CN109974686A - Transfer robot path planning householder method based on monitoring camera detection - Google Patents
Transfer robot path planning householder method based on monitoring camera detection Download PDFInfo
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- CN109974686A CN109974686A CN201711454850.9A CN201711454850A CN109974686A CN 109974686 A CN109974686 A CN 109974686A CN 201711454850 A CN201711454850 A CN 201711454850A CN 109974686 A CN109974686 A CN 109974686A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Radar, Positioning & Navigation (AREA)
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- Signal Processing (AREA)
- Automation & Control Theory (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The present invention relates to the transfer robot path planning householder methods detected based on monitoring camera, comprising the following steps: when there is barrier on original path, carrier feeds back to scheduling system disorders point position；Scheduling system monitors whether obstacle leaves from video server acquired disturbance point area image；After detecting that obstacle leaves, carrier is sent information to, carrier planning path again reaches target point.Whether the present invention makes full use of existing infrastructure, by the image transmitting of video monitoring to the central dispatch system of carrier, left using camera image auxiliary monitoring obstacle, greatly improve the operational efficiency of handling system.
Description
Technical field
The invention belongs to factory automation field, specifically a kind of transfer robot road based on monitoring camera detection
Diameter plans householder method.
Background technique
With automatic technology fast development, the trend of manpower is replaced to get over using automatic machines and equipment on plant produced line
To be more obvious.Wherein handling system is most common automation application scene, can solve the hypodynamic problem of human body.Carry system
System has conveyer belt carrying, automatic guided vehicle etc..Wherein automatic guided vehicle has bigger spatial degrees of freedom, can cope with more complicated
Spatial operation.And automatic guided vehicle is divided into magnetic stripe navigation, two-dimension code navigation, laser slam navigation, vision slam navigation etc..Its
The navigation of middle magnetic stripe and two-dimension code navigation need to be laid with telltale mark on ground and path is not flexible, vision guided navigation algorithm it is too complicated and
To processor requirement height, comparatively laser slam automatic guided vehicle application aspect be that technology is more mature and the one of flexibility and changeability
Kind mode.
In the prior art, the system structure that unmanned vehicle is carried is usually by automatic guided vehicle part and central schedule part structure
At.In certain region, a certain number of carriers move between multiple stations, complete the transport of material, and carrier is real
When communicated with central controller, central controller carries out multimachine and multistation according to carrier real time position and shipping situation
Between coordination, carrier carries out path planning and dynamic obstacle avoidance using slam technology during transporting material.Some
In environment, in fact it could happen that the optimal path of multimachine selection has the phenomenon that gorge, and such case is also required to scheduling system to assist
It adjusts.
In practice, it has been found that there are certain disadvantages for this system operation mode, carrier is from A station to the mistake of B station
Cheng Zhong has selected a paths on the basis of built map, during the motion, discovery path be obstructed (such as worker make
Industry), need to plan that B station is removed in a new path at this time again.So next time from A station to B station, if on considering
The secondary barrier encountered may still be rebuffed, if removing selection initial path also according to original map if directly considering this
A obstacle, then just in case this obstacle is interim, then handling efficiency substantially reduces.Simultaneously factory materials warehouse due to
Its spatial layout feature (such as gallery between shelf) swashs in new road if planning new route according to there is obstacle
Luminous energy sweeps to the position of original route obstacle to realize that map rejuvenation, confirmation obstacle also whether there is, and this possibility is very little.
Summary of the invention
Present invention seek to address that above-mentioned problems of the prior art, propose a kind of utilization camera image correlation technique
To assist confirmation obstacle in variation present on map, working efficiency of the raising carrier in workshop.The present invention makes full use of existing
Some infrastructure.General workshop can all install a certain number of cameras, utilize the real-time figure of these cameras for safety
Picture, by simple image compare, auxiliary update navigation map in dynamic disorder presence with leave.
The technical solution adopted by the present invention to solve the technical problems is: the transfer robot based on monitoring camera detection
Path planning householder method, comprising the following steps:
When there is barrier on original path, carrier feeds back to scheduling system disorders point position；
Scheduling system monitors whether obstacle leaves from video server acquired disturbance point area image；When detecting obstacle
After leaving, carrier is sent information to, carrier planning path again reaches target point.
