CN108153302A - Guidance method, device and the computer readable storage medium of automatic guided vehicle - Google Patents
Guidance method, device and the computer readable storage medium of automatic guided vehicle Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The invention discloses a kind of guidance method of automatic guided vehicle, device and computer readable storage mediums.The guidance method of automatic guided vehicle includes：When automatic guided vehicle is in the first monitoring area, the first monitoring image of the first monitoring area is transferred, according to the first monitoring image, obtains trolley location information of the automatic guided vehicle in the first monitoring image；Further according to the first monitoring image, the identity information of automatic guided vehicle is determined, obtain the corresponding mobile route information of the identity information；According to mobile route information and trolley location information, steering instruction is generated, steering instruction is sent to automatic guided vehicle, realizes the control to automatic guided vehicle.By the present invention, can the mode of view-based access control model guiding realize guiding to automatic guided vehicle, without being laid with guide rails, reduce cost, automatic guided vehicle along fixed guide rails without travelling so that the driving path of automatic guided vehicle is more flexible.
Description
Technical field
The present invention relates to the guidance method of automatic control technology field more particularly to automatic guided vehicle, device and computers
Readable storage medium storing program for executing.
Background technology
With the development of automatic control technology, some technology products bring great convenience for people’s lives.Example
Such as, automatic guided vehicle, it can perceive external environment, intelligent decision, movement control technology combine together, assume responsibility for intelligent object
Material carries the task of conveying in stream.Current logistic storage with automatic guided vehicle be broadly divided into according to the difference of guide mode
This several class：Magnetic cuiding, optics/tape guidance, laser/infrared seeker and visual guidance etc..Electromagnetism guiding is a kind of
Compare traditional method, technology maturation is reliable, and cost needs to bury metallic cable on the ground than relatively low；Optics, tape guidance
It is similar with electromagnetism guiding, it needs to paste reflective tape or tape on the ground；And laser, infrared seeker are filled on automatic guided vehicle
The standby scanner that can emit and receive laser/infrared ray, the surrounding of guide area arrange enough reflecting plates as required.
The i.e. existing guide mode to automatic guided vehicle is required to be laid with guide rails in advance, needs to expend a large amount of people
Power material resources, and the path for once carrying task changes, and needs to re-lay guide rails.
Invention content
It is a primary object of the present invention to provide a kind of guidance method of automatic guided vehicle, device and computer-readable storage
Medium, it is intended to solve to realize the technical issues of guiding to automatic guided vehicle needs to be laid with guide rails in advance in the prior art.
To achieve the above object, the present invention provides a kind of guidance method of automatic guided vehicle, and the automatic guided vehicle is led
Draw method to include：
When automatic guided vehicle is in the first monitoring area, obtains the corresponding first object camera of the first monitoring area and clap
The first monitoring image taken the photograph obtains trolley location information of the automatic guided vehicle in the first monitoring image；
According to the first monitoring image, the identity information of automatic guided vehicle is obtained；
According to the identity information, the mobile route information of the automatic guided vehicle is obtained；
According to the mobile route information and the trolley location information, steering instruction is generated, by the steering instruction
The automatic guided vehicle is sent to, so that the automatic guided vehicle performs the corresponding action of the steering instruction.
Optionally, path graticule, the guiding of the automatic guided vehicle are preset on the mobile route of the automatic guided vehicle
Method further includes：
Obtain the traveling image of dollying head shooting preset on the automatic guided vehicle；
According to the traveling image, mobile offset of the automatic guided vehicle relative to the path graticule is calculated；
The corresponding adjust instruction of the mobile offset is generated, the adjust instruction is sent to the automatic guided vehicle,
So that the automatic guided vehicle adjusts mobile posture according to the adjust instruction.
Optionally, it is described when automatic guided vehicle is in the first monitoring area, obtain the first monitoring area corresponding first
First monitoring image of target camera shooting, before obtaining trolley location information of the automatic guided vehicle in the first monitoring image
Including：
The local monitoring image of each camera shooting in monitoring area is obtained, is built according to all local monitoring images
The whole path image of the monitoring area；
Obtain coordinate bit confidence of each destination node in corresponding local monitoring image in the whole path image
Breath, wherein, each destination node includes at least in the entirety path image：Each crossing in whole path image, stop
Point.
Optionally, described according to the mobile route information and the trolley location information, generation steering instruction includes：
Obtain the co-ordinate position information at crossing included in first monitoring image；
It is raw according to mobile route information when the trolley location information is consistent with the co-ordinate position information at any crossing
Into steering order.
Optionally, described according to the mobile route information and the trolley location information, generation steering instruction is also wrapped
It includes：
Obtain the co-ordinate position information of anchor point included in first monitoring image；
When the trolley location information is consistent with the co-ordinate position information of any anchor point, according to mobile route information,
Instruction is stopped in generation.
Optionally, described according to the first monitoring image, the identity information for obtaining automatic guided vehicle includes：
According to the first monitoring image, identification is preset in the identification information on automatic guided vehicle, according to the identification information, obtains
Take the identity information of automatic guided vehicle.
