CN110069065B - AGV website positioning system based on laser navigation and picture discernment - Google Patents
AGV website positioning system based on laser navigation and picture discernment Download PDFInfo
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- CN110069065B CN110069065B CN201910335798.8A CN201910335798A CN110069065B CN 110069065 B CN110069065 B CN 110069065B CN 201910335798 A CN201910335798 A CN 201910335798A CN 110069065 B CN110069065 B CN 110069065B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/143—Sensing or illuminating at different wavelengths
Abstract
The invention discloses an AGV station positioning system based on laser navigation and picture recognition, which comprises an AGV part and a station part, wherein the AGV part comprises a laser source, a laser source and a laser source; the AGV part comprises an AGV body, a laser radar, a visible light camera and an industrial control PC, and the industrial control PC is used for controlling the AGV body to move; the station part comprises a plurality of stations and clip type marks, each station is provided with the clip type mark in a laminating mode, a visible light camera shoots and recognizes the clip type mark in the moving process of the AGV body, and the stations corresponding to the current clip type mark are positioned through a positioning algorithm. The invention takes pictures of the clip type mark through the visible light camera and positions the clip type mark obtained by shooting through a positioning algorithm in the industrial PC, thereby determining that the station is a few stations of all stations, and better positioning the AGV station under the simultaneous working mode of laser navigation and visible light camera image detection.
Description
Technical Field
The invention relates to the technical field of AGV navigation and positioning, in particular to an AGV station positioning system based on laser navigation and picture recognition.
Background
In the prior art, an AGV navigation control method based on a two-dimensional code image tag with application number "CN 105388899B", an AGV positioning orientation and speed measurement method based on a landmark two-dimensional code with application number "CN 105404842B", an AGV-oriented global layered positioning system and method with application number "CN 107144852A", an indoor AGV navigation method and system based on two-dimensional code guidance and visible light positioning with application number "CN 107943051A", and an AGV composite navigation method based on a two-dimensional code and an inertial sensor with application number "CN 108592906A", all of which use two-dimensional code image tags for navigation and positioning.
However, the above-mentioned methods of using two-dimensional codes to perform navigation and positioning all have certain problems and disadvantages: 1. the existing AGV system based on visual navigation generally uses two-dimension codes or self-defined two-dimension codes to mark stations, the contents of the two-dimension codes or the self-defined two-dimension codes are relatively complex, and the size of a mark in field deployment is limited to a certain extent, so that the recognition is difficult if the shooting distance is long; 2. if the two-dimensional code or the self-defined two-dimensional code is used for marking the sites, the sites need to be identified in one-to-one correspondence with the sites in the system control software when the sites are posted for marking, if the sites are wrongly identified, the system cannot normally work, and certain difficulty is caused to site deployment.
Disclosure of Invention
The invention aims to provide an AGV station positioning system based on laser navigation and picture recognition, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an AGV station positioning system based on laser navigation and picture recognition comprises an AGV part and a station part;
the AGV part comprises an AGV body, a laser radar, a visible light camera and a work control PC, wherein the laser radar, the visible light camera and the work control PC are all arranged on the AGV body, the work control PC is used for receiving and processing data of the laser radar and the visible light camera, and the work control PC is used for controlling the AGV body to move;
the station part comprises a plurality of stations and clip type marks, and each station is attached with a clip type mark;
the method comprises the steps that a visible light camera shoots and identifies a clip type identifier in the moving process of an AGV body, and a station corresponding to the current clip type identifier is positioned through a positioning algorithm;
the positioning algorithm comprises the following steps:
s1, detecting the coordinates (x1, y1) of the upper left corner point P1 and the coordinates (x2, y2) of the lower left corner point P2;
s2, if the pixel resolution of the camera of the visible light camera is (w, h), the horizontal visual angle of the camera is A, and the vertical angle is B;
then the vertical viewing angle for P1 is:
B1＝atan(2(y1-h/2)*tan(B/2)/h)；
the horizontal viewing angles for P1 are:
A1＝atan(2(x1-w/2)*tan(A/2)/w)；
similarly, the vertical viewing angle for P2 is:
B2＝atan(2(y2-h/2)*tan(A/2)/H)；
the Z-direction distance from S3, P1 to the camera can be calculated using the following formula:
z1 ═ Hmark/(1/tan (B1) -1/tan (B2)), where Hmark is the height of the previously known clip mark;
s4, knowing Z, the coordinates of P1 relative to the camera are: (X1, Y1, Z1) ═ Z1 tan (a1), Z1 tan (B1), Z1);
s5, assuming that a coordinate conversion matrix from the camera to the AGV body is T1, and a conversion matrix from the AGV body to the absolute scene is T2, the coordinates (X0, Y0 and Z0) of the clip type identifier in the absolute scene are as follows:
[X0Y0Z0 1]＝[X1Y1Z1 1]*T1*T2；
s6, storing the positions of all the stations in the industrial PC system of the AGV, and assuming that the position of the station i is (Xi, Yi, Zi);
s7, if the absolute coordinates of the above solved clip are (X0, Y0, Z0), and the distance between (Xj, Yj, Zj) and (X0, Y0, Z0) is the minimum for all i, the current station can be considered as the j-th station.
