CN107065879A - Visual guidance car localization method and visual guidance car based on Quick Response Code - Google Patents
Visual guidance car localization method and visual guidance car based on Quick Response Code Download PDFInfo
- Publication number
- CN107065879A CN107065879A CN201710342183.9A CN201710342183A CN107065879A CN 107065879 A CN107065879 A CN 107065879A CN 201710342183 A CN201710342183 A CN 201710342183A CN 107065879 A CN107065879 A CN 107065879A
- Authority
- CN
- China
- Prior art keywords
- visual guidance
- station
- car
- guidance car
- camera
- 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.)
- Pending
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 90
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000004807 localization Effects 0.000 title claims abstract description 13
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 title abstract description 4
- 101150038956 cup-4 gene Proteins 0.000 description 4
- 239000000463 material Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- 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)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of visual guidance car localization method and visual guidance car based on Quick Response Code, include the car body of visual guidance car, the front-end and back-end of the car body are provided with the Mecanum wheel being independently arranged, Mecanum wheel is connected by decelerator with servo direct current motor, and servo direct current motor is connected with motor driver；The bottom of the car body, which is provided with camera mounting cup, camera mounting cup, is provided with camera, and camera is connected with Cortex A9 processors, and Cortex A9 processors are communicated by serial ports and motor driver.The present invention by grid location system and the real-time deviation correcting to grid route, can accurately controlling the travel direction of visual guidance car, prevent to go off course and event of derailing generation；Using embeded processor, light small camera, the own wt of whole system is set to lighten, so as to increase load weight, the Mecanum wheel for independent control of arranging in pairs or groups quickly realizes the precise positioning of visual guidance car, improves the conevying efficiency of vision guide car.
Description
Technical field
The present invention relates to Automatic Guided Technology field, more particularly to a kind of visual guidance car localization method based on Quick Response Code
And visual guidance car.
Background technology
AGV（Automatic guided vehicle）It is a kind of wheeled robot for integrating acousto-optic-electric computer, with intelligent control
Make the development of system, AGV（Automatic guided vehicle）Used by more and more fields.AGV is sensed by contactless guiding
Device and control system, it is not necessary to artificial interference, and it is aided with security alarm, scheduling controlling etc., can be automatically according to set planning
Route, can effectively improve operating efficiency, and material is completed alone and is carried, the task such as unloading materials.
AGV system at present guide mode mainly on have the magnetic guidance mode based on electromagnetic induction；Based on supersonic sensing
The ultrasonic wave guide mode of device；Las er-guidance mode based on laser reflection；But requirement of these modes to environment is high.With
Science and technology continuous renewal, the guidance technology of view-based access control model guiding occurs, such as the A of China Patent No. CN 105929834 are announced
The visual guidance car localization method and visual guidance car based on auxiliary locator, this method is in road surfacing Quick Response Code mark
Label are recognized that but Quick Response Code itself has error, the Quick Response Code collected be obtained by decoding current two-dimension and
The position of target Quick Response Code, then the position that deviation carrys out counting of carriers offset track is calculated, a large amount of errors for calculating accumulation certainly will be made
Deviate into visual guidance car travel direction, influence being accurately positioned and conevying efficiency for visual guidance car.Exist for this technology
Deficiency proposes the present invention.
The content of the invention
The purpose of the present invention is design a kind of the guiding car and a kind of visual guidance based on Quick Response Code of view-based access control model guiding
The localization method of car.
