CN109283928A - A kind of self-navigation transport vehicle and its automatic running method based on machine vision - Google Patents
A kind of self-navigation transport vehicle and its automatic running method based on machine vision Download PDFInfo
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- CN109283928A CN109283928A CN201811113534.XA CN201811113534A CN109283928A CN 109283928 A CN109283928 A CN 109283928A CN 201811113534 A CN201811113534 A CN 201811113534A CN 109283928 A CN109283928 A CN 109283928A
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- 238000000034 method Methods 0.000 title claims description 11
- 238000012546 transfer Methods 0.000 claims abstract description 14
- 239000002390 adhesive tape Substances 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 description 4
- 239000003086 colorant Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000004313 glare Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of self-navigation transport vehicle based on machine vision, including frame chassis, stepper motor and driving motor, the frame chassis is equipped with front vehicle wheel and rear wheel, transfer is equipped between front vehicle wheel or rear wheel, stepper motor is turned to for driving transfer to realize, for driving motor for driving front vehicle wheel or/and rear wheel to rotate, frame chassis is equipped with support bracket；Including CCD camera, processor and controller, CCD camera is located at frame chassis front end face, CCD camera is electrically connected with processor, stepper motor, driving motor and processor are electrically connected with the controller respectively, processor is equipped with machine vision dijkstra's algorithm module, CCD camera is for obtaining realtime graphic and being delivered to processor, machine vision dijkstra's algorithm module obtains the parameter of optimal path according to realtime graphic and is sent to controller, and controller is acted according to the state modulator stepper motor and driving motor of optimal path.The present invention is able to achieve automatic obstacle avoiding and turning, intelligence degree are higher in real time.
Description
Technical field
The present invention relates to automatic Pilot technical fields, and in particular to a kind of self-navigation transport vehicle based on machine vision and
Its automatic running method.
Background technique
AGV is the abbreviation of (Automated Guided Vehicle), implies that " self-navigation transport vehicle ", refers to and be equipped with
Electricity magnetically or optically waits homing guidances device, it can be travelled along defined guide path, has safeguard protection and various transfers
The transport vehicle of function, AGV belong to the scope of wheeled mobile robot.With action is quick, work efficiency is high, structure is simple, can
The advantages such as control property is strong, safety is good
Researching value, but the guide path of the self-navigation transport vehicle of the prior art can only be fixed in workshop, and
The degree of automation is low, cannot autonomous classification and selection to multiple-limb path, can not realize automatic obstacle avoiding and in real time turning, intelligence
It can change that degree is lower, therefore will there is very big reality to anticipate the research and development of self-navigation transport vehicle used in processing of farm products workshop
Justice.
Summary of the invention
Present invention aims to overcome that the shortcomings that prior art and deficiency, provide a kind of leading automatically based on machine vision
Navigate transport vehicle, it is only necessary to which navigation can be realized by the path that colorful adhesive tape is built in identification, can be to the autonomous classification in multiple-limb path
With selection, it is able to achieve automatic obstacle avoiding and turning, intelligence degree is higher in real time.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of self-navigation transport vehicle based on machine vision, including frame chassis, stepper motor and driving motor, it is described
Frame chassis is equipped with front vehicle wheel and rear wheel, transfer is equipped between front vehicle wheel or rear wheel, stepper motor is for driving
Transfer, which is realized, to be turned to, and for driving motor for driving front vehicle wheel or/and rear wheel to rotate, frame chassis is equipped with load-bearing branch
Frame；It further include CCD camera, processor and controller, CCD camera is located at frame chassis front end face, CCD camera and processing
Device electrical connection, stepper motor, driving motor and processor are electrically connected with the controller respectively, and the processor is equipped with machine vision
Dijkstra's algorithm module stores the itinerary map in workshop on processor, and CCD camera is for obtaining realtime graphic and conveying
To processor, machine vision dijkstra's algorithm module is indicated according on realtime graphic with hsv color feature and number mark
Mark information obtain the parameter of optimal path and be sent to the parameter of controller and be sent to controller, controller is according to optimal
The state modulator stepper motor and driving motor in path act.
