一种改进二维码视觉精定位AGV技术研究

控制工程 ›› 2019, Vol. 26 ›› Issue (6): 1049-1054.

一种改进二维码视觉精定位AGV技术研究

出版日期:2019-06-20 发布日期:2023-10-27

Research on AGV Vision Precision Positioning Technology by an Improved Two-Dimensional Code

Online:2019-06-20 Published:2023-10-27

摘要/Abstract

摘要： 针对传统视觉引导(Automated Guided Vehicle, AGV)定位精度差等问题，提出一种改进二维码精定位方法。采用加入边框处理后的二维码作为定位参考，利用每帧采样图片的尺寸固定这一特点建立基准坐标模型。通过对获取图像中的二维码矩形轮廓的提取，确定矩形区域的中心坐标；然后，通过坐标旋转变换统一坐标系。最后，通过中心点的偏移计算误差，实现精确定位。实验结果表明，该方法的一次精定位可达1 mm。

关键词: AGV, 视觉引导, 改进二维码, 轮廓提取

Abstract: Aiming at the problem of traditional vision guided AGV(automated guided vehicle) positioning accuracy, an improved dimensional code precision positioning method is proposed. This method uses the two-dimensional code after the addition of frame processing as a positioning reference, the datum model is established by using the dimension of each frame sample. Through the extraction of the image of the two-dimensional code rectangle contour, determine the center coordinates of the rectangular region; then, the unified coordinate system can be got by coordinate rotation transformation. At last, calculating the error through the center point, achieve precise positioning. Experimental results show that, position once, it can improve the AGV positioning accuracy to 1 mm by this method.

Key words: Automated guided vehicle (AGV), visual navigation, improved two-dimensional code；contour extraction

李照, 舒志兵. 一种改进二维码视觉精定位AGV技术研究[J]. 控制工程, 2019, 26(6): 1049-1054.

LI Zhao, SHU Zhi-bing. Research on AGV Vision Precision Positioning Technology by an Improved Two-Dimensional Code[J]. Control Engineering of China, 2019, 26(6): 1049-1054.