技术领域technical field
本发明涉及一种自动控制领域的技术，具体是一种基于二维码带的AGV(自动导引运输车)定位与速度控制系统。The invention relates to a technology in the field of automatic control, in particular to an AGV (Automatic Guided Vehicle) positioning and speed control system based on a two-dimensional code tape.
背景技术Background technique
现有的轨道式AGV运用场合中，AGV沿着固定的轨道移动，轨道两边为与游乐者互动的3D游戏，为了能够获得较好的体验效果，3D游戏需要知道AGV的准确的实时位置和实时速度，为了能够控制AGV移动与3D游戏中的位置偏差较小，要求精确控制AGV在轨道上的位置和速度。In the existing track-type AGV application occasions, the AGV moves along a fixed track, and there are 3D games interacting with the players on both sides of the track. In order to obtain a better experience, the 3D game needs to know the AGV's accurate real-time position and real-time Speed, in order to be able to control the movement of the AGV and the position deviation in the 3D game is small, it is required to accurately control the position and speed of the AGV on the track.
现有AGV定位方法主要包含机器视觉或者超声波定位方法。中国专利文献号CN104181920A，公开(公告)日2014.12.03，公开了一种基于机器视觉的AGV定位系统，通过在地面上铺设几个固定的标记，用摄像头采集标记，进行图像处理，计算AGV的位置。中国专利文献号CN104155977A，公开(公告)日2014.11.09，公开一种通过超声波定位方法，通过在AGV车的几个角落放置超声波距离探测器，测量AGV的位置。这些方法主要用于位置测量，但是测量精度较低，而且不能进行精确速度测量，无法在AGV动态移动过程中进行精确的位置测量和速度测量，实现AGV整体的位置和速度控制。Existing AGV positioning methods mainly include machine vision or ultrasonic positioning methods. Chinese patent document number CN104181920A, published (announcement) date 2014.12.03, discloses an AGV positioning system based on machine vision, by laying several fixed marks on the ground, collecting marks with a camera, performing image processing, and calculating the position of the AGV Location. Chinese patent document number CN104155977A, open (announcement) date 2014.11.09, discloses a method of positioning by ultrasonic, by placing ultrasonic distance detectors at several corners of the AGV car to measure the position of the AGV. These methods are mainly used for position measurement, but the measurement accuracy is low, and accurate speed measurement cannot be performed, and accurate position measurement and speed measurement cannot be performed during the dynamic movement of the AGV to achieve the overall position and speed control of the AGV.
发明内容Contents of the invention
本发明针对现有技术存在的上述不足，提出一种基于二维码带的AGV定位方法及系统，通过在轨道上贴二维码带，实时测量AGV的位置，通过数字信号处理，可以获得比较准确的AGV的位置和速度信号，本发明能够向轨道两侧的3D游戏提供自身精确的实时位置和实时速度，并能够按照游戏脚本，停车在指定位置，并且能够以指定速度平稳运行在轨道上。Aiming at the above-mentioned deficiencies in the prior art, the present invention proposes an AGV positioning method and system based on a two-dimensional code tape. By pasting a two-dimensional code tape on the track, the position of the AGV can be measured in real time, and a comparison can be obtained through digital signal processing. Accurate AGV position and speed signals, the present invention can provide its own precise real-time position and real-time speed to the 3D games on both sides of the track, and can park at the designated position according to the game script, and can run smoothly on the track at the designated speed .
本发明是通过以下技术方案实现的：The present invention is achieved through the following technical solutions:
本发明涉及一种基于二维码带的AGV定位方法，通过在AGV的轨道侧边铺设连续二维码带，由设置于AGV的前轮侧面的二维码位置传感器周期性读取二维码带上的二维码，据此获得AGV在轨道上的位置，通过对所得到的二维码的绝对位置值进行差分，获得差分速度信号，然后对差分速度信号进行数字信号滤波，获取准确的AGV实时速度和位置信息。The invention relates to an AGV positioning method based on a two-dimensional code belt. By laying a continuous two-dimensional code belt on the side of the track of the AGV, the two-dimensional code is periodically read by a two-dimensional code position sensor arranged on the side of the front wheel of the AGV. The two-dimensional code on the belt, based on which the position of the AGV on the track is obtained, the differential speed signal is obtained by differential the absolute position value of the obtained two-dimensional code, and then the differential speed signal is digitally filtered to obtain accurate AGV real-time speed and position information.
