CN108345304A - Intelligent transfer robot positioning system and localization method - Google Patents
Intelligent transfer robot positioning system and localization method Download PDFInfo
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- CN108345304A CN108345304A CN201810082144.4A CN201810082144A CN108345304A CN 108345304 A CN108345304 A CN 108345304A CN 201810082144 A CN201810082144 A CN 201810082144A CN 108345304 A CN108345304 A CN 108345304A
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- 238000012546 transfer Methods 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000004807 localization Effects 0.000 title claims abstract description 7
- 230000004044 response Effects 0.000 claims abstract description 33
- 230000003287 optical effect Effects 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 6
- 239000011324 bead Substances 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 12
- 230000005389 magnetism Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 206010019133 Hangover Diseases 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
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Abstract
Intelligent transfer robot positioning system and localization method, including the digital circuit blocks of Quick Response Code gray-value image data are handled in real time（1）；With digital circuit blocks（1）Connection has global exposed light transducer（2）Camera；With digital circuit blocks（1）The light compensating lamp of connection（5）；With digital circuit blocks（1）Communication interface（6）The Intelligent transfer robot control system of connection（3）；The optical lens of camera（4）Focal length by digital circuit blocks（1）Control；Camera is used to shoot the Quick Response Code for being pasted on ground, and by gray-value image data transfer to digital circuit blocks（1）；Digital circuit blocks（1）Two-dimentional code value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information will be formed after the gray-value image generating date of input, and Intelligent transfer robot control system is sent to by wirelessly or non-wirelessly network.
Description
Technical field
The present invention relates to Intelligent transfer robot control system technical fields, more particularly, to a kind of Intelligent transfer robot
Positioning system；The invention further relates to a kind of Intelligent transfer robot localization methods.
Background technology
Robot has that delicate structure, control is reliable, operates steadily, widely used, using flexible, can install different ends
End actuator is worked with the workpiece handling for completing various different shapes and state, significantly reduces the heavy manual labor of the mankind,
The quality stability of product and the automatization level of enterprise are improved, reduces the labor cost expenditure of enterprise, traditional removes
Fortune robot is the coordinate label that position is carried out by filling earth magnetism on the ground, accurate using the identification sensor to earth magnetism
Marked object is found and told, calculates and analyzes by control section, control is mounted on the mechanical structure in robot, will
Object is transported to designated position, the purpose realized intelligent classification handling, carried, and so that cargo transport carrying place is carried intelligent,
Human labour is reduced, comprehensive intelligent management is realized, can not be accurately positioned between traditional adjacent earth magnetism of earth magnetism positioning robot.
CN105598939A disclosed a kind of Intelligent parallel mechanism based on Hall orientation system on May 25th, 2016
Transfer robot comprising positioning system, grasping mechanism, walking mechanism, positioning system is by hall probe, telescoping mechanism, installation
Plate, stepper motor composition, stepper motor are arranged on a mounting board, and telescoping mechanism passes through stepper motor, the connection of telescoping mechanism one end
There are hall probe, positioning system to be mounted on the bottom of walking mechanism, the rack, insulated column, bearing that telescoping mechanism is 0.5 by modulus
Composition, stepper motor are fixed on a mounting board by two bolts, and the positioning of rack is to be put into insulated column among two pieces of support plates
Fixed interval (FI), bearing are miniature bearing, and miniature bearing quantity is four, and miniature bearing determines the linear movement direction of rack
Position, hall probe is made of four Hall elements and peripheral circuit, and four Hall elements are distributed in right-angled intersection；Grasping mechanism
Including parallel arm, machine handgrip, crawl stepper motor, branch support group, parallel arm with crawl stepper motor connect, parallel arm one end and
Machine handgrip connects, and crawl stepper motor is fixed in branch support group, and branch support group is fixed in walking mechanism；Walking mechanism is by walking
Stepper motor, driving plate, traveling wheel composition, walking stepper motor are connect by driving plate with traveling wheel.The Intelligent parallel mechanism
Transfer robot compensates for traditionally magnetic orientation system can only refer to the defect of point location in earth magnetism, realize adjacent earth magnetism reference point
Between position be accurately positioned, but still need to using ground magnetic induction line.It needs to be laid with ground magnetic induction line in advance, route planning is not intelligent.It is existing
Have and also have laser positioning mode in technology, positioning accuracy can reach 0.5 millimeter, but equipment is complicated, expensive.
