CN105511466A - Two-dimensional code band-based AGV positioning method and system - Google Patents
Two-dimensional code band-based AGV positioning method and system Download PDFInfo
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- CN105511466A CN105511466A CN201510876265.2A CN201510876265A CN105511466A CN 105511466 A CN105511466 A CN 105511466A CN 201510876265 A CN201510876265 A CN 201510876265A CN 105511466 A CN105511466 A CN 105511466A
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- 230000004807 localization Effects 0.000 claims description 9
- 230000011664 signaling Effects 0.000 claims description 6
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 238000013515 script Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 description 5
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- 230000000694 effects Effects 0.000 description 3
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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
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Abstract
The invention provides a two-dimensional code band-based AGV positioning method and a system. A continuous two-dimensional code band is paid on the track side edge of an AGV. A two-dimensional code location sensor arranged on the side surface of a front wheel of the AGV periodically reads two-dimensional codes on the two-dimensional code band. In this way, the location of the AGV on a track can be obtained. The absolute location of an obtained two-dimensional code is subjected to the differential treatment to obtain a differential speed signal. After that, the differential speed signal is subjected to the digital signal filtering treatment to obtain the accurate AGV real-time speed and location information. According to the technical scheme of the invention, through measuring the absolute location of the two-dimensional code band, not only the absolute location of the AGV on any track can be calculated, but also the speed of the AGV can be calculated in real time at the same time. Meanwhile, according to external control requirements, the movement of the AGV is controlled at a desired speed or the AGV is controlled to stop at any appointed absolute location.
Description
Technical field
The present invention relates to a kind of technology of automation field, specifically a kind of AGV based on Quick Response Code band (automatical pilot transportation vehicle) location and speed control system.
Background technology
In existing rail mounted AGV application occasion, AGV is along fixing rail moving, track both sides are play with the 3D of player's interaction, in order to good experience effect can be obtained, 3D game needs real time position accurately and the real-time speed of knowing AGV, in order to can control AGV to move the position deviation in playing with 3D less, require accurate control AGV position in orbit and speed.
Existing AGV localization method mainly comprises machine vision or method for ultrasonic locating.Chinese patent literature CN104181920A, open (bulletin) day 2014.12.03, discloses a kind of AGV positioning system based on machine vision, by laying several fixing mark on the ground, with camera collection mark, carry out image procossing, calculate the position of AGV.Chinese patent literature CN104155977A, open (bulletin) day 2014.11.09, open a kind of by method for ultrasonic locating, place ultrasonic distance detector by the several corners at AGV car, measure the position of AGV.These methods are mainly used in position measurement, but measuring accuracy is lower, and can not carry out precise speed measurement, cannot carry out accurate position measurement and velocity survey, realize position and the speeds control of AGV entirety in AGV dynamic mobile process.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of AGV localization method based on Quick Response Code band and system are proposed, by pasting Quick Response Code band in orbit, the position of real-time measurement AGV, pass through digital signal processing, position and the rate signal of AGV more accurately can be obtained, the present invention can provide self accurate real time position and real-time speed to the 3D game of track both sides, and can according to game scripts, stop at assigned address, and can with command speed even running in orbit.
The present invention is achieved by the following technical solutions:
The present invention relates to a kind of AGV localization method based on Quick Response Code band, by laying continuous Quick Response Code band at the track side of AGV, the Quick Response Code on Quick Response Code band is periodically read by the Quick Response Code position transducer of the front-wheel side being arranged at AGV, obtain AGV position in orbit accordingly, by carrying out difference to the absolute position values of obtained Quick Response Code, obtain differential speed signal, then digital signal filter is carried out to differential speed signal, obtain AGV real-time speed and positional information accurately.
The front wheel carrier of described AGV is located on guide rail, and front-wheel can only move in orbit, and Quick Response Code position transducer is fixed on the side of front-wheel;
Described AGV, preferably after obtaining real-time speed and positional information, is controlled by overall setting position ring or speed by PID, realizes location or the speeds control of AGV on orbital position and can surely stop to intended target position in AGV ramp to stop.
Concrete steps of the present invention are as follows.
Step one, at the single-sided arrangement Quick Response Code band band of I-shaped track, lays omnidistance along orbital direction, and when track routes be annular, Quick Response Code band ends position and Quick Response Code and to start position overlap, and records Quick Response Code initial value and Quick Response Code band cutoff.
Step 2, the sample frequency of the position data of Quick Response Code position transducer is set, periodically read the absolute position of AGV, carry out difference according to eve position data and the position data in a rear moment, record position signalling and the differential speed signal of this time period AGV.
Step 3, carries out digital signal filter to the position signalling collected and differential speed signal, obtains positional value and velocity amplitude accurately.
