CN109557924A - A kind of automatic stopping device and method for carrying bootstrap trolley for material - Google Patents
A kind of automatic stopping device and method for carrying bootstrap trolley for material Download PDFInfo
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- 239000000463 material Substances 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000000007 visual effect Effects 0.000 claims abstract description 22
- 230000008569 process Effects 0.000 claims abstract description 19
- 238000012545 processing Methods 0.000 claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 238000012806 monitoring device Methods 0.000 claims description 15
- 230000004888 barrier function Effects 0.000 claims description 10
- 230000006698 induction Effects 0.000 claims description 8
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- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 6
- 238000005007 materials handling Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000035939 shock Effects 0.000 description 4
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
- G05D1/0229—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area in combination with fixed guiding means
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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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The invention discloses a kind of automatic stopping device for carrying bootstrap trolley for material, including fixed parking module, remote monitoring module and AGV control system, fixed parking module includes several stop sign symbols and visual feedback means；AGV control system includes Vehicle Controller and ground controller, and ground controller is also connected with temporary parking module；A kind of automatic stop process for carrying bootstrap trolley for material, include the following steps: S100, according to the input information of visual feedback means, the acquisition information of avoidance parking module and temporary parking module, judgement parking reason, and different parking toll modes is taken for different parking reasons；S200, the processing by AGV control system to corresponding parking toll mode, realize accurate stopping a train at a target point function of the AGV trolley on normally travel track, easy to operate, high degree of automation, while guaranteeing that trolley operates normally, the function of the fixed position parking of trolley, temporary position parking and avoidance parking can be realized.
Description
Technical field
It is specially a kind of to carry stopping automatically for bootstrap trolley for material the present invention relates to bootstrap trolley technical field
Vehicle device and method.
Background technique
AGV, that is, automatically guiding trolley integrates sound, light, electricity, computer, combines the advanced reason of current sciemtifec and technical sphere
By and application technology, belong to the branch of mobile robot, in flexible manufacturing system and automatic factory be used to form
Efficiently, efficiently logistics system, is a kind of very promising logistics delivery equipment, and AGV has flexibility, intelligence etc.
Distinguishing feature can be convenient ground recombination system, reach the flexible transport of production process, with traditional artificial or semi-artificial object
Material mode of movement is compared, and AGV system alleviates labor intensity, reduces risk, improves production efficiency, equal in all trades and professions
It can play a significant role.
AGV is very important as the delivery vehicle for automatically delivering material, pinpoint performance, only when it can be quasi-
Desired position really is rested in, matched other equipment (such as manipulator) can just smoothly completed to the various of material
Transmission, vehicle positioning stop position inaccuracy will lead to trolley when restarting operation, can't see rail-guided graticule, Huo Zhe little
The center of vehicle is not overlapped with the center line of rail-guided graticule, and the small truck position inaccuracy that restarting will be made to run influences
The materials handling process of subsequent trolley.
Existing AGV trolley often takes the progress reduction of speed parking after detecting the landmark point that will be stopped, or is detecting
Reduction of speed to creep speed mode moves after to the landmark point that will be stopped, and realizes AGV consolidating in target location after the operation of path
Fixed parking, the stabilization and precision of stopping accuracy are difficult to realize using this parking mode under different AGV load inertia operating conditions,
And the mode of reduction of speed to creep speed can waste a large amount of activity duration and cause beat lower, it is difficult to meet the operation section of high speed
It claps and requires, in addition, it is functional relatively simple, it needs either to run in AGV in temporary position parking when encountering special circumstances
When encountering barrier in journey, automatic stopping function can not achieve；Positioning for AGV trolley is realized by RFID card reader
, but because the reason of passive type RFID tag card and RFID card reader working principle, it merely can not by RFID card reader
It realizes and is accurately positioned.
As application No. is a kind of 201510776254.7 entitled AGV control systems that accurate parking positioning can be achieved and
The invention of AGV, the present invention in by the setting signal hopping transmitters before the target stop position of pilotage substance, at AGV car body bottom
Portion's setting jumps receiver for receiving the signal of the signal hopping transmitters information, when RFID reader detects target
When RFID tag card, AGV slows down, and when signal jump receiver detects signal hopping transmitters, AGV parking realizes AGV
Accurate parking positioning.
