＆ (Q.y-A.y) >=0), the orientation residing for mark A points and Q points is the second quadrant, then mends Radian is repaid as 0；
If ((Q.x-A.x) >=0＆＆ (Q.y-A.y)<0) it is third quadrant, to mark A points and orientation residing for Q points, then mends It is (- pi/2) to repay radian；
(if (Q.x-A.x)<0＆＆ (Q.y-A.y) >=0), the orientation residing for mark A points and Q points is fourth quadrant, then mends It is π to repay radian；
Wherein , ＆＆ represent logical relation with；(Q.x, Q.y) is the coordinate of Q points；
2) angle correction is determined using following methods：
Orientation residing for A points and Q points is first quartile, if dx=0, angle correction is 45 °；Other, angle correction is：
Ang=(θ+pi/2-π/4) × 180/ π；
Orientation residing for A points and Q points is the second quadrant, if dy=0, angle correction is -45 °；Other, angle correction For：
Ang=(- θ+π/4) × 180/ π；
Orientation residing for A points and Q points is third quadrant, if dx=0, angle correction is -135 °；Other, angle correction is：
Ang=(θ-pi/2-π/4) × 180/ π；
Orientation residing for A points and Q points is fourth quadrant, if dy=0, angle correction is 135 °；Other, angle correction is：
Ang=(- θ+π+π/4) × 180/ π.
The span of above-mentioned angle correction is -180 °~180 °；If two center of mass point are B points and C points on diagonal, θ B The inclination radian of point and C point lines, θ=tan^ (- 1) (dy/dx)；Dx=| B.x-C.x |；Dy=| B.y-C.y |.
Compared with prior art, the advantageous effect of present invention is that：The present invention is accurately calculated by Quick Response Code terrestrial reference Go out AGV position coordinates and angle correction, calculating process is simple and reliable, easily realizes, is easy to robotic arm adjustment high-precision to carry out Spend work.
Brief description of the drawings
Fig. 1 is Quick Response Code terrestrial reference artwork；
Fig. 2 is some structure chart of Quick Response Code terrestrial reference in the picture.
Embodiment
AGV carries robotic arm when reaching some work station by certain navigation mode, often position substantially, position All less accurate with direction, robotic arm can not carry out high-precision work, it is therefore desirable to identified by vision technique and position two Code terrestrial reference 1 is tieed up, so as to AGV dollies adjustment position and direction, makes robotic arm precision alignment work point.
Mainly implementation process is the present invention：The figure for including Quick Response Code terrestrial reference 1 is obtained first with the camera installed on AGV Piece, picture is analyzed using vision technique, identify the barycenter of outermost square on three corners in Quick Response Code terrestrial reference 1 Point, analyzes two center of mass point on diagonal, and judges two according to the central point of the center of mass point on two diagonal The present position of code terrestrial reference 1 is tieed up, the direction of rotation of Quick Response Code terrestrial reference 1 is obtained further according to the relation of these three center of mass point；Simultaneously The content information representated by Quick Response Code terrestrial reference 1 can be obtained using zbar algorithms, different information can distinguish different works Make.Specific vision technique step is (image processing process is all to use Opencv operators)：
Step 1: image preprocessing：The picture comprising Quick Response Code terrestrial reference 1 got is switched into gray-scale map, and uses Gauss Noise filtering was filtered, the bianry image for only including Quick Response Code terrestrial reference 1 is obtained with fixed threshold dividing method；
Step 2: obtain profile：Obtained and outermost square on 1 three corners of Quick Response Code terrestrial reference according to size All profiles for matching of area, and judge that it is straight whether to have angle in all profiles successively using Curve Approximation The square profiles at angle, the profile that angle is not right angle is deleted, preserve the square profiles that angle is right angle, share 3 properly Square profiles；
Step 3: calculate center of mass point position：The center of mass point of the square profiles preserved is calculated, shares 3 center of mass point A, B, C, position coordinates be respectively (A.x, A.y), (B.x, B.y), (C.x, C.y)；
