Visual navigation method, visual navigation device, equipment and storage medium

A technology for visual navigation and intelligent trucks, applied in the field of intelligent forklifts, can solve the problem of not being able to confirm whether the travel route of the intelligent truck deviates from the set route and so on.

Inactive Publication Date: 2019-10-22
国以贤智能科技(上海)股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the prior art, although various navigation technologies can navigate the smart truck through different methods, none of t

Method used

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  • Visual navigation method, visual navigation device, equipment and storage medium
  • Visual navigation method, visual navigation device, equipment and storage medium
  • Visual navigation method, visual navigation device, equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] figure 1 It is a flow chart of a visual navigation method provided by Embodiment 1 of the present invention. This embodiment can be applied to intelligent trucks. The method can be executed by a visual navigation device, which can be implemented by software and / or hardware. And be integrated in the device that executes the method. In this embodiment, the device that executes the method may be a smart terminal such as a computer, a tablet computer, and / or a mobile phone. Specifically, refer to figure 1 , the method specifically includes the following steps:

[0042] S110. Acquire a ground image through an image sensor.

[0043] Specifically, the image sensor is used to obtain the ground image of the route of the intelligent transport vehicle. It should be noted that the intelligent transport vehicle involved in the embodiment of the present invention can be a forklift or an unmanned transport vehicle (Automated Guided Vehicle, AGV). Wherein, the image sensor may be a...

Embodiment 2

[0067] Figure 5 This embodiment provides a schematic structural diagram of a visual navigation device, which can be applied to an intelligent truck, and which can be implemented in software and / or hardware. Such as Figure 5 As shown, the device includes: a ground image acquisition module 510 , a route identification recognition module 520 , a location parameter determination module 530 and a route correction module 540 .

[0068] Wherein, the ground image acquisition module 510: used for acquiring ground images through an image sensor;

[0069] Line identification identification module 520: used to identify the line identification according to the ground image; the line identification is used to navigate and locate the intelligent transport vehicle, and the line identification includes: ribbons, numbers and / or characters;

[0070] Position parameter determination module 530: used to determine the position parameters of the intelligent transport vehicle according to the rou...

Embodiment 3

[0079] Figure 6 A schematic structural diagram of a device provided in Embodiment 3 of the present invention, such as Figure 6 As shown, the device includes a processor 60, a memory 61, an input device 62 and an output device 63; the number of processors 60 in the device can be one or more, Figure 6 Take a processor 60 as an example; the processor 60, memory 61, input device 62 and output device 63 in the device can be connected by bus or other methods, Figure 6 Take connection via bus as an example.

[0080] Memory 61, as a computer-readable storage medium, can be used to store software programs, computer-executable programs and modules, such as modules corresponding to the visual navigation method in the embodiment of the present invention (for example, the ground image acquisition module 510, the line identification recognition module 520, position parameter determination module 530 and route correction module 540). The processor 60 executes various functional applic...

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Abstract

The embodiments of the invention disclose a visual navigation method, a visual navigation device, equipment and a storage medium. The visual navigation method is applied to an automated guided vehicle. The method comprises the following steps that: a ground image is acquired through an image sensor; route identifiers are identified according to the ground image, wherein the route identifiers are used for the navigating and positioning of the automated guided vehicle and comprise color zones, digitals and/or characters; the position parameters of the automated guided vehicle are determined according to the route identifiers; and the advancing route of the automated guided vehicle is corrected according to the position parameters. With the visual navigation method, the visual navigation device, the equipment and the storage medium of the invention adopted, the route of the automated guided vehicle is corrected when the driving route of the automated guided vehicle deviates.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of intelligent forklifts, and in particular to a visual navigation method, device, equipment and storage medium. Background technique [0002] With the vigorous development of automation technology and machine vision technology, in order to reduce labor costs, more and more factory workshops, warehouses and other places use intelligent pallet trucks to carry goods, load goods, unload goods and other operations. [0003] At this stage, there are many smart trucks in the market, and most of these smart trucks use line-tracking navigation technologies such as magnetic navigation, laser navigation, and dual-camera ribbon navigation. [0004] In the prior art, although various navigation technologies can navigate the smart truck through different methods, none of these methods can confirm whether the travel route of the smart truck deviates from the set route, and correct the travel route of...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C11/02G05D1/02
CPCG01C21/20G01C11/02G05D1/0246
Inventor 贺松谢勇
Owner 国以贤智能科技(上海)股份有限公司
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