But solution is not still provided for some problems set forth above, it is as follows:
It (1), cannot when encountering special circumstances needs when temporary position stops or encounters barrier in AGV operational process
Realize automatic stopping function, so that material is carried the functional of bootstrap trolley reduces, and since trolley is transported according to pilotage substance
Capable, when encountering urgent emergency case, it cannot adjust to changed conditions and well solve problem, be carried to increase trolley in material
A possibility that accident occurs is hit in the process, reduces its security performance；
(2) remote monitoring activities be can not achieve, the intelligence degree of the trolley can be made without configuration remote supervisory and control(ling) equipment on trolley
It is deteriorated；The signal transmitting between receiver is jumped by signal hopping transmitters and signal, realizes parking positioning function, controlling party
Formula is simple, but due to being easy to be interfered in signal transduction process, will lead to that control precision is deteriorated, stability reduces, and
If some in signal hopping transmitters or signal jump receiver breaks down, its parking function will be made to lose, and
Trolley will improper traveling always, to bring adverse effect to material handling work process.
Summary of the invention
In order to overcome the shortcomings of that prior art, the present invention provide a kind of for the automatic of material carrying bootstrap trolley
It is solid to can be realized trolley while guaranteeing that trolley operates normally for parking device and method, easy to operate, high degree of automation
The function of parking, temporary position parking and avoidance parking is set in positioning, and can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of automatic stopping device for carrying bootstrap trolley for material, including fixed parking module, remote monitoring module and
AGV control system, the fixed parking module include the stop sign symbol of the fixation of several settings on the ground and are mounted on
In the overarm arm of the AGV car body front end and for identification visual feedback means of these stop sign symbol；
The AGV control system includes Vehicle Controller and ground controller, and the ground controller passes through infrared communication mode
Control instruction is issued to Vehicle Controller, and ground controller is also connected with temporary parking module, the Vehicle Controller and view
Feel feedback device connection.
Further, the visual feedback means include image acquisition units and are arranged in auxiliary around image acquisition units
Camera assembly is helped, the second camera component includes the hood and several light compensating lamps for being mounted on image acquisition units periphery, institute
It states light compensating lamp to be uniformly arranged between image acquisition units and hood, image procossing list is integrated on the Vehicle Controller
The output end of member, described image acquisition unit is connect with image processing unit.
Further, the Vehicle Controller is connected with avoidance parking module, and the avoidance parking module is using at two-stage
Reason mode, avoidance parking module include several infrared sensings for distance between real-time detection AGV car body and its peripheral obstacle
Device, the infrared sensor are connect with Vehicle Controller.
Further, the Vehicle Controller is also connected with safety system, and the safety system includes contact
Formula shutdown protector and sound and light alarm module, the contact shutdown protector include the bullet that AGV car body surrounding is arranged in
Spring buffer, the contact induction sensor being mounted on spring buffer and on-off is led for controlling AGV car body driving circuit
The control relay opened, and the contact induction sensor is connect with control relay, the sound and light alarm module and vehicle-mounted control
The output end of device processed connects.
Further, the temporary parking module includes touch display screen, be provided in the touch display screen it is several to
The manipulation button of ground controller transmission temporary parking operational order.
Further, the remote monitoring module includes signal pickup assembly and monitoring device based on Web operating system,
The signal pickup assembly establishes communication link by WcbRTC technology and monitoring device, and signal pickup assembly passes through
RTCDataChannel interface and monitoring device carry out point-to-point connection, and the monitoring device is also connect with ground controller.
A kind of automatic stop process for carrying bootstrap trolley for material, includes the following steps:
S100, according to the input information of visual feedback means, the acquisition information of avoidance parking module and temporary parking module, sentence
Disconnected parking reason, and different parking toll modes is taken for different parking reasons；
S200, the processing by AGV control system to corresponding parking toll mode realize AGV trolley on normally travel track
Accurate stopping a train at a target point function.
Further, in the step S100, parking reason includes: fixed position parking, temporary position parking and meets barrier
Parking, and realized respectively by fixed parking module, temporary parking module and avoidance parking module these three parking toll modes
Parking function.
Further, the fixed parking module realizes that parking function further includes following steps:
S101, using sequential method for measuring similarity, realize the identification of stop sign symbol be registrated, and by the stop sign after registration
Will symbol is pasted on the ground；
S102, quantitative Treatment is carried out to the image information that visual feedback means acquire by image processing unit, and then is controlled in AGV
Under the action of system processed, realize AGV trolley in the fixation parking function of stop sign symbol position.