For achieving the above object, the technical scheme is that：A kind of visual guidance car positioning based on Quick Response Code
Method, comprises the following steps：
Step 1）, one grid location system is set on the ground of the application places of visual guidance car, grid location system includes
Grid and multiple the station two-dimension code labels being arranged on grid, station two-dimension code label be stored with this station information and with phase
Four square locating pieces are posted in the distance between adjacent station information, the corner of station two-dimension code label, and four square locating pieces enclose
Into rectangle and camera mounting cup etc. it is big；
Step 2）, when visual guidance car is travelled along grid to aiming station, the camera on visual guidance car collects net
Lattice, and by the image feedback collected to processor, by X-axis of described image base, center line be that Y-axis sets up centre coordinate system,
Obtain visual guidance car deviation distance D and deviation angle θ, the real-time deviation correcting for visual guidance car is controlled, described deviation away from
Referred to from D with a distance from the center deviation Y-axis of grid, deviation angle θ refers to that grid deviates the angle of Y-axis；
Step 3）, when visual guidance car is by way of any station, camera collection station two-dimension code label and corresponding square locating piece,
And by the image feedback collected to processor, processor is handled image, and controls four respectively by motor driver
The individual Mecanum wheel fine setting visual guidance car being independently arranged, makes camera mounting cup four angular alignments, four square locating pieces, will
Visual guidance car stops at predetermined station, realize visual guidance car station correction, meanwhile, obtain current station information and
With the distance between adjacent stations information, visual guidance car continues to travel；
Step 4）, visual guidance car is when close to next station, the information that processor is stored according to upper station two-dimension code label,
Control servo direct current motor to slow down by motor driver, and next station two-dimension code label is gathered and corresponding by camera
Square locating piece, whether be aiming station, if next station is not aiming station if judging next station, visual guidance car carries out work
Continue to travel to aiming station after the correction of position；If next station is aiming station, visual guidance car is set to stop at predetermined station.
Further, it is provided with black belt on the grid.
A kind of visual guidance car of the visual guidance car localization method based on Quick Response Code, includes the car body of visual guidance car,
Characterized in that, the front-end and back-end of the car body are provided with four Mecanum wheels being independently arranged, Mecanum wheel passes through
Decelerator is connected with servo direct current motor, and servo direct current motor is connected with motor driver；The bottom centre position of the car body
30cm × 20cm × 30cm rectangular-shape camera mounting cup is installed, provided with camera and along shooting in camera mounting cup
The LED of head circumferentially, the side of camera mounting cup is provided with Cortex-A9 processors, and Cortex-A9 processors pass through
Serial ports is communicated with camera, motor driver respectively；
One and the matching used grid location system of visual guidance car, net are provided with the ground of the application places of visual guidance car
Lattice alignment system includes grid and multiple station two-dimension code labels for being arranged on grid, and station two-dimension code label is stored with this work
Position information and with the distance between adjacent stations information, the corner of station two-dimension code label is provided with four square locating pieces, four
The rectangle that individual square locating piece is surrounded and camera mounting cup etc. are big.
Further, it is provided with black belt on the grid.
The beneficial effects of the invention are as follows：
1st, the present invention is by grid location system and the real-time deviation correcting to grid route, can accurately control visual guidance car
Travel direction, prevent to go off course and event of derailing generation；
2nd, the present invention instead of bulky industrial computer and PLC with light small embeded processor, and industry is instead of with USB camera
Camera, makes the own wt of whole system lighten, so as to increase load weight；Meanwhile, driven alone, passed through using four-wheel
Four Mecanum wheels of control reach the steering of different angles, quickly realize the precise positioning of visual guidance car, improve vision
The conevying efficiency of guide car；
3rd, the present invention have followed miniaturization, intelligent, the design concept of cost degradation.
Brief description of the drawings
Fig. 1 is the structural representation of visual guidance car of the present invention；
Fig. 2 is the structural representation of camera mounting cup；
Fig. 3 is the structural representation of grid location system；
Fig. 4 is visual guidance car deviation distance D and deviation angle θ schematic diagram.
Embodiment
The technical scheme in the embodiment of the present invention is clearly and completely described below in conjunction with accompanying drawing.
