摘要
随着无接触配送服务的兴起,针对配送房间号数字识别准确率低,易发生误识别的问题,设计了基于AprilTag2的无接触物品配送车。以国产GD32F103RCT6单片机作为主控模块,采用AprilTag标签识别及定位算法实现房间ID识别及位置信息检测功能,利用寻迹PID算法实现车辆寻迹行驶功能;同时,利用压力传感器检测物品是否装载或卸下,蓝牙模块实现双车通信,避免车辆发生碰撞。经过测试,房间号标签及位置识别准确率达到99.5%,无论是单车还是双车,都能自动寻迹将物品快速配送至指定房间;在物品装载或卸载前,系统会通过语音提示用户,方便用户装/卸载物品;物品卸载之后,系统会自动寻迹至起始位置等待下次配送。整个系统安全可靠、房间号识别准确率高、价格低,能够较好地实现物品的无接触配送任务。
With the rise of contactless delivery services,to address the problem of low accuracy and potential misidentifi⁃cation when recognizing room numbers for deliveries,a contactless item delivery vehicle based on AprilTag2 has been de⁃signed.The GD32F103RCT6 microcontroller is used as the main control module.The AprilTag tag identification and posi⁃tioning algorithm is used to realize the room ID identification and location information detection function.And vehicle tracing function is realized by tracing PID algorithm.In addition,the pressure sensor is used to detect whether the goods are loaded or unloaded,and the Bluetooth module realizes mutual communication between vehicles to avoid vehicle colli⁃sion.After test,the accuracy of room number tag and position recognition is 99.5%.It can automatically track and quickly deliver items to the designated room no matter its single or double vehicles.And the user will be prompted by voice before loading or unloading,which is convenient for the user to load/unload the goods.After unloading,the vehicle will automati⁃cally trace to the starting position for the next delivery.The overall system is safe and reliable,with high accuracy of room number identification and low price,which can better realize the non-contact delivery of goods.
作者
吴立军
潘东旭
张佳杰
刘嘉欣
徐世龙
WU Lijun;PAN Dongxu;ZHANG Jiajie;LIU Jiaxin;XU Shilong(School of Electrical and Automation,Wuhu Institute of Technology,Wuhu,Anhui 241006,China;College of Electrical Engineering,Anhui Polytechnic University,Wuhu,Anhui 241000,China)
出处
《西昌学院学报（自然科学版）》
2023年第2期53-60,110,共9页
Journal of Xichang University(Natural Science Edition)
基金
安徽省高等学校自然科学研究项重点项目(KJ2021A1331、KJ2021A1318)
安徽省高等学校自然科学研究项重大项目(KJ2021ZD0152)
安徽省高等学校省级质量工程项目(2021cjrh055)
芜湖职业技术学校级科学研究项目(Kjcxpt202001)
芜湖职业技术学院横向项目(Wzyhx202206)
芜湖职业技术学院校级教学质量与教学改革工程(2022dsgzs02)。
