CN110398974A - A kind of AGV vision positioning system based on structure light - Google Patents
A kind of AGV vision positioning system based on structure light Download PDFInfo
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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
- G05D1/0231—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
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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
- G05D1/0248—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 in combination with a laser
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- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of AGV vision positioning system based on structure light, including AGV and track, is provided with image capture module, host computer and electric machine controller on AGV, several groups structure light source is provided on track；Image capture module is used to receive the signal of several groups structure light source and is transmitted to host computer；Host computer is used to be communicated and be analyzed with structure light source the image information of acquisition, so that it is determined that the position of current AGV and drift angle information；Electric machine controller is used to receive the instruction of host computer and controls the direction of motion and movement velocity of AGV, structure light source transmitting coherent light is radiated on AGV, image capture module collects the light spot image of irradiation and is transmitted to host computer, host computer is analyzed the image information of acquisition so that it is determined that the position of current AGV and drift angle information and being transmitted to electric machine controller, electric machine controller instructs the traveling of control AGV based on the received, and this system precision is high, at low cost, route setting is flexible.
Description
Technical field
The present invention relates to track detecting fields, and in particular to a kind of AGV vision positioning system based on structure light.
Background technique
AGV airmanship includes magnetic dot navigation, electromagnetic navigation, tape navigation, vision guided navigation, laser navigation, natural profile
Navigation, two-dimension code navigation etc..The position of AGV in the entire system is positioned using different signal feedbacks to carry out carrying work
Industry.
Existing AGV vision navigation system is broadly divided into following major class:
The first kind is to acquire road environment information by camera, and then road pavement image data is analyzed and planned, from
And control the movement of AGV.Such methods have the drawback that needs are laid with floor line in advance and need frequently to be renovated, road
Line setting is inflexible.
Second class is that multiple two dimensional code marks are placed in the running route of AGV, is carried out by two dimensional code identification information
Control.The disadvantage is that two dimensional code calibration is relatively difficult, frequent updating two-dimensional barcode information, Er Qiedan are needed when road is complex
It is solely very poor using two dimensional code positioning accuracy, the movement of AGV is usually controlled in conjunction with gyroscope, precision and service life to gyroscope
It is more demanding while more demanding to ground.
Third class is laser navigation, and laser navigation precision is high, is not necessarily to ground installation, but its manufacturing cost is high, for ring
Border and ground are more demanding.
Summary of the invention
It is an object of the invention to overcome in the prior art, a kind of AGV vision positioning based on structure light is provided
System, precision is high, at low cost, route setting is flexible.
The purpose of the present invention is achieved through the following technical solutions: a kind of AGV vision positioning system based on structure light
System, including AGV and track, which is characterized in that image capture module, host computer and electric machine controller, institute are provided on the AGV
It states and is provided with several groups structure light source on track；
Described image acquisition module is for receiving the signal of structure light source described in several groups and being transmitted to the host computer；
The host computer is used to be communicated and be analyzed with the structure light source image information of acquisition, so that it is determined that currently
The position of AGV and drift angle information generate instruction further according to the position and drift angle information and are sent to electric machine controller；
The electric machine controller is used to receive the instruction of the host computer and controls the movement side of the AGV according to instruction
To and movement velocity.
By above-mentioned technological means, when AGV is when track uplink is sailed, structure light source transmitting coherent light is radiated on AGV, institute
Image capture module is stated to collect the light spot image of irradiation and be transmitted to host computer, the host computer to the image information of acquisition into
Row analysis is so that it is determined that the position of current AGV and drift angle information and be transmitted to electric machine controller, and the electric machine controller is according to connecing
The instruction of receipts controls the traveling of the AGV, only needs to change the position of structure light source, this system when needing replacing route
Precision is high, at low cost, route setting is flexible.
Preferably, described image acquisition module is set as two groups, and the both ends of the AGV are respectively set one group, described in one group
Image capture module includes signal receiving board and camera, and the signal receiving board is disposed in proximity to the edge AGV side, described
Camera is for acquiring received light spot image in the signal receiving board.