所述的AGV的前轮架设在导轨上，前轮只能在轨道上移动，二维码位置传感器固定于前轮的侧边；The front wheels of the AGV are erected on the guide rails, the front wheels can only move on the track, and the two-dimensional code position sensor is fixed on the side of the front wheels;
所述的AGV，优选在得到实时速度和位置信息后，通过全局设置位置环或速度PID控制，实现对AGV在轨道位置上的定位或者速度控制以及在AGV减速停车中能够定停到指定目标位置。The AGV, preferably after obtaining the real-time speed and position information, through the global setting of the position loop or speed PID control, realizes the positioning or speed control of the AGV on the track position and can stop at the designated target position during the AGV deceleration and parking .
本发明具体步骤如下。The specific steps of the present invention are as follows.
步骤一，在工字形轨道的单侧布置二维码带带，沿着轨道方向铺设全程，当轨道路线为环形，二维码带截止部位和二维码起头部位重叠，并记录二维码起始值和二维码带截止值。Step 1. Arrange a two-dimensional code tape on one side of the I-shaped track, and lay the whole course along the direction of the track. When the track route is circular, the cut-off part of the two-dimensional code tape overlaps with the beginning part of the two-dimensional code, and the starting point of the two-dimensional code is recorded. The initial value and the QR code band cut-off value.
步骤二，设置二维码位置传感器的位置数据的采样频率，周期性读取AGV的绝对位置，根据前一刻位置数据和后一个时刻的位置数据进行差分，记录该时间段AGV的位置信号和差分速度信号。Step 2. Set the sampling frequency of the position data of the two-dimensional code position sensor, periodically read the absolute position of the AGV, make a difference based on the position data at the previous moment and the position data at the next moment, and record the position signal and difference of the AGV during this period speed signal.
步骤三，对采集到的位置信号和差分速度信号进行数字信号滤波，获得准确的位置值和速度值。Step 3, digital signal filtering is performed on the collected position signal and differential speed signal to obtain accurate position value and speed value.
优选地，在步骤三得到准确的位置值和速度值后，根据预设脚本控制AGV以指定的速度运行到指定的位置停下，并将自身的实际速度和实际位置反馈给3D游戏在界面上做误差修正。Preferably, after obtaining the accurate position value and speed value in step 3, control the AGV to run at a specified speed to stop at a specified position according to the preset script, and feed back its own actual speed and actual position to the 3D game on the interface Do error correction.
所述的误差修正，即根据3D游戏脚本对AGV的位置和速度要求，控制器根据AGV的运行状态，采用速度PID控制或者定停位置算法。The error correction is that according to the position and speed requirements of the AGV by the 3D game script, the controller adopts speed PID control or fixed-stop position algorithm according to the running state of the AGV.
本发明涉及一种实现上述方法的系统，包括：设置于AGV轨道上的二维码带、设置于AGV滚轮上的二维码位置传感器以及与之相连并获得二维码信息的控制模块，其中：The present invention relates to a system for implementing the above method, including: a two-dimensional code belt arranged on the AGV track, a two-dimensional code position sensor arranged on the AGV roller, and a control module connected thereto to obtain two-dimensional code information, wherein :
所述的二维码带由若干个独立的二维码排列组成，每个二维码包含其绝对位置值。The two-dimensional code strip is composed of several independent two-dimensional code arrangements, and each two-dimensional code contains its absolute position value.
所述的二维码的长宽为1cm，相邻二维码间隔5mm。The length and width of the two-dimensional codes are 1 cm, and the distance between adjacent two-dimensional codes is 5 mm.
所述的二维码带优选设置于AGV导轨上靠近地面的8cm的高度位置。The two-dimensional code strip is preferably set at a height of 8 cm close to the ground on the AGV guide rail.
所述的二维码位置传感器为以图像处理能力为基础并计算二维码绝对位置的传感器，二维码位置传感器设置于AGV导轨的导轮侧边，二维码位置传感器与二维码带间距为5cm左右。The two-dimensional code position sensor is a sensor based on image processing capability and calculates the absolute position of the two-dimensional code. The two-dimensional code position sensor is arranged on the guide wheel side of the AGV guide rail. The two-dimensional code position sensor and the two-dimensional code belt The spacing is about 5cm.
所述的控制模块根据内置的二维码带位置识别算法，对二维码带进行位置识别，然后对定期采集的位置进行差分计算差分速度，然后对进行卡尔曼滤波。The control module identifies the position of the two-dimensional code tape according to the built-in two-dimensional code tape position recognition algorithm, and then performs differential calculation of the regularly collected positions to calculate the differential speed, and then performs Kalman filtering on the two-dimensional code tape.
技术效果technical effect
与现有技术相比，本发明能够提高轨道AGV的位置和速度测量精度，并能够提供控制系统实时控制AGV的速度和位置。Compared with the prior art, the present invention can improve the position and speed measurement accuracy of the rail AGV, and can provide a control system to control the speed and position of the AGV in real time.
