Method for positioning automatic-navigation machinery vehicle in warehouse
A technology of automatic navigation and positioning method, which is applied in the field of logistics, can solve the problems of high system construction cost and poor adjustability, and achieve the effect of good flexibility, low cost and intuitive monitoring
Inactive Publication Date: 2013-08-07
SHANGHAI HIGH SCHOOL
View PDF0 Cites 12 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Indoor positioning technology has been developed in warehouse logistics management for some time, but there is no mature application technology, and most of them have problems such as high system construction cost and poor adjustability after completion
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0030] During the specific implementation of the present invention, several problems are involved.
[0031] The introduction of the problem of the standard map: Since the positioning system is to be used as a platform for solving other problems, it needs to have a good interface - the returned value can be used directly without too many modifications to the bottom layer of the platform. Based on this consideration, it is necessary to coincide the camera coordinate system with the real indoor scene to obtain the real position of the target point in the scene.
[0032] Solution: pre-store the standard plan map of the indoor space (equivalent to the plan design drawing), display the standard map and the image captured by the camera at the same time, and move the standard map up, down, left, right, zoom in, and zoom out in six ways Operate until the scenes in the two images coincide. Record the standard map horizontal displacement △x, vertical displacement △y, magnification ratio...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a method for positioning an automatic-navigation machinery vehicle in a warehouse. The method comprises the following steps of building an electronic map of a warehouse, uniformly dividing the warehouse into m*n areas, installing a camera on the top of each one of the m*n areas, carrying out camera calibration of camera videos, carrying out distortion correction, integrating images of the camera videos into an image of the whole warehouse, superposing the image without distortion and the electronic map of the warehouse, installing characteristic points on an automatic-navigation machinery vehicle, raising the cameras so that a virtual map plane set in the camera video coincides with a characteristic point plane, acquiring automatic-navigation machinery vehicle coordinates in a camera video coordinate system, and mapping the automatic-navigation machinery vehicle coordinates to a warehouse electronic map coordinate system to obtain a true position of the automatic-navigation machinery vehicle in the warehouse so that positioning is realized.
Description
technical field [0001] The invention belongs to the technical field of logistics, and in particular relates to a positioning method for a warehouse automatic navigation mechanical vehicle. Background technique [0002] In recent years, GPS technology has been widely used in various fields of military affairs, science and daily life, which brings great convenience to people and also heralds a broad application prospect of remote positioning technology. However, there is no corresponding mature application technology for indoor measurement and positioning. The visual analysis technology using CCD photography imaging and image computer processing has the characteristics of low hardware investment, strong versatility of software technology, good adaptability to the environment, and intuitive acquisition of complete information, so it has become a hot spot for development. [0003] In large warehouses, the goods are usually placed on the shelves by manpower-driven mechanical for...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
Inventor 李楚倩
Owner SHANGHAI HIGH SCHOOL