CN107065879A - Visual guidance car localization method and visual guidance car based on Quick Response Code - Google Patents

Abstract

The invention discloses a positioning method for a vision-guided vehicle based on a two-dimensional code and the vision-guided vehicle, including a vehicle body of the vision-guided vehicle, the front end and the rear end of the vehicle body are equipped with independently arranged Mecanum wheels, The Mecanum wheel is connected to the servo DC motor through a reducer, and the servo DC motor is connected to a motor driver; a camera installation cover is installed at the bottom of the car body, and a camera is arranged in the camera installation cover, and the camera is connected to a Cortex-A9 processor. The Cortex‑A9 processor communicates with the motor driver through a serial port. The present invention can accurately control the driving direction of the vision-guided vehicle by correcting the grid positioning system and the grid route in real time, and prevent the occurrence of yaw and derailment events; the embedded processor and light and small camera are used to make the whole The weight of the system itself is reduced, so that the load weight can be increased. With the independently controlled Mecanum wheel, the precise positioning of the vision-guided vehicle can be quickly realized, and the transportation efficiency of the vision-guided vehicle can be improved.

Description

Positioning method of vision-guided vehicle based on two-dimensional code and vision-guided vehicle

technical field

The invention relates to the technical field of automatic guidance, in particular to a two-dimensional code-based positioning method for a vision-guided vehicle and a vision-guided vehicle.

Background technique

AGV (Automatic Guided Vehicle) is a wheeled robot that integrates sound, light and computer. With the development of intelligent control system, AGV (Automatic Guided Vehicle) has been adopted in more and more fields. AGV relies on non-contact guidance sensors and control systems, does not require human intervention, and is supplemented by safety alarms, scheduling controls, etc., and can automatically drive according to the established planned path, which can effectively improve work efficiency and complete material handling and unloading alone. Materials and other tasks.

At present, the AGV system mainly has a magnetic guidance method based on electromagnetic induction; an ultrasonic guidance method based on an ultrasonic sensor; a laser guidance method based on laser reflection; but these methods have extremely high requirements on the environment. With the continuous updating of science and technology, the guidance technology based on vision guidance appears, such as the positioning method of vision-guided vehicle based on auxiliary positioning device and the positioning method of vision-guided vehicle published by Chinese Patent No. CN 105929834 A. The two-dimensional code label is identified, but the two-dimensional code itself has errors. The collected two-dimensional code is decoded to obtain the position of the current two-dimensional code and the target two-dimensional code, and then calculates the deviation to calculate the position of the car off the track. A large number of calculations Accumulated errors will inevitably cause the deviation of the driving direction of the vision-guided vehicle, which will affect the accurate positioning and transportation efficiency of the vision-guided vehicle. The present invention is proposed aiming at the deficiency that this technology exists.

Contents of the invention

The purpose of the present invention is to design a vision-guided vehicle based on vision guidance and a positioning method based on a two-dimensional code-based vision-guided vehicle.

In order to achieve the purpose of the above invention, the technical solution of the present invention is: a method for positioning a visually guided vehicle based on a two-dimensional code, comprising the following steps:

Step 1), set up a grid positioning system on the ground of the application site of the vision-guided vehicle. The grid positioning system includes a grid and a plurality of station QR code labels set on the grid, and the station QR code labels The station information and the distance information between adjacent stations are stored. Four square positioning blocks are attached to the four corners of the two-dimensional code label of the station. The rectangle surrounded by the four square positioning blocks is as large as the camera installation cover;

Step 2), when the vision-guided vehicle travels along the grid to the target station, the camera on the vision-guided vehicle collects the grid, and feeds the collected image back to the processor, with the bottom edge of the image as The X-axis and the center line are the Y-axis to establish a central coordinate system to obtain the deviation distance D and deviation angle θ of the vision-guided vehicle, which are used for real-time deviation correction control of the vision-guided vehicle. The deviation distance D refers to the center deviation of the grid The distance of the Y axis, the deviation angle θ refers to the angle that the grid deviates from the Y axis;

Step 3), when the vision-guided vehicle passes by any station, the camera collects the two-dimensional code label and the corresponding square positioning block of the station, and feeds the collected image back to the processor, which processes the image and passes the motor The driver controls four independently set mecanum wheels to fine-tune the vision-guided vehicle, aligns the four corners of the camera installation cover with the four square positioning blocks, stops the vision-guided vehicle at the predetermined station, and realizes the work of the vision-guided vehicle. Position correction, at the same time, get the current position information and the distance information between adjacent positions, and the vision-guided vehicle continues to drive;

