CN114819016A - Two-dimensional code-based four-way vehicle three-dimensional coordinate system positioning method and position identification - Google Patents
Two-dimensional code-based four-way vehicle three-dimensional coordinate system positioning method and position identification Download PDFInfo
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Abstract
The invention discloses a two-dimensional code-based four-way vehicle three-dimensional coordinate system positioning method and a position identifier, which relate to the technical field of four-way vehicle positioning, and establish a three-dimensional coordinate system according to layers, rows and rows of an automatic intensive storage vertical warehouse; pasting a two-dimension code label and a two-dimension code matrix label at corresponding positions; and scanning and identifying the two-dimension code label and the two-dimension code matrix label in the running and parking processes of the four-way vehicle, and determining the position of the four-dimension code label in a three-dimension coordinate system in an automatic intensive storage vertical library according to the analyzed three-dimension coordinate information. According to the four-way vehicle three-dimensional coordinate system positioning method and the position identification based on the two-dimensional code, the two-dimensional code label is scanned and identified in the running and parking processes of the four-way vehicle, the position of the three-dimensional coordinate system of the four-way vehicle in an automatic dense storage vertical warehouse is determined, adjustment is carried out according to a feedback value, the four-way vehicle can be accurately positioned and reversed, and meanwhile, the design and installation are simpler.
Description
Technical Field
The invention relates to the technical field of four-way vehicle positioning, in particular to a two-dimensional code-based four-way vehicle three-dimensional coordinate system positioning method and a position identifier.
Background
With the development of smart manufacturing, the market of smart storage is continuously expanding and maturing. Higher requirements are also put forward for the intelligent storage, and how to store more materials in a limited space makes the unit price of the intelligent storage more economical and becomes a more outstanding problem. On the basis, the four-way vehicle dense storage trends to a wider application field. But the problem of the four-way vehicle is also more prominent.
The general four-way shuttle vehicle runs by matching an encoder with positioning photoelectricity to perform positioning or matching with an RFID positioning mode. The problems of photoelectric interference, complex design and installation, difficult debugging, low positioning precision and the like exist, the equipment has high failure, and the efficiency and the user experience are influenced. The traditional method cannot feed back a three-dimensional coordinate system of the four-way vehicle in the vertical warehouse in time, brings difficulty to the dispatching of a warehouse control system, and has the risk of misjudgment of vehicle collision.
Therefore, it is necessary to provide a two-dimensional code-based four-way vehicle three-dimensional coordinate system positioning method and a position identifier to solve the above problems.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide a two-dimensional code-based four-way vehicle three-dimensional coordinate system positioning method and a position identifier, so as to solve the problems of complex design and installation and low positioning accuracy of the existing four-way vehicle automatic dense storage library three-dimensional coordinate system positioning method in the background technology.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a two-dimension code-based four-direction vehicle three-dimensional coordinate system positioning method relates to a four-direction vehicle, wherein a two-dimension code acquisition module and a wireless communication module are arranged on the four-direction vehicle, and the specific method comprises the following steps: establishing a three-dimensional coordinate system according to the layers, rows and rows of the automatic dense storage vertical library; pasting a two-dimensional code label containing the three-dimensional coordinate information of the position on a shelf; pasting a two-dimensional code matrix label containing the three-dimensional coordinate information of the position and two-dimensional coordinate information based on a two-dimensional coordinate system at the track intersection; scanning and identifying the two-dimension code label and the two-dimension code matrix label in the running and parking processes of the four-way vehicle, and determining the position of the two-dimension code label and the two-dimension code matrix label in a three-dimension coordinate system in an automatic intensive storage vertical library through the analyzed three-dimension coordinate information; when the four-way vehicle scans and identifies the two-dimensional code matrix tag, determining the offset of each two-dimensional code and the origin of the two-dimensional coordinate by analyzing two-dimensional coordinate information in different two-dimensional codes in the two-dimensional code matrix tag, and accurately positioning the four-way vehicle; and the position information of the four-way vehicle is transmitted to a warehouse control system through a wireless communication module.
