Alignment method and device for guiding automatic charging of IGV, electronic equipment and storage medium

Abstract

The invention discloses an alignment method and device for guiding automatic charging of an IGV, electronic equipment and a storage medium. The method comprises the following steps: controlling a to-be-charged IGV to move to a charging area of an optimal charging device; when the to-be-charged IGV reaches the charging area, controlling the to-be-charged IGV to start performing alignment operation based on a laser navigation mode; when the advancing distance of the IGV to be charged reaches a distance threshold value, whether a vehicle body deviation value is smaller than a deviation threshold value or not is judged; if not, switching the navigation mode from the laser navigation mode to a visual guidance mode; and controlling the to-be-charged IGV to continuously execute alignment operation based on the ground marking line of the charging area and the visual guidance mode. According to the embodiment of the invention, the technical problem of low charging efficiency of an intelligent guide vehicle in an automatic wharf operation area is solved.

Description

Technical Field

[0001] The present application relates to a docking method, device, electronic device and storage medium for guiding automatic charging of IGV, and belongs to the field of intelligent ports. Background Art

[0002] With the rapid advancement of intelligent manufacturing and Industry 4.0, the automation of logistics transportation has become an important part of the manufacturing industry. Among them, IGV, as a key component of port intelligent transportation equipment, undertakes an important task of horizontal transportation. However, IGV needs to be charged regularly to ensure continuous operation, and the accuracy and efficiency of docking during the charging process directly affect the stability of the equipment and the operation efficiency of the terminal. The traditional manual charging method is inefficient and relies on frequent manual intervention, which is inconsistent with the concept of an efficient and unmanned intelligent port. Therefore, the development of an automated and precise charging docking method has become an inevitable requirement.

[0003] Currently, some automated terminals use the ground magnetic nail induction method to achieve the docking of IGV and charging equipment. However, this method has problems such as high investment cost, poor scene adaptability, and difficult operation and maintenance: First, to meet the accuracy requirements, the deployment of magnetic nails is complex and the number is large, resulting in a significant increase in cost; second, the magnetic nail method is difficult to meet the flexible path planning requirements of IGV; in addition, factors such as ground settlement are likely to damage the magnetic nail signal transmission and affect the docking accuracy. At the same time, other charging and energy replenishment methods also have significant drawbacks. For example, UWB devices are difficult to achieve long-distance signal transmission and reception, infrared technology has poor anti-interference ability and low accuracy, and Bluetooth or RFID faces problems such as signal interference and insufficient accuracy.

[0004] Therefore, exploring an efficient, precise and adaptable charging docking solution has become an urgent need for the development of intelligent ports. Summary of the Invention

[0005] In view of this, the present application provides a docking method, device, electronic device and storage medium for guiding automatic charging of IGV. The embodiments of the present application solve the technical problem of low charging efficiency of intelligent guided vehicles in the operation area of automated terminals.

[0006] In the first aspect of the embodiments of the present application, a docking method for guiding automatic charging of IGV is disclosed. The method includes: controlling the IGV to be charged to move to the charging area of the optimal charging device; when the IGV to be charged reaches the charging area, controlling the IGV to be charged to start performing docking operations based on the laser navigation mode; when the forward distance of the IGV to be charged reaches a distance threshold, determining whether the vehicle body offset value is less than the deviation threshold; if not, switching the navigation mode from the laser navigation mode to the visual guidance method; and controlling the IGV to be charged to continue performing docking operations based on the ground marking lines in the charging area and the visual guidance method.

[0007] Furthermore, the ground marking line adopts a composite process of a base coating and reflective microbeads; the coating is yellow with a wavelength of 590 nm, where the RGB threshold is: R > 200, G > 180, B < 50; the reflectivity of the microbeads > 80%; and / or the ground marking line is provided with spaced two-dimensional coordinate values along its path extension direction, and the two-dimensional coordinate values are stored by the vehicle-mounted main control device, and the spacing distance is 0.8 m - 1.2 m; and / or the length of the ground marking line is 10 m - 20 m.

[0008] Furthermore, controlling the to-be-charged IGV to continue to perform the alignment operation based on the ground marking line of the charging area and the visual guidance method includes: acquiring image data, where the image data includes the ground marking line; obtaining a reference line based on the Hough transform and the image data; obtaining offset data based on a crosshair in a preset image coordinate system and the reference line; and performing the alignment operation based on the PID control algorithm and the offset data.

