CN209417596U - A kind of AGV positioning system of view-based access control model two dimensional code - Google Patents
A kind of AGV positioning system of view-based access control model two dimensional code Download PDFInfo
- Publication number
- CN209417596U CN209417596U CN201822208219.7U CN201822208219U CN209417596U CN 209417596 U CN209417596 U CN 209417596U CN 201822208219 U CN201822208219 U CN 201822208219U CN 209417596 U CN209417596 U CN 209417596U
- Authority
- CN
- China
- Prior art keywords
- trolley
- read head
- code band
- vision
- dimensional code
- 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.)
- Expired - Fee Related
Links
Abstract
A kind of AGV positioning system of view-based access control model two dimensional code, AGV include trolley, and positioning system includes vision read head and two dimensional code band；Vision read head is fixed at the top or lower part of trolley, all vision read heads are distributed along the front-rear direction of trolley, when vision read head is fixed at the top of trolley, two dimensional code band is fixed at the top of trolley, and when the lower part of trolley is arranged in vision read head, two dimensional code band is fixed at the lower section of trolley；Two dimensional code band includes the position code band and control code band of fixed setting, control code band is symmetrically fixed at turn fractions or side at every position code band beginning, several equally distributed two dimensional codes along its length are provided on position code band and control code band, any two two dimensional code is not identical.The utility model is accurately controlled trolley and is constantly adjusted to the athletic posture of itself by position code band and control code band, to accurately arrive at designated place.
Description
[technical field]
The utility model relates to AGV system field, specifically a kind of AGV positioning system of view-based access control model two dimensional code.
[background technique]
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) refers to and magnetically or optically waits automatically equipped with electricity
Guiding device can be travelled along defined guide path, and the transport vehicle with safeguard protection and various transfer functions, industry is answered
The carrier of driver is not required in, with chargeable battery for its power resources.It can pass through computer generally to control its row
Route line and behavior, or its travelling route is set up using electromagnetic path, electromagnetic path sticks on floor, automatic guided vehicle
Message brought by electromagnetic path is then followed to be moved and acted.
AGV compared with walking, is creeped or other non-wheeled mobile robots have action fast characterized by wheel type mobile
The prompt, advantages such as work efficiency is high, structure is simple, controllability is strong, safety is good.With other equipment phase common in material conveying
Than the zone of action of AGV is not limited without being laid with the fixed device such as track, support saddle frame by place, road and space.Therefore,
In automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible unmanned metaplasia
It produces.
In the prior art, the mode that designated place mostly uses greatly colour-coded is marked for trolley, although cost is more cheap,
But if it is intended to the various information of Accurate Expression are very difficult, when the color used is more between different color differences
It will become smaller, be influenced to be likely to the case where misreading by surrounding environment light, cause AGV system operation error.
[utility model content]
In order to solve deficiency in the prior art, the utility model provides a kind of AGV positioning system of view-based access control model two dimensional code
System, accurately controls trolley by position code band and control code band and is constantly adjusted to the athletic posture of itself, thus accurately
Ground reaches designated place.
To achieve the goals above, the utility model use the specific scheme is that
A kind of AGV positioning system of view-based access control model two dimensional code, the AGV includes trolley, and the positioning system includes vision
Read head and two dimensional code band；
The vision read head is fixed at the top or lower part of the trolley, there are two the vision read head is arranged altogether
Or multiple and all vision read heads is distributed along the front-rear direction of the trolley, when vision read head fixation is set
The top that the two dimensional code band at the top of the trolley is fixed at the trolley is set, when vision read head setting exists
The two dimensional code band is fixed at the lower section of the trolley when lower part of the trolley；
The two dimensional code band includes the position code band and control code band of fixed setting, and the position code band includes straight line portion
And turn fractions, the control code band are symmetrically fixed at the turn fractions or side at every position code band beginning,
Several equally distributed two dimensional codes along its length, any two are provided on the position code band and the control code band
The two dimensional code is not identical.
Preferably, the vision read head is fixed at the lower part of the trolley, and the two dimensional code band is fixed at ground
On face.
Preferably, the vision read head is set as two, respectively First look read head and the second vision read head, and described
The head of the trolley is arranged in one vision read head, and the front of the trolley is arranged in the second vision read head.
Preferably, the vision read head is set as three, respectively First look read head, the second vision read head and third view
Feel that the head of the trolley is arranged in read head, the First look read head, the trolley is arranged in the second vision read head
The middle part or tail portion of the trolley is arranged in front, the third vision read head, when the third vision read head read it is described
The failure of second vision read head described in when two dimensional code band.