Step 4), when the vision-guided vehicle approaches the next station, the processor controls the servo DC motor to decelerate through the motor driver according to the information stored in the two-dimensional code label of the previous station, and collects the next station's two-dimensional code through the camera. Code label and corresponding square positioning block to judge whether the next station is the target station. If the next station is not the target station, the vision-guided vehicle will continue to drive to the target station after correcting the station; The position is the target position, so that the vision-guided vehicle stops at the predetermined position.

Further, black adhesive tape is arranged on the grid.

A vision-guided vehicle based on a two-dimensional code-based vision-guided vehicle positioning method, comprising a vehicle body of the vision-guided vehicle, characterized in that four independently arranged McNairs are installed on the front and rear ends of the vehicle body Mecanum wheel, the mecanum wheel is connected with the servo DC motor through the reducer, and the servo DC motor is connected with the motor driver; a cuboid camera installation cover of 30cm×20cm×30cm is installed in the middle of the bottom of the car body, and the camera installation cover There is a camera and LED lights arranged along the circumference of the camera. A Cortex-A9 processor is installed on the side of the camera installation cover. The Cortex-A9 processor communicates with the camera and the motor driver through the serial port;

On the ground of the application site of the vision-guided vehicle, there is a grid positioning system used in conjunction with the vision-guided vehicle. The grid positioning system includes a grid and a plurality of station QR code labels set on the grid. The two-dimensional code label of the station stores the information of the station and the distance information between the adjacent station. There are four square positioning blocks at the four corners of the two-dimensional code label of the station. The rectangle surrounded by the four square positioning blocks and the camera The installation cover is equal in size.

Further, black adhesive tape is arranged on the grid.

The beneficial effects of the present invention are:

1. The present invention can accurately control the driving direction of the vision-guided vehicle through the real-time deviation correction of the grid positioning system and the grid route, and prevent the occurrence of yaw and derailment events;

2. The present invention replaces the bulky industrial computer and PLC with a light and small embedded processor, and replaces the industrial camera with a USB camera, so that the weight of the entire system becomes lighter, thereby increasing the load weight; at the same time, four wheels are used alone Drive, by controlling the four mecanum wheels to achieve different angles of steering, quickly realize the precise positioning of the vision-guided vehicle, and improve the transportation efficiency of the vision-guided vehicle;

3. The present invention follows the design concepts of miniaturization, intelligence and low cost.

Description of drawings

Fig. 1 is a schematic structural view of a vision-guided vehicle of the present invention;

Fig. 2 is a structural schematic diagram of the camera mounting cover;

Fig. 3 is a schematic structural diagram of a grid positioning system;

Fig. 4 is a schematic diagram of the deviation distance D and the deviation angle θ of the vision-guided vehicle.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

As shown in Fig. 1, in conjunction with Fig. 1-4, the concrete implementation of the present invention is described as follows:

A method for positioning a visually guided vehicle based on a two-dimensional code, comprising the following steps:

Step 1), set up a grid positioning system on the ground of the application site of the vision-guided vehicle 1, the grid positioning system includes a grid and a plurality of station QR code labels 11 set on the grid, set on the grid Black adhesive tape 6 is arranged, and the two-dimensional code label 11 of the station stores the information of this station and the distance information with the adjacent stations. Four square positioning blocks 12 are attached to the four corners of the two-dimensional code label 11 of the station. The rectangle surrounded by the square positioning block 12 is as large as the bottom surface 4 of the camera installation cover;

Step 2), when the vision-guided vehicle 1 is driving along the black tape 6 to the target station, the camera 2 on the vision-guided vehicle 1 captures the black tape 6, and feeds back the captured image to the Cortex-A9 processor 3. Establish a central coordinate system with the bottom edge of the image as the X-axis and the center line as the Y-axis to obtain the deviation distance D and deviation angle θ of the vision-guided vehicle 1, which are used for real-time deviation correction control of the vision-guided vehicle 1. The deviation distance D refers to the distance from the center of the black tape 6 to the Y axis, and the deviation angle θ refers to the angle at which the black tape 6 deviates from the Y axis;

