CN112859831B - AGV walking guiding system and method based on visible laser laying path - Google Patents

Abstract

The invention provides an AGV walking guiding system based on a visible laser laying path and a method thereof, wherein the system comprises: the laser transmitters are arranged above the AGV traveling road surface and used for transmitting visible laser; the laser controller is used for controlling visible laser emitted by the laser emitter to be diffracted and/or projected on an AGV walking road surface according to a preset walking route map so as to form a visible laser path corresponding to the walking route map; the camera device is arranged on the AGV and used for acquiring visible laser in front of the AGV on a visible laser path and forming an image containing the visible laser; the walking controller is used for identifying the visible laser in the image and controlling the AGV to walk along the visible laser; the method can realize the navigation of the AGV without modifying the field ground and decorating hardware, has high navigation precision and convenient construction, avoids the damage to the ground, and greatly reduces the difficulty of maintenance and repair.

Description

AGV walking guiding system and method based on visible laser laying path

Technical Field

The invention relates to the technical field of AGV, in particular to an AGV walking guiding system and method based on a visible laser laying path.

Background

AGVs are collectively called Automated Guided vehicles, meaning "Automated Guided vehicles". AGVs are transport vehicles equipped with electromagnetic, optical, or other automatic guidance devices, capable of traveling along a predetermined guidance path, and having safety protection and various transfer functions.

The AGV is characterized by wheeled movement, and has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like compared with walking, crawling or other non-wheeled mobile robots. Compared with other equipment commonly used in material conveying, the AGV has the advantages that fixing devices such as rails and supporting frames do not need to be laid in the moving area of the AGV, and the AGV is not limited by sites, roads and spaces. Therefore, in the automatic logistics system, the automation and the flexibility can be fully embodied, and the efficient, economical and flexible unmanned production is realized.

In the current AGV navigation technology, the modes of magnetic stripe navigation, color band navigation and electromagnetic force line navigation occupy a large part of the market. The magnetic stripe navigation mode is high in cost, and in the long-term use process, the problems of magnetic stripe damage, magnetic attenuation and the like exist, so that the navigation is invalid; the ribbon navigation is realized by pasting a color paper tape on the ground, so that the problems of damage and color disintegration also exist in the long-term use process, the maintenance workload is large, and the difficulty is high; the electromagnetic force line is mainly buried underground, the field construction difficulty is high, and once the magnetic force line is broken, the problem is difficult to investigate and repair.

In the current AGV navigation technology, a laser navigation mode is also provided, wherein a reflecting plate with accurate position is arranged around the traveling path of the AGV, and a laser scanner is arranged on an AGV body; the laser scanner sends laser beams while walking along the AGV, the sent laser beams are directly reflected by a plurality of groups of reflecting plates laid along the traveling path of the AGV, and a trigger controller records the angle of the rotating laser head when the rotating laser head meets the reflecting plates; the controller calculates the absolute coordinates of the AGV according to the angle values matched with the actual positions of the set of reflectors, and accurate laser guidance is realized based on the principle. However, this laser navigation method requires a large number of reflectors, which is costly.

Disclosure of Invention

The invention aims to:

in order to overcome the defects in the background art, the embodiment of the invention provides an AGV walking guiding system based on a visible laser laying path and a method thereof, which can effectively solve the problems related to the background art.

The technical scheme is as follows:

an AGV walking guidance system based on a visible laser paving path, the system comprising:

the laser transmitters are arranged above the AGV traveling road surface and used for transmitting visible laser;

the laser controller is used for controlling visible laser emitted by the laser emitter to be diffracted and/or projected on the AGV walking road surface according to a preset walking route map so as to form a visible laser path corresponding to the walking route map;

the camera device is arranged on the AGV and used for acquiring visible laser arranged in front of the AGV on the visible laser path and forming an image containing the visible laser;

and the walking controller is used for identifying the visible laser in the image and controlling the AGV to walk along the visible laser.

As a preferred mode of the present invention, the visible laser path is composed of a plurality of visible lasers, and each of the visible lasers is provided with one of the laser emitters in at least two different laser emitting directions.