As shown in figure 1, being described as follows with reference to Fig. 1-4 pairs of specific implementations of the invention：
A kind of visual guidance car localization method based on Quick Response Code, comprises the following steps：
Step 1）, one grid location system is set on the ground of the application places of visual guidance car 1, grid location system includes
Black belt 6, station two-dimension code label are provided with grid and multiple the station two-dimension code labels 11 being arranged on grid, grid
11 be stored with this station information and with the distance between adjacent stations information, the corner of station two-dimension code label 11 posts four
Square locating piece 12, the rectangle that four square locating pieces 12 are surrounded and the grade of camera mounting cup bottom surface 4 are big；
Step 2）, when visual guidance car 1 is travelled along black belt 6 to aiming station, the camera 2 on visual guidance car 1
Collect black belt 6, and by the image feedback collected to Cortex-A9 processors 3, by X-axis of described image base, in
Line is that Y-axis sets up centre coordinate system, obtains the deviation distance D of visual guidance car 1 and deviation angle θ, the reality for visual guidance car 1
When correction control, described deviation distance D refers to the distance of the center deviation Y-axis of black belt 6, and deviation angle θ is referred to
Black belt 6 deviates the angle of Y-axis；
Step 3）, when visual guidance car 1 is by way of any station, camera 2 gathers station two-dimension code label 11 and corresponding square fixed
Position block, and by the image feedback collected to Cortex-A9 processors 3, Cortex-A9 processors 3 are handled image, and
Control four Mecanum wheel 10 being independently arranged fine setting visual guidance cars 1 respectively by motor driver 8, camera is installed
The square locating piece 12 of 4 four angular alignment four is covered, visual guidance car 1 is stopped to predetermined station, the work of visual guidance car 1 is realized
Position correction, meanwhile, obtain current station information and with the distance between adjacent stations information, visual guidance car 1 continues to travel；
Step 4）, visual guidance car 1 is when close to next station, and Cortex-A9 processors 3 are according to upper station two-dimension code label
The information of 11 storages, controls servo direct current motor 5 to slow down, and gather next station two by camera 2 by motor driver 8
Code label 11 and corresponding square locating piece 12 are tieed up, whether be aiming station, if next station is not target if judging next station
Station, visual guidance car 1 continues to travel to aiming station after carrying out station correction；If next station is aiming station, make vision
Guiding car 1 stops at predetermined station.
A kind of visual guidance car of the visual guidance car localization method based on Quick Response Code, includes the car body of visual guidance car 1,
The front-end and back-end of the car body are provided with four Mecanum wheels being independently arranged 10, and Mecanum wheel 10 passes through decelerator 9
It is connected with servo direct current motor 5, servo direct current motor 5 is connected with motor driver 8；Install in the bottom centre position of the car body
There is a 30cm × 20cm × 30cm rectangular-shape camera mounting cup 4, provided with camera 2 and along shooting in camera mounting cup 4
First 2 LED 7 circumferentially, the side of camera mounting cup 4 is provided with Cortex-A9 processors, Cortex-A9 processors
Communicated respectively with camera, motor driver by serial ports.
One grid location system is set on the ground of the application places of visual guidance car 1, and visual guidance car 1 is supporting makes
With grid location system includes being provided with black on grid and multiple the station two-dimension code labels 11 being arranged on grid, grid
Adhesive tape 6, station two-dimension code label 11 be stored with this station information and with the distance between adjacent stations information, station Quick Response Code
Four square locating pieces 12 are posted in the corner of label 11, the rectangle that four square locating pieces 12 are surrounded and camera mounting cup bottom surface
4 grades are big；
When visual guidance car 1 is travelled along black belt 6 to aiming station, the camera 2 on visual guidance car 1 collects black
Coloring agent band 6, and by the image feedback collected to Cortex-A9 processors 3, by X-axis of described image base, center line be Y-axis
Centre coordinate system is set up, the deviation distance D of visual guidance car 1 and deviation angle θ, the real-time deviation correcting for visual guidance car 1 is obtained
Control, described deviation distance D refers to the distance of the center deviation Y-axis of black belt 6, and deviation angle θ refers to black glue
With 6 angles for deviateing Y-axis；
When visual guidance car 1 is by way of any station, the collection station of camera 2 two-dimension code label 11 and corresponding square locating piece, and
By the image feedback collected to Cortex-A9 processors 3, Cortex-A9 processors 3 are handled image, and pass through electricity
Machine driver 8 controls four Mecanum wheel 10 being independently arranged fine setting visual guidance cars 1 respectively, makes camera mounting cup 4 four
The square locating piece 12 of angular alignment four, visual guidance car 1 is stopped at predetermined station, realizes that the station of visual guidance car 1 is rectified
Just, meanwhile, obtain current station information and with the distance between adjacent stations information, visual guidance car 1 continues to travel；
Visual guidance car 1 is when close to next station, and Cortex-A9 processors 3 are stored according to upper station two-dimension code label 11
Information, control servo direct current motor 5 to slow down by motor driver 8, and next station Quick Response Code mark gathered by camera 2
Label 11 and corresponding square locating piece 12, whether be aiming station, if next station is not aiming station if judging next station, depending on
Feel that guiding car 1 continues to travel to aiming station after carrying out station correction；If next station is aiming station, make visual guidance car 1
Stop at predetermined station.
