38 results about "Visual navigation system" patented technology

The invention discloses a new energy automobile logistics transfer robot based on visual navigation and an implementation method, relates to the field of logistics automation and intelligent equipment, and solves the problems that traditional equipment is low in navigation precision, difficult in data fusion and weak in obstacle avoidance capability. The transferring robot body comprises Mecanum wheels, supporting legs, an intelligent temperature control battery bin, a visual navigation system, a core control center, an interactive touch screen and a mechanical arm. The core control center comprises an image acquisition module, a data processing module, a path planning module and a transfer control module; all the modules work cooperatively, the automation and intelligence level of logistics transfer is remarkably improved, and powerful support is provided for the new energy automobile logistics industry.

The invention discloses an air target optical image real-time simulation method and system suitable for approaching operation. The method comprises the following steps: receiving target and observation star motion orbit data generated by an orbit or attitude generator in real time; calculating a camera optical axis direction; screening out fixed stars which can be detected by the camera from the SAO star catalogue by combining the limit detection capability of the camera, and completing fixed star simulation; calculating the relative pose of the observation star and the target according to the data; performing imaging simulation on the target according to the characteristics of the space target; whether the moon appears in the visual field or not is judged, and the situation that the moon exists in the visual field is simulated; adding noise and stray light in the image; and outputting in a UDP transmission mode through an Ethernet port. According to the method, various space targets can be simulated, relative change of space illumination is considered, calculation is real-time and efficient, rapid image generation and transmission capacity is achieved, and vivid target image input can be provided for ground semi-physical performance verification of a space visual navigation system.

The invention discloses an AR digital reconstruction and visual navigation system and method for an agricultural cultural heritage scene. The system comprises a digital modeling module, a scene recognition module, an AR reconstruction module, a path navigation module and an interactive navigation module. According to the invention, by fusing laser point cloud, unmanned aerial vehicle images and historical images, agricultural cultural heritage scenes such as rice terraces, mulberry-based fish ponds, waterwheel irrigation systems and the like with extremely high local characteristics are reconstructed, historical scenes in which natural or human factors disappear are recovered, and AR live-action is superposed with virtual farming behaviors, traditional festival activities and clothing styles and features, so that the real-scene and real-scene virtual farming is realized. A user can experience thousand years of agricultural culture personally on the scene, the visiting experience that the user cannot understand and cannot see completely in the past is changed, an exclusive route is planned for the user, various interaction modes such as voice, images and gestures are supported, and the method is suitable for users of different age groups, language backgrounds and cultural cognition levels.

The invention relates to the technical field of robot navigation, in particular to a transfer robot vision intelligent navigation system based on high-precision positioning, which is characterized in that a visual sensor, a laser radar and an infrared sensor are arranged on a transfer robot; analyzing the data of the visual sensor, outputting a sensor abnormal signal, and switching the visual sensor into a laser radar and infrared sensor combined navigation mode; generating three-dimensional point cloud data through the distance information, performing preprocessing in combination with the temperature data and the heat data to obtain a standard first data set, and performing space matching to obtain a mine-environment model; identifying a fixed obstacle, a dynamic obstacle and an abnormal area in the model, and generating a plurality of candidate passing paths; obtaining a security coefficient of each candidate path, and obtaining an optimal path in combination with historical path information; and monitoring data of the laser radar and the infrared sensor in real time, and when the visual sensor returns to normal and / or the transfer robot arrives at the target area, exiting the blind walking state.

The invention discloses a cross-medium aircraft and belongs to the technical field of aircrafts. Comprising a power propulsion system which provides a power hybrid control system for an aircraft body and is used for realizing data acquisition and operation and accurate control of the power propulsion system, a navigation system and a sinking and floating system; the navigation system is used for providing navigation support for the vehicle body; the gradient skin is composed of multiple gradient materials and covers the outer surface of the aircraft body, and the sinking and floating system is used for controlling floating and diving of the aircraft body. According to the invention, the vehicle can obtain the optimal pneumatic / hydrodynamic performance in the air and seawater medium navigation state; according to the power propulsion system, the requirements of high speed, long distance and high thrust of the aircraft are met; a distributed network and a visual navigation system meet the navigation requirements of the cross-medium aircraft in the air, on the water surface and under the water and the combined combat; the hybrid control system is used for accurately controlling the aircraft; the aircraft application material can complete deformation adaptive to the changed environment.