[0009] Furthermore, before obtaining the reference line based on the Hough transform and the image data, it further includes: converting the image data into grayscale image data; denoising the grayscale image data based on Gaussian filtering; and obtaining the edge features of the ground marking line based on the Canny algorithm and the denoised grayscale image data.

[0010] Furthermore, the method further includes: when the offset trend of the offset data keeps increasing and exceeds the deviation threshold, controlling the to-be-charged IGV to reverse and exit to the periphery of the charging station or a parking space outside the charging station; controlling the to-be-charged IGV to move to the charging area of the optimal charging device, and performing laser alignment operation, distance judgment operation, mode switching operation, and visual alignment operation; when the offset trend of the offset data keeps increasing and exceeds the deviation threshold again, sending out the fault information of the to-be-charged IGV and / or taking over the to-be-charged IGV manually.

[0011] Furthermore, controlling the to-be-charged IGV to move to the charging area of the optimal charging device includes: finding the optimal charging device based on the position of the to-be-charged IGV and the positions of the idle charging devices and planning the shortest walking path of the to-be-charged IGV; and controlling the to-be-charged IGV to move to the charging area of the optimal charging device based on the shortest walking path.

[0012] Furthermore, finding the optimal charging device based on the position of the to-be-charged IGV and the positions of the idle charging devices and planning the shortest walking path of the to-be-charged IGV is as follows:

[0013]

[0014] L iF(t)=|D i (t)+[B×(Q i (t)-Q(t)]|;

[0015] Wherein, F is the objective function, a is the number of lengths between each stored node, L i (t) is the moving distance of the length between the i-th nodes, D i (t) is the position where the IGV to be charged does not collide with other IGVs, obtained through the preset walking paths of each pre-stored IGV, B is a random number for local search, Q i (t) is the optimal position, and Q(t) is the current position of the IGV to be charged.

[0016] In the second aspect of the embodiments of the present application, a device for guiding an IGV to automatically charge is disclosed. The device includes: a navigation module for controlling the IGV to be charged to move to the charging area of the optimal charging device; a laser alignment module for, when the IGV to be charged reaches the charging area, controlling the IGV to be charged to start performing an alignment operation based on the laser navigation mode; a judgment module for, when the forward distance of the IGV to be charged reaches a distance threshold, judging whether the vehicle body offset value is less than a deviation threshold; a switching module for, if not, switching the navigation mode from the laser navigation mode to a vision guidance method; a vision alignment module for controlling the IGV to be charged to continue performing the alignment operation based on the ground marking lines in the charging area and the vision guidance method.

[0017] In the third aspect of the embodiments of the present application, a computer-readable storage medium is disclosed. The computer-readable storage medium includes a stored program, wherein, when the program runs, it controls the processor of the device where it is located to execute the alignment method for guiding an IGV to automatically charge in the above embodiments.

[0018] In the fourth aspect of the embodiments of the present application, an electronic device is disclosed. The electronic device includes: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors execute the alignment method for guiding an IGV to automatically charge in the above embodiments.

[0019] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0020] An embodiment of the present application provides a method, device, electronic device, and storage medium for guiding an IGV to automatically charge and align. The method for guiding the IGV to automatically charge and align includes: controlling the IGV to be charged to move to the charging area of the optimal charging device; when the IGV to be charged reaches the charging area, controlling the IGV to be charged to start performing the alignment operation based on the laser navigation mode; when the forward distance of the IGV to be charged reaches the distance threshold, determining whether the vehicle body offset value is less than the deviation threshold; if not, switching the navigation mode from the laser navigation mode to the visual guidance method; and controlling the IGV to be charged to continue performing the alignment operation based on the ground marking line in the charging area and the visual guidance method. The visual guidance method takes over when the laser navigation mode fails, effectively reducing the alignment error and improving the adaptability of the system. At the same time, the fully automated operation reduces manual intervention, enhances the system stability, optimizes resource utilization, and provides reliable support for the unmanned operation of intelligent ports. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0022] Figure 1 It is a schematic flowchart of a method for guiding an IGV to automatically charge and align provided by an embodiment of the present application.

[0023] Figure 2 It is a schematic flowchart of a charging scheduling method provided by an embodiment of the present application.

