CN111007855A - AGV navigation control method - Google Patents
AGV navigation control method Download PDFInfo
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- CN111007855A CN111007855A CN201911318134.7A CN201911318134A CN111007855A CN 111007855 A CN111007855 A CN 111007855A CN 201911318134 A CN201911318134 A CN 201911318134A CN 111007855 A CN111007855 A CN 111007855A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000008569 process Effects 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 description 6
- 230000006872 improvement Effects 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 4
- 230000002265 prevention Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an AGV navigation control method, which comprises the following steps: s1, starting laser navigation and controlling the AGV to start from a starting point; s2, acquiring a first marking (22) image in the middle of a road in the advancing process through a camera (21); s3, acquiring the outline of the first marking (22) in the image; s4, taking a minimum area rectangle for the outline, and obtaining a deflection angle through the minimum area rectangle; and S5, judging whether the deflection angle exceeds a certain threshold value, if so, rectifying the deviation, and if not, continuing to advance.
Description
Technical Field
The invention relates to the field of AGV vehicles, in particular to an AGV navigation control method.
Background
The AGV cart is a transportation cart equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and does not require a transport cart of a driver in industrial application, and uses a rechargeable battery as a power source, and generally can control a traveling route and behavior thereof through a computer. Existing AGV carts may be positioned by laser or ultrasonic or other means, however, these positioning means are less accurate.
Disclosure of Invention
The invention mainly aims to provide an AGV navigation control method which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
an AGV navigation control method is characterized in that: the method comprises the following steps:
s1, starting laser navigation and controlling the AGV to start from a starting point;
s2, acquiring a first marking (22) image in the middle of a road in the advancing process through a camera (21);
s3, acquiring the outline of the first marking (22) in the image;
s4, taking a minimum area rectangle for the outline, and obtaining a deflection angle through the minimum area rectangle;
and S5, judging whether the deflection angle exceeds a certain threshold value, if so, rectifying the deviation, and if not, continuing to advance.
Compared with the prior art, the invention has the following beneficial effects:
in the invention, the marked line arranged in the middle of the road is shot by the camera in the traveling process; and judging whether the trolley main body deviates according to the position of the marked line in the image, and then correcting the deviation according to the deviation condition.
Drawings
FIG. 1 is a schematic overall view of an AGV with a collision avoidance mechanism of the present invention;
FIG. 2 is a top view of the overall structure of an AGV with a crash prevention mechanism of the present invention;
FIG. 3 is a schematic diagram of a buffer linkage for an AGV with a crash prevention mechanism of the present invention;
FIG. 4 is a schematic illustration of a guard bar configuration for an AGV with a crash prevention mechanism of the present invention.
FIG. 5 is a profile view of a marking identified in a method of controlling an AGV according to an embodiment of the present invention.
FIG. 6 is an outline view and a rectangular view of the minimum area of the marked lines identified in a method of controlling an AGV according to another embodiment of the present invention.
In the figure: 1. a trolley main body; 2. a moving wheel; 3. operating a touch screen; 4. switching a key; 5. a charging port; 6. a laser sensor; 7. an anti-collision guardrail; 8. side guard bars; 9. a head guard bar; 10. a tail guard bar; 11. a buffer connection member; 12. jacking a disc; 13. a telescopic female rod; 14. a telescopic sub-rod; 15. a telescoping chamber; 16. a buffer main spring; 17. connecting blocks; 18. a buffer auxiliary spring; 19. a metal bar rod; 20. a rubber ring.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-4, an AGV vehicle with an anti-collision mechanism comprises a vehicle main body 1, wherein two rows of front and rear moving wheels 2 are mounted at the bottom of the vehicle main body 1, an operation touch screen 3 is arranged on one side face of the vehicle main body 1, a plurality of laser sensors 6 are arranged on the side faces and front and rear end faces of the vehicle main body 1, and a circle of anti-collision guardrail 7 is fixedly mounted around the vehicle main body 1.
The top of the trolley main body (1) is further provided with a camera (21) and a processor (not marked in the figure) connected with the camera (21); the camera (21) is used for shooting a first marking (22) arranged in the middle of a road in the process of travelling; the processor is used for judging whether the trolley main body (1) deviates or not according to the position of the marked line in the image, and the processor further corrects the deviation according to the deviation condition. A plurality of laser sensor 6 are used for fixing a position the AGV car, camera (21) are used for assisting the gesture and rectify a deviation. The number of the cameras (21) is not limited, and preferably comprises two vertically arranged cameras (21).
