CN111198556A - Automatic navigation method, central controller and storage medium - Google Patents

Automatic navigation method, central controller and storage medium Download PDF

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Publication number
CN111198556A
CN111198556A CN201811289076.5A CN201811289076A CN111198556A CN 111198556 A CN111198556 A CN 111198556A CN 201811289076 A CN201811289076 A CN 201811289076A CN 111198556 A CN111198556 A CN 111198556A
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transport vehicle
navigation
image
shelf
position coordinates
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CN111198556B (en
Inventor
刘功元
荣乐天
黄强
代怀荣
赵成勇
张龙
赖勋国
刘美红
付锡华
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Shenzhen Fulian Fugui Precision Industry Co Ltd
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Fuhuake Precision Industry Shenzhen Co ltd
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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
    • 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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  • 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 automatic navigation method, a central controller and a storage medium, wherein the method comprises the following steps: receiving a first image sent by a camera device, wherein the first image is an image which is shot by the camera device and is arranged at a high position of a navigation space and comprises a goods shelf and a transport vehicle; receiving a second image sent by a vehicle-mounted camera module arranged on the transport vehicle; determining the position coordinates of the transport vehicle and the goods shelf in the navigation space according to the first image; calculating the distance l between the transport vehicle and the side, away from the transport vehicle, of the base of the goods shelf according to the second image1And the distance l between the transport vehicle and the side of the base of the goods shelf close to the transport vehicle2(ii) a According to the distance l1And a distance l2Planning a navigation path for the transport vehicle; and sending a control command to the transport vehicle to control the transport vehicle to travel along the navigation path. The invention can control the transport vehicle to run to the lower part of the goods shelf according to the navigation path, and is convenient for the transport vehicle to load the goods shelf.

Description

Automatic navigation method, central controller and storage medium
Technical Field
The present invention relates to the field of navigation, and in particular, to an automatic navigation method, a central controller, and a storage medium.
Background
An Automated Guided Vehicle (AGV) is a transport Vehicle equipped with an automatic guide device such as an electromagnetic or optical device, capable of traveling along a predetermined guide path, and having a function of transporting a load. Currently, AGVs are widely used in automated warehouse logistics transportation and automated factory logistics transportation, but still cannot achieve unmanned transportation. For example, when it is necessary to place a shelf at a specified place and put it in a specified posture, a manual operation is required. Therefore, in an automatic production line, labor cost is often generated because the transportation of the materials cannot be automatically connected. In addition, the existing magnetic strip guide rail type AGV has the problems of inflexibility in deployment and poor expandability. Therefore, how to use the AGV to realize the automatic transportation rack is the key to reduce the labor cost.
Disclosure of Invention
In view of the above, it is necessary to provide an automatic navigation method, a central controller and a storage medium, by which a transporter can be controlled to automatically navigate to an accommodating space of a rack.
An automatic navigation method is applied to a central controller, wherein the central controller is respectively in communication connection with a transport vehicle and a camera device, and the method comprises the following steps:
receiving a first image sent by the camera device, wherein the first image is an image which is shot by the camera device and is arranged at a high position of a navigation space and comprises the goods shelf and the transport vehicle;
receiving a second image sent by a vehicle-mounted camera module arranged on the transport vehicle;
determining the position coordinates of the transport vehicle and the goods shelf in the navigation space according to the first image;
calculating the distance l between the transport vehicle and the side, away from the transport vehicle, of the base of the goods shelf according to the second image1And the distance l between the transport vehicle and the side of the base of the goods shelf close to the transport vehicle2；
According to the distance l1And a distance l2Planning a navigation path for the transport vehicle; and
and sending a control command to the transport vehicle to control the transport vehicle to run along the navigation path.
Preferably, the "determining the position coordinates of the transport vehicle and the carriage in the navigation space from the first image" includes:
the method comprises the steps of storing position coordinates of position points in a navigation space, position images of a transport vehicle at each position point, position images of a cargo rack at each position point and position coordinates in each position image in advance, wherein the position coordinates of each position point in the navigation space refer to coordinates in a first coordinate system established based on an area where the navigation space is located, and the position coordinates in each position image refer to coordinates in a second coordinate system established based on the position images;
converting the position coordinates of the transport vehicle in the position image into the coordinates of the transport vehicle in the first coordinate system according to the corresponding relation between the first coordinate system and the second coordinate system, so as to determine the position coordinates of the transport vehicle in the navigation space;
converting the position coordinates of the shelf in the position image into the coordinates of the shelf in the first coordinate system according to the corresponding relation between the first coordinate system and the second coordinate system, thereby determining the position coordinates of the shelf in the navigation space; wherein the correspondence between the first coordinate system and the second coordinate system is stored in advance in a memory of the central controller.
