CN207625692U - AGV colour band navigation sensor circuits - Google Patents
AGV colour band navigation sensor circuits Download PDFInfo
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- CN207625692U CN207625692U CN201721887978.XU CN201721887978U CN207625692U CN 207625692 U CN207625692 U CN 207625692U CN 201721887978 U CN201721887978 U CN 201721887978U CN 207625692 U CN207625692 U CN 207625692U
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Abstract
The utility model is related to a kind of AGV colour bands navigation sensor circuits, including：CMOS photosensitive element image acquisition circuits, the circuit connect video image processing circuit, and acquisition colour band image is sent to video image processing circuit；Light compensating lamp isolated drive circuit, one end connect video image processing circuit, and the other end connects LED light filling circuits, receive the control signal of video image processing circuit, and driving LED light filling circuits carry out light filling；Video image processing circuit connects FLASH circuits and RAM circuit, is decoded for Computer Vision and data；Power circuit is powered for entire circuit.The video image processor and photosensitive element used in utility model improves the positioning decoding speed of colour band and Quick Response Code, pass through light compensating lamp triggering design synchronous with photosensitive element, the average power consumption of equipment is reduced, the analog output interface circuit of extension increases the use scope of equipment.
Description
Technical field
The utility model is related to colour band navigation fields, are applied to automated guided vehicle and use vision guided navigation technology, specifically
It is a kind of AGV colour bands navigation sensor circuit that ground, which is said,.
Background technology
Vision guided navigation is that the paint that brushing is big with ground color contrast on the driving path of AGV or stickup colour contrast are big
Colour band, be equipped on AGV take the photograph map sensor by the picture constantly shot and storage picture compare, offset signal is defeated
Go out to driving control system, control system corrects the direction of travel of AGV by calculating, realizes the navigation of AGV.Vision guided navigation is excellent
Point：AGV registrations, vision guided navigation flexibility is good, changes or extended route is relatively easy to, and path laying is also relatively easy, leads
It is same simple and reliable with tape navigation to draw principle, noiseless to acousto-optic, colour band is laid with and maintenance cost is low.In addition, passing through increasing
Add Quick Response Code identification technology, increases the terrestrial reference with id information while traditional colour band navigates, position is accurately obtained convenient for AGV
Confidence ceases.
Guiding AGV trolleies may be implemented for existing implementation to move along navigation code band and position code band
It is dynamic.But there is also following disadvantages：It is dragged firstly, since belt-type shutter be easy to cause image when taking pictures to fast moving objects
Tail phenomenon limits the speed of sensor detection id information in existing application.Secondly, to avoid light compensating lamp reflective to image
It influences, sensor mounting location cannot be too close from the ground, while for the less figure trailing phenomenon in high speed detection, needing to subtract
Few aperture time, above 2 reasons cause light compensating lamp power height, power consumption big.Again, at the processor that most of circuit is selected
Reason speed is slow, is not enough to complete the positioning and decoding to Quick Response Code while high speed detection colour band.In addition, in sensor interface
Aspect, existing sensor mostly use the mode of bus output, and such mode needs that vehicle body controller is coordinated to use, and communication has
The certain time-delay time.
Utility model content
In view of the deficiencies of the prior art, a kind of reduction figure hangover of the utility model offer, reduction light compensating lamp power, raising
Decoding speed, the AGV colour band navigation sensor circuits for possessing numeral output and analog output.
The utility model technical solution used for the above purpose is：
A kind of AGV colour bands navigation sensor circuit, including：
CMOS photosensitive element image acquisition circuits, connect video image processing circuit, and acquisition colour band image is sent to video
Image processing circuit；
Light compensating lamp isolated drive circuit, one end connect video image processing circuit, and the other end connects LED light filling circuits, connects
The control signal of video image processing circuit is received, driving LED light filling circuits carry out light filling；
Video image processing circuit connects FLASH circuits and RAM circuit；
Power circuit is powered for entire circuit.
The video image processing circuit is video image processor DM6437, and the colour gamut for colour band figure is extracted, color
Edge check with image, the positioning and decoding of image in 2 D code.
The CMOS photosensitive elements image acquisition circuit uses global shutter photosensitive element.
Further include voltage monitoring chip, one end connects power circuit, and the other end connects reset circuit, for monitoring power supply electricity
Pressure sets voltage when supply voltage is less than, then exports low level to reset circuit, resetted to circuit.