Further, in the step S102, the quantitative Treatment of image processing unit further includes following steps:
According to the image information that image acquisition units acquire, determine AGV car body headstock to the length m of AGV car body central point and
The length n of AGV car body overarm arm；
According to the image information that image acquisition units acquire, accurately calculate between stop sign symbol central point and image center
Distance, be denoted as offset error t, then the stopping distance s=m+n+t of AGV trolley；
According to linear motion formula:vt=v0-at
In formula: v0=0, v0For the initial velocity of AGV trolley, can find out:It can thus find out and subtract
The size of speed a and time t used.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention controls the positioning of AGV trolley by using visual feedback method, small when finding stop sign symbol in the visual field
Vehicle records the distance for indicating central point at this time to trolley center, and adjusts the distance and judged, when distance is zero, AGV trolley fortune
It is dynamic to stop, and judge the next step direction of motion, positional accuracy is high, enhances trolley vehicle positioning stop reliability；Stopped by fixation
The collective effect of vehicle module, temporary parking module and avoidance parking module, it is ensured that it is in orbit that material carries bootstrap trolley
While normal operation, realizes the function of fixed parking, temporary parking and avoidance parking in its operational process, reached parking
The automation of operation, efficient purpose improve the security reliability in the material carrying bootstrap trolley course of work, reduce
A possibility that shock accident occurs, so that materials handling process continues efficiently to carry out；
(2) present invention can carry the operating status progress of bootstrap trolley by the setting of remote monitoring module to material in real time
Supervision, and realize remote monitoring activities, increase the multifunctionality that bootstrap trolley is carried for material；It is controlled using AGV
Core control devices of the system as bootstrap trolley realize the operation, monitoring and various intelligentized control methods of AGV trolley, protect
The control precision of trolley travelling has been demonstrate,proved, temporary parking module is cooperated, when fixed parking module or avoidance parking module failure,
Trolley can be set to stop in specified temporary position, to ensure that the reliability of trolley materials handling process；
(3) present invention can not only be broken down by setting safety system in bootstrap trolley, carry out non-normal working
When, timely signal an alert reminds the operator of surrounding, accomplishes to find and solve the problems, such as in time, additionally it is possible in AGV trolley
It after shock accident occurs, realizes and forces parking safety protection function, and under the action of spring buffer, will be damaged caused by shock
Evil degree minimizes.
Detailed description of the invention
Fig. 1 is overall signal flow chart of the invention；
Fig. 2 is second camera component present invention looks up structural representation of the invention；
Fig. 3 is offset error scanning theory figure of the invention；
Fig. 4 is offset error calculation flow chart of the invention.
Figure label:
1- fixes parking module；2- remote monitoring module；3-AGV control system；4- stop sign symbol；5- visual feedback means；
6- temporary parking module；7- avoidance parking module；8- infrared sensor；9- contact shutdown protector；10- safeguard protection system
System；11- sound and light alarm module；
201- signal pickup assembly；202- monitoring device；
301- Vehicle Controller；302- ground controller；
501- image acquisition units；502- second camera component；503- image processing unit；
5021- hood；5022- light compensating lamp；
601- touch display screen；602- manipulates button；
901- spring buffer；902- contact induction sensor；903- controls relay.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the present embodiment, as depicted in figs. 1 and 2, the present invention provides one kind carries bootstrap trolley for material
Automatic stopping device, including fixed parking module 1, remote monitoring module 2 and for controlling fixed module 1 and long-range monitoring
The AGV control system 3 of module 2, AGV control system 3 are the core of AGV trolley, operation, monitoring and the various intelligent controls of AGV
The realization of system is both needed to through the realization of AGV control system 3, and the fixed parking module 1 includes the fixations of several settings on the ground
Stop sign symbol 4 and be mounted in the overarm arm of AGV car body front end and the visual feedback of these stop sign symbol for identification
Device 5 controls the positioning of the AGV trolley by using visual feedback method, when finding stop sign symbol 4 in the visual field, AGV trolley
The distance for indicating central point at this time to AGV trolley center is recorded, and adjusts the distance and is judged, when distance is zero, AGV trolley fortune
It is dynamic to stop, and judge the next step direction of motion.
