CN106647729A - AGV navigation system based on image identification and wireless network and navigation method thereof - Google Patents
AGV navigation system based on image identification and wireless network and navigation method thereof Download PDFInfo
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- CN106647729A CN106647729A CN201510738464.7A CN201510738464A CN106647729A CN 106647729 A CN106647729 A CN 106647729A CN 201510738464 A CN201510738464 A CN 201510738464A CN 106647729 A CN106647729 A CN 106647729A
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- 238000000034 method Methods 0.000 title claims abstract description 6
- 230000004044 response Effects 0.000 claims description 18
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000012913 prioritisation Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the logistics carrying equipment technology field and especially relates to an AGV navigation system based on image identification and a wireless network and a navigation method thereof. The system comprises several AGV individuals and a control bench. Each AGV individual comprises a controller unit, a walking unit, a first wireless unit and a two-dimensional code unit. The control bench comprises a total controller unit, a second wireless unit, a man-machine interface unit and several camera units. Each camera unit sends identified number information and position information to the total controller unit. The total controller unit calculates a deviation of a position coordinate of each AGV individual and a target position, generates a walking route of each AGV individual and makes each AGV individual walk according to the route. A system structure is simple and cost is low.
Description
Technical field
The present invention relates to logistics haulage equipment technical field, more particularly to a kind of led with the AGV of wireless network based on image recognition
Boat system and air navigation aid.
Background technology
Known AGV navigation mode typically has following several：
Magnetic navigation AGV, on ground magnetic rubber strip, the walking of AGV driver elements line walking are laid；
Laser navigation AGV, on AGV tops rotary laser range unit is installed, and reflector, laser ranging are installed on track route
Device calculates AGV present positions coordinate and yaw angle according to the distance of reflecting plate return signal and angular relationship, AGV according to
Compare to navigate with internal memory route；
Inertial navigation AGV, in AGV vehicle bodies inertial navigation unit accelerometer and gyroscope are installed, and are exported according to gyroscope
Rotational angular velocity integrates out yaw angle, is integrated out according to acceleration output and speed and then integrates out travel distance, according to AGV in
Deposit route relatively to navigate；
GPS navigation AGV, is navigated according to gps satellite signal.
All there are various defects in AGV navigation above, wherein, the ground magnetic stripe of magnetic navigation AGV is easily damaged, and changes
Route needs to lay again, and change is not easy；Laser navigation AGV, needs can be scanned at any time to three or more than three reflecting strips,
And laser sensor cost is high；Inertial navigation AGV is then increasing with time cumulative error；GPS navigation AGV, needs
To use under outdoor spaciousness environment.
The content of the invention
The purpose of the present invention be overcome prior art exist defect, there is provided simple structure, low cost based on image recognition and nothing
The AGV navigation system of gauze network and air navigation aid.
Realizing the technical scheme of the object of the invention is：It is based on the AGV navigation system of image recognition and wireless network including some
AGV individualities and control station, AGV is individual to include controller unit, walking unit, the first radio-cell and Quick Response Code unit,
First radio-cell is connected with controller unit, and controller unit controls the track route of walking unit, and Quick Response Code unit is installed
AGV individual top, Quick Response Code unit record AGV individual number information；Control station include master controller unit, second
Radio-cell, human-machine interface unit and some camera units, master controller unit respectively with the second radio-cell, man-machine interface
Unit and camera unit connect, and camera unit is transferred to the AGV for recognizing individual position coordinateses and number information always
Controller unit is processed, and the first radio-cell and the second radio-cell carry out radio communication.
Used as the prioritization scheme of the present invention, controller unit is PLC.
Used as the prioritization scheme of the present invention, master controller unit is industrial PC.
Used as the prioritization scheme of the present invention, the first radio-cell and the second radio-cell are technical grade wireless router.
Used as the prioritization scheme of the present invention, walking unit is two wheel guide robot driver element, and described two wheel guide robot driver element is by two
Individual motor drives respectively two wheels, realizes turning to by speed difference between two-wheeled during walking.
Used as the prioritization scheme of the present invention, camera unit adopts technical grade picture recognition module.
Used as the prioritization scheme of the present invention, human-machine interface unit is touch screen, and touch screen is connected by serial ports with master controller unit.
