CN109189066A - AGV trolley and shelf interconnection method, device and computer readable storage medium - Google Patents
AGV trolley and shelf interconnection method, device and computer readable storage medium Download PDFInfo
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- CN109189066A CN109189066A CN201811025000.1A CN201811025000A CN109189066A CN 109189066 A CN109189066 A CN 109189066A CN 201811025000 A CN201811025000 A CN 201811025000A CN 109189066 A CN109189066 A CN 109189066A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Abstract
The invention discloses a kind of AGV trolleies and shelf interconnection method, the method comprising the steps of: obtaining bottom shelf image by in-vehicle camera, wherein, bottom shelf is pasted there are two black and white lattice bar chart, and described two black and white lattice bar charts are parallel and symmetrical each other to be located at shelf center line two sides；According to the black and white lattice bar chart in the bottom shelf image, the center line of bottom shelf is determined；According to the center line of the bottom shelf and calibrating parameters are prestored, determine pose of the AGV trolley with respect to shelf；According to the pose, controls the AGV trolley and docked with the shelf.The invention also discloses a kind of AGV trolleies and shelf docking facilities and computer readable storage medium.The present invention has been realized with a low cost docking for AGV trolley and shelf, flexibility is high, strong applicability without being laid with guide wire on the ground.
Description
Technical field
The present invention relates to logistics management technical field more particularly to a kind of AGV trolleies and shelf interconnection method, device and meter
Calculation machine readable storage medium storing program for executing.
Background technique
Automatic guided vehicle (AGV) is used as a kind of intelligent mobile robot, and external environment perception, intelligent decision, movement are controlled
Technology processed combines together, assumes responsibility for the task that material in Intelligent logistics carries conveying.The intelligent AGV that current logistic storage uses is small
Vehicle is broadly divided into this several class according to the difference of guide mode: magnetic cuiding, optics/tape guidance and laser/infrared are led
Draw.
Electromagnetism guiding is a kind of more traditional method, and technology maturation is reliable, and cost is relatively low, but due to needing on ground
Upper embedded metallic cable, therefore operating path changes difficulty, and it also requires Land leveling.Optics, tape guidance and electromagnetism are led
Draw similar, needs to paste reflective tape or tape on the ground, it is this to be guided than electromagnetism convenient, but it needs to reflective tape or magnetic
Band does periodic maintenance.And laser, infrared seeker are that equipment can emit and receive laser/infrared ray scanner on AGV, are guided
The surrounding in region arranges enough reflecting plates as required, and guiding and positioning accuracy are higher, but cost is also relatively high, device peace
Dress is complicated, and position calculates also complicated.
Existing submarine AGV trolley is substantially based on magnetic stripe guiding or two dimensional code guiding, and trolley must be according to fixation
Path movement, shelf must also be placed in fixed area, could complete docking for AGV trolley and shelf, largely limit
The flexibility of trolley.
Summary of the invention
It is a primary object of the present invention to propose a kind of AGV trolley and shelf interconnection method, device and computer-readable deposit
Storage media, it is intended to solve that existing AGV trolley flexibility is poor, the excessively high technical problem of guiding cost.
To achieve the above object, the present invention provides a kind of AGV trolley and shelf interconnection method, the AGV trolley and goods
Frame interconnection method includes:
Bottom shelf image is obtained by in-vehicle camera, wherein there are two black and white lattice bar charts for bottom shelf stickup, described
Two black and white lattice bar charts are parallel and symmetrical each other to be located at shelf center line two sides；
According to the black and white lattice bar chart in the bottom shelf image, the center line of bottom shelf is determined；
According to the center line of the bottom shelf and calibrating parameters are prestored, determine pose of the AGV trolley with respect to shelf；
According to the pose, controls the AGV trolley and docked with the shelf.
Preferably, described the step of obtaining bottom shelf image by in-vehicle camera includes: to shoot goods by in-vehicle camera
Frame bottom pattern；
Distortion correction and perspective transform processing are carried out to the bottom shelf pattern, obtain bottom shelf image.
