CN104142683B - Based on the automatic guide vehicle navigation method of Quick Response Code location - Google Patents
Based on the automatic guide vehicle navigation method of Quick Response Code location Download PDFInfo
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- 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
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Abstract
A kind of automatic guide vehicle navigation method based on Quick Response Code location, it relates to technical field of vehicle navigation automatically, what solve is the inconvenience of existing method arrangement, and input cost height, the inflexible technical problem of route. The method posts latticed laying two-dimension code label array on the application places ground of automatic guide vehicle, automatic guide vehicle utilizes the two-dimension code label on camera acquisition ground and is identified when advancing, advance according to the positional information control automatic guide vehicle in two-dimension code label, it is achieved to the navigation of automatic guide vehicle. Method provided by the invention, arrangement is convenient, and input cost is low, and route is flexible.
Description
Technical field
The present invention relates to automatic automobile navigation technology, particularly relate to the technology of a kind of automatic guide vehicle navigation method based on Quick Response Code location.
Background technology
In order to improve factory and the automatization level of logistics stockyard sorting, automatic guide vehicle (AGV) is adopted widely. Automatic guide vehicle can run automatically according to the route of instruction, it is not necessary to artificial interference, therefore, it is possible to greatly reduce factory and the cost of labor of logistics stockyard in-plant transportation, and effectively improves conveying efficiency, significantly reduces error rate simultaneously.
All being equipped with the vehicle control device advanced for controlling it on automatic guide vehicle, vehicle control device can march to target location according to the path planning control automatic guide vehicle of setting. Existing automatic guide vehicle navigation method mainly contains following several:
1) magnetic stripe bootstrap technique, such as Patent document number be CN102156475 Chinese patent literature in disclose method and the device of a kind of electromagnetic guide, the method buried magnetic stripe in going of automatic guide vehicle underground on path, automatic guide vehicle is advanced along the path of magnetic stripe, the main drawback of the method is that the construction volume in applied field ground is bigger, route is too single simultaneously, cannot change path flexibly;
2) laser aiming method, such as Patent document number be CN201993646U Chinese patent literature in disclose the navigate mode of a kind of industrial laser aiming AGV, the method is applied in place at AGV and is arranged marker, laser apparatus is utilized to realize navigation, the main drawback of the method is that marker is easily blocked, causing navigation malfunctioning, and the input cost of laser apparatus is also higher, route is underaction also;
3) magnetic is followed closely in conjunction with RFID approach, such as Patent document number be CN103268116A Chinese patent literature in disclose the AGV navigation method of a kind of magnetic stripe in conjunction with RFID, the method can represent the coordinate position of vehicle in application place with RFID, route is relatively flexible, but it is problematic in that magnetic nail and RFID laying project amount are relatively big, and magnetic railings ruler Costco Wholesale is higher.
Summary of the invention
For the defect existed in above-mentioned prior art, technical problem to be solved by this invention is to provide a kind of arrangement conveniently, and input cost is low, and route is flexibly based on the automatic guide vehicle navigation method of Quick Response Code location.
In order to solve the problems of the technologies described above, a kind of automatic guide vehicle navigation method based on Quick Response Code location provided by the present invention, relate to automatic guide vehicle, described automatic guide vehicle is equipped with camera, vehicle control device, and for detecting the wheel speed sensors of automatic guide vehicle driving wheel operating mode, it is characterized in that, concrete grammar is as follows:
For the application places ground of automatic guide vehicle sets an earth's axes, multiple two-dimension code labels are posted on the application places ground of automatic guide vehicle, and make the intervals cloth such as each two-dimension code label be set as latticed, often open the Quick Response Code being all printed with on two-dimension code label and comprising this label position coordinate figure;
Application places at automatic guide vehicle is provided with instruction transmitting terminal, utilizes instruction transmitting terminal to issue coordinate figure and the path planning of source location to the vehicle control device on automatic guide vehicle;
When automatic guide vehicle is advanced on application places ground, vehicle control device detects rotating speed and the turning direction of automatic guide vehicle driving wheel by wheel speed sensors, and by camera real-time capture ground image, analyze in the ground image caught whether include complete two-dimension code label image again, and control automatic guide vehicle according to analytical results and advance;
If the first frame ground image that vehicle control device captures does not include complete two-dimension code label image, then make mistakes signal to warning parts, described warning parts are mounted in the parts that can export sound and light alarm signal on automatic guide vehicle, or set up the communication terminal having the link that communicates with vehicle control device;
If the ground image that vehicle control device captures includes complete two-dimension code label image, then vehicle control device is according to the position of this two-dimension code label image in ground image, calculate the grid azimuth between automatic guide vehicle and this two-dimension code label, and extract the Quick Response Code in this two-dimension code label from this two-dimension code label image, the Quick Response Code extracted is scaled the coordinate figure of this two-dimension code label position again, then according to the coordinate figure of source location, path planning, grid azimuth between automatic guide vehicle and this two-dimension code label, the coordinate figure of this two-dimension code label position, and the rotating speed of automatic guide vehicle driving wheel, turning direction, calculate the follow-up traveling direction of automatic guide vehicle, thus control automatic guide vehicle and advance,
If the ground image that vehicle control device captures does not include complete two-dimension code label image, then vehicle control device is according to the rotating speed of automatic guide vehicle driving wheel, turning direction, calculate the follow-up traveling direction of automatic guide vehicle, thus control automatic guide vehicle and advance.