From the foregoing, it will be observed that working principle of the invention is as follows: by CCD camera obtain distorting small, image quality is high, reliable performance,
The few image of veiling glare, is transmitted to processor and is handled, equipped with the machine view based on the library OpenCV voluntarily researched and developed on processor
To feel dijkstra's algorithm module, is improved according to processing workshop is practical, all itinerary maps in workshop are stored in advance in processor,
And when facing multiple-limb path, machine vision dijkstra's algorithm module according on realtime graphic with hsv color feature and
The mark information that number mark indicates obtains the parameter of optimal path and is sent to controller, after image is handled, obtains
The parameter of optimal path, and the parameter of optimal path is transmitted to controller in the form of character string, controller is according to optimal path
State modulator stepper motor rotation respective angles so that control turning device and carry out corresponding turning action and control driving
Motor adjusts travel speed.
In summary, the present invention only needs to identify by having hsv color feature and the realtime graphic of number mark can be realized
Navigation, can autonomous classification and selection to multiple-limb path, be able to achieve automatic obstacle avoiding and turning, intelligence degree be higher in real time；
In addition having the route of hsv color feature can be built using colorful adhesive tape, substantially reduce the cost of guide path, and colorful adhesive tape
It is convenient for disassembly and assembly, be conducive to the change of guide path.
As an improvement of the present invention, the transfer is located between front vehicle wheel, and transfer includes drag link, a left side
Knuckle and right turn section, left steering section and right turn section pass through the both ends that pin shaft is articulated in drag link respectively, and front left wheel is set
On left steering section, right front wheel is located on right turn section, and drag link is fixedly connected with frame chassis, the left steering section or the right side
One end of knuckle is articulated with a pivoted arm, and the output shaft of stepper motor is fixedly connected with a rocking handle, the free end of rocking handle and pivoted arm
Free ending pivot connect in succession.
Further, between the left steering section and the other end of right turn section be equipped with connecting rod, connecting rod two end respectively with a left side
Knuckle, the pivot joint connection of right turn section.
As an improvement of the present invention, the frame chassis front end face is equipped with ultrasonic sensor, ultrasonic sensor
It is electrically connected with the controller, ultrasonic sensor is used to monitor the barrier in front and sends monitoring signals, controller to controller
Stepper motor and driving motor movement are controlled according to monitoring signals.
Further, the two sides of the frame chassis front end face are respectively equipped with ultrasonic sensor, and CCD camera is located at vehicle
The middle part in frame chassis front end face, the ultrasonic sensor of two sides are inclined outwardly 5 ° respectively.
Further, the controller is single-chip microcontroller.
Further, the camera lens front end of the CCD camera is equipped with optical filter.
A kind of self-navigation transport vehicle automatic running method based on machine vision, comprising the following steps:
The travel route of self-navigation transport vehicle is laid in workshop using colorful adhesive tape, the road of travel route is respectively adopted
The colorful adhesive tape of different colours is laid with, and every road is equipped with and can be used for judging self-navigation transport vehicle specific position on road
The number mark set；
Set the destination of self-navigation transport vehicle；
The realtime graphic of self-navigation transport vehicle driving process is obtained using CCD camera；
Using machine vision algorithm according to the mark information indicated with hsv color feature and number mark on realtime graphic
Obtain the parameter of optimal path；
According to the go to action and speed of the state modulator self-navigation transport vehicle of optimal path, until arriving at the destination
The step " using machine vision dijkstra's algorithm according on realtime graphic with hsv color feature and number
Mark indicates to obtain the parameter of optimal path " include following sub-step:
Realtime graphic is subjected to binary conversion treatment according to the HSV value of pixel, so that path and background separation are obtained route
Formatted image；
Current path color is obtained according to route formatted image, by current path color and pre-stored route
Map compares, and judgement obtains the specific road on travel route locating for self-navigation transport vehicle；
Current number mark is obtained according to route formatted image, according to current number mark and pre-stored road
Line map compares, and determines the specific location of the specific road on travel route locating for self-navigation transport vehicle；
The specific location of specific road on the travel route in conjunction with locating for self-navigation transport vehicle and destination, with recurrence letter
The whole possible paths stored in map are gone through several times；
The shortest path in whole possible paths is obtained by machine vision dijkstra's algorithm, the parameter of shortest path is
For the parameter of optimal path.