A position identification used for a four-way vehicle three-dimensional coordinate system positioning method based on a two-dimensional code comprises a two-dimensional code label and a two-dimensional code matrix label, wherein a two-dimensional coordinate system origin is arranged in the middle of the two-dimensional code matrix label, and an arrow used for identifying the direction of a two-dimensional coordinate system X, Y is arranged on the two-dimensional code matrix label.
Furthermore, a plurality of position correcting two-dimensional codes are printed on the two-dimensional code matrix label, the plurality of position correcting two-dimensional codes are uniformly distributed in four quadrants of the two-dimensional coordinate system, and two-dimensional coordinate information carried by the position correcting two-dimensional codes corresponds to the printing positions of the position correcting two-dimensional codes.
Further, the two-dimensional code acquisition module is a visual sensor.
Further, the distance between the vision sensor and the position mark is 80-120 mm.
(III) advantageous effects
Compared with the prior art, the invention provides a two-dimensional code-based four-way vehicle three-dimensional coordinate system positioning method and a position identifier, and the method has the following beneficial effects:
according to the four-way vehicle three-dimensional coordinate system positioning method and the position identification based on the two-dimensional code, the two-dimensional code label is scanned and identified in the running and parking processes of the four-way vehicle, the position of the three-dimensional coordinate system of the four-way vehicle in an automatic dense storage vertical warehouse is determined, adjustment is carried out according to a feedback value, the four-way vehicle can be accurately positioned and reversed, and meanwhile, the design and installation are simpler.
Drawings
FIG. 1 is a schematic view of a two-dimensional code tag of the present invention;
FIG. 2 is a schematic diagram of a two-dimensional code matrix tag according to the present invention;
fig. 3 is a schematic layout diagram of a two-dimensional code matrix tag according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
A two-dimension code-based four-direction vehicle three-dimensional coordinate system positioning method relates to a four-direction vehicle, wherein a two-dimension code acquisition module and a wireless communication module are arranged on the four-direction vehicle, and the specific method comprises the following steps:
and establishing a three-dimensional coordinate system according to the layers, rows and rows of the automatic dense storage vertical library.
Pasting a two-dimensional code label containing the three-dimensional coordinate information of the position on a shelf; and pasting a two-dimensional code matrix label containing the three-dimensional coordinate information of the position and two-dimensional coordinate information based on a two-dimensional coordinate system at the track intersection.
And scanning and identifying the two-dimension code label and the two-dimension code matrix label in the running and parking processes of the four-way vehicle, and determining the position of the four-dimension code label in a three-dimension coordinate system in an automatic intensive storage vertical library according to the analyzed three-dimension coordinate information.
In the two-dimensional code label, three-dimensional coordinate information is represented by numbers, the first two digits are defined as a layer, the middle three digits are defined as columns, the last three digits are defined as rows, and the number of the two-dimensional code label is as follows: 01001001 to 999999. For example, the vision sensor reads the following data: 02001003 (see fig. 1), then the current position can be explicitly guided as: layer 2, column 1, row 3.
In the two-dimensional code matrix label, three-dimensional coordinate information and two-dimensional coordinate information are all represented by numbers, and compared with the two-dimensional code label, a two-dimensional code label with an X axis and a Y axis is additionally arranged at the front end of the number of the two-dimensional code label, and a two-dimensional code matrix with the length of 4 by 4 is taken as an example (as shown in figure 2) in the embodiment.
The utility model provides a position sign for four-way car three-dimensional coordinate system positioning method based on two-dimensional code, includes two-dimensional code label and two-dimensional code matrix label, the middle part of two-dimensional code matrix label is equipped with two-dimensional coordinate system original point, is equipped with the arrow head that is used for discerning two-dimensional coordinate system X, Y direction on the two-dimensional code matrix label, under the effect of arrow head, makes it paste more conveniently (as shown in figure 3), avoids two-dimensional coordinate system coordinate direction confusion, the printing has a plurality of school position two-dimensional codes on the two-dimensional code matrix label, and a plurality of school position two-dimensional codes evenly distributed are in four quadrants of two-dimensional coordinate system, and the two-dimensional coordinate information that the school position two-dimensional code carried is corresponding rather than the printing position.
