CN108345307A - Vision guide system and visual guide method - Google Patents
Vision guide system and visual guide method Download PDFInfo
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- CN108345307A CN108345307A CN201810179164.3A CN201810179164A CN108345307A CN 108345307 A CN108345307 A CN 108345307A CN 201810179164 A CN201810179164 A CN 201810179164A CN 108345307 A CN108345307 A CN 108345307A
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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
- 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
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Abstract
The present invention provides a kind of vision guide system and a kind of visual guide method.In one embodiment, a kind of vision guide system takes, puts material for AGV trolleies of the guided robot into the docks rested near the robot, which includes visual unit and programmable logic controller (PLC) PLC.The visual unit is for capturing and handling the image of docks to generate processing result image.PLC is communicatively coupled with visual unit.The PLC is used for：Processing result image is received from visual unit；And in response to indicate AGV trolleies practical stop position relative to standard stop position position deviation be more than position deviation threshold value processing result image, indicate that robot takes, puts the position of material before taking, putting material to AGV trolleies based on position deviation adjustment, wherein, which is the AGV trolleies stop position residing in no deviations.
Description
Technical field
Present invention relates in general to manufacturing fields, relate more specifically to intelligence manufacture field.
Background technology
With the development of intelligence manufacture, increasingly higher demands are proposed to control accuracy.
A kind of typical intelligence manufacture scene is shown, wherein pass through automatically guiding trolley (Automatic in Fig. 1
Guided Vehicle, AGV trolley) it is 150 past, return and transmit material in multiple operation consoles.AGV trolleies can be automatically positioned and be set to
Designated position near the robot 110 of operation console then captures material or to AGV from robot 110 from AGV trolleies 150
Trolley 150 places material.The automatic positioning of AGV trolleies 150 has been able to reach certain precision (for example, deviations can be with
Control is in Centimeter Level).However, in actual use, to be more than it intrinsic maximum allowable fixed there are still deviations for AGV trolleies 150
The case where position deviation.In addition, in some high-precision manufacture scenes, the intrinsic positioning accuracy of AGV trolleies 150 is still not high enough, from
And it limits it and is applied to the intelligence manufacture of higher precision.
Therefore, there is a need in the art for a kind of positioning accuracy that can monitor AGV trolleies and to further compensate for AGV trolleies solid
The technology of some positioning accuracy deficiency problems.
Invention content
In order to provide a kind of positioning accuracy that can monitor AGV trolleies and further compensate for the intrinsic positioning accurate of AGV trolleies
Insufficient mechanism is spent, the present invention is provided.
According to an aspect of the present invention, a kind of vision guide system is provided.
A kind of vision guide system, for guided robot into the docks rested near the robot
AGV trolleies take, put material, and the vision guide system includes：Visual unit, the figure for capturing and handling the docks
As to generate processing result image；And programmable logic controller (PLC) PLC, it is communicatively coupled with the visual unit, the PLC
For：Described image handling result is received from the visual unit；And the practical stop position in response to indicating the AGV trolleies
The processing result image for being more than position deviation threshold value relative to the position deviation of standard stop position is set, indicates that the robot exists
The position of material is taken, put before taking, putting material to the AGV trolleies based on position deviation adjustment, wherein the standard
Stop position is the AGV trolleies stop position residing in no deviations.
In above-mentioned vision guide system, the PLC is additionally operable to：In response to indicating the practical stop position of the AGV trolleies
It is less than or equal to the processing result image of position deviation threshold value relative to the position deviation of the standard stop position, described in instruction
Robot takes, puts material to the AGV trolleies.
In any of the above-described vision guide system, the visual unit for capture and handle the image of the docks with
Generating processing result image includes：The visual unit is used to described image being compared the rheme to obtain with reference picture
Set deviation, wherein the reference pictures store is in the visual unit.