The present invention discloses a medical delivery robot with adjustable height, which relates to the field of medical robots. A closing door is rotatably connected to the side of the main body, and an adjusting component is fixedly connected to the bottom of the main body. By setting the adjusting component, when the robot approaches the delivery destination, the height characteristics of the docking device are identified through the visual navigation system, and combined with the data of the laser range finder sensor, the height to be adjusted is calculated. The intelligent control module sends a control instruction to the electric lifting column of the height adjusting mechanism to start the electric lifting column for height adjustment. During the adjustment process, the feedback information of the laser range finder sensor, the inertial measurement unit and the inclination sensor is continuously received, and the motion state of the electric lifting column is adjusted in real time to ensure smooth rising or falling to the target height, and the robot main body always remains balanced and stable, so as to perform appropriate adjustment work according to the usage scenarios of different heights.

This invention provides a fruit stalk clamping and shearing agricultural robot and its harvesting control method. The robot includes a control cabinet, a robotic arm, and a visual navigation system mounted on a tracked chassis support platform. The control cabinet contains a host computer control system and a slave computer control system. A movable end effector with an identification and positioning system and a supplementary lighting device is installed at the end of the robotic arm. The movable end effector can flexibly adapt to the harvesting needs of different crops and complex working conditions. The host computer control system combines data collected by a depth camera and LiDAR, and uses the YOLOv8-MC model to identify target crops and their key points in the images, significantly improving the crop identification accuracy in complex environments, reducing the probability of missed or incorrect harvesting, and minimizing damage to the fruit. When constructing a global map, the host computer control system performs depth correction and map optimization for changes in illumination, further improving the robot's path planning and operational accuracy.

The invention relates to an anesthesia puncture visual navigation system combining augmented reality and three-dimensional reconstruction, and belongs to the technical field of anesthesia puncture visual navigation. The anesthesia puncture visual navigation system comprises a physiological movement monitoring unit used for simultaneously collecting respiratory movement cycle data and soft tissue elastic deformation information; a comprehensive motion state data packet is generated by calculating the correlation coefficient of the breathing amplitude and the tissue elasticity modulus change rate, the space deviation caused by breathing motion and soft tissue deformation of a patient to puncture navigation can be effectively compensated, the puncture precision is remarkably improved compared with a traditional static navigation system under the normal breathing state of the patient, and the puncture accuracy is improved. The puncture failure rate and the complication risk are effectively reduced, the problem that precision is further deteriorated due to the fact that correction parameters are still used blindly when registration quality is deteriorated in a traditional system is solved, dependence on personal experience of doctors is reduced, and the problem that the system is completely invalid possibly caused by a single correction mode is solved.

The invention discloses an all-weather unstructured orchard visual navigation system, which is characterized in that an improved CycleGAN image processing module is introduced to perform enhancement processing on an image acquired under a severe weather condition, interference factors such as rain, snow and fog in the image are effectively removed, the image quality is improved, and an improved YOLOv11-seg network is combined, so that the visual navigation precision of the orchard is improved. And high-precision and high-stability segmentation of the unstructured road region is realized. Meanwhile, a continuous, smooth and controllable navigation path is constructed based on a path line generation method of pixel mutation detection and cubic B-spline fitting, and path planning precision and operation stability in an orchard scene are guaranteed. The constructed all-weather unstructured orchard visual navigation system comprises three modules: an all-weather adaptation module based on the improved CycleGAN, a road segmentation module based on the improved YOLOv11-seg, and a navigation path line generation module.

The invention discloses a robot visual navigation system and method based on Transform and dynamic feature optimization. The robot visual navigation system comprises an image acquisition module, an image feature matching module, a path point prediction module, a path point optimization module and a motion control calculation module. According to the invention, by introducing Transform and a dynamic feature optimization mechanism, high-quality processing and accurate modeling are carried out on image data; non-local mean denoising is adopted, ORB feature extraction and matching are improved, and mismatching points are filtered in combination with an RANSAC algorithm; a handshake synchronization mechanism between an image and path prediction is designed, and it is ensured that an image used for path point prediction is the latest collected image all the time by comparing timestamps; through outlier detection, clustering and geometric center calculation, the system can optimize path point selection in real time according to environmental changes, invalid paths are automatically avoided, and the continuity, rationality and safety of navigation paths are improved.