Preferably, the position code band is parallel to each other with the control code band.
Preferably, two or more described vision read heads are respectively positioned on the center line of the trolley along its length.
Preferably, with the direction from the rear of the trolley to front for the direction y, the width direction with the trolley is x
Direction, the position code band are used to export the offset distance and deviation angle in the absolute position in the direction y, the direction x.
A kind of localization method of the AGV positioning system of view-based access control model two dimensional code, includes the following steps:
S1, the trolley is adjusted to the correspondence position code band, and starts the trolley；
The position code band and the control code are read by the vision read head in real time in S2, the trolley moving process
Band；
The acquisition of information present bit confidence for the position code band that S3, the trolley are read according to the vision read head
Breath；
If S4, the vision read head read the control code band, the trolley obtains control information, if the vision
Read head is unread to arrive the control code band, then the trolley keeps current operating conditions；
S5, the trolley generate action message with the control information according to the positional information, and according to described dynamic
It is acted as information.
Preferably, the location information includes absolute position, offset distance and deviation angle.
Preferably, the control information includes whether turning, angle of turn and turning radius.
The utility model carries out Accurate Calibration using position of the position code band to trolley, provides trolley using control code band
Control instruction be adjusted trolley can constantly to displacement posture in moving process, refer to accurately reach
Determine place.
[Detailed description of the invention]
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the vehicle structure side view of the utility model；
Fig. 2 is the two dimensional code band schematic diagram of the utility model.
Appended drawing reference: 1- trolley, 2- First look read head, 3- the second vision read head, 4- third vision read head, 5- position code
Band, 6- control code band.
[specific embodiment]
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1 and 2 is please referred to, Fig. 1 is the vehicle structure side view of the utility model, and Fig. 2 is the two dimensional code of the utility model
Band schematic diagram.
A kind of AGV positioning system of view-based access control model two dimensional code, AGV (automated guided vehicle) include trolley 1, positioning system
Including vision read head and two dimensional code band.
Vision read head is fixed at the top or lower part of trolley 1, and vision read head is provided with two or more altogether, and
And all vision read heads are distributed along the front-rear direction of trolley 1, the two dimensional code when vision read head is fixed at the top of trolley 1
Band is fixed at the top of trolley 1, and when the lower part of trolley 1 is arranged in vision read head, two dimensional code band is fixed at trolley 1
Lower section.
Two dimensional code band includes the position code band 5 and control code band 6 of fixed setting, and position code band 5 includes straight line portion and turns
Bight portion, control code band 6 are symmetrically fixed at turn fractions or side at every 5 beginning of position code band, 5 He of position code band
Several equally distributed two dimensional codes along its length are provided on control code band 6, any two two dimensional code is not identical.
In the utility model, position code band 5 is used for pilot trolley 1, prevents it to be detached from and deviate, while for exporting absolutely
Position, to realize the precise positioning to trolley 1.The specific position that control code band 6 is used to that trolley 1 to be marked to be judged, example
The direction selection of mark position code band 5 is such as used in crotch, perhaps label to need deceleration is lined up or label needs to turn to etc.
Deng.Before AGV system comes into operation, needs to realize and planned path and set position code band 5 and control code band 6,
Position code band 5 and control code band 6 are disposed as steel band in the utility model, to prolong its service life.
In view of the practical application scene of GV system, the difficulty that two dimensional code band is arranged above trolley 1 is higher, therefore preferably
, vision read head is fixed to the lower part of trolley 1, two dimensional code band is fixedly installed on the ground.
It is arranged on the basis of 1 lower part of trolley by vision read head, the utility model provides two kinds of embodiments.
Embodiment one.
Vision read head is set as two, and respectively First look read head 2 and the second vision read head 3, First look read head 2 is set
It sets on the head of trolley 1, the front of trolley 1 is arranged in the second vision read head 3.
When reaching one place, First look read head 2 and the second vision read head 3 read two dimensional code band respectively, and two
The data that a vision read head is read can be verified mutually, to guarantee the accuracy of data, especially guarantee the standard of 1 angle of trolley
True property.
Embodiment two.
Vision read head is set as three, respectively First look read head 2, the second vision read head 3 and third vision read head 4,
The head of trolley 1 is arranged in First look read head 2, and the front of trolley 1 is arranged in the second vision read head 3, and third vision read head 4 is set
It sets at the middle part or tail portion of trolley 1, when third vision read head 4 reads two dimensional code band, the second vision read head 3 fails.