Preferably, the step "calculates the distance l between the transport vehicle and the side of the base of the shelf far away from the transport vehicle according to the second image1And the distance l between the transport vehicle and the side of the base of the goods shelf close to the transport vehicle2"comprises:
calculating the distance l between the transport vehicle and the side of the base of the goods shelf far away from the transport vehicle according to the position coordinates of the transport vehicle and the position coordinates of the goods shelf1；
Calculating the length of the bar code pasted on the shelf base according to the image in the second image;
calculating the length l of the base of the shelf according to the length of the bar code according to a preset proportion;
by said distance l1The difference value between the length l and the length l is obtained to obtain the distance l between the transport vehicle and the side, close to the transport vehicle, of the base of the goods shelf2。
Preferably, the length of the bar code is the product of the number of black and white stripes in the bar code and the known width of the black and white stripes.
Preferably, the navigation path includes a first navigation path and a second navigation path, the first navigation path is a path in which the transport vehicle travels from the current position to a first midpoint of a line connecting two supports on a side of the rack close to the transport vehicle, and the second navigation path is a path in which the transport vehicle travels from the first midpoint to a second midpoint of a line connecting midpoints of bases corresponding to the two supports of the rack.
Preferably, the method further comprises:
carrying out differential operation according to the position coordinates of the transport vehicle and the position coordinates of the goods shelf to obtain a difference angle between the direction angle of the transport vehicle and the orientation angle of the goods shelf;
preferably, the "sending a control command to the transport vehicle to control the transport vehicle to travel along the navigation path" includes:
calculating the linear velocity and the angular velocity of the transport vehicle running on the first navigation path in real time according to the difference angle, and sending the linear velocity and the angular velocity to the transport vehicle so as to control the transport vehicle to run to the first midpoint;
and when the transport vehicle reaches the first midpoint, sending a control command to control the transport vehicle to travel from the first midpoint to the second midpoint on the second navigation path.
Preferably, the method further comprises:
and sending a control command to control the transport vehicle to load the goods shelf.
A second aspect of the present invention provides a central controller comprising:
a processor; and
a memory having stored therein a plurality of program modules that are loaded by the processor and execute the automated navigation method.
A third aspect of the present invention provides a storage medium having stored thereon at least one computer instruction for execution by a processor and loaded to perform the method of automated navigation.
Compared with the prior art, the automatic navigation method, the central controller and the storage medium in the scheme can plan the navigation path for the transport vehicle by analyzing the first image and the second image received by the central controller, and send the control command to control the transport vehicle to drive to the lower part of the goods shelf according to the navigation path, so that the transport vehicle can conveniently load the goods shelf. The automatic level of factory logistics can be effectively improved, so that the aims of reducing labor cost and improving production efficiency are fulfilled.
Drawings
FIG. 1 is a diagram of an automatic navigation device according to an embodiment of the present invention.
FIG. 2 is a diagram of a central controller in an automatic navigation device according to an embodiment of the present invention.
Fig. 3 is a schematic view of a transport vehicle in the automatic navigation device according to an embodiment of the present invention.
FIG. 4 is a schematic view of the transporter navigating to a shelf in one embodiment of the invention.
Fig. 5 is a schematic view of an automated guided vehicle in the automated navigation apparatus according to an embodiment of the present invention.
Fig. 6 is a schematic view of a navigation path of a transport vehicle in the navigation space according to an embodiment of the present invention.
FIG. 7 is a functional block diagram of a mobile navigation system according to an embodiment of the present invention.
FIG. 8 is a flowchart illustrating a mobile navigation method according to an embodiment of the present invention.
Description of the main elements
Figure BDA0001849701390000051
Figure BDA0001849701390000061
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
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.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, a schematic diagram of an automatic navigation device 100 according to an embodiment of the invention is shown. The automatic navigation device 100 includes, but is not limited to, a central controller 10, a transporter 20, and a camera device 30. In the present embodiment, the central controller 10 and the transportation vehicle 20 are connected to each other by wireless communication. In the present embodiment, the transport Vehicle 20 is an Automated Guided Vehicle (AGV), and the central controller 10 controls the transport Vehicle 20 to navigate in a navigation space, which will be described in detail later. The navigation space can be an indoor space (such as in a storage bin) or an outdoor space.
Referring to fig. 2, a schematic diagram of the central controller 10 in the automatic navigation device 100 according to an embodiment of the invention is shown. In the present embodiment, the central controller 10 includes, but is not limited to, an input/output interface 110, a network unit 111, a memory 112, and a processor 113. The input/output interface 110, the network unit 111, the memory 112, and the processor 113 are electrically connected to each other.
In this embodiment, a user may interact with the central controller 10 through the input output interface 110. The input/output interface 110 may be a non-contact input method, such as motion input, voice control, etc., or an external remote control unit, and transmits a control command to the processor 113 through wireless or wired communication. The input/output interface 110 may also be a capacitive touch screen, a resistive touch screen, other optical touch screens, etc. or a mechanical key input unit, such as a keyboard, a stick, a flywheel input key, etc.
In this embodiment, the network unit 111 is configured to provide a network communication function for the central controller 10 through a wired or wireless network transmission manner. So that the central controller 10 can be network communicatively connected to the transporter 20. The wired network may be any type of conventional wired communication, such as the internet, a local area network.
