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Intelligent carrier, navigation method and device thereof, equipment, and storage medium

A technology of intelligent truck and visual navigation, applied in the field of intelligent forklifts, can solve the problems of installing cameras processing speed, unable to confirm whether the travel route of the intelligent truck deviates from the set route, etc.

Inactive Publication Date: 2019-11-22
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 these methods can confirm whether the route of the smart truck deviates from the set route, and correct the route of the smart truck
Due to the structural limitation of the smart truck, it is impossible to install a camera on the bottom of the vehicle and the processing speed of collecting ribbon images through a camera is slow

Method used

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  • Intelligent carrier, navigation method and device thereof, equipment, and storage medium
  • Intelligent carrier, navigation method and device thereof, equipment, and storage medium
  • Intelligent carrier, navigation method and device thereof, equipment, and storage medium

Examples

Experimental program
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Embodiment 1

[0039] figure 1 It is a schematic structural diagram of an intelligent transport vehicle provided in Embodiment 1 of the present invention, and the intelligent transport vehicle includes: a vehicle body 110 , an image sensor 121 or 122 and an arithmetic processing unit 130 .

[0040] Specifically, an image sensor and an arithmetic processing unit 130 are installed on the vehicle body 110 . Wherein, there are at least two image sensors, which are used to acquire ground images of the vehicle body traveling in the same direction or in the opposite direction, and the image sensors are connected to the arithmetic processing unit. The arithmetic processing unit 130 is used for controlling the intelligent transport vehicle based on the ground image obtained by the image sensor.

[0041] Exemplarily, the intelligent transport vehicle involved in the embodiment of the present invention may be a forklift or an unmanned guided vehicle (Automated Guided Vehicle, AGV) used in a factory wo...

Embodiment 2

[0050] figure 2 It is a flow chart of a visual navigation method provided by Embodiment 2 of the present invention. This embodiment can be applied to the intelligent truck described in any embodiment of the present invention. The method can be executed by a visual navigation device, which can be implemented through software and and / or implemented in hardware, and integrated into a device that executes the method. In this embodiment, the device that executes the method may be an intelligent terminal such as a computer, a tablet computer, and / or a mobile phone. Specifically, refer to figure 2 , the method specifically includes the following steps:

[0051] S210. Acquire a ground image by using the first image sensor and the second image sensor; record the ground image acquired by the first image sensor as a first ground image; record the ground image acquired by the second image sensor as a second ground image.

[0052] Specifically, the first image sensor is used to acquire...

Embodiment 3

[0073] Figure 5 This embodiment provides a schematic structural diagram of a visual navigation device, which can be applied to the smart truck described in any embodiment of the present invention, and which can be implemented in the form of software and / or hardware. Such as Figure 5 As shown, the device includes: a ground image acquisition module 510, a first color band identification module 520, a second color band identification module 530, a straight line fitting module 540, a first distance calculation module 550, a second distance calculation module 560, a bias Shift angle calculation module 570 and travel route correction module 580.

[0074] Wherein, the ground image acquiring module 510 is used to acquire the ground image through the first image sensor and the second image sensor; the ground image acquired by the first image sensor is denoted as the first ground image; the ground image acquired by the second image sensor is denoted as the second Ground imagery;

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Abstract

The embodiment of the invention discloses an intelligent carrier, a navigation method and device thereof, equipment, and a storage medium. The intelligent carrier comprises a vehicle body, at least two image sensors and an operation processing unit are installed on the carrier body, the image sensors are used for acquiring ground images of a same advancing direction and an opposite advancing direction of the vehicle body and are connected with the operation processing unit. The operation processing unit is used for controlling the intelligent carrier based on the ground images obtained by theimage sensors. The plurality of image sensors collect the ground images at the same time, so that the processing speed is increased, whether the advancing route of the intelligent carrier deviates ornot can be determined, and the advancing route of the intelligent carrier is corrected.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of intelligent forklifts, and in particular to an intelligent transport vehicle and its 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 pallet trucks in the market, most of which use magnetic navigation, laser navigation, single camera ribbon navigation and other line inspection navigation technologies. [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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B66F9/075H04N5/225H04N5/232H04N5/247H04N23/90
CPCG05D1/0246B66F9/075H04N23/54H04N23/80H04N23/90
Inventor 谢勇贺松
Owner 国以贤智能科技(上海)股份有限公司
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