CN210052061U - Automatic guide car based on two cameras are swept sign indicating number - Google Patents
Automatic guide car based on two cameras are swept sign indicating number Download PDFInfo
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- CN210052061U CN210052061U CN201921121366.9U CN201921121366U CN210052061U CN 210052061 U CN210052061 U CN 210052061U CN 201921121366 U CN201921121366 U CN 201921121366U CN 210052061 U CN210052061 U CN 210052061U
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Abstract
The utility model discloses an automatic guiding vehicle based on double-camera code scanning, which comprises a vehicle body, and a power supply, a central processing unit, a navigation device, a driving device and a communication device which are arranged on the vehicle body; the navigation device comprises a gyroscope sensor, a first camera and a second camera, wherein the first camera and the second camera are used for scanning two-dimensional code labels arranged on the ground of a working area, the power supply is electrically connected with the central processing unit, the first camera, the second camera, the driving device and the communication device respectively, and the central processing unit is electrically connected with the first camera, the second camera, the gyroscope sensor, the driving device and the communication device respectively. The utility model discloses a code is swept to AVG based on two cameras, compares single navigation mode, and the accuracy is effectively improved, and real-time calibration movement track can also carry out real-time detection to AVG's instantaneous speed, is favorable to adjusting AVG's speed as required.
Description
Technical Field
The utility model relates to an industrial control and navigation technology field, in particular to automatic guided vehicle based on two cameras sweep sign indicating number.
Background
An AGV (automatic Guided Vehicle) is an intelligent transport Vehicle that can automatically advance along a designated path and has safety protection and load functions. At present, the AGV becomes important equipment in intelligent manufacturing, advanced logistics and digital factories, and has very important functions of facilitating factory transportation and improving production efficiency.
The most common navigation mode of the existing AGV is two-dimensional code navigation, so that a scanning device for scanning a two-dimensional code is usually installed on the AVG, but the AVG with the structure has a single navigation function and poor positioning and navigation accuracy; based on the existing AVG structure, the method can only calibrate the route in the navigation process of the AVG, but does not accurately calibrate the speed of the AVG.
Therefore, a reliable and stable automatic guided vehicle is needed, which can effectively improve the problem that the navigation accuracy of the AGV is not high when the AGV moves along the designated route, calibrate the motion trajectory in real time, and calibrate the speed in the motion trajectory.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic guide car based on two cameras are swept sign indicating number can effectively improve the problem that AGV navigation precision is not high when following the appointed route motion, calibrates the motion trail in real time to speed to in the motion trail calibrates.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
an automatic guided vehicle based on double-camera code scanning comprises a vehicle body, and a power supply, a central processing unit, a navigation device, a driving device and a communication device which are arranged on the vehicle body;
the navigation device comprises a gyroscope sensor, a first camera and a second camera, wherein the first camera and the second camera are used for scanning two-dimensional code labels arranged on the ground of a working area, the power supply is electrically connected with the central processing unit, the first camera, the second camera, the driving device and the communication device respectively, and the central processing unit is electrically connected with the first camera, the second camera, the gyroscope sensor, the driving device and the communication device respectively.
The utility model has the advantages that: receiving a task command of the automatic guided vehicle for executing a target motion track through the communication device, controlling the driving device to drive the vehicle body to move by the central processing unit according to the received task command, acquiring a real-time direction angle of the automatic guided vehicle in an actual motion track through a gyroscope sensor in the navigation device, so that a deviation between the actual motion track of the automatic guided vehicle and the target motion track in the motion direction can be obtained, and performing primary calibration on the actual motion track through the deviation between the motion directions; scanning a two-dimensional code label laid on the ground of a working area through a first camera in the navigation device to obtain a first two-dimensional code image at each actual path point of the automatic guided vehicle in the movement process, scanning two-dimensional code labels arranged on the ground of a working area through a second camera in the navigation device to obtain a second two-dimensional code image at each actual path point of the automatic guided vehicle in the movement process, identifying the first two-dimensional code image and/or the second two-dimensional code image by the central processing unit to obtain coordinate information of the two-dimensional code label corresponding to each actual path point (for example, storing the position coordinate corresponding to each two-dimensional code label in the two-dimensional code label, wherein each two-dimensional code label corresponds to one position coordinate), the position of each actual path point in the actual motion track can be calibrated again through the coordinate information; meanwhile, in addition, because a time difference exists between the first two-dimensional code image shot by the first camera and the second two-dimensional code image shot by the second camera, and the distance between the first camera and the second camera is fixed, the instantaneous speed of the AVG passing through each actual path point can be calculated according to the time difference and the distance between the first camera and the second camera, if the speed of the AVG needs to be calibrated in the navigation process, the speed deviation between the AVG and the target speed can be obtained through the instantaneous speed of the AVG passing through each actual path point, and the speed in the navigation process can be conveniently calibrated;
the automatic guided vehicle with the structure has the advantages that the accuracy is effectively improved and the motion track is calibrated in real time compared with a single navigation mode based on the double-camera code sweeping and gyroscope sensors; the code is swept to two cameras, real-time detection can be carried out to AVG's instantaneous speed, the accurate calibration to AVG's speed of being convenient for.