By above-mentioned technological means, two groups are set by described image acquisition module, the both ends of the AGV are respectively set one
Group only needs that the camera along traffic direction one end is kept to work in the process of running, and structure light source also only remains close to work phase
The light source working in machine direction facilitates the reciprocating motion of realization AGV by the way that several two groups of image capture modules are arranged.
Preferably, the host computer includes image processing module and the first communication module；
Described image processing module determines AGV relative to current light for carrying out calculating analysis to the image data of acquisition
The deviation signal in source；
First communication module is used to communicate obtaining with the structure light source coding of current structure light source
And current AGV location information and be sent to the electric machine controller.
By above-mentioned technological means, determine that AGV is realized relative to the deviation signal and location information of current light source to AGV
The monitoring of driving process is to facilitate control AGV in the travel speed in feature place and driving direction etc..
Preferably, the structure light source includes range finder module, the second communication module and coherent source transmitter；
The range finder module is for detecting the distance between the AGV and the structure light source；
Second communication module is wirelessly transferred with first communication module；
The coherent source transmitter is for generating hot spot.
By above-mentioned technological means, the range finder module can be used infrared distance sensor real-time detection AGV distance current
The distance of structure light source；The mode of the wireless transmission can be one of Zig Bee, WIFI, bluetooth, infrared or a variety of；Institute
Stating coherent source transmitter can be used laser emitter, and coherent light source beam concentration degree is high, and frequency stabilization can form clear hot spot
Image.
Preferably, the structure light source is set to the corner of the track.
By above-mentioned technological means, the structure light source is set to the corner of the track, does not reach certain bits in AGV
Only need to be along straight-line travelling when setting, structure light source emits parking or turn signal to the AGV when reaching specific position.
Preferably, the coherent source transmitter of same corner is set as two groups, the hair of coherent source transmitter described in two groups
The relevant light direction penetrated is consistent with two course bearings of the corner respectively.
By above-mentioned technological means, when AGV is moved along a direction, the camera work of direction one end is only remained operational,
Coherent source transmitter also only remains close to the work of work camera direction, facilitates realization past by several groups structure light source
Multiple movement.
Preferably, it is additionally provided with warning module on the AGV, the warning module includes buzzer and alarm lamp, described
Warning module is alarmed when receiving abnormal signal.
By above-mentioned technological means, abnormal signal may include deviateing desired guiding trajectory information, improper travel speed, AGV event
Hinder information etc..
Preferably, described image processing module received image data is pre-processed, image segmentation, contours extract with
Fitting and signature analysis, so that it is determined that the size of image, shape and center location information.
Preferably, the pretreatment mode is greyscale transformation, color notation conversion space, single channel extract, in filtering processing
It is one or more.
Preferably, described image dividing method is adaptivenon-uniform sampling algorithm.
The beneficial effects of the present invention are:
1. image capture module of the invention is set as two groups, the both ends of AGV are respectively set one group, one group of Image Acquisition mould
Block includes signal receiving board and camera, and signal receiving board is disposed in proximity to the edge AGV side, and camera is for acquiring signal receiving board
Upper received light spot image, sets two groups for image capture module, the both ends of AGV are respectively set one group, in the process of running
It only needs that the camera along traffic direction one end is kept to work, structure light source also only remains close to the light source work of work camera direction
Make, facilitates the reciprocating motion of realization AGV by the way that several two groups of image capture modules are arranged；
2. structure light source of the invention includes range finder module, the second communication module and coherent source transmitter；Range finder module
For detecting the distance between AGV and structure light source；Second communication module is wirelessly transferred with the first communication module；Coherent light
Source transmitter can be used infrared distance sensor real-time detection AGV apart from current structure light source for generating hot spot, range finder module
Distance；The mode of wireless transmission can be one of Zig Bee, WIFI, bluetooth, infrared or a variety of；Coherent source transmitter
Laser emitter can be used, coherent light source beam concentration degree is high, and frequency stabilization can form clear light spot image.
