Image-patrolling-line based method for AGV (Automated Guided Vehicle) parking at designated point
A fixed-point parking and image technology, applied in two-dimensional position/channel control, electric speed/acceleration control, measuring device and other directions, which can solve the problems of poor stability and low control accuracy.
Active Publication Date: 2015-11-25
杭州金人自动控制设备有限公司
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[0005] In order to overcome the problems of low control precision and poor stability of the existing AGV fixed-point parking method based on image inspection line, the present invention provides an AGV fixed-point parking method based on image inspection line with high control accuracy and good stability. method, while ensuring the accurate recognition of ground parking landmark information, it also has the characteristics of being able to control the speed of AGV through landmark information feedback and realize closed-loop parking
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[0051] In order to make the object, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings.
[0052] refer to Figure 1 to Figure 7 , an AGV fixed-point parking method based on image line inspection, said method comprising the steps of:
[0053] 1) Perform a median filter on the collected image to remove the noise in the image. Such as figure 1 shown. A grayscale image containing navigation lines and stop landmarks.
[0054] 2) Convert the filtered image to HSV data format. Adjust the thresholds of H and S, extract the stop landmarks of the set color in the image, and obtain a binary image containing the stop landmarks. Such as figure 2 As shown in (a) and (b), the part of the H domain and the S domain containing only the stop line information is selected, so that the area of the stop landmark information can be extracted.
[0055...
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The invention relates to an image-patrolling-line based method for AGV (Automated Guided Vehicle) parking at a designated point. The method is carried out through the following steps: performing median filtering to an acquired image; converting the image into an HSV data format; drawing the parking mark with set colors from the image; obtaining a binary image containing the parking mark; performing open calculation and closed calculation in order to the binary image; determining that the acquired mark area is right, drawing the barycentric coordinates of various connected components and calculating an average coordinate; converting the acquired average longitudinal image coordinates into real ground distance information dy by using already available coordinate converting tablet; performing Kalman filtering to the dy and the vehicle speed read by an AGV coder; taking the real ground distance information dy as an input volume and inputting it into an active disturbance rejection control (ADRC); obtaining an AGV outputted speed at a next time and forming a closed-loop controller of position; repeating above steps, separating and drawing the parking marks in an image and controlling AGV high precision parking at a designated place until a vehicle stops. The method provided in the invention reaches high precision and good stability as well.
Description
technical field [0001] The invention is applied to the field of AGV control based on image line inspection, and relates to an AGV fixed-point parking method suitable for image line inspection. Background technique [0002] AGV (Automated Guided Vehicle), also known as automatic guided vehicle, is an important field in the realization of automated factories. This technology is mainly used in the handling and storage of materials in large warehouses with a large number of shelves, involving sensor data acquisition, data filtering, and routing. Information extraction, motion control, motor drive, data transmission and other related technical fields. [0003] With the rapid development of self-driving car technology in recent years and the inevitable trend of production automation, the market demand for automatic guided transport vehicles used in large warehouses has become increasingly strong. The efficient and accurate fixed-point parking technology in the automatic guided tr...
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Login to View More IPC IPC(8): G05D1/02G05D13/62G01C21/00
Inventor 董辉赖宏焕陈婷婷罗立锋吴祥
Owner 杭州金人自动控制设备有限公司