Wherein, the utility model discloses in only improve to AVG's structure, do not relate to computer program's improvement, central processing unit obtains the direction of motion angle deviation according to the real-time direction angle that gyroscope sensor detected, and carry out the concrete step of first correction to actual movement track according to the direction of motion angle deviation, discern the concrete step of the coordinate information of first two-dimensional code image and/or second two-dimensional code image acquisition corresponding two-dimensional code label, carry out the concrete step of recalibration according to the position of coordinate information to automatic guided vehicle (AVG), and obtain the speed deviation according to the instantaneous speed that AVG passes through every actual path point department, and carry out the concrete step of revising according to the speed deviation to AVG's speed, be the technology of relatively ripe in the field, specifically no longer give unnecessary details; the method comprises the steps of obtaining the instantaneous speed of the AVG passing through each actual path point by calculating according to the time difference between the first two-dimensional code image shot by the first camera and the corresponding second two-dimensional code image shot by the second camera and the distance between the first camera and the second camera, and is common general knowledge in the field of mathematics, and does not relate to the improvement of computer programs, and is not repeated in detail.
The central processing unit controls the driving device to drive the AVG to move, is a mature technology in the existing AVG control technology, does not relate to the improvement of a computer program, and is not described in detail.
On the basis of the technical scheme, the utility model discloses can also do as follows the improvement:
further: the driving device at least comprises a first driving wheel, a second driving wheel, a first driving motor, a second driving motor and two universal wheels;
the first driving wheel and the first driving motor are both arranged on the left side of the vehicle body, an output shaft of the first driving motor is connected with the first driving wheel, the second driving wheel and the second driving motor are both arranged on the right side of the vehicle body, and an output shaft of the second driving motor is connected with the second driving wheel; the two universal wheels are respectively arranged on the front side and the rear side of the vehicle body;
the first driving motor is respectively electrically connected with the power supply and the central processing unit, and the second driving motor is respectively electrically connected with the power supply and the central processing unit.
Further: the first camera is arranged at the center of a connecting line between the first driving wheel and the second driving wheel on the vehicle body, the second camera is arranged at the front side of the vehicle body, the connecting line between the second camera and the first camera is perpendicular to the connecting line between the first driving wheel and the second driving wheel, and the scanning directions of the first camera and the second camera face the ground of the working area.
Further: the central processor comprises a timer.
Further: the automobile body is characterized by further comprising an infrared sensor which is arranged on the automobile body and used for sensing obstacles, and the infrared sensor is electrically connected with the central processing unit.
Further: the vehicle body is characterized by further comprising a battery detection circuit arranged on the vehicle body, and the battery detection circuit is electrically connected with the central processing unit.
Drawings
Fig. 1 is an electrical connection schematic diagram of an automatic guided vehicle based on double-camera code scanning according to the present invention;
fig. 2 is the utility model relates to an automatic guided vehicle's structural schematic based on two cameras are swept a yard.
In the drawings, the components represented by the respective reference numerals are listed below:
10. the vehicle comprises a vehicle body, 1, a battery, 2, a central processing unit, 3, a navigation device, 4, a driving device, 5, a communication device, 6, an infrared sensor, 7, a battery detection circuit, 31, a first camera, 32, a second camera, 33, a gyroscope sensor, 41, a first driving wheel, 42, a second driving wheel, 43, a first driving motor, 44, a second driving motor, 45 and a universal wheel.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
In the various illustrations of the present application, certain dimensions of structures or portions may be exaggerated relative to other structures or portions for ease of illustration and, thus, are provided to illustrate only the basic structure of the subject matter of the present application.