The network unit 111 may use wireless means such as bluetooth, infrared, WiFi, TCP/IP, cellular, satellite, and radio. Wherein the cellular technology may comprise second generation (2G), third generation (3G), fourth generation (4G), or fifth generation (5G), etc. mobile communication technology. The 3G and 4G technologies are based on mobile communication standards conforming to International specifications promulgated by the International Telecommunications Union (ITU). The 3G and 4G technologies can provide information transfer rates of 200 kilobits per second to several gigabits per second, making them widely suitable for transmitting high resolution images and videos with large bandwidths. The 3G technology generally refers to those conforming to the reliability and data transmission rate of the International Mobile Telecommunications2000 (IMT-2000) standard. Common commercial 3G technologies include spread spectrum radio transmission technology based systems and radio interfaces such as the UMTS system standardized by the third Generation partnership Project (3 GPP), the W-CDMA radio interface, the Chinese proposed TD-SCDMA radio interface, the HSPA + UMTS release, the CDMA2000 system, and EV-DO. In addition, other technologies, such as EDGE, DECT and Mobile WiMAX, also conform to IMT-2000 and are therefore approved by the ITU as 3G standards. Accordingly, the term "3G" as used herein includes, but is not limited to, any IMT-2000 compliant technology, including those mentioned herein.
In contrast, 4G technologies are widely understood as those conforming to the international mobile Telecommunications (IMT-Advanced) specification, which requires a maximum speed of 100 megabits per second for high mobility communications and one gigabit per second for low mobility communications. In 10 months 2010, ITU-approved 4G standards include LTE-enhanced and wireless metropolitan area network-enhanced (WirelessMAN-Advanced). However, some commercial operators release 4G services that do not fully comply with IMT-Advanced specifications, such as LTE, Mobile WiMAX, and TD-LTE. Accordingly, reference herein to the word "4G" includes, but is not limited to, these latter technologies, such as LTE, MobileWiMAX and TD-LTE, and IMT-Advanced compliant technologies, including those mentioned herein. And 5G is a next generation mobile communication standard beyond the current 4G/IMT-Advanced standard.
In this embodiment, the memory 112 may be used for storing the computer programs and/or modules/units, and the processor 113 implements various functions of the central controller 10 by running or executing the computer programs and/or modules/units stored in the memory 112 and calling data stored in the memory 112. The memory 112 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, etc.) created according to the use of the central controller 10, and the like. In this embodiment, the storage 112 may be an internal storage unit of the central controller 10, such as a hard disk or a memory of the central controller 10. In other embodiments, the Memory 112 includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable rewritable Read-Only Memory (EEPROM), compact disc Read-Only Memory (CD-ROM) or other optical disc storage, magnetic disk storage, tape storage, or any other medium readable by a computer that can be used to carry or store data.
In the present embodiment, the memory 112 further stores a virtual map (e.g., an electronic map) of the navigation space, where the virtual map includes a plurality of location points, and the location points are points through which the transportation vehicle 20 travels while traveling in the navigation space. In this embodiment, the position coordinates of each position point on the virtual map may refer to coordinates in a first coordinate system (XOY) established based on an area where the entire navigation space is located.
In the present embodiment, the memory 112 also stores in advance an image of the transporter 20 at each position point (hereinafter simply referred to as "position image" for convenience of description) and position coordinates of the transporter 20 in the each position image. In the present embodiment, the position coordinates of the carriage 20 in each position image refer to coordinates in a second coordinate system (X ' O ' Y ') established based on the position image. The coordinates in the second coordinate system (X ' O ' Y ') correspond to pixel points of the position image.
It is to be understood that the memory 112 also stores in advance a position image of the shelf 40 at each position point and a position coordinate in each position image.
In this embodiment, the processor 113 may be a Central Processing Unit (CPU), or other microprocessor or other data processing chip capable of executing control functions. The processor 113 is used for executing software program codes, calculating data, and the like. The processor 113 is further configured to construct a three-dimensional coordinate system (XYZ) indoors based on the navigation space. It is understood that the three-dimensional coordinate system is a coordinate system established by adding a height of the navigation space as a Z-axis on the basis of the first coordinate system.
The modules/units integrated with the central controller 10, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and which, when executed by a processor, may implement the steps of the above-described embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
In this embodiment, the central controller 10 may be a computer, a smart phone, a tablet computer, a personal digital assistant, a notebook computer, or the like.
Referring to fig. 3, a schematic diagram of a transport vehicle in the automatic navigation device according to an embodiment of the invention is shown. In the present embodiment, the transport vehicle 20 may be one or more. The transporter 20 includes, but is not limited to, a battery 210, a travel unit 211, a wireless unit 212, and a controller 213. The battery 210, the traveling unit 211, the wireless unit 212, and the controller 213 are electrically connected to each other.
