Novel AGV two-dimensional code recognition system

Abstract

The utility model discloses a novel AGV two-dimensional code recognition system, which relates to the technical field of AGV two-dimensional code recognition and comprises an AGV. A camera unit, a background color calculation unit, a control unit, a background light adjustment unit and a background light are arranged on the AGV; the background color calculation unit is in communication connection with the camera unit, the background color calculation unit is in communication connection with the control unit, the control unit is connected with the background color calculation unit, the control unit is in adjustment connection with the background light adjustment unit, and the background light adjustment unit is in control connection with the background light. The background light control circuit of the background light adjusting unit is used for adjusting the color of the background light of the AGV, the recognition precision of the camera is improved, and the AGV two-dimensional code is better recognized.

Description

Technical Field

[0001] The utility model belongs to the technical field of AGV two-dimensional code recognition, and particularly relates to a novel AGV two-dimensional code recognition system. Background Art

[0002] AGVs are widely used in smart factories. In practical applications, AGVs use QR code navigation technology to achieve accurate movement of the trolley. AGVs obtain specific location information through QR code recognition technology, providing a guarantee for the correct movement path of the AGVs.

[0003] The chassis of the AGV car is relatively low and the light brightness is insufficient. When the camera recognizes the QR code, it needs to turn on the background light to increase the brightness and improve the camera recognition accuracy.

[0004] Currently, AGVs usually use a single light source as their background light. However, the floor colors in factories are diverse, which reduces the camera’s recognition accuracy and sometimes makes it impossible to recognize the QR code information. Utility Model Content

[0005] The purpose of this utility model is to provide a new AGV two-dimensional code recognition system, so as to overcome the shortcomings that the current AGV usually uses a single light source as the background light, which leads to reduced camera recognition accuracy and sometimes fails to recognize the information of the two-dimensional code. The specific technical solution is as follows:

[0006] A novel AGV two-dimensional code recognition system includes an AGV trolley; the AGV trolley is provided with a camera unit, a background color calculation unit, a control unit, a background light adjustment unit and a background light; the background color calculation unit is communicatively connected to the camera unit, the background color calculation unit is communicatively connected to the control unit, the control unit is connected to the background color calculation unit, the control unit is adjustedly connected to the background light adjustment unit, and the background light adjustment unit controls the connection to the background light.

[0007] Preferably, the control unit is a micro control unit.

[0008] Preferably, the background light adjustment unit includes a background light control circuit;

[0009] The background light control circuit includes an inductor L1, MOS tubes Q1, Q2, a background light D1, a diode D2, resistors R1, R2, R3, R4, and a capacitor C1;

[0010] One end of the inductor L1 is connected to the power supply, and the other end is connected to the anode of the diode D2. The cathode of the diode D2 is connected to the anodes of the capacitor C1 and the background light D1 respectively. The cathode of the background light D1 is connected to the D pole of the MOS tube Q2. The S pole of the MOS tube Q2 is connected to one end of the resistor R3. The G pole of the MOS tube Q2 is grounded. The other end of the resistor R3 is connected to the MK pin of the micro control unit. One end of the resistor R4 is connected to R3, and the other end is grounded.

[0011] The D pole of the MOS tube Q1 is connected to one end of the pole L1, the S pole of the MOS tube Q1 is connected to one end of the resistor R1, the resistor R1 is connected to the PWM pin of the micro control unit, one end of the resistor R2 is connected to R1, and the other end is respectively connected to the G pole of the MOS tube Q1 and the capacitor C1.

[0012] Preferably, it also includes a motor drive module, the motor drive module includes a motor drive circuit, and the motor drive circuit is used to drive the AGV vehicle;

[0013] The motor drive circuit is a bridge motor drive circuit composed of MOS tubes Q3, Q4, Q5, and Q6, which is used to control the forward and reverse rotation and stop of the motor of the AGV vehicle. The micro control unit controls the speed of the motor through a PWM waveform.

[0014] Preferably, the motor drive circuit uses two IR2102 drive chips for isolated control, and each of the IR2102 drive chips is respectively connected to a pin of the micro control unit.

[0015] Preferably, the model of the MOS tube Q1 is SL2312, the model of the MOS tube Q2 is A03404, the model of the diode D2 is SS34, and the background light D1 is a light emitting diode.

[0016] Preferably, the MOS tubes Q3, Q4, Q5, and Q6 are all MOS tubes of model IRF540.