Optionally, described according to the identity information, the mobile route information for obtaining the automatic guided vehicle includes：
According to the identity information, the corresponding mobile route information of the identity information is searched in initialized data base；
Obtain the mobile route information.
Optionally, at least there are first object camera and the second target camera in the working region of automatic guided vehicle,
There are phases for corresponding second monitoring area of second target camera the first monitoring area corresponding with the first object camera
The monitoring area being mutually overlapped is provided with edge anchor point in the overlapped monitoring area, described according to the mobile road
Diameter information and the trolley location information generate steering instruction, the steering instruction are sent to the automatic guided vehicle, with
Include after performing the corresponding action of the steering instruction for the automatic guided vehicle：
When detecting that automatic guided vehicle is moved to the edge anchor point, according to the mobile route of the automatic guided vehicle
Information, detects whether the current moving direction of the automatic guided vehicle is directed toward the second monitoring area；
If the current moving direction of automatic guided vehicle is directed toward the second monitoring area, enabled instruction is sent to second mesh
Camera is marked, after receiving the enabled instruction for the second target camera, the second monitoring area is shot；
The second monitoring image of the second target camera shooting is obtained, according to the mobile route information and described second
Monitoring image guides the automatic guided vehicle.
In addition, to achieve the above object, the present invention also provides a kind of guiding device of automatic guided vehicle, the homing guidances
The guiding device of vehicle includes：Memory, processor and oneself that is stored on the memory and can run on the processor
The steering routine of dynamic guiding vehicle, is realized as described above certainly when the steering routine of the automatic guided vehicle is performed by the processor
The step of guidance method of dynamic guiding vehicle.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
The steering routine of automatic guided vehicle is stored on storage medium, it is real when the steering routine of the automatic guided vehicle is executed by processor
Now the step of guidance method of automatic guided vehicle as described above.
In the present invention, when automatic guided vehicle is in the first monitoring area, the first monitoring figure of the first monitoring area is transferred
Picture according to the first monitoring image, obtains trolley location information of the automatic guided vehicle in the first monitoring image；Further according to
One monitoring image determines the identity information of automatic guided vehicle, obtains the corresponding mobile route information of the identity information；According to movement
Routing information and trolley location information generate steering instruction, steering instruction are sent to automatic guided vehicle, is realized to leading automatically
Draw the control of vehicle.By the present invention, can the mode of view-based access control model guiding realize guiding to automatic guided vehicle, guided without being laid with
Track reduces cost, and automatic guided vehicle along fixed guide rails without travelling so that the driving path of automatic guided vehicle
It is more flexible.
Description of the drawings
Fig. 1 is the apparatus structure schematic diagram of hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of the guidance method first embodiment of automatic guide vehicle of the present invention；
Fig. 3 is that the operative scenario in one embodiment of guidance method of automatic guide vehicle of the present invention monitors schematic diagram；
Schematic diagram of a scenario of the Fig. 4 for mobile route information in one embodiment of guidance method of automatic guide vehicle of the present invention；
Fig. 5 is the schematic diagram of a scenario that automatic guided vehicle is guided in one embodiment of guidance method of automatic guide vehicle of the present invention；
Mobile context schematic diagrames of the Fig. 6 for automatic guided vehicle in one embodiment of guidance method of automatic guide vehicle of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figure 1, the apparatus structure schematic diagram of hardware running environment that Fig. 1, which is the embodiment of the present invention, to be related to.
The guiding device of automatic guided vehicle of the embodiment of the present invention can be that server, PC or computer etc. have
The terminal device of data calculation processing function.
As shown in Figure 1, the device can include：Processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is used to implement the connection communication between these components.
User interface 1003 can include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 can optionally connect including the wired of standard
Mouth, wireless interface (such as WI-FI interfaces).Memory 1005 can be high-speed RAM memory or the memory of stabilization
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
It will be understood by those skilled in the art that the restriction of the apparatus structure shown in Fig. 1 not structure twin installation, can wrap
It includes and either combines certain components or different components arrangement than illustrating more or fewer components.
As shown in Figure 1, it can lead to as in a kind of memory 1005 of computer storage media including operating system, network
Believe the steering routine of module, Subscriber Interface Module SIM and automatic guided vehicle.
In device shown in Fig. 1, network interface 1004 is mainly used for connecting background server, is carried out with background server
Data communicate；User interface 1003 is mainly used for connecting client (user terminal), with client into row data communication；And processor
1001 can be used for calling the steering routine of automatic guided vehicle stored in memory 1005, and perform following operate：
When automatic guided vehicle is in the first monitoring area, obtains the corresponding first object camera of the first monitoring area and clap
The first monitoring image taken the photograph obtains trolley location information of the automatic guided vehicle in the first monitoring image；
According to the first monitoring image, the identity information of automatic guided vehicle is obtained；
According to the identity information, the mobile route information of the automatic guided vehicle is obtained；
According to the mobile route information and the trolley location information, steering instruction is generated, by the steering instruction
The automatic guided vehicle is sent to, so that the automatic guided vehicle performs the corresponding action of the steering instruction.
