CN205942438U - Inertia guide car based on two -dimensional code location - Google Patents
Inertia guide car based on two -dimensional code location Download PDFInfo
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- CN205942438U CN205942438U CN201620540831.2U CN201620540831U CN205942438U CN 205942438 U CN205942438 U CN 205942438U CN 201620540831 U CN201620540831 U CN 201620540831U CN 205942438 U CN205942438 U CN 205942438U
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- inertial guidance
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Abstract
The utility model discloses an inertia guide car based on two -dimensional code location sets up qr code label through ground on the scene to can automatic guide car operation in -process to the real -time online calibration of its track implementation, avoided the possibility of derailing, snatch the position of manipulator through feedback adjustment impact point department and realize the more accurate article on the inertia guide car that snatch.
Description
Technical field
The utility model belongs to automotive vehicle airmanship, relates generally to a kind of inertial guidance based on Quick Response Code positioning
Car.
Background technology
With the development of industrial automation technology, automatic guide vehicle（AGV）Widely adopted, automatic guided vehicle can be by
Route automatic running according to instruction, it is not necessary to artificial interfere, therefore, it is possible to effectively improve industrial automation, improves conevying efficiency.
Existing automatic guide vehicle air navigation aid is mainly the method such as magnetic stripe guiding, laser aiming, but these methods are all
There is the limitation of itself, in recent years, with scientific and technological development, also occur in that some new location and navigation technologies, such as Chinese patent
The automatic guide vehicle air navigation aid based on Quick Response Code positioning that number CN201410296320.6 is announced, this visual guidance method energy
The flexibility of enough path designs effectively improving automatic guide vehicle, but it needs to lay a large amount of two-dimension code labels at equal intervals,
And automatic guide vehicle can produce accumulated error after long-play, if this fractional error not in addition correction can affect follow-up machine
The article that tool hand captures on automatic guide vehicle even derail.
Utility model content
The defect existing for above-mentioned prior art, the purpose of this utility model is to provide a kind of Quick Response Code that is based on to position
Inertial guidance car, more quickness and high efficiency for automatic guide vehicle navigation, and to its rail in automatic guide vehicle running
Mark realizes real-time online calibration.
For realizing above-mentioned utility model purpose, the technical solution of the utility model is：
A kind of inertial guidance car based on Quick Response Code positioning navigation method, including inertial guidance car car body 1, car body 1 is pacified
Equipped with microcomputer, microcomputer is moved by moving control module for controlling Motor drive car body 1, car body 1 is also installed
There are wireless transceiver, camera 2 and gyroscope,
Also include earth axes, described earth axes are the application places of inertial guidance car, the ground of application places
Multiple two-dimension code labels are arranged on face, makes two-dimension code label become latticed, every two-dimension code label is all printed with this mark of storage
Sign location coordinate information and with the distance between adjacent two-dimension code label information；Wherein, described two-dimension code label is equidistant rule
Then arrange, or described two-dimension code label can also adopt the random setting of Unequal distance.
Also include the terminal control unit of the application places being arranged on inertial guidance car, described terminal control unit is to inertia
Guide car sends the coordinate value of impact point, and by inertial guide car contexture by self path, inertial guidance car starts after receiving instruction
Motion, and the image 5 containing two-dimension code label is gathered using video camera 2；
Gyroscope on described inertial guidance car feeds back the motion state of inertial guidance car in real time, is drawn according to inertia
The motion state of guide-car and path, the next step action of planning inertial guidance car, microcomputer reads Quick Response Code mark
Sign Quick Response Code when, microcomputer take out inertial guidance car next step action need with all around four two-dimension code labels
In range information；
Microcomputer control when described inertial guidance car scans the two-dimension code label of impact point, on inertial guidance car
Inertial guidance car stop motion processed, and the offset obtaining and departure are fed back to terminal control by wireless transmitter receiver device
Device, the data precise control that terminal control unit passes through feedback captures article on inertial guidance car at impact point；Or, described is used
Property guide car fine position is made to inertial guidance car according to offset and departure so that terminal control unit precise control crawl
Article on inertial guidance car at impact point.Wherein, described offset and departure are Quick Response Code mark in the image collecting
Two differences at label center and acquired image center, offset be inertial guidance car deviate inertial guidance track road away from
From departure is the deviation of inertial guidance spacing aiming station, and yaw angle is car body and the inertial guidance car of inertial guidance car
Angle between track.
The beneficial effects of the utility model are：
A kind of inertial guidance car based on Quick Response Code positioning of the present utility model, arranges Quick Response Code mark by ground on the scene
Sign, and in automatic guide vehicle running, its path implementation real-time online can be calibrated, it is to avoid the possibility of derailing, by anti-
At feedback adjustment impact point, the position of catching robot is realized more accurately capturing the article on inertial guidance car.
