CN109785463A - A kind of carriage fault detection system and method based on speed - Google Patents
A kind of carriage fault detection system and method based on speed Download PDFInfo
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- CN109785463A CN109785463A CN201910073136.8A CN201910073136A CN109785463A CN 109785463 A CN109785463 A CN 109785463A CN 201910073136 A CN201910073136 A CN 201910073136A CN 109785463 A CN109785463 A CN 109785463A
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Abstract
The present invention relates to intelligent carriage technical fields, specifically a kind of carriage fault detection system and method based on speed, fault detection system includes the trolley along path-line walking, timing camera arrangement, analytical equipment, fault detection method is used and is analyzed frame by frame image, the object of reference chosen in image calculates the unit displacement of trolley by ratio, and then finds out speed；Compared to the prior art, by data the present invention is combined with true vehicle condition, instant, convenient, without arranging extra manpower, under the premise of not influencing AGV system and running well, is monitored the accuracy of the speed of AGV in real time, is analyzed the operation conditions of AGV.
Description
Technical field
The present invention relates to intelligent carriage technical field, specifically a kind of carriage fault detection system based on speed and
Method.
Background technique
AGV (automated guided vehicle) after a period of time of coming into operation (generally at three months to 1 year), due to hardware
Aging or accidental injury, AGV are needed to be serviced, but are difficult to judge whether failure.For synthesis, we are most readily by AGV
The levels of precision of speed judges whether the AGV has internal failure inconspicuous.Therefore, we provide a kind of based on video essence
The method really to test the speed carrys out the vehicle condition of auxiliary examination AGV.
Currently, common scheme is generally divided into two kinds in actual industrial production: one is passing through vehicle-mounted various softwares
Feed back vehicle body data cases, such as " whether driver A connects "；The second is directly being judged by external failure, such as " No. 3 AGV warps
Often there is disconnection ", " No. 3 AGV more times deviate planned route " etc..
However existing two schemes, the former cannot be considered in terms of AGV actual conditions, such as software feedback " driver connection is normal "
But actually connection disconnection or unstable；And the latter can not monitor automatically and in real time, it can only be by artificially finding the problem simultaneously upwards
It submits.Therefore all lack a kind of auxiliary detection side can detecting automatically, not influencing AGV normal operation, data are true and reliable
Method carrys out instant find the problem so as to the later maintenance of AGV, the normal operation of whole system.
Therefore, there are also to be developed for the prior art.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of carriage faults based on speed
Detection system and method.Aim to solve the problem that prior art detection method is inaccurate, influences the problem of AGV operational efficiency.
In order to achieve the above object, this invention takes following technical schemes:
The present invention provides a kind of carriage fault detection system based on speed, comprising:
Along the trolley of path-line walking, speed measuring device which is provided with；
The timing camera arrangement of level fixed setting, the direction of travel of optical axis and the trolley is perpendicular, for pre-
If the period shoots the trolley in walking and generates image respectively；
Analytical equipment, the trolley feedback speed fed back for obtaining the speed measuring device, and obtain the timing and take pictures
The image of device shooting, union obtain the speed of service of trolley, and by the speed of service of the trolley feedback speed and trolley
Be compared, thus judge trolley travelling whether failure.
The carriage fault detection method based on speed that the present invention also provides a kind of, including above-mentioned a kind of based on the small of speed
Vehicle fault detection system, further includes the following steps:
1) a certain paths line is chosen, and chooses the first object of reference on the ground of the path-line side；
2) the timing camera arrangement is set, and the timing camera arrangement shoots image with predetermined period；
3) vanishing point of first object of reference in the picture is chosen, by two at vanishing point to first object of reference both ends
Line is known as mould connecting line；
4) choose the certain point on vehicle as characteristic point, measure location point of the characteristic point in first frame image and
Its location point in next frame image, and two at the corresponding ground of two location points on the image are taken respectively
Intersection point will be known as Shifted Reference line segment using two intersection points as the line segment of endpoint；
5) two intersection points of straight line where taking two mould connecting lines and the Shifted Reference line segment, will be described in two
Intersection point is that the line segment of endpoint is known as mould with reference to line segment；
6) it is described pre- at one to get trolley with reference to the length ratio of line segment with the mould to calculate the Shifted Reference line segment
If the length ratio of the distance moved in the period and the L, so as to find out trolley moved in a predetermined period away from
From the average speed of the trolley in a predetermined period can be found out；
7) the trolley average speed measured is compared with the trolley feedback speed, to whether judge trolley travelling
Failure.