The present invention provides a space intelligent flying robot in a microgravity-normal air environment, belonging to the field of flying robots. To achieve the goal of enabling the space intelligent flying robot in a microgravity environment to have independent control over position, posture, output force, and torque. The robot comprises a carrier main frame, an outer shell, a computing system disposed within the carrier main frame, a visual navigation system disposed in front of and behind the carrier main frame, a laser ranging module embedded in the outer shell, a power supply system disposed on the left and right sides of the carrier main frame, a power system embedded in the outer shell and within the carrier main frame, a gripping system disposed below the carrier main frame, and an interactive system disposed in front of and above the main frame. While realizing basic functions, the present invention also makes innovative designs in the robot architecture, optimizing the robot's performance in manipulation, control, perception, and real-time performance, and has high engineering application value and good engineering application prospects.

The invention discloses an AI visual navigation and postoperative care auxiliary device for lumbar intervertebral disc resection, which relates to the technical field of medical equipment and comprises an AI visual navigation system and a postoperative care auxiliary device, the AI visual navigation system comprises an image data acquisition module, a deep learning processing module, a three-dimensional reconstruction module, a real-time positioning navigation module and a man-machine interaction module, the data transmission module is in communication connection with the AI visual navigation system, and dynamic recognition of an intraoperative anatomical structure is achieved through an AI deep learning technology. By combining high-precision registration of the real-time positioning and navigation module, the operation positioning precision is remarkably improved, the risk of key tissue damage is reduced, the sensing and monitoring module collects waist rehabilitation data in multiple dimensions, the data transmission real-time performance is high, medical staff can remotely master the rehabilitation state of a patient in real time, data support is provided for making a personalized nursing scheme, and the medical staff can conveniently and rapidly know the rehabilitation state of the patient. And subjectivity and blindness of traditional nursing are avoided.

The present application discloses a digital twin simulation test system for a space target visual navigation system, which relates to the field of ground simulation test technology. The system includes: a physical simulation test subsystem and a digital simulation test subsystem. The physical simulation test subsystem includes a space scene physical simulation module, a physical optical imaging module and a physical information processing module. The digital simulation test subsystem includes a space scene digital simulation module, a digital optical imaging module and a digital information processing module. The space scene physical simulation module and the space scene digital simulation module are used to simulate the on-orbit optical characteristics, on-orbit illumination state and relative motion state of a real space target. The physical optical imaging module and the digital optical imaging module are used to simulate the imaging process of a real optical imaging module. The physical information processing module and the digital information processing module are used to simulate the processing process of a real information processing module. The present application can better perform ground simulation testing on a space target visual navigation system.

The invention discloses a ratooning rice combine harvester visual navigation system based on binocular vision. The ratooning rice combine harvester visual navigation system comprises an equipment position adjusting unit, an image collecting unit, an image processing unit and a hydraulic control unit. The equipment position adjusting unit adjusts the orientation of the image acquisition unit in real time according to the posture of the harvester; the image acquisition unit is used for acquiring ratooning rice images and transmitting the images to the image processing unit; the image processing unit processes the ratooning rice image, identifies a crop boundary to obtain boundary line information, judges the steering and posture position of the harvester according to the boundary line information, and sends a generated speed execution signal and a steering execution signal to the hydraulic control unit; the hydraulic control unit controls the advancing speed of the harvester according to the speed execution signal and controls steering of the harvester according to the steering execution signal. According to the method for obtaining the boundary navigation line by utilizing the probability Hough transformation, the problem of low image imaging precision caused by overlarge vibration of a traditional intelligent harvester is solved.

A ground map monitor method comprises obtaining positions of communication nodes in a communications network, selecting transmission and reception nodes from the communication nodes, and measuring bistatic signals between the transmission and reception nodes to determine nominal signal performance characteristics for the bistatic signals, including reflected signal time delays, frequency shifts, and power levels. The method further comprises monitoring the bistatic signals for changes to nominal signal performance characteristics. The method uses discriminators between the nominal signal performance characteristics and a current performance level of the bistatic signals, and compares the discriminators against performance thresholds, to determine whether current signal performance characteristics have varied from their nominal levels. An alert signal is broadcast that a section of a navigation map is not useable for navigation of a vehicle if changes in the current performance level of the bistatic signals exceeds the performance thresholds.

