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Indoor AGV navigation method and system based on QR code guidance and visible light positioning

A navigation method and two-dimensional code technology are applied in the field of mobile robot trolleys, which can solve the problems of expensive equipment, high cost of measuring equipment, and high requirements for time measurement accuracy, and achieve the effect of low cost and high accuracy

Pending Publication Date: 2018-04-20
SOUTH CHINA UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

The AOA angle positioning algorithm obtains the current position information by calculating the relative angle between the optical information sending end and the receiving end, which requires very high angle measurement accuracy and requires high cost of measurement equipment
The TOA algorithm and the TDOA algorithm obtain position information by calculating the propagation time or time difference of optical information, which requires high accuracy of time measurement and the equipment is also expensive

Method used

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  • Indoor AGV navigation method and system based on QR code guidance and visible light positioning
  • Indoor AGV navigation method and system based on QR code guidance and visible light positioning
  • Indoor AGV navigation method and system based on QR code guidance and visible light positioning

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Embodiment 1

[0049] An indoor AGV navigation method and system based on two-dimensional code guidance and visible light positioning, the system includes: LEDs that transmit specific light information, visible light receivers installed on the top of the AGV, two-dimensional code labels containing direction information, and installed on the AGV High-speed camera and navigation CPU module at the bottom;

[0050] The visible light receiver and the high-speed camera are connected with the navigation CPU module through an electrical connection, and are controlled by the navigation CPU module. The navigation CPU module is connected to the motion control CPU of the AGV, and transmits position information and heading information. The motion control CPU adjusts the AGV running state according to the position information and heading information.

[0051] The implementation methods specifically include:

[0052] Step 1: Install 3 to 4 LEDs that transmit specific light information at appropriate plac...

Embodiment 2

[0075] The two-dimensional code label used in this embodiment is as figure 1 As shown, the label is composed of 4 QR codes containing different digital information, such as 1, 2, 3, 4. When analyzing the two-dimensional code label image, it is through figure 2 The high-speed camera at the bottom shown captures the two-dimensional code label image, recognizes the digital information contained in each two-dimensional code, and calculates the coordinates of each two-dimensional code center point (u 1 ,v 1 ),(u 2 ,v 2 ),(u 3 ,v 3 ),(u 4 ,v 4 ), and then calculate the deviation angle θ between the direction indicated by the two-dimensional code label and the direction of the AGV car, such as image 3 shown.

[0076] Below to Figure 4 This method is explained in detail in the specific situation.

[0077] First establish the indoor space coordinate system (x, y). The AGV is at the starting point at the beginning, and the position coordinates at the starting point obtaine...

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Abstract

The invention discloses an indoor AGV navigation method and system based on QR code guidance and visible light positioning. A QR code label is attached to the node of an AGV moving path, so that whenthe AGV moves to the position near the node, a QR code image captured by a high-speed camera can be analyzed to obtain the moving direction of the next step. The AGV can be positioned in real time through the RSS positioning method based on the visible light communication technology when the AGV moves between two nodes, and deviation can be prevented. The visible light communication positioning isadded when QR code recognition technology is used for navigation. The problem that the AGV is deviated from the direction due to lack of positioning information between QR codes which are too long indistance when only QR code navigation is used is avoided. An indoor AGV navigation positioning method which is low in cost is provided.

Description

technical field [0001] The invention relates to the technical field of mobile robot cars, in particular to an indoor AGV navigation method and system based on two-dimensional code guidance and visible light positioning. Background technique [0002] Traditional indoor AGV navigation and positioning methods are mainly magnetic stripe navigation methods using electromagnetic induction technology, radio frequency tag positioning methods using RFID technology, positioning methods based on machine vision technology, laser technology positioning methods, etc. However, magnetic stripe navigation changes the path Difficulties, RFID positioning accuracy is insufficient, machine vision positioning algorithms are generally complex, poor real-time performance, and laser positioning is expensive. In response to these positioning accuracy and cost problems, new methods such as navigation and positioning methods based on two-dimensional code recognition technology and positioning methods b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0234G05D1/0246
Inventor 吴玉香冼颖宪
Owner SOUTH CHINA UNIV OF TECH
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