A Vision-Based AGV Navigation Method

Abstract

The invention discloses a vision-based AGV navigation method, which comprises the following steps: acquiring a picture of the ground with a track mark; performing grayscale processing on the reference horizontal line of the picture to obtain an array of reference horizontal lines; combining a plurality of the reference horizontal lines The array constitutes a track matrix; XOR processing is performed on the adjacent upper and lower rows of the track matrix to obtain track edge information; digitalize the track edge information and input it as an AGV controller to realize the movement of the AGV control. The invention also discloses a vision-based AGV navigation system. The invention also discloses an AGV comprising the above vision-based AGV navigation system. In the above navigation method, the track edge information obtained has high precision, and realizes the purpose of fast navigation.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a vision-based AGV navigation method. 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 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 limi...

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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