CN110398974B - AGV vision positioning system based on structured light - Google Patents
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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
- G05D1/0212—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 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
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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
- G05D1/0242—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 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
- 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
Abstract
The invention provides an AGV visual positioning system based on structured light, which comprises an AGV and a track, wherein an image acquisition module, an upper computer and a motor controller are arranged on the AGV, and a plurality of groups of structured light sources are arranged on the track; the image acquisition module is used for receiving signals of a plurality of groups of structural light sources and transmitting the signals to the upper computer; the upper computer is used for communicating with the structural light source and analyzing the acquired image information so as to determine the position and deflection angle information of the current AGV; motor controller is used for receiving the instruction of host computer and control AGV's direction of motion and velocity of movement, structure light source transmission coherent light shines on AGV, image acquisition module gathers the facula image of shining and transmits to the host computer, thereby the host computer carries out analysis to the image information of gathering and confirms current AGV's position and declination information and transmits to motor controller, motor controller is according to the instruction control AGV's of receipt traveling, this system precision is high, with low costs, the route sets up in a flexible way.
Description
Technical Field
The invention relates to the field of rail detection, in particular to an AGV visual positioning system based on structured light.
Background
The AGV navigation technology comprises magnetic point navigation, electromagnetic navigation, magnetic tape navigation, visual navigation, laser navigation, natural contour navigation, two-dimensional code navigation and the like. Different signal feedback is used to position the AGV throughout the system for the handling operation.
The existing AGV visual navigation systems are mainly divided into the following categories:
the first type is to collect road surface environment information through a camera, and then analyze and plan road surface picture data so as to control the motion of the AGV. This type of method has the disadvantage of requiring pre-laying of the ground markings and frequent refurbishment, with an inflexible routing.
And the second type is that a plurality of two-dimension code identifiers are placed in the running route of the AGV and the control is carried out through two-dimension code identifier information. The method has the disadvantages that the two-dimension code is difficult to calibrate, the two-dimension code information needs to be frequently updated when the road is complex, the positioning accuracy of the two-dimension code is poor when the two-dimension code is singly adopted, the gyroscope is usually combined to control the motion of the AGV, the requirements on the accuracy and the service life of the gyroscope are high, and meanwhile the requirements on the ground are high.
The third type is laser navigation, which has high precision and does not need ground facilities, but has high manufacturing cost and higher requirements on environment and ground.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an AGV vision positioning system based on structured light, which is high in precision, low in cost and flexible in route setting.
The purpose of the invention is realized by the following technical scheme: an AGV visual positioning system based on structured light comprises an AGV and a track, and is characterized in that an image acquisition module, an upper computer and a motor controller are arranged on the AGV, and a plurality of groups of structured light sources are arranged on the track;
the image acquisition module is used for receiving signals of a plurality of groups of the structural light sources and transmitting the signals to the upper computer;
the upper computer is used for communicating with the structural light source and analyzing the acquired image information so as to determine the position and deflection angle information of the current AGV, and then generating an instruction according to the position and deflection angle information and sending the instruction to the motor controller;
the motor controller is used for receiving the instruction of the upper computer and controlling the moving direction and the moving speed of the AGV according to the instruction.
Through above-mentioned technical means, when AGV traveles on the orbit, structure light source transmission coherent light shines on the AGV, the facula image that shines is gathered to image acquisition module and is transmitted to the host computer, thereby the host computer carries out analysis to the image information of gathering and confirms current AGV's position and declination information and transmit to machine controller, machine controller is according to the instruction control of receiving AGV traveles, only need when needs change the route the position of structure light source can, this system precision is high, with low costs, the route sets up in a flexible way.
Preferably, the image acquisition module sets up to two sets ofly, the both ends of AGV set up a set ofly respectively, and is a set of image acquisition module includes signal receiving board and camera, the signal receiving board sets up in being close to AGV edge one side, the camera is used for gathering the light spot image of receiving on the signal receiving board.