A high-fidelity visual simulation system and method for landmark navigation in deep space exploration. The high-fidelity visual simulation system includes a mission management and visualization subsystem, a 3D mesh editing and optimization subsystem, an environment configuration and update subsystem, a visual image rendering subsystem, and a data input / output subsystem. It is applied in the preliminary design and verification process of the deep space exploration visual navigation system, can provide high-quality simulation images for the whole stage, realize precise pinpoint landing in Mars exploration through the obtained simulation images, can render images of most deep space celestial bodies, and has expandability and adaptability to various deep space exploration tasks.

The invention provides an oral cavity separation instrument taking-out device under a visual navigation system. The oral cavity separation instrument taking-out device comprises a cutting ultrasonic working tip, a grabbing ultrasonic working tip and a taking-out component. The cutting ultrasonic working tip is tubular, internal threads are formed on the inner circumference of the upper end of the cutting ultrasonic working tip, and a conical tube part is formed on the lower portion of the cutting ultrasonic working tip. The upper end of the cutting ultrasonic working tip is combined to an ultrasonic handle through internal threads of the cutting ultrasonic working tip; the grabbing ultrasonic working tip comprises an outer pipe component and a push rod component; the outer pipe component is in a circular pipe shape, internal threads are formed on the inner circumference of the upper end of the outer pipe component, and a conical pipe part is formed at the lower part; an L-shaped notch is formed in the side wall of the outer pipe component; the lower part of the outer pipe component divides the conical pipe part into three clamping jaws through three linear notches; the push rod component is mounted in the outer pipe component; a combination part protruding outwards is formed at the upper end of the outer pipe component; by rotating the taking-out component, the grabbing ultrasonic working tip is driven to rotate, the separation instrument is driven to rotate together, and therefore the separation instrument is screwed out of the root canal.

The application relates to a cross-medium vehicle, belonging to the technical field of vehicles. The vehicle comprises a power propulsion system, a hybrid control system for providing power to the vehicle body, a navigation system for providing navigation support to the vehicle body, a gradient skin composed of multiple gradient materials and covering the outer surface of the vehicle body, and a diving system for controlling the floating and diving of the vehicle body. The vehicle can obtain the best aerodynamic / hydrodynamic performance in the air and seawater medium navigation state. The power propulsion system meets the requirements of high speed, long distance and large thrust of the vehicle. The distributed network and visual navigation system meet the navigation requirements of the cross-medium vehicle in the air, on the water surface and underwater, and joint operations. The hybrid control system realizes the accurate control of the vehicle. The application of the vehicle material can complete the deformation suitable for the changed environment.

The invention discloses a variable-magnification optical simulator for testing a satellite-borne visual navigation system. The variable-magnification optical simulator mainly comprises an optical camera, a fixed lens, a movable lens, a display screen and the like which are fixedly connected to an optical platform together, wherein the distance between the optical camera and the fixed lens is kept constant, and under the same central optical axis height, the fixed lens and the movable lens are kept coaxial and the distance can be changed through a lead screw guide rail, and the movable lens and the display screen are also kept coaxial and the distance can be changed through the lead screw guide rail; finally, by changing the distance among the fixed lens, the movable lens and the display screen, the optical camera is simulated to acquire space target images with different magnification times; according to the invention, the simulation test of the performance of the satellite-borne visual navigation system in a high dynamic space environment can be simulated.

This invention discloses a visual navigation method and system for agricultural robots based on vehicle speed adaptive gimbal perspective, belonging to the field of agricultural robot autonomous driving technology. The method includes: real-time acquisition of driving speed and dynamic adjustment of camera pitch angle; simultaneous acquisition of color and depth images, obtaining a binary image of crop rows from the color image; generating skeleton lines in the binary image of crop rows using a regional centroid slicing connection method, fitting a global navigation line, fusing depth information, and using the Zhang Zhengyou calibration method to transform the endpoints of the global navigation line to the world coordinate system, calculating the heading angle and lateral deviation of the agricultural robot; then, performing a self-vehicle coordinate system transformation to obtain the actual control deviation; finally, sending the machine vision navigation results to the steering controller via protocol-based instructions. This invention achieves adaptive control of the inter-row observation perspective applicable to multiple operating scenarios, significantly enhancing the adaptability and reliability of the visual navigation system in complex field operating environments.