Preferably, the black and white lattice bar chart according in the bottom shelf image, determines the center line of bottom shelf
The step of include:
The bottom shelf image is subjected to binary conversion treatment, and is extracted black in the bottom shelf image after binary conversion treatment
The small lattice of white in white square bar chart；
Straight line fitting is carried out to the small lattice of the white, obtains two straight lines；
According to calibrating parameters and two straight lines are prestored, the center line of bottom shelf is determined.
Preferably, the center line according to the bottom shelf and calibrating parameters are prestored, determines AGV trolley with respect to shelf
Pose the step of include:
According to the center line of the bottom shelf and calibrating parameters are prestored, calculate lateral shift of the AGV trolley with respect to shelf
Amount and yaw angle；
According to the transversal displacement and the yaw angle, pose of the told AGV trolley with respect to shelf is determined.
Preferably, described according to the pose, controlling the step of AGV trolley is docked with the shelf includes:
According to the transversal displacement and the yaw angle, pose of the AGV trolley with respect to shelf is adjusted；
When the pose is consistent with default pose, controls the AGV trolley and docked with the shelf.
Preferably, described that bottom shelf image is obtained by in-vehicle camera, wherein there are two black and white lattice for bottom shelf stickup
Bar chart, described two black and white lattice bar charts it is parallel and symmetrical each other be located at shelf center line two sides the step of before, the side
Method further include:
In-vehicle camera is demarcated, the calibrating parameters of the in-vehicle camera are obtained.
Preferably, described to demarcate to in-vehicle camera, the step of obtaining the calibrating parameters of the in-vehicle camera, includes:
Scaling board image is shot by in-vehicle camera；
According to the scaling board image, extract preset angle point, by coordinate of the angle point in scaling board image and
Coordinate in three-dimensional world calculates the calibrating parameters of in-vehicle camera and preservation.
Preferably, described according to the pose, it is described after controlling the step of AGV trolley is docked with the shelf
Method further include:
It controls the AGV trolley to draw the shelf to destination, triggering releases instruction；
Instructed according to the releasing, control the AGV trolley and the shelf and release and connect, so as to the AGV trolley from
It opens.
In addition, to achieve the above object, the present invention also provides a kind of device, described device include memory, processor and
It is stored in the AGV trolley and shelf docking procedure that can be run on the memory and on the processor, described program is by institute
State the step of realizing AGV trolley as described above and shelf interconnection method when processor executes.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
AGV trolley and shelf docking procedure are stored on storage medium, when the AGV trolley and shelf docking procedure are executed by processor
The step of realizing AGV trolley as described above and shelf interconnection method.
AGV trolley and shelf interconnection method of the invention obtains bottom shelf image by in-vehicle camera, wherein shelf
Bottom is pasted there are two black and white lattice bar chart, and described two black and white lattice bar charts are parallel and symmetrical each other to be located at shelf center line two
Side；According to the black and white lattice bar chart in the bottom shelf image, the center line of bottom shelf is determined；According to the bottom shelf
Center line and prestore calibrating parameters, determine pose of the AGV trolley with respect to shelf；According to the pose, the AGV trolley is controlled
It is docked with the shelf.The present invention has been realized with a low cost docking for AGV trolley and shelf without being laid with guide wire on the ground,
Flexibility is high, strong applicability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of AGV trolley of the present invention and shelf interconnection method first embodiment；
Fig. 3 is the goods comprising two black and white lattice bar charts in AGV trolley of the present invention and shelf interconnection method first embodiment
The schematic diagram of frame bottom image；
Fig. 4 is in AGV trolley of the present invention and shelf interconnection method first embodiment, and the binary map of bottom shelf image is shown
It is intended to
Fig. 5 is to obtain black and white lattice in bottom shelf pattern in AGV trolley of the present invention and shelf interconnection method first embodiment
The schematic diagram of the equation of straight line where bar chart；
Fig. 6 is in AGV trolley of the present invention and shelf interconnection method first embodiment, and AGV trolley is believed relative to the offset of shelf
Cease schematic diagram；
Fig. 7 is the flow diagram of AGV trolley of the present invention and shelf interconnection method second embodiment.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that described herein, specific examples are only used to explain the present invention, is not intended to limit the present invention.
