CN107703940A - A kind of air navigation aid based on ceiling Quick Response Code - Google Patents
A kind of air navigation aid based on ceiling Quick Response Code Download PDFInfo
- Publication number
- CN107703940A CN107703940A CN201710893517.1A CN201710893517A CN107703940A CN 107703940 A CN107703940 A CN 107703940A CN 201710893517 A CN201710893517 A CN 201710893517A CN 107703940 A CN107703940 A CN 107703940A
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- control centre
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- 230000004044 response Effects 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 abstract 1
- 230000007812 deficiency Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910002056 binary alloy Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of air navigation aid based on ceiling Quick Response Code.Quick Response Code icon is affixed on ceiling by this method, and automatic guided vehicle passes through under Quick Response Code icon, takes Quick Response Code icon information, the information being collected into is sent to scheduling system, scheduling system is compared by information, is positioned, and is issued routing instruction guiding automatic guided vehicle and completed corresponding actions.The present invention uses the air navigation aid of ceiling Quick Response Code, can reduce production cost, reduces field conduct difficulty, increases antijamming capability.
Description
Technical field
The present invention relates to automatic guided vehicle technical field, more particularly to a kind of air navigation aid based on ceiling Quick Response Code.
Background technology
Automatic guided vehicle (Automated Guided vehicle, abbreviation AGV) refers to magnetically or optically wait certainly equipped with electricity
Dynamic guiding device, it can accurately be travelled along defined guide path, there is safeguard protection and the transport of various transfer functions
Car, it is using battery as power, and by the unmanned carrying to complete to goods, automaticity is high, flexibly and easily.Will
AGV applies in logistic industry, is automatically performed the access of goods, realizes automatic transportation, improves traffic efficiency, reduces
Cost of labor.
Quick Response Code is distributed chequered with black and white in plane (on two-dimensional directional) according to certain rules with certain specific geometric figure
Graphic recording data symbol information；" 0 " " 1 " for forming computer-internal logical foundations is dexterously utilized on coding
The concept of bit stream, the geometrical body corresponding with binary system using several represent word numerical information, defeated by image
Enter equipment or photoelectric scanning device automatically identifying and reading to realize that information automatically processes.Quick Response Code can express greatly in the area of very little
The information of amount, have the advantages that high input speed, degree of accuracy height, cost are low, highly reliable, can by the way of Quick Response Code is scanned
Accurately to determine AGV positions..
The content of the invention
The technical problems to be solved by the invention are to provide a kind of air navigation aid based on ceiling Quick Response Code, pass through two dimension
Code determines the position of automatic guided vehicle and corrects the running route of automatic guided vehicle, improve existing location navigation precision compared with
Low deficiency, improves the accuracy of automatic guided vehicle location navigation, and reduces production cost, to solve to lead in the prior art
The above-mentioned multinomial defect caused.
To achieve the above object, the present invention provides following technical scheme：A kind of navigation side based on ceiling Quick Response Code
Method, it is described for controlling automatic guided vehicle to post two-dimension code navigation icon in workshop automatically walk, the ceiling in the workshop
Automatic guided vehicle is provided with camera straight up, and homing guidance in-car is provided with controller；Outside is additionally provided with control centre, in control
The heart and controller wireless connection, this method comprise the following steps,
1) outside control centre obtains terminal point coordinate information；And trigger controller starts camera and obtains automatic guided vehicle mesh
The two-dimension code navigation icon of preceding position；
2) coordinate information that two-dimension code navigation icon obtains is passed to control centre by controller；
3) control centre establishes navigation way according to obtained terminal point coordinate and current position coordinates information；
4) control centre's transmission navigation instruction reaches terminal point coordinate to controller, controller control automatic guided vehicle.
Preferably, the two-dimension code navigation icon is affixed on ceiling into array, while by the two-dimension code navigation icon
Corresponding coordinate information is preset as cartographic information and is stored in control centre.
Preferably, terminal point coordinate information is manually entered in control centre by operating personnel.
Preferably, in the process of moving, controller periodically starts camera to the automatic guided vehicle, by the seat of real time position
Feedback of the information is marked to control centre, control centre's amendment guidance path, and newest navigation instruction is sent to controller.
Beneficial effect using above technical scheme is：Air navigation aid of the invention based on ceiling Quick Response Code, passes through two
Code is tieed up to determine the position of automatic guided vehicle and correct the running route of robot, it is relatively low to improve existing location navigation precision
Deficiency, improve automatic guided vehicle navigation accuracy, so that it is guaranteed that control automatic guided vehicle be rapidly achieved target location；Make
It is easy to implement by the use of Quick Response Code as navigation icon, and Quick Response Code is affixed on ceiling and does not allow easy to wear, reduce and be produced into
This.
Brief description of the drawings
The step of Fig. 1 is a kind of air navigation aid based on ceiling Quick Response Code of the present invention is schemed.
Embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Fig. 1 shows the embodiment of the present invention：A kind of air navigation aid based on ceiling Quick Response Code, for controlling certainly
Dynamic guiding car posts two-dimension code navigation icon in workshop automatically walk, the ceiling in the workshop, and the automatic guided vehicle erects
Straight to be provided with camera upwards, homing guidance in-car is provided with controller；Outside be additionally provided with control centre, control centre and controller without
Line connects, and this method comprises the following steps,
1) outside control centre obtains terminal point coordinate information；And trigger controller starts camera and obtains automatic guided vehicle mesh
The two-dimension code navigation icon of preceding position；
2) coordinate information that two-dimension code navigation icon obtains is passed to control centre by controller；
3) control centre establishes navigation way according to obtained terminal point coordinate and current position coordinates information；
4) control centre's transmission navigation instruction reaches terminal point coordinate to controller, controller control automatic guided vehicle.