A switch button 4 and a charging port 5 are additionally arranged beside the operation touch screen 3 on the side surface of one side of the trolley main body 1, and an elastic dustproof cover is movably arranged at the upper end of the charging port 5; the center of the upper end face of the trolley main body 1 is additionally provided with a jacking disc 12, and anti-skid convex points are carved on the top end face of the jacking disc 12; the anti-collision guardrail 7 mainly comprises side protection rods 8 at two sides of the trolley main body 1, and a head protection rod 9 and a tail protection rod 10 at the front and the back of the trolley main body 1, wherein the side protection rods 8, the head protection rod 9 and the tail protection rod 10 are all divided into a plurality of independent individuals which are mutually connected and are fixedly arranged on the periphery of the trolley main body 1 through a buffer connecting piece 11; the side protection rod 8 is of a straight rod structure, the head protection rod 9 and the tail protection rod 10 are of arc rod structures, and the side protection rod 8, the head protection rod 9 and the tail protection rod 10 are all composed of an inner metal rib rod 19 and an outer wrapped rubber ring 20; buffer connection 11 mainly comprises flexible female pole 13 and flexible son pole 14, the fixed welding of afterbody of flexible female pole 13 is on dolly main part 1, the fixed welding of head of flexible son pole 14 is to side guard bar 8 and head guard bar 9 and afterbody guard bar 10 on, flexible chamber 15 has been seted up to the inside of flexible female pole 13, flexible chamber 15 is stretched into to the afterbody of flexible son pole 14, and there is a connecting block 17 at terminal fixed mounting, the inside of flexible chamber 15 is equipped with a buffering main spring 16, the one end fixed connection of buffering main spring 16 is in the bottom in flexible chamber 15, the other end is then fixed connection to the bottom surface of connecting block 17, a buffering auxiliary spring 18 is installed respectively in the both sides that are located flexible son pole 14 to the up end of connecting block 17, the top of buffering auxiliary spring 18 is then fixed connection to the binding off circle of the head of flexible female pole 13.
It should be noted that, the present invention is an AGV vehicle with a crash-proof mechanism, wherein side protection rods 8, a head protection rod 9 and a tail protection rod 10 are respectively installed on the two side surfaces and the front and rear end surfaces of a vehicle body 1 through a plurality of buffer connecting pieces 11, and the side protection rods 8, the head protection rod 9 and the tail protection rod 10 are connected end to form a crash-proof guardrail 7 surrounding the vehicle body 1, when the vehicle body 1 is moving, if a program error or a signal interruption causes a collision, according to the difference of speed, the side protection rods 8, the head protection rod 9 or the tail protection rod 10 of the crash-proof guardrail 7 at the collision part transmit an acting force to a telescopic sub-rod 14 after receiving the collision force, the telescopic sub-rod 14 subsequently contracts into a telescopic main rod 13 and extrudes a buffer main spring 16 in a telescopic cavity 15, and simultaneously drives a connecting block 17 to contract and stretch a buffer sub-spring 18, under the action of contraction of the buffer main spring 16 and extension of the buffer auxiliary spring 18, impact force transmitted by the telescopic sub-rod 14 is converted into elastic potential energy of the buffer main spring 16 and the buffer auxiliary spring 18, so that the effect of absorbing impact force is achieved, and collision of a vehicle body or goods transported on the vehicle body is effectively avoided.
Referring to fig. 2 and 5-6, an embodiment of the present invention further provides a method for controlling navigation of an AGV, comprising the following steps:
s1, starting laser navigation and controlling the AGV to start from a starting point;
s2, acquiring the image of the first marking 22 in the middle of the road in the advancing process through the camera 21;
s3, acquiring the outline of the first marking 22 in the image;
s4, taking a minimum area rectangle for the outline, and obtaining a deflection angle through the minimum area rectangle;
and S5, judging whether the deflection angle exceeds a certain threshold value, if so, rectifying the deviation, and if not, continuing to advance.
In step S1, laser navigation is a common technique, and will not be described in detail.
