Multi-sensor fusion-based visual navigation AGV system

A multi-sensor fusion and visual guidance technology, applied in two-dimensional position/channel control and other directions, can solve the problems of inability to expand the guidance technology, high construction, maintenance and expansion costs, and inability to expand the outdoor environment

Active Publication Date: 2014-11-26
浙江科钛机器人股份有限公司
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AI Technical Summary

Problems solved by technology

Affected by outdoor environmental factors, traditional guidance technology cannot be extended to outdoors
Taking electromagnetic guidance as an example, laying the track required for electromagnetic guidance in an ou

Method used

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  • Multi-sensor fusion-based visual navigation AGV system

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Embodiment approach

[0055] As another preferred implementation, the trigger condition is set as: the road surface detection process continues to obtain invalid detection results. The reason for this condition is that there is a significant difference between the road surface features saved in the system and the current road features. At this time, it is necessary to use the learning algorithm to update the road surface features saved in the system.

[0056] The first stage is the adaptive learning stage, and its specific steps are as follows:

[0057] Step [11]: Image preprocessing, collect road images through image acquisition equipment, reduce the noise of the collected road images, and correct image color shift; image preprocessing includes image filtering, white balance processing, and image filtering uses mean filtering to remove the color shift caused by image acquisition. The subtle noise introduced by equipment and road surface texture is processed by the following formula for white balan...

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Abstract

The invention relates to a multi-sensor fusion-based visual navigation AGV system comprising a vehicle body. A remote ultrasonic ranging module and an image acquisition device are installed at the front side of the vehicle body; and near-field ultrasonic ranging modules are uniformly distributed at the two sides of the vehicle body. A GPS positioning module, a power supply module, a motor drive module and an upper computer are installed at the vehicle body. The AVG visual guiding method of the vehicle body includes a step that is executed by one time at a system initialization period or a phase one executed after setting condition triggering by the system and a phase two executed continuously at a system running period; and the phase one is an adaptive learning phase and the phase two is a road surface detection and road path planning phase. According to the invention, the system has the following advantages: manual guidance identifier laying is not required; the application of the system is flexible; the universality is high; the integrated construction cost of the AGV system is effectively lowered; the system is suitable for various complex road conditions and various weather conditions; and influences on road identification by factors like illumination, shadow, and lane lines and the like can be effectively eliminated by using the adaptive learning algorithm.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a vision-guided AGV system based on multi-sensor fusion. Background technique [0002] Since the birth of AGV more than 60 years ago, it has developed into an indispensable and important part of the modern production logistics system, and there is a trend of industrialization development. At the same time, the application range of the AGV system has expanded from material handling in the workshop to various application fields, including outdoor long-distance material transportation (such as material transportation and loading and unloading at ports, material transportation between workshops in the factory area, etc.), logistics automation Warehouses, automatic navigation of service robots (exhibition halls, venues, etc.), and smart cars, etc. [0003] Compared with the indoor AGV system, the development of outdoor AGV guidance technology is still relatively lagging behind. Affe...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 林志赟张雪菁
Owner 浙江科钛机器人股份有限公司
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