Through the technical means, will image acquisition module sets up to two sets ofly, AGV's both ends set up a set of respectively, only need keep along the camera work of traffic direction one end at the operation in-process, and the light source work of work camera direction is also only kept being close to the structure light source, through setting up the convenient reciprocating motion who realizes AGV of two sets of image acquisition module of a plurality of.
Preferably, the upper computer comprises an image processing module and a first communication module;
the image processing module is used for calculating and analyzing the acquired image data and determining a deviation signal of the AGV relative to the current light source;
the first communication module is used for communicating with the structural light source so as to obtain the code of the current structural light source and the position information of the current AGV, and the position information is sent to the motor controller.
Through the technical means, the deviation signal and the position information of the AGV relative to the current light source are determined, so that the running process of the AGV is monitored, and the running speed, the running direction and the like of the AGV in the characteristic places are conveniently controlled.
Preferably, the structure light source comprises a ranging module, a second communication module and a coherent light source emitter;
the distance measuring module is used for detecting the distance between the AGV and the structural light source;
the second communication module and the first communication module perform wireless transmission;
the coherent light source emitter is used for generating light spots.
By the technical means, the distance measuring module can detect the distance from the AGV to the light source of the current structure in real time by using the infrared distance sensor; the wireless transmission mode can be one or more of ZigBee, WIFI, Bluetooth and infrared; the coherent light source emitter can adopt a laser emitter, the concentration ratio of coherent light source light beams is high, and clear light spot images can be formed due to stable frequency.
Preferably, the structured light source is disposed at a corner of the track.
Through the technical means, the structure light source set up in the corner of orbit, only need follow the straight line and travel when the AGV does not reach specific position, the structure light source to when reaching specific position AGV transmission is parkked or is turned to signal.
Preferably, two groups of coherent light source emitters are arranged at the same corner, and the directions of coherent light emitted by the two groups of coherent light source emitters respectively keep consistent with the two track directions of the corner.
Through the technical means, when the AGV moves along a certain direction, only the camera at one end of the running direction is kept working, and the coherent light source emitter only keeps working close to the working camera direction, so that reciprocating motion is conveniently realized through a plurality of groups of structure light sources.
Preferably, still be provided with early warning module on the AGV, early warning module includes bee calling organ and alarm lamp, early warning module reports to the police when receiving abnormal signal.
Through the technical means, the abnormal signal can comprise information of deviation from a preset track, abnormal running speed, AGV fault information and the like.
Preferably, the image processing module performs preprocessing, image segmentation, contour extraction and fitting, and feature analysis on the received image data to determine size, shape, and center position information of the image.
Preferably, the preprocessing mode is one or more of gray scale transformation, color space transformation, single-channel extraction and filtering processing.
Preferably, the image segmentation method is an adaptive segmentation algorithm.
The invention has the beneficial effects that:
1. the image acquisition modules are arranged into two groups, two ends of the AGV are respectively provided with one group, one group of image acquisition modules comprise a signal receiving plate and a camera, the signal receiving plate is arranged on one side close to the edge of the AGV, the camera is used for acquiring light spot images received by the signal receiving plate, the image acquisition modules are arranged into two groups, two ends of the AGV are respectively provided with one group, the camera at one end along the running direction only needs to be kept to work in the running process, the structural light source only keeps the light source close to the working camera to work, and the reciprocating motion of the AGV is conveniently realized by arranging a plurality of two groups of image acquisition modules;
2. the structure light source comprises a distance measuring module, a second communication module and a coherent light source emitter; the distance measurement module is used for detecting the distance between the AGV and the structural light source; the second communication module and the first communication module perform wireless transmission; the coherent light source emitter is used for generating light spots, and the distance measuring module can detect the distance from the AGV to the light source of the current structure in real time by using an infrared distance sensor; the wireless transmission mode can be one or more of ZigBee, WIFI, Bluetooth and infrared; the coherent light source emitter can adopt a laser emitter, the concentration ratio of coherent light source light beams is high, and clear light spot images can be formed due to stable frequency.
