CN114485674A - Shadow navigation system - Google Patents
Shadow navigation system Download PDFInfo
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- CN114485674A CN114485674A CN202210127777.9A CN202210127777A CN114485674A CN 114485674 A CN114485674 A CN 114485674A CN 202210127777 A CN202210127777 A CN 202210127777A CN 114485674 A CN114485674 A CN 114485674A
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- shadow
- navigation
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- trolley
- automatic
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- 238000004458 analytical method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 5
- 238000005457 optimization Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
Abstract
The invention discloses a light and shadow navigation system, which comprises an automatic navigation trolley, wherein a camera is arranged at the front end of the automatic navigation trolley, a light and shadow generator is arranged at the top of a navigation place of the automatic navigation trolley and used for projecting light beams to the navigation place, the light beams form a direction light and shadow icon in the navigation place, and the camera acquires the direction light and shadow icon information and transmits the direction light and shadow icon information to the automatic navigation trolley so as to determine the driving direction along with the indication of the projected light and shadow. The invention relates to the technical field of navigation, in particular to a light and shadow navigation system which adopts a light and shadow technology to project a route, navigation position information, steering information and the like to the ground, is provided with a camera on an automatic navigation trolley to identify the information and realizes the navigation of the trolley according to the information.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a light and shadow navigation system.
Background
Automatic Guided Vehicles (AGV) are increasingly applied to the existing automatic production lines, unmanned logistics and automatic cruise detection equipment. The navigation system is a core technology of the automatic navigation trolley, and simultaneously determines the use cost and the adaptive environment of the trolley.
At present, a navigation system of an automatic navigation trolley comprises magnetic stripe navigation, electromagnetic navigation, color bar navigation, two-dimensional code navigation, laser navigation, UWB navigation and the like. The magnetic strip and the electromagnetic navigation have low use cost, but the navigation route is not very convenient to replace when the magnetic strip and the electromagnetic navigation are used, the magnetic strip or the cable for navigation needs to be rearranged, and in addition, the magnetic strip and the cable are easy to damage in the use process or need to be buried underground when a factory building is built (construction requirements are increased). The color bar navigation solves the problem that a magnetic bar is easy to damage, but the route is still troublesome to change, and the color bar is easy to be influenced by dust and light in a use environment. Laser navigation is the direction of the current key development, but the use cost is high at present, and the current technology is limited to the use of a reflector and the like in a factory with particularly complex or frequent scene change, so that the change of a navigation route is also influenced. UWB navigation adopts an indoor wireless positioning technology, can establish an indoor space map, is very convenient to use and adjust, and has the problem of poor positioning accuracy.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the light and shadow navigation system provided by the scheme adopts a light and shadow technology to project the route, the navigation position information, the steering information and the like to the ground, a camera is arranged on the automatic navigation trolley to identify the information, and the navigation of the trolley is realized according to the information.
The technical scheme adopted by the invention is as follows: the light and shadow navigation system comprises an automatic navigation trolley, wherein a camera is arranged at the front end of the automatic navigation trolley, a light and shadow generator is arranged at the top of a navigation place of the automatic navigation trolley and used for projecting light beams to the navigation place, the light beams form direction light and shadow icons in the navigation place, and the camera acquires direction light and shadow icon information and transmits the direction light and shadow icon information to the automatic navigation trolley so as to determine the driving direction along with the direction light and shadow icons.
As a further optimization of the scheme, a processor is arranged in the automatic navigation trolley and connected with a camera, and the camera collects directional light and shadow icons and transmits the directional light and shadow icons to the processor for analysis and judgment.
As a further optimization of the scheme, the directional shadow icons are a straight shadow icon, a left-turning shadow icon and a right-turning shadow icon.
As a further optimization of the scheme, the processor can be connected with a scheduling management system of an external automatic navigation trolley and is used for feeding back the travel information of the automatic navigation trolley to the scheduling management system in real time.
As a further optimization of the scheme, the light and shadow generator is distributed above a preset driving route of the automatic navigation trolley to provide fixed-point indication for the automatic navigation trolley or to provide real-time indication for the automatic navigation trolley by moving a direction light and shadow icon on a mobile device arranged at the top of a navigation place.
Preferably, the shadow generator may be connected to a scheduling management system, and may be scheduled according to a navigation site map by the scheduling management system.
The invention with the structure has the following beneficial effects:
the scheme adopts a light and shadow technology to project the position information, the steering information and the like of the route and the navigation to the ground, a camera is arranged on the automatic navigation trolley to identify the information, and the navigation of the trolley is realized according to the information;
by adopting the technical scheme, the navigation route can be conveniently changed, the navigation precision is high, the anti-interference capability is strong, the ground cannot be damaged, and the use cost is low;
the scheme is easy to realize indoor navigation and can be effectively used as a brand new navigation mode.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a front view of the light and shadow navigation system according to the present embodiment;
FIG. 2 is a diagram of a straight-going state of the shadow navigation system according to the present embodiment;
FIG. 3 is a right-turn state diagram of the light and shadow navigation system according to the present embodiment;
fig. 4 is a left-turning state diagram of the shadow navigation system according to the present embodiment.