As a further improvement, in step S3, the step of acquiring the outline of the first reticle 22 in the image includes:
s31, find the contour using findContours function.
As a further improvement, in step S4, the step of obtaining the deflection angle by the minimum region rectangle includes:
and S41, acquiring a deflection angle through the included angle between the long side of the minimum area rectangle and the first marked line 22.
As a further improvement, in step S5, the threshold is 2-5 degrees. It can be understood that the present invention can rapidly judge whether the first marking line deviates through the arrangement of the first marking line 22 and the identification of the first marking line during the traveling process, so as to realize accurate positioning.
As a further improvement, when the AGV arrives at the terminal, the method further includes:
s6, acquiring the image of the second marking 23 on one side of the road in the advancing process through the camera 21;
s7, acquiring the outline of the second marking 23 in the image;
s8, taking a minimum area rectangle for the outline, and obtaining a deflection angle through the minimum area rectangle;
and S9, judging whether the deflection angle exceeds a certain threshold value, if so, rectifying the deviation, and if not, judging that the terminal point is reached. The second reticle 23 is disposed perpendicular to the first reticle 22, and the extension lines of the second reticle 23 and the first reticle 22 intersect at the end point.
As a further improvement, in step S9, the step of performing deviation rectification includes:
s91, controlling the AGV to advance or reverse for a predetermined distance, and repeating the step S6 until reaching the end position. The forward or reverse predetermined distance may be calculated from the angle of deflection.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. An AGV navigation control method is characterized in that: the method comprises the following steps:
s1, starting laser navigation and controlling the AGV to start from a starting point;
s2, acquiring a first marking (22) image in the middle of a road in the advancing process through a camera (21);
s3, acquiring the outline of the first marking (22) in the image;
s4, taking a minimum area rectangle for the outline, and obtaining a deflection angle through the minimum area rectangle;
and S5, judging whether the deflection angle exceeds a certain threshold value, if so, rectifying the deviation, and if not, continuing to advance.
2. The AGV navigation control method of claim 1, further comprising: in step S3, the step of acquiring the contour of the first reticle (22) in the image includes:
s31, find the contour using findContours function.
3. The AGV navigation control method of claim 1, further comprising: in step S4, the step of obtaining the deflection angle by the minimum region rectangle includes:
and S41, acquiring a deflection angle through the included angle between the long side of the minimum area rectangle and the first marked line (22).
4. The AGV navigation control method of claim 1, further comprising: in step S5, the threshold is 2-5 °.
5. The AGV navigation control method of claim 1, further comprising: when the AGV reaches the terminal, further comprising:
s6, acquiring a second marking (23) image of one side of the road in the advancing process through the camera (21);
s7, acquiring the outline of the second marking (23) in the image;
s8, taking a minimum area rectangle for the outline, and obtaining a deflection angle through the minimum area rectangle;
and S9, judging whether the deflection angle exceeds a certain threshold value, if so, rectifying the deviation, and if not, judging that the terminal point is reached.
6. The AGV car navigation control method of claim 5, wherein: in step S9, the step of performing rectification includes:
s91, the AGV is controlled to advance or reverse for a predetermined distance, and the process goes to step S6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911318134.7A CN111007855A (en) | 2019-12-19 | 2019-12-19 | AGV navigation control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911318134.7A CN111007855A (en) | 2019-12-19 | 2019-12-19 | AGV navigation control method |
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| CN111007855A true CN111007855A (en) | 2020-04-14 |
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| CN201911318134.7A Pending CN111007855A (en) | 2019-12-19 | 2019-12-19 | AGV navigation control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116225028A (en) * | 2023-05-04 | 2023-06-06 | 尚特杰电力科技有限公司 | Forward driving deviation correcting method and deviation correcting device for cleaning robot |
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2019
- 2019-12-19 CN CN201911318134.7A patent/CN111007855A/en active Pending
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| US20190162508A1 (en) * | 2017-11-29 | 2019-05-30 | Huntercraft Limited | Automatic deviation correction method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116225028A (en) * | 2023-05-04 | 2023-06-06 | 尚特杰电力科技有限公司 | Forward driving deviation correcting method and deviation correcting device for cleaning robot |
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Application publication date: 20200414 |