Further, the timing camera arrangement is horizontally set on the side of the separate path-line of the auxiliary segment,
Optical axis is always perpendicular to trolley driving direction.
Further, the trolley average speed measured is compared with the trolley feedback speed described in step 7)
By the way of are as follows: judge whether the trolley feedback speed and the ratio of the trolley average speed measured are in error range
It is interior, if so, determining that the current predetermined period trolley travelling is normal, otherwise it is determined as exception.
Further, judge whether failure is by the way of for trolley travelling described in step 7) are as follows: different when being judged as
When the ratio that normal predetermined period accounts for whole time of measuring reaches default ratio, then vehicle operation troubles is determined.
Further, the first object of reference described in step 1) includes at least two sides parallel with the path-line, and institute
The length for stating side is the first length.
Further, step 1) first object of reference is the first length using two length and puts down with the path-line
Capable auxiliary segment.
Further, the method that the vanishing point of selection first object of reference described in step 3) in the picture uses are as follows:
Two auxiliary segments in image are located at ipsilateral one end respectively to be connected, obtain two connecting lines, and along corresponding connection
The length direction of line extends two connecting lines, and two connecting lines is made to intersect at the vanishing point.
It is instant, convenient, without arranging fifth wheel compared with prior art, the present invention data are combined with true vehicle condition
Power monitors the accuracy of the speed of AGV in real time, analyzes the operation shape of AGV under the premise of not influencing AGV system normal operation
Condition.
Detailed description of the invention
Fig. 1 is method implementation diagram provided by the invention；
Fig. 2 is system connection schematic diagram provided by the invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described, it should be understood that preferred embodiment described herein is only used
In the description and interpretation present invention, it is not intended to limit the present invention.
Embodiment 1
As shown in Fig. 2, the present invention provides a kind of carriage fault detection system based on speed, comprising:
Along the trolley of path-line walking, speed measuring device which is provided with；
The timing camera arrangement of level fixed setting, the direction of travel of optical axis and the trolley is perpendicular, for pre-
If the period shoots the trolley in walking and generates image respectively；
Analytical equipment, the trolley feedback speed fed back for obtaining the speed measuring device, and obtain the timing and take pictures
The image of device shooting, union obtain the speed of service of trolley, and by the speed of service of the trolley feedback speed and trolley
Be compared, thus judge trolley travelling whether failure.
As shown in Figure 1, the present invention also provides a kind of carriage fault detection method based on speed, including a kind of above-mentioned base
Further include the following steps in the carriage fault detection system of speed:
1) choose a certain paths line, and choose on the ground of the path-line side two length be L and with institute
State path-line parallel auxiliary segment AB, CD；
2) it is horizontally disposed with the timing camera arrangement in the side of the separate path-line of the auxiliary segment, its optical axis is made to begin
Eventually perpendicular to trolley driving direction, the timing camera arrangement shoots image with predetermined period；
3) A in image is connected with C respectively, B is connected with D, obtains two connecting lines AC, BD, and along corresponding connection
The length direction of line extends AC, BD, and two connecting lines is made to intersect at the vanishing point O.
4) the P point on vehicle is chosen as characteristic point, measures location point P of the characteristic point in first frame image0And
Its location point P in next frame imagen, and P is taken respectively0、PnTwo intersection point Q at corresponding ground on the image0、
Qn, by line segment Q0QnReferred to as Shifted Reference line segment；
5) difference AO, BO and line segment Q0QnLine segment EF is known as mould with reference to line segment by two intersection points E, F of place straight line；
6) Shifted Reference line segment Q is calculated0QnWith the mould with reference to line segment EF length ratio to get trolley it is mobile away from
From P0PnWith the length ratio of L, so as to find out P0Pn, trolley can be found out from P0It is moved to PnThe average speed of period；
7) the trolley average speed measured is compared with the trolley feedback speed, to whether judge trolley travelling
Failure.