Further, the terminal position of the path planning that instruction transmitting terminal issues to the vehicle control device on automatic guide vehicle every time, is the position posting two-dimension code label.
Further, automatic guide vehicle is equipped with benefit light source, this benefit light source is an annular luminous source, and camera is arranged on the geometric centre of automatic guide vehicle, and the camera lens of camera is downwards just to ground, and the optical axis of camera is through the ring heart mending light source.
Automatic guide vehicle navigation method based on Quick Response Code location provided by the invention, two-dimension code label is adopted to identify coordinate position, the deployment of two-dimension code label is simple fast, cost of manufacture is also extremely low, and two-dimension code label is grid arrangement, route is very flexible, all two-dimension code labels can be designed to route through point, automatic guide vehicle utilizes camera to catch two-dimension code label image, when identifying two-dimension code label, automatic guide vehicle is positioned at directly over Quick Response Code, block the interference of all ambient, there is provided with vehicle self-carrying light source and stablize illumination, can greatly improve identification stability.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the automatic guide vehicle navigation method based on Quick Response Code location of the embodiment of the present invention;
Fig. 2 is the two-dimension code label schematic diagram in the automatic guide vehicle navigation method based on Quick Response Code location of the embodiment of the present invention.
Embodiment
Illustrating below in conjunction with accompanying drawing and be described in further detail by embodiments of the invention, but the present embodiment is not limited to the present invention, the analog structure of every employing the present invention and similar change thereof, all should list protection scope of the present invention in.
As Figure 1-Figure 2, a kind of automatic guide vehicle navigation method based on Quick Response Code location that the embodiment of the present invention provides, relate to automatic guide vehicle 1, described automatic guide vehicle 1 is equipped with camera 5, vehicle control device, and for detecting the wheel speed sensors of automatic guide vehicle driving wheel operating mode, it is characterized in that, concrete grammar is as follows:
For the application places ground 9 of automatic guide vehicle 1 sets an earth's axes, multiple two-dimension code labels 2 are posted on the application places ground 9 of automatic guide vehicle, and make the intervals cloth such as each two-dimension code label 2 be set as latticed, often open the Quick Response Code being all printed with on two-dimension code label 2 and comprising this label position coordinate figure;
Application places at automatic guide vehicle is provided with instruction transmitting terminal 11, instruction transmitting terminal 11 is utilized to issue coordinate figure and the path planning 10 of source location B to the vehicle control device on automatic guide vehicle 1, the path planning that instruction transmitting terminal issues should be tried one's best many through two-dimension code label, to ensure that automatic guide vehicle can switch to, by the operating mode not capturing full two-dimensional code label image, the operating mode that can capture full two-dimensional code label image in traveling process within the short period of time;
Automatic guide vehicle 1 is when advancing in application places ground 9, vehicle control device detects rotating speed and the turning direction of automatic guide vehicle driving wheel by wheel speed sensors, and by camera 5 real-time capture ground image, analyze in the ground image caught whether include complete two-dimension code label image again, and control automatic guide vehicle according to analytical results and advance;
If the first frame ground image that vehicle control device captures does not include complete two-dimension code label image, then make mistakes signal to warning parts, to point out staff, hummer that described warning parts are mounted on automatic guide vehicle, warning lamp etc. can export the parts of sound and light alarm signal, it is also possible to be set up the communication terminal having the link that communicates with vehicle control device;
If the ground image that vehicle control device captures includes complete two-dimension code label image, then vehicle control device is according to the position of this two-dimension code label image in ground image, calculate the grid azimuth between automatic guide vehicle and this two-dimension code label, and extract the Quick Response Code in this two-dimension code label from this two-dimension code label image, the Quick Response Code extracted is scaled the coordinate figure of this two-dimension code label position again, then according to the coordinate figure of source location, path planning, grid azimuth between automatic guide vehicle and this two-dimension code label, the coordinate figure of this two-dimension code label position, and the rotating speed of automatic guide vehicle driving wheel, turning direction, calculate the follow-up traveling direction of automatic guide vehicle, thus control automatic guide vehicle and advance,
If the ground image that vehicle control device captures does not include complete two-dimension code label image, then vehicle control device is according to the rotating speed of automatic guide vehicle driving wheel, turning direction, calculate the follow-up traveling direction of automatic guide vehicle, thus control automatic guide vehicle and advance, due in this case completely according to the rotating speed of automatic guide vehicle driving wheel, turning direction calculates the follow-up traveling direction of automatic guide vehicle, therefore can there is error in its calculation result, this error can be accumulated in time and increase, after the ground image only captured when vehicle control device includes complete two-dimension code label image, just can dispose error,
Significantly, in automatic guide vehicle traveling process, two-dimension code label can leave the visual field of camera unavoidably, but owing to each two-dimension code label is set as latticed at intervals cloth such as the application places ground of automatic guide vehicle, so vehicle control device is not after the short period of time captures complete two-dimension code label image, will inevitably again capture complete two-dimension code label image, thus can remove the miscalculation caused when not capturing full two-dimensional code label image
In the embodiment of the present invention, during in order to make automatic guide vehicle 1 every time from the initial point A of path planning 10, the first frame ground image that vehicle control device captures can include complete two-dimension code label image, the terminal position B of the path planning 10 that instruction transmitting terminal issues to the vehicle control device on automatic guide vehicle every time, is the position posting two-dimension code label.
