A four-way vehicle positioning device and positioning method based on cross 25 code

Abstract

The application discloses a four-way vehicle positioning device and positioning method based on cross 25 codes, the four-way vehicle positioning device based on cross 25 codes comprises a vertical warehouse shelf, each layer of the vertical warehouse shelf has an X-direction channel and a Y-direction channel; the four-way vehicle moves on the X-direction channel and the Y-direction channel of the vertical warehouse shelf; a plurality of cross 25 codes are vertically and spacedly arranged on the cross beams of the X-direction channel and the Y-direction channel; an imaging element is arranged on the X-direction and the Y-direction of the four-way vehicle; a processor is connected with the imaging element; the image data acquired by the processor and the imaging element is decoded based on the rules of the cross 25 codes, the pixel position of the cross 25 code in the image is acquired when the decoding is successful, finally, the offset amount of the center position of the imaging element from the center position of the cross 25 code is obtained based on the width of the cross 25 code, the rapid positioning of the four-way vehicle is realized, the cross 25 code is a one-dimensional code, the reading speed is fast, and the cross 25 code is vertically installed and is not easy to accumulate dust.

Description

Technical Field

[0001] This invention belongs to the field of four-way vehicle positioning technology, and particularly relates to a four-way vehicle positioning device and positioning method based on cross 25-yard spacing. Background Technology

[0002] In the process of rapid development of the logistics industry, comprehensive planning and innovative design of logistics warehousing are needed. Many companies want to realize automated warehouse operations, so the four-way vehicle has emerged. It is an automated storage robot used by various companies. The four-way vehicle has attracted widespread attention from various industries, and its market development prospects are also very broad.

[0003] Currently, traditional positioning methods using RFID in conjunction with photoelectric switches and positioning pads have low positioning accuracy. Furthermore, photoelectric switches are easily affected by shelf beams and light, leading to positioning errors and affecting the stability of four-way vehicle operation. In addition, installing positioning pads in each storage location results in a long construction period and high costs.

[0004] In addition, some systems use QR codes for positioning. When using these systems, the QR codes need to be laid flat. Over time, dust can easily accumulate on the QR codes, leading to a high rate of missed readings and positioning errors. This also results in a high failure rate for four-way vehicles. Horizontally installed QR codes require corresponding brackets to be fixed on the shelves. The installation of each bracket involves a large amount of construction work, which cannot meet the actual usage requirements. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art by providing a four-way vehicle positioning device and method based on a 25-yard cross-section. It has the advantages of easy installation, low cost, low dust accumulation, high positioning accuracy for four-way vehicles, and good user experience.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a four-way vehicle positioning device based on a 25-yard cross-trajectory system, comprising:

[0007] The automated storage and retrieval system (AS / RS) racking system has grid-distributed X-axis and Y-axis aisles.

[0008] A four-way vehicle moves on the X-axis channel and the Y-axis channel;

[0009] Multiple 25-yard crossovers are vertically spaced on the crossbeams of the X-direction and Y-direction channels;

[0010] Imaging elements are disposed in the X and Y directions of the four-way vehicle to capture image information about the crossbeams of the X and Y channels.

[0011] The processor, connected to the imaging element, is used to receive image information sent by the imaging element and perform four-way vehicle positioning after processing it according to the cross-25 code decoding rule.

[0012] Furthermore, the imaging element is a CMOS image sensor.

[0013] A positioning method based on a four-way vehicle positioning device with a cross-25-yard spacing includes the following steps:

[0014] S1. Place multiple cross-shaped 25-yard vertically spaced affixes on the crossbeams of each layer's X-axis and Y-axis channels, and simultaneously install two imaging elements on the X-axis and Y-axis of the four-way vehicle, respectively.

[0015] S2. When the four-way vehicle moves in the X-axis or Y-axis channel, it takes pictures of the cross 25 yards on the crossbeams of the X-axis and Y-axis channels through the X-axis or Y-axis imaging element to obtain the X-axis or Y-axis image data.

[0016] S3. After preprocessing the image data, a denoised image in the X or Y direction is obtained;

[0017] S4. Decode the denoised image in the X or Y direction according to the decoding rules of the cross-25 code. After successful decoding, obtain the pixel position of the cross-25 code in the denoised image in the X or Y direction.

[0018] S5. Based on the width of the 25-yard intersection, obtain the offset of the center position of the X-axis or Y-axis imaging element from the center position of the 25-yard intersection on the X-axis or Y-axis channel, thereby achieving the positioning of the four-way vehicle.

