CN106444765A - AGV (automatic guided vehicle), AGV navigation method based on vision and AGV navigation system based on vision - Google Patents
AGV (automatic guided vehicle), AGV navigation method based on vision and AGV navigation system based on vision Download PDFInfo
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- G—PHYSICS
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- 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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- G—PHYSICS
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Abstract
The invention discloses an AGV (automatic guided vehicle) navigation method based on vision. The method comprises the following steps of obtaining a picture with the orbit marked ground; performing grey processing on a reference horizontal line of the picture to obtain a reference horizontal line array; forming the plurality of reference horizontal line arrays into an orbit matrix; performing Exclusive OR processing on the two adjacent upper and lower lines of the orbit matrix to obtain orbit edge information; performing digitization processing on the orbit edge information; using the result as the controller input of an AGV so as to realize the motion control on the AGV. The invention also discloses an AGV navigation system based on the vision. The invention also discloses the AGV comprising the AGV navigation system based on the vision. The navigation method has the advantages that the precision of the obtained orbit edge information is higher; the goal of fast navigation is achieved.
Description
Technical field
The present invention relates to automatic control technology field, particularly to a kind of AGV air navigation aid of view-based access control model.Except this it
Outward, the invention still further relates to a kind of AGV navigation system of view-based access control model.Separately have, the present invention relates to a kind of include above-mentioned view-based access control model
AGV navigation system AGV.
Background technology
AGV (Automated Guided Vehicle), i.e. " automatical pilot transportation vehicle ", refers to be equipped with electricity magnetically or optically
In homing guidance device, it can travel along the guide path of regulation, has safeguard protection and the transport of various transfer function
Car.
AGV has multiple guide modes at present, including：Electromagnetism guides, las er-guidance, visual guidance etc..Because las er-guidance
Often with high costs with electromagnetism guiding etc., easily affected by factory's complex environment, and with embedded controller chip
Development, AGV will be more intelligent, and visual guidance will be more flexible, is the developing direction of AGV self-navigation.
In existing vision guided navigation technology, due to the restriction of calculating speed, often there is a problem of realizing difficulty.As using embedding
The visual guidance AGV system of embedded system and method, due to using dual camera scheme, high cost and need the figure with high speed
As disposal ability；And the AGV air navigation aid of other view-based access control model is although also there is the mode that make use of track matrix, but it is
By searching all marginal areas being connected and overlapping of picture, algorithm is complicated.
Content of the invention
It is an object of the invention to provide a kind of AGV air navigation aid of view-based access control model, the method can quickly be navigated, and precision
Higher, implementation method is relatively simple.It is a further object of the present invention to provide a kind of AGV navigation system of view-based access control model.The present invention
A further object be provide a kind of include above-mentioned view-based access control model AGV navigation system AGV.
For achieving the above object, the present invention provides a kind of AGV air navigation aid of view-based access control model, comprises the steps：
Obtain the picture on the ground with track sign；
Gray proces are carried out to the reference horizontal line of described picture, obtains reference horizontal line array；
Multiple described reference horizontal line arrays are constituted track matrix；
XOR process is carried out to adjacent upper and lower two row of described track matrix, obtains rail flanges information；
Described rail flanges information is digitized process, as the controller input of AGV, to realize described AGV's
Motor control.
The AGV air navigation aid of the view-based access control model providing with respect to above-mentioned background technology, the present invention, its core is, for
The reference horizontal line of picture carries out gray proces, thus obtaining reference horizontal line array；Reference horizontal line is often in picture
A piece horizontal linear；The present invention, in AGV walking process, at interval of default time interval, will gather pictures, whenever
After gathering pictures, gray proces are carried out to the reference horizontal line of picture；And multiple reference horizontal line arrays are constituted rail
Road matrix, carries out XOR process to track matrix, obtains rail flanges information, thus being digitized processing, and as AGV's
Controller inputs, to realize the motor control of AGV；As can be seen that the reference horizontal line that present invention employs for picture is carried out
The mode of gray proces, and reference horizontal line is carried out respectively to plurality of pictures carry out gray proces, obtain multiple reference horizontal lines
Array, thus constituting track matrix, so greatly simplify calculating process, it is to avoid need in prior art environment to be carried out continue
Constantly monitoring and image procossing；The rail flanges precision of information being obtained using aforesaid way is higher it is achieved that quick navigate
Purpose.
Preferably, described acquisition has the ground image of track sign, and the step obtaining picture specifically includes：
By being installed on the photographic head interval prefixed time interval of described AGV, described track sign is acquired, obtains
Multigroup picture.
