CN102997910B - A kind of based on road of ground surface target location guidance system and method - Google Patents
A kind of based on road of ground surface target location guidance system and method Download PDFInfo
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Abstract
The invention discloses a kind of based on road of ground surface target location guidance system and method, it is characterized in that, comprising: vision system, ground road sign, AGV car body, embedded controller.Vision system is for obtaining ground road sign characteristic image; Road of ground surface is designated as the characteristic strip of black and white template composition, is laid in ground; Embedded controller utilizes template matching method that the ground road sign characteristic image of acquisition is carried out contrast with the characteristic strip image in data base to mate, and according to feature road sign position in the picture and their geometric relationships in world coordinate system, know the position of now AGV car body, attitude, realize Global localization, guidance function.Corresponding method is also provided.The present invention adopts the double-colored coding characteristic band of black and white as ground road sign, realizes, outside AGV homing guidance function, can also realizing Global localization, thus provides basis for realizing the work such as many AGV cooperation carrying, assembling, has good application prospect.
Description
Technical field
The present invention relates to automation field, particularly relate to a kind of location guidance method of view-based access control model technology, be adapted at using in numeric terminal, be specifically related to a kind of based on road of ground surface target location guidance system and method.
Background technology
Automatic Guided Technology mainly comprises magnetic cuiding, las er-guidance, visual guidance, inertial guide, ultrasound wave guiding and magnetic nail etc.Wherein visual guidance refers to AGV(automatic guided vehicle) pattern recognition is carried out to the environment of running region, realize intelligence and travel, this is a kind of guidance technology with great potential.Vision sensor is the passive reception of information, not by the interference of other sensors; What vision sensor collection obtained contains much information, even if after having abandoned a large amount of information, can be still automobile navigation well.Simultaneously visual guidance has the advantages such as path of navigation arranges and change simple and convenient, technical costs and cost of use is low, system flexibility is good.Therefore visual guidance has become the focus of current research and apply, has huge application potential.
In existing visual guidance, be mainly divided into scenery identification and landmark identification guiding, and landmark identification is divided into aerial mark and surface mark identification.As " visual guiding by manual road sign " (Chinese invention patent application number 200410021540.4), belong to aerial landmark identification, the road sign designed is bonded in plane perpendicular to the ground by this invention, by road sign position in the picture and their geometric relationships in world coordinate system, calculate the absolute position of video camera.But this invention is under the inadequate environment of light or under road sign is blocked situation, the navigation effect that cannot obtain; Meanwhile, for single camera, non-omni-directional visual, under the road sign of discontinuous, limited quantity, due to limited viewing angle, very high positioning precision cannot be obtained.
And surface mark, basic employing to be filled in colors on a sketch band at ground paving, thus provides direction of motion for automatic guided vehicle, but cannot obtain locating information.Automatic guided vehicle is when Automated assembly task, and need to obtain self accurate locating information in real time, robot vision leading system, while providing direction of motion, needs to provide absolute position.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, provides a kind of location of Facing Digital fittage, guidance method, makes automatic guided vehicle can realize Global localization, guiding by ground road sign and vision technique.The present invention is achieved by the following technical solutions:
According to an aspect of the present invention, there is provided a kind of based on road of ground surface target location guidance system, comprise: vision system, ground road sign, AGV car body, embedded controller, described vision system and embedded controller are arranged on described AGV car body, described road of ground surface is designated as and is laid in the ground characteristic strip in AGV car body perform region, wherein, the image information that described vision system comprises for obtaining ground road sign, described embedded controller is used for carrying out to the image information being received from described vision system the positional information that image procossing obtains current AGV car body.
Preferably, described vision system comprises visual apparatus, light fixture and light shield, wherein, described visual apparatus is single camera, described light fixture provides enough light to ensure that video camera obtains image information better, and described light shield is for avoiding external environment light on the impact of image.
Preferably, described characteristic strip comprises black and white template, described black and white template is made up of square dark border, the inside of described black and white template is printed on different characteristic pattern in white substrate, the data base of described embedded controller stores the feature of each characteristic pattern, and the feature of each characteristic pattern is all unique to indicate unique positions in the data base of described embedded controller.
Preferably, described embedded controller, using DSP as vision system processor, realizes real time video collection, Vision information processing by described vision system processor.
According to another aspect of the present invention, also provide a kind of based on road of ground surface target location guidance method, comprise the steps:
Step S1. lays characteristic strip on ground, AGV car body perform region, and wherein characteristic strip comprises characteristic pattern, and the correspondence position on characteristic strip is recorded in the data base of embedded controller by the image information of characteristic strip and each characteristic pattern;
Step S2. is when the characteristic strip of AGV car body through laying, and vision system captures the image information of characteristic strip, and this image information is transferred to embedded controller carries out image procossing, and wherein, vision system and embedded controller are arranged on described AGV car body;
After step S3. embedded controller obtains image information, utilize template matching method, image information after correction is carried out contrast with the characteristic pattern in data base mate, calculate the correspondence position of obtained characteristic pattern in whole characteristic strip, thus position, the attitude of now AGV car body can be known.