The scheduling system monitors whether obstacle leaves including following step from video server acquired disturbance point area image
It is rapid:
Scheduling system shoots image according to barrier point position, from video server acquired disturbance point reference numeral n camera；
It include barrier point in described image；
Image YUV mean value in real-time monitoring barrier point region；When YUV mean value changes, indicate that barrier leaves, otherwise
Not leave.
Image YUV mean value in the monitoring barrier point region specifically:
The image that camera is shot is partitioned into effective coverage according to shelf-edges；Effective coverage is partitioned into multiple sons again
Region；
Contain the subregion of barrier point according to barrier point location confirmation；
Monitor the sub-district area image YUV mean value.
It is described after detecting that obstacle leaves, scheduling system notice carrier barrier possibly off carrier is later
Path planning in, do not include the barrier；When there is carrier to be re-moved to herein, barrier is not deposited herein for confirmation
It is then updating obstacle herein and is really leaving；Scheduling system gives news release to other carriers, updates map.
The invention has the following beneficial effects and advantage:
1. the present invention makes full use of existing infrastructure, by the image transmitting of video monitoring to the central schedule of carrier
Whether system is left using camera image auxiliary monitoring obstacle, greatly improves the operational efficiency of handling system.
2. system runs the program that an image compares, only need to just bring into operation after carrier reports obstacle.And it passes through
Location position and image segmentation are crossed, the variation of a small images need to be only monitored.It is small to scheduling system host resource consumption.
The pixel data change of 3.YUV wants small compared to RGB data amount, and can sufficiently remove the influence of brightness change.
Detailed description of the invention
Fig. 1 is overall system architecture schematic diagram of the present invention；
Fig. 2 is carrier path planning schematic diagram of the present invention；
Fig. 3 is number n camera image processing schematic；
1 carrier, 2 laser scanning ranges, 3 target points, 4 original paths, 5 next planning paths, 6 shelf, 7 barriers, 8
Again planning path.
Specific embodiment
The present invention will be further described in detail below with reference to the embodiments.
The present invention mainly utilizes existing video monitoring system, suitably adjusts and install additional camera by installation site, real
The full visual field covering of the possible passage path of carrier in existing workshop.The video monitoring system that carrier dispatches system and workshop is connected
It is connected together, carrier scheduling system obtains image from monitoring system.
The host of scheduling system does not have to the image for monitoring all carrier possible paths in real time.Whole system operates it
Before, it needs to install certain calibration object on carrier, is moved once in all possible paths, while dispatching system to carry
Vehicle real time position is corresponding with multiple monitoring images and respective image in the associated pictures of path sections do calibration and region segmentation.Area
Regional partition can shoot off unrelated images (needing manual segmentation), and interference when reducing image comparison, reduce Framework computing amount.Because adopting
The image of collection is for being monitored region shelf, therefore when dividing, using the region between two adjacent shelf edges as
Effective coverage；Effective coverage is partitioned into multiple subregions again；After region segmentation, the pixel for recording ground when without any obstacle is special
Sign, such as the yuv data mean value of all pixels point, the ground of workshop condition are typically all to brush into uniform color, this data value
It should be more stable.If workshop is not considered Y value by daylight impression.
When carrier press primitively path in graphs programming movement when, encounter new obstacle (such as worker's operation), cause
Original route cannot by when, carrier feeds back complaint message to central dispatch system, and scheduling system can send complaint message
Onto other carriers.
Scheduling system host starts to find corresponding monitoring camera figure according to the location information that carrier is fed back to correspond to
Correspondence block as in, scheduling system host start to monitor the variation of this image block.Advanced motion-captured algorithm is not needed yet,
As long as simple pixel comparison (such as yuv data mean value of all pixels point), because if if being worker's operation, work
The limbs of people must be movement.
If the color on the barrier perhaps appearance of people and path ground be not it is very similar when people or obstacle from
When opening, the pixel variation in respective image region is apparent.Scheduling system can notify carrier barrier " vacation is left " at this time,
Carrier will shoot off and consider to this obstacle in path planning later.When there is carrier to be re-moved to herein, confirmation
Obstacle has been not present herein, then updates obstacle " really leaving " herein.Scheduling system gives news release to other carriers, updates ground
Figure.
Integral frame of the present invention as shown in Figure 1, script carrier scheduling system and video monitoring be it is mutually incoherent, pass through
The present invention is organically combined.As shown in Fig. 2, temporarily occurring barrier 7 among shelf 6, carrier reaches originally
The path of target point 3 is 4, encounters obstacle 7 during exercise, again planning path 8.Before barrier does not leave, carrier is all
Target point 3 can be reached according to path 5, this is longer than path 4.On path 5, laser cannot sweep to the position of obstacle 7.