In any of the above-described vision guide system, the visual unit is for described image to be compared with reference picture
Include to obtain the position deviation：The position of AGV trolley image of the visual unit for that will be shown in described image with
The position of the AGV trolley images shown in the reference picture is compared to obtain the position deviation, wherein in the ginseng
It examines the AGV trolley images shown in image and is in the standard stop position.
In any of the above-described vision guide system, it is intrinsic most that the position deviation threshold value is less than or equal to the AGV trolleies
It is big to allow deviations.
In any of the above-described vision guide system, the position deviation includes at least two dimensions in plane coordinate system
Departure.
In any of the above-described vision guide system, the position deviation includes x-axis departure in plane right-angle coordinate, y
Axis deviation amount and amount of angular deviation.
In any of the above-described vision guide system, the PLC is additionally operable to one or more in following operation：In response to described
Processing result image indicates that the AGV trolleies not in the docks, trigger the instruction that reports an error carried out in the first way；It rings
Ying Yu receives the instruction for indicating that the robot captures material from the AGV trolleies, but described image handling result indicates institute
It states and article is not present on AGV trolleies, trigger the instruction that reports an error carried out in a second manner；In response to receiving the instruction robot
The instruction of material is placed to the AGV trolleies, but described image handling result indicates on the AGV trolleies for placing article
Region has been occupied, and triggers the instruction that reports an error carried out with Third Way.
According to another aspect of the present invention, a kind of visual guide method is provided.
A kind of visual guide method, including：Capture and handle the docks stopped by AGV trolleies near robot
Image is to generate processing result image；And in response to indicating that the practical stop position of the AGV trolleies is stopped relative to standard
The position deviation of position be more than position deviation threshold value processing result image, indicate the robot taken to the AGV trolleies,
The position that the robot takes, puts material is first adjusted based on the position deviation before putting material, wherein the standard stops position
Set be the AGV trolleies in no deviations described in stop position.
In above-mentioned visual guide method, further include：In response to indicating the practical stop position of the AGV trolleies relative to institute
State standard stop position position deviation be less than or equal to position deviation threshold value processing result image, indicate the robot to
The AGV trolleies take, put material.
In any of the above-described visual guide method, the image of the docks is captured and handled to generate processing result image
Including：Described image is compared with reference picture to obtain the position deviation.
In any of the above-described visual guide method, described image is compared with reference picture to obtain the position deviation
Including：
The AGV trolley images that will be shown in the position of the AGV trolley images shown in described image and the reference picture
Position be compared to obtain the position deviation, wherein the AGV trolley images shown in the reference picture are in institute
State standard stop position.
The present invention adjusts the position of robot to monitor and compensate the intrinsic positioning accurate of AGV trolleies by vision guide technology
Degree, so as to ensure and improve the intrinsic positioning accuracy of AGV trolleies.
Description of the drawings
Fig. 1 shows a kind of typical intelligence manufacture scene.
Fig. 2 shows the block diagrams of vision guide system according to an embodiment of the invention.
Fig. 3 A descriptions are when AGV trolleies rest in docks, by vision list according to an embodiment of the invention
The exemplary docks image that the image capture unit of member captures.
Fig. 3 B show exemplary reference image.
Relative to standard stop position deviation occurs for the practical stop position that Fig. 4 A-4C are exemplarily illustrated AGV trolleies
Situation.
Fig. 5 shows the flow chart of visual guide method according to an embodiment of the invention.
Specific implementation mode
Various embodiments of the present invention are described below in conjunction with attached drawing.It should be appreciated that each embodiment be illustrative rather than it is restricted
's.
According to an aspect of the present invention, a kind of vision guide system is provided.
Fig. 2 shows the block diagrams of vision guide system 200 according to an embodiment of the invention.Vision guide system 200
It may include visual unit 210 and programmable logic controller (PLC) PLC 220.PLC 220 is communicatively coupled with visual unit 210.PLC
220 robots 230 also to be guided with vision guide system are communicatively coupled.In one embodiment, robot 230 can also
It is a part for vision guide system.