The AGV control system 3 includes Vehicle Controller 301 and ground controller 302, Vehicle Controller 301 and ground
Controller 302 is all made of microcomputer, and the ground controller 302 is sent out by infrared communication mode to Vehicle Controller 301
Control instruction out, and ground controller 302 is also connected with temporary parking module 6, the Vehicle Controller 301 is filled with visual feedback
Set 5 connections, temporary parking module 6 includes touch display screen 601, is provided with and several controls in the touch display screen 601 to the ground
The manipulation button 602 of the transmission of device 301 temporary parking operational order processed, the automatic stopping of the completion AGV trolley of Vehicle Controller 301,
Driving motor control etc., ground controller 302 completes the sending and AGV running state information of the scheduling of AGV trolley, control instruction
It receives.
Visual feedback means 5 include image acquisition units 501 and the second camera being arranged in around image acquisition units 501
Component 502, the second camera component 502 include the hood 5021 for being mounted on 501 periphery of image acquisition units and several benefits
Light lamp 5022, the light compensating lamp 5022 are uniformly arranged between image acquisition units 501 and hood 5021, the vehicle-mounted control
Image processing unit 503 is integrated on device 301, the output end and image processing unit 503 of described image acquisition unit 501 connect
It connects.
It remarks additionally, image acquisition units 501 install CCD camera using CCD camera in the present invention
In the overarm arm of the small front of the host of AGV, and vertically downward, pass through hood 5021 and light compensating lamp 5022 around CCD camera
Setting, the interference in image acquisition process by other factors can be effectively reduced, and can slow down CCD camera generation
Geometric distortion ensure that the accurate reliability of 5 course of work of visual feedback means.
Further, Vehicle Controller 301 is connected with avoidance parking module 7, and the avoidance parking module 7 is using at two-stage
Reason mode, such as within the scope of certain distance, it will travel the bootstrap trolley reduction of speed, within the scope of closer distance, will make
The parking of bootstrap trolley, avoidance parking module 7 include several for distance between real-time detection AGV car body and its peripheral obstacle
Infrared sensor 8, the infrared sensor 8 are connect with Vehicle Controller 301, pass through the setting of infrared sensor 8, real-time monitoring
Environment around AGV car body, judge whether there is barrier and barrier between car body at a distance from, be used for object convenient for controlling this
Material carries bootstrap trolley and realizes automatic obstacle-avoiding parking function, and ensure that the accurate reliability of parking position.
As preferred embodiment, Vehicle Controller 301 is also connected with safety system 10, the safeguard protection system
System 10 includes contact shutdown protector 9 and sound and light alarm module 11, and contact shutdown protector 9 is a kind of pressure parking
The premise of safety device, its generation effect is in contact with other objects, and certain deformation is brought it about, to touch corresponding
Limiting device, makes its power-off parking by force, and safety precautions belongs to terminal security protective barrier；Pass through sound and light alarm module
11 setting can remind the operator of surrounding, to find the problem and solve the problems, such as in time in the event of a failure in time.
The contact shutdown protector 9 includes the spring buffer 901 that AGV car body surrounding is arranged in, is mounted on bullet
Contact induction sensor 902 on spring buffer 901 and the control relay being turned on or off for controlling AGV car body driving circuit
Device 903, and the contact induction sensor 902 is connect with control relay 903, when AGV car body collides, spring buffer
Device 901 is first subjected to shock, and the contact induction sensor 902 installed thereon can generate pressure signal, and the pressure signal is passed
It send to control relay 903, control AGV car body driving circuit disconnects, realizes and force stop-working protection function, the sound-light alarm mould
Block 11 is connect with the output end of Vehicle Controller 301.
Further, the width of spring buffer 901 is greater than or equal to body width, spring buffer under normal circumstances
Device 901 has elasticity and flexibility, and when generating collision accident, spring buffer 901 can make the material carry bootstrap in time
Trolley parking, will not to the people or object that collide therewith and its own cause big injury, and then greatly reduce collision caused by damage
It loses.
Supplementary explanation, sound and light alarm module 11 include that voice guard and two issue green light and feux rouges respectively
Signal lamp, when the normal automatic running of the bootstrap trolley, the signal lamp of green light is bright, the signal designation to glow
Lamp goes out, at this point, voice guard does not make a sound；When the improper automatic running of the bootstrap trolley, the signal to glow refers to
Show that lamp is bright, the signal lamp of green light goes out, at this point, voice guard issue alarm sound, can cause operator's note that
Convenient for finding and solving the problems, such as in time, while avoiding trolley abnormal running from causing damage to trolley, it ensure that material is removed
Fortune process continues efficiently to carry out.
Further, remote monitoring module 2 includes signal pickup assembly 201 and monitoring device based on Web operating system
202, the signal pickup assembly 201 establishes communication link, and signal pickup assembly by WcbRTC technology and monitoring device 202
201 carry out point-to-point connection by RTCDataChannel interface and monitoring device 202, and the monitoring device 202 is gone back and ground
Controller 302 connects.
Supplementary explanation, signal pickup assembly 201 include microphone for acquiring audio signal and for acquiring view
The camera of frequency signal, the signal that signal pickup assembly 201 acquires are sent to monitoring device by RTCDataChannel interface
202, it can show in monitoring device 202, and after the processing of ground controller 302, be sent to Vehicle Controller 301
Control instruction, for controlling the operating status of AGV trolley, to realize the function of remotely monitoring.
The present invention also provides a kind of automatic stop process that bootstrap trolley is carried for material, include the following steps:
S100, according to the input information of visual feedback means, the acquisition information of avoidance parking module and temporary parking module, sentence
Disconnected parking reason, and different parking toll modes is taken for different parking reasons；
S200, the processing by AGV control system to corresponding parking toll mode realize AGV trolley on normally travel track
Accurate stopping a train at a target point function, when visual feedback means collect stop sign symbol image information after, at AGV control system
Reason, and then control the driving device of trolley；When avoidance parking module detects around trolley there are when barrier, controlled through AGV
System processing, and then control the driving device of trolley；When needs are in certain position temporary parking, by manually in temporary parking mould
The control instruction that temporary parking is inputted on block, is handled through AGV control system, and then controls the driving device of trolley.
Supplementary explanation, driving device are made of wheel, retarder, brake, motor and governor etc., are one and watch
The speed control system for taking driving, is controlled by computer, can drive AGV trolley travelling and have speed control and stopping power.
Further, in step S100, parking reason includes: fixed position parking, temporary position parking and meets barrier parking,
And parking function is realized by fixed parking module, temporary parking module and avoidance parking module these three parking toll modes respectively
Energy.
It should be noted that there are three kinds for trolley parking in the course of work for carrying bootstrap trolley for material
May: it stops first is that trolley needs to fix position where pre-set stop sign symbol；Second is that when encountering special circumstances,
When needing trolley temporary parking, stop in temporary position；Third is that encountering barrier needs in the operational process of trolley and stopping
Vehicle need in materials handling process in trolley understanding the operating status of trolley and the ambient enviroment of trolley in real time, reach
Pinpoint the purpose of accurate stopping.
Further, fixed parking module realizes that parking function further includes following steps:
S101, using sequential method for measuring similarity (SSDA), realize the identification of stop sign symbol be registrated, reduce non-matching
Relevant calculation on point accelerates matching speed, and the stop sign symbol after registration is pasted on the ground；
S102, quantitative Treatment is carried out to the image information that visual feedback means acquire by image processing unit, and then is controlled in AGV
Under the action of system processed, realize AGV trolley in the fixation parking function of stop sign symbol position.
Further, in step S102, the quantitative Treatment of image processing unit further includes following steps:
According to the image information that image acquisition units acquire, determine AGV car body headstock to the length m of AGV car body central point and
The length n of AGV car body overarm arm；
According to the image information that image acquisition units acquire, accurately calculate between stop sign symbol central point and image center
Distance, be denoted as offset error t, then the stopping distance s=m+n+t of AGV trolley；
According to linear motion formula:vt=v0-at
In formula: v0=0, v0For the initial velocity of AGV trolley, can find out:It can thus find out and subtract
The size of speed a and time t used.
It is explained further, sees from CCD camera and identifies that the symbol 4 of the stop sign on ground is complete to AGV trolley
Full cut-off is to position and AGV trolley center is overlapped at a distance from this section with 4 centers of stop sign symbol and is mainly made of 3 parts: AGV
Car body headstock to AGV car body central point length m(as shown in Fig. 2, the distance between two arrows in the right), AGV car body overarm
The length n(of arm is as shown in Fig. 2, the distance between two arrows in the left side), offset error t, can according to the design scheme of AGV trolley
To be clear length m of overarm arm lengths n and AGV the car body headstock for calculating AGV trolley to AGV car body central point, so
The key of parking positioning is the offset error t between stop sign symbol central point and image center to be calculated, such as Fig. 3 and Fig. 4 institute
Show, can show that the algorithm of image processing unit calculating offset error t is as follows:
Rectangular area in Fig. 3 is characterized identification region, if top left co-ordinate value is (a1, b1), wherein a1, b1 are respectively and pass through
The coordinate value for the optimal match point that template matching obtains；The coordinate value in the lower right corner be (a2, b2), coordinate value be optimal match point with
The sum of Prototype drawing size: a2=a1+W, b2=b1+H；The equation of scan line is y=k；Template center's point coordinate is (a3, b3).
It is now assumed that scan line, which is scanned along x-axis forward direction since x=a1 to x=a3 sections of straight line where image center, to be terminated, such as
It is 0 that fruit, which encounters gray value, then the value of current x is denoted as t1；It is similarly scanned since x=a2 along x-axis negative sense to image center institute
Terminate at x=a3 sections of straight line, and the x value that gray value is 0 is denoted as t2, next calculates separately the value of (t1-a1), (a2-t2)
(i.e. left and right offset of the stop sign symbol 4 relative to picture centre) is simultaneously compared, and illustrates not deviate if two values are identical,
If (t1-a1) > (a2-t2), stop sign symbol is to the right, on the contrary then to the left, finally obtains characteristic area center and picture centre
Between offset be t=2a3[(t1-a1)-(a2-t2)].
It remarks additionally, the particular surroundings set in the present invention are as follows: picture material is the laterally figure that AGV trolley is seen
As always changing along the x-axis direction；Each stop sign symbol 4 is geometrically symmetric shape, not only facilitates identification in this way but also can keep away
Exempt from AGV trolley and look over caused shape difference from different directions, under the particular surroundings, along a scan line to by way of area
Pixel on domain is scanned.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of automatic stopping device for carrying bootstrap trolley for material, it is characterised in that: including fixed parking module
(1), remote monitoring module (2) and AGV control system (3), the fixed parking module (1) include several be arranged on the ground
Fixed stop sign accords with (4) and is mounted on the view that in the overarm arm of AGV car body front end and these stop sign accord with for identification
Feel feedback device (5)；
The AGV control system (3) includes Vehicle Controller (301) and ground controller (302), the ground controller
(302) control instruction is issued to Vehicle Controller (301) by infrared communication mode, and ground controller (302) is also connected with
Temporary parking module (6), the Vehicle Controller (301) connect with visual feedback means (5).
2. a kind of automatic stopping device for carrying bootstrap trolley for material according to claim 1, it is characterised in that:
The visual feedback means (5) include that image acquisition units (501) and the auxiliary being arranged around image acquisition units (501) are taken the photograph
As component (502), the second camera component (502) includes the hood for being mounted on image acquisition units (501) periphery
(5021) and several light compensating lamps (5022), the light compensating lamp (5022) are uniformly arranged on image acquisition units (501) and hood
(5021) it between, is integrated with image processing unit (503) on the Vehicle Controller (301), described image acquisition unit (501)
Output end connect with image processing unit (503).
3. a kind of automatic stopping device for carrying bootstrap trolley for material according to claim 1, it is characterised in that:
The Vehicle Controller (301) is connected with avoidance parking module (7), and the avoidance parking module (7) uses two-stage treatment mode,
Avoidance parking module (7) includes several infrared sensors for distance between real-time detection AGV car body and its peripheral obstacle
(8), the infrared sensor (8) connect with Vehicle Controller (301).
4. a kind of automatic stopping device for carrying bootstrap trolley for material according to claim 1, it is characterised in that:
The Vehicle Controller (301) is also connected with safety system (10), and the safety system (10) includes that contact is stopped
Machine protective device (9) and sound and light alarm module (11), the contact shutdown protector (9) include being arranged in AGV car body four
The spring buffer (901) in week, the contact induction sensor (902) that is mounted on spring buffer (901) and for controlling AGV
The control relay (903) that car body driving circuit is turned on or off, and the contact induction sensor (902) and control relay
(903) it connects, the sound and light alarm module (11) connect with the output end of Vehicle Controller (301).
5. a kind of automatic stopping device for carrying bootstrap trolley for material according to claim 1, it is characterised in that:
The temporary parking module (6) includes touch display screen (601), be provided on the touch display screen (601) it is several to the ground
The manipulation button (602) of controller (301) transmission temporary parking operational order.