Two-dimension code navigation icon is affixed on ceiling into array, while coordinate corresponding to the two-dimension code navigation icon is believed
Breath is preset as cartographic information and is stored in control centre；Operating personnel are manually entered terminal point coordinate information in control centre；From
In the process of moving, controller periodically starts camera to dynamic guiding car, and the coordinate information of real time position is fed back into control centre,
Guidance path is corrected by control centre, and newest navigation instruction is sent into controller.
First, control centre obtains terminal point coordinate information, then the two dimension of the camera scanning top on automatic guided vehicle
Code navigation icon, the location coordinate information breath of current automatic guided vehicle is obtained, information will be obtained and be sent to control centre, in control
The heart establishes navigation way according to obtained destination-address and current location information, and is sent and navigated according to the navigation way of foundation
Instruct and destination is gone to according to navigation instruction to automatic guided vehicle, automatic guided vehicle, complete navigation instruction.
Above-described is only the preferred embodiment of the present invention, it is noted that for one of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection domain.
Claims (4)
- A kind of 1. air navigation aid based on ceiling Quick Response Code, for controlling automatic guided vehicle in workshop automatically walk, its feature It is, two-dimension code navigation icon is posted on the ceiling in the workshop, and the automatic guided vehicle is provided with camera straight up, from Dynamic guiding in-car is provided with controller；Outside is additionally provided with control centre, control centre and controller wireless connection, this method include with Lower step,1) outside control centre obtains terminal point coordinate information；And trigger controller starts camera and obtains the current institute of automatic guided vehicle Two-dimension code navigation icon in position；2) coordinate information that two-dimension code navigation icon obtains is passed to control centre by controller；3) control centre establishes navigation way according to obtained terminal point coordinate and current position coordinates information；4) control centre's transmission navigation instruction reaches terminal point coordinate to controller, controller control automatic guided vehicle.
- 2. the air navigation aid according to claim 1 based on ceiling Quick Response Code, it is characterised in that the two-dimension code navigation Icon is affixed on ceiling into array, while coordinate information corresponding to the two-dimension code navigation icon is preset as into cartographic information and deposited Storage is in control centre.
- 3. the air navigation aid according to claim 1 based on ceiling Quick Response Code, it is characterised in that in the step 1), Terminal point coordinate information is manually entered in control centre by operating personnel.
- 4. the air navigation aid according to claim 1 based on ceiling Quick Response Code, it is characterised in that the automatic guided vehicle In the process of moving, controller periodically starts camera, and the coordinate information of real time position is fed back into control centre, control centre Guidance path is corrected, and newest navigation instruction is sent to controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710893517.1A CN107703940A (en) | 2017-09-25 | 2017-09-25 | A kind of air navigation aid based on ceiling Quick Response Code |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710893517.1A CN107703940A (en) | 2017-09-25 | 2017-09-25 | A kind of air navigation aid based on ceiling Quick Response Code |
Publications (1)
| Publication Number | Publication Date |
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| CN107703940A true CN107703940A (en) | 2018-02-16 |
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| CN201710893517.1A Pending CN107703940A (en) | 2017-09-25 | 2017-09-25 | A kind of air navigation aid based on ceiling Quick Response Code |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108763996A (en) * | 2018-03-23 | 2018-11-06 | 南京航空航天大学 | A kind of plane positioning coordinate based on Quick Response Code and direction angle measuring method |
| WO2020182146A1 (en) * | 2019-03-13 | 2020-09-17 | 锥能机器人（上海）有限公司 | Robotic system, mapping system and method for robotic navigation map |
| CN112445220A (en) * | 2019-08-30 | 2021-03-05 | 北京京东乾石科技有限公司 | Control method and device for automatic guided vehicle, storage medium and electronic equipment |
| CN112735116A (en) * | 2020-12-17 | 2021-04-30 | 苏州牧星智能科技有限公司 | AGV (automatic guided vehicle) scheduling system and method based on infrared communication |
| CN113110408A (en) * | 2019-12-25 | 2021-07-13 | 北京极智嘉科技股份有限公司 | Robot positioning system, robot, computer-readable storage medium, and robot positioning method |
| CN113433951A (en) * | 2021-07-28 | 2021-09-24 | 广东奥普特科技股份有限公司 | AGV forklift intelligent guiding method and AGV forklift intelligent guiding system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108763996A (en) * | 2018-03-23 | 2018-11-06 | 南京航空航天大学 | A kind of plane positioning coordinate based on Quick Response Code and direction angle measuring method |
| WO2020182146A1 (en) * | 2019-03-13 | 2020-09-17 | 锥能机器人（上海）有限公司 | Robotic system, mapping system and method for robotic navigation map |
| CN112445220A (en) * | 2019-08-30 | 2021-03-05 | 北京京东乾石科技有限公司 | Control method and device for automatic guided vehicle, storage medium and electronic equipment |
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| CN112735116A (en) * | 2020-12-17 | 2021-04-30 | 苏州牧星智能科技有限公司 | AGV (automatic guided vehicle) scheduling system and method based on infrared communication |
| CN113433951A (en) * | 2021-07-28 | 2021-09-24 | 广东奥普特科技股份有限公司 | AGV forklift intelligent guiding method and AGV forklift intelligent guiding system |
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Application publication date: 20180216 |