附图说明Description of drawings
图1为二维码带示意图；Fig. 1 is a schematic diagram of a two-dimensional code strip;
图2为二维码位置传感器设置位置示意图；Fig. 2 is a schematic diagram of the setting position of the two-dimensional code position sensor;
图3为本发明简易结构示意图；Fig. 3 is the simple structure schematic diagram of the present invention;
图4为实施例流程图；Fig. 4 is embodiment flowchart;
图中：A为二维码左上角点在图像中位置，B为二维码右上角点在图像中位置，C为二维码左下角点在图像中位置，D为二维码右下角点在图像中位置，E为二维码左上角点在图像视觉中位置，F为二维码右上角点在图像中位置，G为二维码左下角点在图像中位置，H为二维码右下角点在图像中位置；1为导轨，2为导轮，3为传感器与前轮的连接支架，4为二维码传感器，5为贴在导轨侧边的二维码带，6为右后驱动轮，7为左后驱动轮，8为轨道AGV车体。In the figure: A is the position of the upper left corner of the QR code in the image, B is the position of the upper right corner of the QR code in the image, C is the position of the lower left corner of the QR code in the image, D is the lower right point of the QR code Position in the image, E is the position of the upper left corner of the QR code in the visual image, F is the position of the upper right corner of the QR code in the image, G is the position of the lower left corner of the QR code in the image, H is the QR code The lower right corner point is the position in the image; 1 is the guide rail, 2 is the guide wheel, 3 is the connecting bracket between the sensor and the front wheel, 4 is the QR code sensor, 5 is the QR code tape attached to the side of the guide rail, and 6 is the right Rear driving wheel, 7 is the left rear driving wheel, and 8 is the track AGV car body.
具体实施方式detailed description
本实施例中系统的各项参数为：二维码带上布局方式如图1所示，单个二维码长宽为10mm，相邻二维码间距为5mm，二维码长度没有限制。二维码位置传感器固定在前轮侧边，AGV移动过程中，保持二维码位置传感器与二维码带相距5cm左右。The various parameters of the system in this embodiment are: the layout of the two-dimensional code tape is shown in Figure 1, the length and width of a single two-dimensional code is 10 mm, the distance between adjacent two-dimensional codes is 5 mm, and the length of the two-dimensional code is not limited. The two-dimensional code position sensor is fixed on the side of the front wheel. During the movement of the AGV, keep the distance between the two-dimensional code position sensor and the two-dimensional code belt by about 5cm.
二维码带上二维码内含信息是具有一定规则的数字，可以为该二维码中心位置在二维码带长度方向上的绝对位置值。The information contained in the two-dimensional code on the two-dimensional code tape is a number with certain rules, which can be the absolute position value of the center position of the two-dimensional code along the length direction of the two-dimensional code tape.
所述的测量信息包括：AGV轨道上实时位置和实时速度。The measurement information includes: real-time position and real-time speed on the track of the AGV.
本实施例具体步骤如下：The specific steps of this embodiment are as follows:
第一步，二维码位置传感器采集一幅包含2到3个二维码的图片，识别出其中某个二维码的内含信息，该信息为该二维码中心位置在二维码带的绝对位置，同时识别出该二维码以及相邻二维码的4个角落点，即A、B、C、D、E、F、G、H，根据这8各点在图像中相对图像中心点的位置，可以计算出两个二维码中心点相对图像中心点的位置，根据二维码中心点在二维码带上的绝对位置，即可获得二维码位置传感器中心点在二维码带上的绝对位置。In the first step, the two-dimensional code position sensor collects a picture containing two to three two-dimensional codes, and identifies the information contained in one of the two-dimensional codes. The absolute position of the two-dimensional code and the four corner points of the adjacent two-dimensional code are recognized at the same time, that is, A, B, C, D, E, F, G, and H. According to the relative image of these 8 points in the image The position of the center point can calculate the position of the center point of the two-dimensional code relative to the center point of the image. According to the absolute position of the center point of the two-dimensional code on the two-dimensional code tape, the center point of the two-dimensional code position sensor can be obtained. The absolute position on the QR code tape.
第二步，AGV控制系统间隔5ms，周期性采集一次AGV的绝对位置，即可获得AGV在轨道上任何时刻的绝对位置。对相邻两次采集的绝对位置进行差分计算该时间段的AGV的差分速度。In the second step, the AGV control system collects the absolute position of the AGV periodically at an interval of 5ms, and the absolute position of the AGV at any time on the track can be obtained. The differential speed of the AGV in this time period is calculated by making a difference between the absolute positions of two adjacent acquisitions.