Described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based in the present invention
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of the present invention.
Claims (4)
1. a kind of visual guidance car localization method based on Quick Response Code, it is characterised in that comprise the following steps：
Step 1）, one grid location system is set on the ground of the application places of visual guidance car, grid location system includes
Grid and multiple the station two-dimension code labels being arranged on grid, station two-dimension code label be stored with this station information and with phase
Four square locating pieces are posted in the distance between adjacent station information, the corner of station two-dimension code label, and four square locating pieces enclose
Into rectangle and camera mounting cup etc. it is big；
Step 2）, when visual guidance car is travelled along grid to aiming station, the camera on visual guidance car collects net
Lattice, and by the image feedback collected to processor, by X-axis of described image base, center line be that Y-axis sets up centre coordinate system,
Obtain visual guidance car deviation distance D and deviation angle θ, the real-time deviation correcting for visual guidance car is controlled, described deviation away from
Referred to from D with a distance from the center deviation Y-axis of grid, deviation angle θ refers to that grid deviates the angle of Y-axis；
Step 3）, when visual guidance car is by way of any station, camera collection station two-dimension code label and corresponding square locating piece,
And by the image feedback collected to processor, processor is handled image, and controls four respectively by motor driver
The individual Mecanum wheel fine setting visual guidance car being independently arranged, makes camera mounting cup four angular alignments, four square locating pieces, will
Visual guidance car stops at predetermined station, realize visual guidance car station correction, meanwhile, obtain current station information and
With the distance between adjacent stations information, visual guidance car continues to travel；
Step 4）, visual guidance car is when close to next station, the information that processor is stored according to upper station two-dimension code label,
Control servo direct current motor to slow down by motor driver, and next station two-dimension code label is gathered and corresponding by camera
Square locating piece, whether be aiming station, if next station is not aiming station if judging next station, visual guidance car carries out work
Continue to travel to aiming station after the correction of position；If next station is aiming station, visual guidance car is set to stop at predetermined station.
2. a kind of visual guidance car localization method based on Quick Response Code according to claim 1, it is characterised in that the net
Black belt is provided with lattice.
3. a kind of visual guidance car using the visual guidance car localization method as claimed in claim 1 based on Quick Response Code, bag
Include the car body of visual guidance car, it is characterised in that the front-end and back-end of the car body are provided with four Mikes being independently arranged and received
Nurse wheel, Mecanum wheel is connected by decelerator with servo direct current motor, and servo direct current motor is connected with motor driver；It is described
The bottom centre position of car body is provided with 30cm × 20cm × 30cm rectangular-shape camera mounting cup, camera mounting cup
LED provided with camera and along camera circumferentially, the side of camera mounting cup is provided with Cortex-A9 processors,
Cortex-A9 processors are communicated with camera, motor driver respectively by serial ports；
One and the matching used grid location system of visual guidance car, net are provided with the ground of the application places of visual guidance car
Lattice alignment system includes grid and multiple station two-dimension code labels for being arranged on grid, and station two-dimension code label is stored with this work
Position information and with the distance between adjacent stations information, the corner of station two-dimension code label is provided with four square locating pieces, four
The rectangle that individual square locating piece is surrounded and camera mounting cup etc. are big.