Because in practical applications, the length of part trolley 1 is very long, if only utilizing First look read head 2 and second
Vision read head 3 judges that the posture of trolley 1 it is possible that biggish deviation, therefore is also provided with third view in example 2
Read head 3 is felt, if the third vision read head 4 in moving process of trolley 1 read two dimensional code band, with First look read head 2
Subject to the data of third vision read head 4, the data discarding that the second vision read head 3 is read does not have to, i.e. the second vision read head 3 loses
Effect.Spacing in the case where trolley 1 is very long between First look read head 2 and third vision read head 4 is bigger, can control trolley
The angle of 1 swing is smaller, keeps parking more accurate.
Further, position code band 5 is parallel to each other with control code band 6.Vision read head can be guaranteed in reading position code band 5
It can be read out with when control code band 6 with the same posture, to promote the accuracy of reading.
Further, two or more vision read heads are respectively positioned on the center line of trolley 1 along its length, with from trolley
The direction in 1 rear to front is the direction y, and with the width direction of trolley 1 for the direction x, position code band 5 is for exporting the direction y
The offset distance and deviation angle of absolute position, the direction x.Wherein the range of the offset distance in the direction x is ± 45mm, deviation angle
There is provided 0~359 ° of omnidirection.Control code band 6 can provide 0~999 totally one thousand control codes to identify different control operations.
Based on a kind of above-mentioned AGV positioning system of view-based access control model two dimensional code, also very a kind of localization method of the utility model, packet
S1 is included to S5.
S1, trolley 1 is adjusted to corresponding position code band 5, and starts trolley 1.
Pass through the real-time reading position code band 5 of vision read head and control code band 6 in S2,1 moving process of trolley.
The acquisition of information current location information for the position code band 5 that S3, trolley 1 are read according to vision read head.Location information
Including absolute position, offset distance and deviation angle.
If S4, vision read head read control code band 6, trolley 1 obtains control information, if vision read head is unread to control
Code band 6 processed, then trolley 1 keeps current operating conditions.
S5, trolley 1 generate action message according to location information and control information, and are acted according to action message.
Control information includes whether turning, angle of turn and turning radius.
The utility model carries out Accurate Calibration using position of the position code band 5 to trolley 1, is provided using control code band 6 small
The control instruction of vehicle 1 be adjusted trolley 1 can constantly to displacement posture in moving process, thus accurately
Reach designated place.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (7)
1. a kind of AGV positioning system of view-based access control model two dimensional code, it is characterised in that: the AGV includes trolley (1), the positioning
System includes vision read head and two dimensional code band；
The vision read head is fixed at the top or lower part of the trolley (1), there are two the vision read head is arranged altogether
Or multiple and all vision read heads is distributed along the front-rear direction of the trolley (1), when the vision read head is fixed
The top that the two dimensional code band at the top of the trolley (1) is fixed at the trolley (1) is set, when the vision is read
The lower section that the two dimensional code band at the lower part of the trolley (1) is fixed at the trolley (1) is arranged in head；
The two dimensional code band includes the position code band (5) and control code band (6) of fixed setting, and the position code band (5) includes straight
Line part and turn fractions, the control code band (6) are symmetrically fixed at the turn fractions or every position code band (5)
Beside at beginning, several are provided on the position code band (5) and the control code band (6) and is uniformly distributed along its length
Two dimensional code, two dimensional code described in any two is identical.
2. a kind of AGV positioning system of view-based access control model two dimensional code as described in claim 1, it is characterised in that: the vision is read
Head is fixed at the lower part of the trolley (1), and the two dimensional code band fixed setting is on the ground.
3. a kind of AGV positioning system of view-based access control model two dimensional code as claimed in claim 2, it is characterised in that: the vision is read
Head is set as two, respectively First look read head (2) and the second vision read head (3), and First look read head (2) setting exists
The head of the trolley (1), front of the second vision read head (3) setting in the trolley (1).
4. a kind of AGV positioning system of view-based access control model two dimensional code as claimed in claim 2, it is characterised in that: the vision is read
Head is set as three, respectively First look read head (2), the second vision read head (3) and third vision read head (4), and described first
Vision read head (2) setting is arranged before the trolley (1) in the head of the trolley (1), the second vision read head (3)
Portion, third vision read head (4) setting is at the middle part or tail portion of the trolley (1), when the third vision read head (4) is read
The failure of second vision read head (3) described in when to the two dimensional code band.
