AGV space obstacle avoidance method and system based on 3D vision
An obstacle avoidance and 3D technology, applied in the field of computer vision, can solve the problems of large amount of data calculation, poor accuracy, and poor real-time detection of obstacle avoidance.
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[0031] Example one
[0032] Such as figure 1 As shown, this embodiment provides a 3D vision-based AGV space obstacle avoidance method, which includes:
[0033] Step 1: Within the preset distance threshold of the current position of the AGV, determine whether there is obstacle 3D point cloud information in the forward direction of the AGV preset track. If not, the AGV operates normally; otherwise, the AGV enters the obstacle avoidance state.
[0034] In specific implementation, the current position and heading direction of the AGV are obtained based on real-time received AGV pose information. Among them, the AGV pose information includes the real-time position and velocity of the AGV.
[0035] For example: at time t, the AGV pose information includes the position p and velocity v of the AGV. Among them, the position p and velocity v of the AGV are both vectors, and they are in the same global coordinate system.
[0036] In this embodiment, within the preset distance threshold range of ...
Example Embodiment
[0060] Example two
[0061] This embodiment provides a 3D vision-based AGV space obstacle avoidance system, which includes:
[0062] (1) Obstacle judgment module, which is used to judge whether there is obstacle 3D point cloud information in the forward direction of the AGV preset track within the preset distance threshold range of the current position of the AGV, if not, the AGV operates normally; Otherwise, the AGV enters the obstacle avoidance state.
[0063] In specific implementation, the current position and heading direction of the AGV are obtained based on real-time received AGV pose information. Among them, the AGV pose information includes the real-time position and velocity of the AGV. For example: at time t, the AGV pose information includes the position p and velocity v of the AGV.
[0064] In this embodiment, within the preset distance threshold range of the current position of the AGV, it is determined whether there is obstacle 3D point cloud information in the forwar...
Example Embodiment
[0088] Example three
[0089] This embodiment provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps in the 3D vision-based AGV space obstacle avoidance method as described in the first embodiment are implemented.
[0090] This embodiment determines whether there is obstacle 3D point cloud information in the forward direction of the AGV preset track within the preset distance threshold range of the current position of the AGV, which can narrow the obstacle detection range, reduce the amount of data calculation, and improve obstacle avoidance detection Real-time.
[0091] According to the obstacle 3D point cloud information, this embodiment parses out the shape, size and position of each obstacle, and then obtains accurate information of the obstacle. In order to judge the state of the obstacle, the accurate data basis is improved, which is beneficial to improve the AGV. The accuracy of space obsta...
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