Terms such as "front," "back," "left," "right," and the like, used herein to denote relative spatial positions, are used for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "before" other elements or features would then be oriented "after" the other elements or features. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
First embodiment, as shown in fig. 1 and 2, an automatic guided vehicle based on double-camera code scanning comprises a vehicle body 10, and a power supply 1, a central processing unit 2, a navigation device 3, a driving device 4 and a communication device 5 which are arranged on the vehicle body 10;
the navigation device 3 comprises a gyroscope sensor 33, and a first camera 31 and a second camera 32 which are used for scanning two-dimensional code labels distributed on the ground in a working area, the power supply 1 is electrically connected with the central processing unit 2, the first camera 31, the second camera 32, the driving device 4 and the communication device 5 respectively, and the central processing unit 2 is electrically connected with the first camera 31, the second camera 32, the gyroscope sensor 33, the driving device 4 and the communication device 5 respectively.
The operating principle of the automatic guided vehicle based on the double-camera code sweeping is as follows:
receiving a task command of the automatic guided vehicle for executing a target motion track through the communication device, controlling the driving device to drive the vehicle body to move by the central processing unit according to the received task command, acquiring a real-time direction angle of the automatic guided vehicle in an actual motion track through a gyroscope sensor in the navigation device, obtaining a deviation between the actual motion track of the automatic guided vehicle and the target motion track in a motion direction, and performing primary calibration on the actual motion track through the deviation between the motion directions; scanning a two-dimensional code label laid on the ground of a working area through a first camera in the navigation device to obtain a first two-dimensional code image at each actual path point of the automatic guided vehicle in the movement process, scanning two-dimensional code labels arranged on the ground of a working area through a second camera in the navigation device to obtain a second two-dimensional code image at each actual path point of the automatic guided vehicle in the movement process, identifying the first two-dimensional code image and/or the second two-dimensional code image by the central processing unit to obtain coordinate information of the two-dimensional code label corresponding to each actual path point (for example, storing the position coordinate corresponding to each two-dimensional code label in the two-dimensional code label, wherein each two-dimensional code label corresponds to one position coordinate), the position of each actual path point in the actual motion track can be calibrated again through the coordinate information; in addition, because a time difference exists between the first two-dimensional code image shot by the first camera and the second two-dimensional code image shot by the second camera, and the distance between the first camera and the second camera is fixed, the instantaneous speed of the AVG passing through each actual path point can be calculated according to the time difference and the distance between the first camera and the second camera, if the speed of the AVG needs to be calibrated in the navigation process, the speed deviation can be obtained through the instantaneous speed of the AVG passing through each actual path point, and the speed in the navigation process can be conveniently calibrated;
according to the automatic guided vehicle with the structure, compared with a single navigation mode, the accuracy is effectively improved and the motion track is calibrated in real time based on the double-camera code scanning and the gyroscope sensor; the code is swept by using the double cameras, the instantaneous speed of the AVG can be detected in real time, and the AVG speed can be adjusted as required.
Wherein, the utility model discloses in only improve to AVG's structure, do not relate to computer program's improvement, central processing unit obtains the direction of motion angle deviation according to the real-time direction angle that gyroscope sensor detected, and carry out the concrete step of first correction to actual movement track according to the direction of motion angle deviation, discern the concrete step of the coordinate information of first two-dimensional code image and/or second two-dimensional code image acquisition corresponding two-dimensional code label, carry out the concrete step of recalibration to the position of automatic guided vehicle (AVG) according to the coordinate information, and obtain the speed deviation according to the instantaneous speed that AVG passes through every actual path point department, and carry out the concrete step of revising according to the speed deviation to AVG's speed, be the technology of more maturate in the field, specifically no longer give unnecessary details; the method comprises the steps of obtaining the instantaneous speed of the AVG passing through each actual path point by calculating according to the time difference between the first two-dimensional code image shot by the first camera and the corresponding second two-dimensional code image shot by the second camera and the distance between the first camera and the second camera, and is common general knowledge in the field of mathematics, and does not relate to the improvement of computer programs, and is not repeated in detail.
The central processing unit controls the driving device to drive the AVG to move, is a mature technology in the existing AVG control technology, does not relate to the improvement of a computer program, and is not described in detail.
Preferably, as shown in fig. 2, the driving device 4 includes at least a first driving wheel 41, a second driving wheel 42, a first driving motor 43, a second driving motor 44 and two universal wheels 45;
the first driving wheel 41 and the first driving motor 43 are both arranged on the left side of the vehicle body 10, an output shaft of the first driving motor 43 is connected with the first driving wheel 41, the second driving wheel 42 and the second driving motor 44 are both arranged on the right side of the vehicle body 10, and an output shaft of the second driving motor 44 is connected with the second driving wheel 42; the two universal wheels 45 are respectively arranged on the front side and the rear side of the vehicle body 10;
the first driving motor 43 is electrically connected to the power supply 1 and the central processing unit 2, respectively, and the second driving motor 44 is electrically connected to the power supply 1 and the central processing unit 2, respectively.
The central processing unit drives the first driving wheel to move through the first driving motor, drives the second driving wheel to move through the second driving motor, the first driving wheel is arranged on the left side of the vehicle body, and the second driving wheel is arranged on the right side of the vehicle body, so that the automatic guided vehicle can move in all directions conveniently. The central processing unit drives the first driving wheel to move through the first driving motor and drives the second driving wheel to move through the second driving motor, which is a relatively mature technology in the control technology of the AVG.
Specifically, as shown in fig. 2, the number of the first drive wheel and the second drive wheel in the present embodiment is 1, the number of the universal wheels is 4, the rotational movement is possible in a range of 360 °, and 2 wheels are provided on both the front side and the rear side of the vehicle body; it should be noted that the number of the first driving wheel and the second driving wheel can be selected according to actual conditions, and accordingly, the number of the first driving motor and the second driving motor can also be selected according to actual conditions, and the number of the universal wheels can also be selected according to actual conditions, and is usually an even number.
Specifically, the first driving motor and the second driving motor in this embodiment may both use AVB125a200 type servo drivers, and the communication device uses an ATK-EPS8266 type WIFI module.
Preferably, as shown in fig. 2, the first camera 31 is disposed on the vehicle body 10 at the center of a line between the first driving wheel 41 and the second driving wheel 42, the second camera 32 is disposed on the front side of the vehicle body 10, the line between the second camera 32 and the first camera 31 is perpendicular to the line between the first driving wheel 41 and the second driving wheel 42, and the scanning directions of the first camera 31 and the second camera 32 are both toward the ground of the working area.
The automatic guided vehicle comprises a first camera arranged at the center of a connecting line between a first driving wheel and a second camera arranged at the front side (namely the vehicle head) of a vehicle body, wherein the connecting line between the first camera and the second camera is mutually vertical to the connecting line between the first driving wheel and the second driving wheel (namely the connecting line direction of the first camera and the second camera is parallel to the direction of the vehicle body), and the scanning directions face the ground of a working area; on the other hand can be convenient for shoot the time difference between the first two-dimensional code image and the second two-dimensional code image according to first camera, the instantaneous speed of real-time detection automatic guided vehicle to be convenient for control and the adjustment to the speed of automatic guided vehicle at the navigation process, and then effectively improve the navigation accuracy, real-time calibration movement track, navigation process is swift high-efficient.
Specifically, the first camera and the second camera in fig. 2 are industrial high-speed cameras, which are respectively powered by a power supply, and the gyroscope sensor is arranged close to the visual field area of the first camera, so that the motion direction angle information of the automatic guided vehicle AVG in the motion process can be detected conveniently in real time, and a MPU6000/MPU6050 six-axis sensor is specifically selected.
Specifically, main control chip can select for use STM32 series of chips and contain the timer function among the Central Processing Unit (CPU) of this embodiment, can acquire the time difference between first two-dimensional code image of first camera shooting and the second two-dimensional code image of second camera shooting, the instantaneous speed of the real-time detection automated guided vehicle of being convenient for.
Preferably, as shown in fig. 2, the vehicle further comprises an infrared sensor 6 disposed on the vehicle body 10 and used for sensing an obstacle, wherein the infrared sensor 6 is electrically connected with the central processor 2.
The infrared inductor that sets up through on the automobile body can respond to the barrier, realizes effectively keeping away the barrier of automatic guided vehicle AVG, improves the navigation accuracy to improve user experience and feel.
Specifically, this embodiment is provided with two infrared sensors in the automobile body front side, and it should be noted that, the quantity of infrared sensor can be selected according to actual conditions, still can also set up a plurality of infrared sensors in the automobile body rear side, realizes keeping away the barrier in each position.
Specifically, the infrared sensor of the present embodiment is LPED-1500M18NS 4D.
Preferably, as shown in fig. 2, the vehicle further includes a battery detection circuit 7 disposed on the vehicle body 10, and the battery detection circuit 7 is electrically connected to the cpu 2.
The battery detection circuit is used for detecting the electric quantity of the power supply and reporting the electric quantity to the central processing unit, so that the condition of the electric quantity of the power supply can be conveniently mastered in real time.
Specifically, the battery detection circuit of the present embodiment may use a battery level detection chip of the CST2002 type.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (5)
1. An automatic guided vehicle based on double-camera code scanning is characterized by comprising a vehicle body (10), and a power supply (1), a central processing unit (2), a navigation device (3), a driving device (4) and a communication device (5) which are arranged on the vehicle body (10);
navigation head (3) include gyroscope sensor (33) and all are used for shooting first camera (31) and second camera (32) of the two-dimensional code label of laying on the ground in work area, power (1) respectively with central processing unit (2) first camera (31), second camera (32), drive arrangement (4) with communication device (5) electricity is connected, central processing unit (2) respectively with first camera (31), second camera (32), gyroscope sensor (33) drive arrangement (4) with communication device (5) electricity is connected.
2. The automatic guided vehicle based on two-camera code scanning according to claim 1, characterized in that the driving device (4) comprises at least a first driving wheel (41), a second driving wheel (42), a first driving motor (43), a second driving motor (44) and two universal wheels (45);
the first driving wheel (41) and the first driving motor (43) are arranged on the left side of the vehicle body (10), an output shaft of the first driving motor (43) is connected with the first driving wheel (41), the second driving wheel (42) and the second driving motor (44) are arranged on the right side of the vehicle body (10), and an output shaft of the second driving motor (44) is connected with the second driving wheel (42); the two universal wheels (45) are respectively arranged on the front side and the rear side of the vehicle body (10);
the first driving motor (43) is electrically connected with the power supply (1) and the central processing unit (2) respectively, and the second driving motor (44) is electrically connected with the power supply (1) and the central processing unit (2) respectively.
3. The automatic guided vehicle based on a two-camera code scanning according to claim 2, characterized in that the first camera (31) is disposed on the vehicle body (10) at the center of a line between the first driving wheel (41) and the second driving wheel (42), the second camera (32) is disposed at the front side of the vehicle body (10), the line between the second camera (32) and the first camera (31) is perpendicular to the line between the first driving wheel (41) and the second driving wheel (42), and the photographing directions of the first camera (31) and the second camera (32) are both toward the ground of the working area.
4. The automatic guided vehicle based on the double-camera code scanning according to claim 1, further comprising an infrared sensor (6) arranged on the vehicle body (10) and used for sensing obstacles, wherein the infrared sensor (6) is electrically connected with the central processor (2).
5. The automatic guided vehicle based on double-camera code scanning according to any one of claims 1 to 4, characterized by further comprising a battery detection circuit (7) arranged on the vehicle body (10), wherein the battery detection circuit (7) is electrically connected with the central processor (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921121366.9U CN210052061U (en) | 2019-07-17 | 2019-07-17 | Automatic guide car based on two cameras are swept sign indicating number |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921121366.9U CN210052061U (en) | 2019-07-17 | 2019-07-17 | Automatic guide car based on two cameras are swept sign indicating number |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347160A (en) * | 2019-07-17 | 2019-10-18 | 武汉工程大学 | A kind of automatic guide vehicle and its air navigation aid based on dual camera barcode scanning |
| CN110347160B (en) * | 2019-07-17 | 2024-06-25 | 武汉工程大学 | Automatic guide vehicle based on double-camera code scanning and navigation method thereof |
-
2019
- 2019-07-17 CN CN201921121366.9U patent/CN210052061U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110347160A (en) * | 2019-07-17 | 2019-10-18 | 武汉工程大学 | A kind of automatic guide vehicle and its air navigation aid based on dual camera barcode scanning |
| CN110347160B (en) * | 2019-07-17 | 2024-06-25 | 武汉工程大学 | Automatic guide vehicle based on double-camera code scanning and navigation method thereof |
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