Shortest annular path navigation method for automatic guide transport cart and guide transport cart

Abstract

The invention discloses a shortest annular path navigation method for an automatic guide transport cart and the transport cart. A shortest one-way annular path required by a mission is found out in anadjacent matrix through a Dijkstra algorithm; the shortest one-way annular path determined in step 2 is input into a centrally-controlling machine, and an industrial personal computer controls a driving module to drive the automatic guide transport cart; a binocular vision sensor and a high-speed image collecting system collect information, and determine the position of the cart in a ground coordinate system; the centrally-controlling machine sends position correcting information to the industrial personal computer according to the actual position and the movement state. By means of the one-way annular path planning method, the Dijkstra algorithm is adopted for achieving the shortest path search between two points in a non-negative-weight map in a shortest path algorithm, the path planning efficiency for the automatic guide transport cart is improved, and thus the difficulty of path planning is reduced; moreover, through real-time correction of the binocular vision sensor and the high-speed image collecting system, it is guaranteed that the automatic guide transport cart is prepared to arrive at the target position through the shortest path.

Description

technical field [0001] The invention relates to the field of automatic vehicle guidance, in particular to a method for navigating the shortest circular path of an automatic guided transport vehicle and a guided transport vehicle. Background technique [0002] With the development of science and technology, the automatic guidance technology of vehicles is widely used. Vehicles can run automatically according to the planned route without manual operation, which can greatly improve work efficiency and save labor costs. [0003] The current automatic guidance methods are mainly optical guidance, electromagnetic guidance and other methods. However, these methods have their limitations. With the development of technology, some new guidance technologies have emerged, such as vision guidance technology. This method can effectively reduce the difficulty of guidance and make the vehicle easy to control, but the control accuracy is relatively low. And after working for a long time, it...

AI Technical Summary

Problems solved by technology

However, these methods have their limitations. With the development of technology, some new guidance technologies have emerged, such as vision guidance technology. This method can effectively reduce the difficulty of guidance and make the vehicle easy to control, but the control accuracy is relatively low. And after working for a long time, it is easy to accumulate errors and affect normal operations

[0004] The path planning of automatic guided vehicles plays a key role in the operation process. Although the research on the path planning of automatic guided vehicles has been done for decades, due to the high complexity of the working environment of automatic guided vehicles, It is difficult to avoid obstacles and optimize the path, so there are still many places worthy of research and exploration

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