Detailed description of the invention
Fig. 1 is AGV structural schematic diagram of the present invention；
Fig. 2 is structure of the invention light source schematic diagram；
Fig. 3 is hot spot deformation analysis figure of the present invention；
Fig. 4 is one embodiment of the invention driving process figure.
In figure: 1, signal receiving board；2, the first communication module；3, image procossing and electric machine controller；4, power module；5,
Camera；6, warning module；7, support frame；8, the second communication module；9, coherent source transmitter；10, station；11,AGV；12, it ties
Structure light source.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
Below.
Embodiment 1
As shown in Figure 1, a kind of AGV vision positioning system based on structure light, including AGV11 and track, it is arranged on AGV11
There are image capture module, host computer and electric machine controller, several groups structure light source 12 is provided on track；
Image capture module is used to receive the signal of several groups structure light source 12 and is transmitted to host computer；Host computer be used for
Structure light source 12 is communicated and is analyzed the image information of acquisition, so that it is determined that the position of current AGV11 and drift angle information, then root
Instruction, which is generated, according to position and drift angle information is sent to electric machine controller；Electric machine controller is used to receive instruction and the root of host computer
According to the direction of motion and movement velocity of instruction control AGV (11).
When AGV11 is when track uplink is sailed, structure light source transmitting coherent light is radiated on AGV11, and image capture module is adopted
Collect the light spot image of irradiation and be transmitted to host computer, host computer is analyzed the image information of acquisition so that it is determined that current
The position of AGV11 and drift angle information are simultaneously transmitted to electric machine controller, and electric machine controller instructs the row of control AGV11 based on the received
It sails, only needs to change the position of structure light source when needing replacing route, this system precision is high, at low cost, route is arranged
Flexibly.
Image capture module is set as two groups, and the both ends of AGV11 are respectively set one group, and one group of image capture module includes letter
Number receiver board 1 and camera 5, signal receiving board 1 are disposed in proximity to the edge AGV11 side, and camera 5 is for acquiring signal receiving board 1
Upper received light spot image.Two groups are set by image capture module, the both ends of AGV11 are respectively set one group, in operational process
In only need that the camera 5 along traffic direction one end is kept to work, structure light source also only remains close to the light source in 5 direction of work camera
Work facilitates the reciprocating motion of realization AGV11 by the way that several two groups of image capture modules are arranged.
Host computer includes image processing module and the first communication module 2；Image processing module is used for the picture number to acquisition
According to calculating analysis is carried out, deviation signal of the AGV11 relative to current light source is determined；First communication module 2 is used for and structure light source
Communication is carried out to obtain the coding of current structure light source and the location information of current AGV11 and be sent to electric machine controller.
Determine that AGV11 realizes the monitoring to AGV11 driving process with convenient relative to the deviation signal and location information of current light source
AGV11 is controlled in the travel speed in feature place and driving direction etc..
It is combined using laser triangulation with echo analysis method when it is implemented, position is calculated, when relative distance is big
When given threshold T, using echo analysis method；When relative distance is less than or equal to threshold value T, using triangulation, in this way
Both it can guarantee position tracking when remote, and also can guarantee the high-precision of short distance.
The deviation of directivity calculates: as shown in figure 3, by taking circular light spot as an example, structure light original shape be the round and center of circle a bit
O, round radius are r, and the circle that radius is r, center of circle O ' are imaged as in signal receiving board 1.When signal receiving board 1 with
After AGV11 rotates angle [alpha], projection will be deformed into oval ACBD by initial circle, wherein AB=2r/cos α, CD=2r.As a result,
Angle of deflection=arccos (2r/AB).