Invention content
The present invention in view of the deficiencies of the prior art, designs a kind of Intelligent transfer robot positioning system and localization method,
Intelligent transfer robot route planning is set to be adjusted flexibly, positioning is quickly accurate, and the speed of service is fast, further increases sexual valence
Than.
In order to solve the above-mentioned technical problem, on the one hand, the present invention provides a kind of Intelligent transfer robot positioning system, including
The digital circuit blocks of processing Quick Response Code gray-value image data in real time；It is connect with the digital circuit blocks with global exposure
The camera of sensor；The light compensating lamp being connect with the digital circuit blocks；It is connect with the communication interface of the digital circuit blocks
Intelligent transfer robot control system；The focal length of the optical lens of the camera is controlled by the digital circuit blocks；It is described
Camera is used to shoot the Quick Response Code for being pasted on ground, and by gray-value image data transfer to digital circuit blocks；Digital circuit
Module will form two-dimentional code value, coordinate information, angle information, ground cleaning journey after the gray-value image generating date of input
Information, Intelligent transfer robot translational speed information are spent, and the two-dimentional code value of acquisition, coordinate information, angle information, ground is clean
Net degree information, Intelligent transfer robot translational speed information are sent to Intelligent transfer robot control by wirelessly or non-wirelessly network
System processed.
As optimal technical scheme, Intelligent transfer robot positioning system provided by the invention, light compensating lamp is using monochromatic red
Light, monochromatic green light, ultra-blue-light or white LED light source；LED lamp bead is uniformly placed in the surface of pcb board.
As optimal technical scheme, Intelligent transfer robot positioning system provided by the invention, the LED light of the light compensating lamp
Pearl is uniformly placed in the surface of rectangular or round pcb board.
In order to solve the above-mentioned technical problem, on the other hand, the present invention provides a kind of Intelligent transfer robot localization method, packet
Include following steps：Ground is divided into several grids, Quick Response Code is pasted among each grid, the coordinate of each Quick Response Code is set
Information；Intelligent transfer robot is pasted on the two of ground in moving process by the positioning system captured in real-time being disposed thereon
Code is tieed up, and by Quick Response Code gray-value image data transfer to digital circuit blocks；Digital circuit blocks are grey by the Quick Response Code of input
Two-dimentional code value, coordinate information, angle information, ground clean level information, intelligence are formed after the processing in real time of angle value image data to remove
Transport robot translational speed information, and by the two-dimentional code value of acquisition, coordinate information, angle information, ground clean level information, intelligence
Energy transfer robot translational speed information is sent to Intelligent transfer robot control system by wirelessly or non-wirelessly network；Intelligence is removed
Fortune robot control system extract Intelligent transfer robot operation speed, coordinate, direction, control Intelligent transfer robot
Operation；The positioning system includes handling the digital circuit blocks of the Quick Response Code gray-value image data taken in real time, with institute
Stating digital circuit blocks connection has a camera of global exposed light transducer, the light compensating lamp being connect with the digital circuit blocks, with
The Intelligent transfer robot control system of the communication interface connection of the digital circuit blocks, the coke of the optical lens of the camera
Away from being controlled by the digital circuit blocks, the camera is for shooting the Quick Response Code for being pasted on ground and by gray-value image number
According to digital circuit blocks are passed to, digital circuit blocks will form Quick Response Code after the gray-value image generating date of input
Value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information, and by the two of acquisition
Dimension code value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information pass through wireless
Or cable network is sent to Intelligent transfer robot control system.
Technical solution provided by the invention, without being laid with earth induction line in advance, route planning can be adjusted flexibly, and support
The intelligentized needs of route planning.Positioning accuracy can reach 0.1 millimeter, cost-effective.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and is constituted part of this application, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, but is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the principle schematic diagram of embodiment Intelligent transfer robot positioning system.
Specific implementation mode
Invention is further described in detail below in conjunction with the accompanying drawings.