Compared with prior art, the invention has the following advantages that
The present invention only needs to identify that, by there is the realtime graphic of hsv color feature and number mark that navigation can be realized, energy is right
The autonomous classification and selection in multiple-limb path, are able to achieve automatic obstacle avoiding and turning, intelligence degree are higher in real time；In addition there is HSV
The route of color characteristic can be built using colorful adhesive tape, substantially reduce the cost of guide path, and colorful adhesive tape is convenient for disassembly and assembly,
Be conducive to the change of guide path.
Detailed description of the invention
Fig. 1 is that the present invention is based on the schematic diagrames of the self-navigation transport vehicle of machine vision；
Fig. 2 is that the present invention is based on the schematic diagrames of the self-navigation transport vehicle transfer of machine vision.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.It is understood that tool described herein
Body embodiment is used only for explaining the present invention rather than limiting the invention.It also should be noted that for the ease of retouching
It states, only some but not all contents related to the present invention are shown in the drawings.
Embodiment
Please refer to Fig. 1 and Fig. 2, a kind of self-navigation transport vehicle based on machine vision, including frame chassis 10, stepping electricity
Machine 30 and driving motor 20, the frame chassis 10 are equipped with front vehicle wheel 11 and rear wheel 12, are equipped with and turn between front vehicle wheel 11
Device 40, stepper motor 30 for drive transfer 40 realize turn to, driving motor 20 for drive front vehicle wheel 11 or/and after
Wheel 12 rotates, and frame chassis 10 is equipped with support bracket 60；
It further include CCD camera 50, processor 70 and controller 80, CCD camera 50 is located at 10 front end face of frame chassis,
CCD camera 50 is electrically connected with processor 70, and stepper motor 30, driving motor 20 and processor 70 are electrically connected with controller 80 respectively
It connects, wherein the controller 80 is single-chip microcontroller；
The processor 70 is equipped with machine vision dijkstra's algorithm module, and the route in workshop is stored on processor 70
Map, CCD camera 50 is for obtaining realtime graphic and being delivered to processor, and machine vision dijkstra's algorithm module is according to reality
When image on the parameter of optimal path is obtained with hsv color feature and the mark information that indicates of number mark and is sent to control
Device 80, controller 80 are acted according to the state modulator stepper motor 30 and driving motor 20 of optimal path.
From the foregoing, it will be observed that working principle of the invention is as follows: by CCD camera obtain distorting small, image quality is high, reliable performance,
The few image of veiling glare, is transmitted to processor and is handled, equipped with the machine view based on the library OpenCV voluntarily researched and developed on processor
To feel dijkstra's algorithm module, is improved according to processing workshop is practical, all itinerary maps in workshop are stored in advance in processor,
And when facing multiple-limb path, machine vision dijkstra's algorithm module according on realtime graphic with hsv color feature and
The mark information that number mark indicates obtains the parameter of optimal path and is sent to controller, after image is handled, obtains
The parameter of optimal path, and the parameter of optimal path is transmitted to controller in the form of character string, controller is according to optimal path
State modulator stepper motor rotation respective angles so that control turning device and carry out corresponding turning action and control driving
Motor adjusts travel speed.
In summary, the present invention only needs to identify by having hsv color feature and the realtime graphic of number mark can be realized
Navigation, can autonomous classification and selection to multiple-limb path, be able to achieve automatic obstacle avoiding and turning, intelligence degree be higher in real time；
In addition having the route of hsv color feature can be built using colorful adhesive tape, substantially reduce the cost of guide path, and colorful adhesive tape
It is convenient for disassembly and assembly, be conducive to the change of guide path.