Visual unit 210 may include image capture unit 211 and image processing unit 212.Image capture unit 211 is used for
Image is captured, one or more cameras are may, for example, be.Image processing unit 212 can be handled the image captured,
To obtain required result.It should be noted that visual unit 210 is divided into image capture unit 211 and figure in specification
As this division of processing unit 212 can be division in logic.In one embodiment, visual unit 210 can be one
The integrated unit that can be captured and handle image of body formula.
For a kind of exemplary intelligence manufacture scene, robot 230 captures material from AGV trolleies or is placed to AGV trolleies
Material (for example, with reference to Fig. 1).Robot 230 can generally be set to the table top of operation console.
If above-mentioned " background technology " part discusses, AGV trolleies can be automatically positioned to reach where robot 230
Operation console.Specifically, for being automatically positioned the AGV trolleies to the docks near operation console, robot 230 can be from this
AGV trolleies capture material or place material to the AGV trolleies.
In the present invention, the positioning accuracy of AGV trolleies is monitored by vision guide technology, and it is intrinsic to make up AGV trolleies
Positioning accuracy deficiency problem.
In one embodiment, when AGV trolleies rest in the docks near robot 230 based on automatic positioning
When, the image capture unit 211 of visual unit 210 can capture the image of the docks.In one embodiment, picture catching
Unit 211 may be configured as to overlook the image that visual angle captures docks.In another embodiment, specific needs are depended on,
Image capture unit 211 may be alternatively provided as generally to overlook the image that visual angle captures docks, but sensing face is tilted
(that is, not strictly face horizontal plane).
Image capture unit 211 can send the image of the docks captured to image processing unit 212.Image
Processing unit 212 can be handled the image received, to obtain processing result image.Image processing unit 212 can be right
Image carry out processing include：Identify the characteristic element (point, line etc.) in image；The characteristic quantity in image is calculated (for example, point arrives
The distance of point, distance, the distance, etc. of straight line to straight line of point to straight line)；And further point based on above-mentioned processing
Analysis, etc..
In one embodiment, PLC 220 receives processing result image from visual unit 210, and is based on the image procossing
As a result instruction robot 230 executes corresponding action.
Processing result image can indicate position deviation of the practical stop position of AGV trolleies relative to standard stop position
With the relationship between a position deviation threshold value.Here, standard stop position refer to AGV trolleies completely accurately stop when stop
Position (that is, without any deviations), the standard stop position can be preset.
In one embodiment, indicate the practical stop position of AGV trolleies relative to standard in response to processing result image
The position deviation of stop position is less than or equal to position deviation threshold value, and PLC 220 indicates that robot 230 is first based on the position deviation
Adjust robot 230 from AGV trolleies capture or to AGV trolleies place material position, then from AGV trolleies capture material or to
AGV trolleies place material.In one embodiment, PLC 230 indicates that robot will take, put the part of material (for example, mechanical hand
Arm) position adjust above-mentioned position deviation so that from AGV trolleies capture material at the position of the part after the adjustment or to AGV
Trolley places material.
In one embodiment, indicate the practical stop position of AGV trolleies relative to standard in response to processing result image
The position deviation of stop position is less than or equal to position deviation threshold value, and PLC 220 indicates that robot 230 captures object from AGV trolleies
Material places material to AGV trolleies.
In one embodiment, position deviation threshold value may be set to be equal to the intrinsic maximum allowable deviations of AGV trolleies.
The intrinsic maximum allowable deviations of AGV trolleies can be a nominal parameters of AGV trolleies.For example, when AGV trolleies certain
When deviations are more than intrinsic maximum allowable deviations, it is believed that the secondary positioning of AGV trolleies does not meet determining for its design
Position precision.In this embodiment, PLC 220 can be monitored based on the processing result image from image processing unit 212
The actual location deviation of AGV trolleies and when the actual location deviation of AGV trolleies is more than its intrinsic maximum allowable deviations
It compensates.