Further, processor 1001 can call the steering routine of the automatic guided vehicle stored in memory 1005, also
Perform following operate：
Obtain the traveling image of dollying head shooting preset on the automatic guided vehicle；
According to the traveling image, mobile offset of the automatic guided vehicle relative to the path graticule is calculated；
The corresponding adjust instruction of the mobile offset is generated, the adjust instruction is sent to the automatic guided vehicle,
So that the automatic guided vehicle adjusts mobile posture according to the adjust instruction.
Further, it is described when automatic guided vehicle is in the first monitoring area, obtain the first monitoring area corresponding the
First monitoring image of one target camera shooting, obtain trolley location information of the automatic guided vehicle in the first monitoring image it
Before include：
The local monitoring image of each camera shooting in monitoring area is obtained, is built according to all local monitoring images
The whole path image of the monitoring area；
Obtain coordinate bit confidence of each destination node in corresponding local monitoring image in the whole path image
Breath, wherein, each destination node includes at least in the entirety path image：Each crossing in whole path image, stop
Point.
Further, it is described according to the mobile route information and the trolley location information, generate steering instruction packet
It includes：
Obtain the co-ordinate position information at crossing included in first monitoring image；
It is raw according to mobile route information when the trolley location information is consistent with the co-ordinate position information at any crossing
Into steering order.
Further, described according to the mobile route information and the trolley location information, generation steering instruction is also
Including：
Obtain the co-ordinate position information of anchor point included in first monitoring image；
When the trolley location information is consistent with the co-ordinate position information of any anchor point, according to mobile route information,
Instruction is stopped in generation.
Further, described according to the first monitoring image, the identity information for obtaining automatic guided vehicle includes：
According to the first monitoring image, identification is preset in the identification information on automatic guided vehicle, according to the identification information, obtains
Take the identity information of automatic guided vehicle.
Further, described according to the identity information, the mobile route information for obtaining the automatic guided vehicle includes：
According to the identity information, the corresponding mobile route information of the identity information is searched in initialized data base；
Obtain the mobile route information.
Further, at least there are first object cameras and the second target in the working region of automatic guided vehicle to image
Head, corresponding second monitoring area of the second target camera the first monitoring area corresponding with the first object camera exist
Overlapped monitoring area is provided with edge anchor point in the overlapped monitoring area, described according to the movement
Routing information and the trolley location information generate steering instruction, the steering instruction are sent to the automatic guided vehicle,
Include after performing the corresponding action of the steering instruction for the automatic guided vehicle：
When detecting that automatic guided vehicle is moved to the edge anchor point, according to the mobile route of the automatic guided vehicle
Information, detects whether the current moving direction of the automatic guided vehicle is directed toward the second monitoring area；
If the current moving direction of automatic guided vehicle is directed toward the second monitoring area, enabled instruction is sent to second mesh
Camera is marked, after receiving the enabled instruction for the second target camera, the second monitoring area is shot；
The second monitoring image of the second target camera shooting is obtained, according to the mobile route information and described second
Monitoring image guides the automatic guided vehicle.
With reference to Fig. 2, Fig. 2 is the flow diagram of the guidance method first embodiment of automatic guide vehicle of the present invention.
In one embodiment, the guidance method of automatic guided vehicle includes：
Step S10 when automatic guided vehicle is in the first monitoring area, obtains the corresponding first object of the first monitoring area
First monitoring image of camera shooting obtains trolley location information of the automatic guided vehicle in the first monitoring image；
In one embodiment of the invention, automatic guided vehicle operative scenario is factory floor.It is installed on factory floor ceiling
Multiple cameras, camera can be fish-eye cameras, and fish eye lens is that a kind of focal length connects for 1.6mm or shorter and visual angle
The near or camera lens equal to 180 °.It is a kind of extreme wide-angle lens, and " fish eye lens " is being commonly called as it.For camera lens is made to reach most
Big Camera angle, the front lens diameter of this phtographic lens is very short and is protruded in parabolical to camera lens forepart, the eyes with fish
It is rather similar, it " fish eye lens " therefore and gains the name.Each fish-eye camera corresponds to one piece of monitoring area.The adjacent monitoring of each two
Region is there are common monitoring area, and be provided with edge anchor point in common monitoring area.With reference to Fig. 3, Fig. 3 is this hair
Operative scenario monitoring schematic diagram in one embodiment of guidance method of bright automatic guided vehicle.In the present embodiment, taken the photograph by 3 flakes
As monitoring of the head realization to factory floor, that is, realize the monitoring to the operative scenario of automatic guided vehicle.Wherein, camera 1, to prison
Control region A is monitored shooting；Camera 2 is monitored shooting to monitoring area B；Camera 3 supervises monitoring area C
Control shooting.Edge anchor point in the common monitoring area of monitoring area A and monitoring area B is X1, monitoring area B and monitored space
Edge anchor point in the common monitoring area of domain C is X2.In the present embodiment, the monitoring of all camera shootings is obtained first
Picture, if automatic guided vehicle is present in the corresponding monitored pictures of monitoring area A, monitoring area A is the first monitoring area, hair
Out code is sent only to obtain the first monitored picture that camera 1 is shot, and determine automatic guided vehicle to camera 2 and camera 3
Location information in the first monitored picture.