[0019] Furthermore, the preprocessing steps are as follows: first, the image data is filtered, and then binarized to obtain a denoised image.

[0020] Furthermore, the steps for decoding the denoised image according to the cross-25 code decoding rule are as follows:

[0021] S40. Obtain the width of all black and white stripes in the image;

[0022] S41. Determine the start and end symbols based on the characteristics of the cross-25 code;

[0023] S42. Decode the image that conforms to the start and end symbols according to the cross-25 code encoding rules. If the decoding is successful, the pixel position of the cross-25 code in the image is obtained.

[0024] Furthermore, the steps of S5 are as follows:

[0025] S50. Obtain the pixel width Pw of the image, where Pw is obtained based on the image width and height of the imaging element obtained by the processor;

[0026] S51. Calculate the pixel width Iw and center pixel Ic occupied by the cross 25 code; Iw = Rw – Lw + 1, Ic = (Rw + Lw) / 2, where Lw and Rw are the left and right boundaries of the cross 25 code, respectively;

[0027] S52. Calculate the length / pixel ratio C = W / Iw, where W is the fixed width of the intersecting 25 yards with different code values ​​pasted on the automated warehouse shelf, and the unit of W is mm;

[0028] S53. Calculate the offset D = C * ((Pw / 2) - Ic), where, when the imaging element is installed in the X or Y direction, D represents the offset of the center position of the imaging element in the X or Y direction from the center position of the X or Y channel that crosses by 25 yards.

[0029] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0030] 1. The processor and imaging element work together to acquire stable and effective image data. Then, a denoised image is obtained through preprocessing. The image is then decoded based on the rules of the cross-25 code. The pixel position of the cross-25 code in the image is obtained from the successfully decoded image. Finally, based on the width of the cross-25 code, the offset of the center position of the imaging element from the center position of the cross-25 code is obtained, thereby achieving rapid positioning of the four-way vehicle. Furthermore, the cross-25 code is a one-dimensional code, which allows for fast reading speed and more sensitive response.

[0031] 2. The 25-yard crossbars are vertically set on the crossbeam, which makes it less prone to dust accumulation during long-term use, resulting in a low rate of missed detection and further improving the positioning accuracy of the four-way vehicle. Attached Figure Description

[0032] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0033] Figure 1 This is a schematic diagram of the structure of a four-way vehicle positioning device based on cross 25-yard spacing according to an embodiment of the present invention;

[0034] Figure 2 This is a flowchart of a positioning method for a four-way vehicle positioning device based on a cross-25-yard crossover, according to an embodiment of the present invention.

[0035] Figure 3 This is a schematic diagram of a grayscale image in one embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of a grayscale image after image filtering in one embodiment of the present invention;

[0037] Figure 5This is a schematic diagram of a grayscale image after image filtering and binarization in one embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the barcode in pixels according to an embodiment of the present invention;

[0039] The system includes: 1. Automated warehouse racking; 2. Four-way carts; 3. Cross racks (25 yards); 4. Imaging elements; 10. X-axis aisles; and 11. Y-axis aisles. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0041] This invention provides a four-way vehicle positioning device and method based on cross-25-code positioning, which solves the problems of complex design, difficult debugging, high cost, low positioning accuracy, and poor user experience of existing four-way vehicles.

[0042] For ease of understanding, the specific processes in the embodiments of this application are described below. Please refer to [link / reference]. Figure 1 An embodiment of this application discloses a four-way vehicle positioning device based on cross 25-yard markings, comprising an automated storage and retrieval system (AS / RS) rack 1, a four-way vehicle 2, cross 25-yard markings 3, an imaging element 4, and a processor (not shown in the figure); the AS / RS rack 1 has grid-distributed X-direction channels 10 and Y-direction channels 11; the four-way vehicle 2 moves on the X-direction channels 10 and Y-direction channels 11 of the AS / RS rack 1; multiple cross 25-yard markings are vertically spaced on the crossbeams of the X-direction channels 10 and Y-direction channels 11, and in this embodiment, the cross 25-yard markings 3 are made of PVC material and are attached to the crossbeams with 3M adhesive.

[0043] Imaging elements 4 are installed in the X and Y directions of the four-way vehicle 2 to capture image information about the crossbeams of the X-direction channel 10 and the Y-direction channel 11. Specifically, the imaging element in the X direction captures images of the crossbeams of the X-direction channel when the four-way vehicle moves in the X direction, and the imaging element in the Y direction captures images of the crossbeams of the Y-direction channel when the four-way vehicle moves in the Y direction.

