KR200229836Y1 - A discriminating device of obstacle using the intelletual type of stereo-vision - Google Patents

Abstract

The present invention relates to an intelligent obstacle discriminator using stereo vision for AGV (automatic transport vehicle) obstacle discrimination.

Conventionally used auto transport vehicle induction system is divided into active and passive type. Active type is unmanned vehicle based on the signal reflected by the derivative itself generating ultrasonic waves or electromagnetic waves such as ultrasonic induction, laser induction and electromagnetic induction. Although it has the advantage of high reliability in a narrow area, the cost of installing it is very high and the space limitation is applied in a wide area, and the manual type is such as optical induction and magnetic induction method. It is a system that induces AGV using external light or magnetic field, but it is easy to install and inexpensive. However, this method still has a lot of space constraints and it is difficult to distinguish obstacles in front of the automatic transport vehicle. There was a downside. In the optical system, such as stereo vision, which has been proposed, measurement error is very large, it takes much time for processing, and effective method of organizing spatial information has not been established. The present invention uses an intelligent stereo vision for more efficient AGV system guidance and obstacle detection in a wider space to solve the above problems. The two CCD cameras (2) in front of the AGV (1) of the camera support (3) The center distance of the lens can be variably adjusted up to about 10 ~ 30cm, and the servo control device 4 is installed to be variable according to the distance of the measuring object to minimize the measurement error. Control the AGV 1 by acquiring spatial information in a short time with the computer 5 in 1). It would be a help.

Description

A discriminating device of obstacle using the intelletual type of stereo-vision}

The present invention relates to an intelligent obstacle discriminator using stereo vision for AGV (automatic transport vehicle) obstacle discrimination.

Conventionally used automatic transport vehicle induction system can be divided into active and passive.

Active type has the advantage of high reliability in a narrow area by inducing an unmanned vehicle based on the signal reflected by the derivative itself generating ultrasonic waves or electromagnetic waves, such as ultrasonic induction, laser induction and electromagnetic induction. The cost of installation is expensive and there are many space constraints in a wide area.

In addition, the manual type is a system that induces AGV using external light or magnetic field such as optical induction and magnetic field induction. However, it is easy to install and inexpensive. It was difficult to distinguish obstacles in front of the vehicle.

In the optical system, such as stereo vision, which is proposed, the measurement error is very large, it takes much time for processing, and the effective method of organizing spatial information is not established. .

Therefore, in order to solve the above problems, the present invention provides a means for obstacle detection of AGV using intelligent stereo vision for more efficient AGV system guidance and obstacle detection in a wide range of spaces. The invention is complete.

1 is a perspective view showing a preferred embodiment of the present invention

Figure 2 is a side cross-sectional view of the action state of extracting the main part of the present invention

3 is a schematic block diagram showing a circuit configuration of the present invention;

■ Explanation of symbols used in main part of drawing ■

1: AGV 2: CCD Camera

3: camera support portion 4: servo control device

4a: step motor 4b: guide rail

4c: Ball screw 5: Computer

5a: Multiple image acquisition device 6: AGV motor drive unit

Hereinafter, described in detail with reference to the accompanying drawings a preferred embodiment of the present invention.

1 is a view showing a preferred embodiment to which the present invention is applied, and FIG. 2 is a side cross-sectional view of a main part of the present invention, and the center distance of the lens of the CCD camera 2 is about 10 to the front surface of the conventional AGV 1. The camera support part 3 controlled by the servo control device 4 is installed to be variablely fixed up to 30 cm, and two CCD cameras 2 are installed in parallel on the camera support part 3.

The CCD camera 2 is connected to a multiple image acquisition device 5a mounted on a computer 5 inside the AGV 1.

In addition, the servo controller 4 shaft-installs the ball screw (4c) driven by the step motor (4a) on the camera support 3, the ball screw (4c) parallel to the left and right when rotating One side of the left side screw and the other side of the right side of the camera are installed so that the connected CCD camera 2 can move in opposite directions.

The result processed by the computer 5 is configured to send a processing signal to the servo control device 4 for driving the CCD camera 2 and the AGV motor driver 6 for driving the AGV.

The present invention configured as described above can minimize the measurement error and widen the measurement range according to the distance of the obstacle, and effectively determine the obstacle. The operation of the present invention will be described in more detail below.

The images projected by the two CCD cameras 2 are converted into digital stereo images by the multiple image acquisition apparatus 5a mounted on the computer 5 and stored in the memory inside the computer 5.

The image stored in the memory is subjected to a high speed stereo matching process to measure the distance to the object in front of the AGV (1) reflected on the stereo image, and to signal the servo controller 4 to obtain a precise distance to the object determined as an obstacle. By sending the step motor (4a) to drive the variable distance between the left and right CCD camera (2).

In this way, after adjusting the distance between the CCD camera (2), the distance to the obstacle is re-measured and by sending a signal to the AGV motor driver (6) to adjust the direction of travel of the AGV (1) according to the distance to control .

In the case of the present invention configured as described above, it is possible to minimize the measurement error, which is the biggest problem of the conventional stereo vision apparatus, and to acquire the spatial information for inducing AGV clearly.

As described in detail above, the present invention converts an image projected by two CCD cameras 2 into a digital stereo image by the multi-image acquisition device 5a, and performs a high speed stereo matching process on the image stored in the memory to perform a stereo image. Measure the distance with respect to the object in front of the AGV (1) reflected on it, send a signal to the servo controller 4 according to the measured distance, adjust the distance between the CCD cameras 2, and measure the distance to the obstacle. By measuring a signal and sending a signal to the AGV motor driver 6 to adjust the traveling direction of the AGV (1) according to the distance, it is possible to minimize the measurement error, which is the biggest problem of the conventional stereo vision device, It is possible to clearly obtain spatial information for inducing AGV (1) at low cost, which can reduce the overall cost and increase the reliability of AGV system. The family is a great design.

Claims (1)

On the upper surface of the normal AGV (1), a camera support (3) having a guide rail (4b) is installed, On the guide rail 4b, the center of the lens of the CCD camera 2 can be variably adjusted to about 10 to 30 cm. The motor is connected to the step motor 4a, and the ball is composed of one left screw and the other right screw from the center. The screw 4c is connected to the CCD camera 2 to form a servo controller 4, The CCD camera 2 is connected to the multiple image acquisition device 5a mounted on the computer 5 inside the AGV 1, and the servo control device 4 and the AGV of the CCD camera 2 depend on the obstacle measuring distance. Intelligent obstacle discriminator using stereo vision, characterized in that by sending a processing signal to the motor drive (6) to adjust the distance between the CCD camera (2) and to re-measure the direction of the AGV (1).