The solution of the embodiment of the present invention is mainly: obtaining bottom shelf image by in-vehicle camera, wherein shelf bottom
Portion is pasted there are two black and white lattice bar chart, and described two black and white lattice bar charts are parallel and symmetrical each other to be located at shelf center line two
Side；According to the black and white lattice bar chart in the bottom shelf image, the center line of bottom shelf is determined；According to the bottom shelf
Center line and prestore calibrating parameters, determine pose of the AGV trolley with respect to shelf；According to the pose, the AGV trolley is controlled
It is docked with the shelf.It is poor to solve existing AGV trolley flexibility, the excessively high technical problem of guiding cost.
As shown in Figure 1, the AGV trolley that Fig. 1 is the hardware running environment that the embodiment of the present invention is related to is docked with shelf
The structural schematic diagram of device.The AGV trolley and shelf docking facilities may include: processor 1001, such as CPU, communication bus
1002, owner's interface 1003, network interface 1004, memory 1005.Wherein, communication bus 1002 for realizing these components it
Between connection communication.Owner's interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard),
Optionally owner's interface 1003 can also include standard wireline interface (such as connecting wired keyboard, wire mouse etc.),
Wireless interface (such as connecting Wireless Keyboard, wireless mouse).Network interface 1004 optionally may include the wired of standard
Interface (for connecting cable network), wireless interface (such as WI-FI interface, blue tooth interface, infrared interface, for connecting nothing
Gauze network).Memory 1005 can be high speed RAM memory, be also possible to stable memory (non-volatile
), such as magnetic disk storage memory.Memory 1005 optionally can also be the storage dress independently of aforementioned processor 1001
It sets.
It will be understood by those skilled in the art that AGV trolley shown in Fig. 1 and shelf docking facilities structure are not constituted pair
The restriction of AGV trolley and shelf docking facilities may include components more more or fewer than diagram, or combine certain components,
Or different component layout.
As shown in Figure 1, as may include operating system, net in a kind of memory 1005 of computer readable storage medium
Network communication module, owner's interface module and AGV trolley and shelf docking procedure.Wherein, operating system is to manage and control AGV
The program of trolley and shelf docking facilities and software resource supports network communication module, owner's interface module, AGV trolley and goods
The operation of frame docking procedure and other programs or software；Network communication module is for managing and controlling network interface 1002；Industry
Host interface module is for managing and controlling owner's interface 1003.
In AGV trolley and shelf docking facilities shown in Fig. 1, the AGV trolley and shelf docking facilities pass through processing
Device 1001 calls the AGV trolley and shelf docking procedure stored in memory 1005, and executes following steps:
Bottom shelf image is obtained by in-vehicle camera, wherein there are two black and white lattice bar charts for bottom shelf stickup, described
Two black and white lattice bar charts are parallel and symmetrical each other to be located at shelf center line two sides；
According to the black and white lattice bar chart in the bottom shelf image, the center line of bottom shelf is determined；
According to the center line of the bottom shelf and calibrating parameters are prestored, determine pose of the AGV trolley with respect to shelf；
According to the pose, controls the AGV trolley and docked with the shelf.
Further, include: by the step of in-vehicle camera acquisition bottom shelf image
Pass through in-vehicle camera shooting shelf bottom pattern；
Distortion correction and perspective transform processing are carried out to the bottom shelf pattern, obtain bottom shelf image.
Further, the black and white lattice bar chart according in the bottom shelf image, determines the center of bottom shelf
The step of line includes:
The bottom shelf image is subjected to binary conversion treatment, and is extracted black in the bottom shelf image after binary conversion treatment
The small lattice of white in white square bar chart；
Straight line fitting is carried out to the small lattice of the white, obtains two straight lines；
According to calibrating parameters and two straight lines are prestored, the center line of bottom shelf is determined.
Further, the center line according to the bottom shelf and calibrating parameters are prestored, determines AGV trolley with respect to goods
The step of pose of frame includes:
According to the center line of the bottom shelf and calibrating parameters are prestored, calculate lateral shift of the AGV trolley with respect to shelf
Amount and yaw angle；
According to the transversal displacement and the yaw angle, pose of the told AGV trolley with respect to shelf is determined.
Further, described according to the pose, controlling the step of AGV trolley is docked with the shelf includes:
According to the transversal displacement and the yaw angle, pose of the AGV trolley with respect to shelf is adjusted；
When the pose is consistent with default pose, controls the AGV trolley and docked with the shelf.