Brief description
When considered in conjunction with the accompanying drawings, by referring to detailed description below, can more completely more fully understand that this practicality is new
Type and easily learn the adjoint advantage of many of which, but accompanying drawing described herein be used for providing to of the present utility model enter one
Step understands, constitutes a part of the present utility model, and schematic description and description of the present utility model is used for explaining this practicality
New, do not constitute to improper restriction of the present utility model, wherein：
Fig. 1 is circuit diagram of the present utility model；
Fig. 2 is air navigation aid schematic diagram of the present utility model；
Fig. 3 is the schematic diagram that utility model realizes in line tracking calibration.
Specific embodiment
Below in conjunction with accompanying drawing to the utility model, the technical scheme in the utility model embodiment is carried out clear, complete
Site preparation describes.
In conjunction with Fig. 1, Fig. 2, Fig. 3, the utility model is described as follows：
A kind of inertial guidance car based on Quick Response Code positioning navigation method of the present utility model, including inertial guidance car car body
1, car body 1 is provided with microcomputer, microcomputer is moved by moving control module for controlling Motor drive car body 1, car
Wireless transmitter receiver device, camera 2 and gyroscope are also equipped with body 1,
Also include earth axes, described earth axes are the application places of inertial guidance car, the ground of application places
Multiple two-dimension code labels 3 are arranged on face 4, makes two-dimension code label 3 become latticed, every two-dimension code label 3 is all printed with storage
This label 3 location coordinate information and with the distance between adjacent two-dimension code label 3 information；Wherein, described two-dimension code label 3 is
Equidistantly rule setting, or described two-dimension code label can also adopt the random setting of Unequal distance.The present embodiment adopts
Away from random setting.
Also include the terminal control unit of the application places being arranged on inertial guidance car, described terminal control unit is to inertia
Guide car sends the coordinate value of impact point, and by inertial guide car contexture by self path, inertial guidance car starts after receiving instruction
Motion, and the image 5 containing two-dimension code label is gathered using video camera 2；
Gyroscope Negotiation speed on inertial guidance car and odometer feed back the motion state of inertial guidance car in real time,
Motion state according to inertial guidance car and path, the next step action of planning inertial guidance car, microcomputer reads
During to Quick Response Code, microcomputer take out inertial guidance car next step action need with all around four two-dimension code labels in
Range information；
When inertial guidance car scans the two-dimension code label of impact point, the microcomputer on inertial guidance car controls inertia
Guide car stop motion, and the offset obtaining X and departure Y are fed back to terminal control unit by wireless transmitter receiver device,
The data precise control that terminal control unit passes through feedback captures article on inertial guidance car at impact point；Or, described inertia
Guide car makes fine position according to offset X and departure Y to inertial guidance car so that terminal control unit precise control captures
Article on inertial guidance car at impact point.Wherein, described offset X and departure Y are in the image 5 collecting, two dimension
Code label 3 center O2With acquired image 5 center O1Two differences, offset X be inertial guidance car deviate inertial guidance car
The distance of track, departure Y is the deviation of inertial guidance spacing aiming station, driftage angle beta be inertial guidance car car body with
Angle between inertial guidance track road.
A kind of air navigation aid of the inertial guidance car based on Quick Response Code positioning of the utility model, comprises the following steps：
Step A）, it is that the ground 4 of the application places of inertial guidance car sets earth axes, on the ground of application places
Multiple two-dimension code labels 3 are arranged on face 4, makes two-dimension code label 3 become latticed, every two-dimension code label 3 is all printed with storage
Two-dimension code label 3 location coordinate information and with the distance between adjacent two-dimension code label 3 information；Wherein, described Quick Response Code mark
Signing 3 is equidistant rule setting, or described two-dimension code label can also adopt the random setting of Unequal distance, and the present embodiment adopts
Be the random setting of Unequal distance.
Step B）, the application places of the car body 1 of inertial guidance car are provided with terminal control unit, described terminal control unit
Send the coordinate value of impact point to inertial guidance car, by inertial guide car contexture by self path, inertial guidance car receives instruction
Setting in motion afterwards, and gather the image containing two-dimension code label 3 using industrial camera 2；
Step C）, in the image 5 collecting, two-dimension code label 3 center O2With acquired image 5 center O1Two
Difference is offset X and departure Y respectively, and offset X is the distance that inertial guidance car deviates inertial guidance track road, departure
Y is the deviation of inertial guidance spacing aiming station, and driftage angle beta is between the car body of inertial guidance car and inertial guidance track road
Angle；
Step D）, the gyroscope on inertial guidance car is by feeding back inertia in real time with speed and odometer data fusion
The motion state of guide car, this motion state comprises angle information of going off course, and passes through motion-control module according to this driftage angle information, right
Inertial guide car real-time deviation correcting, prevents the possibility of derailing, the motion state according to inertial guidance car and path, planning
The next step action of inertial guidance car, when microcomputer reads Quick Response Code, microcomputer take out inertial guidance car next
Step action need with all around four two-dimension code labels in range information；
Step E）, miniature industry control when inertial guidance car scans the two-dimension code label of impact point, on inertial guidance car
Machine controls inertial guidance car stop motion, and by step C）In the offset X that obtains and departure Y pass through wireless transmitter receiver device
Feed back to terminal control unit, the data precise control that terminal control unit passes through feedback captures thing on inertial guidance car at impact point
Product.Or, described inertial guidance car is according to step C）In the offset X that obtains and departure Y position is made to inertial guidance car
Put fine setting so that terminal control unit precise control captures article on inertial guidance car at impact point, by step C）In obtain inclined
Boat angle beta and step D）In the driftage angle information of the gyroscope that obtains and speed and odometer carry out data fusion, generating one can
The higher yaw angle of reliability, this yaw angle is passed through motion-control module, and the next step correction for inertial guide car controls, and enters
One step prevents inertial guide car from derailing.