Further, the trolley average speed measured is compared with the trolley feedback speed described in step 7)
By the way of are as follows: set error parameter as a, trolley feedback speed is V1, the trolley average speed measured is V2, then judgement be
It is no to meet condition: (1-a) v2<v1<(1+a)v2, if so, determining that the current predetermined period trolley travelling is normal, otherwise sentence
It is set to exception.
Further, judge whether failure is by the way of for trolley travelling described in step 7) are as follows: different when being judged as
When the ratio that normal predetermined period accounts for whole time of measuring is more than 15%, then vehicle operation troubles is determined.
Claims (8)
1. a kind of carriage fault detection system based on speed characterized by comprising
Along the trolley of path-line walking, speed measuring device which is provided with；
Horizontally disposed timing camera arrangement, the direction of travel of optical axis and the trolley is perpendicular, for being clapped with predetermined period
Take the photograph walking in trolley and generate image respectively；
Analytical equipment, for obtaining the trolley feedback speed of the speed measuring device feedback, and the acquisition timing camera arrangement
The image of shooting, union obtains the speed of service of trolley, and the speed of service of the trolley feedback speed and trolley is carried out
Compare, thus judge trolley travelling whether failure.
2. a kind of carriage fault detection method based on speed, including a kind of trolley event based on speed described in claim 1
Hinder detection system, which is characterized in that further include the following steps:
1) a certain paths line is chosen, and chooses the first object of reference on the ground of the path-line side；
2) the timing camera arrangement is set, and the timing camera arrangement shoots image with predetermined period；
3) vanishing point of first object of reference in the picture is chosen, by two lines at vanishing point to first object of reference both ends
Referred to as mould connecting line；
4) choose the certain point on vehicle as characteristic point, measure location point of the characteristic point in first frame image and its
Location point in next frame image, and take two at the corresponding ground of two location points on the image to hang down respectively
Foot, will be known as Shifted Reference line segment using two intersection points as the line segment of endpoint；
5) two intersection points of straight line where taking two mould connecting lines and the Shifted Reference line segment, will be with two intersection points
It is known as mould with reference to line segment for the line segment of endpoint；
6) calculate the Shifted Reference line segment and the mould with reference to line segment length ratio to get trolley a default week
The length ratio of the distance and first length that move in phase, is moved in a predetermined period so as to find out trolley
Distance can find out the average speed of the trolley in a predetermined period；
7) the trolley average speed measured is compared with the trolley feedback speed, to judge whether trolley travelling is former
Barrier.
3. a kind of carriage fault detection method based on speed according to claim 2, which is characterized in that the timing is clapped
The side of the separate path-line of the auxiliary segment is horizontally set on according to device, optical axis is always perpendicular to trolley driving direction.
4. a kind of carriage fault detection method based on speed according to claim 2, which is characterized in that institute in step 7)
That states the trolley average speed measured is compared by the way of with the trolley feedback speed are as follows: judges that the trolley is anti-
Whether feedback speed and the ratio of the trolley average speed measured are in error range, if so, determining that currently described is default
Period trolley travelling is normal, is otherwise determined as exception.
5. a kind of carriage fault detection method based on speed according to claim 4, which is characterized in that institute in step 7)
Whether failure is by the way of for the trolley travelling that judges stated are as follows: accounts for whole time of measuring when being judged as abnormal predetermined period
When ratio reaches default ratio, then vehicle operation troubles is determined.
6. a kind of carriage fault detection method based on speed according to claim 2, which is characterized in that institute in step 1)
Stating the first object of reference includes at least two sides parallel with the path-line, and the length on the side is the first length.
7. a kind of carriage fault detection method based on speed according to claim 2, which is characterized in that step 1) is described
First object of reference is the first length and the auxiliary segment parallel with the path-line using two length.
8. a kind of carriage fault detection method based on speed according to claim 7, which is characterized in that institute in step 3)
The method that the vanishing point of selection first object of reference stated in the picture uses are as follows: respectively by two auxiliary segments in image
It is connected positioned at ipsilateral one end, obtains two connecting lines, and extend two connecting lines along the length direction of corresponding connecting line, make
Two connecting lines intersect at the vanishing point.
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Application publication date: 20190521 |