Realizing the technical scheme of the object of the invention is：Based on image recognition and the air navigation aid of the AGV navigation system of wireless network,
The method is comprised the following steps：
1) camera unit identifies the individual number informations of the AGV of record and positional information by Quick Response Code unit；
2) camera unit sends the number information and positional information of identification to master controller unit, and master controller unit is calculated
AGV individual position coordinateses and the deviation of target location, generate the individual track routes of AGV；
3) master controller unit sends AGV individual track route to the first radio-cell by the second radio-cell, and first
The individual track routes of AGV are transferred to controller unit and are processed by radio-cell；
4) controller unit according to the AGV for receiving individual track route, according to track route walk by control walking unit；When
When AGV individual position changes, execution step 1 is circulated) to 4).
As the prioritization scheme of the present invention, when camera unit cannot obtain AGV individual positional informationes, the behaviour that reports to the police will be performed
Make.
Used as the prioritization scheme of the present invention, control station finds the row of the individual AGV individualities not received according to controller unit of AGV
When walking route walking, operation of reporting to the police will be performed.
The present invention has positive effect：1) camera unit by AGV it is individual at the top of Quick Response Code position and recognize specific
AGV is individual；Only the AGV individualities of increase need to be put into camera unit energy cog region when increasing or decreasing AGV individual amounts
Domain scope, simple structure；
2) separate unit AGV is individual due to not needing navigation sensor, ground magnetic stripe and laser sensor etc., so reducing cost；
3) separate unit AGV is individual due to not needing independent navigation, so making program simplification and reliability enhancing；
4) control station unified management, AGV is individual to be recognized into different regions by no camera unit, directly learns institute
There are AGV individuality positional informationes, it is to avoid congestion and the appearance collided.
Description of the drawings
Fig. 1 is the individual structured flowcharts of AGV of the present invention；
Fig. 2 is the structured flowchart of control station of the present invention.
Wherein, 1, AGV is individual, and 11, controller unit, 12, walking unit, the 13, first radio-cell, 14, two dimension
Code unit, 2, control station, 21, master controller unit, the 22, second radio-cell, 23, human-machine interface unit, 24, shooting
Head unit.
Specific embodiment
As shown in figure 1, the invention discloses a kind of AGV navigation system based on image recognition and wireless network including some
AGV individual 1 and control station 2, AGV individual 1 includes controller unit 11, walking unit 12, the first radio-cell 13
With Quick Response Code unit 14, the first radio-cell 13 is connected with controller unit 11, the control walking unit 12 of controller unit 11
Track route, Quick Response Code unit 14 installs the top of AGV individualities 1, the volume of the record AGV of Quick Response Code unit 14 individualities 1
Number information；Control station 2 includes master controller unit 21, the second radio-cell 22, human-machine interface unit 23 and some photographic head
Unit 24, master controller unit 21 is connected respectively with the second radio-cell 22, human-machine interface unit 23 and camera unit 24,
The position coordinateses and number information of the AGV individualities 1 for recognizing are transferred to master controller unit 21 and are carried out by camera unit 24
Process, the first radio-cell 13 and the second radio-cell 22 carry out radio communication.
Wherein, camera unit 24 is installed aloft, and Quick Response Code unit 14 can be sprayed on individual 1 tops of AGV with reflectorised paint
Surface, camera unit 24 is identified on the position coordinateses and Quick Response Code unit 14 of AGV individualities 1 by Quick Response Code unit 14
The number information of record.Secondary battery unit gives respectively controller unit 11, walking unit 12, the first radio-cell 13 and two dimension
Code unit 14 provides power supply.Control station 2 is powered by power supply.The first radio-cell of drive control 13 of controller unit 11；Master control
Difference drive control the second radio-cell 22, human-machine interface unit 23 of device unit 21 processed and camera unit 24.At this based on figure
As in AGV navigation system of the identification with wireless network, a control station 2 can include many AGV individualities 1, a control
Platform 2 can include many camera units 24, and a camera unit 24 can once recognize multiple Quick Response Code units 14.
Controller unit 11 is PLC.Master controller unit 21 is industrial PC.First radio-cell 13 and second
Radio-cell 22 is technical grade wireless router.Camera unit 24 adopts technical grade picture recognition module.Using technical grade
Various equipment cause system run all right, processing speed is fast.PLC uses RJ45 joints with technical grade wireless router
Netting twine connects, and industrial PC is connected with technical grade wireless router using RJ45 joint netting twines, and human-machine interface unit 23 is touch
Screen, touch screen is connected with master controller unit 21 by serial ports, is checked by touch screen and control operation, camera unit
Connected by RJ45 joints netting twine between 24 and master controller unit 21, camera unit 24 can install multiple technical grade figures
As identification module.