Further, bottom shelf image is obtained by in-vehicle camera, wherein there are two black and white glazing bars for bottom shelf stickup
Shape figure, described two black and white lattice bar charts it is parallel and symmetrical each other be located at shelf center line two sides the step of before, processor
1001 can be also used for calling the AGV trolley and shelf docking procedure stored in memory 1005, and execute following steps:
In-vehicle camera is demarcated, the calibrating parameters of the in-vehicle camera are obtained.
Further, described to demarcate to in-vehicle camera, the step of obtaining the calibrating parameters of the in-vehicle camera, includes:
Scaling board image is shot by in-vehicle camera；
According to the scaling board image, extract preset angle point, by coordinate of the angle point in scaling board image and
Coordinate in three-dimensional world calculates the calibrating parameters of in-vehicle camera and preservation.
Further, described according to the pose, after controlling the step of AGV trolley is docked with the shelf, place
Reason device 1001 can be also used for calling the AGV trolley and shelf docking procedure stored in memory 1005, and execute following steps:
It controls the AGV trolley to draw the shelf to destination, triggering releases instruction；
Instructed according to the releasing, control the AGV trolley and the shelf and release and connect, so as to the AGV trolley from
It opens.
Based on the hardware configuration of above-mentioned AGV trolley and shelf docking facilities, AGV trolley of the present invention and the shelf side of docking are proposed
The each embodiment of method.
The present invention provides a kind of AGV trolley and shelf interconnection method.
AGV trolley and shelf interconnection method is optional is applied in AGV trolley and shelf docking facilities, due to AGV trolley
Travel route is not fixed, and running environment does not have guide wire, and therefore, view-based access control model bootstrap technique proposes AGV trolley and goods of the present invention
Frame interconnection method, for convenience of describing, AGV trolley and shelf docking facilities hereinafter referred to as docking facilities.
It is the flow diagram of AGV trolley of the present invention and shelf interconnection method first embodiment referring to Fig. 2, Fig. 2.
In the present embodiment, the embodiment of AGV trolley Yu shelf interconnection method is provided, it should be noted that although
Logical order is shown in flow chart, but in some cases, it can be to be different from shown by sequence execution herein or retouch
The step of stating.
In the present embodiment, AGV trolley includes: with shelf interconnection method
Step S10 obtains bottom shelf image by in-vehicle camera, wherein there are two black and white glazing bars for bottom shelf stickup
Shape figure, described two black and white lattice bar charts are parallel and symmetrical each other to be located at shelf center line two sides；
Step S20 determines the center line of bottom shelf according to the black and white lattice bar chart in the bottom shelf image；
Step S30 according to the center line of the bottom shelf and prestores calibrating parameters, determines AGV trolley with respect to shelf
Pose；
Step S40 controls the AGV trolley and docks with the shelf according to the pose.
In the present embodiment, AGV trolley and shelf docking facilities include AGV trolley, preferably submarine AGV trolley, should
AGV trolley has vehicle-mounted fisheye camera and lifting traction hook, and vehicle-mounted fisheye camera is for detecting environment and obtaining target figure
Picture, lifting traction hook are docked for the mating interface with shelf.The center line of shelf, and root are determined by vehicle-mounted fisheye camera
According to shelf center line and prestore calibrating parameters, the pose of AGV trolley is determined, by adjusting pose, it is ensured that AGV trolley and shelf
Success is docked.
Each step will be described in detail below:
Step S10 obtains bottom shelf image by in-vehicle camera, wherein there are two black and white glazing bars for bottom shelf stickup
Shape figure, described two black and white lattice bar charts are parallel and symmetrical each other to be located at shelf center line two sides.
In AGV car driving process, environment around the detection of docking facilities moment, when AGV trolley and shelf
When distance is less than pre-determined distance, docking facilities obtain bottom shelf image by in-vehicle camera, wherein pre-determined distance can be according to reality
Border situation is adjusted, and referring to Fig. 3, bottom shelf image includes the two black and white lattice bar charts pasted in advance, two black and white lattice
Bar chart is symmetrically positioned in the two sides of shelf center line, and parallel to each other.