[0044] The processor is connected to the imaging element 4 and is used to receive image information sent by the imaging element and perform four-way vehicle positioning after processing it with the cross 25-code decoding rule.

[0045] In this embodiment, the imaging element 4 is a CMOS image sensor. The CMOS image sensor can capture more than 100 frames per second, so that the CMOS image sensor can acquire undistorted images even when operating at high speed. Such a CMOS image sensor has more accurate positioning.

[0046] During operation, each cross 25-code is vertically set at the required parking position of the four-way vehicle. Since the cross 25-code is installed vertically on the crossbeam, it is less prone to dust accumulation compared to the currently horizontally placed QR codes. During installation, it only needs to be affixed to the side of the crossbeam of the X-way and Y-way channels, which is convenient for construction, does not accumulate dust, has a low rate of missed reading, and ensures the stable operation of the four-way vehicle for a long time.

[0047] In addition, when the four-way vehicle moves to the designated intersection 25-code location, the imaging element captures an image of the intersection 25-code and then sends the image information to the processor. The processor decodes the image information based on the intersection 25-code to locate the four-way vehicle. Here, the intersection 25-code is read. Since the intersection 25-code is a one-dimensional code, the reading speed is fast, which makes the four-way vehicle's response speed more accurate and sensitive, resulting in a better user experience.

[0048] See Figure 2 The present invention also discloses a positioning method for a four-way vehicle positioning device based on a cross-25-yard system, comprising the following steps:

[0049] S1. Vertically attach multiple 25-yard crossbars to the crossbeams of each layer's X-axis and Y-axis channels, and simultaneously install two imaging elements in the X-axis and Y-axis directions of the four-way vehicle, respectively.

[0050] In step S1, the cross 25 codes are vertically affixed to the crossbeam. This makes them less prone to dust accumulation, has a lower rate of missed readings, and is easier to install compared to horizontally placed QR codes.

[0051] S2. When the four-way vehicle moves in the X-axis or Y-axis channel, it takes pictures of the cross 25 yards on the crossbeams of the X-axis and Y-axis channels through the X-axis or Y-axis imaging element to obtain the X-axis or Y-axis image data.

[0052] The image data obtained in step S2 in the X or Y direction contains image information with 25-yard overlap.

[0053] S3. After preprocessing the image data, a denoised image in the X or Y direction is obtained;

[0054] See Figures 3 to 5The purpose of step S3 is to obtain a clear denoised image. The preprocessing steps in this embodiment are as follows: First, the image data is filtered by an adaptive median filtering algorithm to eliminate image noise; then, binarization is performed so that the image has only black and white pixel data, and finally a clear denoised image is obtained.

[0055] S4. Decode the denoised image in the X or Y direction according to the decoding rules of the cross-25 code. After successful decoding, obtain the pixel position of the cross-25 code in the denoised image in the X or Y direction.

[0056] In step S3, the steps for decoding the denoised image according to the cross-25 code are as follows: S30. Obtain the width of all black and white stripes in the image; S31. Determine the start and end symbols based on the cross-25 code features; S32. Decode the image that matches the start and end symbols according to the cross-25 code encoding rules. If the decoding is successful, the pixel position of the cross-25 code in the image is obtained.

[0057] S5. Based on the width of the 25-yard intersection, obtain the offset of the center position of the X-axis or Y-axis imaging element from the center position of the 25-yard intersection on the X-axis or Y-axis channel, thereby achieving the positioning of the four-way vehicle.

[0058] See Figure 6 The specific steps of S5 in this implementation are as follows:

[0059] S50. Obtain the pixel width Pw of the image, where Pw is obtained based on the image width and height of the imaging element obtained by the processor;

[0060] S51. Calculate the pixel width Iw and center pixel Ic occupied by the cross 25 code; Iw = Rw – Lw + 1, Ic = (Rw + Lw) / 2, where Lw and Rw are the left and right boundaries of the cross 25 code, respectively;

[0061] S52. Calculate the length / pixel ratio C = W / Iw, where W is the fixed width of the intersecting 25 yards with different code values ​​pasted on the automated warehouse shelf, and the unit of W is mm;

[0062] S53. Calculate the offset D = C * ((Pw / 2) - Ic), where, when the imaging element is installed in the X or Y direction, D represents the offset of the center position of the imaging element in the X or Y direction from the center position of the X or Y channel that crosses by 25 yards.