[0024] Figure 3 It is a schematic flowchart of a method for finding the optimal charging pile and calculating the walking path provided by an embodiment of the present application.

[0025] Figure 4 It is a schematic flowchart of a visual and laser mutual verification decision logic provided by an embodiment of the present application.

[0026] Figure 5 It is a scene diagram of IGV visual guidance charging provided by an embodiment of the present application.

[0027] Figure 6 It is a schematic flowchart of another method for guiding an IGV to automatically charge and align provided by an embodiment of the present application.

[0028] Figure 7 It is a schematic structural diagram of a device for guiding an IGV to automatically charge and align provided by an embodiment of the present application. Detailed implementation manners

[0029] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1:

[0032] Figure 1 It is a schematic flowchart of a method for aligning an IGV for automatic charging provided by an embodiment of the present application. As Figure 1 shown, the method may include the following steps:

[0033] 101 Control the IGV to be charged to move to the charging area of the optimal charging device.

[0034] In some embodiments, the IGV is built with a power detection module. When the power is lower than a preset value, the IGV is defined as a state to be charged by the processor. The IGV to be charged can move to the charging area of the optimal charging pile by using a conventional built-in navigation algorithm.

[0035] In other embodiments, as Figure 2As shown in the figure, the Equipment Scheduling System (ECS) monitors all the equipment in the whole plant in real time, including the operating status of IGVs and charging piles. Among them, the Fleet Management Subsystem (VMS) is responsible for uploading information such as the precise location, driving status and power of IGVs, and the Charging Station Management Subsystem (BMS) is responsible for uploading the location information of charging piles. When an IGV completes its current task or its power reaches the low alarm threshold, the Equipment Scheduling System will set it as an IGV to be charged; subsequently, the system searches for the optimal charging pile and calculates the travel path based on the locations of each charging pile, the locations of each IGV, and the location of the IGV to be charged; the generated task information is analyzed and processed through the Fleet Management Subsystem (VMS) to form specific instructions and send them to the IGV to be charged. The IGV to be charged travels to the optimal charging pile according to the instructions.

[0036] Furthermore, as Figure 3 shown in the figure, when calculating the optimal charging pile, the following contents need to be considered:

[0037] ①. Determine the number of available charging piles;

[0038] ②. Establish the shortest path function;

[0039] ③. Use the received locations of the IGVs to be charged and other IGVs as the initial locations;

[0040] ④. The current travel paths of each IGV and the optimal locations that the IGV to be charged can reach at the next time node;

[0041] ⑤. Calculate the next optimal location according to the stored lengths between each node until reaching an available charging pile;

[0042] ⑥. Add up the path distances for the IGV to be charged to reach each optimal location to obtain the minimum path distance to each available charging pile;

[0043] ⑦. Select the charging pile corresponding to the shortest minimum path distance among them as the optimal charging pile and generate the corresponding travel path.

[0044] ⑧. Define the shortest path function as the path distance to the available charging pile being the smallest, then the shortest path function can be expressed by the following formula:

[0045]

[0046] L i (t) = |D i (t) + [B × (Q i (t) - Q(t)]|;

[0047] Among them, F is the objective function, a is the number of stored lengths between each node, L i(t) is the moving distance of the length between the i-th nodes, D i (t) is the position where the IGV to be charged does not collide with other IGVs, obtained through the preset walking paths of each IGV stored in advance. B is a random number for local search, Q i (t) is the optimal position, and Q(t) is the current position of the IGV to be charged.

[0048] 102 When the IGV to be charged reaches the charging area, control the IGV to be charged to start performing the alignment operation based on the laser navigation mode.

[0049] In this embodiment, the IGV to be charged uses a lidar to scan the environment, constructs an environmental map (SLAM) in real time, and combines specific identifiers of the charging pile, such as a reflector or a specific physical shape, to achieve precise charging alignment.

[0050] Optionally, lidars are arranged around the IGV to be charged.

[0051] It should be noted that the alignment operation refers to the process of precisely controlling the movement of the IGV to be charged to align its position with the charging interface of the charging pile or the wireless charging area.

[0052] 103 When the forward distance of the IGV to be charged reaches the distance threshold, determine whether the vehicle body offset value is less than the deviation threshold.