Further include IO isolation input output circuits, wherein input circuit connects video image processing circuit, believes for circuit
Breath configuration；Output circuit connects video image processing circuit, for exporting testing result.
Further include current-mode analog quantity output circuit, connect video image processing circuit, is used for output data quantity.
Further include CAN isolation circuits, connect video image processing circuit, for bus communication voltage conversion and signal every
From.
Further include state instruction circuit for lamp, connects video image processing circuit, be used to indicate circuit working state.
Further include CVBS debugging video output circuits, connects video image processing circuit, exported for image.
Lightning stroke and electrostatic discharge circuit connect power circuit, in supply voltage sudden change, being protected to circuit.
The utility model has the advantages that and advantage：
The video image processor and photosensitive element used in utility model improves the positioning decoding of colour band and Quick Response Code
Speed is designed by light compensating lamp triggering synchronous with photosensitive element, reduces the average power consumption of equipment, the analog output of extension
Interface increases the use scope of equipment.
Description of the drawings
Fig. 1 is the circuit structure diagram of the utility model.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and embodiments.
It is the circuit structure diagram of the utility model as shown in Figure 1.
Overall structure is broadly divided into：Input circuit, processor circuit, output circuit and other circuits.It is wrapped in input circuit
Include CMOS photosensitive element image acquisition circuits, IO isolation inputs output circuit, DSP and peripheral interface circuit.Wherein CMOS is photosensitive
Element image acquisition circuit is mainly used for acquiring colour band and image in 2 D code, and provides exposure trigger signal；IO isolation inputs are defeated
Go out circuit and is mainly used for user information configuration；DSP is used for the connection of input/output peripheral and processor with peripheral interface circuit.
Processing circuit includes video image processing circuit, FLASH circuits, RAM circuit, other circuits.Wherein video image
The work that processing circuit is used to handle image zooming-out figure and be decoded Quick Response Code, FLASH circuits apply journey for storing
Sequence and configuration parameter, RAM circuit are used for caching image data and parameter information, other circuits are used to provide bus communication and IO is defeated
Go out the tasks such as configuration.
Output circuit is regarded comprising state instruction circuit for lamp, CAN isolation circuits, light compensating lamp isolated drive circuit, CVBS debugging
Frequency output circuit, current-mode analog quantity output circuit, LED light filling circuits.Wherein state instruction circuit for lamp is used to indicate work at present
The information such as state, including communications status, detecting state, test position.CAN isolation circuits are for providing CAN communication isolated from power
And signal conversion.Light compensating lamp isolated drive circuit and LED light filling circuits are used for the light filling of triggering synchronous with photosensitive element.CVBS tune
Examination video output circuit is for observing current acquisition image.Current-mode analog quantity output circuit is exported for analog data, is convenient for
It is used without using vehicle body controller.
CMOS photosensitive element image acquisition circuits use the photosensitive element of global shutter, and the imaging for acquiring camera lens will
Independent power supply is supplied respectively to number and analog voltage by magnetic bead filtering, and power supply needs decoupling electricity at chip pin
Hold.Photosensitive element configures the functions such as enabled, address, exposure by non-essential resistance, and processor passes through I2C buses and this yuan
Part is configured.Photosensitive element exposure output pin is for controlling light compensating lamp open and close.
On the one hand, by colour band part in detection image video image processor carries out coloration and edge extracting, according to edge
Determine the center of parallel lines.On the other hand detection image is scanned, quickly searches out Quick Response Code positioning pattern, according to
Positioning pattern is positioned and is decoded to Quick Response Code.
LED light supplement lamp is driven and is isolated using constant-current driven module.Adjust the input of driver analog quantity pin
Voltage can adjust the output current of light compensating lamp.
CVBS signals are exported using one piece of video amplifier with internal gain and filtering, commissioning staff can be with
External one piece of display is for observing real-time monitoring image.
Analog current signal output is carried out using two panels Precision Current Component conversion chip, and is led to using Magnetic isolation chip
Letter isolation.
Due to different according to the image-forming principle of photosensitive element, Rolling shutter is realized by way of exposing line by line, is being shot
The trailing phenomenon of image is will produce when swiftly passing object, so this programme uses whole picture scene in the complete of same Time Exposure
Office's shutter.According to the requirement of pixel and speed, photosensitive elements of the MT9V022ATC as Image Acquisition, this yuan are selected in this programme
Part has the identical single pixel size of length and width, is convenient for decoding of the processor to image in 2 D code, and the element possesses 60fps
Sampling frame per second, meet requirement to sample rate.