In a preferred embodiment of the present invention, the visible laser light includes a linear laser light and a circular arc laser light;

the laser controller includes:

the linear laser control module is used for controlling visible laser emitted by the laser emitter to form linear laser after diffraction and/or projection on the AGV walking road surface;

the linear laser adjusting module is used for adjusting the length and the position of the linear laser on the AGV walking road surface;

the arc laser control module is used for controlling visible laser emitted by the laser emitter to form the arc laser after diffraction and/or projection on the AGV walking road surface;

the arc laser adjusting module is used for adjusting the diameter of the arc laser and controlling a laser blocking device arranged on the laser transmitter to locally block the arc laser so as to adjust the arc length of the arc laser;

the system further comprises:

and the laser blocking device is arranged on the laser transmitter and used for locally blocking the arc laser according to the control instruction of the arc laser adjusting module.

As a preferred mode of the present invention, the system further includes:

and the image processing module is used for carrying out binarization and filtering processing on the image which is acquired by the camera device and contains the visible laser.

As a preferable mode of the present invention, the system further includes:

the offset distance extraction module is used for extracting the offset distance between the center of the visible laser and the center of the image from the image and transmitting the offset distance to the walking controller;

the walking controller is also used for adjusting the angular speed of the AGV during walking through a PID algorithm, and specifically comprises the following steps: when the deviation distance is judged to be a positive value, adjusting the angular speed of the AGV to be a negative value; when the offset distance is judged to be a negative value, adjusting the angular speed of the AGV to be a positive value; wherein the relationship between the offset distance and the angular velocity is proportional.

An AGV walking guiding method based on a visible laser laying path comprises the following steps:

the method comprises the following steps that S1, visible laser is emitted by a plurality of laser emitters arranged above an AGV traveling road surface;

s2, controlling visible laser emitted by the laser emitter to be diffracted and/or projected on the AGV walking road surface according to a preset walking route map by using a laser controller so as to form a visible laser path corresponding to the walking route map;

s3, when the AGV is arranged on the visible laser path, acquiring visible laser in front of the AGV by using a camera device arranged on the AGV and forming an image containing the visible laser;

and S4, identifying the visible laser in the image by using a walking controller and controlling the AGV to walk along the visible laser.

As a preferable mode of the present invention, the visible laser path is composed of a plurality of visible lasers, and each of the visible lasers is provided with one of the laser emitters at least in two different laser emitting directions.

In a preferred embodiment of the present invention, the visible laser light includes a linear laser light and a circular arc laser light;

in S2, the method further comprises:

controlling visible laser emitted by the laser emitter to form the linear laser after diffraction and/or projection on the AGV walking road surface;

adjusting the length and the position of the linear laser on the AGV walking road surface;

controlling visible laser emitted by the laser emitter to form the arc laser on the AGV walking road surface through diffraction and/or projection;

adjusting the diameter of the arc laser, and controlling a laser blocking device arranged on the laser emitter to locally block the arc laser so as to adjust the arc length of the arc laser.

As a preferable aspect of the present invention, in S3, the method further includes:

and carrying out binarization and filtering processing on the image containing the visible laser acquired by the camera device.

As a preferable mode of the present invention, in S4, the method further includes:

extracting the offset distance between the center of the visible laser and the center of the image from the image and transmitting the offset distance to the walking controller;

the walking controller adjusts the angular speed of the AGV during walking through a PID algorithm, and specifically comprises the following steps: when the deviation distance is judged to be a positive value, adjusting the angular speed of the AGV to be a negative value; when the offset distance is judged to be a negative value, adjusting the angular speed of the AGV to be a positive value; wherein the relationship between the offset distance and the angular velocity is proportional.

The invention realizes the following beneficial effects:

1. according to the invention, the laser emitter and the laser controller are matched to diffract and/or project a visible laser path corresponding to a preset walking route map on the AGV walking road surface, and the AGV walks along the visible laser path by acquiring and identifying visible laser, so that the AGV walking guide is completed; the navigation of the AGV can be realized on the premise of not modifying the field ground and decorating hardware, the navigation precision is high, the construction is convenient, the damage to the ground is avoided, and meanwhile, the difficulty of maintenance and repair is greatly reduced.

2. Through at least correspondingly arranging a laser emitter in two different laser emission directions for each piece of visible laser, the light loss of the visible laser caused by light blockage can be effectively avoided, and the completeness of the visible laser path formation is further improved.