In the present embodiment, the battery 210 is used to supply power to the traveling unit 211, the wireless unit 212, and the controller 213. The walking unit 211 is configured to walk according to the movement instruction received by the transportation vehicle 20. The walking unit 211 may be wheeled, tracked, or legged. The wireless unit 212 is used to provide a network connection between the transporter 20 and the central controller 10. The controller 213 is configured to control the traveling unit 211 to travel along a virtual path, and the controller 213 may also control the traveling speed and direction of the transport vehicle 20.
In this embodiment, the transportation vehicle 20 may further include a charging unit (not shown) for providing power to the battery 210.
In the present embodiment, the front end of the transport vehicle 20 is provided with an on-board camera module 214 for capturing images in front of the transport vehicle 20. The front end of the transport vehicle 20 is further provided with at least one top bar 215, the top bar 215 is telescopically accommodated in the transport vehicle 20, and when the top bar 215 extends out of the transport vehicle 20, the top bar 215 is used for fixing the transport vehicle 20 to a shelf 40.
In this embodiment, as shown in fig. 4, the transporting carriage 20 is provided with a top bar 215 at the front end and the rear end, respectively, so that both opposite ends of the transporting carriage 20 can be fixed to the racks 40. The shelf 40 is movably disposed in the navigation space, the shelf 40 includes a carrier 41, a bracket 42 and a base 43, and the carrier 41 is carried on the bracket 42. In this embodiment, the support 42 is a support leg respectively located at two sides of the carrier 41, so that an accommodating space 44 is formed below the carrier 41. The base 43 is located below the bracket 42. The carrier 41 is used for carrying goods. The shelf 40 also includes a bar code 46 (shown in fig. 6), the bar code 46 being affixed to the base 43.
The pallet 40 further comprises a locking device 45 for locking connection with the carrier bar 215 of the carriage 20. In this embodiment, the carrier 20 is automatically locked after the front and rear push rods 215 are fixed to the locking devices 45 of the rack 40, so that the carrier 20 is fixed to the corresponding position of the locking devices 45, and the rack 40 can be moved to a proper position in a navigation space according to a control command of the central controller 10.
In this embodiment, the bar code 46 may be a bar code with black and white stripes. The length of the bar code 46 corresponds to the length of the base 43.
In this embodiment, the navigation space may include a plurality of shelves 40, and a single shelf 40 will be described as an example.
In the present embodiment, the imaging device 30 is fixed to a ceiling in the navigation space, and is used to capture an image in the navigation space. The camera 30 may be a fisheye camera in which the fisheye lens is a lens with a focal length of 1.6mm or less and a viewing angle close to or equal to 180 °. The fisheye lens is an extreme wide-angle lens, and the fisheye lens is commonly known. In order to maximize the angle of view of the lens, the front lens of the lens is short in diameter and is parabolic and convex toward the front of the lens, much like the fish eye, so called "fish-eye lens". Each fisheye camera corresponds to one monitoring area.
The central controller 10 is used for collecting images captured by the vehicle-mounted camera module 214 and the camera device 30 and controlling the movement of the transport vehicle 20.
Referring to fig. 5, a scenario is provided in which the transportation vehicle 20 is driven to the rack 40 in the navigation space under the control of the central controller 10 in the present embodiment. When the rack 40 appears in the image captured by the on-board camera module 214 provided on the transport vehicle 20, the on-board camera module 214 transmits the captured image to the central controller 10. The central controller 10 plans a driving path for the transportation vehicle 20 by analyzing the received image captured by the vehicle-mounted camera module 214, and controls the transportation vehicle 20 to drive to the accommodating space 44 below the shelf 40.
Specifically, when the transport vehicle 20 travels in the navigation space, the image pickup device 30 provided in the navigation space picks up a first image including the rack 40 and the transport vehicle 20, and transmits the first image to the central controller 10. The central controller 10 can determine the position of the rack 40 and the transportation vehicle 20 in the navigation space according to the image in the first image. It is understood that a plurality of cameras 30 may be disposed in the navigation space for capturing images of the entire navigation space.
Specifically, the central controller 10 establishes a second coordinate system (X 'O' Y ') with the center O' at the lower left corner of the first image when the image is placed in the forward direction, the horizontal direction is the X 'axis, and the longitudinal direction is the Y' axis. The central controller 10 determines the position coordinates (X ', Y ') of the carriage 20 in the second coordinate system (X ' O ' Y '). The central controller 10 converts the position coordinates (X ', Y ') of the transporter 20 in the image into the coordinates (X, Y) of the transporter 20 in the first coordinate system (XOY) according to a proportional relationship between the first coordinate system (XOY) and the second coordinate system (X ' O ' Y '), whereby the central controller 10 can acquire the current position coordinates of the transporter 20.
The proportional relationship refers to a first proportion between the unit scale on the X axis in the first coordinate system and the unit scale on the X 'axis in the second coordinate system, and a second proportion between the unit scale on the Y axis in the first coordinate system and the unit scale on the Y' axis in the second coordinate system. The central controller 10 converts the value of X 'in the position coordinates (X', Y ') to the value of X according to the first ratio, and converts the value of Y' in the position coordinates (X ', Y') to the value of Y according to the second ratio.