Structure light source includes range finder module, the second communication module 8 and coherent source transmitter 9；Range finder module is for detecting
The distance between AGV11 and structure light source；Second communication module 8 is wirelessly transferred with the first communication module 2；Coherent source hair
Emitter 9 is for generating hot spot.Range finder module can be used infrared distance sensor real-time detection AGV11 apart from current structure light source
Distance；The mode of wireless transmission can be one of Zig Bee, WIFI, bluetooth, infrared or a variety of；Coherent source transmitter 9 can
Using laser emitter, coherent light source beam concentration degree is high, and frequency stabilization can form clear light spot image.
Structure light source is set to the corner of track.Structure light source is set to the corner of track, does not reach spy in AGV11
Only need to be along straight-line travelling when positioning is set, structure light source emits parking or turn signal to AGV11 when reaching specific position.
As shown in figure 4, the coherent source transmitter 9 of same corner is set as two groups, two groups of coherent source transmitters 9 are sent out
The relevant light direction penetrated is consistent with two course bearings of the corner respectively.When AGV11 is moved along a direction, only protect
The camera 5 for holding traffic direction one end works, and coherent source transmitter 9 also only remains close to the work in 5 direction of work camera,
Realization is facilitated to move back and forth by several groups structure light source.
When it is implemented, being illustrated as shown in figure 4, being set out with station 01 and operating to example to station 04: starting light source
B2 and AGV11, AGV11 work by the signal receiving board 1 and camera 5 of close to sources B2, and AGV11 receives red in B2 light source at the same time
The outer distance signal apart from sensor measurement.After AGV11 is apart from light source B2 distance to a declared goal, light source B2 sends up time to AGV11
Needle turns to 90 ° of signals, and AGV11 turns to 90 ° after receiving signal clockwise, while starting light source C2.When AGV11 receives light source
After C2 is imaged as standard round, light source B2 is closed, AGV11 is run to the direction light source C2.Similarly, AGV11 is successively to light source D2, light source
E2, light source F2, the operation of the direction light source G, after AGV11 range ability light source G distance to a declared goal, light source G sends parking letter to AGV11
Number.During AGV11 whole service, in addition to being needed when turning to there are two other than light source working, others were run
A light source working need to be only kept in journey.
Warning module 6 is additionally provided on AGV11, warning module 6 includes buzzer and alarm lamp, and warning module 6 receives
It alarms when abnormal signal.Abnormal signal may include deviateing desired guiding trajectory information, improper travel speed, AGV11 failure letter
Breath etc..
Image processing module pre-processes received image data, image segmentation, contours extract and fitting and special
Sign analysis, so that it is determined that the size of image, shape and center location information.Pretreatment mode is greyscale transformation, color space change
Change, single channel extract, filtering processing one of or it is a variety of.Image partition method is adaptivenon-uniform sampling algorithm.
Color image compression is gray level image by greyscale transformation, to reduce processing data.Color notation conversion space is by RGB face
Colour space image is converted to hsv color space or Lab color space.Single channel extracts the color feature extracted according to laser source
Solid color channel in RGB image, the L for perhaps extracting the channel H in hsv color space or extracting in Lab color space are logical
Road.Filtering processing is that adaptive-filtering is handled.Contours extract and fitting first extract segmented image with Canny boundary operator
Then edge contour uses least square method fitted ellipse.The elliptical centre coordinate of signature analysis digital simulation, length shaft size
And deflection angle of the long axis relative to trunnion axis or vertical axis.
Implementation principle of the invention: when AGV11 is when track uplink is sailed, structure light source transmitting coherent light is radiated at AGV11
On, described image acquisition module collects the light spot image of irradiation and is transmitted to host computer, image of the host computer to acquisition
Information is analyzed so that it is determined that the position of current AGV11 and drift angle information and be transmitted to electric machine controller, the motor control
Device instructs the traveling for controlling the AGV11 based on the received, only needs to change the position of structure light source when needing replacing route
, this system precision is high, at low cost, route setting is flexible.
