CN105404842B - AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code - Google Patents
AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code Download PDFInfo
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- CN105404842B CN105404842B CN201510808341.6A CN201510808341A CN105404842B CN 105404842 B CN105404842 B CN 105404842B CN 201510808341 A CN201510808341 A CN 201510808341A CN 105404842 B CN105404842 B CN 105404842B
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/18—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the time taken to traverse a fixed distance
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Abstract
The present invention relates to a kind of AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code, belong to navigation and control technology field.The present invention is continuously shot two pictures for including terrestrial reference Quick Response Code using the camera of taking pictures over the ground on AGV in Fixed Time Interval, landmark information is obtained by Quick Response Code identification and obtains global position of the landmark point in AGV travels complete trails, by resolving position and angle of the Quick Response Code in picture respectively, it is counter to solve local location and angle of the AGV bodies relative to terrestrial reference Quick Response Code, then the exact position and course for obtaining AGV in global path are combined with global position；AGV is obtained by the speed during terrestrial reference by calculating the alternate position spike in the fixed time period, so as to provide AGV navigation desired position, course and velocity information.Therefore, the present invention, which realizes, only relies on terrestrial reference Quick Response Code and can obtain AGV position, course and velocity information simultaneously, simplifies the positioning and directing needed for AGV navigation and the annex that tests the speed.
Description
Technical field
The present invention relates to navigation and control technology field, and in particular to a kind of AGV positioning and directings based on terrestrial reference Quick Response Code
And speed-measuring method.
Background technology
Usually, it is in the majority in the form of ground magnetic stripe, power line or color belt guide independently to guide Travel vehicle (AGV).Mesh
Before, generally require inertia in the occasion for independently guiding Travel vehicle navigation for the terrestrial reference two-dimension code navigation based on machine vision
Element obtains course and velocity information.
The content of the invention
(1) technical problems to be solved
The technical problem to be solved in the present invention is：How positioning and directing AGV navigation needed for and test the speed annex are simplified, and together
When obtain AGV position, course and velocity information.
(2) technical scheme
In order to solve the above-mentioned technical problem, the invention provides a kind of based on the AGV positioning and directings of terrestrial reference Quick Response Code and survey
Fast method, comprises the following steps：
S1, stick matrix form two at a certain distance or in the point for the course speed that needs to locate on AGV walking passageways 1
Code is tieed up, and the drift angle of Quick Response Code and ground magnetic degree, into a fixed angle, the 2 D code information encoded by certain algorithm is ground
The point position information of punctuate, is defined as terrestrial reference Quick Response Code 3；
S2, camera 4 is fixedly mounted on AGV bodies 5；
S3, AGV bodies 5 are made to be travelled on AGV walking passageways 1, when by terrestrial reference Quick Response Code 3, camera 4 shoots ground
Image 6, the image 6 photographed is passed through into Denoising disposal, if the Quick Response Code 8 in image 6 in the A points of picture position, and leads to
The first index point 10, the second index point 11, the 3rd index point 12 crossed on Quick Response Code 8 calculate the drift angle of Quick Response Code 8, if two-dimentional
8 position and drift angle in image coordinate system OXY of code is (x1, y1, θ1), wherein x, y are positional information, and θ is drift angle information, and
Shoot piece image again in preset interval time t, the Quick Response Code 8 in the image newly shot is in image coordinate system OXY
Position and drift angle be (x2, y2, θ2)；Three index points are the changeless positions of graphical information in all matrix two-dimensional codes 2
Three points put；
S4, by set coded system to for the first time or second shooting image in the information of Quick Response Code 8 parse, obtain
Obtain global position coordinate (x of the Quick Response Code 8 in image relative to whole driving pathp, yp, θp), if image coordinate system OXY with
The demarcation proportionate relationship of patch length is K, then has：
The position now of AGV bodies 5 and course coordinate are (xp-x1/ K, yp-y1/ K, θp-θ1)
The translation now of AGV bodies 5 and yawing velocity are ((x1-x2)/Kt, (y1-y2)/Kt, (θ1-θ2)/t)。
Preferably, terrestrial reference Quick Response Code 3 is posted on AGV walking paths center line 2 in step S1.