In one embodiment, the position coordinates (X ', Y ') of the transporter 20 in the second coordinate system (X ' O ' Y ') may refer to an average value of coordinate values of each pixel occupied by the transporter 20 in the image. For simplicity and clarity of the present invention, assuming that the transportation vehicle 20 occupies three pixels in the image, assuming that the coordinates of the three pixels in the second coordinate system (X 'O' Y ') are (2, 6), (3, 6), (7, 6), respectively, the position coordinates (X', Y ') of the transportation vehicle 20 in the second coordinate system (X' O 'Y') can be determined as (4, 6). I.e. the average of the coordinates (2, 6), (3, 6), (7, 6) of said three pixels in said second coordinate system (X ' O ' Y '). As another example, assuming that the first ratio and the second ratio are both 3:1, the central controller 10 may convert the position coordinates (4, 6) of the transporter 20 in the second coordinate system (X ' O ' Y ') to obtain the coordinates (12, 18) of the transporter 20 in the first coordinate system, and thus, the central controller 10 acquires that the current position coordinates of the transporter 20 are (12, 18).
In the same manner, the central controller 10 can determine the position coordinates of the shelf 40 from the image in the first image.
the central controller 10 may further perform a difference operation according to the current position coordinates of the transporter 20 and the position coordinates of the shelf 40 to obtain a difference angle α between the current direction angle of the transporter 20 and the orientation angle of the shelf 40.
The central controller 10 receives a second image captured by the vehicle-mounted camera module 214 disposed on the transport vehicle 20, and calculates a distance l between the transport vehicle 20 and a side of the base 43 of the shelf 40 away from the transport vehicle 20 according to the second image1And the distance l between the transport vehicle 20 and the side of the base 43 of the shelf 40 close to the transport vehicle 202As shown in fig. 5.
Specifically, the distance l between the transport cart 20 and the side of the base 43 of the shelf 40 away from the transport cart 20 is calculated according to the current position coordinates of the transport cart 20 and the position coordinates of the shelf 401. The length of the bar code 46 in the image can be calculated from the number of black and white stripes of the image in the second image including the bar code 46 affixed to the base 43 of the shelf 40 and the known widths of the black and white stripes. Then, the length l of the base 43 (i.e. the length of the shelf 40) is calculated according to the length of the bar code 46 in a preset proportion, so that the distance l is used as the length of the shelf 401The difference between the length l and the length l is obtained by the distance l between the transport vehicle 20 and the side of the base 43 of the shelf 40 close to the transport vehicle 202。
The central controller 20 then determines the length l1The distance l2and the difference angle alpha plans a navigation path for the transporter 20.
Specifically, as shown in fig. 6, the navigation paths include a first navigation path S1 and a second navigation path S2, and the first navigation path S1 is a path of the transportation vehicle 20 traveling from the current position to a first midpoint a of a line connecting two racks 42 of the rack 40 near the side of the transportation vehicle 20, and is in an arc shape. The second navigation path S2 is a straight line that is a path from the first midpoint to the second midpoint B of the line connecting the midpoints of the bases 43 of the two supports 42 of the rack 40, where the midpoint is located in the line.
The central controller 10 further calculates the linear velocity and the angular velocity of the transportation vehicle 20 traveling on the first navigation path S1 in real time according to the differential angle between the current position of the transportation vehicle 20 and the shelf 40 by using a PID control algorithm, and sends the linear velocity and the angular velocity to the transportation vehicle 20, so as to control the transportation vehicle 20 to steer to travel to the first midpoint a.
The central controller 10 sends a control command to control the transportation vehicle 20 to travel to the second midpoint B on the second navigation path S2, i.e. to the central position of the receiving space 44 at the lower portion of the shelf 40, so as to facilitate the transportation vehicle 20 to load the shelf 40.
It is understood that, in other embodiments, the first navigation path S1 may also be a straight line path traveled by the current position of the transporter 20 to the first midpoint a. When the transporting vehicle 20 travels along the straight path to the first midpoint a, the central controller 10 sends a control command to adjust the direction and posture of the transporting vehicle 20 so that the transporting vehicle 20 can smoothly travel along the second navigation path S2 to the second midpoint B.
When the vehicle 20 travels to the second midpoint B, the central controller 10 transmits a jack 215 open command to the vehicle 20. The carrier 20 receives the opening instruction of the top rod 215 to open the top rod 215, and the top rod 215 is fixed in the locking device 45 of the shelf 40, so that the carrier 20 is fixed to the corresponding position of the locking device 45 to complete automatic locking, thereby completing the binding of the carrier 20 and the shelf 40. When the binding is completed, the central controller 10 is notified that the binding is successful in uploading the transporter, so that the process of loading the rack 40 by the transporter 20 is completed.