Intelligent transfer robot positioning system as shown in Figure 1, including Quick Response Code gray-value image data are handled in real time
Digital circuit blocks 1；The camera with global exposed light transducer 2 is connect with digital circuit blocks 1；Connect with digital circuit blocks 1
The light compensating lamp 5 connect；The Intelligent transfer robot control system 3 being connect with the communication interface 6 of digital circuit blocks 1；The light of camera
The focal length for learning camera lens 4 is controlled by digital circuit blocks 1；Camera is for shooting the Quick Response Code for being pasted on ground, and by gray value figure
As data transfer is to digital circuit blocks 1；Digital circuit blocks 1 will form two after the gray-value image generating date of input
Code value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information are tieed up, and will be obtained
Two-dimentional code value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information pass through
Wirelessly or non-wirelessly network is sent to Intelligent transfer robot control system.
Optionally, the light compensating lamp 5 of Intelligent transfer robot positioning system provided by the invention is green using monochromatic feux rouges, monochrome
Light, ultra-blue-light or white LED light source；LED lamp bead is uniformly placed in the surface of pcb board.
Optionally, the LED lamp bead of the light compensating lamp 5 of Intelligent transfer robot positioning system provided by the invention is uniformly placed in
The surface of rectangular or round pcb board.
The position fixing process of Intelligent transfer robot positioning system provided by the invention includes the following steps：Ground is divided into
Several grids, each grid centre paste Quick Response Code, the coordinate information of each Quick Response Code are arranged；Intelligent transfer robot is being moved
It is pasted on the Quick Response Code on ground during dynamic by the camera captured in real-time being disposed thereon, and by Quick Response Code gray-value image number
According to passing to digital circuit blocks 1；Digital circuit blocks 1 will be formed after the Quick Response Code gray-value image generating date of input
Two-dimentional code value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information, and will obtain
Two-dimentional code value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information it is logical
It crosses wirelessly or non-wirelessly network and is sent to Intelligent transfer robot control system；Intelligent transfer robot control system extracts intelligence
The speed of transfer robot operation, coordinate, direction, control the operation of Intelligent transfer robot.
Digital circuit blocks 1 include carrying out the integrated circuit of arithmetic sum logical operation, are positioned as Intelligent transfer robot
The information calculation processing original paper of system handles the Quick Response Code gray-value image data that camera shooting is pasted on ground, passes through in real time
The code value of Quick Response Code, coordinate position are told in logical operation（Precision is not less than 0.1 millimeter）, rotation angle（Precision is not less than
0.05 degree）, Quick Response Code clean surface degree etc..Since the calculation amount of Quick Response Code gray-value image data processing is very big, no
It is realized using universal cpu, and uses the digital circuit of FPGA or ASIC modes.Digital circuit is transported by arithmetic sum logic
It calculates, two-dimentional code value, coordinate information, angle information, ground will be formed after the Quick Response Code gray-value image generating date of input
Clean level information, Intelligent transfer robot translational speed information, and by the two-dimentional code value of acquisition, coordinate information, angle information,
Ground clean level information, Intelligent transfer robot translational speed information are sent to intelligent carrying implement by wirelessly or non-wirelessly network
Device people's control system.The arithmetic sum logical calculation method of digital circuit, and by wirelessly or non-wirelessly network transmission treated letter
The method of breath, such as the information after the transmission process by the way of UDP packets, in the content basis that the present patent application is recorded, ability
The content that domain those of ordinary skill can be achieved on by the knowledge grasped.
Intelligent transfer robot is in the case of high-speed motion, it is desirable that camera can acquire the clearly image without hangover, phase
The time for exposure of machine needs to control within 200 microseconds.In the case where so low exposure time requires, the brightness of naturally light is
It cannot be satisfied requirement.Light compensating lamp 5 is added, and certain size ground areas is illuminated, the light that camera is taken pictures can be solved
Line intensity requirement.Light compensating lamp can be used monochromatic feux rouges, monochromatic green light, ultra-blue-light or white LED light source, LED lamp bead uniform
It is placed in the pcb board surface within 15cm X 15cm, pcb board is rectangular or circular structure.
In order to obtain real-time positioning result, the preferred global exposure camera of high speed, the resolution ratio of camera reach 1,300,000 pixels with
On, number per second of taking pictures reaches 50 or more.With preferable technique effect.The optical lens 4 of camera and ground two-dimensional code
Relative distance may be less than 20cm, and in order to reach at least visual range of 15cmx15cm, optical lens preferably uses short focus
Away from distortionless camera lens.