[0053] In this embodiment, the encoder of the IGV to be charged is used to monitor the forward distance in real time, the lidar is used to scan the surrounding environment, and combined with the pre-constructed high-precision map, the position and attitude of the vehicle body are calculated in real time to obtain the vehicle body offset value.

[0054] 104 If not, switch the navigation mode from the laser navigation mode to the visual guidance method.

[0055] 105 Based on the ground marking line in the charging area and the visual guidance method, control the IGV to be charged to continue performing the alignment operation.

[0056] After the alignment is completed, the IGV is connected to the charging pile through a mechanical docking device or a wireless charging module. The central control system monitors the charging docking status in real time, including parameters such as connection stability, voltage, and current. After the docking is completed, the charging process is started, and the charging efficiency is optimized through dynamic power distribution technology. During the charging process, the system monitors the charging parameters in real time: current, voltage, and temperature, etc., detects abnormal situations, such as overheating or unstable connection, and alarms or takes protection measures in time. After the charging is completed, the system sends a charging completion signal and guides the IGV to leave the charging station and resume normal operation.

[0057] In some embodiments, the ground marking line is a structured navigation marker pre-set in the charging area, and its design needs to meet at least one of the following:

[0058] ① Multi-spectral marking design. The ground marking line adopts a composite process of "base coating + reflective microbeads". The coating is yellow with a wavelength of 590nm (RGB threshold: R>200, G>180, B<50), and the reflectivity of the microbeads is >80%, ensuring that it can still be captured by the camera under low illuminance or backlight.

[0059] ② Data embedding scheme. A two-dimensional coordinate value is measured every 1m along the marking line, and this coordinate value is stored in the in-vehicle main control computer.

[0060] ③ Set the length of the ground marking line to 15m.

[0061] As Figure 4 shown, the IGV to be charged moves to near the optimal charging pile. When the IGV starts to enter the charging area, laser navigation is first used for guidance. If the body offset of the IGV is less than the deviation threshold during forward movement, the IGV continues to move forward using the laser navigation method. If the body offset trend of the IGV continues to increase and exceeds the deviation threshold during the 10-meter forward movement, the main control computer will determine that the laser navigation positioning data is not credible and automatically switch to the visual guidance method to guide the remaining 5-meter alignment operation. If the visual guidance still fails to correct the body deviation, the IGV will reverse and exit to the periphery of the charging station (a parking space can be set), and then perform a static scan through the laser to reposition. After the map and the IGV are repositioned, the system will attempt to enter the charging pile again. If the IGV still cannot be accurately aligned with the charging pile, a fault will be reported and manual takeover is required.

[0062] Among them, when the IGV main control computer determines that it needs to switch to the visual guidance system, it first uses the binocular camera installed on the IGV to collect the image data of the on-site ground and converts the image data into a digital signal. Subsequently, the main control computer divides the target recognition image area, and this area uses a fixed area method to cut off the redundant clutter information, so as to perform image processing on the remaining part and remove the irrelevant information such as ground clutter. As Figure 5 shown, by comparing the horizontal offset and tilt angle and other parameters of the crosshair stored in the main control computer with the image data of the ground, the precise positioning of the IGV is realized. To achieve the above process, the Hough transform and the PID control algorithm need to be combined. The following are the specific steps and calculation processes:

[0063] S1051 Obtain the image data, and the image data includes the ground marking line.

[0064] In this step, the camera captures an image. Assume the image resolution is W×H, such as 640x480.

[0065] S1052 converts the image data into grayscale image data.

[0066] S1053 reduces noise of the grayscale image data based on Gaussian filtering.

[0067] In this step, Gaussian filtering is applied for noise reduction, such as a 5x5 kernel.

[0068] After this step, ROI selection is also included to capture the middle area of ​​the image, such as the middle 1 / 3 in the vertical direction and the full width in the horizontal direction.

[0069] S1054 obtains edge features of the ground marking line based on the Canny algorithm and the grayscale image data after noise reduction.

[0070] In this step, the Canny algorithm is used to detect the edge of the ground mark. The edge is the main feature of the mark line and can help find the position of the mark line.

[0071] S1055 obtains a reference straight line based on the Hough transform and the image data.

[0072] In this step, Hough transform is used to detect straight lines in the image. Through Hough transform, straight lines related to the marking lines in the image can be identified. By adjusting the parameters, straight lines representing ground marking lines can be detected. These straight lines are generally parallel or nearly parallel to the ground, so they can be used to help positioning and alignment.