A ground map monitor method comprises obtaining positions of communication nodes in a communications network, selecting transmission and reception nodes from the communication nodes, and measuring bistatic signals between the transmission and reception nodes to determine nominal signal performance characteristics for the bistatic signals, including reflected signal time delays, frequency shifts, and power levels. The method further comprises monitoring the bistatic signals for changes to nominal signal performance characteristics. The method uses discriminators between the nominal signal performance characteristics and a current performance level of the bistatic signals, and compares the discriminators against performance thresholds, to determine whether current signal performance characteristics have varied from their nominal levels. An alert signal is broadcast that a section of a navigation map is not useable for navigation of a vehicle if changes in the current performance level of the bistatic signals exceeds the performance thresholds.

The anesthesia puncture visual navigation system combining augmented reality with three-dimensional reconstruction belongs to the technical field of anesthesia puncture visual navigation, and comprises a physiological motion monitoring unit, which is used for simultaneously collecting respiratory motion cycle data and soft tissue elastic deformation information, and generating a comprehensive motion state data packet by calculating the correlation coefficient of the respiratory amplitude and the tissue elastic modulus change rate, so that the spatial deviation caused by the respiratory motion and the soft tissue deformation of the patient to the puncture navigation can be effectively compensated, the puncture precision is significantly improved compared with the traditional static navigation system under the normal respiratory state of the patient, the puncture failure rate and the complication risk are effectively reduced, the problem of further precision deterioration caused by the blind application of correction parameters of the traditional system when the registration quality deteriorates is avoided, the dependence on the personal experience of the doctor is reduced, and the problem of complete system failure caused by a single correction mode is avoided.

Embodiments are described for detecting optical discrepancies associated with image capture analyzing pixels in multiple images corresponding to common points of reference in a physical environment. In an embodiment, photometric error values are averaged over time to compute the mean error at each pixel. Once the estimate of the mean error has a sufficient number of updates above a specified value, the estimate is thresholded to provide a mask of any optical discrepancies occurring in the stereo pair of images. Applications include detecting optical discrepancies in images captured for use by a visual navigation system in guiding an autonomous vehicle (e.g., an unmanned aerial vehicle).

The present invention relates to a streaming control method for a mobile robot visual odometry based on deep learning, and belongs to the technical field of computer vision and positioning control. First, the RGB image and Depth image of the scene are obtained and aligned. The mobile target in the scene is identified by a method combining semantic segmentation and target detection, and a mask is generated. Afterwards, the visual odometry is used to estimate the depth camera pose, and the depth camera predicted pose is obtained using a prediction method and output continuously. The system is then set to parallel execution of threads, and the information shared between threads is set as shared variables. Finally, the streaming performance of the system is calculated and a streaming evaluation is performed. Based on the evaluation results, the visual navigation system is optimized and controlled. This method can obtain continuous and stable depth camera pose output, meet the streaming processing control requirements of the visual odometry, and obtain better streaming performance than the non-real-time visual odometry based on considering the algorithm time delay.

The invention relates to a binocular non-overlapping view field-based anti-degradation visual navigation system initialization method, which comprises the following steps of: respectively carrying out feature extraction and tracking on continuous frame images synchronously shot by two cameras with non-overlapping view fields, and storing the serial number and the coordinate of a feature point in each frame image; updating and iterating the key frames continuously tracked by each camera by adopting a sliding window method, and recovering relative rotation and displacement of all the key frames in a sliding window relative to the latest key frame; according to relative rotation and relative displacement between the two cameras calibrated by external parameters of the cameras, combining relative rotation and displacement of key frames in sliding windows of the two cameras to construct an observation equation, solving initial scale parameters of the two cameras, and recovering real rotation and displacement of all key frames in the sliding windows; and the coordinates of the continuously tracked feature points in the key frames of the two cameras in the world coordinate system are solved again. The method has an anti-degradation capability, can efficiently operate in a real-time environment, and has relatively high robustness at the same time.