Referring to fig. 7, the memory 112 of the central controller 10 further stores an automatic navigation system 101, and the automatic navigation system 101 is divided into one or more modules, and the one or more modules are stored in the memory 112 and configured to be executed by one or more processors (in this embodiment, a processor 113) to complete the present invention. For example, the automated navigation system 101 is divided into a receiving module 102, a determining module 103, a calculating module 104, a planning module 105, and a sending module 106. The modules referred to in the present invention are program segments capable of performing a specific function, and are more suitable than programs for describing the execution process of software in the central controller 10, and the detailed functions of the modules will be described in detail in the flow chart of fig. 8 later.
The receiving module 102 receives a first image sent by the camera device 30, wherein the first image is an image of the rack 40 and the transport vehicle 20 captured by the camera device 30 disposed at a high position of the navigation space.
In the present embodiment, the imaging device 30 is fixed to a ceiling in the navigation space, and is used to capture an image in the navigation space. As shown in fig. 5, a plurality of shelves 40 are disposed within the navigation space. The shelf 40 includes a carrier 41, a bracket 42 and a base 43, and the carrier 41 is carried on the bracket 42. In this embodiment, the support 42 is a support leg respectively located at two sides of the carrier 41, so that an accommodating space 44 is formed below the carrier 41. The base 43 is located below the bracket 42. The carrier 41 is used for carrying goods. The shelf 40 further includes a bar code 46, the bar code 46 being disposed on the base 43.
In this embodiment, the bar code 46 may be a black and white bar code. The length of the bar code corresponds to the length of the base 43. The widths of the black and white stripes in the bar code are known.
The receiving module 102 receives a second image captured by the vehicle-mounted camera module 214 provided on the transportation vehicle 20.
Specifically, when a rack 40 appears in an image captured by an on-board camera module 214 provided on the transport vehicle 20, the on-board camera module 214 transmits a captured second image to the central controller 10.
The determination module 103 determines the position coordinates of the transportation vehicle 20 and the rack 40 in the navigation space from the first image.
the calculation module 104 performs a difference operation according to the current position coordinates of the transporter 20 and the position coordinates of the shelf 40 to obtain a difference angle α between the current direction angle of the transporter 20 and the orientation angle of the shelf 40.
The calculating module 104 calculates a distance l between the transporter 20 and a side of the base 43 of the shelf 40 away from the transporter 20 according to the second image1And the distance l between the transport vehicle 20 and the side of the base 43 of the shelf 40 close to the transport vehicle 202。
Specifically, the distance l between the transport cart 20 and the side of the base 43 of the shelf 40 away from the transport cart 20 is calculated according to the current position coordinates of the transport cart 20 and the position coordinates of the shelf 401. The length of the bar code in the image can be calculated according to the number of black and white stripes of the bar code pasted on the base 43 of the shelf 40 and the known width of the black and white stripes in the image. Then, the length l of the base 43 (i.e. the length of the shelf 40) is calculated according to the length of the bar code according to a preset proportion, so that the distance l is calculated1The difference between the length l and the length l is obtained by the distance l between the transport vehicle 20 and the side of the base 43 of the shelf 40 close to the transport vehicle 202。
The planning module 105 calculates the distance l1And said distance l2And planning a navigation path for the transport vehicle.
Specifically, as shown in fig. 6, the navigation paths include a first navigation path S1 and a second navigation path S2, the first navigation path is a path where the carriage 20 travels from the current position to a first midpoint a of a line connecting two supports 42 of the rack 40 on a side close to the carriage 20, and is in an arc shape. The second path is a straight line from the first midpoint to a second midpoint B of a connecting line between the midpoints of the bases 43 of the two brackets 42 of the rack 40, and the second midpoint B is a straight line.
It is understood that, in other embodiments, the first navigation path may also be a straight path traveled by the current position of the transporter 20 to the first midpoint a. When the transportation vehicle 20 travels along the straight path to the first midpoint a, the central controller 10 sends a control command to adjust the direction and posture of the transportation vehicle 20, so that the transportation vehicle 20 can smoothly travel along the second navigation path to the second midpoint B.
The sending module 106 sends a control command to the transporter 20 to control the transporter 20 to travel along the navigation path.
specifically, the central controller 10 further calculates a linear velocity and an angular velocity of the transport vehicle 20 traveling on the first navigation path in real time according to a difference angle α between a direction angle of the transport vehicle 20 and a heading angle of the shelf 40 by using a PID control algorithm, and sends the linear velocity and the angular velocity to the transport vehicle 20, so as to control the transport vehicle 20 to steer to travel to the first midpoint a.
The central controller 10 sends a control command to control the transportation vehicle 20 to travel to the second midpoint B on the second navigation path, i.e. to the central position of the accommodating space 44 at the lower part of the shelf 40, so as to facilitate the transportation vehicle 20 to load the shelf 40.
The sending module 106 sends control commands to control the transporter 20 to load the rack 40.