Preferably, step S3 specifically: after embedded controller obtains image information, first change image into bianry image according to the first setting threshold value, after obtaining bianry image, each pixel is calculated in orthogonal both direction to the difference of adjacent pixel values, thus obtain gradient image, then from gradient image, extract angle point according to the second setting threshold value, namely pixel value is greater than the point of the second setting threshold value, extract four angle points to each characteristic pattern, uniquely determine an evolution matrix by these four angle points, this evolution matrix contains the evolution of AGV car body relative to this mark, on the other hand, owing to inevitably there is projective transformation in video camera imaging process, directly doing template matches, to carry out the success ratio of distinguishing mark thing lower, therefore four angle points extracted are utilized to calculate projective transformation matrix, and utilize this projective transformation matrix to carry out projection inverse transformation to bianry image, thus the pattern distortion that elimination projective transformation causes, after eliminating distortion, recycling template matching method, image information after correction and the characteristic pattern in data base contrast by embedded controller, calculate the position of obtained characteristic pattern in whole characteristic strip, thus the position of now AGV car body can be known, attitude, realize location, the function of guiding.
Preferably, described characteristic strip comprises black and white template, described black and white template is made up of square dark border, the inside of described black and white template is printed on different characteristic pattern in white substrate, the data base of described embedded controller stores the feature of each characteristic pattern, and the feature of each characteristic pattern is all unique to indicate unique positions in the data base of described embedded controller; For ensureing to locate AGV car body in real time, when designing vision system, the field range of vision need be increased, ensureing that in the image that vision system is caught, the number of black and white template is more than or equal to 1.
Preferably, the number of the black and white template in described vision system captured images is more than or equal to 1, when therefore carrying out image procossing, concrete grammar is: search for from image origination, till searching first complete black and white template, just start the process this complete black and white template being carried out to step S3.
The present invention, by laying characteristic strip on ground, utilizes the template matching method in vision technique, realizes the location of AGV, guidance function; Avoid the defect of Normal visual guidance method, significantly reduce AGV and guide cost, obtain higher positioning precision.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is system comprising modules block diagram of the present invention;
Fig. 2 is location of the present invention, guidance method workflow diagram;
Fig. 3 is that road of ground surface indicates intention.
In figure: 1 is AGV car body, 2 is embedded controller, and 31 is light fixture, and 32 is light shield, and 33 is visual apparatus, and 4 for laying characteristic strip in bottom surface.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment, but protection scope of the present invention is not limited to following embodiment.
Fig. 1 is system comprising modules block diagram of the present invention, as shown in Figure 1, in the present embodiment, according to system Facing Digital fittage provided by the present invention, it comprises: vision system, ground road sign, AGV car body, embedded controller, wherein vision system, embedded controller is installed on AGV car body, vision system comprises visual apparatus, light fixture and light shield, described light fixture provides enough light to ensure that the video camera as visual apparatus obtains image information better, described light shield can avoid external environment light on the impact of image.
Described vision system is for obtaining environmental characteristic image; Described embedded controller is using DSP as vision system processor, realize real time video collection, Vision information processing, receive the image information of described vision system when embedded controller and after carrying out image procossing, obtain the positional information of current AGV car body, realizing positioning function; Described ground road sign is the characteristic strip being layed in ground; Described AGV car body is the carrier of the above each module, loads part when carrying out numeric terminal task.
Describedly be layed in the characteristic strip on ground as shown in Figure 3 as ground road sign, be a kind of custom-designed black and white template, this black and white template is made up of square dark border, innerly in white substrate, is printed on different characteristic pattern.
Fig. 2 is location of the present invention, guidance method workflow diagram, as shown in Figure 2.In the present embodiment, first the characteristic strip image being layed in ground is stored in the data base of embedded controller; When AGV body movement, by vision system by the image transmitting that collects in embedded controller, after embedded controller obtains image, first change image into bianry image according to the first setting threshold value, the pixel being greater than the first setting threshold value by brightness value puts 1, rest of pixels is set to 0.Obtain after bianry image, search for from image origination, till searching first complete black and white template, only black and white template in this parts of images is processed.In bianry image, each pixel calculates the difference of adjacent pixel values in orthogonal both direction, thus obtains gradient image, then from gradient image, extracts angle point according to the second setting threshold value, and namely pixel value is greater than the point of this second setting threshold value.Can extract four angle points to each visual beacon thing, uniquely can determine an evolution matrix by these four angle points, this evolution matrix contains the evolution of AGV car body relative to this mark.On the other hand, owing to inevitably there is projective transformation in video camera imaging process, directly doing template matches, to carry out the success ratio of distinguishing mark thing lower, therefore four angle points extracted are utilized to calculate projective transformation matrix, and utilize this projective transformation matrix to carry out projection inverse transformation to image, thus the pattern distortion that elimination projective transformation causes.After eliminating distortion, recycling template matching method, image information after correction and the characteristic strip in data base contrast by embedded controller, calculate the position of obtained image in whole characteristic strip, thus position, the attitude of now AGV car body can be known, realize the function of location, guiding.