Preferably, obtain, accurately after positional value and velocity amplitude, running to the position of specifying according to default Script controlling AGV with the speed of specifying and stopping in step 3, and the actual speed of self and physical location are fed back to 3D game do error correction on interface.
Described error correction, namely according to 3D game scripts to the position of AGV and rate request, controller according to the running status of AGV, adopt speed by PID control or surely stop position algorithm.
The present invention relates to a kind of system realizing said method, comprising: be arranged at the Quick Response Code band on AGV track, be arranged at the Quick Response Code position transducer on AGV roller and be attached thereto and obtain the control module of 2 D code information, wherein:
Described Quick Response Code band by several independently Quick Response Code rearrange, each Quick Response Code comprises its absolute position values.
The length and width of described Quick Response Code are 1cm, adjacent Quick Response Code interval 5mm.
Described Quick Response Code band is preferably disposed on the height and position near the 8cm on ground on AGV guide rail.
Described Quick Response Code position transducer is based on image-capable and calculates the sensor of Quick Response Code absolute position, and Quick Response Code position transducer is arranged at the guide wheel side of AGV guide rail, and Quick Response Code position transducer and Quick Response Code belt distance are about 5cm.
Described control module, according to built-in Quick Response Code band position recognition algorithm, brings line position identification into Quick Response Code, then carries out Difference Calculation difference speed to the position of taken at regular intervals, then to carrying out Kalman filtering.
Technique effect
Compared with prior art, the present invention can improve position and the velocity survey precision of track AGV, and can provide the control system speed of control AGV and position in real time.
Accompanying drawing explanation
Fig. 1 is Quick Response Code band schematic diagram;
Fig. 2 is Quick Response Code position transducer setting position schematic diagram;
Fig. 3 is easy structure schematic diagram of the present invention;
Fig. 4 is embodiment process flow diagram;
In figure: A is angle point position in the picture, Quick Response Code upper left, B is Quick Response Code upper right angle point position in the picture, C is angle point position in the picture, Quick Response Code lower-left, D is angle point position in the picture, Quick Response Code bottom right, E is angle point position in image vision, Quick Response Code upper left, F is Quick Response Code upper right angle point position in the picture, and G is angle point position in the picture, Quick Response Code lower-left, and H is angle point position in the picture, Quick Response Code bottom right; 1 is guide rail, and 2 is guide wheel, and 3 is the connection bracket of sensor and front-wheel, and 4 is Quick Response Code sensor, and 5 for being attached to the Quick Response Code band of guide rail side, and 6 is right back driving wheel, and 7 is left back driving wheel, and 8 is track AGV car body.
Embodiment
In the present embodiment, the parameters of system is: on Quick Response Code band, layout type as shown in Figure 1, and single Quick Response Code length and width are 10mm, and adjacent Quick Response Code spacing is 5mm, and Quick Response Code length does not limit.Quick Response Code position transducer is fixed on front-wheel side, in AGV moving process, keeps Quick Response Code position transducer and Quick Response Code band at a distance of about 5cm.
On Quick Response Code band, Quick Response Code contents is the numeral with certain rule, can be the absolute position values of this Quick Response Code center on Quick Response Code strip length direction.
Described metrical information comprises: real time position and real-time speed on AGV track.
The present embodiment concrete steps are as follows:
The first step, Quick Response Code position transducer gathers the picture that a width comprises 2 to 3 Quick Response Codes, identify the contents of wherein certain Quick Response Code, this information is that this Quick Response Code center is in the absolute position of Quick Response Code band, identify 4 corner points of this Quick Response Code and adjacent Quick Response Code simultaneously, i.e. A, B, C, D, E, F, G, H, according to the position of this 8 each point relative image central point in the picture, the position of two Quick Response Code central point relative image central points can be calculated, according to the absolute position of Quick Response Code central point on Quick Response Code band, the absolute position of Quick Response Code position transducer central point on Quick Response Code band can be obtained.
Second step, AGV control system interval 5ms, periodically gathers the absolute position of an AGV, the absolute position in can obtain AGV any moment in orbit.The absolute position of adjacent twice collection is carried out to the difference speed of the AGV of this time period of Difference Calculation.
Step 3, the position signalling calculate control system and differential speed signal carry out digital signal processing algorithm, calculate position and rate signal accurately.
Step 4, according to the demand with 3D game interactive, by real-time AGV position and speed, carries out closed-loop speed or the position control of AGV, ensures the game experiencing effect of player's the best.