In the design of light filling circuit for lamp, it is contemplated that light compensating lamp is only played a role in the very short time of shutter opening.Pass through
To, for controlling unlatching and closing for light compensating lamp, providing wink after the time for exposure output pin isolation processing of photosensitive element output
When high light intensity while reduce mean power.
About the design of processor circuit, the program has chosen the video image processor DM6437 of profession, which gathers around
There is the processing speed of 5600MIPS, the colour gamut for colour band figure is extracted, and the Edge check of colour band image, image in 2 D code is determined
Position and decoding effort.
In Interface design, the CAN interface of standard is not only provided, while providing the 4-20mA electricity of industrial standard
Data on flows exports and IO outputs.Analog interface design is convenient for using in the electrical applications for not needing vehicle body controller.Together
When, there are the outputs of the CVBS signals of standard for sensor, are configured convenient for commissioning staff's observed image and sensor.
Claims (10)
1. a kind of AGV colour bands navigation sensor circuit, which is characterized in that including：
CMOS photosensitive element image acquisition circuits, connect video image processing circuit, and acquisition colour band image is sent to video image
Processing circuit；
Light compensating lamp isolated drive circuit, one end connect video image processing circuit, and the other end connects LED light filling circuits, and reception regards
The control signal of frequency image processing circuit, driving LED light filling circuits carry out light filling；
Video image processing circuit connects FLASH circuits and RAM circuit；
Power circuit is powered for entire circuit.
2. AGV colour bands navigation sensor circuit according to claim 1, it is characterised in that：The Computer Vision electricity
Road is video image processor DM6437, and the colour gamut for colour band figure is extracted, the Edge check of colour band image, image in 2 D code
Positioning and decoding.
3. AGV colour bands navigation sensor circuit according to claim 1, it is characterised in that：The CMOS photosensitive elements figure
As Acquisition Circuit uses global shutter photosensitive element.
4. AGV colour bands navigation sensor circuit according to claim 1, it is characterised in that：Further include voltage monitoring chip,
One end connects power circuit, and the other end connects reset circuit, and for monitoring supply voltage, voltage is set when supply voltage is less than,
Low level is then exported to reset circuit, circuit is resetted.
5. AGV colour bands navigation sensor circuit according to claim 1, it is characterised in that：Further include that IO isolation inputs are defeated
Go out circuit, wherein input circuit connects video image processing circuit, is configured for circuit information；Output circuit connects video image
Processing circuit, for exporting testing result.
6. AGV colour bands navigation sensor circuit according to claim 1, it is characterised in that：Further include that current-mode analog quantity is defeated
Go out circuit, connect video image processing circuit, is used for output data quantity.
7. AGV colour bands navigation sensor circuit according to claim 1, it is characterised in that：Further include CAN isolation circuits,
Video image processing circuit is connected, the voltage conversion for bus communication and signal isolation.
8. AGV colour bands navigation sensor circuit according to claim 1, it is characterised in that：It further include status indicator lamp electricity
Road connects video image processing circuit, is used to indicate circuit working state.
9. AGV colour bands navigation sensor circuit according to claim 1, it is characterised in that：Further include CVBS debugging videos
Output circuit connects video image processing circuit, is exported for image.
10. AGV colour bands navigation sensor circuit according to claim 1, it is characterised in that：Further include that lightning stroke and electrostatic are put
Circuit connects power circuit, in supply voltage sudden change, being protected to circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721887978.XU CN207625692U (en) | 2017-12-28 | 2017-12-28 | AGV colour band navigation sensor circuits |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721887978.XU CN207625692U (en) | 2017-12-28 | 2017-12-28 | AGV colour band navigation sensor circuits |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207625692U true CN207625692U (en) | 2018-07-17 |
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ID=62830433
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721887978.XU Active CN207625692U (en) | 2017-12-28 | 2017-12-28 | AGV colour band navigation sensor circuits |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104094A (en) * | 2019-05-06 | 2019-08-09 | 珠海达明科技有限公司 | It is a kind of tracked based on colour band vision, the heavily loaded AGV of differential 4 wheel driven |
-
2017
- 2017-12-28 CN CN201721887978.XU patent/CN207625692U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104094A (en) * | 2019-05-06 | 2019-08-09 | 珠海达明科技有限公司 | It is a kind of tracked based on colour band vision, the heavily loaded AGV of differential 4 wheel driven |
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