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Road identification and path optimization AGV (automatic guided vehicle) based on machine vision and control system of AGV

A machine vision and control system technology, applied in control/adjustment systems, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of high construction cost of transportation rails, easy to be affected by the environment, and changing routes. Problems such as large engineering volume and capital consumption, to achieve the effect of ensuring safety and reliability, improving flexibility and obstacle avoidance ability

Active Publication Date: 2017-02-22
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, with the wide application of AGV cars in various industries, the shortcomings of traditional AGV cars have gradually emerged.
Traditional AGV cars often use electromagnetic or light belts for automatic guidance. During the application process, they will encounter problems such as high cost of transport rail construction, easy to be affected by the environment, and large amount of engineering and capital costs for changing routes. In order to solve the above problems, this paper The invention innovatively uses machine vision technology, and the AGV main control system recognizes the feature points (mainly in color) on the motion path simply constructed by PA tape, so as to realize the automatic recognition of the route. At the same time, the Dijkstra algorithm is used to realize the most surface The selection of the optimal path has important economic value and practical significance for improving the production efficiency of the workshop

Method used

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  • Road identification and path optimization AGV (automatic guided vehicle) based on machine vision and control system of AGV
  • Road identification and path optimization AGV (automatic guided vehicle) based on machine vision and control system of AGV
  • Road identification and path optimization AGV (automatic guided vehicle) based on machine vision and control system of AGV

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Embodiment 1

[0032] See figure 1 , 4 , The present invention is a multi-task AGV transport vehicle based on machine vision and optimal path selection, including body 1, camera 2, ultrasonic module 3, wheels 4 (including left front wheel 4.1, right front wheel 4.2, left rear wheel 4.3, right Rear wheel 4.4, each wheel contains a mother wheel and a child wheel. For details, please participate Figure 5 with Image 6 ), main control system 5, step-down module 6, motor drive module 7, battery 8, DC motor 9, power switch 10, remote control signal receiving module 11, sound and light alarm module 12, side light 13, bumper 14, working status Indicator light 15, working status display 16.

[0033] See figure 1 The camera 2 is installed in the lower part of the body 1 of the AGV transport vehicle, and the camera 2 is used to perform image preprocessing on the pictures acquired by the camera 2 using image processing technology to obtain the target linear feature points, and then perform image preproce...

Embodiment 2

[0039] The following reference Figure 1-4 Another embodiment of an AGV transport vehicle and its control system based on intelligent road recognition and route optimization based on machine vision is provided. The transport vehicle includes a body, a camera, an ultrasonic module, wheels, a main control system, a voltage reduction module, and a motor drive. Module, battery, DC motor, power switch, remote control receiving module, sound and light alarm module, camera, motor drive module, battery are placed in the upper part of the front of the car body, ultrasonic module, step-down module are placed in the lower part of the front of the car body, sound and light alarm module , The remote control receiving module and the power switch are located in the upper part of the rear of the vehicle body, and the main control system is located inside the vehicle body.

[0040] The work is done by pre-laying PA tapes with different paths divided by different colors or text and patterns in the ...

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PUM

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Abstract

The invention provides a road identification and path optimization AGV (automatic guided vehicle) based on machine vision and a control system of the AGV. By the aid of machine vision, a speed-adjustable motor, an ultrasonic module and the like, automatic road identification and optimal path selection of the AGV are realized. A camera is used for acquiring road images, a main control system is used for identifying features points simply built on a movement path by PA (polyamide) adhesive paper, the path is automatically identified, the optimal path is selected by a Dijkstra algorithm, task signals in the driving process are transmitted by a remote control module, obstacles are detected by the ultrasonic module to trigger audible and visual alarm, and emergency brake is realized.

Description

Technical field [0001] The invention relates to an AGV transport vehicle and a control system thereof, in particular to an AGV transport vehicle and a control system thereof based on intelligent road recognition and route optimization based on machine vision. Background technique [0002] AGV is the abbreviation of Automated Guided Vehicle (Automated Guided Vehicle), which is a kind of automated material handling equipment. It refers to a transportation vehicle equipped with electromagnetic or optical automatic guidance devices that can travel along a prescribed guide path. It also has Programming device, safety protection device and various transfer functions. It is powered by a battery for non-contact guidance. It can safely lead to the designated goal according to the given starting point and end point without human intervention, thereby completing various given tasks. However, with the wide application of AGV cars in various industries, the shortcomings of traditional AGV c...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0251G05D1/0255
Inventor 熊俊涛蔡任梁倬豪李金丽刘园园杨景鸿周谊聪何志良刘振林睿
Owner SOUTH CHINA AGRI UNIV
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