Design Of Indoor Automatic Positioning Guidance System Based On Visible Light Positioning Automatic Guidance Vehicle

Automated Guided Vehicle(AGV)is a kind of transportation tool that can realize automatic addressing.With the advancement of Industry 4.0,AGV has more and more application prospects in the fields of unmanned factories and logistics.In the automatic addressing process of AGV,it is necessary to use a certain guiding method to locate and guide the AGV to the destination point.In this dissertation,we propose the use of the visible light positioning system(LIPS)as the indoor positioning guidance method of AGV to achieve automatic guidance of AGV under the light.This paper studies the basic technology of visible light positioning for automatic guided vehicle guidance methods.The main research contents are as follows: For visible light signal emission devices,hardware reconstruction of commercially available LED lamps is adopted,and a cross-over twenty-five code is adopted by the single chip microcomputer.Modulated LED lamp,which does not affect the lighting function while carrying out data transmission,and it conforms to the illumination and communication dual-purpose;for the visible light signal receiving device,in order to receive the striped signal generated by the modulated LED lamp,the receiving end adopts the CMOS sensor shutter effect to capture the LED.In the fringe pattern,a lightweight image processing algorithm is used to capture the pattern,and image processing is rapidly performed to achieve visible light signal decoding.For the positioning algorithm,a dual light positioning algorithm is proposed to determine the position of the vehicle,when two or more LED lights received,selected two of which to locate.The AGV dolly can be determined on the horizontal plane without additional sensors,meanwhile the guidance function of AGV positioning and the automatic can be achieved through the positioning algorithm.Then,based on Android,this paper developed the LIPS system software for self-guided auto guided vehicle.First,configure the environment variables needed for development according to the requirements of Android installation.In the configured environment,write the software system through the Java language and locate the visible light.Combining technology with AGV technology,on the side of the AGV car,the software can not only meet the precise positioning function,but also can combine the positioning algorithm to know the current car's orientation;on the control side,the software not only can achieve the manual control function of the car,but also the destination can be given to allow the car to auto-address under light.Finally,this article carries on detailed experimental test to the developed system,the test experiment is consist of three parts in all:Positioning delay test;System feasibility test;Positioning error test.The experimental results show that the software developed can meet the functions of the automatic addressing and navigation expected by the development.The positioning error of the entire system is about 3.6centimeters and the positioning delay is about 37 milliseconds.The main features of this paper are as follows:1.It is proposed to calculate the position of the AGV trolley using the dual lamp positioning algorithm.After the camera captures the information of two or more LED lamp stripes,the position and posture of the AGV trolley can be known.2.The visible light positioning system was combined with the AGV car to develop a complete software system.The system uses the visible light positioning technology as the guidance mode of the AGV car.The experimental results show that the AGV car can complete the automatic addressing navigation under the light.