Preferably, the scope of described prefixed time interval is specially 0.3s～0.6s.
Preferably, the described reference horizontal line to described picture carries out gray proces, obtains the step of reference horizontal line array
Suddenly specifically include：
Every presetted pixel, gather the pixel on the reference horizontal line of described picture；
By default grayvalue transition formula, grayvalue transition is carried out to pixel each described, obtains reference horizontal line
Array.
Preferably, described by default grayvalue transition formula, grayvalue transition is carried out to pixel each described, obtain
Step to reference horizontal line array specifically includes：
By formula h=(R*38+G*75+B*15)>>7 are calculated each described pixel on described reference horizontal line
The gray value h of point；Wherein, R, G and B are represented as redness, green and blue respectively；
Described gray value h is compared with predetermined threshold value a：
As h≤a, h value is 0；
As h ＞ a, h value is 1；
Obtain reference horizontal line array.
Preferably, described described rail flanges information is digitized process, as AGV controller input, with reality
The step of the motor control of existing described AGV specifically includes：
Obtain track centre according to the rail flanges in described rail flanges information；
Described track centre is inputted as the controller of AGV, to realize the motor control of described AGV.
Preferably, the reference horizontal line of described picture is specially：Described picture height scope is any in 1/3～3/4
Article one, horizontal line.
Preferably, the controller of described AGV is specially PID controller.
The present invention also provides a kind of AGV navigation system of view-based access control model, including：
Photographic head, for obtaining the picture on the ground with track sign；
Gradation processing module, for carrying out gray proces to the reference horizontal line of described picture, obtains datum-plane line number
Group；
Track matrix constitutes module, for multiple described reference horizontal line arrays are constituted track matrix；
XOR processing module, for carrying out XOR process to adjacent upper and lower two row of described track matrix, obtains track side
Edge information；
Digital processing module, for being digitized to described rail flanges information processing, the controller as AGV is defeated
Enter, to realize the motor control of described AGV.
The present invention also provides a kind of AGV, including the AGV navigation system of view-based access control model described above.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing providing obtains other accompanying drawings.
The schematic flow sheet of the AGV air navigation aid of the view-based access control model that Fig. 1 is provided by the embodiment of the present invention；
Fig. 2 by Fig. 1 for obtaining the mathematic(al) manipulation process that rail flanges information is carried out；
Fig. 3 is the PID control block diagram in Fig. 1；
The front view of the AGV that Fig. 4 is provided by the embodiment of the present invention；
Fig. 5 is the bottom view of Fig. 4.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the accompanying drawings and be embodied as
The present invention is described in further detail for mode.
Refer to Fig. 1 to Fig. 5, the flow process of the AGV air navigation aid of the view-based access control model that Fig. 1 is provided by the embodiment of the present invention is shown
It is intended to；Fig. 2 by Fig. 1 for obtaining the mathematic(al) manipulation process that rail flanges information is carried out；Fig. 3 is the PID control frame in Fig. 1
Figure；The front view of the AGV that Fig. 4 is provided by the embodiment of the present invention；Fig. 5 is the bottom view of Fig. 4.
The invention provides a kind of AGV air navigation aid of view-based access control model, as shown in Figure of description 1, main inclusion is as follows
Step：
S1, acquisition have the picture on the ground of track sign；
S2, the reference horizontal line to described picture carry out gray proces, obtain reference horizontal line array；
S3, multiple described reference horizontal line arrays are constituted track matrixes；
S4, adjacent upper and lower two row to described track matrix carry out XOR process, obtain rail flanges information；
S5, described rail flanges information is digitized process, as AGV controller input, to realize described AGV
Motor control.
First, on the ground of AGV walking, setting track indicates, and possesses certain color anti-between ground and track sign
Difference, to those skilled in the art, ground and track sign between colour contrast it should be understood that.Ground and rail
The color that road indicates is simultaneously unrestricted, and track indicates also the requirement of no width.
In step sl, obtain the picture on the ground with track sign；I.e., it is possible to be adopted using photographic head or other images
Acquisition means gather the picture on ground, and should have the content of track sign in the picture on ground.