Preferably, camera 4 is arranged on the axis of AGV bodies 5 in step S2.
Preferably, three index points are the points on 8 three angles of Quick Response Code.
(3) beneficial effect
The present invention is continuously shot two using the camera of taking pictures over the ground on AGV in Fixed Time Interval and includes ground
The picture of Quick Response Code is marked, obtaining landmark information by Quick Response Code identification obtains the overall situation of the landmark point in AGV travels complete trails
Position, it is counter to solve office of the AGV bodies relative to terrestrial reference Quick Response Code by resolving position and angle of the Quick Response Code in picture respectively
Portion position and angle, then the exact position and course for obtaining AGV in global path are combined with global position；It is solid by calculating this
The alternate position spike fixed time in section obtains AGV by the speed during terrestrial reference, so as to provide AGV navigation desired position, course
And velocity information.Therefore, the present invention, which realizes, only relies on terrestrial reference Quick Response Code and can obtain AGV position, course and speed simultaneously
Information, simplify positioning and directing and the annex that tests the speed such as inertance element needed for AGV navigation.
Brief description of the drawings
Fig. 1 is that the terrestrial reference Quick Response Code on AGV walking passageways sets figure；
Fig. 2 is installation diagram of the camera on AGV bodies, and wherein a is side view, and b is top view；
Fig. 3 is the ground image that camera photographs.
Wherein, 1-AGV walking passageways；2-AGV walking path center lines；3- terrestrial reference Quick Response Codes；4- cameras；5-AGV sheets
Body；The ground image that 6- is photographed；7- camera image coordinate systems；Quick Response Code in 8- images；The seat of 9- Quick Response Codes in the picture
Mark；The index points of 10- first；The index points of 11- second；The index points of 12- the 3rd.
Embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's
Embodiment is described in further detail.
The invention provides a kind of AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code, comprise the following steps：
S1, stick matrix form two at a certain distance or in the point for the course speed that needs to locate on AGV walking passageways 1
Code is tieed up, and the drift angle of Quick Response Code and ground magnetic degree, into a fixed angle, the 2 D code information encoded by certain algorithm is ground
The point position information of punctuate, is defined as terrestrial reference Quick Response Code 3；To ensure Quick Response Code in the image of shooting, 3 best note of terrestrial reference Quick Response Code
On AGV walking paths center line 2, as shown in Figure 1.
S2, camera 4 is fixedly mounted on AGV bodies 5, camera 4 is arranged on the axis of AGV bodies 5, so as to ground
Shooting, as shown in Figure 2；
S3, AGV bodies 5 are made to be travelled on AGV walking passageways 1, when by terrestrial reference Quick Response Code 3, camera 4 shoots ground
Image 6, the image 6 photographed is passed through into Denoising disposal, if the Quick Response Code 8 in image 6 in the A points of picture position, and leads to
The first index point 10, the second index point 11, the 3rd index point 12 crossed on Quick Response Code 8 calculate the drift angle of Quick Response Code 8, if two-dimentional
8 position and drift angle in image coordinate system OXY of code is (x1, y1, θ1), wherein x, y are positional information, and θ is drift angle information, together
Reason, shoots piece image, the Quick Response Code 8 in the image newly shot is in image coordinate system OXY again in preset interval time t
In position and drift angle be (x2, y2, θ2), as shown in figure 3, wherein；Three index points are all 2 upper figures of matrix two-dimensional code
Three points of the changeless position of shape information；In this step, these three index points are fixed not in all matrix two-dimensional codes
Three points become, the present invention innovatively use it for realizing the positioning of Quick Response Code.
