An AGV vision positioning system based on structured light
A visual positioning and structured light technology, which is applied in control/adjustment system, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problem of high environmental and ground requirements, high manufacturing cost, two-dimensional code Poor positioning accuracy and other problems, to achieve the effect of high beam concentration and stable frequency
Active Publication Date: 2020-09-04
SICHUAN UNIV
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Problems solved by technology
The disadvantage is that it is difficult to calibrate the two-dimensional code. When the road is more complicated, the two-dimensional code information needs to be updated frequently, and the positioning accuracy of the two-dimensional code alone is very poor. Usually, the gyroscope is used to control the movement of the AGV. The accuracy of the gyroscope Higher requirements for life and life, and higher requirements for the ground
[0006] The third category is laser navigation, which has high precision and does not require ground facilities, but its manufacturing cost is high, and it has high requirements for the environment and the ground
Method used
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Embodiment 1
[0043] Such as figure 1 As shown, an AGV visual positioning system based on structured light includes an AGV11 and a track. The AGV11 is provided with an image acquisition module, a host computer and a motor controller, and several groups of structured light sources 12 are provided on the track;
[0044] The image acquisition module is used to receive signals from several groups of structured light sources 12 and transmit them to the upper computer; the upper computer is used to communicate with the structured light source 12 and analyze the collected image information, so as to determine the current position and deflection angle information of the AGV 11, and then according to the position And the deflection angle information generation command is sent to the motor controller; the motor controller is used to receive the command from the upper computer and control the motion direction and speed of the AGV (11) according to the command.
[0045] When the AGV11 is traveling on the tra...
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The invention provides an AGV visual positioning system based on structured light, which includes an AGV and a trajectory. An image acquisition module, a host computer and a motor controller are arranged on the AGV, and several groups of structured light sources are arranged on the trajectory; the image acquisition module is used to receive several Group the signal of the structured light source and transmit it to the host computer; the host computer is used to communicate with the structured light source and analyze the collected image information, so as to determine the current position and deflection information of the AGV; the motor controller is used to receive instructions from the host computer and control the AGV The direction and speed of the movement, the structured light source emits coherent light on the AGV, the image acquisition module collects the irradiated spot image and transmits it to the host computer, and the host computer analyzes the collected image information to determine the current position and deflection angle of the AGV The information is transmitted to the motor controller, and the motor controller controls the driving of the AGV according to the received instructions. This system has high precision, low cost, and flexible route setting.
Description
Technical field [0001] The invention relates to the field of track detection, in particular to an AGV vision positioning system based on structured light. Background technique [0002] AGV navigation technology includes magnetic point navigation, electromagnetic navigation, tape navigation, visual navigation, laser navigation, natural contour navigation, and two-dimensional code navigation. Use different signal feedback to locate the position of the AGV in the entire system for handling operations. [0003] The existing AGV vision navigation system is mainly divided into the following categories: [0004] The first category is to collect road environment information through the camera, and then analyze and plan the road image data to control the movement of the AGV. The disadvantages of this type of method are that the ground markings need to be laid in advance and frequent renovations are required, and the route setting is not flexible enough. [0005] The second type is to place m...
Claims
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IPC IPC(8): G05D1/02G05D1/03
CPCG05D1/0223G05D1/0236G05D1/0242G05D1/0248G05D2201/0216
Inventor 胡晓兵李航向海吴孟桦
Owner SICHUAN UNIV