In one embodiment, position deviation threshold value may also be set to be less than the intrinsic most maximum allowable positioning of AGV trolleies
Deviation.As an example, if the position deviation of the intrinsic maximum allowable 10mm of locating plate difference of AGV trolleies, and actual intelligence system
The deviations for requiring 2mm are made, then position deviation threshold value can be set as 2mm.Based on this setting, when actually stopping for AGV trolleies
When deviateing less than 2mm (for example, 1mm, 0.5mm) by the position of position comparison with standard stop position, meet the positioning of intelligence manufacture
Deviation requirement is not necessarily to adjust the position for taking, putting material of robot 230 at this time, so that it may directly indicate that robot 230 is small from AGV
Vehicle captures material or places material to AGV trolleies.And the position of the practical stop position comparison with standard stop position when AGV trolleies
When deviation is more than 2mm (for example, 3mm, 4mm, 5mm etc.), PLC 220 indicates that robot 230 is first based on the position deviation and adjusts machine
Device people 230 takes, puts the position of material, then captures material from AGV trolleies at position after the adjustment or place object to AGV trolleies
Material.The embodiment can make the actual location precision of AGV trolleies higher than its intrinsic corresponding positioning of maximum allowable deviations
Precision.
The image that captures of image capture unit 211 is handled to obtain figure in order to further describe image processing unit 212
As the concrete mode of handling result, described when AGV trolleies rest in docks, by being sent out according to this with reference to Fig. 3 A
The image 300 for the exemplary docks that the image capture unit 211 of the visual unit 210 of bright one embodiment captures.
In one embodiment, image 300 can be regarded by image capture unit 211 from the attached drawing that visual angle captures is overlooked
Figure image.
Display operation platform image 310 and AGV near shown operation console image 310 can be rested in image 300
Trolley image 320.Although robot is usually set on operation console, for clarity, robot figure is not shown in Fig. 3 A
Picture.
Image capture unit 211 can capture image 300, and the image 300 is sent to image processing unit 212.Image
Processing unit 212 can be handled the image 300 received.For example, image processing unit 212 can determine the image 300
In operation console image 310 and AGV trolleies image 320 feature (for example, contour line, various signatures etc.), and can
Some characteristic quantities are obtained (for example, distance of the AGV trolleies image 320 away from operation console image 310, AGV are small based on identified feature
Distance, etc. of the vehicle image 320 relative to some signature).
In one embodiment, image processing unit 212 can compare the image 300 captured with a reference picture
Compared with to determine position deviation of the practical stop position of AGV trolleies relative to standard stop position.It is shown in reference picture
AGV trolley images are in standard stop position (that is, corresponding to AGV trolleies without any deviations).
In one embodiment, reference picture can be stored in advance in image processing unit 212, for image processing unit
212 use when compared with the image 300 captured.
Fig. 3 B show exemplary reference image 300 '.Display reference operation platform image 310 ' and ginseng in reference picture 300 '
Examine AGV trolleies image 320 '.In reference picture 300 ', with reference to AGV trolleies image 320 ' relative to reference operation platform image
The position that 310 ' position is stopped is standard stop position (that is, AGV trolleies are without any deviations).In one embodiment
In, which can be obtained by compareing actual docks by modeling in proportion.In another embodiment,
Also the image of docks is captured when can be by the way that AGV trolleies are placed on standard stop position to obtain reference picture 300 '.With
Afterwards, reference picture 300 ' can be stored in image processing unit 212, for being used when compared with the image 300 captured.
In one embodiment, image processing unit 212 can pass through the AGV trolley figures in the image 300 that will capture
The position of picture 320 is compared with the position of the reference AGV trolleies image 320 ' in reference picture 300 ', to obtain AGV trolleies
Physical location deviation.