Drawings
FIG. 1 is a schematic diagram of an AGV according to the present invention;
FIG. 2 is a schematic view of a structured light source according to the present invention;
FIG. 3 is a diagram of spot deformation analysis according to the present invention;
fig. 4 is a driving process diagram according to an embodiment of the present invention.
In the figure: 1. a signal receiving board; 2. a first communication module; 3. an image processing and motor controller; 4. a power supply module; 5. a camera; 6. an early warning module; 7. a support frame; 8. a second communication module; 9. a coherent light source transmitter; 10. a station; 11. AGV; 12. a structured light source.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
Example 1
As shown in fig. 1, an AGV visual positioning system based on structured light includes an AGV11 and a track, an image acquisition module, an upper computer and a motor controller are arranged on the AGV11, and a plurality of groups of structured light sources 12 are arranged on the track;
the image acquisition module is used for receiving signals of a plurality of groups of structural light sources 12 and transmitting the signals to an upper computer; the upper computer is used for communicating with the structural light source 12 and analyzing the acquired image information so as to determine the position and deflection angle information of the current AGV11, and then generating an instruction according to the position and deflection angle information and sending the instruction to the motor controller; the motor controller is used for receiving instructions of the upper computer and controlling the moving direction and the moving speed of the AGV (11) according to the instructions.
When AGV11 when traveling on the orbit, structure light source transmission coherent light shines on AGV11, the facula image that shines is gathered to image acquisition module and is transmitted to the host computer, thereby the host computer carries out the analysis to the image information of gathering and confirms current AGV 11's position and declination information and transmit to motor controller, motor controller is according to the instruction control AGV 11's of receiving travel, only need change the position of structure light source when the route needs to be changed can, this system precision is high, low cost, the route sets up in a flexible way.
Image acquisition module sets up to two sets ofly, and AGV 11's both ends set up a set ofly respectively, and a set of image acquisition module includes signal receiver panel 1 and camera 5, and signal receiver panel 1 sets up in being close to AGV11 edge one side, and camera 5 is used for gathering the light spot image of receiving on the signal receiver panel 1. Set up image acquisition module into two sets ofly, AGV 11's both ends set up a set of respectively, only need keep along the camera 5 work of traffic direction one end at the operation in-process, and the light source work of 5 directions of work camera is also only kept being close to the structure light source, conveniently realizes AGV 11's reciprocating motion through setting up two sets of image acquisition modules of a plurality of.
The upper computer comprises an image processing module and a first communication module 2; the image processing module is used for calculating and analyzing the acquired image data and determining a deviation signal of the AGV11 relative to the current light source; the first communication module 2 is used to communicate with the structural light source to obtain the current structural light source code and the current AGV11 position information and send them to the motor controller. Determining the deviation signal and position information of the AGV11 relative to the current light source enables monitoring of the travel of the AGV11 to facilitate controlling the travel speed and direction of the AGV11 at the particular location.
When the method is specifically implemented, a laser triangulation method is combined with an echo analysis method for position calculation, and when the relative distance is greater than a set threshold value T, the echo analysis method is adopted; when the relative distance is less than or equal to the threshold value T, a triangulation method is adopted, so that the position tracking in a long distance can be ensured, and the high precision in a short distance can also be ensured.
Calculating the direction deviation: as shown in fig. 3, taking a circular light spot as an example, the initial shape of the structured light is a circle with a radius r and a center O, and the circle is imaged on the signal receiving board 1 as a circle with a radius r and a center O'. When signal receiving board 1 is rotated with AGV11 by angle α, the projection will be deformed from the original circle to an ellipse ACBD, where AB is 2r/cos α and CD is 2 r. Thus, the deflection angle α is arccos (2 r/AB).
