CN105550676A - Logistics delivery vehicle trace tracking method based on linearity CCD - Google Patents
Logistics delivery vehicle trace tracking method based on linearity CCD Download PDFInfo
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- CN105550676A CN105550676A CN201610073968.6A CN201610073968A CN105550676A CN 105550676 A CN105550676 A CN 105550676A CN 201610073968 A CN201610073968 A CN 201610073968A CN 105550676 A CN105550676 A CN 105550676A
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- 238000001914 filtration Methods 0.000 claims abstract description 5
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
Abstract
The invention discloses a logistics delivery vehicle trace tracking method based on linearity CCD, comprising steps of choosing a linearity CCD camera to detect trace information and transmitting the detection information which has gone through amplification, filtering and A/D conversion to a single-chip microcomputer to process. In a process of processing information, a PID model of a tracking system is established, a direction to which the logistic delivery vehicle is deflected and a deflection degree are obtained through historic experience accumulation, and a motor steering speed and a steering direction tracking trace are adjusted through a fuzzy self-adaptive algorithm. In design, because the study for the deep accumulation history trace deflection direction and the deflection degree is adopted, the trend for the trace can be simply and quickly estimated, and a control decision can be quickly made by combining with practical detection information in order to make tracking to adapt to the external environment. The invention enables the logistic delivery vehicle to stably move forward along the center of the trace so as to finish the tracking of the trace of the logistic delivery vehicle. The trace tracking method simplifies the AGV control and guarantees the stability and accuracy.
Description
Technical field
The present invention relates to self-navigation logistics carrier loader field, particularly relate to a kind of logistics carrier loader stitching tracking based on linear CCD.
Background technology
AGV(AutomatedGuidedVehicle) i.e. self-navigation logistics carrier loader, refers to and is equipped with the homing guidance such as electromagnetism or optics equipment, can travel, have the transport vehicle of safeguard protection and various transplanting function along prescribed path.And existing AGV optical navigation control mode, great majority adopt single infrared photoelectric sensor array, area array CCD or many group linear CCDs to combinationally use, thus reach AGV along the guide rails operation comparatively fixing material, and also there is certain performance requirement for processor.
Along with the technology of AGV self-navigation logistics carrier loader is fast-developing, market competition is growing more intense, and how under the prerequisite ensureing stable and reliable product quality, reduced cost becomes manufacturer and wants important considerations as far as possible.
Summary of the invention
The object of the present invention is to provide a kind of logistics carrier loader stitching tracking based on linear CCD of simple and reasonable steps.The method has selected linear CCD camera to detect trajectory information, and Detection Information sends into single-chip microcomputer process after amplification, filtering, A/D conversion.In information processing, establish the PID model of tracker, accumulated the direction and the departure degree that obtain logistics carrier loader and depart from trace by historical experience, then by turning velocity and the steering direction tracking trace of fuzzy adaptive algorithm adjustment motor.In the design, owing to adopting the study of degree of depth accumulated history trace offset direction and departure degree, can the trend of simple and quick estimation trace, make control decision fast in conjunction with actual Detection Information, make tracking more can adapt to external environment.Logistics carrier loader steadily all the time can be advanced along trace center, thus complete the tracking of logistics carrier loader stitching.
For achieving the above object, the present invention is achieved through the following technical solutions:
AGV logistics carrier loader adopts linear CCD laterally to detect guide wire positional information, the transport condition of the current logistics carrier loader of data message computational analysis of returning is read according to linear CCD, different pid parameter adjustment logistics carrier loader motors is adopted to drive in varied situations, thus the steady tracking of logistics carrier loader;
This logistics carrier loader stitching tracking comprises the following steps:
Step 1, linear CCD timing 20ms intermittent scanning information of road surface, passes upper 128 each pixel values of pixel of CCD back after amplification, filtering, A/D conversion; Step 2, calculates the average pixel value of 128 pixels; Step 3, calculates average threshold according in step 2, empirically the pixel jump value of formula estimation guide wire edge and peripheral environment; Step 4, finds guide wire left and right edge positions in 128 pixel values obtained, thus calculates guide wire center; Step 5, current guide wire center and the actual car body center line of obtaining is transformed into location comparison in CCD pixel, obtain deviation, introduce deviation to pid algorithm, this pid algorithm accumulation front ten departure degrees and trend form the certain experiences degree of depth, thus provide current departure degree more accurately and depart from trend; Step 6, by current deviation with depart from trend and be incorporated in fuzzy algorithm, calculates via fuzzy algorithm and revises current pid parameter, and then must calculate and currently should adjust differential value, and Vehicle Controller adjusts differential between two drive motor, performs correction process.