In the present embodiment, the transfer 40 is located between front vehicle wheel 11, and transfer 40 includes drag link 43, a left side
Knuckle 41 and right turn section 42, left steering section 41 and right turn section 42 are articulated in the both ends of drag link 43 by pin shaft respectively,
Front left wheel 111 is located on left steering section 41, and right front wheel 112 is located on right turn section 42, drag link 43 and frame chassis 40
It is fixedly connected, one end of the right turn section 44 is articulated with a pivoted arm 44, and the output shaft of stepper motor 30 and a rocking handle 45 are fixed
Connection, the free end of rocking handle 45 connects in succession with the free ending pivot of pivoted arm 44.When needing to turn to, controller is exported to stepper motor
Steering order, stepper motor drive pivoted arm to rotate by rocking handle, so that left steering section and right turn section be driven to turn to.In this implementation
In example, one end of the right turn section is articulated with a pivoted arm.Further, the left steering section 41 and right turn section 42 is another
Connecting rod 46 is equipped between end, 46 both ends of connecting rod are connected with left steering section 41, the pivot joint of right turn section 42 respectively.It will be turned left by connecting rod
Connection is pivotally connected to the other end of section and right turn section, it is ensured that left steering section and right turn section turn to simultaneously, and turn to more
Add smooth.
In the present embodiment, 10 front end face of frame chassis be equipped with ultrasonic sensor 90, ultrasonic sensor 90 with
Controller 80 is electrically connected, and ultrasonic sensor 80 is used to monitor the barrier in front and sends monitoring signals, control to controller 80
Device 80 processed controls stepper motor 30 according to monitoring signals and driving motor 20 acts.It can be detected by being equipped with ultrasonic sensor
Barrier in front of self-navigation transport vehicle, then controller controls stepper motor according to monitoring signals and driving motor acts,
Realize that self-navigation transport vehicle is turned to and adjusted the speed, thus avoiding obstacles.On the basis of the above, 10 front end face of frame chassis
Two sides be respectively equipped with ultrasonic sensor 90, CCD camera 50 is located at the middle part of 10 front end face of frame chassis, the ultrasound of two sides
Wave sensor 90 is inclined outwardly 5 ° respectively.Ultrasonic sensor is inclined outwardly setting, can effectively expande the spy of ultrasonic sensor
Survey range.
In the present embodiment, the front vehicle wheel 11 and rear wheel 12 are respectively equipped with driving motor, and driving motor respectively drives
Front vehicle wheel 11 and rear wheel 12.
In the present embodiment, the camera lens front end of the CCD camera 50 is equipped with optical filter.Optical filter can be such that CCD takes the photograph
As the photo that head is shot is more clear.
A kind of self-navigation transport vehicle automatic running method based on machine vision, comprising the following steps:
S1. the travel route of self-navigation transport vehicle, the road difference of travel route are laid in workshop using colorful adhesive tape
It is laid with using the colorful adhesive tape of different colours, and every road is equipped with and can be used for judging that self-navigation transport vehicle has on road
The number mark of body position；
S2. the destination of self-navigation transport vehicle is set；
S3. the realtime graphic of self-navigation transport vehicle driving process is obtained using CCD camera；
S4. using machine vision algorithm according to the road sign indicated with hsv color feature and number mark on realtime graphic
Information obtains the parameter of optimal path；
S5. according to the go to action and speed of the state modulator self-navigation transport vehicle of optimal path, until reaching purpose
Ground
In the present embodiment, the step " using machine vision dijkstra's algorithm according on realtime graphic with HSV face
Color characteristic and number mark indicate to obtain the parameter of optimal path " include following sub-step:
Realtime graphic is subjected to binary conversion treatment according to the HSV value of pixel, so that path and background separation are obtained route
Formatted image；
Current path color is obtained according to route formatted image, by current path color and pre-stored route
Map compares, and judgement obtains the specific road on travel route locating for self-navigation transport vehicle；
Current number mark is obtained according to route formatted image, according to current number mark and pre-stored road
Line map compares, and determines the specific location of the specific road on travel route locating for self-navigation transport vehicle；
The specific location of specific road on the travel route in conjunction with locating for self-navigation transport vehicle and destination, with recurrence letter
The whole possible paths stored in map are gone through several times；
The shortest path in whole possible paths is obtained by machine vision dijkstra's algorithm, the parameter of shortest path is
For the parameter of optimal path.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (9)
1. a kind of self-navigation transport vehicle based on machine vision, including frame chassis, stepper motor and driving motor, the vehicle
Frame chassis is equipped with front vehicle wheel and rear wheel, and transfer is equipped between front vehicle wheel or rear wheel, and stepper motor turns for driving
It realizes and turns to device, for driving motor for driving front vehicle wheel or/and rear wheel to rotate, frame chassis is equipped with support bracket；
It is characterized by also including CCD camera, processor and controller, CCD camera is located at frame chassis front end face, CCD camera shooting
Head is electrically connected with processor, and stepper motor, driving motor and processor are electrically connected with the controller respectively, and the processor is equipped with
Machine vision dijkstra's algorithm module stores the itinerary map in workshop on processor, and CCD camera is for obtaining real-time figure
As being simultaneously delivered to processor, machine vision dijkstra's algorithm module according on realtime graphic with hsv color feature and number
The mark information that mark indicates obtains the parameter of optimal path and is sent to controller, and controller is according to the parameter control of optimal path
Stepper motor and driving motor movement processed.
