AGV (Automatic Guided Vehicle) system based on hybrid navigation of laser radar and depth camera
A depth camera and lidar technology, applied in control/adjustment systems, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve problems such as the limitations of AGV systems, and reduce difficulty and limitations. , location information for fast and precise results
Inactive Publication Date: 2019-07-26
合肥柯金自动化科技股份有限公司
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This has caused great limitations to the application of the AGV system
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[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0034] see Figure 1-5 , the present invention provides a technical solution:
[0035] An AGV system based on laser radar and depth camera hybrid navigation, as shown in the attached figure 2 As shown, it includes AGV body 1, laser radar 2 and depth camera 3. Laser radar 2 uses CE30 solid-state area array laser radar from Benewake Beijing Photon Technology Co., Ltd., and depth camera 3 uses Intel’s D415 RealSense depth camera. The radar 2 and the depth came...
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The invention discloses an AGV (Automatic Guided Vehicle) system based on the hybrid navigation of a laser radar and a depth camera. The system comprises an AGV body, a laser radar and a depth camera.The AGV comprises the following steps that: 1) through the depth camera, photographing a tray; 2) transmitting the corresponding depth image, which is obtained by photographing, of the tray to an industrial control PC (Personal Computer) to be processed; 3) obtaining point cloud data, and using a vertical direction projection method for calculation; 4) after detection is carried out, obtaining the (x,z) information of tray data; and 5) through the obtained horizontal position (x,z) of the tray, solving the clustering center of a Y direction near the horizontal position of the tray in the point cloud to obtain the spatial space Y information of the tray. The AGV system does not have accurate requirements on the setting of a site position and the placement position of a cargo tray, identification and positioning can be carried out only when the depth camera photographs the photo of the tray, and therefore, the limitation of the AGV system on an aspect of use and application can be lowered.
Description
technical field [0001] The invention relates to the technical field of AGV navigation and positioning, in particular to an AGV system based on laser radar and depth camera hybrid navigation. Background technique [0002] In the prior art, the application number is "CN106774334A", a laser-guided AGV navigation and positioning method and device with multiple laser scanners, which discloses the use of laser scanners to guide the AGV navigation and positioning method and device, but it does not use The depth camera is used. [0003] The application number is "CN106940185A", a mobile robot positioning and navigation method based on a depth camera, which discloses the function of the depth camera for positioning and navigation, but it does not specify the specific process of positioning and recognition. [0004] The application number is "CN106990781A", which is based on laser radar and image information. It discloses laser radar and visible light camera, but its laser radar and ...
Claims
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IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0246
Inventor 梁毅军许照烜
Owner 合肥柯金自动化科技股份有限公司