Positioning method based on machine vision

A positioning method and machine vision technology, applied in the direction of instruments, computer parts, image data processing, etc., can solve the problems of low efficiency, high cost, waste of human resources and other problems of manual transportation, and achieve improved labor productivity, low cost, and reduced The effect of human dependence

Active Publication Date: 2015-08-12
SOUTHEAST UNIV
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Problems solved by technology

[0009] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a positioning method based on machine vision, and applies the present invention to AGV to solve traditional manual transportation with low efficiency, waste of human resources and high cost technical issues

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  • Positioning method based on machine vision
  • Positioning method based on machine vision
  • Positioning method based on machine vision

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] 1 Design positioning label

[0037] The positioning label designed by this method is as follows figure 2 As shown, it contains 16-bit binary information, which is divided into 3 parts: 10 data bits, 4 direction flag bits, and 2 check bits. Wherein, the data bit represents the position of the positioning tag in the environment, and the direction flag bit represents the direction of the positioning tag in the environment.

[0038] 1.1 Locate label size and shape

[0039] The positioning label designed by the present invention includes two colors of red and white, a square size of 18cm*18cm, and is divided into two areas: a frame area and a data area. Such as image 3 As shown, the outer slashed area is the border area, and the middle unslashed area is the data area. The border area is a red box with a width of 2.25cm. The data area is 16 red and white square...

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Abstract

The invention discloses an AGV positioning method based on machine vision. The method comprises the steps: enabling an environment to be digitalized through the design of a positioning digital label firstly; obtaining an image comprising a label through a vehicle-mounted visual system; processing the image through an algorithm, and recognizing the position, content and deflection angle of the label secondly; and finally converting the position, content and deflecting angle into the position and posture of a car in an environment through the calibration of a distance relation table of a camera and the related coordinate conversion, thereby achieving the positioning of the car in the environment. The method is different from other AGV positioning methods based on machine vision, and is small in computation burden in a recognition process. Moreover, the positioning precision and speed can meet the requirements of AGV navigation.

Description

technical field [0001] The invention relates to the field of machine vision, in particular to a positioning method. Background technique [0002] Machine vision is to use visual sensors to obtain pictures and use image processing systems to perform various measurements and judgments. It is an important branch of computer science, which integrates technologies in optics, mechanics, electronics, computer software and hardware, etc. Visual navigation is a technology that processes the images acquired by the visual sensor to obtain the pose parameters of the carrier. At present, the visual navigation technology of mobile robots is mainly used in the four aspects of mobile robot racing, industrial AGV, autonomous navigation of intelligent vehicles, and national defense technology research. [0003] At present, the transportation of warehouse goods mainly relies on manpower, and there are problems such as low work efficiency and serious waste of human resources. Therefore, there...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/60G06K9/46
CPCG06T7/60G06T7/73G06T7/80G06T2207/20061G06V10/48
Inventor 李新德徐叶帆
Owner SOUTHEAST UNIV
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