Step 3), when the vision-guided vehicle 1 passes by any station, the camera 2 collects the station QR code label 11 and the corresponding square positioning block, and feeds the collected image back to the Cortex-A9 processor 3, Cortex-A9 The processor 3 processes the image, and controls four independently arranged mecanum wheels 10 to fine-tune the vision-guided vehicle 1 through the motor driver 8, so that the four corners of the camera mounting cover 4 are aligned with the four square positioning blocks 12, and the vision-guided The lead car 1 stops at the predetermined station to realize the station correction of the vision-guided car 1. At the same time, the current station information and the distance information between the adjacent stations are obtained, and the vision-guided car 1 continues to drive;

Step 4), when the vision-guided vehicle 1 approaches the next station, the Cortex-A9 processor 3 controls the servo DC motor 5 to decelerate through the motor driver 8 according to the information stored in the two-dimensional code label 11 of the previous station, and passes the The camera 2 collects the next station QR code label 11 and the corresponding square positioning block 12, and judges whether the next station is the target station. If the next station is not the target station, the visual guidance vehicle 1 performs station correction. Then continue to travel to the target station; if the next station is the target station, the vision-guided vehicle 1 is stopped at the predetermined station.

A vision-guided vehicle based on a two-dimensional code-based vision-guided vehicle positioning method, comprising a vehicle body of a vision-guided vehicle 1, and four independently arranged mecanum wheels 10 are installed on the front and rear ends of the vehicle body , the mecanum wheel 10 is connected with the servo DC motor 5 through the reducer 9, and the servo DC motor 5 is connected with a motor driver 8; a cuboid camera installation cover 4 of 30cm × 20cm × 30cm is installed at the middle position of the bottom of the car body, The camera installation cover 4 is provided with a camera 2 and LED lights 7 arranged circumferentially along the camera 2, and a Cortex-A9 processor is installed on the side of the camera installation cover 4, and the Cortex-A9 processor communicates with the camera and the motor driver through a serial port respectively.

A grid positioning system is set on the ground of the vision-guided vehicle 1 application site, and is used in conjunction with the vision-guided vehicle 1. The grid positioning system includes a grid and a plurality of station two-dimensional code labels 11 arranged on the grid, Black adhesive tape 6 is set on the grid, and the two-dimensional code label 11 of the station stores the information of the station and the distance information between the adjacent stations, and four square positioning blocks are attached to the four corners of the two-dimensional code label 11 of the station 12. The rectangle surrounded by four square positioning blocks 12 is as large as the bottom surface 4 of the camera installation cover;

When the vision-guided vehicle 1 travels to the target station along the black tape 6, the camera 2 on the vision-guided vehicle 1 collects the black tape 6, and feeds back the image collected to the Cortex-A9 processor 3, so that The bottom edge of the image is the X-axis, and the center line is the Y-axis to establish a central coordinate system to obtain the deviation distance D and deviation angle θ of the vision-guided vehicle 1, which are used for the real-time deviation correction control of the vision-guided vehicle 1. The deviation distance D refers to is the distance from the center of the black tape 6 to the Y axis, and the deviation angle θ refers to the angle at which the black tape 6 deviates from the Y axis;

When the vision-guided vehicle 1 passes any station, the camera 2 collects the two-dimensional code label 11 of the station and the corresponding square positioning block, and feeds the collected image back to the Cortex-A9 processor 3, and the Cortex-A9 processor 3 pairs The image is processed, and the motor driver 8 controls four independently set mecanum wheels 10 to fine-tune the vision-guided vehicle 1, so that the four corners of the camera installation cover 4 are aligned with the four square positioning blocks 12, and the vision-guided vehicle 1 is stopped At the predetermined station, the station correction of the vision-guided vehicle 1 is realized, and at the same time, the current station information and the distance information from the adjacent station are obtained, and the vision-guided vehicle 1 continues to drive;

When the vision-guided vehicle 1 approaches the next station, the Cortex-A9 processor 3 controls the servo DC motor 5 to decelerate through the motor driver 8 according to the information stored in the two-dimensional code label 11 of the previous station, and collects the information through the camera 2. The two-dimensional code label 11 of a station and the corresponding square positioning block 12 determine whether the next station is the target station. If the next station is not the target station, the vision-guided vehicle 1 continues to the target station after correcting the station. The station travels; if the next station is the target station, the vision-guided vehicle 1 stops at the predetermined station.

The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts 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.