Step S20 according to the first monitoring image, obtains the identity information of automatic guided vehicle；
In the present embodiment, identification information is preset on automatic guided vehicle, for example, graphic code, by graphic code to paste or print
The modes such as system are attached on automatic guide vehicle, include the identity information of the automatic guided vehicle in graphic code, and identity information can be with
It is a string of numbers.To the first monitoring image carry out image characteristics extraction, obtain automatic guided vehicle on graphic code, to graphic code into
Row decoding, obtains a string of numbers, such as " 123 ".
Step S30 according to the identity information, obtains the mobile route information of the automatic guided vehicle；
In the present embodiment, for automatic guided vehicle for performing mobile task, mobile route presets planning by operating personnel, and
The mobile route information planned is associated with the identity information of automatic guided vehicle in preservation to the guiding device of automatic guided vehicle.
As shown in table 1, table 1 is the associated record table of mobile route information and identity information in an embodiment.
Table 1
| Identity information | Mobile route information |
| 123 | Mobile route 1 |
| 456 | Mobile route 2 |
| 789 | Mobile route 3 |
With reference to Fig. 4, Fig. 4 shows for the scene of mobile route information in one embodiment of guidance method of automatic guided vehicle of the present invention
It is intended to.In Fig. 4, the shown in phantom mobile route and moving direction of automatic guided vehicle with the arrow, and on mobile route
There are two anchor points, respectively T1, T2, respectively two crossings, L1, L2, respectively two edge anchor points, X1, X2.
Step S40 according to the mobile route information and the trolley location information, generates steering instruction, by described in
Steering instruction is sent to the automatic guided vehicle, so that the automatic guided vehicle performs the corresponding action of the steering instruction.
In the present embodiment, mobile route information specifies the mobile planning of automatic guided vehicle entirety.With reference to Fig. 5, Fig. 5 is this
The schematic diagram of a scenario of automatic guided vehicle is guided in one embodiment of guidance method of invention automatic guided vehicle.When automatic guided vehicle is advanced
During to position W1, due to being now in monitoring area A, the guiding device of automatic guided vehicle only obtains the monitoring of the shooting of camera 1
Image 1, the position of W1 is not at crossing nor anchor point, and according to mobile route information, the steering instruction of generation is " straight trip ",
The order of " straight trip " is sent to automatic guided vehicle, automatic guided vehicle performs the action of straight trip；Automatic guided vehicle continues to move to, when
Automatic guided vehicle is moved to anchor point T1, and (i.e. position of the automatic guided vehicle in monitoring image 1 is being monitored with anchor point T1 at this time
Position consistency in image 1) when, the steering instruction of generation is " stop ", and the order of " stop " is sent to automatic guided vehicle, from
Dynamic guiding vehicle performs the action stopped, and after stopping certain time (such as being set in advance as 1 minute), automatic guided vehicle is along current
Direction continues to move to；When automatic guided vehicle is moved to crossing L1 (i.e. positions and road of the automatic guided vehicle in monitoring image 1 at this time
Position consistencies of the mouth L1 in monitoring image 1) when, the steering instruction of generation is " right-hand rotation ", and the order of " right-hand rotation " is sent to certainly
Dynamic guiding vehicle, automatic guided vehicle perform the action turned right；Automatic guided vehicle continues to move to, and determines when automatic guided vehicle is moved to edge
During the X1 of site, according to the mobile route information of automatic guided vehicle it is found that automatic guided vehicle will sail out of monitoring area A, into prison
Region B is controlled, is ordered at this point, the guiding device of automatic guided vehicle sends to start to camera 2, transmission shutdown command to camera 1,
Stop receiving the video data of camera 1, start to receive the monitoring image 2 that camera 2 is shot, determine that automatic guided vehicle is monitoring
Real time position in image 2, when position of the automatic guided vehicle in monitoring image 2 and positions of the crossing L2 in monitoring image 2
When consistent, according to mobile route information, the steering instruction of generation is " right-hand rotation ", and the order of " right-hand rotation " is sent to homing guidance
Vehicle, automatic guided vehicle perform the action turned right；Automatic guided vehicle continues to move to, when position of the automatic guided vehicle in monitoring image 2
When putting with position consistencies of the anchor point T2 in monitoring image 2, the steering instruction of generation is " stops ", by the order hair of " stop "
It sending to automatic guided vehicle, automatic guided vehicle performs the action stopped, after stopping certain time (such as being set in advance as 1 minute),
Automatic guided vehicle is continued to move to along when front direction；When automatic guided vehicle is moved to edge anchor point X2, according to homing guidance
The mobile route information of vehicle is it is found that automatic guided vehicle will sail out of monitoring area B, into monitoring area C, at this point, homing guidance
The guiding device of vehicle, which is sent, starts order to camera 3, sends shutdown command to camera 2, stops receiving the video of camera 2
Data start to receive the monitoring image 3 that camera 3 is shot, determine real time position of the automatic guided vehicle in monitoring image 3, after
It is continuous that just automatic guided vehicle is guided according to above-mentioned similar guidance method, until the shift action of automatic guided vehicle terminates,
This will not be repeated here.
