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Indoor automatic transport vehicle positioning system with three fixed balls as visual marker

A technology for automatic transport vehicles and markers, which is applied in signal transmission systems, photogrammetry/video surveying, measurement devices, etc., and can solve the problems of AGV appearance not being invariant, not suitable for positioning targets, affecting ranging algorithms, etc. , to achieve the effect of improving system universality, small error, and improving positioning accuracy

Inactive Publication Date: 2015-07-22
GUANGDONG UNIV OF TECH +2
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AI Technical Summary

Problems solved by technology

However, in practical applications, the movement of the robot or car will easily cause the camera to shake, which will seriously affect the ranging algorithm and cause a large error
[0004] Usually the automatic transport vehicle (AGV) itself is not suitable as a positioning target, because the appearance of AGVs in different applications is different, and the recognition algorithm needs to be changed for different AGVs, and the appearance of the AGV is not invariant under different views, and a correction algorithm needs to be added , which not only brings correction error, but also increases code overhead

Method used

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  • Indoor automatic transport vehicle positioning system with three fixed balls as visual marker
  • Indoor automatic transport vehicle positioning system with three fixed balls as visual marker
  • Indoor automatic transport vehicle positioning system with three fixed balls as visual marker

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Embodiment Construction

[0028] Below in conjunction with accompanying drawing, the implementation of the present invention is described in further detail

[0029] (1) Design a specific combination of three-ball markers as the positioning target to indirectly realize the positioning function of the indoor automatic transport vehicle. The structure of the marker is as follows: figure 1 As shown, the ratio of the radius of the three small balls is R1:R2:R3=2:1:1, and the ratio of the distance L0 between the center of the two small balls and the center of the big ball to the radius R1 of the big ball is L0:R1=4:1 , the angle between the center of the two small balls and the center of the big ball ∠QPQ'=120°, the three balls can be loaded with LEDs of three different colors, and can be matched into 27 different combinations of markers.

[0030] When detecting the position of the positioning target, it is only necessary to find out the position of the center of the big ball in the image, and then calculate...

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Abstract

The invention discloses an indoor automatic transport vehicle positioning system with three fixed balls as a visual marker. The system is characterized in that three luminescence balls with specific size proportions and specific positions are combined as a marker, and are fixed on an automatic transport vehicle; a pinhole camera is fixed on an indoor ceiling, and downward shoots the marker; and an embedded system connected to the camera is used to carry out marker extraction and analysis of every frame of images in order to complete detection of the pose of the automatic transport vehicle, and communication and control of the automatic transport vehicle are completed through a wireless module according to the above positioning result. The positioning system has the advantages of simple calculation, simultaneous realization of position, direction and inclination angle positioning, good stability, high precision, and completion of positioning in complex environment.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to the technical field of indoor automatic transport vehicle positioning based on machine vision. Background technique [0002] Due to the many restrictive conditions in the indoor environment, the GPS system cannot give full play to its advantages of accurate positioning. Therefore, finding a suitable technology for indoor positioning (IPS) has quickly become a hot spot in today's research and development. At present, the commonly used indoor positioning technologies include AGPS technology, ultrasonic technology, radio frequency identification technology and wireless local area network technology, etc., but the positioning accuracy of these technologies is relatively low, not only susceptible to multipath effects and environmental changes, but also requires a large number of indoor positioning. Hardware facilities assist positioning, which is not conducive to maintenan...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00G08C17/02G01C21/00
CPCG01C21/206
Inventor 苏成悦林剑冰
Owner GUANGDONG UNIV OF TECH
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