Step 4: ask for two center of mass point on diagonal：Squared-distance between calculating at 2 points, corresponding formula are：
Dxy1=(A.x-B.x) × (A.x-B.x)+(A.y-B.y) × (A.y-B.y) (1)
It is dxy2 that the squared-distance of B points and C points similarly, which is calculated, with reference to formula (1), between A points and C points square away from From for dxy3.
Judge dxy1, dxy2, dxy3 size, two center of mass point corresponding to that maximum value are two matter on diagonal Heart point, it is assumed herein that above-mentioned two center of mass point is B points and C points, and another point is A points；
Step 5: calculation position deviation：Calculate the point midway of B points and C points, be set to Q points, position coordinates for (Q.x, Q.y), calculation formula is：
Q.x=int [(B.x+C.x)/2] (2)
Q.y=int [(B.y+C.y)/2] (3)
Wherein int represents only to obtain integer value；Whether Q points are judged at the center of image, should if the just heart in the picture Point is exactly the position that station is precisely put；If the not heart in the picture, between the X-direction and Y-direction that calculate Q points and picture centre Away from, and above-mentioned spacing is sent to AGV and is adjusted, so that the Q points in image are accurate to station close to picture centre, i.e. AGV Point position convergence, until overlapping.
Step 6: calculate positive-angle to be repaired：Inclined radian is calculated according to B points and C points, according to the orientation of A points and Q points To judge that radian compensates.It is to calculate to tilt radian first：
Dx=| B.x-C.x | (4)
Dy=| B.y-C.y | (5)
θ=tan^ (- 1) (dy/dx) (6)
Accurate angle using Fig. 1 as operating point, now the inclination radian of B points and C point lines is π/4, wherein π= 3.1415926 corresponding angle is 45 °；This angle needs to take into account when final angle correction calculates.
It is to carry out the method for radian compensation according to orientation residing for A points and Q points：
①if((Q.x-A.x)≤0&&(Q.y-A.y)>0), labeled as first quartile, then it is pi/2 to compensate radian；
②if((Q.x-A.x)>0＆＆ (Q.y-A.y) >=0), labeled as the second quadrant, then it is 0 to compensate radian；
③if((Q.x-A.x)≥0&&(Q.y-A.y)<0), labeled as third quadrant, then it is (- pi/2) to compensate radian；
④if((Q.x-A.x)<0＆＆ (Q.y-A.y) >=0), labeled as fourth quadrant, then it is π to compensate radian；
Above-mentioned if represent if；＆＆ represent logical relation with；The determination method of final angle correction is：
(i) affiliated first quartile, if dx=0, angle correction is 45 °；Other, angle correction is：
Ang=(θ+pi/2-π/4) × 180/ π (7)
(ii) affiliated second quadrant, if dy=0, angle correction is -45 °；Other, angle correction is：
Ang=(- θ+π/4) × 180/ π (8)
(iii) affiliated third quadrant, if dx=0, angle correction is -135 °；Other, angle correction is：
Ang=(θ-pi/2-π/4) × 180/ π (9)
(iv) affiliated fourth quadrant, if dy=0, angle correction is 135 °；Other, angle correction is：
Ang=(- θ+π+π/4) × 180/ π (10)
The span of angle correction is -180 °~180 °, needs radian being converted to angle in calculating process, by radian The mode for switching to angle is exactly (radian × 180/ π).The angle correction is sent to AGV and is adjusted correspondingly, with up to To the AGV accurate direction in operating point.
Step 7: identifying the content information of Quick Response Code using zbar algorithms, different information can distinguish different works Make a little.
As shown in figure 1, be Quick Response Code terrestrial reference artwork, when being also in the accurate angle of operating point for AGV, Quick Response Code terrestrial reference 1 The model presented in the picture.Include center of mass point A, B, the C of three outermosts square in Quick Response Code terrestrial reference 1, wherein B points and C points are two center of mass point on diagonal.
As shown in Fig. 2 some structure chart for Quick Response Code terrestrial reference in the picture, A, B, C are three outermost squares Center of mass point, Q points are the midpoint of B points and C points on diagonal.According to formula (4), (5), (6), θ=0.152 being calculated；Ginseng Examine X-Y coordinate, the X-coordinate of A points is more than the X-coordinate of Q points, and the Y-coordinate of A points is less than Q Y-coordinate, therefore affiliated first as Limit；According to description (one) and formula (7), it is about 53.7 ° to draw angle correction.

