Vision guiding AGV (Automatic Guided Vehicle) system and method of embedded system

Abstract

The invention discloses a vision guiding AGV (Automatic Guided Vehicle) system and a method of an embedded system. Two cameras fixed on a trolley are used for acquiring guiding path information in real time, wherein the cameras and the ground form a certain angle to be inclined forwards and is used for acquiring prospect images; and the cameras are arranged at the middle part and the front part of the interior of the trolley, are vertical to the ground and are used for secondary exact location. The vision guiding AGV method comprises the following step of: embedding an anti-metal radio frequency mark on the ground surface of a key position, wherein a vehicle-mounted radio frequency card reader obtains information in the mark when the trolley passes through the upper part of the mark. When a laser scanner scans a front obstacle in real time, obstacle avoidance detection and obstacle avoidance are realized. A control box of the embedded system disclosed by the invention is as an inner kernel for image collection, image treatment and policy control, the acquired image is subjected to Gauss high-pass filtering, edge detection and two-step Hough transformation so that position deviation and angle deviation of the trolley relative to a current path can be calculated, and two-dimensional deviation value of the AGV currently corresponding to a location reference point is fed back at a station point.

Description

technical field [0001] The invention is a method for visual navigation and positioning of an Automated Guided Vehicle (AGV) designed with an embedded system, and is suitable for the fields of automatic material transmission and assembly line assembly in automated logistics. Background technique [0002] Automatic guided vehicle is an autonomous mobile robot widely used in factory automation production lines, warehousing logistics, airports, ports, banks, and hospitals. It is a means of transportation that moves materials according to a planned route. Compared with other types of robots, the most important feature is its autonomous mobility, which can move autonomously in a known structured environment. Therefore, it is widely used in national defense, aerospace, industry, transportation, scientific research and other civilian fields. Automatic guided vehicle is an effective means of logistics transportation in today's flexible manufacturing system (FMS), computer integrate...

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Problems solved by technology

[0006] Chinese Patent Publication No.: The method described in CN1438138A adopts a forward-tilting camera to shoot the guiding path. Due to the large field of view, the actual size corresponding to the pixel distance of the camera imaging is small, and the navigation and positioning accuracy are inaccurate.

This method does not make good use of the rich memory resource function of the radio frequency, and the real-time performance is not high

[0008] Chinese Patent Publication No.: CN101197000A adopts a short-distance card reader in the radio frequency positioning met

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