Described calculating comprises, 1) Quick Response Code position transducer comprises the contents identifying Quick Response Code in the image of 2 to 3 Quick Response Codes to a width, the frontier point information of Quick Response Code, calculating Quick Response Code central point position, relative image central horizontal direction is in the picture X1, adjacent Quick Response Code central point in the picture position, relative image central horizontal direction is X2, adjacent Quick Response Code central point spacing according to reality is 15mm, can calculate position X=X1/ (X1+X2) the * 15mm of image center certain Quick Response Code center reality relative.According to the track absolute position values P1 of Quick Response Code contents reflection, the physical location P=P1+X of Quick Response Code position transducer on Quick Response Code band can be calculated.2) differ from velocity component calculation, absolute position P2 and P3 gathered for twice by front and back, calculate difference speed V1=(P3-P2)/T, wherein T is the sampling period.By position signalling and differential speed signal, adopt Kalman's digital filter, calculate velocity amplitude accurately.3) according to 3D game to the status requirement of AGV and rate request, control system, according to current position and rate signal, carries out PID controls AGV with the speed expected operation, and can the accurate stopping position of specifying.
Native system can use the mobile platform use occasion with various rail mounted, be not limited to location and the speed control system of recreation ground track AGV, the precision of position measurement is at 1mm, and the measuring accuracy of speed is relevant with sample frequency, and data noise is within 30mm/s; Both can be rear wheel drive mode, and can being also front-wheel drive mode, by controlling driving wheel speeds control AGV translational speed in orbit, realizing speeds control and the position control of AGV; Native system can stop site error in ± 5mm scope by control AGV surely, and speeds control error is within 5%.
Above-mentioned concrete enforcement can carry out local directed complete set to it by those skilled in the art in a different manner under the prerequisite not deviating from the principle of the invention and aim; protection scope of the present invention is as the criterion with claims and can't help above-mentioned concrete enforcement and limit, and each implementation within the scope of it is all by the constraint of the present invention.
Claims (10)
1. the AGV localization method based on Quick Response Code band, it is characterized in that, by laying continuous Quick Response Code band at the track side of AGV, the Quick Response Code on Quick Response Code band is periodically read by the Quick Response Code position transducer of the front-wheel side being arranged at AGV, obtaining AGV position in orbit accordingly, by carrying out difference to the absolute position values of obtained Quick Response Code, obtaining differential speed signal, then digital signal filter is carried out to differential speed signal, obtain AGV real-time speed and positional information accurately.
2. the AGV localization method based on Quick Response Code band according to claim 1, it is characterized in that, described AGV, after obtaining real-time speed and positional information, controlled by overall setting position ring or speed by PID, realize location or the speeds control of AGV on orbital position and can surely stop to intended target position in AGV ramp to stop.
3. the AGV localization method based on Quick Response Code band according to claim 1, is characterized in that, specifically comprise the following steps:
Step one, at the single-sided arrangement Quick Response Code band band of I-shaped track, lays omnidistance along orbital direction, and when track routes be annular, Quick Response Code band ends position and Quick Response Code and to start position overlap, and records Quick Response Code initial value and Quick Response Code band cutoff;
Step 2, the sample frequency of the position data of Quick Response Code position transducer is set, periodically read the absolute position of AGV, carry out difference according to eve position data and the position data in a rear moment, record position signalling and the differential speed signal of this time period AGV;
Step 3, carries out digital signal filter to the position signalling collected and differential speed signal, obtains positional value and velocity amplitude accurately.
4. the AGV localization method based on Quick Response Code band according to claim 3, it is characterized in that, obtain accurately after positional value and velocity amplitude in step 3, run to the position of specifying according to default Script controlling AGV with the speed of specifying to stop, and the actual speed of self and physical location are fed back to 3D game on interface, do error correction.
5. the AGV localization method based on Quick Response Code band according to claim 4, it is characterized in that, described error correction, namely according to 3D game scripts to the position of AGV and rate request, controller, according to the running status of AGV, adopts speed by PID control or surely stop position algorithm.
6. one kind realizes the system of method described in above-mentioned arbitrary claim, it is characterized in that, comprise: be arranged at the Quick Response Code band on AGV track, be arranged at the Quick Response Code position transducer on AGV roller and be attached thereto and obtain the control module of 2 D code information, wherein: Quick Response Code band by several independently Quick Response Code rearrange, each Quick Response Code comprises its absolute position values; Control module, according to built-in Quick Response Code band position recognition algorithm, brings line position identification into Quick Response Code, then carries out Difference Calculation difference speed to the position of taken at regular intervals, then to carrying out Kalman filtering.
7. system according to claim 6, is characterized in that, the length and width of described Quick Response Code are 1cm, adjacent Quick Response Code interval 5mm.
8. system according to claim 6, is characterized in that, described Quick Response Code band is arranged at the height and position near the 8cm on ground on AGV guide rail.
9. system according to claim 6, it is characterized in that, described Quick Response Code position transducer is based on image-capable and calculates the sensor of Quick Response Code absolute position, Quick Response Code position transducer is arranged at the guide wheel side of AGV guide rail, and Quick Response Code position transducer and Quick Response Code belt distance are 5cm.