S4, by set coded system to for the first time or second shooting image in the information of Quick Response Code 8 parse, solve
Analysis result indicate be corresponding to the Quick Response Code 8 in the image which position in AGV walking passageways 1 Quick Response Code, due to AGV walk
The global position coordinate of the Quick Response Code of each position is made an appointment in passage 1, therefore can, obtains two in image
Tie up global position coordinate (x of the code 8 relative to whole driving pathp, yp, θp), because camera 4 is relative to AGV installation site
All the time fix, if the demarcation proportionate relationship of image coordinate system OXY and patch length is K, then have：
The position now of AGV bodies 5 and course coordinate are (xp-x1/ K, yp-y1/ K, θp-θ1)
Because the time interval t of two images shooting is shorter, i.e., the terrestrial reference Quick Response Code in shooting image is same, then has
Because camera 4 is arranged on AGV, camera 4 is taken a picture to ground, then photo gait of march and AGV forms
Velocity attitude is on the contrary, therefore the speed (containing translation and yawing velocity) of AGV now is ((x1-x2)/Kt, (y1-y2)/Kt, (θ1-
θ2)/t)。
As can be seen that a kind of AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code proposed by the present invention, this method
Positional informations of the AGV on walking path can not only be obtained, and can obtain course when AGV passes through terrestrial reference Quick Response Code and
Velocity information.Camera of taking pictures over the ground on AGV is continuously shot two in Fixed Time Interval and includes terrestrial reference Quick Response Code
Picture, by Quick Response Code identification obtain landmark information obtain the landmark point AGV traveling complete trails in global position, pass through
Position and angle of the Quick Response Code in picture is shot are resolved respectively, it is counter to solve local position of the AGV bodies relative to terrestrial reference Quick Response Code
Put and angle, the exact position and course for obtaining AGV in global path are combined with global position, by calculating the set time
Alternate position spike in section obtains AGV by the speed during terrestrial reference, so as to provide AGV navigation desired position, course and speed
Information.Therefore, the present invention, which realizes, only relies on terrestrial reference Quick Response Code and can obtain AGV position, course and velocity information simultaneously, letter
Positioning and directing and the annex that tests the speed such as inertance element needed for AGV navigation are changed.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code, it is characterised in that comprise the following steps：
S1, stick matrix type two-dimension at a certain distance or in the point for the course speed that needs to locate on AGV walking passageways (1)
Code, and the drift angle of Quick Response Code and ground magnetic degree, into a fixed angle, the 2 D code information encoded by certain algorithm is terrestrial reference
The point position information of point, is defined as terrestrial reference Quick Response Code (3)；
S2, camera (4) is fixedly mounted on AGV bodies (5)；
S3, AGV bodies (5) are made to be travelled on AGV walking passageways (1), when by terrestrial reference Quick Response Code (3), camera (4) shooting
Ground image (6), the image photographed (6) is passed through into Denoising disposal, if the Quick Response Code (8) in image (6) is in picture position
A points, and calculated by the first index point (10) on Quick Response Code (8), the second index point (11), the 3rd index point (12)
The drift angle of Quick Response Code (8), if position and drift angle of the Quick Response Code (8) in image coordinate system OXY are (x1, y1, θ1), wherein x, y are
Positional information, θ is drift angle information, and shoots piece image again in preset interval time t, the terrestrial reference two in two width shooting images
Code is tieed up to be same, position and drift angle of the Quick Response Code (8) in image coordinate system OXY in the image newly shot are (x2,
y2, θ2)；Three index points are three points of the changeless position of graphical information in all matrix two-dimensional codes, for all squares
The central point of position sensing figure in configuration Quick Response Code；
S4, by set coded system to for the first time or second shooting image in Quick Response Code (8) information parse, obtain
Quick Response Code (8) in image relative to whole driving path global position coordinate (xp, yp, θp), if image coordinate system OXY with
The demarcation proportionate relationship of patch length is K, then has：
AGV bodies (5) position now and course coordinate are (xp-x1/ K, yp-y1/ K, θp-θ1)
AGV bodies (5) translation now and yawing velocity are ((x1-x2)/Kt, (y1-y2)/Kt, (θ1-θ2)/t)。
2. the method as described in claim 1, it is characterised in that terrestrial reference Quick Response Code (3) is attached to AGV walking paths in step S1
On center line (2).
3. the method as described in claim 1, it is characterised in that camera (4) is arranged on AGV bodies (5) axis in step S2
On.
4. the method as described in claim 1 or 2 or 3, it is characterised in that three index points are (8) three angles of Quick Response Code
On point.
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| CN201510808341.6A CN105404842B (en) | 2015-11-19 | 2015-11-19 | AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code |
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| CN201510808341.6A CN105404842B (en) | 2015-11-19 | 2015-11-19 | AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code |
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