[0073] S1056 obtains offset data based on the crosshairs and the reference straight line in a preset image coordinate system.

[0074] First, you need to define the image coordinate system and the position of the crosshairs.

[0075] Image coordinate system: Assuming the size of the image is W×H, where W is the width of the image (number of horizontal pixels) and H is the height of the image (number of vertical pixels), the center position of the image is (W / 2, H / 2).

[0076] The vertical line position of the crosshair: In the camera image, the vertical line of the crosshair is usually located in the center of the image. When processing the image, this position can be determined. The vertical line of the crosshair is roughly located in the column (W / 2, 0) to (W / 2, H), and its X coordinate can be expressed as X cross =W / 2.

[0077] Secondly, to calculate the offset and the offset angle, it is necessary to extract the position information of the ground marking line from the image. You can use algorithms such as Hough transform or Canny edge detection to extract the marking line. Assuming that the ground marking line is detected using Hough transform, the parameters of the marking line can be expressed as:

[0078] L = x cos(θ) + y cos(θ)

[0079] Where θ is the angle between the identification line and the horizontal line of the image (i.e., the direction angle of the identification line), and L is the shortest distance between the identification line and the origin (the upper left corner of the image). The equation of the identification line obtained through the Hough transform can give the direction and position of the identification line, and then the offset and offset angle can be calculated.

[0080] Specifically, calculate the horizontal offset and offset angle:

[0081] 6.1 The horizontal offset Δx refers to the horizontal distance between the vertical line of the crosshair and the ground identification line. Specifically, it can be calculated through the following steps:

[0082] 6.1.1 Calculate the x coordinate of the vertical line of the crosshair

[0083] As mentioned above, the x coordinate of the vertical line of the crosshair is the x coordinate of the center of the image:

[0084]

[0085] 6.1.2 Calculate the x coordinate of the vertical line of the ground identification line:

[0086] First, it is known that the y coordinate range of the identification line is the height range of the image [0, H].

[0087] For each y value, the corresponding x coordinate can be solved according to the identification line equation:

[0088]

[0089] The middle part of the image (such as the middle row of the image) can be selected to calculate the x coordinate of the identification line.

[0090] 6.1.3 Calculate the horizontal offset:

[0091] The horizontal offset Δx can be calculated by taking the difference between the x coordinate of the vertical line of the crosshair and the x coordinate of the identification line (negative for left deviation and positive for right deviation):

[0092] Δx = x cr oss - x line

[0093] 6.2 The offset angle Δθ refers to the direction difference between the vertical line of the crosshair and the ground identification line. To calculate this angle, the direction angle θ obtained in the Hough transform is line used for calculation.

[0094] 6.2.1 Calculate the direction angle of the identification line

[0095] From the Hough transform, the direction angle of the identification line is θ line, which represents the angle between the identification line and the horizontal line of the image.

[0096] 6.2.2 Calculate the target angle of the vertical crosshair line

[0097] Assume that when the vertical crosshair line coincides with the identification line, the vertical line should have the same direction angle θ as the identification line line Therefore, the target angle θ target is the direction angle of the identification line:

[0098] θ target = θ line

[0099] 6.2.3 Calculate the offset angle

[0100] The offset angle Δθ is the difference between the target angle of the vertical crosshair line and the actual angle of the identification line (positive for counterclockwise rotation and negative for clockwise rotation):

[0101] Δθ = θ target - θ line

[0102] θ target is the target direction angle (equal to the direction angle of the identification line), while θ line is the direction angle of the identification line calculated through the Hough transform.

[0103] Therefore, the six deviation modes of the IGV correspond to the following combinations:

[0104]

[0105]

[0106] 6.2.3 Calculate the offset angle

[0107] Here, to ensure the safe operation of the IGV and be restricted by the mechanical structure, it is agreed that the lateral offset Δx cannot be greater than 0.03 m, and the offset angle Δθ cannot be greater than 0.26 rad.

[0108] S1057 Perform the alignment operation based on the PID control algorithm and the offset data.

[0109] PID control algorithm:

[0110] This algorithm is used for path tracking and adjusts the steering and speed of the IGV in real time according to the deviation feedback from the sensor. Here, a hierarchical PID control architecture is used.

