AGV (automatic guided vehicle), AGV navigation method based on vision and AGV navigation system based on vision

Abstract

The invention discloses an AGV (automatic guided vehicle) navigation method based on vision. The method comprises the following steps of obtaining a picture with the orbit marked ground; performing grey processing on a reference horizontal line of the picture to obtain a reference horizontal line array; forming the plurality of reference horizontal line arrays into an orbit matrix; performing Exclusive OR processing on the two adjacent upper and lower lines of the orbit matrix to obtain orbit edge information; performing digitization processing on the orbit edge information; using the result as the controller input of an AGV so as to realize the motion control on the AGV. The invention also discloses an AGV navigation system based on the vision. The invention also discloses the AGV comprising the AGV navigation system based on the vision. The navigation method has the advantages that the precision of the obtained orbit edge information is higher; the goal of fast navigation is achieved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a vision-based AGV navigation method. Besides, the present invention also relates to a vision-based AGV navigation system. In addition, the present invention relates to an AGV including the above vision-based AGV navigation system. Background technique [0002] AGV (Automated Guided Vehicle), that is, "automatically guided transport vehicle", refers to the transportation that is equipped with automatic guidance devices such as electromagnetic or optical, which can drive along the specified guidance path, and has safety protection and various transfer functions. car. [0003] At present, AGV has a variety of guidance methods, including: electromagnetic guidance, laser guidance, visual guidance, etc. Because laser guidance and electromagnetic guidance are often expensive, they are easily affected by the complex environment of the factory, and with the development of em...

AI Technical Summary

Problems solved by technology

Because laser guidance and electromagnetic guidance are often expensive, they are easily affected by the complex environment of the factory, and with the development of embedded controller chips, AGV will be more intelligent, and visual guidance will be more flexible. direction of development

[0004] In the existing visual navigation technology, due to the limitation of calculation speed, there are often problems of difficult implementation

For example, the vision-guided AGV system and method using an embedded system, due to the use of a dual-camera solution, is costly and requires high-speed image processing capabilities; while other vision-based AGV navigation methods also use the orbital matrix, but It is by finding all connected and overlapping edge areas of the picture, and the algorithm is complex

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