Specifically, the sending module 106 sends a push rod 215 open command to the transporter 20. The carrier 20 receives the opening instruction of the top rod 215 to open the top rod 215, and the top rod 215 is fixed in the locking device 45 of the shelf 40, so that the carrier 20 is fixed to the corresponding position of the locking device 45 to complete automatic locking, thereby completing the binding of the carrier 20 and the shelf 40. When the binding is completed, the central controller 10 is notified that the binding is successful in uploading the transporter, so that the process of loading the rack 40 by the transporter 20 is completed.
Referring to fig. 8, a flowchart of a mobile navigation method according to an embodiment of the invention is shown. The order of the steps in the flow diagrams may be changed, and some steps may be omitted or combined, according to different needs.
Step S81 is to receive a first image sent by the imaging device 30, where the first image is an image including the rack 40 and the transport vehicle 20 captured by the imaging device 30 installed at a high position in the navigation space.
In the present embodiment, the imaging device 30 is fixed to a ceiling in the navigation space, and is used to capture an image in the navigation space. As shown in fig. 5, a plurality of shelves 40 are disposed within the navigation space. The shelf 40 includes a carrier 41, a bracket 42 and a base 43, and the carrier 41 is carried on the bracket 42. In this embodiment, the support 42 is a support leg respectively located at two sides of the carrier 41, so that an accommodating space 44 is formed below the carrier 41. The base 43 is located below the bracket 42. The carrier 41 is used for carrying goods. The shelf 40 further includes a bar code 46, the bar code 46 being disposed on the base 43.
In this embodiment, the bar code 46 may be a black and white bar code. The length of the bar code corresponds to the length of the base 43. The widths of the black and white stripes in the bar code are known.
In step S82, the second image transmitted from the onboard camera module 214 provided in the transport vehicle 20 is received.
Specifically, when a rack 40 appears in an image captured by an on-board camera module 214 provided on the transport vehicle 20, the on-board camera module 214 transmits a captured second image to the central controller 10.
Step S83 is to determine the position coordinates of the carriage 20 and the rack 40 in the navigation space from the first image.
step S84, performing a difference operation according to the position coordinates of the transporter 20 and the position coordinates of the shelf 40 to obtain a difference angle α between the current direction angle of the transporter 20 and the orientation angle of the shelf 40.
Step S85, calculating a distance l between the transportation vehicle 20 and the base 43 of the shelf 40 far away from the transportation vehicle 20 according to the second image1And the distance l between the transport vehicle 20 and the side of the base 43 of the shelf 40 close to the transport vehicle 202。
Specifically, the distance l between the transport cart 20 and the side of the base 43 of the shelf 40 away from the transport cart 20 is calculated according to the current position coordinates of the transport cart 20 and the position coordinates of the shelf 401. The length of the bar code in the image can be calculated according to the number of black and white stripes of the bar code pasted on the base 43 of the shelf 40 and the known width of the black and white stripes in the image. Then, the length l of the base 43 (i.e. the length of the shelf 40) is calculated according to the length of the bar code according to a preset proportion, so that the distance l is calculated1The difference between the length l and the length l is obtained by the distance l between the transport vehicle 20 and the side of the base 43 of the shelf 40 close to the transport vehicle 202。
Step S86, according to the distance l1And said distance l2And planning a navigation path for the transport vehicle.
Specifically, as shown in fig. 6, the navigation paths include a first navigation path S1 and a second navigation path S2, the first navigation path is a path where the carriage 20 travels from the current position to a first midpoint a of a line connecting two supports 42 of the rack 40 on a side close to the carriage 20, and is in an arc shape. The second path is a straight line from the first midpoint to a second midpoint B of a connecting line between the midpoints of the bases 43 of the two brackets 42 of the rack 40, and the second midpoint B is a straight line.
It is understood that, in other embodiments, the first navigation path may also be a straight path traveled by the current position of the transporter 20 to the first midpoint a. When the transportation vehicle 20 travels along the straight path to the first midpoint a, the central controller 10 sends a control command to adjust the direction and posture of the transportation vehicle 20, so that the transportation vehicle 20 can smoothly travel along the second navigation path to the second midpoint B.
And step S87, sending a control command to the transport vehicle 20 to control the transport vehicle 20 to travel along the navigation path.
specifically, the central controller 10 further calculates a linear velocity and an angular velocity of the transport vehicle 20 traveling on the first navigation path in real time according to a difference angle α between a direction angle of the transport vehicle 20 and a heading angle of the shelf 40 by using a PID control algorithm, and sends the linear velocity and the angular velocity to the transport vehicle 20, so as to control the transport vehicle 20 to steer to travel to the first midpoint a.
The central controller 10 sends a control command to control the transportation vehicle 20 to travel to the second midpoint B on the second navigation path, i.e. to the central position of the accommodating space 44 at the lower part of the shelf 40, so as to facilitate the transportation vehicle 20 to load the shelf 40.
In step S88, a control command is sent to control the transportation vehicle 20 to load the rack 40.