4. a kind of visual guidance car of visual guidance car localization method based on Quick Response Code according to claim 3, it is special
Levy and be, black belt is provided with the grid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710342183.9A CN107065879A (en) | 2017-05-16 | 2017-05-16 | Visual guidance car localization method and visual guidance car based on Quick Response Code |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710342183.9A CN107065879A (en) | 2017-05-16 | 2017-05-16 | Visual guidance car localization method and visual guidance car based on Quick Response Code |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107065879A true CN107065879A (en) | 2017-08-18 |
Family
ID=59609377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710342183.9A Pending CN107065879A (en) | 2017-05-16 | 2017-05-16 | Visual guidance car localization method and visual guidance car based on Quick Response Code |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107065879A (en) |
Cited By (9)
| 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 |
| CN108279685A (en) * | 2018-03-21 | 2018-07-13 | 福建工程学院 | A kind of floor truck that view-based access control model follows and working method |
| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
| CN108419013A (en) * | 2018-03-19 | 2018-08-17 | 浙江国自机器人技术有限公司 | A kind of image capturing system and mobile robot |
| CN108425310A (en) * | 2018-04-20 | 2018-08-21 | 东莞理工学院 | A kind of spray robot, spraying method and spray equipment with teaching effect |
| CN109508021A (en) * | 2018-12-29 | 2019-03-22 | 歌尔股份有限公司 | A kind of guidance method of automatic guided vehicle, device and system |
| CN111208827A (en) * | 2020-02-20 | 2020-05-29 | 冯健 | Projection type AGV two-dimensional code navigation system and application thereof |
| CN112016389A (en) * | 2020-07-14 | 2020-12-01 | 深圳市裕展精密科技有限公司 | Control apparatus and method for vehicle |
| CN114435884A (en) * | 2022-03-09 | 2022-05-06 | 厦门聚视智创科技有限公司 | Platform processing method for fixed-point motion of middle frame of mobile phone |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103294059A (en) * | 2013-05-21 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Hybrid navigation belt based mobile robot positioning system and method thereof |
| CN203241826U (en) * | 2013-05-21 | 2013-10-16 | 无锡普智联科高新技术有限公司 | Mobile robot positioning system based on hybrid navigation ribbon |
| CN105929834A (en) * | 2016-06-27 | 2016-09-07 | 中国计量大学 | Visual automated guided vehicle positioning method based on auxiliary positioning device and visual automated guided vehicle |
| CN105955259A (en) * | 2016-04-29 | 2016-09-21 | 南京航空航天大学 | Monocular vision AGV accurate positioning method and system based on multi-window real-time range finding |
| CN106054878A (en) * | 2016-06-03 | 2016-10-26 | 中国计量大学 | Inertial guidance vehicle navigation method based on two-dimensional code positioning, and inertial guidance vehicle |
| CN106094822A (en) * | 2016-06-27 | 2016-11-09 | 中国计量大学 | Inertial guide car localization method based on auxiliary locator and inertial guide car |
| CN106650873A (en) * | 2016-12-21 | 2017-05-10 | 深圳若步智能科技有限公司 | Identification code, and automatic guiding vehicle rapid navigation method and system |
| CN108459600A (en) * | 2018-02-11 | 2018-08-28 | 成都兴联宜科技有限公司 | A kind of vision navigation system of AGV trolleies |
-
2017
- 2017-05-16 CN CN201710342183.9A patent/CN107065879A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103294059A (en) * | 2013-05-21 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Hybrid navigation belt based mobile robot positioning system and method thereof |
| CN203241826U (en) * | 2013-05-21 | 2013-10-16 | 无锡普智联科高新技术有限公司 | Mobile robot positioning system based on hybrid navigation ribbon |
| CN105955259A (en) * | 2016-04-29 | 2016-09-21 | 南京航空航天大学 | Monocular vision AGV accurate positioning method and system based on multi-window real-time range finding |
| CN106054878A (en) * | 2016-06-03 | 2016-10-26 | 中国计量大学 | Inertial guidance vehicle navigation method based on two-dimensional code positioning, and inertial guidance vehicle |
| CN105929834A (en) * | 2016-06-27 | 2016-09-07 | 中国计量大学 | Visual automated guided vehicle positioning method based on auxiliary positioning device and visual automated guided vehicle |
| CN106094822A (en) * | 2016-06-27 | 2016-11-09 | 中国计量大学 | Inertial guide car localization method based on auxiliary locator and inertial guide car |