In step s 2, to above-mentioned have track indicate content picture in reference horizontal line carry out gray proces, obtain
To reference horizontal line array；Because picture is the situation on a certain moment ground, this moment track mark can be reflected by picture
Show the position with respect to ground.Reference horizontal line in picture is carried out gray proces, and reference horizontal line can be in picture
Any one horizontal line；That is, for pictures, only process picture in a horizontal line such that it is able to greatly letter
Change processing procedure, improve treatment effeciency.And in AGV walking process, the angle of photographic head or other image collecting devices is relatively
Answer holding position constant for AGV vehicle body, and for each pictures, all should one horizontal line of processing position identical,
Accurate to guarantee the orbital position obtaining.
And the acquisition of reference horizontal line array may be referred to prior art, the process of gray proces can be according to actual needs
Calculated using multiple different formula.
In step s3, track matrix is constituted to multiple described reference horizontal line arrays；It should be evident that in AGV walking
During, interval prefixed time interval will gather the picture on a ground, and each pictures middle orbit indicates with respect to ground
The position in face all can change, and is directed to the horizontal line that each pictures all can process in picture, by plurality of pictures institute
Corresponding a plurality of reference horizontal line array is combined respectively, obtains track matrix.
In step s 4, XOR process is carried out to adjacent upper and lower two row of track matrix, obtain rail flanges information；As said
Shown in bright book accompanying drawing 2.In the picture once gathering, reference horizontal line array is " 0000111111110000 ", with 16 pictures
As a example vegetarian refreshments, by multi collect picture, and respectively gray proces are carried out to each pictures, obtain multiple datum-plane line numbers
Group, constitutes track matrix；Then by adjacent upper and lower two row of track matrix are carried out XOR process；Up and down the two of track matrix
Row takes turns doing XOR, i.e. the first row and the second row XOR, the second row and the third line XOR, the third line and fourth line XOR,
The like.Thus, rail flanges are all changed into element 1, rather than marginal portion is all 0, finally gives rail flanges information.
In step s 5, rail flanges information is digitized processing, as the controller input of AGV, to realize AGV
Motor control.That is, the input of controller can be the subscript of neutral element in the array of image axis；Control the corner of AGV
When, it is output as the subscript meansigma methodss of often two elements 1 that row occurs in the rail flanges information after XOR is processed, can carry out
PID close loop negative feedback controls.As shown in the PID control block diagram in Figure of description 3.Certainly, the controller of AGV can also be it
His controller.Adopt the method above-mentioned with the present invention that PID controller is joined, give full play to the characteristic of PID controller, realize high-precision
Degree and quick navigation.
In above-mentioned steps S1, prefixed time interval can be spaced to described rail by being installed on the photographic head of described AGV
Road indicates and is acquired, and obtains multigroup picture；And the scope of prefixed time interval is specially 0.3s～0.6s.As Figure of description
Shown in 4, photographic head 1 is installed on the front end of AGV, and is in 25 °～35 ° between photographic head 1 and horizontal plane, arranges obliquely.Shooting
1 by support be fixed on AGV upper front part midline position (i.e. the 1/2 of width) it is ensured that certain distance in front of collection AGV
Orbit information；Specifically can be according to the car body size of AGV, the pixel of photographic head 1, control accuracy, the speed of AGV, to support
Go forward post debugging in car body axis in fixed position.
In above-mentioned steps S2, gray proces are carried out to the reference horizontal line of described picture, obtains reference horizontal line array
Step specifically include：
Every presetted pixel, gather the pixel on the reference horizontal line of described picture；
By default grayvalue transition formula, grayvalue transition is carried out to pixel each described, obtains reference horizontal line
Array.
For the process of the reference horizontal line of each pictures, for the reference horizontal line of picture, processed using equal difference
Mode carries out binary conversion treatment；Reference horizontal line due to picture has different pixel numbers according to different definitions, but
In order to reduce the size of operand and reference horizontal line array, by the way of equal difference takes a process.For example, using 300,000 pixels
Camera, resolution be 640*480, take reference horizontal line will obtain 640 pixels, by every 5 pixels of equal difference mode
Take a bit, 128 pixels can be obtained, the presetted pixel being spaced requires to decrease or increase with precision and arithmetic speed.
But by default grayvalue transition formula, grayvalue transition is carried out for pixel each described, obtain benchmark
Horizontal line array.And in this course, present invention preferably employs formula h=(R*38+G*75+B*15)>>7 are calculated institute
State the gray value h of each described pixel on reference horizontal line；Wherein, R, G and B are represented as redness, green and blue respectively；
Then described gray value h is compared with predetermined threshold value a：As h≤a, h value is 0；As h ＞ a, h value is 1；Thus
Obtain reference horizontal line array.
With regard to the selection of predetermined threshold value a, can carry out after binaryzation with track, rail portion and floor portion by test
Dividing can be with 0, and 1 complete section is separately defined.
Present invention preferably employs h=(R*38+G*75+B*15)>>7 is the gray scale value-based algorithm of 7 precision, and this algorithm
There is high precision, fireballing advantage；Certainly, according to actual needs, default grayvalue transition formula can also be using other essences
The formula of degree digit calculates, and one's duty will not be described in great detail.For above-mentioned steps, can be in corresponding auxiliary software, to collecting
The picture on ground carry out gray proces, gray-scale maps are changed into the picture of RGB, gray-scale maps are done with grey level histogram, color is deep
Degree is chosen as 8, selects predetermined threshold value according to the distribution of grey level histogram, the scope of predetermined threshold value between 71～170, preferably
120.
In step s 5, track centre can be obtained according to the rail flanges in described rail flanges information；And by institute
The controller stating track centre as AGV inputs, to realize the motor control of described AGV.
In above-mentioned steps, control the movement locus of AGV according to the rail flanges information obtaining, by element that edge is located
The half of subscript sum obtain half with maximum subscript value and be compared, obtain the position deviation of AGV, carry out AGV controlling angle.Institute
The control mode chosen is PID control.By method of the present invention, can quickly obtain the center line of AGV and actual track
Between horizontal-shift information, quick correct, the method control accuracy is high, simply easily real-time, can enter with automatic control system
Row informationization exchanges, and has a good application prospect.
The reference horizontal line of above-mentioned picture can be specially：Described picture height scope is any one in 1/3～3/4
Bar horizontal line, the height that the present invention is preferably picture is 1/2 horizontal line.The horizontal line being at picture height 1/2 is carried out
Gray proces, contribute to reducing calculation error, improve running precision.
Below the AGV navigation system of view-based access control model provided in an embodiment of the present invention is introduced, device described below
Can mutually compare with method as discussed above.
The present invention also provides a kind of AGV navigation system of view-based access control model, main inclusion：
Photographic head 1, for obtaining the picture on the ground with track sign；
Gradation processing module, for carrying out gray proces to the reference horizontal line of described picture, obtains datum-plane line number
Group；
Track matrix constitutes module, for multiple described reference horizontal line arrays are constituted track matrix；
XOR processing module, for carrying out XOR process to adjacent upper and lower two row of described track matrix, obtains track side
Edge information；
Digital processing module, for being digitized to described rail flanges information processing, the controller as AGV is defeated
Enter, to realize the motor control of described AGV.
A kind of AGV that the present invention provides, including the AGV navigation system of view-based access control model as described above, as attached in description
Shown in Fig. 5.Wherein, power supply 2, motor 3, drivewheel 4, driver 5, master controller 6 and universal wheel 7 are located at the car body bottom of AGV
Portion, and the car body top of AGV setting photographic head 1；Understand, driver 5 is controlled by PID controller in conjunction with Figure of description 3
Motor 3 rotates afterwards, thus driving drivewheel 4 to run.The other parts of AGV are referred to prior art, no longer open up herein
Open.
In description, each embodiment is described by the way of going forward one by one, and what each embodiment stressed is real with other
Apply the difference of example, between each embodiment similar portion mutually referring to.For device disclosed in embodiment, by
Correspond to the method disclosed in Example in it, so description is relatively simple, referring to method part illustration in place of correlation.
Professional further appreciates that, in conjunction with the unit of each example of the embodiments described herein description
And algorithm steps, can with electronic hardware, computer software or the two be implemented in combination in, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes composition and the step of each example in the above description according to function.These
Function to be executed in the way of hardware or software actually, the application-specific depending on technical scheme and design constraint.Specially
Industry personnel can use different methods to each specific application realize described function, but this realization should not be recognized
For beyond the scope of this invention.
Above AGV provided by the present invention, the AGV air navigation aid of view-based access control model and its system are described in detail.
Specific case used herein is set forth to the principle of the present invention and embodiment, and the explanation of above example is to use
Understand the method for the present invention and its core concept in help.It should be pointed out that for those skilled in the art,
Under the premise without departing from the principles of the invention, the present invention can also be carried out with some improvement and modify, these improve and modify
Fall in the protection domain of the claims in the present invention.
Claims (10)
1. a kind of AGV air navigation aid of view-based access control model is it is characterised in that comprise the steps：
Obtain the picture on the ground with track sign；
Gray proces are carried out to the reference horizontal line of described picture, obtains reference horizontal line array；
Multiple described reference horizontal line arrays are constituted track matrix；
XOR process is carried out to adjacent upper and lower two row of described track matrix, obtains rail flanges information；
Described rail flanges information is digitized process, as the controller input of AGV, to realize the motion of described AGV
Control.
2. the AGV air navigation aid of view-based access control model according to claim 1 is it is characterised in that described acquisition has track mark
The ground image shown, the step obtaining picture specifically includes：
By being installed on the photographic head interval prefixed time interval of described AGV, described track sign is acquired, obtains multigroup
Picture.
3. the AGV air navigation aid of view-based access control model according to claim 2 is it is characterised in that described prefixed time interval
Scope is specially 0.3s～0.6s.
4. the AGV air navigation aid of view-based access control model according to claim 1 is it is characterised in that the described base to described picture
Quasi- horizontal line carries out gray proces, and the step obtaining reference horizontal line array specifically includes：
Every presetted pixel, gather the pixel on the reference horizontal line of described picture；
By default grayvalue transition formula, grayvalue transition is carried out to pixel each described, obtains datum-plane line number
Group.
5. view-based access control model according to claim 4 AGV air navigation aid it is characterised in that described to picture each described
Vegetarian refreshments carries out grayvalue transition by default grayvalue transition formula, and the step obtaining reference horizontal line array specifically includes：
By formula h=(R*38+G*75+B*15)>>7 are calculated each described pixel on described reference horizontal line
Gray value h；Wherein, R, G and B are represented as redness, green and blue respectively；
Described gray value h is compared with predetermined threshold value a：
As h≤a, h value is 0；
As h ＞ a, h value is 1；
Obtain reference horizontal line array.
6. view-based access control model according to claim 1 AGV air navigation aid it is characterised in that described to described rail flanges
Information is digitized processing, and as the controller input of AGV, is specifically included with the step realizing the motor control of described AGV：
Obtain track centre according to the rail flanges in described rail flanges information；
Described track centre is inputted as the controller of AGV, to realize the motor control of described AGV.
7. the AGV air navigation aid of the view-based access control model according to claim 1 to 6 any one is it is characterised in that described picture
Reference horizontal line be specially：Any one horizontal line in 1/3～3/4 for the described picture height scope.
8. the AGV air navigation aid of the view-based access control model according to claim 1 to 6 any one is it is characterised in that described AGV
Controller be specially PID controller.
9. a kind of AGV navigation system of view-based access control model is it is characterised in that include：
Photographic head, for obtaining the picture on the ground with track sign；
Gradation processing module, for carrying out gray proces to the reference horizontal line of described picture, obtains reference horizontal line array；
Track matrix constitutes module, for multiple described reference horizontal line arrays are constituted track matrix；
XOR processing module, for carrying out XOR process to adjacent upper and lower two row of described track matrix, obtains rail flanges letter
Breath；
Digital processing module, for being digitized to described rail flanges information processing, the controller as AGV inputs,
To realize the motor control of described AGV.
10. a kind of AGV is it is characterised in that include the AGV navigation system of the view-based access control model as described in the claims 9.
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| CN108107883A (en) * | 2017-11-07 | 2018-06-01 | 浙江工业大学 | A kind of multi-sensor information fusion localization method based on tape guidance AGV |
| CN108845573A (en) * | 2018-05-30 | 2018-11-20 | 上海懒书智能科技有限公司 | A kind of laying of AGV visual track and optimization method |
| CN109032125A (en) * | 2018-05-31 | 2018-12-18 | 上海工程技术大学 | A kind of air navigation aid of vision AGV |
| CN109032129A (en) * | 2018-06-21 | 2018-12-18 | 昆山华恒工程技术中心有限公司 | Path method for correcting error and device, route guidance method, readable medium |
| CN109782755A (en) * | 2018-12-27 | 2019-05-21 | 广东飞库科技有限公司 | Control AGV calibrated, the method for AGV calibrating position, computer storage medium and AGV |
| CN114252013A (en) * | 2021-12-22 | 2022-03-29 | 深圳市天昕朗科技有限公司 | AGV visual identification accurate positioning system based on wired communication mode |
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| CN109782755A (en) * | 2018-12-27 | 2019-05-21 | 广东飞库科技有限公司 | Control AGV calibrated, the method for AGV calibrating position, computer storage medium and AGV |
| CN109782755B (en) * | 2018-12-27 | 2022-05-31 | 广东飞库科技有限公司 | Method for controlling AGV to calibrate and AGV to calibrate position, computer storage medium and AGV |
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