The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to shape described herein
Formula should not be regarded as an exclusion of other examples, and can be used for other combinations, modifications, and environments, and can be herein
In contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And what this field occupant was carried out changes
Dynamic and variation does not depart from the spirit and scope of the present invention, then all should be within the scope of protection of the appended claims of the present invention.
Claims (10)
1. a kind of AGV vision positioning system based on structure light, including AGV (11) and track, which is characterized in that the AGV
(11) it is provided with image capture module, host computer and electric machine controller on, several groups structure light source is provided on the track
(12)；
Described image acquisition module is for receiving the signal of structure light source (12) described in several groups and being transmitted to the host computer；
The host computer is used to be communicated and be analyzed with the structure light source (12) image information of acquisition, so that it is determined that currently
The position of AGV (11) and drift angle information generate instruction further according to the position and drift angle information and are sent to electric machine controller；
The electric machine controller is used to receive the instruction of the host computer and controls the movement side of the AGV (11) according to instruction
To and movement velocity.
2. a kind of AGV vision positioning system based on structure light according to claim 1, which is characterized in that described image
Acquisition module is set as two groups, and the both ends of the AGV (11) are respectively set one group, and one group of described image acquisition module includes signal
Receiver board (1) and camera (5), the signal receiving board (1) are disposed in proximity to the AGV (11) edge side, the camera (5)
For acquiring received light spot image on the signal receiving board (1).
3. a kind of AGV vision positioning system based on structure light according to claim 2, which is characterized in that described upper
Machine includes image processing module and the first communication module (2)；
Described image processing module determines AGV (11) relative to current light for carrying out calculating analysis to the image data of acquisition
The deviation signal in source；
First communication module (2) is used to communicate with the structure light source (12) to obtain current structure light source (12)
Coding and current AGV (11) location information and be sent to the electric machine controller.
4. a kind of AGV vision positioning system based on structure light according to claim 3, which is characterized in that the structure
Light source (12) includes range finder module, the second communication module (8) and coherent source transmitter (9)；
The range finder module is for detecting the distance between the AGV (11) and the structure light source (12)；
Second communication module (8) is wirelessly transferred with first communication module (2)；
The coherent source transmitter (9) is for generating hot spot.
5. a kind of AGV vision positioning system based on structure light according to claim 4, which is characterized in that the structure
Light source (12) is set to the corner of the track.
6. a kind of AGV vision positioning system based on structure light according to claim 5, which is characterized in that same corner
The coherent source transmitter (9) at place is set as two groups, the relevant light direction difference of the transmitting of coherent source transmitter (9) described in two groups
It is consistent with two course bearings of the corner.
7. a kind of AGV vision positioning system based on structure light according to claim 1 or 2, which is characterized in that described
It is additionally provided on AGV (11) warning module (6), the warning module (6) includes buzzer and alarm lamp, the warning module
(6) it alarms when receiving abnormal signal.
8. a kind of AGV vision positioning system based on structure light according to claim 3, which is characterized in that described image
Processing module pre-processes received image data, image segmentation, contours extract and fitting and signature analysis, thus really
Determine the size, shape and center location information of image.
9. a kind of AGV vision positioning system based on structure light according to claim 8, which is characterized in that the pre- place
Reason mode is one of greyscale transformation, color notation conversion space, single channel extraction, filtering processing or a variety of.
10. a kind of AGV vision positioning system based on structure light according to claim 9, which is characterized in that described image
Dividing method is adaptivenon-uniform sampling algorithm.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111898609A (en) * | 2020-07-22 | 2020-11-06 | 上海大学 | Angle iron steel seal visual identification system and method with line laser as assistance |
| CN113361292A (en) * | 2021-05-25 | 2021-09-07 | 广州市东崇科技有限公司 | AGV driving optimization method and system based on artificial intelligence and two-dimensional code navigation |
| CN113659270A (en) * | 2021-07-28 | 2021-11-16 | 上海电气集团电池科技有限公司 | AGV (automatic guided vehicle) carrying system and dispatching method suitable for battery module |
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