Specifically, the central controller 10 transmits a jack 215 open command to the carriage 20. The carrier 20 receives the opening instruction of the top rod 215 to open the top rod 215, and the top rod 215 is fixed in the locking device 45 of the shelf 40, so that the carrier 20 is fixed to the corresponding position of the locking device 45 to complete automatic locking, thereby completing the binding of the carrier 20 and the shelf 40. When the binding is completed, the central controller 10 is notified that the binding is successful in uploading the transporter, so that the process of loading the rack 40 by the transporter 20 is completed.
In the embodiments provided by the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it is obvious that the word "comprising" does not exclude other elements or that the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.

Claims (10)

1. An automatic navigation method is applied to a central controller, wherein the central controller is respectively in communication connection with a transport vehicle and a camera device, and the method is characterized by comprising the following steps:
receiving a first image sent by the camera device, wherein the first image is an image which is shot by the camera device and is arranged at a high position of a navigation space and comprises a goods shelf and a transport vehicle;
receiving a second image sent by a vehicle-mounted camera module arranged on the transport vehicle;
determining the position coordinates of the transport vehicle and the goods shelf in the navigation space according to the first image;
calculating the distance l between the transport vehicle and the side, away from the transport vehicle, of the base of the goods shelf according to the second image1And the distance l between the transport vehicle and the side of the base of the goods shelf close to the transport vehicle2；
According to the distance l1And a distance l2Planning a navigation path for the transport vehicle; and
and sending a control command to the transport vehicle to control the transport vehicle to run along the navigation path.
2. The automated navigation method of claim 1, wherein the determining the position coordinates of the transportation vehicle and the carriage within the navigation space from the first image comprises:
the method comprises the steps of storing position coordinates of position points in a navigation space, position images of a transport vehicle at each position point, position images of a cargo rack at each position point and position coordinates in each position image in advance, wherein the position coordinates of each position point in the navigation space refer to coordinates in a first coordinate system established based on an area where the navigation space is located, and the position coordinates in each position image refer to coordinates in a second coordinate system established based on the position images;
converting the position coordinates of the transport vehicle in the position image into the coordinates of the transport vehicle in the first coordinate system according to the corresponding relation between the first coordinate system and the second coordinate system, so as to determine the position coordinates of the transport vehicle in the navigation space;
converting the position coordinates of the shelf in the position image into the coordinates of the shelf in the first coordinate system according to the corresponding relation between the first coordinate system and the second coordinate system, thereby determining the position coordinates of the shelf in the navigation space; wherein the correspondence between the first coordinate system and the second coordinate system is stored in advance in a memory of the central controller.
3. The automated navigation method of claim 2, wherein the step of calculating the distance l between the transporter and the side of the base of the shelf away from the transporter based on the second image1And the distance l between the transport vehicle and the side of the base of the goods shelf close to the transport vehicle2"comprises:
calculating the distance l between the transport vehicle and the side of the base of the goods shelf far away from the transport vehicle according to the position coordinates of the transport vehicle and the position coordinates of the goods shelf1；
Calculating the length of the bar code pasted on the shelf base according to the image in the second image;
calculating the length l of the base of the shelf according to the length of the bar code according to a preset proportion;
by said distance l1The difference value between the length l and the length l is obtained to obtain the distance l between the transport vehicle and the side, close to the transport vehicle, of the base of the goods shelf2。
4. The automated navigation method of claim 3, wherein the length of the barcode is a product of the number of black and white stripes in the barcode and the known widths of the black and white stripes.
5. The automated navigation method according to claim 1, wherein the navigation path includes a first navigation path and a second navigation path, the first navigation path is a path in which the transport vehicle travels from the current position to a first midpoint of a line connecting two supports on a side of the rack near the transport vehicle, and the second navigation path is a path in which the transport vehicle travels from the first midpoint to a second midpoint of a line connecting midpoints of bases corresponding to the two supports of the rack.
6. The automated navigation method of claim 1, the method further comprising:
and carrying out difference operation according to the position coordinates of the transport vehicle and the position coordinates of the goods shelf to obtain a difference angle between the direction angle of the transport vehicle and the orientation angle of the goods shelf.
7. The automated navigation method of claim 6, wherein the sending a control command to the transporter to control the transporter to travel along the navigation path comprises:
calculating the linear velocity and the angular velocity of the transport vehicle running on the first navigation path in real time according to the difference angle, and sending the linear velocity and the angular velocity to the transport vehicle so as to control the transport vehicle to run to the first midpoint;
and when the transport vehicle reaches the first midpoint, sending a control command to control the transport vehicle to travel from the first midpoint to the second midpoint on the second navigation path.
8. The automated navigation method of claim 1, the method further comprising:
and sending a control command to control the transport vehicle to load the goods shelf.
9. A central controller, characterized in that the central controller comprises:
a processor; and
a memory having stored therein a plurality of program modules that are loaded by the processor and execute the automated navigation method of any one of claims 1-8.
10. A storage medium having stored thereon at least one computer instruction, wherein the instruction is loaded by a processor to perform the automated navigation method of any one of claims 1-8.
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