A system, method, and non-transitory computer readable medium for autonomous vehicle navigation and visual inspection utilizing a deep Q-network and reinforcement learning includes at least one camera mounted to the vehicle for capturing continuous image frames of a scene, and processing circuitry configured with a reinforcement learning engine that generates a next control action for vehicle movement based on the captured image frames and a reward for a previous control action. A self-supervised learning engine fine-tunes the deep Q-network, and a vehicle actuator maneuvers the vehicle accordingly. The visual inspection system includes a remote display terminal, an unmanned aerial vehicle (UAV) with an embedded transceiver for communicating captured image frames of a scene to the remote display terminal, and processing circuitry configured to control movement of the UAV to avoid moving objects based on the deep Q-network and reinforcement learning engine, displaying the captured image frames on the remote display terminal.

The invention relates to the field of anti-unmanned aerial vehicles, in particular to an unmanned aerial vehicle navigation decoy system. The real-time state of the target unmanned aerial vehicle is obtained through the sensing and tracking module, the confidence coefficient of a satellite navigation signal obtained by the target unmanned aerial vehicle is reduced through the satellite signal interference module, the expected decoy trajectory is generated through the trajectory generation module, and the geometric parameters and the refreshing sequence of the visual landmark interference pattern are updated in real time based on the expected decoy trajectory. And the laser projection interference array responds to the decoy control module and dynamically projects a visual landmark interference pattern with a specific code in the downward-looking imaging view field of the target unmanned aerial vehicle when the satellite signal interference does not take effect. Interference on the visual navigation system of the unmanned aerial vehicle is achieved through the visual landmark interference pattern, the problem that a traditional satellite navigation signal deception means is invalid when the unmanned aerial vehicle has the flying capacity under the condition of no satellite signal is solved, and the deception success rate is increased.

The invention discloses a visual cooperative control method for a prostate urethral dilation catheter, relates to the technical field of medical instruments, and solves the problem that a prostate dilation system combining real-time visual guidance, multi-modal feedback monitoring and intelligent cooperative control does not exist at present. According to the technical scheme, the method is characterized by comprising the following steps that 1, a prostate three-dimensional anatomical model of a patient is constructed, operation planning is conducted, and key operation parameters are calculated; 2, accurately positioning and expanding the catheter through a real-time visual navigation system; step 3, carrying out collaborative expansion by adopting a progressive pressure control model; the implementation mode of prostate dilatation is fundamentally changed, 'manual art 'depending on personal skill is converted into'precise engineering' based on models and data, finally leap-type comprehensive improvement is achieved in multiple aspects such as curative effect, safety, efficiency and generalization performance, and the prostate dilatation system has great clinical value and social benefits.

The invention relates to an agricultural machine tool, in particular to an in-line swing type intelligent weed extractor based on a visual navigation system, which is characterized in that an intelligent control system receives images shot by a visual guide device and data acquired by a speed measuring device, and controls a weed extraction part to complete weed extraction action, and each line of crops is provided with a set of electric control executing mechanism; the inter-plant hoeing cutter is installed below the electric control executing mechanism, and the servo motor drives the inter-plant hoeing cutter to operate between crop plants along a cycloid track, so that weeds between the plants are removed. The hoeing device has the advantages that the hoeing component is directly driven by a power machine, transmission is simple, action is sensitive, the hoeing component can rotate around crop plants, weeds among the plants can be removed by avoiding the plants, and the defects that the hoeing component of an existing machine is rigidly connected with a plough body, only can linearly run, and is low in sensitivity, high in damage rate and not suitable for hoeing operation of fragile plants are overcome; therefore, applicable intelligent hoeing equipment is provided for various crops, especially fragile plants such as vegetables and the like.

The invention discloses an agv vehicle control and navigation system based on a visual large model, and relates to the technical field of agv vehicle control. The agv vehicle control and navigation system based on the visual large model comprises an initialization and data acquisition unit, a path planning and guiding module, an image data processing module, a path deviation analysis and selection module, a path adjustment module, an agv speed regulation and control module and a position positioning and exception handling module. Electromagnetic and visual navigation systems are fused, and an LSTM algorithm and a multi-visual sensor fusion technology are utilized, so that the path planning accuracy is improved; extracting fixed object features to update a database, and enhancing system adaptability; the path is preferentially selected, and the navigation reliability is improved; a navigation system can be automatically switched to cope with an interference area; dynamic speed regulation can be achieved, and the driving requirement is met; the method can position and predict a path in real time, detect abnormity, adjust direction and speed in time, give an alarm when processing cannot be carried out, and guarantee safe and stable operation of agv.