5. a kind of AGV positioning system of view-based access control model two dimensional code as described in claim 1, it is characterised in that: the position code
Band (5) is parallel to each other with the control code band (6).
6. a kind of AGV positioning system of view-based access control model two dimensional code as described in claim 1, it is characterised in that: two or more
A vision read head is respectively positioned on the center line of the trolley (1) along its length.
7. a kind of AGV positioning system of view-based access control model two dimensional code as described in claim 1, it is characterised in that: with from described small
The direction in the rear of vehicle (1) to front is the direction y, with the width direction of the trolley (1) for the direction x, the position code band (5)
For exporting the absolute position in the direction y, the offset distance and deviation angle in the direction x.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822208219.7U CN209417596U (en) | 2018-12-26 | 2018-12-26 | A kind of AGV positioning system of view-based access control model two dimensional code |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822208219.7U CN209417596U (en) | 2018-12-26 | 2018-12-26 | A kind of AGV positioning system of view-based access control model two dimensional code |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209417596U true CN209417596U (en) | 2019-09-20 |
Family
ID=67940660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822208219.7U Expired - Fee Related CN209417596U (en) | 2018-12-26 | 2018-12-26 | A kind of AGV positioning system of view-based access control model two dimensional code |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209417596U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109669455A (en) * | 2018-12-26 | 2019-04-23 | 深圳市招科智控科技有限公司 | A kind of the AGV positioning system and method for view-based access control model two dimensional code |
| CN111930122A (en) * | 2020-08-11 | 2020-11-13 | 国家图书馆 | Book and periodical conveying trolley control method and device for library |
-
2018
- 2018-12-26 CN CN201822208219.7U patent/CN209417596U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109669455A (en) * | 2018-12-26 | 2019-04-23 | 深圳市招科智控科技有限公司 | A kind of the AGV positioning system and method for view-based access control model two dimensional code |
| CN111930122A (en) * | 2020-08-11 | 2020-11-13 | 国家图书馆 | Book and periodical conveying trolley control method and device for library |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108052107B (en) | AGV indoor and outdoor composite navigation system and method integrating magnetic stripes, magnetic nails and inertial navigation | |
| CN105468001B (en) | A kind of submersible AGV navigation dollies and its control method | |
| CN106020200B (en) | Using the AGV trolley and paths planning method of In-wheel motor driving | |
| CN105388899B (en) | A kind of AGV navigation control methods based on image in 2 D code label | |
| CN107422735A (en) | A kind of trackless navigation AGV laser and visual signature hybrid navigation method | |
| CN106650873B (en) | Identification code, and quick navigation method and system of automatic guided vehicle | |
| CN209417596U (en) | A kind of AGV positioning system of view-based access control model two dimensional code | |
| CN205880660U (en) | Adopt in -wheel motor driving's AGV dolly | |
| CN106774335A (en) | Guiding device based on multi-vision visual and inertial navigation, terrestrial reference layout and guidance method | |
| CN204347616U (en) | A kind of automatical pilot transportation vehicle based on RFID technique | |
| CN108120434A (en) | A kind of AGV tracks method for correcting error, system and double navigation system | |
| CN107516143A (en) | A kind of preferred AGV handling systems in path based on dijkstra's algorithm | |
| CN103268119A (en) | Automatic guided vehicle navigation control system and navigation control method thereof | |
| TW201323300A (en) | System and method for guiding automated guided vehicle | |
| CN105807772B (en) | The method and device of vehicle tracking | |
| CN203038110U (en) | Automatic guided vehicle based on radio frequency identification and system thereof | |
| CN108955668A (en) | A kind of complex navigation method, apparatus and system merging two dimensional code and colour band | |
| CN106020197A (en) | Potential-energy-field-based robot path tracking algorithm | |
| CN106289231A (en) | The alignment system of AGV dolly and localization method thereof | |
| CN106272434B (en) | One-key return control method and system for inspection robot | |
| CN107272684A (en) | A kind of automatic guide vehicle control and method | |
| CN205880661U (en) | Automatic navigation and have this automation navigation's navigation car | |
| CN107140057A (en) | Library book is made an inventory AGV dollies | |
| CN109669455A (en) | A kind of the AGV positioning system and method for view-based access control model two dimensional code | |
| CN108995648A (en) | Automatic Pilot method and intelligent vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190920 Termination date: 20201226 |