Preferably, in S1, the upper right corner point and the lower right corner point of the clip mark may also be used.
Preferably, in S1, since the upper left corner point P1 and the lower left corner point P2 are vertical, x1 is x 2.
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts the simple clip type black and white frame to replace the two-dimensional code for use, so that when the same visible light camera is used, under the condition of approximately equal distance, the clip type mark adopted by the system is much easier to identify than the two-dimensional code due to simple shape, and the positioning is more conveniently completed by using an image detection mode.
The invention does not need to use complex two-dimensional codes, also cancels the limit on the size of the mark in site deployment, can also carry out recognition under the far condition, and does not need to carry out one-to-one correspondence on the sites in the system control software when the marks are pasted on the sites, thereby reducing the difficulty of site deployment.
The invention takes pictures of the clip type mark through the visible light camera and positions the clip type mark obtained by shooting through a positioning algorithm in the industrial PC, thereby determining that the station is a few stations of all stations, and better positioning the AGV station under the simultaneous working mode of laser navigation and visible light camera image detection.
Drawings
FIG. 1 is a schematic diagram of a two-dimensional code containing only A12 simple characters;
FIG. 2 is a schematic diagram of a clip-shaped mark structure according to the present invention;
FIG. 3 is a schematic diagram of a portion of an AGV according to the present invention.
In the figure: 1AGV automobile body, 2 laser radar, 3 visible light cameras, 4 industrial control PCs, 5 time type sign.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution:
an AGV station positioning system based on laser navigation and picture recognition comprises an AGV part and a station part.
The AGV part comprises an AGV body 1, a laser radar 2, a visible light camera 3 and an industrial control PC4, wherein the laser radar 2, the visible light camera 3 and the industrial control PC4 are all arranged on the AGV body 1, the industrial control PC4 is used for receiving and processing data of the laser radar 2 and the visible light camera 3, the industrial control PC4 is used for controlling the AGV body 1 to move, the industrial control PC4 forms a processing system of the AGV and also can be formed by a plurality of industrial control PCs or industrial control boards and is used for processing the data acquired by the laser radar 2 and the visible light camera 3, the industrial control PC4 adopts an embedded industrial model host machine which is CBW-B101, the hardware part of the industrial control PC4 is a computer platform based on an embedded processor and comprises a color touch screen display, an Ethernet interface and two serial communication interfaces, 8-path analog input, 4-path switching value output, an internal MIC, a small loudspeaker and other peripheral equipment, the system is equivalent to a specially-made and miniaturized personal computer, is more powerful in function and more suitable for application in industrial and commercial environments, the laser radar 2 is a CE30 solid-state area array laser radar of Beijing photon technology Limited, and can be matched with the industrial control PC4 to perform laser navigation to drive the AGV body 1 to move, and the visible light camera 3 is an ACC-AJ200 type visible light series camera of Shenzhen Ziyang photon technology Limited, so that the photographed image can be conveniently processed.
The station part comprises a plurality of stations and clip-shaped marks 5, each station is attached with the clip-shaped mark 5, the structure is shown in the specification attached figure 2, the clip-shaped marks 5 are clip-shaped structures with black and white intervals, the inner part is white and the outer part is black, and long-distance photographing and recognition are facilitated.
In the moving process of the AGV body 1, the visible light camera 3 shoots and identifies the clip type mark 5, and a station corresponding to the current clip type mark 5 is positioned through a positioning algorithm.
The positioning algorithm comprises the following steps:
s1, detecting coordinates (x1, y1) of the top left corner point P1 and coordinates (x2, y2) of the bottom left corner point P2 of the clip identifier 5, wherein x1 is x2 since the top left corner point P1 and the bottom left corner point P2 are vertical;
when detecting the point, the upper right corner and the lower right corner of the square-shaped mark 5 can also be adopted.