It should be noted that each bottom shelf is pasted in advance, there are two parallel each other, mutually symmetrical black and white glazing bars
Shape figure, and it is located at the center line two sides of bottom shelf, specific pattern can be designed according to actual needs, and the present embodiment is with black and white
It is illustrated for grid pattern.
Further, step S10 includes:
Step a passes through in-vehicle camera shooting shelf bottom pattern.
Docking facilities pass through in-vehicle camera shooting shelf bottom pattern, wherein in-vehicle camera is vehicle-mounted fisheye camera；Shelf
Bottom pattern is the bottom view of shelf, and to guarantee that docking facilities can take the pattern of bottom shelf, AGV used in the present embodiment is small
Vehicle is submarine AGV trolley.
Step b carries out distortion correction to the bottom shelf pattern and perspective transform is handled, obtains bottom shelf image.
It should be understood that the article shot by fisheye camera more or less can all generate abnormal when by lens imaging
Become, docking facilities carry out at distortion correction and perspective transform bottom shelf pattern after the bottom shelf pattern for obtaining shooting
Reason, obtains bottom shelf image, wherein the mode of distortion correction can not done in detail herein using the methods of Zhang Zhengyou calibration method
It is thin to introduce.
Step S20 determines the center line of bottom shelf according to the black and white lattice bar chart in the bottom shelf image.
In the present embodiment, docking facilities pre-process two black and white lattice bar charts of acquisition, obtain two black and white
Corresponding two straight lines of lattice bar chart, it is possible to understand that, two black and white lattice bar charts are parallel and symmetrical to be in advance pasted onto goods
The center line two sides of frame bottom, therefore according to two obtained straight lines, determining center line is the center line of bottom shelf.
Specifically, step S20 includes:
The bottom shelf image is carried out binary conversion treatment, and extracts the bottom shelf figure after binary conversion treatment by step c
The small lattice of white as in black and white lattice bar chart.
Docking facilities carry out binary conversion treatment, reference after obtaining the bottom shelf image after distortion correction, to the image
Fig. 4 after carrying out binary conversion treatment to the image, is respectively obtained white since bottom shelf is pasted there are two black and white lattice bar chart
Color be prospect binary map and black be prospect binary map, by be connected to area detecting method, extract Fig. 4 (1) in white it is small
The Pixel Dimensions of lattice, the small lattice of the white are obtained by calibration in advance, and specific scaling method includes traditional scaling method, non-linear mark
Determine method and Zhang Zhengyou scaling method etc., it is not limited here.Fig. 4 (2) utilizes original shelf bottom pattern for adding constraint
It is a circle black fritter around the middle small lattice of white.
Step d carries out straight line fitting to the small lattice of the white, obtains two straight lines.
Docking facilities carry out straight line fitting to the small lattice of white in binary map, obtain two straight lines.
Step e determines the center line of bottom shelf according to calibrating parameters and two straight lines are prestored.
Docking facilities are according to two determining straight lines and prestore calibrating parameters, determine the center line of bottom shelf, specific side
Journey is shown in step f.
Step S30 according to the center line of the bottom shelf and prestores calibrating parameters, determines AGV trolley with respect to shelf
Pose.
It should be understood that AGV trolley must in correct position on could successfully be docked with shelf, docking facilities are in determination
After the center line of bottom shelf, according to bottom shelf center line and calibrating parameters are prestored, determine position of the AGV trolley with respect to shelf
Appearance, to judge whether current AGV trolley is correct with respect to the pose of shelf, if incorrect, the subsequent pose to AGV trolley is carried out
Adjustment；If correct, the subsequent AGV trolley that controls is docked with shelf.
Specifically, step S30 includes:
Step f according to the center line of the bottom shelf and prestores calibrating parameters, calculates cross of the AGV trolley with respect to shelf
To offset and yaw angle.