6. a kind of automatic stopping device for carrying bootstrap trolley for material according to claim 1, it is characterised in that:
The remote monitoring module (2) includes signal pickup assembly (201) and monitoring device (202) based on Web operating system, described
Signal pickup assembly (201) establishes communication link, and signal pickup assembly by WcbRTC technology and monitoring device (202)
(201) point-to-point connection is carried out by RTCDataChannel interface and monitoring device (202), the monitoring device (202) is also
It is connect with ground controller (302).
7. a kind of automatic stop process for carrying bootstrap trolley for material, characterized by the following steps:
S100, according to the input information of visual feedback means, the acquisition information of avoidance parking module and temporary parking module, sentence
Disconnected parking reason, and different parking toll modes is taken for different parking reasons；
S200, the processing by AGV control system to corresponding parking toll mode realize AGV trolley on normally travel track
Accurate stopping a train at a target point function.
8. a kind of automatic stop process for carrying bootstrap trolley for material according to claim 7, it is characterised in that:
In the step S100, parking reason includes: fixed position parking, temporary position parking and meets barrier parking, and respectively by solid
Determine parking module, temporary parking module and avoidance parking module these three parking toll modes and realizes parking function.
9. a kind of automatic stop process for carrying bootstrap trolley for material according to claim 8, it is characterised in that:
The fixed parking module realizes that parking function further includes following steps:
S101, using sequential method for measuring similarity, realize the identification of stop sign symbol be registrated, and by the stop sign after registration
Will symbol is pasted on the ground；
S102, quantitative Treatment is carried out to the image information that visual feedback means acquire by image processing unit, and then is controlled in AGV
Under the action of system processed, realize AGV trolley in the fixation parking function of stop sign symbol position.
10. a kind of automatic stop process for carrying bootstrap trolley for material according to claim 9, feature exist
In: in the step S102, the quantitative Treatment of image processing unit further includes following steps:
According to the image information that image acquisition units acquire, determine AGV car body headstock to the length m of AGV car body central point and
The length n of AGV car body overarm arm；
According to the image information that image acquisition units acquire, accurately calculate between stop sign symbol central point and image center
Distance is denoted as offset error t, then the stopping distance s=m+n+t of AGV trolley；
According to linear motion formula:
In formula: v0=0, v0For the initial velocity of AGV trolley, can find out:Deceleration can thus be found out
The size of degree a and time t used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811586195.7A CN109557924A (en) | 2018-12-25 | 2018-12-25 | A kind of automatic stopping device and method for carrying bootstrap trolley for material |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811586195.7A CN109557924A (en) | 2018-12-25 | 2018-12-25 | A kind of automatic stopping device and method for carrying bootstrap trolley for material |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811586195.7A Withdrawn CN109557924A (en) | 2018-12-25 | 2018-12-25 | A kind of automatic stopping device and method for carrying bootstrap trolley for material |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244709A (en) * | 2019-05-16 | 2019-09-17 | 智久(厦门)机器人科技有限公司上海分公司 | A kind of mobile device parking planing method, device, computer readable storage medium |
| CN110740271A (en) * | 2019-10-22 | 2020-01-31 | 广州极飞科技有限公司 | Light intensity adjusting method and device |
| CN115683237A (en) * | 2023-01-04 | 2023-02-03 | 中国市政工程西南设计研究总院有限公司 | Intelligent traffic parking management system and method |
-
2018
- 2018-12-25 CN CN201811586195.7A patent/CN109557924A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244709A (en) * | 2019-05-16 | 2019-09-17 | 智久(厦门)机器人科技有限公司上海分公司 | A kind of mobile device parking planing method, device, computer readable storage medium |
| CN110740271A (en) * | 2019-10-22 | 2020-01-31 | 广州极飞科技有限公司 | Light intensity adjusting method and device |
| CN110740271B (en) * | 2019-10-22 | 2021-10-08 | 广州极飞科技股份有限公司 | Light intensity adjusting method and device |
| CN115683237A (en) * | 2023-01-04 | 2023-02-03 | 中国市政工程西南设计研究总院有限公司 | Intelligent traffic parking management system and method |
| CN115683237B (en) * | 2023-01-04 | 2023-03-10 | 中国市政工程西南设计研究总院有限公司 | Intelligent traffic parking management system and method |
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Application publication date: 20190402 |