3. The angular speed of the AGV can be adjusted through the PID algorithm, so that the AGV can be kept to walk along the center of the visible laser, and the deviation of a route when the AGV walks can be avoided.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 illustrates a top view of a visible laser path of a paved AGV as it travels;

FIG. 2 is a schematic diagram showing a laser transmitter arranged in correspondence with two different laser emitting directions;

FIG. 3 is a schematic diagram of an image containing visible laser light after binarization and filtering;

FIG. 4 is a schematic diagram illustrating the adjustment of the angular velocity of the AGV as it travels through the PID algorithm;

FIG. 5 is a schematic diagram of one of the AGV travel guidance systems;

FIG. 6 is a schematic diagram of a laser controller;

FIG. 7 is a schematic view of another AGV walking guidance system;

fig. 8 is a flowchart illustrating an AGV walking guidance method.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments; in the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure; one skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc.; in other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale; the same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted; the structures shown in the drawings are illustrative only and do not necessarily include all of the elements; for example, some components may be split and some components may be combined to show one device.

The embodiments are described in a progressive mode in the specification, the emphasis of each embodiment is on the difference from the other embodiments, and the same and similar parts among the embodiments can be referred to each other.

The method disclosed by the embodiment corresponds to the system disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the system part for description.

Example one

Refer to fig. 1, 5, 6. The present embodiment provides an AGV walking guidance system based on a visible laser paving path, the system including:

and the laser transmitters (1-1~1-7) are arranged above the AGV traveling road surface and are used for transmitting visible laser.

And the laser controller 4 is used for controlling visible laser emitted by the laser emitters (1-1~1-7) to be diffracted and/or projected on the AGV walking road surface according to a preset walking route map so as to form a visible laser path corresponding to the walking route map.

And the camera device 3 is arranged on the AGV2 and is used for acquiring the visible laser arranged in front of the AGV2 on the visible laser path and forming an image containing the visible laser.

And the walking controller 5 is used for identifying the visible laser in the image and controlling the AGV2 to walk along the visible laser.

Wherein the visible laser comprises a linear laser and a circular arc laser.

The laser controller 4 includes:

and the linear laser control module 41 is used for controlling visible laser emitted by the laser emitter (1-1~1-7) to form the linear laser by diffraction and/or projection on the AGV walking road surface.

And the linear laser adjusting module 42 is used for adjusting the length and the position of the linear laser on the AGV walking road surface.

And the arc laser control module 43 is used for controlling visible laser emitted by the laser emitter (1-1~1-7) to form the arc laser by diffraction and/or projection on the AGV walking road surface.

The circular arc laser adjusting module 44 is used for adjusting the diameter of the circular arc laser and controlling the laser blocking device 8 arranged on the laser transmitter (1-1~1-7) to locally block the circular arc laser so as to adjust the arc length of the circular arc laser.

The system further comprises:

the laser blocking device 8 is arranged on the laser emitter (1-1~1-7) and is used for locally blocking the circular arc laser according to the control instruction of the circular arc laser adjusting module 44.

In the embodiment of the invention, the laser emitter (1-1~1-7) can specifically adopt a laser lamp which can emit visible laser with color, the laser lamp can be arranged above the AGV walking road surface in a hanging mode, for example, a plurality of tracks can be arranged on the top of the AGV walking road surface, and the laser emitter (1-1~1-7) is arranged on the tracks, so that the laser emitter can slide along the tracks to change the position.

The AGV walking road surface refers to a plane on which the AGV works, and can be the ground or other working surfaces.

The laser controller 4 is a component for controlling the laser emitted by the laser emitter, and may be a separate control component, or may be a control component built in the laser emitter (1-1~1-7), which is not limited in the present invention.

The preset walking route map, namely the visible laser path to be paved, is identical, can be stored in a storage device, read by the laser controller 4, and can be deleted and added at any time; when the storage state of the storage device is changed, the laser controller 4 performs data reading once, that is, reads the changed preset travel route map.

After acquiring a preset walking route map, the laser controller 4 controls visible laser emitted by the laser emitter (1-1~1-7) to be diffracted and/or projected on the AGV walking road surface to form a visible laser path corresponding to the walking route map, and the specific control scheme is as follows:

as shown in fig. 1, fig. 1 is a top view of a visible laser path when a paved AGV travels, and the visible laser path included in the top view is also a preset traveling route map, except that the preset traveling route map is only an electronic route map having the same shape as the visible laser path; in the embodiment of the invention, the visible laser path is composed of a plurality of visible lasers which are sequentially a linear laser a, an arc laser b, a linear laser c, an arc laser d, a linear laser e, an arc laser f and a linear laser g, wherein each visible laser at least corresponds to one laser emitter (1-1~1-7), and the corresponding state is shown in the following table:

visible laser	Laser transmitter
		Linear laser a	1-1
Circular arc laser b	1-2
		Linear laser c	1-3
Circular arc laser d	1-4
		Line laser e	1-5
Circular arc laser f	1-6
		Linear laser g	1-7

After the visible laser is emitted, the visible laser formed by diffracting and/or projecting the visible laser on the AGV walking road surface needs to be adjusted to be consistent with the direction of each visible laser in the preset walking route map.