Compared with prior art, outstanding feature of the present invention is the location, the guidance function that adopt the characteristic strip of black and white stencil design to realize AGV as ground road sign, owing to have employed the double-colored coding characteristic band of black and white, can beyond homing guidance during AGV motion, can also Global localization be realized, thus provide basis for realizing the work such as many AGV cooperation carrying, assembling.This method is located, guidance accuracy is high, and cost is low, avoids the impact of ambient light, good stability, has good application prospect in AGV.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (8)
1. locate guidance system based on road of ground surface target for one kind, it is characterized in that, comprise: vision system, ground road sign, AGV car body, embedded controller, described vision system and embedded controller are arranged on described AGV car body, described road of ground surface is designated as and is laid in the ground characteristic strip in AGV car body perform region, wherein, the image information that described vision system comprises for obtaining ground road sign, described embedded controller is used for carrying out to the image information being received from described vision system the positional information that image procossing obtains current AGV car body;
The position of described AGV car body, comprises the position of characteristic pattern contained by image information in whole characteristic strip.
2. according to claim 1 based on road of ground surface target location guidance system, it is characterized in that, described vision system comprises visual apparatus, light fixture and light shield, wherein, described visual apparatus is single camera, described light fixture provides enough light to ensure that video camera obtains image information better, and described light shield is for avoiding external environment light on the impact of image.
3. according to claim 1 based on road of ground surface target location guidance system, it is characterized in that, described characteristic strip comprises black and white template, described black and white template is made up of square dark border, the inside of described black and white template is printed on different characteristic pattern in white substrate, the data base of described embedded controller stores the feature of each characteristic pattern, and the feature of each characteristic pattern is all unique to indicate unique positions in the data base of described embedded controller.
4. according to claim 1 based on road of ground surface target location guidance system, it is characterized in that, described embedded controller, using DSP as vision system processor, realizes real time video collection, Vision information processing by described vision system processor.
5., based on a road of ground surface target location guidance method, it is characterized in that, comprise the steps:
Step S1. lays characteristic strip on ground, AGV car body perform region, and wherein characteristic strip comprises characteristic pattern, and the correspondence position on characteristic strip is recorded in the data base of embedded controller by the image information of characteristic strip and each characteristic pattern;
Step S2. is when the characteristic strip of AGV car body through laying, and vision system captures the image information of characteristic strip, and this image information is transferred to embedded controller carries out image procossing, and wherein, vision system and embedded controller are arranged on described AGV car body;
After step S3. embedded controller obtains image information, utilize template matching method, image information after correction is carried out contrast with the characteristic pattern in data base mate, calculate the correspondence position of obtained characteristic pattern in whole characteristic strip, thus position, the attitude of now AGV car body can be known.
6. according to claim 5ly to it is characterized in that based on road of ground surface target location guidance method, step S3 specifically: embedded controller obtains after image information, first changes image into bianry image according to the first setting threshold value; After obtaining bianry image, each pixel is calculated in orthogonal both direction to the difference of adjacent pixel values, thus obtain gradient image, then from gradient image, extract angle point according to the second setting threshold value, namely pixel value is greater than the point of the second setting threshold value; Extract four angle points to each characteristic pattern, uniquely determine an evolution matrix by these four angle points, this evolution matrix contains the evolution of AGV car body relative to this characteristic pattern; On the other hand, four angle points extracted are utilized to calculate projective transformation matrix, and utilize this projective transformation matrix to carry out projection inverse transformation to bianry image, thus the pattern distortion that elimination projective transformation causes, after eliminating distortion, recycling template matching method, image information after correction and the characteristic pattern in data base contrast by embedded controller, calculate the position of obtained characteristic pattern in whole characteristic strip, thus position, the attitude of now AGV car body can be known, realize the function of location, guiding.
7. according to claim 5 based on road of ground surface target location guidance method, it is characterized in that, described characteristic strip comprises black and white template, described black and white template is made up of square dark border, the inside of described black and white template is printed on different characteristic pattern in white substrate, the data base of described embedded controller stores the feature of each characteristic pattern, and the feature of each characteristic pattern is all unique to indicate unique positions in the data base of described embedded controller.
8. according to claim 7 based on road of ground surface target location guidance method, it is characterized in that, for ensureing that AGV car body can be located in real time, the field range of vision need be increased, make the number of the black and white template in vision system captured images be more than or equal to 1, when therefore carrying out image procossing, concrete grammar is: search for from image origination, till searching first complete black and white template, just start the process this complete black and white template being carried out to step S3.
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