Claims (10)

  1. A kind of 1. method that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is characterised in that comprise the following steps：
    1) image for including Quick Response Code terrestrial reference is obtained, the image got is converted into gray-scale map, and the gray-scale map is carried out Pretreatment, the noise of the gray-scale map is removed, be then partitioned into the bianry image for only including Quick Response Code terrestrial reference；
    2) area matched all wheels with outermost square on three corners of Quick Response Code terrestrial reference in the bianry image are obtained Exterior feature, the square profiles for whether having angle to be right angle in all profiles are judged successively, delete the profile that angle is not right angle, Preserve the square profiles that angle is right angle；
    3) center of mass point of preserved square profiles is calculated, the coordinate for obtaining three center of mass point is respectively A (A.x, A.y), B (B.x, B.y), C (C.x, C.y)；
    4) A, B are asked for；B、C；A, the squared-distance between C, three distance values dxy1, dxy2, dxy3 is obtained, judge dxy1, Dxy2, dxy3 size, two center of mass point corresponding to maximum value are two center of mass point on diagonal；
    5) calculation procedure 4) the midpoint Q of two center of mass point lines coordinate on obtained diagonal, judge Q points whether in image The heart, if just the heart, Q points are exactly the position that station is precisely put in the picture；If the not heart in the picture, calculate Q points and two-value The X-direction of picture centre and the spacing of Y-direction, and above-mentioned spacing is sent to AGV and is adjusted, so that the Q points in image lean on Nearly picture centre, i.e. AGV precisely put position convergence to station, until overlapping；
    6) determine to tilt radian using two center of mass point on diagonal, utilize the orientation and institute of another center of mass point and Q points State inclination radian and determine angle correction, the angle correction is sent to AGV and is adjusted correspondingly, to reach AGV work Make the accurate direction of point；
    7) content information of Quick Response Code terrestrial reference is identified.
  2. 2. the method according to claim 1 that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is characterised in that step It is rapid 1) in, the gray-scale map is pre-processed using Gaussian filter algorithm, filters out the noise of the gray-scale map；Use fixed threshold Split plot design obtains the bianry image for only including Quick Response Code terrestrial reference.
  3. 3. the method according to claim 1 that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is characterised in that step It is rapid 4) in, the calculation formula of the squared-distance dxy1 between A points and B points is：
    Dxy1=(A.x-B.x) × (A.x-B.x)+(A.y-B.y) × (A.y-B.y)；
    The calculation formula of B points and the squared-distance dxy2 of C points is：
    Dxy2=(B.x-C.x) × (B.x-C.x)+(B.y-C.y) × (B.y-C.y)；
    The calculation formula of squared-distance dxy3 between A points and C points is：
    Dxy3=(A.x-C.x) × (A.x-C.x)+(A.y-C.y) × (A.y-C.y).
  4. 4. the method according to claim 1 that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is characterised in that step It is rapid 6) in, if two center of mass point on diagonal are B points and C points, B points and C points are determined by formula θ=tan^ (- 1) (dy/dx) The inclination radian of line；Wherein, dx=| B.x-C.x |；Dy=| B.y-C.y |.
  5. 5. the method according to claim 4 that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is characterised in that step It is rapid 6) in, determine the detailed process bag of angle correction using the orientation and the radian that tilts of another center of mass point A and Q points Include：
    1) orientation according to residing for A points and Q points carries out radian compensation：
    If ((Q.x-A.x)≤0＆＆ (Q.y-A.y)>0) it is first quartile, to mark A points and orientation residing for Q points, then compensates arc Spend for pi/2；
    (if (Q.x-A.x)>0＆＆ (Q.y-A.y) >=0), the orientation residing for mark A points and Q points is the second quadrant, then compensates arc Spend for 0；
    If ((Q.x-A.x) >=0＆＆ (Q.y-A.y)<0) it is third quadrant, to mark A points and orientation residing for Q points, then compensates arc Spend for (- pi/2)；
    (if (Q.x-A.x)<0＆＆ (Q.y-A.y) >=0), the orientation residing for mark A points and Q points is fourth quadrant, then compensates arc Spend for π；
    Wherein , ＆＆ represent logical relation with；(Q.x, Q.y) is the coordinate of Q points；
    2) angle correction is determined using following methods：
    Orientation residing for A points and Q points is first quartile, if dx=0, angle correction is 45 °；Other, angle correction is：
    Ang=(θ+pi/2-π/4) × 180/ π；
    Orientation residing for A points and Q points is the second quadrant, if dy=0, angle correction is -45 °；Other, angle correction is：
    Ang=(- θ+π/4) × 180/ π；
    Orientation residing for A points and Q points is third quadrant, if dx=0, angle correction is -135 °；Other, angle correction is：
    Ang=(θ-pi/2-π/4) × 180/ π；
    Orientation residing for A points and Q points is fourth quadrant, if dy=0, angle correction is 135 °；Other, angle correction is：
    Ang=(- θ+π+π/4) × 180/ π.
    The span of above-mentioned angle correction is -180 °~180 °.
  6. 6. the method according to claim 1 that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is characterised in that profit The content information of Quick Response Code terrestrial reference is obtained with zbar algorithms.
  7. A kind of 7. system that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is characterised in that including：