The structure light source comprises a distance measuring module, a second communication module 8 and a coherent light source emitter 9; the distance measurement module is used for detecting the distance between the AGV11 and the structural light source; the second communication module 8 and the first communication module 2 perform wireless transmission; the coherent light source emitter 9 is used to generate a light spot. The distance measurement module can detect the distance from the AGV11 to the current structure light source in real time by using an infrared distance sensor; the wireless transmission mode can be one or more of ZigBee, WIFI, Bluetooth and infrared; the coherent light source transmitter 9 can adopt a laser transmitter, the concentration ratio of coherent light source light beams is high, and clear light spot images can be formed due to stable frequency.
The structured light source is arranged at a corner of the track. The structured light source is located at the corner of the track, and only needs to travel along a straight line when the AGV11 does not reach a specific position, and transmits a stop or turn signal to the AGV11 when the AGV reaches the specific position.
As shown in fig. 4, two groups of coherent light source emitters 9 are arranged at the same corner, and the directions of coherent light emitted by the two groups of coherent light source emitters 9 respectively coincide with the two track directions of the corner. When AGV11 moves in a certain direction, only camera 5 at one end of the direction of movement is kept working, and coherent light source emitter 9 is only kept working close to the direction of working camera 5, and reciprocating movement is conveniently realized by a plurality of groups of structured light sources.
In specific implementation, as shown in fig. 4, the operation from the station 01 to the station 04 is taken as an example for explanation: the light source B2 and the AGV11 are activated, the AGV11 works close to the signal receiving board 1 and the camera 5 of the light source B2, and at the same time, the AGV11 receives a distance signal measured by an infrared distance sensor in the B2 light source. When the AGV11 is a specified distance from the light source B2, the light source B2 sends a signal to turn 90 degrees clockwise to the AGV11, and the AGV11 receives the signal and turns 90 degrees clockwise, and meanwhile, the light source C2 is started. When the AGV11 receives the light source C2 and images as a standard circle, the light source B2 is turned off, and the AGV11 moves towards the light source C2. Similarly, the AGV11 sequentially moves towards the light source D2, the light source E2, the light source F2 and the light source G, and when the AGV11 moves away from the light source G by a specified distance, the light source G sends a stop signal to the AGV 11. During the entire operation of AGV11, only one light source needs to remain active during other operations, except when two light sources are required to operate during a turn.
Still be provided with early warning module 6 on AGV11, early warning module 6 includes buzzer and alarm lamp, and early warning module 6 reports to the police when receiving abnormal signal. The abnormal signal may include information about deviation from a preset trajectory, abnormal traveling speed, failure information of AGV11, and the like.
The image processing module performs preprocessing, image segmentation, contour extraction and fitting, and feature analysis on the received image data to determine the size, shape, and center position information of the image. The preprocessing mode is one or more of gray scale transformation, color space transformation, single-channel extraction and filtering processing. The image segmentation method is a self-adaptive segmentation algorithm.
The grayscale transform compresses the color image into a grayscale image, thereby reducing the processing data. The color space transformation converts the RGB color space image into HSV color space or Lab color space. The single-channel extraction is used for extracting a single color channel in an RGB image according to the color characteristics of the laser source, or extracting an H channel in an HSV color space, or extracting an L channel in an Lab color space. The filtering process is an adaptive filtering process. Contour extraction and fitting firstly apply Canny edge operator to the segmentation image to extract the edge contour, and then adopt the least square method to fit the ellipse. The feature analysis calculates the center coordinates of the fitted ellipse, the dimensions of the major and minor axes, and the deflection angle of the major axis with respect to the horizontal or vertical axis.
The implementation principle of the invention is as follows: when AGV11 went on the orbit, structure light source emission coherent light shines on AGV11, the facula image that shines is gathered to image acquisition module and is transmitted to the host computer, thereby the host computer carries out the analysis to the image information of gathering and confirms current AGV 11's position and declination information and transmits to motor controller, motor controller is according to the instruction control of receiving AGV 11's the traveling only need change the position of structure light source when the route is changed to needs can, this system precision is high, with low costs, the route sets up in a flexible way.