For the linear laser, the length and the position of the linear laser on the AGV walking road surface can be adjusted through the linear laser adjusting module 42, and the length and the position of the visible laser formed on the AGV walking road surface can be changed by adjusting the emitting angle of the corresponding laser emitter.

For the arc laser, the diameter of the arc laser can be adjusted through the arc laser adjusting module 44, and particularly the diameter of the visible laser formed on the AGV traveling pavement can be changed by adjusting the lens projection proportion of the corresponding laser emitter; and controlling a laser blocking device 8 arranged on the laser emitter to locally block the arc laser to adjust the arc length of the arc laser, wherein the laser blocking device 8 is a component which can move according to a control instruction to block a lens (a component for emitting laser) of the laser emitter, is arranged below the lens, and receives the control instruction of the arc laser adjusting module 44; when the laser blocking device 8 moves to the position below the lens, the lens is partially blocked, and further partial arc length of the arc laser formed on the AGV walking road surface disappears.

Further explanation will be given by taking a linear laser a, an arc laser b and a linear laser c as examples:

aiming at the linear lasers a and c, respectively forming a straight line with a fixed starting point and an end point on the AGV traveling road surface by adjusting the transmitting angles of the laser transmitters 1-1 and 1-3, and keeping the direction and the length of each straight line consistent with the corresponding straight line in a preset traveling line diagram; aiming at the arc laser b, the diameter of an arc is changed by adjusting the projection proportion of a lens of a laser transmitter 1-2, then the arc is adjusted to be tangent with the straight line laser a and the straight line laser c, the tangent point is the end point of the straight line laser a and the starting point of the straight line laser c, and for the redundant part, the laser blocking device 8 is controlled to locally block the lens when the laser blocking device moves to the lower part of the lens so as to block the redundant part in the arc, thereby forming the arc laser b.

The forming process of the arc laser d, the linear laser e, the arc laser f and the linear laser g is basically the same as that described above, and is not described herein again.

In the embodiment of the present invention, the image capturing device 3 disposed on the AGV2 may specifically be a CCD camera, which captures images when the AGV2 is placed on the path of the visible laser, specifically, acquires the visible laser in front of the AGV2 and forms an image containing the visible laser; the travel controller 5 in the embodiment of the present invention may be specifically provided on the AGV2, and is configured to recognize the visible laser in the image and control the AGV2 to travel along the visible laser.

Through the implementation of the above contents, the laser emitter (1-1~1-7) and the laser controller 4 are matched to diffract and/or project a visible laser path corresponding to a preset traveling route pattern on the AGV traveling road surface, and the AGV2 is controlled to travel along the visible laser path through acquisition and recognition of visible laser, so that the traveling guidance of the AGV2 is completed.

According to the mode, the navigation of the AGV2 can be realized on the premise that the on-site ground is not reformed and the hardware is decorated, the navigation precision is high, the construction is convenient, the damage to the ground is avoided, and meanwhile, the difficulty in maintenance and repair is greatly reduced.

Example two

Referring to fig. 2, in this embodiment, the visible laser path is composed of a plurality of visible lasers, and each of the visible lasers is provided with at least one laser emitter (1-1~1-7) corresponding to two different laser emitting directions.

Fig. 2 specifically shows an example of one of the visible lasers, that is, for the linear laser a, one laser emitter 1-1 is arranged in each of two different laser emission directions, that is, a total of two laser emitters 1-1 are arranged, and both the two laser emitters 1-1 form the linear laser a on the AGV traveling road surface, which is the same for the other visible lasers, that is, at least one laser emitter is arranged in each of two different laser emission directions.

Through the implementation of the content, the light loss of the visible laser caused by the fact that the light is blocked can be effectively avoided, and the completeness of the visible laser path formation is further improved.

EXAMPLE III

Referring to fig. 1, 3, 4, and 7, in this embodiment, the system further includes:

and an image processing module 6, configured to perform binarization and filtering processing on the image including the visible laser light acquired by the imaging device 3.