    Bianry image acquiring unit, for obtaining the image for including Quick Response Code terrestrial reference, the image got is converted into gray-scale map, And the gray-scale map is pre-processed, the noise of the gray-scale map is removed, is then partitioned into and only includes the two of Quick Response Code terrestrial reference It is worth image；
    Contours extract unit, for obtaining the face in the bianry image with outermost square on three corners of Quick Response Code terrestrial reference All profiles of product matching, judge the square profiles for whether having angle to be right angle in all profiles successively, delete angle It is not the profile at right angle, preserves the square profiles that angle is right angle；
    Center of mass point computing unit, for calculating the center of mass point of preserved square profiles, obtain the coordinate point of three center of mass point Wei not A (A.x, A.y), B (B.x, B.y), C (C.x, C.y)；
    First judging unit, for asking for A, B；B、C；A, the squared-distance between C, three distance values dxy1, dxy2 are obtained, Dxy3, judges dxy1, dxy2, dxy3 size, and two center of mass point corresponding to maximum value are two center of mass point on diagonal；
    Second judging unit, for the coordinate according to the midpoint Q of two center of mass point lines on diagonal, judge Q points whether in image Center, if just the heart, Q points are exactly the position that station is precisely put in the picture；If the not heart in the picture, calculate Q points with The X-direction at bianry image center and the spacing of Y-direction, and above-mentioned spacing is sent to AGV and is adjusted, so that the Q in image Point precisely puts position convergence to station close to picture centre, i.e. AGV, until overlapping；
    Amending unit, for determining to tilt radian using two center of mass point on diagonal, utilize another center of mass point and Q points Orientation and it is described inclination radian determine angle correction, the angle correction is sent to AGV and is adjusted correspondingly, with up to To the AGV accurate direction in operating point；
    Recognition unit, for identifying the content information of Quick Response Code terrestrial reference.
  8. 8. the system according to claim 7 that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is characterised in that institute Stating bianry image acquiring unit includes：
    Image capture module, for obtaining the image for including Quick Response Code terrestrial reference；
    Modular converter, for the image got to be converted into gray-scale map；
    Pretreatment module, for being pre-processed to the gray-scale map, remove the noise of the gray-scale map；
    Split module, for being partitioned into the bianry image for only including Quick Response Code terrestrial reference from the gray-scale map for removing noise.
  9. 9. the system according to claim 7 that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is characterised in that institute Stating amending unit includes：
    Radian computing unit is tilted, for determining to tilt radian using two center of mass point on diagonal；
    Angle correction computing unit, orientation and the inclination radian for another center of mass point and Q points determine correction angle Degree；
    Communication unit, for the angle correction to be sent into AGV and is adjusted correspondingly, to reach AGV operating point essence Quasi- direction.
  10. 10. the system according to claim 9 that AGV operating point locations are positioned using Quick Response Code terrestrial reference, it is characterised in that institute Stating the specific work process of angle correction computing unit includes：
    1) orientation according to residing for A points and Q points carries out radian compensation：
    If ((Q.x-A.x)≤0＆＆ (Q.y-A.y)>0) it is first quartile, to mark A points and orientation residing for Q points, then compensates arc Spend for pi/2；
    (if (Q.x-A.x)>0＆＆ (Q.y-A.y) >=0), the orientation residing for mark A points and Q points is the second quadrant, then compensates arc Spend for 0；
    If ((Q.x-A.x) >=0＆＆ (Q.y-A.y)<0) it is third quadrant, to mark A points and orientation residing for Q points, then compensates arc Spend for (- pi/2)；
    (if (Q.x-A.x)<0＆＆ (Q.y-A.y) >=0), the orientation residing for mark A points and Q points is fourth quadrant, then compensates arc Spend for π；
    Wherein , ＆＆ represent logical relation with；(Q.x, Q.y) is the coordinate of Q points；
    2) angle correction is determined using following methods：
    Orientation residing for A points and Q points is first quartile, if dx=0, angle correction is 45 °；Other, angle correction is：
    Ang=(θ+pi/2-π/4) × 180/ π；
    Orientation residing for A points and Q points is the second quadrant, if dy=0, angle correction is -45 °；Other, angle correction is：
    Ang=(- θ+π/4) × 180/ π；
    Orientation residing for A points and Q points is third quadrant, if dx=0, angle correction is -135 °；Other, angle correction is：
    Ang=(θ-pi/2-π/4) × 180/ π；
    Orientation residing for A points and Q points is fourth quadrant, if dy=0, angle correction is 135 °；Other, angle correction is：
    Ang=(- θ+π+π/4) × 180/ π.
    The span of above-mentioned angle correction is -180 °~180 °；If two center of mass point are B points and C points, θ is B points and C point lines Inclination radian, θ=tan^ (- 1) (dy/dx)；Dx=| B.x-C.x |；Dy=| B.y-C.y |.
CN201710748607.1A 2017-08-28 2017-08-28 Method and system for positioning position of AGV working point by using two-dimensional code landmark Active CN107490379B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710748607.1A CN107490379B (en) 2017-08-28 2017-08-28 Method and system for positioning position of AGV working point by using two-dimensional code landmark