It is clear that the invention is not restricted to which the above preferred embodiment, can also limit in the claims in the present invention and specification
In spirit, the transformation and improvement of diversified forms are carried out, same technical problem can be solved, and obtains expected technique effect, therefore
It does not repeat.Those skilled in the art can from present disclosure directly or all schemes for associating, if
Within the spirit that claim limits, protection scope of the present invention is also belonged to.
Claims (4)
1. a kind of Intelligent transfer robot positioning system, which is characterized in that including handling Quick Response Code gray-value image data in real time
Digital circuit blocks（1）；With the digital circuit blocks（1）Connection has global exposed light transducer（2）Camera；With it is described
Digital circuit blocks（1）The light compensating lamp of connection（5）；With the digital circuit blocks（1）Communication interface（6）The intelligence of connection is removed
Transport robot control system（3）；The optical lens of the camera（4）Focal length by the digital circuit blocks（1）Control；It is described
Camera is used to shoot the Quick Response Code for being pasted on ground, and by gray-value image data transfer to digital circuit blocks（1）；Digital electricity
Road module（1）Two-dimentional code value, coordinate information, angle information, ground will be formed after the gray-value image generating date of input
Clean level information, Intelligent transfer robot translational speed information, and by the two-dimentional code value of acquisition, coordinate information, angle information,
Ground clean level information, Intelligent transfer robot translational speed information are sent to intelligent carrying implement by wirelessly or non-wirelessly network
Device people's control system.
2. Intelligent transfer robot positioning system according to claim 1, which is characterized in that the light compensating lamp（5）Using
Monochromatic feux rouges, monochromatic green light, ultra-blue-light or white LED light source；LED lamp bead is uniformly placed in the surface of pcb board.
3. Intelligent transfer robot positioning system according to claim 2, which is characterized in that the light compensating lamp（5）LED
Lamp bead is uniformly placed in the surface of rectangular or round pcb board.
4. a kind of Intelligent transfer robot localization method, which is characterized in that include the following steps：Ground is divided into several sides
Lattice, each grid centre paste Quick Response Code, the coordinate information of each Quick Response Code are arranged；Intelligent transfer robot is in moving process
It is pasted on the Quick Response Code on ground by the positioning system captured in real-time being disposed thereon, and Quick Response Code gray-value image data are passed
Pass digital circuit blocks（1）；Digital circuit blocks（1）It will be formed after the Quick Response Code gray-value image generating date of input
Two-dimentional code value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information, and will obtain
Two-dimentional code value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information it is logical
It crosses wirelessly or non-wirelessly network and is sent to Intelligent transfer robot control system；Intelligent transfer robot control system extracts intelligence
The speed of transfer robot operation, coordinate, direction, control the operation of Intelligent transfer robot；The positioning system includes real-time
Handle the digital circuit blocks of Quick Response Code gray-value image data（1）；With the digital circuit blocks（1）Connection has global expose
Optical sensor（2）Camera；With the digital circuit blocks（1）The light compensating lamp of connection（5）；With the digital circuit blocks（1）
Communication interface（6）The Intelligent transfer robot control system of connection（3）；The optical lens of the camera（4）Focal length by institute
State digital circuit blocks（1）Control；The camera passes gray-value image data for shooting the Quick Response Code for being pasted on ground
Pass digital circuit blocks（1）；Digital circuit blocks（1）Quick Response Code will be formed after the gray-value image generating date of input
Value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information, and by the two of acquisition
Dimension code value, coordinate information, angle information, ground clean level information, Intelligent transfer robot translational speed information pass through wireless
Or cable network is sent to Intelligent transfer robot control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810082144.4A CN108345304A (en) | 2018-01-29 | 2018-01-29 | Intelligent transfer robot positioning system and localization method |
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| CN201810082144.4A CN108345304A (en) | 2018-01-29 | 2018-01-29 | Intelligent transfer robot positioning system and localization method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109375626A (en) * | 2018-11-20 | 2019-02-22 | 深圳市海柔创新科技有限公司 | Alignment code is sticked method, apparatus, computer equipment and storage medium |
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Application publication date: 20180731 |