[0063] Using the aforementioned offset, the position of the four-way vehicle can be quickly and accurately located based on the rule of 25-yard intersection.

[0064] See Figure 6In practical applications, the cross 25 code 01001001 indicates that the four-way vehicle is located in the four-way warehouse at position X010Y010Z01.

[0065] In summary, the present invention is based on a four-way vehicle positioning device and positioning method with 25-yard crosses. Since the 25-yard crosses are vertically set on the crossbeam, they are less prone to dust accumulation, resulting in a low false detection rate of the imaging element.

[0066] Meanwhile, this invention uses a processor and an imaging element to acquire stable and effective image data. Then, it preprocesses to obtain a denoised image, and then decodes the image based on the rules of the cross-25 code. The pixel position of the cross-25 code in the image is obtained from the successfully decoded image. Finally, based on the width of the cross-25 code, the offset of the center position of the imaging element from the center position of the cross-25 code is obtained, thereby quickly locating the position of the four-way vehicle. The obtained position is stable and not affected by external factors. The overall structure is simple and easy to install and operate. The cross-25 code is a one-dimensional code, which allows for fast reading speed and more sensitive response.

[0067] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A positioning method for a four-way vehicle positioning device based on a 25-yard cross-track system, characterized in that, The four-way vehicle positioning device includes: an automated storage and retrieval system (AS / RS) rack with grid-distributed X-axis and Y-axis channels; a four-way vehicle that moves along the X-axis and Y-axis channels; multiple 25-yard crossbars vertically spaced on the crossbeams of the X-axis and Y-axis channels; an imaging element disposed along the X and Y axes of the four-way vehicle for capturing image information about the crossbeams of the X-axis and Y-axis channels; and a processor connected to the imaging element for receiving the image information sent by the imaging element, processing it according to the decoding rules of the 25-yard crossbars, and then positioning the four-way vehicle; the imaging element is a CMOS image sensor. The positioning method includes the following steps: S1. Vertically attach multiple cross-shaped 25-yard intervals to the crossbeams of the X-direction and Y-direction channels, and simultaneously install two imaging elements in the X-direction and Y-direction of the four-way vehicle respectively. S2. When the four-way vehicle moves in the X-axis or Y-axis channel, it takes pictures of the cross 25 yards on the crossbeams of the X-axis and Y-axis channels through the X-axis or Y-axis imaging element to obtain the X-axis or Y-axis image data. S3. After preprocessing the image data, a denoised image in the X or Y direction is obtained; S4. Decode the denoised image in the X or Y direction according to the decoding rules of the cross-25 code. After successful decoding, obtain the pixel position of the cross-25 code in the denoised image in the X or Y direction. S5. Based on the width of the 25-yard intersection, obtain the offset of the center position of the X-axis or Y-axis imaging element from the center position of the 25-yard intersection on the X-axis or Y-axis channel, thereby achieving the positioning of the four-way vehicle.

2. The positioning method of the four-way vehicle positioning device based on cross-25-yard positioning as described in claim 1, characterized in that, The preprocessing steps are as follows: First, the image data is filtered, and then binarized to obtain a denoised image.

3. The positioning method of the four-way vehicle positioning device based on cross-25-yard positioning as described in claim 1, characterized in that, The steps for decoding the denoised image according to the cross-25 code decoding rule are as follows: S40. Obtain the width of all black and white stripes in the image; S41. Determine the start and end symbols based on the characteristics of the cross-25 code; S42. Decode the image that conforms to the start and end symbols according to the cross-25 code encoding rules. If the decoding is successful, the pixel position of the cross-25 code in the image is obtained.

4. The positioning method of the four-way vehicle positioning device based on cross-25-yard positioning as described in claim 1, characterized in that, The steps for S5 are as follows: S50. Obtain the pixel width Pw of the image, where Pw is obtained based on the image width and height of the imaging element obtained by the processor; S51. Calculate the pixel width Iw and center pixel Ic occupied by the cross 25 code; Iw = Rw – Lw +1, Ic = (Rw +Lw) / 2, where Lw and Rw are the left and right boundaries of the cross 25 code, respectively; S52. Calculate the length / pixel ratio C = W / Iw, where W is the fixed width of the intersecting 25 yards of different yardage values ​​pasted on the automated warehouse shelf, and the unit of W is mm; S53. Calculate the offset D=C * ((Pw / 2)-Ic), where, when the imaging element is installed in the X or Y direction, D represents the offset of the center position of the imaging element in the X or Y direction from the center position of the X or Y channel that crosses by 25 yards.

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