Described embodiment is only a part of embodiment of the utility model, rather than whole embodiments.Based on this
Embodiment in utility model, those of ordinary skill in the art obtained under the premise of not making creative work all its
His embodiment, broadly falls into the scope of the utility model protection.
Claims (4)
1. a kind of inertial guidance car based on Quick Response Code positioning is it is characterised in that include inertial guidance car car body (1), car body (1)
On microcomputer is installed, microcomputer pass through moving control module for controlling Motor drive car body (1) move, car body (1)
On be also equipped with wireless transmitter receiver device, camera (2) and gyroscope,
Also include earth axes, described earth axes are the application places of inertial guidance car, the ground (4) of application places
Upper multiple two-dimension code labels of setting (3), makes two-dimension code label (3) become latticed, every is all printed with this Quick Response Code mark of storage
Sign (3) location coordinate information and with the distance between adjacent two-dimension code label (3) information；
Also include the terminal control unit of the application places being arranged on inertial guidance car；
Gyroscope on described inertial guidance car feeds back the motion state of inertial guidance car in real time, according to inertial guidance car
Motion state and path, the next step action of planning inertial guidance car, microcomputer reads two-dimension code label
During Quick Response Code, microcomputer take out inertial guidance car next step action need with all around four two-dimension code labels in
Range information；
When described inertial guidance car scans the two-dimension code label of impact point, the microcomputer on inertial guidance car controls used
Property guide car stop motion, and the offset obtaining and departure are fed back to terminal control unit by wireless transmitter receiver device,
The data precise control that terminal control unit passes through feedback captures article on inertial guidance car at impact point；Wherein, described bias
Amount and departure are in the image collecting, two differences at two-dimension code label center and acquired image center, eccentric
Amount is the distance that inertial guidance car deviates inertial guidance track road, and departure is the deviation of inertial guidance spacing aiming station,
Yaw angle is the angle between the car body of inertial guidance car and inertial guidance track road.
2. a kind of inertial guidance car based on Quick Response Code positioning according to claim 1 is it is characterised in that described two dimension
Code label is equidistant rule setting.
3. a kind of inertial guidance car based on Quick Response Code positioning according to claim 1 is it is characterised in that described two
Dimension code label is the random setting of Unequal distance.
4. a kind of inertial guidance car based on Quick Response Code positioning according to claim 1 is it is characterised in that described inertia
Guide car makes fine position according to offset and departure to inertial guidance car so that terminal control unit precise control captures mesh
Article on inertial guidance car at punctuate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620540831.2U CN205942438U (en) | 2016-06-03 | 2016-06-03 | Inertia guide car based on two -dimensional code location |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620540831.2U CN205942438U (en) | 2016-06-03 | 2016-06-03 | Inertia guide car based on two -dimensional code location |
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| CN205942438U true CN205942438U (en) | 2017-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620540831.2U Expired - Fee Related CN205942438U (en) | 2016-06-03 | 2016-06-03 | Inertia guide car based on two -dimensional code location |
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Cited By (3)
| 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 |
| CN109800828A (en) * | 2017-11-17 | 2019-05-24 | 比亚迪股份有限公司 | Vehicle positioning system and localization method based on two dimensional code |
| CN109947089A (en) * | 2017-12-20 | 2019-06-28 | 北京京东尚科信息技术有限公司 | Automatic guide vehicle attitude control method and device, automatic guide vehicle |
-
2016
- 2016-06-03 CN CN201620540831.2U patent/CN205942438U/en not_active Expired - Fee Related
Cited By (5)
| 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 |
| CN109800828A (en) * | 2017-11-17 | 2019-05-24 | 比亚迪股份有限公司 | Vehicle positioning system and localization method based on two dimensional code |
| CN109800828B (en) * | 2017-11-17 | 2020-10-20 | 比亚迪股份有限公司 | Vehicle positioning system and positioning method based on two-dimensional code |
| CN109947089A (en) * | 2017-12-20 | 2019-06-28 | 北京京东尚科信息技术有限公司 | Automatic guide vehicle attitude control method and device, automatic guide vehicle |
| CN109947089B (en) * | 2017-12-20 | 2024-04-19 | 北京京东乾石科技有限公司 | Automatic guided vehicle attitude control method and device and automatic guided vehicle |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 Termination date: 20180603 |
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| CF01 | Termination of patent right due to non-payment of annual fee |