| CN106650873A (en) * | 2016-12-21 | 2017-05-10 | 深圳若步智能科技有限公司 | Identification code, and automatic guiding vehicle rapid navigation method and system |
| CN108459600A (en) * | 2018-02-11 | 2018-08-28 | 成都兴联宜科技有限公司 | A kind of vision navigation system of AGV trolleies |
Cited By (11)
| 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 |
| CN108388245A (en) * | 2018-01-26 | 2018-08-10 | 温州大学瓯江学院 | A kind of AGV trolleies indoor positioning navigation system and its control method |
| CN108419013A (en) * | 2018-03-19 | 2018-08-17 | 浙江国自机器人技术有限公司 | A kind of image capturing system and mobile robot |
| CN108419013B (en) * | 2018-03-19 | 2020-07-28 | 浙江国自机器人技术有限公司 | Image acquisition system and mobile robot |
| CN108279685A (en) * | 2018-03-21 | 2018-07-13 | 福建工程学院 | A kind of floor truck that view-based access control model follows and working method |
| CN108279685B (en) * | 2018-03-21 | 2024-01-16 | 福建工程学院 | Carrier based on visual following and working method |
| CN108425310A (en) * | 2018-04-20 | 2018-08-21 | 东莞理工学院 | A kind of spray robot, spraying method and spray equipment with teaching effect |
| CN109508021A (en) * | 2018-12-29 | 2019-03-22 | 歌尔股份有限公司 | A kind of guidance method of automatic guided vehicle, device and system |
| CN111208827A (en) * | 2020-02-20 | 2020-05-29 | 冯健 | Projection type AGV two-dimensional code navigation system and application thereof |
| CN112016389A (en) * | 2020-07-14 | 2020-12-01 | 深圳市裕展精密科技有限公司 | Control apparatus and method for vehicle |
| CN114435884A (en) * | 2022-03-09 | 2022-05-06 | 厦门聚视智创科技有限公司 | Platform processing method for fixed-point motion of middle frame of mobile phone |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107065879A (en) | Visual guidance car localization method and visual guidance car based on Quick Response Code | |
| CN206710891U (en) | A kind of visual guidance car based on Quick Response Code | |
| CN108052107B (en) | AGV indoor and outdoor composite navigation system and method integrating magnetic stripes, magnetic nails and inertial navigation | |
| CN105888338B (en) | UWB-positioning-based intelligent automobile transfer robot and control method thereof | |
| CN105863351B (en) | A kind of autonomous parking system and method based on intelligent automobile carrying implement | |
| CN106774335A (en) | Guiding device based on multi-vision visual and inertial navigation, terrestrial reference layout and guidance method | |
| CN204241966U (en) | A kind of visually oriented floor truck voluntarily | |
| CN206128772U (en) | Intelligent automobile transfer robot based on UWB location | |
| CN105468001A (en) | Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof | |
| CN102183251B (en) | Electromagnetic tracking method based on inductance coil | |
| CN107089458A (en) | A kind of new intelligent environment protection rubbish automatic recovery system | |
| CN108459600A (en) | A kind of vision navigation system of AGV trolleies | |
| CN110347160A (en) | A kind of automatic guide vehicle and its air navigation aid based on dual camera barcode scanning | |
| CN202542393U (en) | Piggyback automated guided vehicle (AGV) mobile transfer robot | |
| CN113282092B (en) | Method and device for calculating deviation of installation position of AGV (automatic guided vehicle) forklift laser scanner | |
| CN208432904U (en) | Control device and AGV trolley applied to AGV trolley | |
| CN107957725A (en) | A kind of High Precision Automatic guiding car positioning and orienting device and method based on single magnetic nail | |
| CN203038110U (en) | Automatic guided vehicle based on radio frequency identification and system thereof | |
| CN102718043A (en) | Piggyback automatic guided vehicle (AGV) moving transfer robot | |
| CN106168803A (en) | A kind of location aware method for moving robot | |
| CN107448041A (en) | A kind of support-board type electromagnetism guiding parking transfer robot and method for running | |
| CN103019240A (en) | Automatic guided vehicle (AGV) trolley plane positioning navigation system and method | |
| CN110440806A (en) | A kind of AGV accurate positioning method that laser is merged with two dimensional code | |
| CN204355672U (en) | A kind of homing guidance transportation device | |
| CN109491390A (en) | Trackless omni-directional mobile robots system and its control method based on multisensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |