CN109733830A - A kind of the Intelligent Laser guidance van and localization method of view-based access control model positioning - Google Patents
A kind of the Intelligent Laser guidance van and localization method of view-based access control model positioning Download PDFInfo
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Abstract
The invention discloses the Intelligent Laser guidance vans and localization method of a kind of positioning of view-based access control model, including car body and positioning mechanism, the positioning mechanism includes: heat energy lamp referring to module, vision photographing module, thermal energy obtains module, central processing unit and database, central processing unit is for handling realtime graphic to be positioned and thermal energy image to be positioned, and determine the current location of Intelligent Laser guidance van, database is used to store sampling real image and sampling thermal energy image of the heat energy lamp referring to module under different location, and sampling real image, sample the characteristic of thermal energy image, the device is not by workshop, the influence of the real-time looks such as workshop, it can accomplish vision and thermal energy Dual positioning, more accurate positioning, it does not need that trolley is slowed down or braked simultaneously, just it can be carried out positioning, it can be worked normally to avoid trolley is influenced, furthermore, The device does not need repeatedly to adjust, just can accomplish accurately to position in charging, is easy so that the charging of trolley is more convenient.
Description
Technical field
The present invention relates to intelligence to carry field, the Intelligent Laser guidance van and determine that specially a kind of view-based access control model positions
Position method.
Background technique
Automatic guided vehicle, also known as AGV refer to that edge is planned with magnetic stripe, the homing guidances equipment such as track or laser
Route, using battery as power, and equipment safety protection and various auxiliary bodies (such as transfer, assemble mechanism)
Unpiloted automated vehicle.Usually more AGV and control computer (console), navigation equipment, charging equipment and week
Side auxiliary device forms AGV system, and main operational principle is shown as under the monitoring and task schedule of control computer, AGV
It can accurately walk according to the path of regulation, after reaching task designated position, complete a series of job task, control calculates
Machine can decide whether to carry out automatic charging to charging zone according to AGV self electric quantity.
AGV has formed tandem product, which is mainly characterized in that: high degree of automation, and system run all right can
It leans on；Flexible operation can change path；High speed wireless communication and high-precision navigation system；Perfect self-diagnosable system；It is fast automatic
Charging system；It is connected with higher level's information management system.According to the difference of navigation mode, new pine AGV product can be divided into magnetic conductance at present
Boat AGV and laser navigation AGV(is also known as LGV).
Trolley using las er-guidance is one kind of automatic guided vehicle, and laser navigation AGV has navigation accurate, and movement is smart
True feature, therefore be used widely.Laser guidance van is required to carry out accurately during transport and charging
Positioning, it is therefore desirable to install positioning mechanism, vision positioning is localization method more common in laser guidance van.
The existing vision positioning mechanism for laser guidance van generally includes vision picture pick-up device, processor sum number
According to library, vision picture pick-up device is used for real-time photography, and processor can extract the characteristic of image, and compare with database, from
And obtain the elaborate position of laser guidance van.
But existing Intelligent Laser guidance van has the following deficiencies:
(1) since laser guidance van is that can have a large amount of cargo using workshop or workshop for transporting goods,
These cargos can change the looks in workshop, workshop, or block the characteristic in workshop, workshop, to influence the essence of vision positioning
Accuracy；
(2) laser guidance van is typically at moving condition in positioning, can be to trolley since the speed of trolley is different
Positioning generates different influences, and if to accomplish accurately to position, it is necessary to trolley is slowed down or braked, it is normal to will affect trolley
Work；
(3) laser guidance van is in charging, due to the volume very little of plug or socket, it is therefore desirable to repeatedly adjustment, ability
Accomplish accurately to match charging, so that the charging of trolley is very inconvenient.
Summary of the invention
In order to overcome the shortcomings of prior art, the Intelligent Laser guiding that the present invention provides a kind of view-based access control model positioning is removed
Vehicle and localization method are transported, looks are not influenced the device in real time by workshop, workshop etc., can accomplish that vision is dual fixed with thermal energy
Position, more accurate positioning, meanwhile, it does not need that trolley is slowed down or braked, just can be carried out positioning, it can be normal to avoid trolley is influenced
Work, in addition, the device does not need repeatedly to adjust, just can accomplish accurately to position, so that the charging of trolley is more in charging
It is convenient to be easy, it 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 Intelligent Laser guidance van of view-based access control model positioning, including car body and positioning mechanism, the positioning mechanism include:
Heat energy lamp referring to module, the heat energy lamp referring to module by several thermal energy referring to lamp groups at being mounted on car body operating point
Around, and it is used as the reference point of vision positioning, the heat energy lamp is strong referring to the intensity of illumination of lamp, thermal energy referring to each thermal energy of module
Degree is different；
Vision photographing module, the vision photographing module are installed on the car body, for obtaining the real-time figure around car body operating point
Picture, and as realtime graphic to be positioned；
Thermal energy obtains module, and the thermal energy obtains module installation on the car body, for obtaining the thermal energy around car body operating point point
Cloth image, and as thermal energy image to be positioned；
Central processing unit, the central processing unit determine vehicle for handling realtime graphic to be positioned and thermal energy image to be positioned
The current location of body；
Database, the database are used to store sampling real image and sampling heat of the heat energy lamp referring to module under different location
Energy image, and sampling real image, the characteristic for sampling thermal energy image.
Further, the central processing unit includes:
Feature confirmation module, the feature confirmation module are used to confirm the feature of realtime graphic to be positioned and thermal energy image to be positioned
Data；
Characteristic Contrast module, characteristic and data inventory of the Characteristic Contrast module for the confirmation of contrast characteristic's confirmation module
The characteristic of storage searches for corresponding sampling real image and sampling thermal energy image；
Locating module, the locating module are used to obtain the seat of car body according to the sampling real image and sampling thermal energy image of search
Mark, and finally determine the position of car body.
Further, the vision photographing module and thermal energy, which obtain, is connected between module by images match module.
Further, the Characteristic Contrast module is connected with search module, and search module is connect with database.
Further, the vision photographing module is connected with intensity of illumination detection module, and intensity of illumination detection module with
Search module connection, the thermal energy obtain module and are connected with heat energy intensity detection module, and heat energy intensity detection module and search
Module connection.
Further, the car body includes plug mounting rack, and the surface of plug mounting rack is provided with sliding slot, the sliding slot
It is inside provided with sliding block, and the surface of sliding block is provided with plug, the two sides of the sliding block are respectively connected with positioning curved bar, and position curved bar
Outside be provided with detent protrusion, is inlaid with the first magnetic patch in detent protrusion.
Further, charging column is provided on the outside of the car body, and the surface of charging column is provided with socket, the socket
Two sides be provided with the matched detent slot of detent protrusion, be inlaid in the detent slot magnetic opposite with the first magnetic patch
Second magnetic patch.
In addition, the present invention also provides a kind of Intelligent Laser guidance van localization methods of view-based access control model positioning, including
Following steps:
S100, several thermal energy are set referring to lamp in the operating point of laser guidance van；
S200, realtime graphic to be positioned is obtained by vision photographing module；
S300, module acquisition thermal energy image to be positioned is obtained by thermal energy；
S400, realtime graphic to be positioned is determined that las er-guidance is removed in conjunction with thermal energy image to be positioned, and through comparison database
Transport truck position.
Further, in the step s 100, each thermal energy is different referring to intensity of illumination, the heat energy intensity of lamp.
Further, in step S200, step S300, the mistake of realtime graphic to be positioned and thermal energy image to be positioned is obtained
Cheng Zhong obtains the intensity of illumination and heat energy intensity of thermal energy reference lamp around laser guidance van, by the way so as in the database
Fast search is to corresponding sampling real image and samples thermal energy image.
Compared with prior art, the beneficial effects of the present invention are:
(1) by workshop, workshop etc., looks are not influenced the present invention in real time, can accomplish vision and thermal energy Dual positioning, so that swashing
The more accurate positioning of light guidance van；
(2) in the use of the present invention, not needing that trolley is slowed down or braked, it just can be carried out and accurately position, it can be to avoid influence
Trolley normally works；
(3) present invention does not need repeatedly to adjust, just can be carried out and accurately position, so that the charging of trolley is more square in charging
Just it is easy.
Detailed description of the invention
Fig. 1 is positioning mechanism overall structure diagram of the invention；
Fig. 2 is car body cross section structure schematic diagram of the invention；
Fig. 3 is plug mounting rack side structure schematic view of the invention；
The position Fig. 4 overall flow schematic diagram of the invention.
Figure label:
1- car body；2- positioning mechanism；3- charging column；
101- plug mounting rack；102- sliding slot；103- sliding block；104- plug；105- positions curved bar；106- detent protrusion；107-
First magnetic patch；
201- heat energy lamp is referring to module；202- vision photographing module；203- thermal energy obtains module；204- central processing unit；205-
Database；206- images match module；207- intensity of illumination detection module；208- heat energy intensity detection module；
301- socket；302- detent slot；The second magnetic patch of 303-；
2041- feature confirmation module；2042- Characteristic Contrast module；2043- locating module；2044- search module.
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.
As shown in Figure 1 to Figure 3, the present invention provides a kind of Intelligent Laser guidance vans of view-based access control model positioning, including
Car body 1 and positioning mechanism 2, positioning mechanism 2 include: heat energy lamp referring to module 201, vision photographing module 202, thermal energy acquisition module
203, central processing unit 204 and database 205.
Heat energy lamp referring to module 201 by several thermal energy referring to lamp groups at being mounted on around 1 operating point of car body, and be used as
The reference point of vision positioning, meanwhile, heat energy lamp referring to each thermal energy of module 201 referring to the intensity of illumination of lamp, heat energy intensity not
Together.
Selecting thermal energy referring to lamp, there are two benefits for reference point, first is that thermal energy is easy to be known referring to the light that lamp issues
Not, different referring to the intensity of illumination of lamp due to thermal energy, it can be as the characteristic of reference point and image；Second is that thermal energy
The heat distributed referring to lamp is easily detected, and since thermal energy is different referring to the heat energy intensity of lamp, can be used as joining
It according to the characteristic of point and image, carries out referring to and is used cooperatively by both modes, positioning can be made more convenient, meanwhile,
When one of factor is affected, when being blocked such as reference point by cargo, still can be determined by another reference pattern
Position, so that the more accurate positioning of trolley.
Vision photographing module 202 is mounted on car body 1, for obtaining the realtime graphic around 1 operating point of car body, and conduct
Realtime graphic to be positioned, realtime graphic to be positioned can be the video frame images in still photo or dynamic video.
Thermal energy obtains module 203 and is mounted on car body 1, for obtaining the heat energy distribution image around 1 operating point of car body, and
As thermal energy image to be positioned.
Vision photographing module 202 and thermal energy are obtained and are connected between module 203 by images match module 206, images match
Module 206 can compare realtime graphic to be positioned and thermal energy image to be positioned, so as to avoid one of image
Acquisition modes are influenced final positioning by external environmental interference.
Central processing unit 204 determines the current of car body 1 for handling realtime graphic to be positioned and thermal energy image to be positioned
Position.
Database 205 is used to store sampling real image and sampling heat of the heat energy lamp referring to module 201 under different location
Energy image, and sampling real image, the characteristic for sampling thermal energy image.
Central processing unit 204 includes: feature confirmation module 2041, Characteristic Contrast module 2042 and locating module 2043.
Feature confirmation module 2041 is used to confirm the characteristic of realtime graphic to be positioned and thermal energy image to be positioned, due to
Thermal energy is different referring to intensity of illumination, the heat energy intensity of lamp, therefore can be used as the characteristic of image, and schemes with sampling reality
Picture, sampling thermal energy image compare.
The characteristic and the storage of database 205 that Characteristic Contrast module 2042 confirms for contrast characteristic's confirmation module 2041
Characteristic, search for corresponding sampling real image and sample thermal energy image, Characteristic Contrast module 2042 is connected with search mould
Block 2044, and search module 2044 is connect with database 205.
Locating module 2043 is used to obtain the coordinate of car body 1 according to the sampling real image and sampling thermal energy image of search,
And finally determine the position of car body 1.
Vision photographing module 202 is connected with intensity of illumination detection module 207, and intensity of illumination detection module 207 and search
Module 2044 connects, and thermal energy obtains module 203 and is connected with heat energy intensity detection module 208, and heat energy intensity detection module 208 with
Search module 2044 connects.
Intensity of illumination detection module 207 and heat energy intensity detection module 208 are for detecting car body 1 by thermal energy referring to lamp
When, each thermal energy that can be detected can be looked for quickly referring to the intensity of illumination and heat energy intensity of lamp by this two item data
To the approximate location of car body 1 and sampling real image, the sampling thermal energy image of corresponding position, so as to greatly speed up figure
As the speed of search and positioning, so that car body 1 in positioning, does not need that trolley is slowed down or braked, it is accurately fixed just to can be carried out
Position can normally work to avoid trolley is influenced.
Car body 1 includes plug mounting rack 101, and the surface of plug mounting rack 101 is provided with sliding slot 102, sets in sliding slot 102
It is equipped with sliding block 103, and the surface of sliding block 103 is provided with plug 104, by setting sliding slot 102 and sliding block 103, plug can be made
It is move freely along sliding slot 102.
The two sides of sliding block 103 are respectively connected with positioning curved bar 105, and the outside for positioning curved bar 105 is provided with detent protrusion
106, the first magnetic patch 107 is inlaid in detent protrusion 106.
The outside of car body 1 is provided with charging column 3, and the surface of charging column 3 is provided with socket 301, and the two sides of socket 301 are equal
Be provided with the raised 106 matched detent slots 302 of detent, be inlaid in detent slot 302 magnetic opposite with the first magnetic patch 107
Second magnetic patch 303.
When car body 1 needs to charge, car body 1 is moved close to the position of charging column 3, does not need repeatedly to adjust, only need by
Plug 104 close to socket 301, just can make sliding block 103 the first magnetic patch 107, the second magnetic patch 303 magnetic force under automatically move, and
And keeping detent protrusion 106 corresponding with detent slot 302, plug 104 is corresponding with socket 301, then car body 1 is moved one to charging column 3
Segment distance just can be such that plug 104 is inserted into socket 301, complete the positioning of trolley charging, so that the charging of trolley is more convenient.
In addition, as shown in figure 4, the present invention also provides a kind of Intelligent Laser guidance van positioning of view-based access control model positioning
Method includes the following steps:
Step S100, several thermal energy are set referring to lamp in the operating point of laser guidance van, and each thermal energy is referring to lamp
Intensity of illumination, heat energy intensity are different, and using thermal energy, referring to lamp, as reference point, there are two benefits, first is that thermal energy was issued referring to lamp
Illumination is convenient for discovery, so as to as characteristic point, second is that when cargo blocks illumination after, can also pass through thermal energy just determination position
It sets, so that characteristic point is not readily susceptible to the influence of external environment.
Step S200, realtime graphic to be positioned is obtained by vision photographing module.
Step S300, module is obtained by thermal energy and obtains thermal energy image to be positioned.
Step S400, it by realtime graphic to be positioned in conjunction with thermal energy image to be positioned, and is determined and is swashed by comparison database
Light guidance van position, by the way that realtime graphic to be positioned in conjunction with thermal energy image to be positioned, can be made more accurate positioning, together
When, by the characteristic point of determination realtime graphic to be positioned and thermal energy image to be positioned, and in database sample real image and
The characteristic point of sampling thermal energy image compares, and just can determine that the position of laser guidance van.
In step S200, step S300, during obtaining realtime graphic to be positioned and thermal energy image to be positioned, by the way
The intensity of illumination and heat energy intensity of thermal energy reference lamp around laser guidance van are obtained, so that fast search arrives in the database
Corresponding sampling real image and sampling thermal energy image, due to each thermal energy referring to lamp intensity of illumination and heat energy intensity not
Together, it is getting around laser guidance van after intensity of illumination and heat energy intensity of the thermal energy referring to lamp, it can be rapidly from number
According to being screened in library, so that the locating speed of laser guidance van is greatly speeded up, therefore, there is no need to that trolley is slowed down or made
Dynamic just can be carried out accurately positions, can be to avoid the normal transport for influencing laser guidance van.
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 Intelligent Laser guidance van of view-based access control model positioning, including car body (1) and positioning mechanism (2), feature exists
In the positioning mechanism (2) includes:
Heat energy lamp referring to module (201), the heat energy lamp referring to module (201) by several thermal energy referring to lamp groups at being mounted on vehicle
Around body (1) operating point, and it is used as the reference point of vision positioning, the heat energy lamp is referring to module (201) each thermal energy reference
Intensity of illumination, the heat energy intensity of lamp are different；
Vision photographing module (202), the vision photographing module (202) are mounted on car body (1), for obtaining car body (1) work
Make the realtime graphic around point, and as realtime graphic to be positioned；
Thermal energy obtains module (203), and the thermal energy obtains module (203) and is mounted on car body (1), for obtaining car body (1) work
Make the heat energy distribution image around point, and as thermal energy image to be positioned；
Central processing unit (204), the central processing unit (204) is for handling realtime graphic to be positioned and thermal energy figure to be positioned
Picture, and determine the current location of car body (1)；
Database (205), the database (205) are used to store sampling of the heat energy lamp referring to module (201) under different location
Real image and sampling thermal energy image, and sampling real image, the characteristic for sampling thermal energy image.