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710748607.1A CN107490379B (en) 2017-08-28 2017-08-28 Method and system for positioning position of AGV working point by using two-dimensional code landmark

Publications (2)

Publication Number Publication Date
CN107490379A true CN107490379A (en) 2017-12-19
CN107490379B CN107490379B (en) 2020-11-27

Family

ID=60645932

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710748607.1A Active CN107490379B (en) 2017-08-28 2017-08-28 Method and system for positioning position of AGV working point by using two-dimensional code landmark

Country Status (1)

Country Link
CN (1) CN107490379B (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108037503A (en) * 2017-12-22 2018-05-15 杭州视熵科技有限公司 A kind of more sheet material positioning methods of the plane based on laser radar towards household plate loading and unloading
CN108088439A (en) * 2018-01-19 2018-05-29 浙江科钛机器人股份有限公司 A kind of AGV complex navigation system and methods for merging electronic map, Quick Response Code and colour band
CN108279026A (en) * 2018-01-19 2018-07-13 浙江科钛机器人股份有限公司 A kind of AGV inertial navigation systems and method based on T-type RFID beacons
CN108763996A (en) * 2018-03-23 2018-11-06 南京航空航天大学 A kind of plane positioning coordinate based on Quick Response Code and direction angle measuring method
CN108801653A (en) * 2018-06-25 2018-11-13 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） The evaluation tool of floor truck and the assessment method of floor truck
CN108931982A (en) * 2018-09-04 2018-12-04 赵凯雅 Vision navigation system and method for robot moving equipment
CN109093621A (en) * 2018-08-10 2018-12-28 北京极智嘉科技有限公司 Robot running precision monitoring method, device, robot, server and medium
CN110069065A (en) * 2019-04-24 2019-07-30 合肥柯金自动化科技股份有限公司 A kind of AGV website positioning system based on laser navigation and picture recognition
CN110415299A (en) * 2019-08-02 2019-11-05 山东大学 Vehicle location estimation method based on standard guideboard under a kind of kinematic constraint
CN110864691A (en) * 2019-11-15 2020-03-06 浙江大学华南工业技术研究院 Magnetic stripe imitation positioning method and device based on ceiling type two-dimensional code
CN111161293A (en) * 2019-11-25 2020-05-15 新绎健康科技有限公司 Method and system for determining outline of GDV energy image based on rectangular coordinate space
CN112847349A (en) * 2020-12-30 2021-05-28 深兰科技（上海）有限公司 Robot walking control method and device
CN113763306A (en) * 2020-06-01 2021-12-07 杭州海康威视数字技术股份有限公司 Landmark detection method and device and electronic equipment