It can first be adjusted as non-limiting embodiment when image processing unit 212 will handle the image 300 captured
With the reference picture 300 ' of storage, and by corresponding signature in image 300 and reference picture 300 ' by the two
Image is aligned.For example, adjustable (for example, the translation, rotation) reference picture 300 ' of image processing unit 212 is so that in image 300
Operation console image 310 be aligned with the reference operation platform image 310 ' in reference picture 300 ', so, in image 300
The deviation between reference AGV trolleies image 320 ' in AGV trolleies image 320 and reference picture 300 ' can reflect that AGV is small
Deviation between the practical stop position and standard stop position of vehicle.
Relative to standard stop position deviation occurs for the practical stop position that Fig. 4 A-4C are exemplarily illustrated AGV trolleies
Situation.Specifically, respective AGV trolleies image in image 300 and the reference picture 300 ' in Fig. 3 A-3B is shown in Fig. 4 A-4C
320, with reference to 320 ' come display location deviation of AGV trolleies image.For clarity.AGV trolley images are only shown in Fig. 4 A-4C
320 and operation console image is not shown with reference to AGV trolleies image 320 '.
Fig. 4 A show AGV trolleies image 320 relative to there is a situation where translational offsets with reference to AGV trolleies image 320 '.Make
For example, as shown in Figure 4 A, this translational offsets are suitble to the x-axis grid deviation amount in plane right-angle coordinate, y-axis coordinate
Departure indicates.
Fig. 4 B show the case where AGV trolleies image 320 with reference to AGV trolleies image 320 ' relative to offset is rotated.Make
For example, as shown in Figure 4 B, this rotation offset be suitble to in polar coordinate system r grid deviations amount and θ grid deviations amount come
It indicates.
Fig. 4 C show that between reference AGV trolleies image 320 ' translational offsets not only occur for AGV trolleies image 320, but also
The case where rotating offset.In this case, in one embodiment, plane right-angle coordinate and pole can be used in combination
Coordinate system indicates both translational offsets and rotation offset.For example, x-axis grid deviation amount and y-axis grid deviation can be first passed through
It measures to indicate the translational offsets of the two, then indicates the rotating deviation of the two by an angle, θ departure；Or it can pass through
One angle, θ departure indicates to indicate the rotating deviation of the two, then by x-axis grid deviation amount and y-axis grid deviation amount
The translational offsets of the two.Certainly, just it is enough to indicate any form by the grid deviation amount in two dimensions in plane coordinate system
Deviation therefore can be indicated shown in Fig. 4 C by the grid deviation amount in two dimensions using only in plane coordinate system
This position offset situation.However, using x-axis grid deviation amount, y axial coordinates departure and angle, θ departure three as described above
Person indicates that position offset is advantageous in that, the coordinate of these three dimensions corresponds respectively to AGV trolleies image 320 relative to reference
The translational offsets and rotation offset of AGV trolleies image 320 ', it is therefore not necessary to can easily indicate the two by coordinate transform
Position offset reduces the processing time of image processing unit 212 in this way.
Corresponding to any of the above expression AGV trolleies image 320 and the position offset between AGV trolleies image 320 ' is referred to,
In one embodiment, image processing unit 212 can based on the departure at least two dimensions in plane coordinate system come
Determine position deviation between the two.In a specific embodiment, image processing unit 212 can be based on plane rectangular coordinates
X-axis departure, y-axis departure and amount of angular deviation in system determine position deviation between the two.
Then, which can be sent to PLC 220 by image processing unit 212.PLC 220 is received
The processing result image, and corresponding operation is executed based on processing result image instruction robot 230.
In one embodiment, if processing result image indicating positions deviation is more than position deviation threshold value, PLC
220 instruction robots 230 first take, put the position of material, then position after the adjustment based on position deviation adjustment robot 230
Place captures material from AGV trolleies or places material to AGV trolleies.