Docking facilities are according to the center line of bottom shelf and prestore calibrating parameters, calculate transverse direction of the AGV trolley with respect to shelf
Offset and yaw angle, specifically, using the bottom shelf image upper left corner as origin, establishing rectangular coordinate system referring to Fig. 5: o-xy,
The equation for obtaining two straight lines is respectively as follows:
L1:x=k*y+b1
L2:x=k*y+b2
K is slope, since two black and white lattice bar charts are parallel to each other, so slope k is consistent, then and the straight line of shelf center line
Equation are as follows:
X=k*y+ (b1+b2)÷2
Referring to Fig. 6, pass through calibration, position of the available vehicle-mounted camera in image coordinate system o-xy, it is assumed that be u
(x0, y0), then yaw angle of the trolley with respect to shelf are as follows:
θ=arctan (k)
Offset are as follows: offset=cos (θ) * (k*y0+(b1+b2) ÷ 2-x0)
Step g determines pose of the told AGV trolley with respect to shelf according to the transversal displacement and the yaw angle.
Transversal displacement and yaw angle of the docking facilities according to the AGV trolley being calculated with respect to shelf, determine current AGV
Trolley executes the operation or and the goods that adjust pose so that subsequent docking facilities are determined according to current pose with respect to the pose of shelf
The operation of frame docking.
It should be understood that during transversal displacement and yaw angle of the above-mentioned calculating AGV trolley with respect to shelf, it is involved
The u arrived is based on being demarcated gained to in-vehicle camera in advance, and in-vehicle camera calibration is optional using Zhang Zhengyou calibration method, passes through
World coordinate system, camera coordinates system and image coordinate system are constructed, intrinsic parameter, outer parameter and the distortion parameter of camera is found out, passes through
These camera calibration parameters construct rectangular coordinate system by origin of the bottom shelf image upper left corner, can acquire b1、b2With the value of u,
It does not elaborate herein.
Step S40 controls the AGV trolley and docks with the shelf according to the pose.
Pose of the docking facilities according to current AGV trolley with respect to shelf adjusts the docking mode of AGV trolley and shelf, tool
Body, the lifting of control AGV trolley, which is linked up with, rises, and catches on the docking location of shelf, and completion AGV trolley is docked with shelf.
Specifically, step S40 includes:
Step h adjusts pose of the AGV trolley with respect to shelf according to the transversal displacement and the yaw angle.
It should be understood that when current AGV trolley is not zero with respect to the transversal displacement and/or yaw angle of shelf, docking
Device controls the movement of AGV trolley, adjusts pose of the AGV trolley with respect to shelf, until transversal displacement of the AGV trolley with respect to shelf
It is all zero with yaw angle.
Step i controls the AGV trolley and docks with the shelf when the pose is consistent with default pose.
It should be understood that is, explanation is worked as when current AGV trolley is all zero with respect to the transversal displacement and yaw angle of shelf
Preceding AGV trolley is correct with respect to the pose of shelf, specifically, when current AGV trolley is consistent with default pose with respect to the pose of shelf,
The lifting traction hook that docking facilities control AGV trolley rises, and catches on the docking location of shelf, completes the behaviour docked with shelf
Make.
The present embodiment obtains bottom shelf image by in-vehicle camera, wherein there are two black and white glazing bars for bottom shelf stickup
Shape figure, described two black and white lattice bar charts are parallel and symmetrical each other to be located at shelf center line two sides；According to the bottom shelf figure
Black and white lattice bar chart as in, determines the center line of bottom shelf；According to the center line of the bottom shelf and prestore calibration ginseng
Number, determines pose of the AGV trolley with respect to shelf；According to the pose, controls the AGV trolley and docked with the shelf, this hair
It is bright without being laid with guide wire on the ground, be realized with a low cost docking for AGV trolley and shelf, flexibility is high, strong applicability.
Further, the second embodiment of AGV trolley and shelf interconnection method of the present invention is proposed based on first embodiment.
The first embodiment of the second embodiment and AGV trolley and shelf interconnection method of AGV trolley and shelf interconnection method
Difference be, referring to Fig. 7, AGV trolley and shelf interconnection method further include:
Step S50, demarcates in-vehicle camera, obtains the calibrating parameters of the in-vehicle camera；
In the present embodiment, docking facilities need to demarcate the in-vehicle camera on AGV trolley in advance, obtained calibration
Parameter supplies subsequent distortion correction, and calculates AGV trolley and use with respect to the transversal displacement and yaw angle of shelf, wherein camera
Calibrating parameters include intrinsic parameter, outer parameter and the distortion parameter of camera.