步骤三，对控制系统计算的位置信号和差分速度信号进行数字信号处理算法，计算准确的位置和速度信号。Step 3: Perform digital signal processing algorithm on the position signal and differential speed signal calculated by the control system to calculate accurate position and speed signals.
步骤四，按照与3D游戏互动的需求，通过实时的AGV位置和速度，进行AGV的闭环速度或位置控制，保证游乐者最佳的游戏体验效果。Step 4: According to the needs of interacting with 3D games, through the real-time AGV position and speed, the closed-loop speed or position control of the AGV is performed to ensure the best game experience for the players.
所述的计算包括，1)二维码位置传感器对一幅包含2到3个二维码的图像中识别出二维码的内含信息，二维码的边界点信息，计算二维码中心点在图像中的相对图像中心水平方向位置为X1，相邻二维码中心点在图像中相对图像中心水平方向位置为X2，根据实际的相邻二维码中心点间距为15mm，可以计算出图像中心点相对某个二维码中心实际的位置X＝X1/(X1+X2)*15mm。根据二维码内含信息反映的轨道绝对位置值P1，可以计算二维码位置传感器在二维码带上的实际位置P＝P1+X。2)差分速度计算，通过前后两次采集的绝对位置P2和P3，计算出差分速度V1＝(P3-P2)/T，其中T为采样周期。将位置信号和差分速度信号，采用卡尔曼数字滤波器，计算准确的速度值。3)根据3D游戏对AGV的位置要求和速度要求，控制系统根据当前的位置和速度信号，进行PID控制AGV以期望的速度运行，并能够准确停车在指定的位置。The calculation includes, 1) the two-dimensional code position sensor recognizes the contained information of the two-dimensional code in an image containing 2 to 3 two-dimensional codes, the boundary point information of the two-dimensional code, and calculates the center of the two-dimensional code The horizontal position of the point in the image relative to the center of the image is X1, and the horizontal position of the center point of the adjacent two-dimensional code in the image relative to the center of the image is X2. According to the actual distance between the center points of adjacent two-dimensional codes is 15mm, it can be calculated The actual position of the image center point relative to the center of a certain two-dimensional code X=X1/(X1+X2)*15mm. According to the track absolute position value P1 reflected by the information contained in the two-dimensional code, the actual position P=P1+X of the two-dimensional code position sensor on the two-dimensional code tape can be calculated. 2) Calculation of the differential velocity. The differential velocity V1=(P3-P2)/T is calculated through the absolute positions P2 and P3 collected twice before and after, where T is the sampling period. The position signal and the differential speed signal are used to calculate the accurate speed value by using the Kalman digital filter. 3) According to the position and speed requirements of the 3D game for the AGV, the control system performs PID control based on the current position and speed signals to control the AGV to run at the desired speed and accurately park at the designated position.
本系统可以运用与各种轨道式的移动平台使用场合，不限于游乐场轨道AGV的定位和速度控制系统，位置测量的精度在1mm，速度的测量精度跟采样频率有关，速度测量误差在30mm/s以内；既可以是后轮驱动方式，也可以为前轮驱动方式，通过控制驱动轮速度控制AGV在轨道上移动速度，实现AGV的速度控制和位置控制；本系统能够控制AGV定停位置误差在±5mm范围，速度控制误差在5％以内。This system can be used in various track-type mobile platforms, not limited to the positioning and speed control system of the playground track AGV. The position measurement accuracy is 1mm, the speed measurement accuracy is related to the sampling frequency, and the speed measurement error is 30mm/ Within s; it can be either rear-wheel drive or front-wheel drive. By controlling the speed of the driving wheel to control the moving speed of the AGV on the track, the speed control and position control of the AGV can be realized; this system can control the position error of the AGV when it stops. In the range of ±5mm, the speed control error is within 5%.
上述具体实施可由本领域技术人员在不背离本发明原理和宗旨的前提下以不同的方式对其进行局部调整，本发明的保护范围以权利要求书为准且不由上述具体实施所限，在其范围内的各个实现方案均受本发明之约束。The above specific implementation can be partially adjusted in different ways by those skilled in the art without departing from the principle and purpose of the present invention. The scope of protection of the present invention is subject to the claims and is not limited by the above specific implementation. Each implementation within the scope is bound by the invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201510876265.2ACN105511466B (en) | 2015-12-03 | 2015-12-03 | AGV positioning method and system based on two-dimensional code tape |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510876265.2ACN105511466B (en) | 2015-12-03 | 2015-12-03 | AGV positioning method and system based on two-dimensional code tape |
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| CN105511466Atrue CN105511466A (en) | 2016-04-20 |
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| CN201510876265.2AExpired - Fee RelatedCN105511466B (en) | 2015-12-03 | 2015-12-03 | AGV positioning method and system based on two-dimensional code tape |
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