In one embodiment, if processing result image indicating positions deviation is less than or equal to position deviation threshold value,
PLC 220 indicates that robot 230 captures material from AGV trolleies or places material to AGV trolleies.
In one embodiment, PLC 220 is also based on figure of the image processing unit 212 to docks image 300
The instruction that reports an error is triggered as handling result.
In one embodiment, when processing result image indicates that AGV trolley images are not present in docks image 300
When 320 (for example, the feature contour of AGV trolleies is not detected, corresponding in docks without AGV trolleies), PLC 220 can be with
Trigger the instruction that reports an error carried out in the first way.
In one embodiment, PLC 220 receives the instruction that instruction robot 230 captures material from AGV trolleies, still
Do not include in processing result image instruction AGV trolleies image 320 material image (for example, the feature contour of material is not detected,
Corresponding to there is no the material that can be crawled on AGV trolleies) when, PLC 220 can trigger the finger that reports an error carried out in a second manner
Show.
In one embodiment, PLC 220 receives the instruction that instruction robot 230 places material to AGV trolleies, still
Corresponding position in processing result image instruction AGV trolleies image 320 is occupied by unclassified stores (for example, detecting other objects
The feature contour of material corresponds to the space that not can be used for placing material to be placed on AGV trolleies) when, PLC 220 can be touched
Send out the instruction that reports an error carried out with Third Way.
First, second, third mode of the above-mentioned instruction that report an error can be various combination sound in industry manufacture, light,
The mode that code is shown.For example, various modes can send out different alarms, the alarm lamp of different colours is made to light, or
Person is shown on the display device with different error codes or the combination etc. of above-mentioned one or more modes.
According to another aspect of the present invention, a kind of visual guide method is provided.
Fig. 5 shows the flow chart of visual guide method 500 according to an embodiment of the invention.Method 500 can be used for
Guided robot (for example, above-mentioned robot 230 described in conjunction with Figure 2) is from resting in the docks near the robot
AGV trolleies crawl material or to the AGV trolleies place material.
Method 500 may include step 510：Capture and handle the image of docks.The step 510 can be for example by vision list
First (for example, visual unit 210) executes.
In one embodiment, step 510 may include：The image captured is compared with reference picture to obtain in place
Set deviation.Here, the meaning of " reference picture " can be similar to above in reference to " reference described in Fig. 3 A-3B, Fig. 4 A-4C
Image ".
In one embodiment, step 510 may include：By the position of the AGV trolleies in the image captured and reference chart
The position of AGV trolleies is compared to obtain position deviation as in, wherein the AGV trolleies shown in reference picture are in standard
Stop position.
Method 500 can determine whether at decision block 520 handling result whether indicate AGV trolleies practical stop position it is opposite
It is more than position deviation threshold value in the position deviation of standard stop position.
If the judging result at decision block 520 is "Yes", that is, position deviation is more than position deviation threshold value, then method
500 can continue to step 530：Instruction robot based on position deviation adjustment robot take, the position of square object material.The step
530 can be executed by PLC (for example, PLC 220 in Fig. 2).
Then, method 500 can continue to step 540：Indicate that robot is small from AGV trolleies crawl material or to AGV
Vehicle places material.The step 540 can be executed for example by PLC.
If the judging result at decision block 520 is "No", that is, position deviation is less than or equal to position deviation threshold value,
Then method 500 can be directly to step 540：Indicate that robot captures material from AGV trolleies or places material to AGV trolleies.
It will be understood by those skilled in the art that various different technologies and means can be used to indicate for control signal.For example, with
Control signal described in upper description can by voltage, electric current, electromagnetic wave, magnetic field or magnetic particle, light field or optical particle or its
What combines to indicate.
Those skilled in the art will further appreciate that, the various illustratives described in conjunction with the embodiments described herein
Logic plate, module, circuit and algorithm steps can be realized as electronic hardware, computer software or combination of the two.It is clear
Explain to Chu this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees generalization description.Such functionality be implemented as hardware or software depend on concrete application and
It is applied to the design constraint of total system.Technical staff can realize each specific application described with different modes
Functionality, but such realization decision should not be interpreted to cause departing from the scope of the present invention.