Specifically, step S50 includes:
Step S51 shoots scaling board image by in-vehicle camera；
Step S52 extracts preset angle point according to the scaling board image, through the angle point in scaling board image
Coordinate and three-dimensional world in coordinate, calculate the calibrating parameters of in-vehicle camera and preservation.
Docking facilities shoot scaling board image by in-vehicle camera in advance, according to the scaling board image of shooting, extract default
Angle point, building include three-dimensional world coordinate system, three-dimensional camera coordinate system and imaging plane coordinate system geometrical model, pass through angle
Coordinate in point coordinate and three-dimensional world in the picture, calculates the calibrating parameters of in-vehicle camera and preservation, wherein angle point can be with
It is point of interest, is selected in advance, the point with obvious characteristic, the present embodiment is by presetting one in black and white lattice bar chart
Red dot is as angle point, and for the calibration of in-vehicle camera, the Corner Detection for being preferably based on bianry image goes to extract angle point.
Specific calibration process can be divided into two parts:
The first step switchs to camera coordinates system from world coordinate system, this step is the conversion of three-dimensional point to three-dimensional point, including R,
The parameters such as t (Camera extrinsic, it is determined that position and orientation of the camera in some three-dimensional space)；
Second step switchs to imaging plane coordinate system (pixel coordinate system) from camera coordinates system, this step is three-dimensional point to two
Tie up the parameters such as the conversion, including K (camera internal reference is the approximation to camera physical characteristic) of point.
Detailed process is not introduced herein, can refer to the scaling methods such as Zhang Zhengyou calibration method.
The present embodiment needs to demarcate the in-vehicle camera on AGV trolley in advance, and obtained calibrating parameters are for subsequent abnormal
Become correction, and calculate AGV trolley and used with respect to the transversal displacement and yaw angle of shelf, improves AGV trolley and docked with shelf
The intelligence and applicability of method.
Further, the third of AGV trolley and shelf interconnection method of the present invention is proposed based on first or second embodiment
Embodiment.The 3rd embodiment and AGV trolley of AGV trolley and shelf interconnection method and the first of shelf interconnection method or the
The difference of two embodiments is, AGV trolley and shelf interconnection method further include:
Step j controls the AGV trolley and draws the shelf to destination；
Step k, controls the AGV trolley and the shelf are released and connected, so that the AGV trolley leaves；
For docking facilities after having executed the docking of AGV trolley and shelf, control AGV trolley draws shelf to purpose
Ground obtains environment by in-vehicle camera, based on strong specifically, docking facilities receive the destination information that server is sent
Chemistry practises path planning, and control AGV trolley draws shelf to destination.
It should be understood that docking facilities control lifting traction hook on AGV trolley and unclamp after arriving at the destination, AGV is released
The connection relationship of trolley and shelf, so that AGV trolley leaves shelf.Specifically, triggering releases after docking facilities arrive at the destination
Instruction, docking facilities control lifting traction hook release on AGV trolley, release the company of AGV trolley and shelf according to instruction is released
Relationship is connect, goes to dock another shelf so that AGV trolley leaves current shelf, or return and stay where one is, pending further orders.
The present embodiment, docking facilities control AGV trolley draws shelf to destination, and releases after arriving at the destination
The connection relationship of AGV trolley and shelf improves the flexibility of AGV trolley so that AGV trolley leaves current shelf.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium.
It is stored with AGV trolley and shelf docking procedure on the computer readable storage medium, it is described computer-readable to deposit
Storage media is applied to AGV trolley and shelf docking facilities, realization when the AGV trolley and shelf docking procedure are executed by processor
Step as described above.
Computer readable storage medium specific embodiment of the present invention is respectively implemented with above-mentioned AGV trolley with shelf interconnection method
Example is essentially identical, and details are not described herein.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include the other elements being not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that more terminal devices (can be mobile phone, computer, clothes
Business device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of AGV trolley and shelf interconnection method, which is characterized in that the AGV trolley and shelf interconnection method include following
Step:
Bottom shelf image is obtained by in-vehicle camera, wherein there are two black and white lattice bar charts for bottom shelf stickup, described two
Black and white lattice bar chart is parallel and symmetrical each other to be located at shelf center line two sides；
According to the black and white lattice bar chart in the bottom shelf image, the center line of bottom shelf is determined；
According to the center line of the bottom shelf and calibrating parameters are prestored, determine pose of the AGV trolley with respect to shelf；
According to the pose, controls the AGV trolley and docked with the shelf.