[0111] 7.1 Upper controller: Generate the yaw angular velocity command based on the comprehensive deviation

[0112] 7.1.1 Input quantities: Lateral offset Δx, offset angle Δθ, lateral deviation change rate

[0113] 7.1.2 PID Output: Desired Yaw Rate ω

[0114]

[0115] K p is the Lateral Deviation Proportional Gain (correcting position offset), K i is the Lateral Deviation Differential Gain (suppressing overshoot), K θ is the Heading Deviation Proportional Gain (correcting angle alignment).

[0116] 7.1.3 Dynamic Adjustment:

[0117] Adaptive adjustment of the gain according to the vehicle speed v (such as K p ∝1 / v), to avoid excessive steering at high speeds.

[0118] 7.2 Lower-Level Controller: Front and Rear Wheel Steering Angle Allocation

[0119] 7.2.1 Kinematic Constraints

[0120] Front and rear wheel steering needs to satisfy:

[0121]

[0122] L: Wheelbase, V: Vehicle speed (generally constant speed)

[0123] 7.2.2 Steering Allocation Strategy:

[0124] Select the optimal allocation scheme according to the deviation mode to minimize the path tracking error:

[0125] In-phase steering

[0126] Reduce the turning radius, applicable to left deviation with left rotation, right deviation with right rotation (rapid convergence required)

[0127] Anti-phase steering

[0128] Improve stability, applicable to left deviation with right rotation, right deviation with left rotation (suppress the expansion of heading deviation)

[0129] Front and rear wheels steering in the same direction

[0130] 7.3 Control Logic and Calculation Example

[0131] Scenario: Left deviation with right rotation (Δx < 0, Δθ > 0)

[0132] 7.3.1 Upper-Level PID Calculation:

[0133] Input: Δx = -0.15 m, Δθ = 0.08 rad,

[0134] Parameter: K p = 0.8, K d = 0.2, K θ = 1.4

[0135] Output:

[0136] ω = 0.8×(-0.15) + 0.2×(-0.03) + 1.4×0.08 = -0.014 rad / s

[0137] 7.3.2 Lower layer steering distribution (anti-phase steering, k = 0.3):

[0138] Objective:

[0139] Assume L = 11 m, v = 1 m / s:

[0140]

[0141] Numerical solution:

[0142]

[0143] Example 2:

[0144] Figure 7 As shown in the structural schematic diagram of a positioning device for guiding IGV automatic charging provided by an embodiment of the present application, Figure 7 as shown, the device may include the following modules:

[0145] Navigation module 701, configured to control the IGV to be charged to move to the charging area of the optimal charging device.

[0146] Laser alignment module 702, configured to, when the IGV to be charged reaches the charging area, control the IGV to be charged to start performing alignment operations based on the laser navigation mode.

[0147] Judgment module 703, configured to, when the forward distance of the IGV to be charged reaches the distance threshold, judge whether the vehicle body offset value is less than the deviation threshold.

[0148] Switching module 704, configured to, if not, switch the navigation mode from the laser navigation mode to the visual guidance mode.

[0149] Visual alignment module 705, configured to control the IGV to be charged to continue performing alignment operations based on the ground marking lines in the charging area and the visual guidance mode.

[0150] Further, the ground marking line adopts a composite process of a base coating and reflective microbeads; the coating is yellow with a wavelength of 590 nm, where the RGB threshold is: R > 200, G > 180, B < 50; the reflectivity of the microbeads > 80%; and / or the ground marking line is provided with spaced two-dimensional coordinate values along its path extension direction, and the two-dimensional coordinate values are stored by the vehicle-mounted main control device, and the spaced distance is 0.8 m - 1.2 m; and / or the length of the ground marking line is 10 m - 20 m.

[0151] Further, controlling the to-be-charged IGV to continue to perform the alignment operation based on the ground marking line of the charging area and the visual guidance method includes: acquiring image data, where the image data includes the ground marking line; obtaining a reference line based on the Hough transform and the image data; obtaining offset data based on a crosshair in a preset image coordinate system and the reference line; and performing the alignment operation based on the PID control algorithm and the offset data.

[0152] Further, before obtaining the reference line based on the Hough transform and the image data, it further includes: converting the image data into grayscale image data; denoising the grayscale image data based on Gaussian filtering; and obtaining the edge features of the ground marking line based on the Canny algorithm and the denoised grayscale image data.