The foregoing is merely a preferred embodiment of the invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive or to limit the invention to other embodiments, and to various other combinations, modifications, and environments and may be modified within the scope of the inventive concept as expressed herein, by the teachings or the skill or knowledge of the relevant art. And that modifications and variations may be made by persons skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. An AGV visual positioning system based on structured light comprises an AGV (11) and a track, and is characterized in that an image acquisition module, an upper computer and a motor controller are arranged on the AGV (11), and a plurality of groups of structured light sources (12) are arranged on the track;
the image acquisition module is used for receiving signals of a plurality of groups of the structure light sources (12) and transmitting the signals to the upper computer;
the upper computer is used for communicating with the structural light source (12) and analyzing the acquired image information so as to determine the position and deflection angle information of the current AGV (11), and then generating an instruction according to the position and deflection angle information and sending the instruction to the motor controller;
the motor controller is used for receiving the instruction of the upper computer and controlling the moving direction and the moving speed of the AGV (11) according to the instruction;
when the AGV runs on a track, the structure light source emits coherent light to irradiate the AGV, the image acquisition module acquires an irradiated light spot image and transmits the irradiated light spot image to the upper computer, the upper computer analyzes acquired image information to determine the position and deflection angle information of the current AGV and transmits the information to the motor controller, the motor controller controls the AGV to run according to a received instruction, and when a route needs to be changed, only the position of the structure light source needs to be changed;
the image acquisition modules are arranged into two groups, two ends of the AGV (11) are respectively arranged into one group, one group of image acquisition modules comprise a signal receiving plate (1) and a camera (5), the signal receiving plate (1) is arranged on one side close to the edge of the AGV (11), and the camera (5) is used for acquiring light spot images received on the signal receiving plate (1);
in the operation process, only the camera at one end along the operation direction needs to work, the structural light source only keeps the light source close to the operation camera to work, and the reciprocating motion of the AGV is conveniently realized by arranging two groups of image acquisition modules;
the upper computer comprises an image processing module and a first communication module (2);
the image processing module is used for calculating and analyzing the acquired image data and determining a deviation signal of the AGV (11) relative to the current light source;
the first communication module (2) is used for communicating with the structural light source (12) so as to obtain the code of the current structural light source (12) and the position information of the current AGV (11), and sending the position information to the motor controller;
the structure light source (12) comprises a distance measuring module, a second communication module (8) and a coherent light source emitter (9);
the distance measurement module is used for detecting the distance between the AGV (11) and the structural light source (12);
the second communication module (8) and the first communication module (2) perform wireless transmission;
the coherent light source emitter (9) is used for generating light spots;
the distance measurement module uses an infrared distance sensor to detect the distance from the AGV to the current structure light source in real time; the wireless transmission mode is one or more of ZigBee, WIFI, Bluetooth and infrared; the coherent light source emitter adopts a laser emitter;
the structured light source (12) is arranged at a corner of the track; when the AGV does not reach a specific position, the AGV only needs to run along a straight line, and when the AGV reaches the specific position, the structural light source transmits a parking or steering signal to the AGV;
the coherent light source emitters (9) at the same corner are arranged into two groups, and the directions of coherent light emitted by the two groups of coherent light source emitters (9) are respectively consistent with the two track directions of the corner;
the AGV (11) is further provided with an early warning module (6), the early warning module (6) comprises a buzzer and an alarm lamp, and the early warning module (6) gives an alarm when receiving an abnormal signal; the abnormal signals comprise information deviating from a preset track, abnormal running speed and AGV fault information;
the image processing module is used for carrying out preprocessing, image segmentation, contour extraction and fitting and feature analysis on the received image data so as to determine the size, shape and central position information of the image;
the preprocessing mode is one or more of gray level transformation, color space transformation, single-channel extraction and filtering processing;
the image segmentation method is a self-adaptive segmentation algorithm.
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| CN113361292B (en) * | 2021-05-25 | 2023-04-28 | 北京航宇荣康科技股份有限公司 | AGV driving optimization method and system based on artificial intelligence and two-dimensional code navigation |
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