Carrier feeds back to scheduling system and barrier point occurs, and scheduling system obtains image from video server, monitors obstacle
Whether leave.As shown in figure 3, image section is only needs within the scope of black thick line from image where number n camera acquired disturbance
Monitoring, barrier is learnt in region 5 by the feedback of carrier, image section YUV mean value in region 5 need to be only monitored and become
Change.After barrier is removed, image section YUV mean value significant change in region 5 is judged as barrier " vacation is left ".It removes
Fortune vehicle again planning path when do not consider further that barrier, select path 4.Confirmation barrier 7 is not present during the motion, confirms
Barrier " really leaves ", updates map.
Claims (4)
1. the transfer robot path planning householder method based on monitoring camera detection, it is characterised in that the following steps are included:
When there is barrier on original path, carrier feeds back to scheduling system disorders point position；
Scheduling system monitors whether obstacle leaves from video server acquired disturbance point area image；When detecting that obstacle leaves
Afterwards, carrier is sent information to, carrier planning path again reaches target point.
2. a kind of transfer robot path planning householder method based on monitoring camera detection according to claim 1,
It is characterized in that, the scheduling system from video server acquired disturbance point area image, monitor obstacle whether leave including with
Lower step:
Scheduling system shoots image according to barrier point position, from video server acquired disturbance point reference numeral n camera；It is described
It include barrier point in image；
Image YUV mean value in real-time monitoring barrier point region；When YUV mean value changes, indicate that barrier leaves, otherwise not have
It leaves.
3. a kind of transfer robot path planning householder method based on monitoring camera detection according to claim 2,
It is characterized in that image YUV mean value in the monitoring barrier point region specifically:
The image that camera is shot is partitioned into effective coverage according to shelf-edges；Effective coverage is partitioned into multiple sub-districts again
Domain；
Contain the subregion of barrier point according to barrier point location confirmation；
Monitor the sub-district area image YUV mean value.
4. a kind of transfer robot path planning householder method based on monitoring camera detection according to claim 1,
It is characterized in that, described after detecting that obstacle leaves, scheduling system notice carrier barrier is possibly off carrier is at it
In path planning afterwards, the barrier is not included；When there is carrier to be re-moved to herein, barrier is not deposited herein for confirmation
It is then updating obstacle herein and is really leaving；Scheduling system gives news release to other carriers, updates map.
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Cited By (6)
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| CN110673594A (en) * | 2019-08-27 | 2020-01-10 | 广州蓝胖子机器人有限公司 | Scheduling and routing method and system for AMR cluster |
| CN110693514A (en) * | 2019-09-30 | 2020-01-17 | 郑州大学 | Automatic path planning type lifting wheelchair for radiology department |
| CN111208820A (en) * | 2020-01-09 | 2020-05-29 | 哈尔滨工程大学 | Particle unmanned vehicle group under artificial intelligence big data, control method and medium |
| CN113525987A (en) * | 2021-07-29 | 2021-10-22 | 华清科盛(北京)信息技术有限公司 | Lightweight logistics cargo sorting and transporting method and device based on Internet of things technology and electronic equipment |
| CN114927001A (en) * | 2022-04-19 | 2022-08-19 | 天津二建建筑工程有限公司 | Video monitoring method, system, intelligent terminal and storage medium |
| CN115223092A (en) * | 2022-07-15 | 2022-10-21 | 南京福田文化传媒有限公司 | Video monitoring system and method in big data scene |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110673594A (en) * | 2019-08-27 | 2020-01-10 | 广州蓝胖子机器人有限公司 | Scheduling and routing method and system for AMR cluster |
| CN110693514A (en) * | 2019-09-30 | 2020-01-17 | 郑州大学 | Automatic path planning type lifting wheelchair for radiology department |
| CN111208820A (en) * | 2020-01-09 | 2020-05-29 | 哈尔滨工程大学 | Particle unmanned vehicle group under artificial intelligence big data, control method and medium |
| CN113525987A (en) * | 2021-07-29 | 2021-10-22 | 华清科盛(北京)信息技术有限公司 | Lightweight logistics cargo sorting and transporting method and device based on Internet of things technology and electronic equipment |
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