Automated guided vehicle based on machine vision and automatic driving method thereof

Abstract

The invention relates to an automated guided vehicle based on machine vision, which comprises a frame chassis, a stepping motor and a driving motor, wherein the frame chassis is equipped with front wheels and rear wheels, there is a steering device between the front wheels or the rear wheels, the stepping motor is used for driving the steering device to realize steering, the driving motor is usedfor driving the front wheels or / and the rear wheels to rotate, and the frame chassis is equipped with a load-bearing bracket. The automated guided vehicle based on machine vision further comprises a CCD camera, a processor and a controller, wherein the CCD camera is arranged at the front end face of the frame chassis, the CCD camera is electrically connected with the processor, the stepping motor,the driving motor and the processor are electrically connected with the controller, the processor is equipped with a machine vision Dijkstra algorithm module, the CCD camera is used for obtaining a real-time image and transmitting the real-time image to the processor, the machine vision Dijkstra algorithm obtains parameters of the optimal path according to the real-time image, and the controllercontrols the stepping motor and the driving motor to operate according to the parameters of the optimal path. The automated guided vehicle based on machine vision can realize autonomous obstacle avoidance and real-time turning, and is high in intelligent level.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a machine vision-based automatic navigation transport vehicle and an automatic driving method thereof. Background technique [0002] AGV is the abbreviation of (Automated Guided Vehicle), which means "automatically guided transport vehicle", which is equipped with automatic guidance devices such as electromagnetic or optical, which can drive along the prescribed guiding path, and has safety protection and various transfers. Functional transport vehicles, AGVs belong to the category of wheeled mobile robots. It has the advantages of fast action, high work efficiency, simple structure, strong controllability and good safety. [0003] Research value, but the guidance path of the automatic navigation transport vehicle in the existing technology can only be fixed in the workshop, and the degree of automation is low, and it cannot independently identify and select multi-bran...

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Problems solved by technology

[0003] Research value, but the guidance path of the automatic navigation transport vehicle in the existing technology can only be fixed in the workshop, and the degree of automation is low, and it cannot independently identify and select multi-branch paths, nor can it realize autonomous obstacle avoidance and real-time turning. The degree of automation is low, so it will have great practical significance for the research and development of automatic navigation transport vehicles used in agricultural product processing workshops

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