2. a kind of Intelligent Laser guidance van of view-based access control model positioning according to claim 1, it is characterised in that: described
Central processing unit (204) includes:
Feature confirmation module (2041), the feature confirmation module (2041) is for confirming realtime graphic to be positioned and heat to be positioned
The characteristic of energy image；
Characteristic Contrast module (2042), the Characteristic Contrast module (2042) is for contrast characteristic's confirmation module (2041) confirmation
The characteristic of characteristic and database (205) storage searches for corresponding sampling real image and sampling thermal energy image；
Locating module (2043), the locating module (2043) are used for sampling real image and sampling thermal energy image according to search
The coordinate of car body (1) is obtained, and finally determines the position of car body (1).
3. a kind of Intelligent Laser guidance van of view-based access control model positioning according to claim 1, it is characterised in that: described
Vision photographing module (202) is obtained with thermal energy and is connect between module (203) by images match module (206).
4. a kind of Intelligent Laser guidance van of view-based access control model positioning according to claim 2, it is characterised in that: described
Characteristic Contrast module (2042) is connected with search module (2044), and search module (2044) is connect with database (205).
5. a kind of Intelligent Laser guidance van of view-based access control model positioning according to claim 1, it is characterised in that: described
Vision photographing module (202) is connected with intensity of illumination detection module (207), and intensity of illumination detection module (207) and search mould
Block (2044) connection, the thermal energy obtain module (203) and are connected with heat energy intensity detection module (208), and heat energy intensity detects
Module (208) is connect with search module (2044).
6. a kind of Intelligent Laser guidance van of view-based access control model positioning according to claim 1, it is characterised in that: described
Car body (1) includes plug mounting rack (101), and the surface of plug mounting rack (101) is provided with sliding slot (102), the sliding slot
(102) it is provided with sliding block (103) in, and the surface of sliding block (103) is provided with plug (104), the two sides of the sliding block (103) are equal
It is connected with positioning curved bar (105), and the outside for positioning curved bar (105) is provided with detent protrusion (106), the detent protrusion
(106) the first magnetic patch (107) are inlaid in.
7. a kind of Intelligent Laser guidance van of view-based access control model positioning according to claim 1, it is characterised in that: described
It is provided on the outside of car body (1) charging column (3), and the surface of charging column (3) is provided with socket (301), the socket (301)
Two sides be provided with raised (106) the matched detent slot (302) of detent, is inlaid with and first in the detent slot (302)
Magnetic opposite the second magnetic patch (303) of magnetic patch (107).
8. a kind of Intelligent Laser guidance van localization method of view-based access control model positioning, which comprises the steps of:
S100, several thermal energy are set referring to lamp in the operating point of laser guidance van；
S200, realtime graphic to be positioned is obtained by vision photographing module；
S300, module acquisition thermal energy image to be positioned is obtained by thermal energy；
S400, realtime graphic to be positioned is determined that las er-guidance is removed in conjunction with thermal energy image to be positioned, and through comparison database
Transport truck position.
9. a kind of Intelligent Laser guidance van localization method of view-based access control model positioning according to claim 8, feature
Be: in the step s 100, each thermal energy is different referring to intensity of illumination, the heat energy intensity of lamp.
10. a kind of Intelligent Laser guidance van localization method of view-based access control model positioning according to claim 8, feature
It is: in step S200, step S300, during obtaining realtime graphic to be positioned and thermal energy image to be positioned, obtains by the way
Take thermal energy around laser guidance van intensity of illumination and heat energy intensity referring to lamp, so as to fast search in the database to pair
The sampling real image and sampling thermal energy image answered.
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| CN201811475049.7A CN109733830B (en) | 2018-12-04 | 2018-12-04 | Intelligent laser guide carrier based on visual positioning and positioning method |
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| CN201811475049.7A CN109733830B (en) | 2018-12-04 | 2018-12-04 | Intelligent laser guide carrier based on visual positioning and positioning method |
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|---|---|
| CN109733830B (en) | 2021-08-06 |
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