In the present embodiment, when automatic guided vehicle is in the first monitoring area, the first monitoring of the first monitoring area is transferred
Image according to the first monitoring image, obtains trolley location information of the automatic guided vehicle in the first monitoring image；Further basis
First monitoring image determines the identity information of automatic guided vehicle, obtains the corresponding mobile route information of the identity information；According to shifting
Dynamic routing information and trolley location information, generate steering instruction, steering instruction are sent to automatic guided vehicle, is realized to automatic
Guide the control of vehicle.Through this embodiment, can the mode of view-based access control model guiding realize guiding to automatic guided vehicle, without being laid with
Guide rails reduce cost, and automatic guided vehicle along fixed guide rails without travelling so that the traveling of automatic guided vehicle
Path is more flexible.
Further, in one embodiment of guidance method of automatic guided vehicle of the present invention, on the mobile route of automatic guided vehicle
Path graticule is preset, the guidance method of automatic guided vehicle further includes：
Obtain the traveling image of dollying head shooting preset on the automatic guided vehicle；
According to the traveling image, mobile offset of the automatic guided vehicle relative to the path graticule is calculated；
The corresponding adjust instruction of the mobile offset is generated, the adjust instruction is sent to the automatic guided vehicle,
So that the automatic guided vehicle adjusts mobile posture according to the adjust instruction.
Dollying head is preset in the present embodiment, on automatic guided vehicle, the camera shooting direction of the camera is directed toward leads automatically
Draw the direction of advance of vehicle, and deflect down certain angle, such as deflect down 15 degree.Automatic guided vehicle moves in moving process
Dynamic camera is shot in real time, and the traveling image taken is uploaded to the guiding device of automatic guided vehicle, the dress in real time
It puts after receiving traveling image, according to perspective transform, traveling image is handled, obtains the mobile context of automatic guided vehicle
Figure.With reference to Fig. 6, mobile context signals of the Fig. 6 for automatic guided vehicle in one embodiment of guidance method of automatic guided vehicle of the present invention
Figure.The guiding device of automatic guided vehicle carries out image analysis to the mobile context schematic diagram of automatic guided vehicle, obtains current automatic
It is S that vehicle, which is guided, relative to the transversal displacement of path graticule, and the course angle offset relative to path graticule is α.If rule in advance
The automatic guided vehicle drawn is S relative to the transversal displacement of path graticule, then to transversal displacement without adjustment, if planning in advance
Be zero relative to the course angle offset of path graticule, then the adjust instruction generated is " course angle is inclined relative to path graticule
Turn-α ", after automatic guided vehicle receives the adjust instruction, current course angle is adjusted, so that automatic guided vehicle is relative to path
The course angle offset of graticule is zero.
In the present embodiment, in practical applications, due to Uneven road etc., automatic guided vehicle is on the move, Ke Nengzao
Change into its transversal displacement and course angle relative to path graticule, taken the photograph according to movement preset on the automatic guided vehicle of acquisition
As the traveling image that head is shot, corresponding adjust instruction is generated, adjusts the mobile posture of automatic guided vehicle in real time, guarantee is led automatically
Draw the correctness of vehicle movement.
Further, in one embodiment of guidance method of automatic guided vehicle of the present invention, include before step S10：
The local monitoring image of each camera shooting in monitoring area is obtained, is built according to all local monitoring images
The whole path image of the monitoring area；
Obtain coordinate bit confidence of each destination node in corresponding local monitoring image in the whole path image
Breath, wherein, each destination node includes at least in the entirety path image：Each crossing in whole path image, stop
Point.
In the present embodiment, with reference to Fig. 3, Fig. 3 is the yard in one embodiment of guidance method of automatic guided vehicle of the present invention
Scape monitors schematic diagram.In the present embodiment, realize the monitoring to factory floor by 3 fish-eye cameras, that is, realize to leading automatically
Draw the monitoring of the operative scenario of vehicle.Wherein, camera 1 is monitored shooting to monitoring area A；Camera 2, to monitoring area B
It is monitored shooting；Camera 3 is monitored shooting to monitoring area C.The common monitored space of monitoring area A and monitoring area B
Edge anchor point in domain is that the edge anchor point in the common monitoring area of X1, monitoring area B and monitoring area C is X2.
There are crossing L1, anchor point T1 and edge anchor point X1 in monitoring area A, by coordinate bits of the crossing L1 in monitoring area A
Confidence ceases and co-ordinate position information and edge anchor point X1 coordinates among monitoring area As of the anchor point T1 in monitoring area A
Location information is stored in the corresponding files 1 of monitoring area A.There are crossing L2, anchor point T2, edge are fixed in monitoring area B
Site X1, edge anchor point X2 are monitoring crossing L2, anchor point T2, edge anchor point X1, edge anchor point X2 this four points
Co-ordinate position information in the B of region is stored in the corresponding files 2 of monitoring area B.There are edge positioning in monitoring area C
Point X2 is stored in co-ordinate position informations of the edge anchor point X2 in monitoring area C in the corresponding files 3 of monitoring area C.