2. AGV trolley as described in claim 1 and shelf interconnection method, which is characterized in that described to obtain goods by in-vehicle camera
The step of frame bottom image includes:
Pass through in-vehicle camera shooting shelf bottom pattern；
Distortion correction and perspective transform processing are carried out to the bottom shelf pattern, obtain bottom shelf image.
3. AGV trolley as described in claim 1 and shelf interconnection method, which is characterized in that described according to the bottom shelf
Black and white lattice bar chart in image, the step of determining the center line of bottom shelf include:
The bottom shelf image is subjected to binary conversion treatment, and extracts black and white lattice in the bottom shelf image after binary conversion treatment
The small lattice of white in bar chart；
Straight line fitting is carried out to the small lattice of the white, obtains two straight lines；
According to calibrating parameters and two straight lines are prestored, the center line of bottom shelf is determined.
4. AGV trolley as described in claim 1 and shelf interconnection method, which is characterized in that described according to the bottom shelf
Center line and the step of prestoring calibrating parameters, determining pose of the AGV trolley with respect to shelf include:
According to the center line of the bottom shelf and prestore calibrating parameters, calculate AGV trolley with respect to shelf transversal displacement with
Yaw angle；
According to the transversal displacement and the yaw angle, pose of the told AGV trolley with respect to shelf is determined.
5. AGV trolley as claimed in claim 4 and shelf interconnection method, which is characterized in that described according to the pose, control
The step of AGV trolley is docked with the shelf include:
According to the transversal displacement and the yaw angle, pose of the AGV trolley with respect to shelf is adjusted；
When the pose is consistent with default pose, controls the AGV trolley and docked with the shelf.
6. AGV trolley as described in claim 1 and shelf interconnection method, which is characterized in that described to be obtained by in-vehicle camera
Bottom shelf image, wherein bottom shelf is pasted there are two black and white lattice bar chart, and described two black and white lattice bar charts are parallel each other
And before the step of being symmetrically positioned in shelf center line two sides, the method also includes:
In-vehicle camera is demarcated, the calibrating parameters of the in-vehicle camera are obtained.
7. AGV trolley as claimed in claim 6 and shelf interconnection method, which is characterized in that described to be marked to in-vehicle camera
Fixed, the step of obtaining the calibrating parameters of the in-vehicle camera, includes:
Scaling board image is shot by in-vehicle camera；
According to the scaling board image, preset angle point is extracted, passes through coordinate and three-dimensional of the angle point in scaling board image
Coordinate in the world calculates the calibrating parameters of in-vehicle camera and preservation.
8. such as the described in any item AGV trolleies of claim 1-7 and shelf interconnection method, which is characterized in that described according to
Pose, after controlling the step of AGV trolley is docked with the shelf, the method also includes:
It controls the AGV trolley to draw the shelf to destination, triggering releases instruction；
It is instructed according to the releasing, controls the AGV trolley and the shelf are released and connected, so that the AGV trolley leaves.
9. a kind of AGV trolley and shelf docking facilities, which is characterized in that described device includes memory, processor and is stored in
On the memory and the AGV trolley that can run on the processor and shelf docking procedure, the AGV trolley and shelf pair
It connects and realizes when program is executed by the processor such as AGV trolley described in any item of the claim 1 to 8 and shelf interconnection method
The step of.
10. a kind of computer readable storage medium, which is characterized in that it is small to be stored with AGV on the computer readable storage medium
It is realized when vehicle and shelf docking procedure, the AGV trolley and shelf docking procedure are executed by processor as in claim 1 to 8
The step of described in any item AGV trolleies and shelf interconnection method.
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| CN201811025000.1A CN109189066A (en) | 2018-08-31 | 2018-08-31 | AGV trolley and shelf interconnection method, device and computer readable storage medium |
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| CN201811025000.1A CN109189066A (en) | 2018-08-31 | 2018-08-31 | AGV trolley and shelf interconnection method, device and computer readable storage medium |
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