The process of carrying out binarization processing on the image containing the visible laser comprises the following steps:

void Binarization (void)

{

unsigned char i;

get _ CCD ()/Get image data from CCD and save to Pic array

for (i =0

{

if (Pic [ i ] > threshold)// threshold is the binary threshold

Pic[i]=255;

else

Pic[i]=0;

}。

Wherein, the process of filtering the image containing the visible laser comprises the following steps:

void Filter/mean Filter, remove outliers, points, and retain only the visible laser features alone

{

unsigned char i;

for(i=1;i< pic_num;i++)

{

if(Pic[i]==0&&Pic[i]!=Pic[i-1]&&Pic[i]!=Pic[i+1])

Pic[i]=255;

else if(Pic[i]==255&&Pic[i]!=Pic[i-1]&&Pic[i]!=Pic[i+1])

Pic[i]=0;

}。

In this embodiment, the system further includes:

an offset distance extraction module 7, configured to extract an offset distance between the center of the visible laser and the center of the image from the image, and transmit the offset distance to the walking controller 5;

the walking controller 5 is further used for adjusting the angular speed of the AGV2 during walking through a PID algorithm, and specifically comprises: when the deviation distance is judged to be a positive value, adjusting the angular speed of the AGV2 to be a negative value; when the offset is judged to be a negative value, adjusting the angular speed of the AGV2 to be a positive value; the relationship between the offset distance and the angular speed is in direct proportion, namely the larger the offset distance is, the larger the angular speed adjustment is.

As shown in fig. 3 and 4, fig. 3 is a schematic diagram of an image including visible laser light after binarization and filtering, and fig. 4 is a schematic diagram of adjusting the angular velocity of the AGV2 during traveling by the PID algorithm. In the embodiment of the present invention, an offset distance between the center of the visible laser and the center of the image is extracted from the image by an offset distance extraction module 7, which is named as E.

The specific process of the PID algorithm used for adjusting the angular speed of the AGV2 during walking is as follows:

float PID_realize(0,E)

{

set speed = 0// target offset

pid.err=pid.SetSpeed-E;

Integral + = pid.err;// offset integral cumulative PID

pid.err_last=pid.err;

Angular velocity to be adjusted by the AGV

}。

Through the implementation of the content, namely, the angular speed of the AGV2 can be adjusted through the PID algorithm, so that the AGV2 is kept to walk along the center of the visible laser, and the deviation of a route when the AGV2 walks is avoided.

Example four

Referring to fig. 1 to 8, the present embodiment provides an AGV walking guidance method based on a visible laser paving path, including the following steps:

s1, emitting visible laser by using a plurality of laser emitters (1-1~1-7) arranged above an AGV traveling road surface.

And S2, controlling visible laser emitted by the laser emitter to be diffracted and/or projected on the AGV walking road surface by using a laser controller 4 according to a preset walking route map so as to form a visible laser path corresponding to the walking route map.

S3, when the AGV2 is arranged on the visible laser path, the camera device 3 arranged on the AGV2 is used for acquiring the visible laser in front of the AGV2 and forming an image containing the visible laser.

And S4, identifying the visible laser in the image by using a walking controller 5 and controlling the AGV2 to walk along the visible laser.

The visible laser path is composed of a plurality of visible lasers, and each visible laser is correspondingly provided with a laser emitter (1-1~1-7) at least in two different laser emission directions.

Wherein the visible laser comprises a linear laser and a circular arc laser.

In S2, the method further comprises:

and controlling the visible laser emitted by the laser emitter (1-1~1-7) to form the linear laser by diffraction and/or projection on the AGV walking road surface.

And adjusting the length and the position of the linear laser on the AGV walking road surface.

And controlling visible laser emitted by the laser emitter (1-1~1-7) to form the circular arc laser by diffraction and/or projection on the AGV walking road surface.

Adjusting the diameter of the circular arc laser, and controlling a laser blocking device 8 arranged on the laser transmitter (1-1~1-7) to locally block the circular arc laser so as to adjust the arc length of the circular arc laser.

Wherein, in S3, the method further comprises:

the image including the visible laser acquired by the imaging device 3 is binarized and filtered.

Wherein, in S4, the method further comprises:

the offset distance between the center of the visible laser light and the center of the image is extracted from the image and transmitted to the walking controller 5.