General procedure can be used in conjunction with the various illustrative logical modules and control circuit that presently disclosed embodiment describes
Device, digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable
Logic control device (for example, PLC), discrete door or transistor logic, discrete hardware component or its be designed to carry out this paper institutes
Any combinations of representation function are realized or are executed.General processor can be microprocessor, but in alternative, the processing
Device can be any conventional processor, controller, microcontroller or state machine.Processor is also implemented as calculating and set
Standby combination, such as DSP and the combination of microprocessor, multi-microprocessor, the one or more microprocessors to cooperate with DSP core
Device or any other such configuration.
It can be embodied directly in hardware, in by processor in conjunction with the step of method or algorithm that embodiment disclosed herein describes
It is embodied in the software module of execution or in combination of the two.Software module can reside in RAM memories, flash memory, ROM and deposit
Reservoir, eprom memory, eeprom memory, register, hard disk, removable disk, CD-ROM or known in the art appoint
In the storage medium of what other forms.Exemplary storage medium is coupled to processor so that the processor can be from/to the storage
Medium reads and writees information.In alternative, storage medium can be integrated into processor.Pocessor and storage media can
It resides in ASIC.ASIC can reside in user terminal.In alternative, pocessor and storage media can be used as discrete sets
Part is resident in the user terminal.
In one or more exemplary embodiments, described function can be in hardware, software, firmware, or any combination thereof
Middle realization.If being embodied as computer program product in software, each function can be used as the instruction of one or more items or generation
Code may be stored on the computer-readable medium or is transmitted by it.Computer-readable medium includes computer storage media and communication
Both media comprising any medium for facilitating computer program to shift from one place to another.Storage medium can be can quilt
Any usable medium that computer accesses.It is non-limiting as example, such computer-readable medium may include RAM, ROM,
EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage apparatus can be used to carry or store to refer to
The desirable program code of order or data structure form and any other medium that can be accessed by a computer.Any connection is also proper
Ground is known as computer-readable medium.For example, if software is using coaxial cable, fiber optic cables, twisted-pair feeder, digital subscriber line
(DSL) or the wireless technology of such as infrared, radio and microwave etc is passed from web site, server or other remote sources
It send, then the coaxial cable, fiber optic cables, twisted-pair feeder, DSL or such as infrared, radio and microwave etc is wireless
Technology is just included among the definition of medium.Disk (disk) and dish (disc) as used herein include compression dish
(CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) are often reproduced in a manner of magnetic
Data, and dish (disc) with laser reproduce data optically.Combinations of the above should also be included in computer-readable medium
In the range of.
Offer is to enable any person skilled in the art to put into practice or use the disclosure to previous description of the present invention.
The various modifications of the present invention all will be apparent for a person skilled in the art, and pervasive original as defined herein
Reason can be applied to spirit or scope of other variants without departing from the disclosure.The present invention is not intended to be limited to as a result,
Example and design described in this description, but should be awarded consistent with principle disclosed herein and novel features
Widest scope.
Claims (12)
1. a kind of vision guide system, for AGV of the guided robot into the docks rested near the robot
Trolley takes, puts material, and the vision guide system includes：
Visual unit, for capturing and handling the image of the docks to generate processing result image；And
Programmable logic controller (PLC) PLC is communicatively coupled with the visual unit, and the PLC is used for：
Described image handling result is received from the visual unit；And
Practical stop position in response to indicating the AGV trolleies is inclined more than position relative to the position deviation of standard stop position
The processing result image of poor threshold value indicates that the robot is inclined based on the position before taking, putting material to the AGV trolleies
Difference adjustment takes, puts the position of material, wherein the standard stop position is that the AGV trolleies are residing in no deviations
Stop position.