Compared with prior art, this method adopts single linear CCD to identify path of navigation, the lower cost materials such as adhesive tape, reflective tape can be adopted to lay, workload greatly simplifies, the modified line appearance of a street is easy, algorithm is simple and reliable, adopts fuzzy self-adaption adjustment pid parameter, ensure that tracking stablized by AGV logistics carrier loader.
Accompanying drawing explanation
Fig. 1 is a kind of AGV logistics carrier loader tracking control flow chart provided by the invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention does not limit to the restriction of embodiment.
Clearly represent unless otherwise other, otherwise in whole instructions and claims, term " comprise " or its conversion as " comprising " or " including " etc. by be understood to include the element of stating or ingredient, and do not get rid of other element or other ingredient.
As shown in Figure 1, comprise the following steps according to the logistics carrier loader stitching tracking based on linear CCD of the specific embodiment of the invention:
A kind of logistics carrier loader stitching tracking based on linear CCD, it is characterized in that: this logistics carrier loader adopts linear CCD laterally to detect guide wire positional information, the transport condition of the current logistics carrier loader of data message computational analysis of returning is read according to linear CCD, different pid parameter adjustment logistics carrier loader motors is adopted to drive, to the smooth-ride of logistics carrier loader in varied situations:
This logistics carrier loader stitching tracking comprises the following steps:
Step 1, linear CCD timing 20ms intermittent scanning information of road surface, passes upper 128 each pixel values of pixel of CCD back after amplification, filtering, A/D conversion;
Step 2, based on step 1, calculates the average pixel value of 128 pixels, if current average is greater than the setting pixel value upper limit or is less than pixel value lower limit, estimates that current logistics carrier loader travels derailing, jumps to step 3; If current average is in setting range, jump to step 4;
Step 3, based on step 2, statistics arrives this number of steps continuously, if number of times reaches set point number, then logistics carrier loader stops, and judges the derailing of logistics carrier loader; If do not reach number of times, then return step 1;
Step 4, calculates average threshold according in step 2, empirically the pixel jump value of formula estimation guide wire edge and peripheral environment;
Step 5, based on step 4, finds guide wire left and right edge positions, thus calculates guide wire center, wherein convert according to actual guide wire live width the pixel number occupied in CCD in 128 pixel values obtained, with this non-guide line interference that disappears; Currently multiple (general 2 ~ 3) guide wire center is had if calculate, then illustrate and be currently in a point prong, then according to the bifurcated direction that road sign or Vehicle Controller require, retain corresponding guide wire center (as required to part fork on the left side, then the reservation that corresponding guide wire center is to the left);
Step 6, based on step 5, is transformed into location comparison in CCD pixel by current guide wire center and the actual car body center line of obtaining, obtain deviation, if bias free or within the scope of little deviation, then judge that current should the continuation of logistics carrier loader is kept straight on, return step 1; Otherwise introduce deviation to pid algorithm, this pid algorithm accumulation front ten departure degrees and trend form the certain experiences degree of depth, thus provide current departure degree more accurately and depart from trend;
Step 7, based on step 6, by current deviation with depart from trend and be incorporated in fuzzy algorithm, calculate via fuzzy algorithm and revise current pid parameter, and then must calculate and currently should adjust differential value, Vehicle Controller adjusts differential between two drive motor, performs correction process.