In the embodiment of the present invention, benefit light source being housed on automatic guide vehicle, this benefit light source is an annular luminous source, and camera is arranged on the geometric centre of automatic guide vehicle, and the camera lens of camera is downwards just to ground, and the optical axis of camera is through the ring heart mending light source.
In the embodiment of the present invention, described instruction transmitting terminal is computer, described vehicle control device is prior art, it is specially built-in industrial control machine, vehicle control device connects camera by ether network, vehicle control device connects instruction transmitting terminal by wireless network, and vehicle control device connects wheel speed sensors by CAN.
Claims (2)
1. the automatic guide vehicle navigation method based on Quick Response Code location, relate to automatic guide vehicle, described automatic guide vehicle is equipped with camera, vehicle control device, and for detecting the wheel speed sensors of automatic guide vehicle driving wheel operating mode, it is characterized in that, concrete grammar is as follows:
For the application places ground of automatic guide vehicle sets an earth's axes, multiple two-dimension code labels are posted on the application places ground of automatic guide vehicle, and make the intervals cloth such as each two-dimension code label be set as latticed, often open the Quick Response Code being all printed with on two-dimension code label and comprising this label position coordinate figure;
Application places at automatic guide vehicle is provided with instruction transmitting terminal, utilizes instruction transmitting terminal to issue coordinate figure and the path planning of source location to the vehicle control device on automatic guide vehicle;
When automatic guide vehicle is advanced on application places ground, vehicle control device detects rotating speed and the turning direction of automatic guide vehicle driving wheel by wheel speed sensors, and by camera real-time capture ground image, analyze in the ground image caught whether include complete two-dimension code label image again, and control automatic guide vehicle according to analytical results and advance;
If the first frame ground image that vehicle control device captures does not include complete two-dimension code label image, then make mistakes signal to warning parts, described warning parts are mounted in the parts that can export sound and light alarm signal on automatic guide vehicle, or set up the communication terminal having the link that communicates with vehicle control device;
If the ground image that vehicle control device captures includes complete two-dimension code label image, then vehicle control device is according to the position of this two-dimension code label image in ground image, calculate the grid azimuth between automatic guide vehicle and this two-dimension code label, and extract the Quick Response Code in this two-dimension code label from this two-dimension code label image, the Quick Response Code extracted is scaled the coordinate figure of this two-dimension code label position again, then according to the coordinate figure of source location, path planning, grid azimuth between automatic guide vehicle and this two-dimension code label, the coordinate figure of this two-dimension code label position, and the rotating speed of automatic guide vehicle driving wheel, turning direction, calculate the follow-up traveling direction of automatic guide vehicle, thus control automatic guide vehicle and advance,
If the ground image that vehicle control device captures does not include complete two-dimension code label image, then vehicle control device is according to the rotating speed of automatic guide vehicle driving wheel, turning direction, calculate the follow-up traveling direction of automatic guide vehicle, thus control automatic guide vehicle and advance;
The terminal position of the path planning that instruction transmitting terminal issues to the vehicle control device on automatic guide vehicle every time, is the position posting two-dimension code label.
2. the automatic guide vehicle navigation method based on Quick Response Code location according to claim 1, it is characterized in that: benefit light source is housed on automatic guide vehicle, this benefit light source is an annular luminous source, camera is arranged on the geometric centre of automatic guide vehicle, the camera lens of camera is downwards just to ground, and the optical axis of camera is through the ring heart mending light source.
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