[0017] Compared with the existing technology, the utility model has the following beneficial effects:

[0018] 1. In the utility model, the color of the background light of the AGV car is adjusted by the background light control circuit of the background light adjustment unit, so as to improve the recognition accuracy of the camera and better recognize the AGV QR code.

[0019] 2. In the utility model, through the motor drive circuit in the energy-saving control module, the travel distance of the AGV can be known according to the driving of the motor of the AGV, and the background light can be automatically controlled to reduce the loss of battery power. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0021] Figure 1 It is a system block diagram of the utility model.

[0022] Figure 2 It is a circuit diagram of a background light adjustment unit of the utility model.

[0023] Figure 3 It is a circuit diagram of a motor drive module of the utility model. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "top", "bottom", "top surface", "bottom surface", "inside", "outside", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0026] In the description of the present utility model, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If the terms "first", "second", "third" are described, they are only used for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is a description of the embodiments of the present invention based on its overall structure.

[0028] Example

[0029] like Figure 1-3 As shown, a new type of AGV two-dimensional code recognition system includes an AGV cart; the AGV cart is provided with a camera unit, a background color calculation unit, a control unit, a background light adjustment unit and a background light; the background color calculation unit is communicatively connected with the camera unit, the background color calculation unit is communicatively connected with the control unit, the control unit is connected with the background color calculation unit, the control unit is adjustedly connected with the background light adjustment unit, and the background light adjustment unit controls the background light.

[0030] In the above scheme, the camera unit uses a high-definition camera to be secretly turned on the AGV, and the image information of the QR code and the background color is obtained through the high-definition camera, and the chromaticity value is calculated by the background color calculation unit. In this embodiment, the background color calculation unit adopts a color difference calculator or software in the prior art, calculates the chromaticity value of the background light through a color difference compensation algorithm, and calculates the brightness of the RGB three colors according to the chromaticity value. Then the control unit controls the background light adjustment unit to adjust the color of the background light according to the calculation result of the background color calculation unit, and generates background light of corresponding color, thereby improving the recognition accuracy of the camera and better recognizing the AGV QR code.

[0031] As a further optimized embodiment, the control unit is a microcontroller unit. A microcontroller unit (MCU), also known as a single chip microcomputer or a single chip microcomputer, appropriately reduces the frequency and specifications of a central processing unit (CPU), and integrates peripheral interfaces such as memory, timer, USB, A / D conversion, UART, PLC, DMA, and even LCD drive circuits on a single chip to form a chip-level computer, which performs different combination controls for different application scenarios.

[0032] As a further optimized embodiment, Figure 2As shown, the background light adjustment unit includes a background light control circuit; the background light control circuit includes an inductor L1, MOS tubes Q1, Q2, a background light D1, a diode D2, resistors R1, R2, R3, R4, and a capacitor C1; one end of the inductor L1 is connected to a power supply, and the other end is connected to an anode of the diode D2, the cathode of the diode D2 is respectively connected to the capacitor C1 and the anode of the background light D1, the cathode of the background light D1 is connected to the D pole of the MOS tube Q2, the S pole of the MOS tube Q2 is connected to one end of the resistor R3, the G pole of the MOS tube Q2 is grounded, the other end of the resistor R3 is connected to the MK pin of the micro control unit, one end of the resistor R4 is connected to R3, and the other end is grounded; the D pole of the MOS tube Q1 is connected to one end of the pole L1, the S pole of the MOS tube Q1 is connected to one end of the resistor R1, the resistor R1 is connected to the PWM pin of the micro control unit, one end of the resistor R2 is connected to R1, and the other end is respectively connected to the G pole of the MOS tube Q1 and the capacitor C1.

[0033] In this embodiment, the MOS tube Q1, the inductor L1, and the diode D2 form a voltage control circuit. The controller controls the on-off time of the MOS tube Q1 through the resistor R1 to adjust the voltage, thereby controlling the brightness of the background light D1. In addition, the MOS tube Q2 controls the on and off of the background light D1. The controller controls the on and off of the MOS tube Q2 through the resistor R3, thereby controlling the on and off of the background light D1.

[0034] As a further optimized embodiment, Figure 3 As shown, it also includes a motor drive module, which includes a motor drive circuit. The motor drive circuit is used to drive the AGV car; the motor drive circuit is a bridge motor drive circuit composed of MOS tubes Q3, Q4, Q5, and Q6, which is used to control the forward and reverse rotation and stop of the motor of the AGV car, and the micro control unit controls the speed of the motor through a PWM waveform.