To sum up, linear CCD should be adopted laterally to detect guide wire positional information based on the logistics carrier loader stitching tracking of linear CCD, the transport condition of the current logistics carrier loader of data message computational analysis of returning is read according to linear CCD, adopt different pid parameter adjustment logistics carrier loader motors to drive in varied situations, simplify sensor and use and ensure that logistics carrier loader steady tracking guide path while track laying.
Claims (3)
1. the dolly stitching tracking based on linear CCD, it is characterized in that: this dolly adopts linear CCD laterally to detect guide wire positional information, the transport condition of the current dolly of data message computational analysis of returning is read according to linear CCD, different pid parameter adjustment vehicle motors is adopted to drive in varied situations, thus the steady tracking of dolly:
This dolly stitching tracking comprises the following steps:
Step 1, linear CCD timing 20ms intermittent scanning information of road surface, passes upper 128 pixels of CCD back after amplification, filtering, A/D conversion
Each pixel value;
Step 2, based on step 1, calculates the average pixel value of 128 pixels, if current average is greater than the setting pixel value upper limit or is less than pixel value lower limit, estimates that current dolly travels derailing, jumps to step 3; If current average is in setting range, jump to step 4;
Step 3, based on step 2, statistics arrives this number of steps continuously, if number of times reaches set point number, then dolly stops, and judges dolly derailing; If do not reach number of times, then return step 1;
Step 4, calculates average threshold according in step 2, empirically the pixel jump value of formula estimation guide wire edge and peripheral environment;
Step 5, based on step 4, finds guide wire left and right edge positions, thus calculates guide wire center, wherein convert according to actual guide wire live width the pixel number occupied in CCD in 128 pixel values obtained, with this non-guide line interference that disappears; Currently there is multiple guide wire center if calculate, then illustrate and be currently in a point prong, then according to the bifurcated direction that road sign or Vehicle Controller require, retain corresponding guide wire center;
Step 6, based on step 5, is transformed into location comparison in CCD pixel by current guide wire center and the actual car body center line of obtaining, obtains deviation, if bias free or within the scope of little deviation, then judges that current should the continuation of dolly is kept straight on, returns step 1; Otherwise introduce deviation to pid algorithm, this pid algorithm accumulation front ten departure degrees and trend form the certain experiences degree of depth, thus provide current departure degree more accurately and depart from trend;
Step 7, based on step 6, by current deviation with depart from trend and be incorporated in fuzzy algorithm, calculate via fuzzy algorithm and revise current pid parameter, and then must calculate and currently should adjust differential value, Vehicle Controller adjusts differential between two drive motor, performs correction process.
2. a kind of dolly stitching tracking based on linear CCD according to claim 1, is characterized in that: linear CCD is perpendicular to ground based scanning, and ccd sensor linear direction is vertical with guide wire, namely consistent with vehicle-width direction.
3. a kind of dolly stitching tracking based on linear CCD according to claim 1, is characterized in that: described deviation, for guide wire center and actual car body center are reflected to the center pixel number deviation of ccd image.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109283931A (en) * | 2018-08-10 | 2019-01-29 | 中北大学 | The linear CCD inspection system and patrolling method of medical sickbed transport vehicle |
| CN110147042A (en) * | 2019-05-28 | 2019-08-20 | 金力 | A kind of upright AGV car body control method based on fuzzy control combination PID control |
| CN110209162A (en) * | 2019-05-06 | 2019-09-06 | 珠海达明科技有限公司 | A kind of 4 wheel driven AGV autonomous tracing in intelligent vehicle based on Ackermann steering principle |
| CN112256009A (en) * | 2019-07-04 | 2021-01-22 | 深圳市越疆科技有限公司 | Line seeking method, device, equipment and readable storage medium |
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| CN110209162A (en) * | 2019-05-06 | 2019-09-06 | 珠海达明科技有限公司 | A kind of 4 wheel driven AGV autonomous tracing in intelligent vehicle based on Ackermann steering principle |
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| CN110147042B (en) * | 2019-05-28 | 2020-06-16 | 金力 | Vertical AGV body control method based on fuzzy control and PID control |
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Application publication date: 20160504 |