The two-dimensional code acquisition module is a vision sensor, and the distance between the vision sensor and the position mark is 80-120 mm.
The vision sensor can capture a plurality of position correction two-dimensional codes at one time, and when part of the position correction two-dimensional codes cannot be read due to dust deposition or oil stain, the rest position correction two-dimensional codes can be read, so that the position information can be determined. Therefore, the two-dimensional code matrix label has good redundancy and improves the stability of the system.
The number digits of the two-dimensional code tags and the two-dimensional code matrix tags can be increased or decreased according to the number of layers, columns and rows of the automatic dense storage warehouse, and the positions of the four-way vehicles are transmitted to the warehouse control system through the wireless communication module, so that the warehouse control system can schedule the four-way vehicles, and the collision risk is reduced.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A two-dimension code-based four-direction vehicle three-dimensional coordinate system positioning method relates to a four-direction vehicle, wherein a two-dimension code acquisition module and a wireless communication module are arranged on the four-direction vehicle, and the method is characterized by comprising the following steps of:
A. establishing a three-dimensional coordinate system according to the layers, rows and rows of the automatic dense storage vertical library;
B. pasting a two-dimensional code label containing the three-dimensional coordinate information of the position on a shelf; pasting a two-dimensional code matrix label containing the three-dimensional coordinate information of the position and two-dimensional coordinate information based on a two-dimensional coordinate system at the track intersection;
C. scanning and identifying the two-dimension code label and the two-dimension code matrix label through the two-dimension code acquisition module in the running and parking processes of the four-way vehicle, and determining the position of the two-dimension code label and the two-dimension code matrix label in a three-dimension coordinate system in an automatic intensive storage vertical library through the analyzed three-dimension coordinate information;
D. when the four-way vehicle scans and identifies the two-dimensional code matrix tag, determining the offset of each two-dimensional code and the origin of the two-dimensional coordinate by analyzing two-dimensional coordinate information in different two-dimensional codes in the two-dimensional code matrix tag, and accurately positioning the four-way vehicle;
E. and the position information of the four-way vehicle is transmitted to a warehouse control system through a wireless communication module.
2. A position marker used in the positioning method of claim 1, comprising a two-dimensional code tag and a two-dimensional code matrix tag, wherein: the middle part of two-dimensional code matrix label is equipped with the two-dimensional coordinate system initial point, is equipped with the arrow point that is used for discerning the direction of two-dimensional coordinate system X, Y on the two-dimensional code matrix label.
3. The location indicator of claim 2, wherein: the two-dimensional code matrix label is printed with a plurality of position correcting two-dimensional codes, the position correcting two-dimensional codes are uniformly distributed in four quadrants of a two-dimensional coordinate system, and two-dimensional coordinate information carried by the position correcting two-dimensional codes corresponds to the printing positions of the position correcting two-dimensional codes.
4. The two-dimensional code-based four-way vehicle three-dimensional coordinate system positioning method according to claim 1, characterized in that: the two-dimensional code acquisition module is a visual sensor.
5. The two-dimensional code-based four-way vehicle three-dimensional coordinate system positioning method according to claim 4, characterized in that: the distance between the visual sensor and the position mark is 80-120 mm.
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| CN202210536053.XA CN114819016A (en) | 2022-05-17 | 2022-05-17 | Two-dimensional code-based four-way vehicle three-dimensional coordinate system positioning method and position identification |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116793199A (en) * | 2023-08-24 | 2023-09-22 | 四川普鑫物流自动化设备工程有限公司 | Centralized multi-layer goods shelf four-way vehicle positioning system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116793199A (en) * | 2023-08-24 | 2023-09-22 | 四川普鑫物流自动化设备工程有限公司 | Centralized multi-layer goods shelf four-way vehicle positioning system and method |
| CN116793199B (en) * | 2023-08-24 | 2023-11-24 | 四川普鑫物流自动化设备工程有限公司 | Centralized multi-layer goods shelf four-way vehicle positioning system and method |
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