10. system according to claim 6, is characterized in that, the accurate location X=P1+X1/ (X1+X2) * 15 of described Quick Response Code position transducer center on Quick Response Code band, unit is mm.
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807771A (en) * | 2016-05-03 | 2016-07-27 | 上海交通大学 | Station identification system based on AGV and control method thereof |
| CN105823419A (en) * | 2016-05-11 | 2016-08-03 | 上海振华重工电气有限公司 | Reference band for detecting machine visual pose |
| CN106347215A (en) * | 2016-10-31 | 2017-01-25 | 长安大学 | Special-section variable speed-limiting detection system and method based on dynamic two-dimensional codes |
| CN106444766A (en) * | 2016-10-21 | 2017-02-22 | 北京京东尚科信息技术有限公司 | AGV(automatic guided vehicle) and control method thereof |
| CN106989746A (en) * | 2017-03-27 | 2017-07-28 | 远形时空科技（北京）有限公司 | Air navigation aid and guider |
| CN107179091A (en) * | 2017-06-27 | 2017-09-19 | 广东嘉腾机器人自动化有限公司 | A kind of AGV walkings vision positioning error correcting method |
| CN107678432A (en) * | 2017-10-16 | 2018-02-09 | 上海斐讯数据通信技术有限公司 | Control method and automatic carriage, the system of a kind of automatic carriage |
| CN108021113A (en) * | 2017-12-14 | 2018-05-11 | 大连四达高技术发展有限公司 | Cutter transport system |
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| CN108268044A (en) * | 2018-01-31 | 2018-07-10 | 浙江国自机器人技术有限公司 | A kind of mobile robot in-placing precision control method, system, medium and equipment |
| CN108345304A (en) * | 2018-01-29 | 2018-07-31 | 星视创（长沙）智能装备有限公司 | Intelligent transfer robot positioning system and localization method |
| CN109407666A (en) * | 2018-10-11 | 2019-03-01 | 智久(厦门)机器人科技有限公司上海分公司 | A kind of control method of vehicle, device, equipment and storage medium |
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| 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 |
| 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 |
| CN112105487A (en) * | 2019-04-24 | 2020-12-18 | 创新第一股份有限公司 | Exhibition arena for robots with position positioning system |
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| CN105807771A (en) * | 2016-05-03 | 2016-07-27 | 上海交通大学 | Station identification system based on AGV and control method thereof |
| CN105823419A (en) * | 2016-05-11 | 2016-08-03 | 上海振华重工电气有限公司 | Reference band for detecting machine visual pose |
| CN105823419B (en) * | 2016-05-11 | 2019-07-12 | 上海振华重工电气有限公司 | Reference band for the detection of machine vision pose |
| CN106444766A (en) * | 2016-10-21 | 2017-02-22 | 北京京东尚科信息技术有限公司 | AGV(automatic guided vehicle) and control method thereof |
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| CN109656130B (en) * | 2017-10-10 | 2022-06-07 | 北京京东乾石科技有限公司 | Method and device for controlling operation of transfer robot, and storage medium |
| CN107678432A (en) * | 2017-10-16 | 2018-02-09 | 上海斐讯数据通信技术有限公司 | Control method and automatic carriage, the system of a kind of automatic carriage |
| 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 |
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| CN108189027A (en) * | 2017-12-19 | 2018-06-22 | 朱宁波 | mobile robot control method |
| CN108345304A (en) * | 2018-01-29 | 2018-07-31 | 星视创（长沙）智能装备有限公司 | Intelligent transfer robot positioning system and localization method |
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| CN112105487A (en) * | 2019-04-24 | 2020-12-18 | 创新第一股份有限公司 | Exhibition arena for robots with position positioning system |
| CN112105487B (en) * | 2019-04-24 | 2023-08-29 | 创新第一股份有限公司 | Exhibition competition field for robots with position location systems |
| CN112327818A (en) * | 2019-07-19 | 2021-02-05 | 杭州海康机器人技术有限公司 | Method for correcting pose deviation of guide graph and walking equipment |
| CN112327818B (en) * | 2019-07-19 | 2023-06-23 | 杭州海康机器人股份有限公司 | Method for correcting pose deviation of guide graph and walking equipment |
| CN113845064A (en) * | 2021-08-05 | 2021-12-28 | 乐歌人体工学科技股份有限公司 | Positioning method and system of material bearing device with circular support legs |
| CN113845064B (en) * | 2021-08-05 | 2023-05-09 | 乐仓信息科技有限公司 | Positioning method and system for material bearing device with round support legs |
| CN114234939A (en) * | 2021-12-13 | 2022-03-25 | 上海恒润数字科技集团股份有限公司 | Track shape surveying and mapping method and system of amusement equipment and virtual reality equipment |
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| CN105511466B (en) | 2019-01-25 |
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