The walking controller 5 adjusts the angular speed of the AGV during walking through a PID algorithm, and specifically comprises the following steps: when the deviation distance is judged to be a positive value, adjusting the angular speed of the AGV2 to be a negative value; when the offset distance is judged to be a negative value, adjusting the angular speed of the AGV2 to be a positive value; wherein the relationship between the offset distance and the angular velocity is proportional.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (8)

1. An AGV walking guidance system based on a visible laser paving path, the system comprising:

the laser transmitters are arranged above the AGV traveling road surface and used for transmitting visible laser;

the laser controller is used for controlling visible laser emitted by the laser emitter to be diffracted and/or projected on the AGV walking road surface according to a preset walking route map so as to form a visible laser path corresponding to the walking route map;

the camera device is arranged on the AGV and used for acquiring visible laser arranged in front of the AGV on the visible laser path and forming an image containing the visible laser;

a travel controller for identifying the visible laser in the image and controlling the AGV to travel along the visible laser;

the visible laser comprises a linear laser and an arc laser;

the laser controller includes:

the linear laser control module is used for controlling visible laser emitted by the laser emitter to form linear laser after diffraction and/or projection on the AGV walking road surface;

the linear laser adjusting module is used for adjusting the length and the position of the linear laser on the AGV walking road surface;

the arc laser control module is used for controlling visible laser emitted by the laser emitter to form the arc laser after diffraction and/or projection on the AGV walking road surface;

the arc laser adjusting module is used for adjusting the diameter of the arc laser and controlling a laser blocking device arranged on the laser transmitter to locally block the arc laser so as to adjust the arc length of the arc laser;

the system further comprises:

and the laser blocking device is arranged on the laser transmitter and used for locally blocking the arc laser according to the control instruction of the arc laser adjusting module.

2. The AGV walking guide system based on visible laser laying path of claim 1, wherein said visible laser path is composed of a plurality of visible lasers, each of said visible lasers having a corresponding arrangement of said laser emitters in at least two different laser emitting directions.

3. The AGV travel guidance system according to claim 1, further comprising:

and the image processing module is used for carrying out binarization and filtering processing on the image which is acquired by the camera device and contains the visible laser.

4. An AGV walking guide system based on a visible laser paving path according to claim 1 or 3, further comprising:

the offset distance extraction module is used for extracting the offset distance between the center of the visible laser and the center of the image from the image and transmitting the offset distance to the walking controller;

the travel controller is further used for adjusting the angular speed of the AGV during traveling through a PID algorithm, and the method specifically comprises the following steps: when the deviation distance is judged to be a positive value, adjusting the angular speed of the AGV to be a negative value; when the offset distance is judged to be a negative value, adjusting the angular speed of the AGV to be a positive value; wherein the relationship between the offset distance and the angular velocity is proportional.

5. An AGV walking guiding method based on a visible laser laying path is characterized by comprising the following steps of:

the method comprises the following steps that S1, visible laser is emitted by a plurality of laser emitters arranged above an AGV traveling road surface;

s2, controlling visible laser emitted by the laser emitter to be diffracted and/or projected on the AGV walking road surface by using a laser controller according to a preset walking route map so as to form a visible laser path corresponding to the walking route map;

s3, when the AGV is placed on the visible laser path, acquiring visible laser in front of the AGV by using a camera device arranged on the AGV, and forming an image containing the visible laser;

s4, identifying the visible laser in the image by using a walking controller and controlling the AGV to walk along the visible laser;

the visible laser comprises a linear laser and an arc laser;

in S2, the method further comprises:

controlling visible laser emitted by the laser emitter to form the linear laser after diffraction and/or projection on the AGV walking road surface;

adjusting the length and the position of the linear laser on the AGV walking road surface;

controlling visible laser emitted by the laser emitter to form the arc laser on the AGV walking road surface through diffraction and/or projection;

adjusting the diameter of the arc laser, and controlling a laser blocking device arranged on the laser emitter to locally block the arc laser so as to adjust the arc length of the arc laser.

6. The AGV walking guiding method based on the visible laser laying path of claim 5, wherein the visible laser path is composed of a plurality of visible lasers, and each of the visible lasers is provided with at least one laser emitter corresponding to two different laser emitting directions.

7. The AGV walking guidance method based on the visible laser laying path according to claim 5, wherein in S3, the method further comprises:

and carrying out binarization and filtering processing on the image containing the visible laser acquired by the camera device.

8. The AGV walking guidance method based on the visible laser paving path according to claim 5 or 7, wherein in S4, the method further comprises:

extracting the offset distance between the center of the visible laser and the center of the image from the image and transmitting the offset distance to the walking controller;

the walking controller adjusts the angular speed of the AGV during walking through a PID algorithm, and specifically comprises the following steps: when the deviation distance is judged to be a positive value, adjusting the angular speed of the AGV to be a negative value; when the offset distance is judged to be a negative value, adjusting the angular speed of the AGV to be a positive value; wherein the relationship between the offset distance and the angular velocity is proportional.

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