AGV colored tape navigation sensor circuit

Abstract

The invention relates to an AGV color band navigation sensor circuit comprising a CMOS photosensitive element image acquisition circuit which is connected with a video image processing circuit and sends an acquired color band image to the video image processing circuit; one end of the fill-in light isolation driving circuit is connected with the video image processing circuit, and the other end ofthe fill-in light isolation driving circuit is connected with the LED fill-in light circuit and used for receiving a control signal of the video image processing circuit and driving the LED fill-in light circuit to fill in light; the video image processing circuit is connected with the FLASH circuit and the RAM circuit and is used for video image processing and data decoding; and the power supplycircuit supplies power to the whole circuit. The video image processor and the photosensitive element adopted in the invention improve the positioning and decoding speed of the color band and the two-dimensional code, the average power consumption of the equipment is reduced through the synchronous triggering design of the light supplementing lamp and the photosensitive element, and the application range of the equipment is increased through the extended analog quantity output interface.

Description

technical field [0001] The invention relates to the field of color ribbon navigation, and is applied to automatic guided transport vehicles using visual navigation technology, in particular to an AGV color ribbon navigation sensor circuit. Background technique [0002] Visual navigation is to paint paint with a large color contrast with the ground or paste a ribbon with a large color contrast on the driving path of the AGV. A camera sensor is installed on the AGV to compare the continuously captured pictures with the stored pictures, and the offset signal The output is sent to the drive control system, and the control system corrects the walking direction of the AGV through calculation to realize the navigation of the AGV. Advantages of visual navigation: AGV positioning is accurate, visual navigation is flexible, it is easier to change or expand the path, and the path laying is relatively simple. The guiding principle is as simple and reliable as the tape navigation, no int...

AI Technical Summary

Problems solved by technology

But there are still the following disadvantages: First, because the rolling shutter is easy to cause image smearing when taking pictures of high-speed moving objects, the speed of sensor detection of ID information is limited in existing applications

Secondly, in order to avoid the impact of the fill light reflection on the image, the installation position of the sensor should not be too close to the ground. At the same time, in order to reduce the image tailing phenomenon in high-speed detection, it is necessary to reduce the shutter time. The above two reasons lead to the high power of the fill light , high power consumption

Again, the processing speed of the processor selected by most of the circuits is slow, which is not enough to complete the positioning and decoding of the two-dimensional code while detecting the color band at high speed

In addition, in terms of sensor interface, most of the existing sensors use the bus output method, which needs to be used with the car body controller, and the communication has a certain delay time

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