2. the self-navigation transport vehicle according to claim 1 based on machine vision, it is characterised in that: the transfer
It is located between front vehicle wheel, transfer includes drag link, left steering section and right turn section, and left steering section and right turn section lead to respectively
The both ends that pin shaft is articulated in drag link are crossed, front left wheel is located on left steering section, and right front wheel is located on right turn section, drag link
It is fixedly connected with frame chassis, one end of the left steering section or right turn section is articulated with a pivoted arm, the output shaft of stepper motor
It is fixedly connected with a rocking handle, the free end of rocking handle and the free ending pivot of pivoted arm connect in succession.
3. the self-navigation transport vehicle according to claim 2 based on machine vision, it is characterised in that: the left steering section
Connecting rod is equipped between the other end of right turn section, connecting rod two end is connected with left steering section, the pivot joint of right turn section respectively.
4. the self-navigation transport vehicle according to claim 1 based on machine vision, it is characterised in that: the frame chassis
Front end face is equipped with ultrasonic sensor, and ultrasonic sensor is electrically connected with the controller, and ultrasonic sensor is used to monitor front
Barrier simultaneously sends monitoring signals to controller, and controller controls stepper motor according to monitoring signals and driving motor acts.
5. the self-navigation transport vehicle according to claim 4 based on machine vision, it is characterised in that: the frame chassis
The two sides of front end face are respectively equipped with ultrasonic sensor, and CCD camera is located at the middle part of frame chassis front end face, the ultrasound of two sides
Wave sensor is inclined outwardly 5 ° respectively.
6. the self-navigation transport vehicle according to claim 1 based on machine vision, it is characterised in that: the controller
For single-chip microcontroller.
7. the self-navigation transport vehicle according to claim 1 based on machine vision, it is characterised in that: the CCD camera shooting
The camera lens front end of head is equipped with optical filter.
8. a kind of automatic running method of any self-navigation transport vehicle based on machine vision of claim 1 to 7,
Be characterized in that the following steps are included:
The travel route of self-navigation transport vehicle is laid in workshop using colorful adhesive tape, difference is respectively adopted in the road of travel route
The colorful adhesive tape of color is laid with, and every road is equipped with and can be used for judging self-navigation transport vehicle specific location on road
Number mark；
Set the destination of self-navigation transport vehicle；
The realtime graphic of self-navigation transport vehicle driving process is obtained using CCD camera；
It is obtained using machine vision algorithm according to the mark information indicated with hsv color feature and number mark on realtime graphic
The parameter of optimal path；
According to the go to action and speed of the state modulator self-navigation transport vehicle of optimal path, until arriving at the destination.
9. automatic running method according to claim 8, it is characterised in that: the step " utilizes machine vision
Dijkstra's algorithm indicates to obtain the parameter of optimal path according on realtime graphic with hsv color feature and number mark " packet
Include following sub-step:
Realtime graphic is subjected to binary conversion treatment according to the HSV value of pixel, so that path and background separation are obtained route format
Change image；
Current path color is obtained according to route formatted image, by current path color and pre-stored itinerary map
It compares, judgement obtains the specific road on travel route locating for self-navigation transport vehicle；
Current number mark is obtained according to route formatted image, with pre-stored route according to current number mark
Figure compares, and determines the specific location of the specific road on travel route locating for self-navigation transport vehicle；
The specific location of specific road on the travel route in conjunction with locating for self-navigation transport vehicle and destination, with recursive function time
Go through the whole possible paths stored in map；
The shortest path in whole possible paths is obtained by machine vision dijkstra's algorithm, the parameter of shortest path is most
The parameter of shortest path.
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