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100563875B1 (en) * 2002-07-18 2006-03-28 샤프 가부시키가이샤 Two-dimensional code reading apparatus, two-dimensional code reading process, recording medium containing two-dimensional code reading program therein, portable terminal and digital camera
CN102735235A (en) * 2012-06-07 2012-10-17 无锡普智联科高新技术有限公司 Indoor mobile robot positioning system and method based on two-dimensional code
CN103345247A (en) * 2013-06-20 2013-10-09 无锡普智联科高新技术有限公司 Mobile robot positioning method used for correcting code adherence errors
CN103714313A (en) * 2013-12-30 2014-04-09 优视科技有限公司 Two-dimension code recognizing method and device
CN104197899A (en) * 2014-09-24 2014-12-10 中国科学院宁波材料技术与工程研究所 Mobile robot location method and system
CN104407615A (en) * 2014-11-03 2015-03-11 上海电器科学研究所（集团）有限公司 AGV robot guide deviation correction method
CN105651286A (en) * 2016-02-26 2016-06-08 中国科学院宁波材料技术与工程研究所 Visual navigation method and system of mobile robot as well as warehouse system
CN105912971A (en) * 2016-04-01 2016-08-31 深圳普智联科机器人技术有限公司 Regular graphic code array for AGV navigation and code reading method thereof
CN106093954A (en) * 2016-06-02 2016-11-09 邓湘 A kind of Quick Response Code laser ranging vehicle positioning method and equipment thereof

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100563875B1 (en) * 2002-07-18 2006-03-28 샤프 가부시키가이샤 Two-dimensional code reading apparatus, two-dimensional code reading process, recording medium containing two-dimensional code reading program therein, portable terminal and digital camera
CN102735235A (en) * 2012-06-07 2012-10-17 无锡普智联科高新技术有限公司 Indoor mobile robot positioning system and method based on two-dimensional code
CN103345247A (en) * 2013-06-20 2013-10-09 无锡普智联科高新技术有限公司 Mobile robot positioning method used for correcting code adherence errors
CN103714313A (en) * 2013-12-30 2014-04-09 优视科技有限公司 Two-dimension code recognizing method and device
CN104197899A (en) * 2014-09-24 2014-12-10 中国科学院宁波材料技术与工程研究所 Mobile robot location method and system
CN104407615A (en) * 2014-11-03 2015-03-11 上海电器科学研究所（集团）有限公司 AGV robot guide deviation correction method
CN105651286A (en) * 2016-02-26 2016-06-08 中国科学院宁波材料技术与工程研究所 Visual navigation method and system of mobile robot as well as warehouse system
CN105912971A (en) * 2016-04-01 2016-08-31 深圳普智联科机器人技术有限公司 Regular graphic code array for AGV navigation and code reading method thereof
CN106093954A (en) * 2016-06-02 2016-11-09 邓湘 A kind of Quick Response Code laser ranging vehicle positioning method and equipment thereof