In the present embodiment, according to local monitoring image, whole path image is built, facilitates user straight according to actual needs
It is connected on whole path image and cooks up the corresponding mobile route information of automatic guided vehicle.Subsequently, when automatic guided vehicle reaches certain
During a destination node, according to mobile route information, trigger corresponding steering instruction, can view-based access control model guiding mode realize to from
The guiding of dynamic guiding vehicle.
Further, it is described to be believed according to the mobile route in one embodiment of guidance method of automatic guided vehicle of the present invention
Breath and the trolley location information, generation steering instruction include：
Obtain the co-ordinate position information at crossing included in first monitoring image；
It is raw according to mobile route information when the trolley location information is consistent with the co-ordinate position information at any crossing
Into steering order.
In the present embodiment, when it is currently received be the first monitoring image when, for example, when the first monitoring image be monitoring image
During A, from the corresponding files 1 of monitoring image A, co-ordinate position informations of the crossing L1 in monitoring image A is obtained.When detecting
When location information of the automatic guided vehicle in monitoring image A is consistent with co-ordinate position informations of the crossing L1 in monitoring image A, root
It according to mobile route information, determines when the direction of front steering, if for example, currently needing to turn right, the steering order generated is " right
Turn ".
In the present embodiment, when the mobile posture to automatic guided vehicle is needed to be adjusted, can view-based access control model guiding side
Formula realizes the guiding to automatic guided vehicle, without being laid with guide rails, reduces cost.
Further, it is described to be believed according to the mobile route in one embodiment of guidance method of automatic guided vehicle of the present invention
Breath and the trolley location information, generation steering instruction further include：
Obtain the co-ordinate position information of anchor point included in first monitoring image；
When the trolley location information is consistent with the co-ordinate position information of any anchor point, according to mobile route information,
Instruction is stopped in generation.
In the present embodiment, when it is currently received be the first monitoring image when, for example, when the first monitoring image be monitoring image
During A, from the corresponding files 1 of monitoring image A, co-ordinate position informations of the anchor point T1 in monitoring image A is obtained.Work as detection
It is consistent with co-ordinate position informations of the anchor point T1 in monitoring image A to location information of the automatic guided vehicle in monitoring image A
When, according to mobile route information, whether judgement currently needs to stop, if desired stop, then generates stop instruction, such as in movement
Comprising the information for needing to stop in anchor point T1 in routing information, then stop instruction is generated.
In the present embodiment, when the mobile posture to automatic guided vehicle is needed to be adjusted, can view-based access control model guiding side
Formula realizes the guiding to automatic guided vehicle, without being laid with guide rails, reduces cost.
Further, in one embodiment of guidance method of automatic guided vehicle of the present invention, step S20 includes：
According to the first monitoring image, identification is preset in the identification information on automatic guided vehicle, according to the identification information, obtains
Take the identity information of automatic guided vehicle.
In the present embodiment, identification information is preset on automatic guided vehicle, for example, graphic code, by graphic code to paste or print
The modes such as system are attached on automatic guide vehicle, include the identity information of the automatic guided vehicle in graphic code, and identity information can be with
It is a string of numbers.It can be that image characteristics extraction is carried out to the first monitoring image, obtain the graphic code on automatic guided vehicle, it is right
Graphic code is decoded, and obtains a string of numbers, such as " 123 ".
In the present embodiment, automatic guide vehicle presetting mark information, this embodiment scheme made can be applied to more and draw automatically
On guide-car, the application range of the present embodiment is increased.
Further, in one embodiment of guidance method of automatic guided vehicle of the present invention, step S30 includes：
According to the identity information, the corresponding mobile route information of the identity information is searched in initialized data base；
Obtain the mobile route information.
In the present embodiment, for automatic guided vehicle for performing mobile task, mobile route presets planning by operating personnel, and
The mobile route information planned is associated with the identity information of automatic guided vehicle in preservation to the guiding device of automatic guided vehicle.
As shown in table 1, table 1 is the associated record table of mobile route information and identity information in an embodiment.
Table 1
| Identity information | Mobile route information |
| 123 | Mobile route 1 |
| 456 | Mobile route 2 |
| 789 | Mobile route 3 |
With reference to Fig. 4, Fig. 4 shows for the scene of mobile route information in one embodiment of guidance method of automatic guided vehicle of the present invention
It is intended to.In Fig. 4, the shown in phantom mobile route and moving direction of automatic guided vehicle with the arrow, and on mobile route
There are two anchor points, respectively T1, T2, respectively two crossings, L1, L2, respectively two edge anchor points, X1, X2.
Can be that different mobile route information is configured in different automatic guide vehicles so that the present embodiment in the present embodiment
Application range it is more extensive.