[0153] Further, the method further includes: when the offset trend of the offset data keeps increasing and exceeds the deviation threshold, controlling the to-be-charged IGV to reverse and exit to the periphery of the charging station or a parking space outside the charging station; controlling the to-be-charged IGV to move to the charging area of the optimal charging device, and performing laser alignment operation, distance judgment operation, mode switching operation, and visual alignment operation; when the offset trend of the offset data keeps increasing and exceeds the deviation threshold again, sending out the fault information of the to-be-charged IGV and / or manually taking over the to-be-charged IGV.

[0154] Further, controlling the to-be-charged IGV to move to the charging area of the optimal charging device includes: finding the optimal charging device based on the position of the to-be-charged IGV and the position of the idle charging device and planning the shortest walking path of the to-be-charged IGV; and controlling the to-be-charged IGV to move to the charging area of the optimal charging device based on the shortest walking path.

[0155] Further, finding the optimal charging device based on the position of the to-be-charged IGV and the position of the idle charging device and planning the shortest walking path of the to-be-charged IGV is as follows:

[0156]

[0157] L i (t) = |Di (t) + [B × (Q i (t) - Q(t)]|;

[0158] Where F is the objective function, a is the number of lengths between each stored node, and L i (t) is the moving distance of the length between the i-th nodes, and D i (t) is the position where the IGV to be charged does not collide with other IGVs, obtained through the preset walking paths of each pre-stored IGV. B is the random number for local search, and Q i (t) is the optimal position, and Q(t) is the current position of the IGV to be charged.

[0159] Example 3:

[0160] An embodiment of the present application further provides an electronic device, including: a memory storing an executable program; a processor for running the program, wherein when the program runs, it executes the methods in various embodiments of the present invention.

[0161] The above-mentioned memory may refer to a device inside a computer for storing data and programs, which may include a memory, a hard disk, etc. Among them, the memory can be used for temporarily storing running programs and data, and the hard disk can be used for long-term storing programs and data. The memory can be used to enable the computer to read and write data and execute programs; the above-mentioned processor can be responsible for executing instructions in the computer program and performing data processing, and can be responsible for controlling and executing various operations, including arithmetic operations, logical operations, data transmission, etc.

[0162] Example 4:

[0163] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in various embodiments of the present invention.

[0164] The above-mentioned computer storage medium may refer to a medium in a computer memory for storing certain discontinuous physical quantities. The computer storage medium mainly includes semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser discs, etc.; the stored program included in the computer-readable storage medium can be a set of instructions that can be recognized and executed by a computer, running on an electronic computer, and is an information tool to meet people's certain needs.

[0165] Example 5:

[0166] An embodiment of the present application further provides a computer program product, including a computer program, and the computer program implements the methods in various embodiments of the present invention when executed by a processor.

[0167] The above computer program product may refer to a software program that has been written, tested, and released and can run on a computer or other device. The computer program product may include application programs, operating systems, tool software, etc., and is used to implement specific functions or solve specific problems.

[0168] Embodiment 6:

[0169] An embodiment of the present application also provides a computer program product, including a non-volatile computer-readable storage medium. The non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the methods in various embodiments of the present invention are implemented.

[0170] The above non-volatile computer-readable storage medium may refer to a medium for storing data. The non-volatile computer-readable storage medium can keep data from being lost when powered off and can be used to store data for long-term preservation, such as operating systems, application programs, and user files. The non-volatile storage medium may include hard disk drives, solid-state drives, optical discs, and flash storage devices, etc.

[0171] Embodiment 7:

[0172] An embodiment of the present application also provides a computer program, and when the computer program is executed by a processor, the methods in various embodiments of the above present invention are implemented.

[0173] The above computer program may refer to a set of instructions used to tell a computer to perform specific tasks or operations. The computer program can be written by a programmer using a specific programming language and may include contents such as algorithms, data structures, logic, and control flows. The computer program can be used for various purposes, including application software, operating systems, etc.

[0174] In the above embodiments of the present invention, the descriptions of each embodiment have their own focuses. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0175] In the several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces, and the indirect couplings or communication connections of units or modules can be in an electrical or other form.

[0176] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0177] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0178] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs and other various media that can store program codes.