2. vision guide system as described in claim 1, which is characterized in that the PLC is additionally operable to：
In response to indicate the practical stop position of the AGV trolleies be less than relative to the position deviation of the standard stop position or
Equal to the processing result image of position deviation threshold value, indicate that the robot takes, puts material to the AGV trolleies.
3. vision guide system as claimed in claim 1 or 2, which is characterized in that the visual unit is for capturing and handling
The image of the docks includes to generate processing result image：
The visual unit with reference picture for being compared described image to obtain the position deviation, wherein described
Reference pictures store is in the visual unit.
4. vision guide system as claimed in claim 3, which is characterized in that the visual unit is used for described image and ginseng
It examines image and is compared and include to obtain the position deviation：
The visual unit is used to show in the position of the AGV trolley images shown in described image and the reference picture
The position of AGV trolley images is compared to obtain the position deviation, wherein the AGV shown in the reference picture is small
Vehicle image is in the standard stop position.
5. vision guide system as claimed in claim 1 or 2, which is characterized in that the position deviation threshold value is less than or equal to
The intrinsic maximum allowable deviations of the AGV trolleies.
6. vision guide system as claimed in claim 1 or 2, which is characterized in that the position deviation includes plane coordinate system
In at least two dimensions on departure.
7. vision guide system as claimed in claim 5, which is characterized in that the position deviation includes plane right-angle coordinate
In x-axis departure, y-axis departure and amount of angular deviation.
8. vision guide system as claimed in claim 1 or 2, which is characterized in that the PLC is additionally operable to one in following operation
Item is multinomial：
Indicate the AGV trolleies not in the docks in response to described image handling result, triggering in the first way into
The capable instruction that reports an error；
In response to receiving the instruction for indicating the robot from AGV trolleies crawl material, but described image handling result
It indicates that article is not present on the AGV trolleies, triggers the instruction that reports an error carried out in a second manner；
In response to receiving the instruction for indicating the robot to AGV trolleies placement material, but described image handling result
It indicates to be occupied for placing the region of article on the AGV trolleies, triggers the instruction that reports an error carried out with Third Way.
9. a kind of visual guide method, including：
The image for the docks stopped by AGV trolleies near robot is captured and handled to generate processing result image；With
And
Practical stop position in response to indicating the AGV trolleies is inclined more than position relative to the position deviation of standard stop position
The processing result image of poor threshold value indicates that the robot is first based on the position before taking, putting material to the AGV trolleies
Robot described in deviation adjusting takes, puts the position of material, wherein the standard stop position is the AGV trolleies in no positioning
Stop position described in when deviation.
10. visual guide method as claimed in claim 9, which is characterized in that further include：
In response to indicate the practical stop position of the AGV trolleies be less than relative to the position deviation of the standard stop position or
Equal to the processing result image of position deviation threshold value, indicate that the robot takes, puts material to the AGV trolleies.
11. the visual guide method as described in claim 9 or 10, which is characterized in that capture and handle the docks
Image includes to generate processing result image：
Described image is compared with reference picture to obtain the position deviation.
12. visual guide method as claimed in claim 11, which is characterized in that described image to be compared with reference picture
Include to obtain the position deviation：
By the position of the AGV trolley images shown in the position of the AGV trolley images shown in described image and the reference picture
It sets and is compared to obtain the position deviation, wherein the AGV trolley images shown in the reference picture are in the mark
Quasi- stop position.
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| CN201810179164.3A CN108345307A (en) | 2018-03-05 | 2018-03-05 | Vision guide system and visual guide method |
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| CN201810179164.3A CN108345307A (en) | 2018-03-05 | 2018-03-05 | Vision guide system and visual guide method |
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| CN111899629B (en) * | 2020-08-04 | 2022-06-10 | 菲尼克斯(南京)智能制造技术工程有限公司 | Flexible robot teaching system and method |
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