[0035] In addition, in this embodiment, the motor drive circuit uses two IR2102 driver chips for isolation control, and each IR2102 driver chip is connected to the pins of the micro control unit. The MOS tube Q1 uses the model SL2312, the MOS tube Q2 uses the model A03404, the diode D2 uses the model SS34, and the background light D1 is a light emitting diode. MOS tubes Q3, Q4, Q5, and Q6 all use MOS tubes with the model IRF540.

[0036] In the above embodiment, first, in the motor driving circuit, the forward and reverse rotation of the motor is controlled by connecting the MOS_H1 pin of one IR2102 to Q3, the MOS_L1 pin to Q4, and the MOS_H2 pin of the other IR2102 to Q5 and the MOS_L2 pin to Q6. Then, the rotation speed of the motor is controlled by acquiring the PWM waveform of the microcontroller unit, the driving speed of the AGV is calculated, the driving distance is calculated, and finally the driving distance is determined. If the next position point is reached, the background light is turned on through the background light control circuit; if the next position point is not reached, the background light is turned off to reduce the loss of electric energy.

[0037] In summary, this embodiment uses a camera to identify the background color of the QR code, and resets the background color of the QR code for easy identification through a background light adjustment unit, thereby improving the recognition accuracy of the camera and better identifying the AGV QR code; in addition, by detecting the travel distance of the AGV vehicle, the travel distance is finally determined. If the next position point is reached, the background light is turned on through the background light control circuit; if the next position point is not reached, the background light is turned off to reduce the loss of electric energy.

[0038] The foregoing descriptions of specific exemplary embodiments of the present invention are for the purpose of explanation and illustration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is obvious that many changes and variations can be made based on the above teachings. Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can make modifications, substitutions, variations and various selections and changes to the embodiments without creative contribution as needed after reading this specification without departing from the principles and purpose of the present invention, but they are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A new type of AGV two-dimensional code recognition system, characterized in that: It includes an AGV car; the AGV car is provided with a camera unit, a background color calculation unit, a control unit, a background light adjustment unit and a background light; The background color calculation unit is connected to the camera unit in communication, the background color calculation unit is connected to the control unit in communication, the control unit is connected to the background color calculation unit, the control unit is connected to the background light adjustment unit in an adjustment manner, and the background light adjustment unit controls the background light; The control unit is a micro control unit; The background light adjustment unit includes a background light control circuit; The background light control circuit includes an inductor L1, MOS tubes Q1, Q2, a background light D1, a diode D2, resistors R1, R2, R3, R4, and a capacitor C1; One end of the inductor L1 is connected to the power supply, and the other end is connected to the anode of the diode D2. The cathode of the diode D2 is connected to the anodes of the capacitor C1 and the background light D1 respectively. The cathode of the background light D1 is connected to the D pole of the MOS tube Q2. The S pole of the MOS tube Q2 is connected to one end of the resistor R3. The G pole of the MOS tube Q2 is grounded. The other end of the resistor R3 is connected to the MK pin of the micro control unit. One end of the resistor R4 is connected to R3, and the other end is grounded. The D pole of the MOS tube Q1 is connected to one end of the pole L1, the S pole of the MOS tube Q1 is connected to one end of the resistor R1, the resistor R1 is connected to the PWM pin of the micro control unit, one end of the resistor R2 is connected to R1, and the other end is respectively connected to the G pole of the MOS tube Q1 and the capacitor C1.

2. According to a new type of AGV two-dimensional code recognition system according to claim 1, it is characterized in that: It also includes a motor drive module, the motor drive module includes a motor drive circuit, and the motor drive circuit is used to drive the AGV vehicle; The motor drive circuit is a bridge motor drive circuit composed of MOS tubes Q3, Q4, Q5, and Q6, which is used to control the forward and reverse rotation and stop of the motor of the AGV vehicle. The micro control unit controls the speed of the motor through a PWM waveform.

3. A novel AGV two-dimensional code recognition system according to claim 2, characterized in that: The motor drive circuit uses two IR2102 drive chips for isolation control, and each of the IR2102 drive chips is connected to a pin of the micro control unit.

4. According to a novel AGV two-dimensional code recognition system as claimed in claim 1, it is characterized in that: The model of the MOS tube Q1 is SL2312, the model of the MOS tube Q2 is A03404, the model of the diode D2 is SS34, and the background light D1 is a light emitting diode.

5. According to a new type of AGV two-dimensional code recognition system according to claim 2, it is characterized in that: The MOS tubes Q3, Q4, Q5 and Q6 are all IRF540 MOS tubes.

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