Further, at least there are first object cameras and the second target in the working region of automatic guided vehicle to image
Head, corresponding second monitoring area of the second target camera the first monitoring area corresponding with the first object camera exist
Overlapped monitoring area is provided with edge anchor point in the overlapped monitoring area, described according to the movement
Routing information and the trolley location information generate steering instruction, the steering instruction are sent to the automatic guided vehicle,
Include after performing the corresponding action of the steering instruction for the automatic guided vehicle：
When detecting that automatic guided vehicle is moved to the edge anchor point, according to the mobile route of the automatic guided vehicle
Information, detects whether the current moving direction of the automatic guided vehicle is directed toward the second monitoring area；
If the current moving direction of automatic guided vehicle is directed toward the second monitoring area, enabled instruction is sent to second mesh
Camera is marked, after receiving the enabled instruction for the second target camera, the second monitoring area is shot；
The second monitoring image of the second target camera shooting is obtained, according to the mobile route information and described second
Monitoring image guides the automatic guided vehicle.
In the present embodiment, mobile route information specifies the mobile planning of automatic guided vehicle entirety.With reference to Fig. 5, Fig. 5 is this
The schematic diagram of a scenario of automatic guided vehicle is guided in one embodiment of guidance method of invention automatic guided vehicle.When automatic guided vehicle is advanced
During to position W1, due to being now in monitoring area A, the guiding device of automatic guided vehicle only obtains the monitoring of the shooting of camera 1
Image 1, the position of W1 is not at crossing nor anchor point, and according to mobile route information, the steering instruction of generation is " straight trip ",
The order of " straight trip " is sent to automatic guided vehicle, automatic guided vehicle performs the action of straight trip；Automatic guided vehicle continues to move to, when
Automatic guided vehicle is moved to anchor point T1, and (i.e. position of the automatic guided vehicle in monitoring image 1 is being monitored with anchor point T1 at this time
Position consistency in image 1) when, the steering instruction of generation is " stop ", and the order of " stop " is sent to automatic guided vehicle, from
Dynamic guiding vehicle performs the action stopped, and after stopping certain time (such as being set in advance as 1 minute), automatic guided vehicle is along current
Direction continues to move to；When automatic guided vehicle is moved to crossing L1 (i.e. positions and road of the automatic guided vehicle in monitoring image 1 at this time
Position consistencies of the mouth L1 in monitoring image 1) when, the steering instruction of generation is " right-hand rotation ", and the order of " right-hand rotation " is sent to certainly
Dynamic guiding vehicle, automatic guided vehicle perform the action turned right；Automatic guided vehicle continues to move to, and determines when automatic guided vehicle is moved to edge
During the X1 of site, according to the mobile route information of automatic guided vehicle it is found that automatic guided vehicle will sail out of monitoring area A, into prison
Region B is controlled, is ordered at this point, the guiding device of automatic guided vehicle sends to start to camera 2, transmission shutdown command to camera 1,
Stop receiving the video data of camera 1, start to receive the monitoring image 2 that camera 2 is shot, determine that automatic guided vehicle is monitoring
Real time position in image 2, when position of the automatic guided vehicle in monitoring image 2 and positions of the crossing L2 in monitoring image 2
When consistent, according to mobile route information, the steering instruction of generation is " right-hand rotation ", and the order of " right-hand rotation " is sent to homing guidance
Vehicle, automatic guided vehicle perform the action turned right；Automatic guided vehicle continues to move to, when position of the automatic guided vehicle in monitoring image 2
When putting with position consistencies of the anchor point T2 in monitoring image 2, the steering instruction of generation is " stops ", by the order hair of " stop "
It sending to automatic guided vehicle, automatic guided vehicle performs the action stopped, after stopping certain time (such as being set in advance as 1 minute),
Automatic guided vehicle is continued to move to along when front direction；When automatic guided vehicle is moved to edge anchor point X2, according to homing guidance
The mobile route information of vehicle is it is found that automatic guided vehicle will sail out of monitoring area B, into monitoring area C, at this point, homing guidance
The guiding device of vehicle, which is sent, starts order to camera 3, sends shutdown command to camera 2, stops receiving the video of camera 2
Data start to receive the monitoring image 3 that camera 3 is shot, determine real time position of the automatic guided vehicle in monitoring image 3, after
It is continuous that just automatic guided vehicle is guided according to above-mentioned similar guidance method, until the shift action of automatic guided vehicle terminates,
This will not be repeated here.
In the present embodiment, automatic guided vehicle is moved to some monitoring area, then refers to the monitoring image for obtaining the monitoring area,
Bandwidth pressure can be mitigated so that the transmission of monitoring image is more smooth.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage medium
On be stored with the steering routine of automatic guided vehicle, as above institute is realized when the steering routine of the automatic guided vehicle is executed by processor
The step of each embodiment of the guidance method of the automatic guided vehicle stated.
The specific embodiment of computer readable storage medium of the present invention is each with the guidance method of above-mentioned automatic guided vehicle
Embodiment is essentially identical, and this will not be repeated here.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements not only include those elements, and
And it further includes other elements that are not explicitly listed or further includes intrinsic for this process, method, article or system institute
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical elements in the process of element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be embodied in the form of software product, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions use so that a station terminal equipment (can be mobile phone,
Computer, server, air conditioner or network equipment etc.) perform method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of guidance method of automatic guided vehicle, which is characterized in that the guidance method of the automatic guided vehicle includes：
When automatic guided vehicle is in the first monitoring area, the corresponding first object camera shooting of the first monitoring area is obtained
First monitoring image obtains trolley location information of the automatic guided vehicle in the first monitoring image；
According to the first monitoring image, the identity information of automatic guided vehicle is obtained；
According to the identity information, the mobile route information of the automatic guided vehicle is obtained；
According to the mobile route information and the trolley location information, steering instruction is generated, the steering instruction is sent
To the automatic guided vehicle, so that the automatic guided vehicle performs the corresponding action of the steering instruction.