S2, if the pixel resolution of the camera of the visible-light camera 3 is (w, h), and the horizontal angle of view of the camera is a, the vertical angle is B;
then the vertical viewing angle for P1 is:
B1＝atan(2(y1-h/2)*tan(B/2)/h)；
the horizontal viewing angles for P1 are:
A1＝atan(2(x1-w/2)*tan(A/2)/w)；
similarly, the vertical viewing angle for P2 is:
B2＝atan(2(y2-h/2)*tan(A/2)/H)；
the Z-direction distance from S3, P1 to the camera can be calculated using the following formula:
z1 ═ Hmark/(1/tan (B1) -1/tan (B2)), where Hmark is the height of the previously known clip mark (5);
s4, knowing Z, the coordinates of P1 relative to the camera are: (X1, Y1, Z1) ═ Z1 tan (a1), Z1 tan (B1), Z1);
s5, assuming that the coordinate transformation matrix from the camera to the AGV body 1 is T1, and the transformation matrix from the AGV body 1 to the absolute scene is T2, the coordinates (X0, Y0, Z0) of the clip type identifier 5 in the absolute scene are:
[X0Y0Z0 1]＝[X1Y1Z1 1]*T1*T2；
s6, storing the positions of all the stations in the industrial PC4 system of the AGV, and assuming that the position of the station i is (Xi, Yi, Zi);
s7, if the absolute coordinates of the above solved clip type identifier 5 are (X0, Y0, Z0), and the distance between (Xj, Yj, Zj) and (X0, Y0, Z0) is the minimum for all i, the current station can be considered as the j-th station.
Through the positioning algorithm and the system calculation of the laser radar 2 and the industrial PC4, when the unified simple-circuit mark 5 can be used at each station, the station can still be identified and positioned, and different two-dimensional codes of each station are not needed to be used for identifying and positioning.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. An AGV station positioning system based on laser navigation and picture recognition comprises an AGV part and a station part;
the AGV part comprises an AGV body (1), a laser radar (2), a visible light camera (3) and an industrial control PC (4), wherein the laser radar (2), the visible light camera (3) and the industrial control PC (4) are all arranged on the AGV body (1), the industrial control PC (4) is used for receiving and processing data of the laser radar (2) and the visible light camera (3), and the industrial control PC (4) is used for controlling the AGV body (1) to move;
the method is characterized in that: the station part comprises a plurality of stations and clip marks (5), and each station is attached with a clip mark (5);
the method comprises the steps that a visible light camera (3) shoots and identifies a clip type identifier (5) in the moving process of an AGV body (1), and a station corresponding to the current clip type identifier (5) is positioned through a positioning algorithm;
the positioning algorithm comprises:
s1, detecting the coordinates (x1, y1) of the upper left corner point P1 and the coordinates (x2, y2) of the lower left corner point P2 of the clip-shaped mark (5);
s2, if the pixel resolution of the camera of the visible light camera (3) is (w, h), the horizontal visual angle of the camera is A, and the vertical angle is B;
then the vertical viewing angle for P1 is:
B1＝atan(2(y1-h/2)*tan(B/2)/h)；
the horizontal viewing angles for P1 are:
A1＝atan(2(x1-w/2)*tan(A/2)/w)；
similarly, the vertical viewing angle for P2 is:
B2＝atan(2(y2-h/2)*tan(A/2)/H)；
the Z-direction distance from S3, P1 to the camera can be calculated using the following formula:
z1 ═ Hmark/(1/tan (B1) -1/tan (B2)), where Hmark is the height of the previously known clip mark (5);
s4, knowing Z, the coordinates of P1 relative to the camera are: (X1, Y1, Z1) ═ Z1 tan (a1), Z1 tan (B1), Z1);
s5, assuming that a coordinate conversion matrix from a camera to an AGV body (1) is T1, and a conversion matrix from the AGV body (1) to an absolute scene is T2, the coordinates (X0, Y0 and Z0) of the clip type identifier (5) in the absolute scene are as follows:
[X0 Y0 Z0 1]＝[X1 Y1 Z1 1]*T1*T2；
s6, storing the positions of all the stations in an industrial PC (4) system of the AGV, and assuming that the position of the station i is (Xi, Yi, Zi);
s7, the absolute coordinates of the above solved clip identifier (5) are (X0, Y0, Z0), and if the distance between (Xj, Yj, Zj) and (X0, Y0, Z0) is the minimum for all i, the current station can be considered as the j-th station.
2. The AGV station positioning system based on laser navigation and picture recognition of claim 1, wherein: in S1, the upper right corner point and the lower right corner point of the clip mark (5) may be used.
3. The AGV station positioning system based on laser navigation and picture recognition of claim 1, wherein: in S1, since the upper left corner point P1 and the lower left corner point P2 are vertical, x1 is x 2.
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