Walking unit 12 is two wheel guide robot driver element, and two wheel guide robot driver element drives respectively two wheels by two motors, OK
Realize turning to by speed difference between two-wheeled when walking.
Based on image recognition and the air navigation aid of the AGV navigation system of wireless network, the method is comprised the following steps：
1) camera unit 24 identifies the number information and positional information of the AGV individualities 1 of record by Quick Response Code unit 14；
2) camera unit 24 sends the number information and positional information of identification to master controller unit 21, master controller unit
21 calculate the position coordinateses of AGV individualities 1 and the deviation of target location, generate the track route of AGV individualities 1；
3) master controller unit 21 sends the track route of AGV individualities 1 to the first wireless list by the second radio-cell 22
Unit 13, the track route of AGV individualities 1 is transferred to controller unit 11 and is processed by the first radio-cell 13；
4), according to the track route of the AGV individualities 1 for receiving, control walking unit 12 is according to track route for controller unit 11
Walking；When the position of AGV individualities 1 changes, execution step 1 is circulated) to 4).
When camera unit 24 cannot obtain the positional information of AGV individualities 1, operation of reporting to the police will be performed.Control station 2 finds
When the track route of the AGV individualities 1 that AGV individualities 1 are not received according to controller unit 11 is walked, operation of reporting to the police will be performed.
Operation of reporting to the police is performed, is easy to problem to investigate in time and correct, so that AGV 1 well-regulated operations of individuality.
During system operation, the position coordinateses of Quick Response Code unit 14 and two on AGV individualities 1 are identified by camera unit 24
The number information that dimension code is recorded, the information for identifying is sent to master controller unit 21, master controller unit by wired mode
Deviation between 21 position coordinateses for calculating AGV individualities 1 and target location, generates the track route of AGV individualities 1, generates
The track route of AGV individualities 1 is sent to the first radio-cell of AGV individualities 1 by the second radio-cell 22 of control station 2
13, master controller unit 21 sends the track route of AGV individualities 1 to the first radio-cell by the second radio-cell 22
13, the track route of AGV individualities 1 is transferred to controller unit 11 and is processed by the first radio-cell 13, controller unit
11 walk according to the track route of AGV individualities 1 for receiving, control walking unit 12 according to track route, when AGV it is individual
When 1 position changes, camera unit 24 obtains new information and calculates new path and is sent to AGV individualities 1, such as
This circulation.
Example is made up of three AGV individual 1 with a control station 2 for including two camera units 24, during system operation,
Two photographic head recognize respectively the positional information of AGV individualities 1 in two regions, and three 1 positions of AGV individualities are all transmitted
To master controller unit 21, master controller unit 21 goes out next cycle according to positional information and system pre-stored path comparing calculation
The action that every AGV should be performed, by wireless network three AGV individualities 1, PLC in AGV individualities 1 are transferred to respectively
Controller receives control two wheel guide robot driver element after action command and carries out corresponding action.
Particular embodiments described above, is further described to the purpose of the present invention, technical scheme and beneficial effect,
The specific embodiment that the foregoing is only the present invention is should be understood that, the present invention is not limited to, it is all in the present invention
Spirit and principle within, any modification, equivalent substitution and improvements done etc., should be included in protection scope of the present invention it
It is interior.
Claims (10)
1. based on image recognition and the AGV navigation system of wireless network, it is characterised in that：Including some AGV individualities (1)
With control station (2), described AGV individualities (1) is including controller unit (11), walking unit (12), the first wireless list
First (13) and Quick Response Code unit (14), described the first radio-cell (13) is connected with controller unit (11), described
The track route of controller unit (11) control walking unit (12), it is individual that described Quick Response Code unit (14) installs AGV
(1) top, described Quick Response Code unit (14) records the number information of AGV individualities (1)；Described control station (2)
Including master controller unit (21), the second radio-cell (22), human-machine interface unit (23) and some camera units (24),
Described master controller unit (21) respectively with the second radio-cell (22), human-machine interface unit (23) and camera unit (24)
Connection, described camera unit (24) is transferred to the position coordinateses and number information of the AGV for recognizing individualities (1) always
Controller unit (21) is processed, and described the first radio-cell (13) carries out channel radio with the second radio-cell (22)
Letter.