The system comprises an automatic navigation trolley 1, an automatic navigation trolley 2, a camera 3, a light and shadow generator 4, a light beam 5, a straight-going light and shadow icon 6, a right-turning light and shadow icon 7 and a left-turning light and shadow icon.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-4, the light and shadow navigation system of the present solution includes an automatic navigation car 1, a light and shadow generator 3 and a camera 2, wherein the light and shadow generator 3 is used for emitting directional light and shadow icons formed by symbols such as straight lines, right angles, line combinations, etc. to project onto the ground, wall, etc. so that the projected images can be displayed clearly, the camera 2 shoots and identifies the directional light and shadow icons, the shot information is transmitted to a processor of the automatic navigation car 1 after being processed, and the processor adjusts the state of the automatic navigation car or sends the information of the automatic navigation car to a scheduling management system according to the information;
the light and shadow generator 3 can be composed of simple laser lamp beads and can also be projection equipment, the light and shadow generator 3 can be provided with moving equipment such as a motor and the like, and the light and shadow icons in the direction are controlled to move on the projected surface; the shadow generator 3 can be dispatched according to a navigation place map through a dispatching management system and emits a guiding light beam 4 according to the requirement of the dispatching management system;
the light beam 4 emitted by the light and shadow generator 3 can be visible light or invisible light, and the camera 2 matched with the light and shadow generator can identify a directional light and shadow icon formed by projecting the light beams.
The light and shadow navigation system is further described with reference to the accompanying drawings:
as shown in fig. 1-2, a camera 2 is installed on an automatic navigation trolley 1, a light and shadow generator 3 is installed in a navigation place, the light and shadow generator 3 emits a light beam 4, the light beam 4 forms a straight-going light and shadow icon 5 on the ground, when the automatic navigation trolley 1 travels straight, the camera 2 identifies the straight-going light and shadow icon 5 on the ground, the position information is output to the automatic navigation trolley 1 through the position of the image of the light and shadow in the camera 2, and the automatic navigation trolley 1 continuously adjusts wheels through the position information, so that the automatic navigation trolley 1 moves along the straight-going light and shadow icon 5.
When the automatic navigation trolley 1 needs to turn right, as shown in fig. 3, the light and shadow generator 3 sends a right-turning projection icon 6, the right-turning light and shadow icon 6 is projected on the ground, the camera 2 identifies the right-turning light and shadow icon 6 and sends information to the automatic navigation trolley 1, and the processor in the automatic navigation trolley 1 controls the automatic navigation trolley 1 to turn right according to the prompt information.
When the automatic navigation trolley 1 needs to turn left, as shown in fig. 4, the light and shadow generator 3 sends a left-turning light and shadow icon 7, the left-turning light and shadow icon 7 is projected on the ground, the camera 2 identifies the left-turning light and shadow icon 7 and sends information to the automatic navigation trolley 1, and the processor in the automatic navigation trolley 1 controls the automatic navigation trolley 1 to turn left according to the prompt information.
The camera 2 can be a common camera which carries out straight line recognition and simple symbol recognition after algorithm processing, and the shadow generator 3 can use a plurality of laser emission lenses to emit straight line and turning symbols.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
While there have been shown and described what are at present considered to be the basic principles and essential features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics 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 should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. A shadow navigation system, comprising: the automatic navigation trolley comprises an automatic navigation trolley, wherein a camera is arranged at the front end of the automatic navigation trolley, a light and shadow generator is arranged at the top of a navigation place of the automatic navigation trolley and used for projecting light beams to the navigation place, the light beams form direction light and shadow icons in the navigation place, and the camera acquires direction light and shadow icon information and transmits the direction light and shadow icon information to the automatic navigation trolley so as to follow the direction light and shadow icons to indicate and determine the running direction.
2. The shadow navigation system of claim 1, wherein: the automatic navigation trolley is characterized in that a processor is arranged in the automatic navigation trolley and connected with a camera, and the camera collects direction light and shadow icons and transmits the direction light and shadow icons to the processor for analysis and judgment.
3. The shadow navigation system of claim 1, wherein: the direction shadow icons are straight shadow icons, left-turning shadow icons and right-turning shadow icons.
4. The shadow navigation system of claim 2, wherein: the processor can be connected with a dispatching management system of an external automatic navigation trolley.
5. The shadow navigation system of claim 1, wherein: the shadow generator is distributed above a preset driving route of the automatic navigation trolley to provide fixed-point indication for the automatic navigation trolley or to move the direction shadow icon to provide real-time indication for the automatic navigation trolley through a mobile device arranged at the top of a navigation place.
6. The shadow navigation system of claim 4, wherein: the shadow generator may be connected to a dispatch management system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210127777.9A CN114485674A (en) | 2022-02-11 | 2022-02-11 | Shadow navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210127777.9A CN114485674A (en) | 2022-02-11 | 2022-02-11 | Shadow navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114485674A true CN114485674A (en) | 2022-05-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210127777.9A Pending CN114485674A (en) | 2022-02-11 | 2022-02-11 | Shadow navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114485674A (en) |
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2022
- 2022-02-11 CN CN202210127777.9A patent/CN114485674A/en active Pending
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