Monocular vision deviation detection method and monocular vision deviation detection device for AGV

Abstract

The invention provides a monocular vision deviation detection method and device for an AGV, and the method comprises the steps: carrying out the gray processing and sampling of collected image data, calculating a dynamic segmentation threshold through sample image data, carrying out the threshold segmentation of gray data, and obtaining a binary image; screening the binary images, carrying out morphological filtering on objects which may be foreground noise, and carrying out threshold segmentation on filtered pixel points again; segmenting the acquired image by using grids, traversing all gridunits, and forming a set by the grid units containing foreground colors; clustering the elements in the set, and separating positioning blocks; solving a central point coordinate of the positioning block by adopting an average value method; and establishing a space conversion relation model between an image coordinate system and a pixel coordinate system according to the center point coordinatesof the positioning block, and resolving the deviation. According to the invention, the anti-interference capability of the AGV can be improved while the use precision is satisfied.

Description

technical field [0001] The invention belongs to the technical field of logistics automation, and in particular relates to a monocular vision deviation detection method and device for AGV. Background technique [0002] In recent years, with the rise of smart logistics, unmanned warehouses have emerged to meet the requirements of "unmanned operations". AGV is widely used in unmanned warehouses as the carrier for goods storage, sorting, and outbound operations in unmanned warehouses. However, inertial navigation AGV has a cumulative effect due to sensor errors. Therefore, a deviation detection device with accurate results, high stability and strong anti-interference ability is needed to eliminate accumulated errors. [0003] In order to eliminate the cumulative error, the currently used two-dimensional code deviation detection method has the advantage of rich information, and can also realize positioning while realizing deviation detection; but also because of its rich inform...

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Problems solved by technology

[0003]In order to eliminate the cumulative error, the currently used two-dimensional code deviation detection method has the advantage of containing a wealth of information, and can also achieve positioning while realizing deviation detection; but Also because of its rich information, its anti-interference ability is insufficient. When the two-dimensional code boundary is blurred due to strong light interference, a lot of useful information will be lost, and useful information cannot be extracted when it is interfered by stains, resulting in the failure of deviation detection.

At the same time, this positioning method also has the disadvantages of difficult equipment maintenance, high cost, and is not conducive to saving the production cost of the enterprise.

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