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Vision-based AGV navigation method

A navigation method and visual technology, applied in two-dimensional position/channel control and other directions, can solve the problems of inability to recognize the guide line and low recognition accuracy of the guide line.

Active Publication Date: 2016-04-20
BEIJING SATELLITE MFG FACTORY
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Problems solved by technology

[0006] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide an accurate guide line equation obtained by removing stains and traversing edge pixels, and to solve the problem that the prior art cannot identify guide lines or guide line recognition accuracy Low-Problem Vision-Based AGV Navigation Approach

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Embodiment Construction

[0044] The automatic guided vehicle (AGV) usually adopts the image recognition navigation method, which is realized by painting or pasting the ribbon on the driving path of the automatic guided vehicle (AGV), and processing the ribbon image signal captured by the camera. Path navigation, based on image recognition navigation technology, enables automatic guided vehicles (AGV) to have the ability to independently distinguish complex road conditions such as intersections and parking stations, and at the same time meet the needs of precise positioning. In addition, the automatic guided vehicle (AGV) has the advantages of high efficiency, high degree of automation, cost saving, and can be applied to special occasions that are not suitable for human handling, and its scope of application is becoming wider and wider.

[0045] Therefore, the present invention proposes a vision-based AGV (Automatic Guided Vehicle) navigation method. First, the road surface guide line information is obt...

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Abstract

The invention discloses a vision-based AGV navigation method. The vision-based AGV navigation method comprises the steps of: installing a vision system on an automated guided vehicle, adhering guiding lines and parking signs on the ground, acquiring an image in real time, setting a square region composed of a plurality of sub-images in the region, calculating to obtain target exposure and gray scale gradient variation, acquiring edge pixels according to the gradient variation, removing stains and carrying out data processing to obtain a guide line equation, acquiring straight-line slopes and intercepts of edges on both sides of the guide lines according to the guide line equation, and controlling the automated guided vehicle to move to complete parking. The vision-based AGV navigation method obtains the most precise guide line equation through removing the stains and traversing the edge pixels, solve the problems that the guide lines cannot be recognized or recognition accuracy of the guide lines is low in the prior art, and achieves accurate navigation operation of the automated guided vehicle.

Description

technical field [0001] The invention relates to the field of industrial control, in particular to a vision-based AGV navigation method. Background technique [0002] The navigation methods used by existing AGV manufacturers include visual navigation, laser navigation, magnetic navigation, and photoelectric navigation. Among them, the advantages of magnetic navigation are that the leads are hidden, not easy to be polluted and damaged, and the guiding principle is simple and reliable, which is convenient for control and communication. There is no interference to sound and light, and the manufacturing cost is low. The disadvantage is that the path is difficult to change and expand, it is difficult to adapt to complex paths, and the application limitations are relatively large. [0003] Laser navigation AGV positioning is more accurate, no other auxiliary positioning facilities are needed on the ground, the driving path can be flexible and changeable, and can be suitable for a v...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 刘净瑜张仰成王海峰漆嘉林王颜韩建超董礼港
Owner BEIJING SATELLITE MFG FACTORY
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