[0179] The above description is only a preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for guiding IGV automatic charging, characterized in that: include: Control the IGV to be charged to move to the charging area of ​​the optimal charging device; When the IGV to be charged arrives at the charging area, the IGV to be charged is controlled to start performing an alignment operation based on a laser navigation mode; When the forward distance of the IGV to be charged reaches a distance threshold, determining whether the body offset value is less than a deviation threshold; If not, switching the navigation mode from the laser navigation mode to the visual guidance mode; The IGV to be charged is controlled to continue the alignment operation based on the ground marking lines of the charging area and the visual guidance method.

2. The alignment method according to claim 1, characterized in that: The ground marking line adopts a composite process of base coating and reflective micro beads; the coating is yellow with a wavelength of 590nm, where the RGB thresholds are: R>200, G>180, B<50; the micro bead reflectivity is>80%; and / or The ground marking line is provided with spaced two-dimensional coordinate values ​​along the extension direction of the path thereof, the two-dimensional coordinate values ​​are stored by the vehicle-mounted main control device, and the spaced distance is 0.8m-1.2m; and / or The length of the ground marking line is 10m-20m.

3. The alignment method according to claim 1, characterized in that: The controlling the IGV to be charged to continue to perform the alignment operation based on the ground marking line of the charging area and the visual guidance method includes: Acquire image data, wherein the image data includes the ground marking line; Obtaining a reference straight line based on Hough transform and the image data; Obtaining offset data based on the crosshairs and the reference straight line in a preset image coordinate system; The alignment operation is performed based on the PID control algorithm and the offset data.

4. The alignment method according to claim 3, characterized in that: Before obtaining the reference straight line based on the Hough transform and the image data, the method further includes: Converting the image data into grayscale image data; Denoising the grayscale image data based on Gaussian filtering; The edge features of the ground marking line are obtained based on the Canny algorithm and the grayscale image data after noise reduction.

5. The alignment method according to claim 3, characterized in that: The method further comprises: When the deviation trend of the deviation data keeps increasing and exceeds the deviation threshold, the IGV to be charged is controlled to reverse and exit to the periphery of the charging station or a parking space outside the charging station; Control the IGV to be charged to move to the charging area of ​​the optimal charging device, and perform laser alignment operation, distance judgment operation, mode switching operation and visual alignment operation; When the deviation trend of the deviation data keeps increasing and exceeds the deviation threshold again, a fault message of the IGV to be charged is issued and / or the IGV to be charged is manually taken over.

6. The alignment method according to claim 1, characterized in that: The controlling the IGV to be charged to move to the charging area of ​​the optimal charging device comprises: Finding the optimal charging device based on the position of the IGV to be charged and the position of the idle charging device and planning the shortest travel path of the IGV to be charged; The IGV to be charged is controlled to move to a charging area of ​​the optimal charging device based on the shortest travel path.

7. The alignment method according to claim 6, characterized in that: The method of searching for the optimal charging device based on the position of the IGV to be charged and the position of the idle charging device and planning the shortest travel path of the IGV to be charged is as follows: L i (t)=|D i (t)+[B×(Q i (t)-Q(t)]|; Among them, F is the objective function, a is the number of lengths between each node stored, and L i (t) is the moving distance between the i-th nodes, D i (t) is the position where the IGV to be charged does not collide with other IGVs, which is obtained by pre-stored preset walking paths of each IGV, B is a random number for local search, and Q i (t) is the optimal position, and Q(t) is the current position of the IGV to be charged.

8. A positioning device for guiding IGV automatic charging, characterized in that: include: A navigation module, used to control the IGV to be charged to move to the charging area of ​​the optimal charging device; A laser alignment module, used to control the IGV to be charged to start an alignment operation based on a laser navigation mode when the IGV to be charged arrives at the charging area; A judgment module, used for judging whether the body offset value is less than a deviation threshold value when the forward distance of the IGV to be charged reaches a distance threshold value; a switching module, for, if not, switching the navigation mode from the laser navigation mode to the visual guidance mode; The visual alignment module is used to control the IGV to be charged to continue the alignment operation based on the ground marking lines in the charging area and the visual guidance method.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the alignment method according to any one of claims 1 to 7 is executed in a processor of a device where the program is controlled.

10. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors execute the alignment method described in any one of claims 1 to 7.

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