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108037503A (en) * 2017-12-22 2018-05-15 杭州视熵科技有限公司 A kind of more sheet material positioning methods of the plane based on laser radar towards household plate loading and unloading
CN108088439B (en) * 2018-01-19 2020-11-24 浙江科钛机器人股份有限公司 AGV composite navigation system and method integrating electronic map, two-dimensional code and color band
CN108088439A (en) * 2018-01-19 2018-05-29 浙江科钛机器人股份有限公司 A kind of AGV complex navigation system and methods for merging electronic map, Quick Response Code and colour band
CN108279026A (en) * 2018-01-19 2018-07-13 浙江科钛机器人股份有限公司 A kind of AGV inertial navigation systems and method based on T-type RFID beacons
CN108763996A (en) * 2018-03-23 2018-11-06 南京航空航天大学 A kind of plane positioning coordinate based on Quick Response Code and direction angle measuring method
CN108801653A (en) * 2018-06-25 2018-11-13 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） The evaluation tool of floor truck and the assessment method of floor truck
CN109093621A (en) * 2018-08-10 2018-12-28 北京极智嘉科技有限公司 Robot running precision monitoring method, device, robot, server and medium
CN108931982A (en) * 2018-09-04 2018-12-04 赵凯雅 Vision navigation system and method for robot moving equipment
CN110069065A (en) * 2019-04-24 2019-07-30 合肥柯金自动化科技股份有限公司 A kind of AGV website positioning system based on laser navigation and picture recognition
CN110069065B (en) * 2019-04-24 2022-05-27 合肥柯金自动化科技股份有限公司 AGV website positioning system based on laser navigation and picture discernment
CN110415299A (en) * 2019-08-02 2019-11-05 山东大学 Vehicle location estimation method based on standard guideboard under a kind of kinematic constraint
CN110415299B (en) * 2019-08-02 2023-02-24 山东大学 Vehicle position estimation method based on set guideboard under motion constraint
CN110864691A (en) * 2019-11-15 2020-03-06 浙江大学华南工业技术研究院 Magnetic stripe imitation positioning method and device based on ceiling type two-dimensional code
CN111161293A (en) * 2019-11-25 2020-05-15 新绎健康科技有限公司 Method and system for determining outline of GDV energy image based on rectangular coordinate space
CN111161293B (en) * 2019-11-25 2023-03-21 新绎健康科技有限公司 Method and system for determining outline of GDV energy image based on rectangular coordinate space
CN113763306A (en) * 2020-06-01 2021-12-07 杭州海康威视数字技术股份有限公司 Landmark detection method and device and electronic equipment
CN113763306B (en) * 2020-06-01 2024-06-04 杭州海康威视数字技术股份有限公司 Landmark detection method and device and electronic equipment
CN112847349A (en) * 2020-12-30 2021-05-28 深兰科技（上海）有限公司 Robot walking control method and device
CN112847349B (en) * 2020-12-30 2022-05-06 深兰科技（上海）有限公司 Robot walking control method and device

Also Published As

Publication number Publication date
CN107490379B (en) 2020-11-27

Similar Documents

Publication Publication Date Title
CN107490379A (en) Utilize the method and system of Quick Response Code terrestrial reference positioning AGV operating point locations
CN108571971B (en) AGV visual positioning system and method
Li et al. Automatic welding seam tracking and identification
US8401236B2 (en) Method and apparatus for wheel alignment
CN104552341B (en) Mobile industrial robot single-point various visual angles pocket watch position and attitude error detection method
CN106809730A (en) The container automatic butt tackling system and hoisting method of a kind of view-based access control model
CN111652896B (en) Method for detecting coarse-fine meteorite crater by inertial navigation assistance
CN109883336B (en) Measurement system and measurement method for ship curved plate machining process
CN111524115B (en) Positioning method and sorting system for steel plate cutting piece
CN107422693B (en) Center line is reconstructed to space bent pipe inner surface polishing locus generation method
Wang et al. A real-time weld line detection for derusting wall-climbing robot using dual cameras
GB2415252A (en) Vehicle guidance method based on image analysis
CN108907526A (en) A kind of weld image characteristic recognition method with high robust
CN109977954A (en) The identification of electric vehicle charge interface and localization method and system
CN106774334A (en) The las er-guidance AGV navigation locating methods and device of a kind of many laser scanners
CN108492282B (en) Three-dimensional gluing detection based on line structured light and multitask cascade convolution neural network
CN110175621A (en) One kind being based on the matched laser cutting vision positioning method of any template
CN109993788B (en) Deviation rectifying method, device and system for tyre crane
CN116542914A (en) Weld joint extraction and fitting method based on 3D point cloud
CN114119456A (en) Automatic pipeline centering method based on machine vision
CN114111624B (en) Handheld three-dimensional scanning method, equipment and medium with mark point projection device
CN113109762B (en) Optical vision guiding method for AUV (autonomous Underwater vehicle) docking recovery
CN117781963A (en) Welding bead flatness measurement system and method based on structured light triangulation
MacMillan et al. Planar image-space trajectory planning algorithm for contour following in robotic machining
Cho et al. Automatic parking system using background subtraction with CCTV environment international conference on control, automation and systems (ICCAS 2016)

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant