Positioning method and position identification of four-way vehicle three-dimensional coordinate system based on QR code

Abstract

The present invention discloses a three-dimensional coordinate system positioning method and position identification for a four-way vehicle based on a QR code, which relates to the technical field of four-way vehicle positioning. A three-dimensional coordinate system is established according to the layers, columns, and rows of an automated dense storage vertical warehouse; and QR code labels and QR code matrix labels are posted at corresponding positions; during the operation and parking of the four-way vehicle, the QR code labels and QR code matrix labels are scanned and identified, and the position of the four-way vehicle in the three-dimensional coordinate system in the automated dense storage vertical warehouse is determined by parsing the three-dimensional coordinate information. The three-dimensional coordinate system positioning method and position identification for a four-way vehicle based on a QR code scans and identifies the QR code labels during the operation and parking of the four-way vehicle, determines the position of the four-way vehicle in the three-dimensional coordinate system in the automated dense storage vertical warehouse, and adjusts the position according to the feedback value. The four-way vehicle can perform precise positioning and reversing, and the design and installation are simpler.

Description

Technical Field

[0001] The present invention relates to the technical field of four-way vehicle positioning, and in particular to a four-way vehicle three-dimensional coordinate system positioning method and position identification based on a QR code. Background Art

[0002] With the development of intelligent manufacturing, the market for intelligent warehousing continues to expand and mature. This has led to higher demands for intelligent warehousing. How to store more materials within limited space and achieve more economical unit costs have become prominent challenges. This has led to the expansion of applications for four-way carts for dense storage. However, these carts themselves present significant challenges.

[0003] Conventional four-way shuttles utilize encoders in conjunction with photoelectric sensors or RFID for positioning. These systems are subject to issues such as photoelectric interference, complex design and installation, difficulty debugging, and low positioning accuracy. This leads to frequent equipment failures, impacting efficiency and user experience. Traditional methods lack timely feedback on the three-dimensional coordinate system of the four-way shuttle within the warehouse, complicating the warehouse control system's scheduling and creating the risk of misjudgment and collision.

[0004] Therefore, it is necessary to propose a four-way vehicle three-dimensional coordinate system positioning method and position identification based on QR code to solve the above problems. Summary of the Invention

[0005] (1) Technical problems solved

[0006] The purpose of the present invention is to provide a three-dimensional coordinate system positioning method and position identification based on a QR code for a four-way vehicle, so as to solve the problems of complex design and installation and low positioning accuracy of the existing three-dimensional coordinate system positioning method for an automated dense storage system of a four-way vehicle proposed in the above background technology.

[0007] (2) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a QR code-based three-dimensional coordinate system positioning method for a four-way vehicle, involving a four-way vehicle, wherein the four-way vehicle is provided with a QR code acquisition module and a wireless communication module, and the specific method is as follows: establishing a three-dimensional coordinate system according to the layers, columns, and rows of the automated dense storage warehouse; posting a QR code label containing the three-dimensional coordinate information of the position on the shelf; posting a QR code matrix label containing the three-dimensional coordinate information of the position and the two-dimensional coordinate information based on the two-dimensional coordinate system at the track intersection; scanning and identifying the QR code label and the QR code matrix label during the operation and parking of the four-way vehicle, and determining its position in the three-dimensional coordinate system in the automated dense storage warehouse by parsing the three-dimensional coordinate information; when the four-way vehicle scans and identifies the QR code matrix label, the offset between each QR code and the two-dimensional coordinate origin is determined by parsing the two-dimensional coordinate information in different QR codes in the QR code matrix label, and the four-way vehicle is accurately positioned; the position information of the four-way vehicle is transmitted to the warehouse control system through the wireless communication module.

[0009] A position marker for a three-dimensional coordinate system positioning method for a four-way vehicle based on a QR code, comprising a QR code label and a QR code matrix label, wherein the center of the QR code matrix label is provided with an origin of the two-dimensional coordinate system, and the QR code matrix label is provided with arrows for identifying the X and Y directions of the two-dimensional coordinate system.

[0010] Furthermore, a plurality of calibration QR codes are printed on the QR code matrix label, and the plurality of calibration QR codes are evenly distributed in the four quadrants of the two-dimensional coordinate system, and the two-dimensional coordinate information carried by the calibration QR codes corresponds to their printed positions.

[0011] Furthermore, the two-dimensional code acquisition module is a visual sensor.

[0012] Furthermore, the distance between the visual sensor and the position marker is 80 to 120 mm.

[0013] (3) Beneficial effects

[0014] Compared with the prior art, the present invention provides a positioning method and position identification system for a four-way vehicle based on a QR code, which has the following beneficial effects:

[0015] This QR code-based three-dimensional coordinate system positioning method and position identification for a four-way vehicle scans and identifies the QR code label during the operation and parking of the four-way vehicle, determines its three-dimensional coordinate system position in the automated dense storage warehouse, and makes adjustments based on the feedback value. The four-way vehicle can perform precise positioning and reversing, while being simpler to design and install. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of a QR code label of the present invention;

[0017] Figure 2 Schematic diagram of a QR code matrix label of the present invention;

[0018] Figure 3 Schematic diagram of the layout of the QR code matrix label of the present invention. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] A three-dimensional coordinate system positioning method for a four-way vehicle based on a QR code, involving a four-way vehicle equipped with a QR code acquisition module and a wireless communication module, and the specific method is as follows:

[0021] A three-dimensional coordinate system is established based on the layers, columns, and rows of the automated dense storage warehouse.

[0022] A QR code label containing the three-dimensional coordinate information of the location is posted on the shelf; a QR code matrix label containing the three-dimensional coordinate information of the location and the two-dimensional coordinate information based on the two-dimensional coordinate system is posted at the track intersection.

[0023] During the operation and parking of the four-way vehicle, the QR code label and QR code matrix label are scanned and identified, and the position in the three-dimensional coordinate system of the automated dense storage warehouse is determined by parsing the three-dimensional coordinate information.

[0024] In a QR code label, three-dimensional coordinate information is represented by numbers, with the first two digits being defined as layers, the middle three digits as columns, and the last three digits as rows. The numbers for QR code labels are: 01 001 001 to 99 999 999. For example, a visual sensor reads the following data: 02 001 003 (e.g. Figure 1 As shown), then the current position can be clearly indicated as: 2nd layer, 1st column, 3rd row.

[0025] In the QR code matrix label, the three-dimensional coordinate information and the two-dimensional coordinate information are both represented by numbers. Compared with the QR code label, an X-axis QR code identifier and a Y-axis QR code identifier are added to the front of the number of the QR code label. In this embodiment, a 4x4 QR code matrix is ​​used as an example (such as Figure 2 As shown in the figure, when the four-way vehicle scans and recognizes the QR code matrix label, the four-way vehicle is accurately positioned by parsing the two-dimensional coordinate information of different QR codes in the QR code matrix label, determining the offset between each QR code and the two-dimensional coordinate origin.

[0026] A location marker for a three-dimensional coordinate system positioning method for a four-way vehicle based on a QR code, comprising a QR code label and a QR code matrix label, wherein the center of the QR code matrix label is provided with an origin of the two-dimensional coordinate system, and the QR code matrix label is provided with arrows for identifying the X and Y directions of the two-dimensional coordinate system, which makes it more convenient to post (such as Figure 3 As shown), to avoid confusion in the coordinate direction of the two-dimensional coordinate system, a plurality of calibration QR codes are printed on the QR code matrix label, and the plurality of calibration QR codes are evenly distributed in the four quadrants of the two-dimensional coordinate system. The two-dimensional coordinate information carried by the calibration QR code corresponds to its printed position.

[0027] The two-dimensional code acquisition module is a visual sensor, and the distance between the visual sensor and the position mark is 80 to 120 mm.

[0028] The visual sensor can capture multiple calibration QR codes at once. Even if dust or oil accumulation prevents the reading of some calibration QR codes, the remaining calibration QR codes can still be read to determine the location information. This provides good redundancy for the QR code matrix tag, improving system stability.

[0029] Among them, the number of digits of the QR code label and the QR code matrix label can be increased or decreased according to the number of layers, columns and rows of the automated dense storage library. The wireless communication module transmits the position of the four-way vehicle to the warehouse control system so that the warehouse control system can dispatch the four-way vehicle and reduce the risk of collision.

[0030] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional coordinate system positioning method for a four-way vehicle based on a QR code, involving a four-way vehicle equipped with a QR code acquisition module and a wireless communication module, characterized in that: The specific method is as follows: A. Establish a three-dimensional coordinate system based on the layers, columns, and rows of the automated dense storage warehouse; B. Post a QR code label containing the three-dimensional coordinate information of the shelf on the shelf. In the QR code label, the three-dimensional coordinate information is represented by numbers, with the first two digits being the layer, the middle three digits being the column, and the last three digits being the row; Post a QR code matrix label containing the three-dimensional coordinate information of the track intersection and the two-dimensional coordinate information based on the two-dimensional coordinate system at the track intersection. In the QR code matrix label, the three-dimensional coordinate information and the two-dimensional coordinate information are both represented by numbers. Compared with the QR code label, an X-axis QR code identifier and a Y-axis QR code identifier are added to the front of the number of the QR code label; C. During the operation and parking of the four-way vehicle, the QR code acquisition module scans and identifies the QR code label and the QR code matrix label, and determines its position in the three-dimensional coordinate system of the automated dense storage warehouse through the parsed three-dimensional coordinate information; D. When the four-way car scans and recognizes the QR code matrix label, it parses the two-dimensional coordinate information of different QR codes in the QR code matrix label, determines the offset between each QR code and the two-dimensional coordinate origin, and accurately locates the four-way car; E. Transmit the four-way vehicle position information to the warehouse control system through the wireless communication module.

2. The method for positioning a four-way vehicle in a three-dimensional coordinate system based on a QR code according to claim 1, characterized in that: The two-dimensional code acquisition module is a visual sensor.

3. The method for positioning a four-way vehicle in a three-dimensional coordinate system based on a QR code according to claim 2, characterized in that: The distance between the visual sensor and the two-dimensional code label or the two-dimensional code matrix label is 80 to 120 mm.

4. A location marker for use in the positioning method of claim 1, comprising a QR code label and a QR code matrix label, characterized in that: The center of the two-dimensional code matrix label is provided with an origin of a two-dimensional coordinate system, and the two-dimensional code matrix label is provided with arrows for identifying the X and Y directions of the two-dimensional coordinate system.

5. The position marker according to claim 4, characterized in that: The QR code matrix label is printed with a plurality of calibration QR codes, which are evenly distributed in the four quadrants of the two-dimensional coordinate system. The two-dimensional coordinate information carried by the calibration QR codes corresponds to their printed positions.

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