2. the guidance method of automatic guided vehicle as described in claim 1, which is characterized in that the mobile road of the automatic guided vehicle
Path graticule is preset on diameter, the guidance method of the automatic guided vehicle further includes：
Obtain the traveling image of dollying head shooting preset on the automatic guided vehicle；
According to the traveling image, mobile offset of the automatic guided vehicle relative to the path graticule is calculated；
The corresponding adjust instruction of the mobile offset is generated, the adjust instruction is sent to the automatic guided vehicle, for
The automatic guided vehicle adjusts mobile posture according to the adjust instruction.
3. the guidance method of automatic guided vehicle as described in claim 1, which is characterized in that described when automatic guided vehicle is in the
During one monitoring area, the first monitoring image of the corresponding first object camera shooting of the first monitoring area is obtained, is obtained automatic
Include before guiding trolley location information of the vehicle in the first monitoring image：
The local monitoring image of each camera shooting in monitoring area is obtained, according to all local monitoring image structures
The whole path image of monitoring area；
Co-ordinate position information of each destination node in corresponding local monitoring image in the whole path image is obtained,
In, each destination node includes at least in the entirety path image：Each crossing in whole path image, anchor point.
4. the guidance method of automatic guided vehicle as claimed in claim 3, which is characterized in that described to be believed according to the mobile route
Breath and the trolley location information, generation steering instruction include：
Obtain the co-ordinate position information at crossing included in first monitoring image；
When the trolley location information is consistent with the co-ordinate position information at any crossing, according to mobile route information, generation turns
To instruction.
5. the guidance method of automatic guided vehicle as claimed in claim 3, which is characterized in that described to be believed according to the mobile route
Breath and the trolley location information, generation steering instruction further include：
Obtain the co-ordinate position information of anchor point included in first monitoring image；
When the trolley location information is consistent with the co-ordinate position information of any anchor point, according to mobile route information, generation
Stop instruction.
6. the guidance method of automatic guided vehicle as described in claim 1, which is characterized in that it is described according to the first monitoring image,
The identity information for obtaining automatic guided vehicle includes：
According to the first monitoring image, identification is preset in the identification information on automatic guided vehicle, according to the identification information, is obtained from
The identity information of dynamic guiding vehicle.
7. the guidance method of automatic guided vehicle as described in claim 1, which is characterized in that it is described according to the identity information,
The mobile route information for obtaining the automatic guided vehicle includes：
According to the identity information, the corresponding mobile route information of the identity information is searched in initialized data base；
Obtain the mobile route information.
8. the guidance method of automatic guided vehicle as described in claim 1, which is characterized in that in the working region of automatic guided vehicle
At least there are first object camera and the second target camera, corresponding second monitoring area of the second target camera with it is described
There are overlapped monitoring area, the overlapped monitoring areas for corresponding first monitoring area of first object camera
In be provided with edge anchor point, it is described according to the mobile route information and the trolley location information, generate steering instruction,
The steering instruction is sent to the automatic guided vehicle, the steering instruction is corresponding to be moved so that the automatic guided vehicle performs
Include after making：
When detecting that automatic guided vehicle is moved to the edge anchor point, believed according to the mobile route of the automatic guided vehicle
Breath, detects whether the current moving direction of the automatic guided vehicle is directed toward the second monitoring area；
If the current moving direction of automatic guided vehicle is directed toward the second monitoring area, sends enabled instruction to second target and take the photograph
As head, after receiving the enabled instruction for the second target camera, the second monitoring area is shot；
The second monitoring image of the second target camera shooting is obtained, according to the mobile route information and second monitoring
Image guides the automatic guided vehicle.
9. a kind of guiding device of automatic guided vehicle, which is characterized in that the guiding device of the automatic guided vehicle includes：Storage
Device, processor and it is stored in the steering routine of automatic guided vehicle that can be run on the memory and on the processor, institute
It states and is realized when the steering routine of automatic guided vehicle is performed by the processor as described in any item of the claim 1 to 8 automatic
The step of guiding the guidance method of vehicle.
10. a kind of computer readable storage medium, which is characterized in that be stored on the computer readable storage medium and lead automatically
Draw the steering routine of vehicle, realized when the steering routine of the automatic guided vehicle is executed by processor as any in claim 1 to 8
The step of guidance method of automatic guided vehicle described in.
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Denomination of invention: Guidance method, device and computer readable storage medium of automatic guided vehicle Effective date of registration: 20220623 Granted publication date: 20210420 Pledgee: Industrial and Commercial Bank of China Limited Shenzhen Fuyong sub branch Pledgor: SHENZHEN ECHIEV AUTONOMOUS DRIVING TECHNOLOGY Co.,Ltd. Registration number: Y2022980008778 |
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