2. the AGV navigation system based on image recognition and wireless network according to claim 1, it is characterised in that：Institute
The controller unit (11) stated is PLC.
3. the AGV navigation system based on image recognition and wireless network according to claim 1, it is characterised in that：Institute
The master controller unit (21) stated is industrial PC.
4. the AGV navigation system based on image recognition and wireless network according to Claims 2 or 3, it is characterised in that：
Described the first radio-cell (13) is technical grade wireless router with the second radio-cell (22).
5. the AGV navigation system based on image recognition and wireless network according to claim 1, it is characterised in that：Institute
The walking unit (12) stated is two wheel guide robot driver element, and described two wheel guide robot driver element drives respectively two by two motors
Individual wheel, realizes turning to during walking by speed difference between two-wheeled.
6. the AGV navigation system based on image recognition and wireless network according to claim 1, it is characterised in that：Institute
The camera unit (24) stated is using technical grade picture recognition module.
7. the AGV navigation system based on image recognition and wireless network according to claim 1, it is characterised in that：Institute
The human-machine interface unit (23) stated is touch screen, and touch screen is connected by serial ports with master controller unit (21).
8. using the air navigation aid for being based on image recognition and the AGV navigation system of wireless network as claimed in claim 1, its
It is characterised by：The method is comprised the following steps：
1) camera unit (24) identifies the number information of AGV individualities (1) of record by Quick Response Code unit (14)
And positional information；
2) camera unit (24) sends the number information and positional information of identification to master controller unit (21), master control
Device unit (21) calculates the position coordinateses of AGV individualities (1) and the deviation of target location, generates AGV's individualities (1)
Track route；
3) master controller unit (21) by AGV individuality (1) track route by the second radio-cell (22) send to
The track route of AGV individualities (1) is transferred to controller unit by the first radio-cell (13), the first radio-cell (13)
(11) processed；
4) controller unit (11) according to receive AGV individuality (1) track route, control walking unit (12) according to
Track route is walked；When the position of AGV individualities (1) changes, execution step 1 is circulated) to 4).
9. air navigation aid according to claim 8, it is characterised in that：Described camera unit (24) cannot be obtained
During the positional information of AGV individualities (1), operation of reporting to the police will be performed.
10. air navigation aid according to claim 8, it is characterised in that：Described control station (2) finds that AGV is individual
(1) when the track route of AGV individualities (1) not received according to controller unit (11) is walked, operation of reporting to the police will be performed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510738464.7A CN106647729A (en) | 2015-11-03 | 2015-11-03 | AGV navigation system based on image identification and wireless network and navigation method thereof |
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| CN201510738464.7A CN106647729A (en) | 2015-11-03 | 2015-11-03 | AGV navigation system based on image identification and wireless network and navigation method thereof |
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Cited By (8)
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| CN108153302A (en) * | 2017-12-08 | 2018-06-12 | 深圳市易成自动驾驶技术有限公司 | Guidance method, device and the computer readable storage medium of automatic guided vehicle |
| CN108345307A (en) * | 2018-03-05 | 2018-07-31 | 菲尼克斯(南京)智能制造技术工程有限公司 | Vision guide system and visual guide method |
| CN108896041A (en) * | 2018-06-20 | 2018-11-27 | 中国计量大学 | Inertial guide vehicle air navigation aid based on ultrasound and guiding vehicle |
| CN109440697A (en) * | 2018-10-08 | 2019-03-08 | 南京蓝泰交通设施有限责任公司 | A kind of intelligent highway mobile robot control method and system |
| WO2019184083A1 (en) * | 2018-03-29 | 2019-10-03 | 五邑大学 | Robot scheduling method |
| CN111486848A (en) * | 2020-05-25 | 2020-08-04 | 上海杰销自动化科技有限公司 | AGV visual navigation method, system, computer equipment and storage medium |
| CN111829510A (en) * | 2019-04-15 | 2020-10-27 | 富华科精密工业（深圳）有限公司 | Automatic navigation method, server and storage medium |
| CN112572269A (en) * | 2020-12-25 | 2021-03-30 | 广州华立科技职业学院 | Raw material distribution device with tracking function for construction site and implementation method thereof |
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| CN112572269A (en) * | 2020-12-25 | 2021-03-30 | 广州华立科技职业学院 | Raw material distribution device with tracking function for construction site and implementation method thereof |
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Application publication date: 20170510 |