CN112241944B - AGV scheduling system, material pose correction method and material pose correction device - Google Patents
AGV scheduling system, material pose correction method and material pose correction device Download PDFInfo
- Publication number
- CN112241944B CN112241944B CN201910642347.9A CN201910642347A CN112241944B CN 112241944 B CN112241944 B CN 112241944B CN 201910642347 A CN201910642347 A CN 201910642347A CN 112241944 B CN112241944 B CN 112241944B
- Authority
- CN
- China
- Prior art keywords
- pose
- agv
- real
- control device
- vision system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012937 correction Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 207
- 238000007599 discharging Methods 0.000 claims abstract description 99
- 230000009471 action Effects 0.000 claims description 32
- 238000012795 verification Methods 0.000 claims description 29
- 230000004044 response Effects 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 5
- 238000005286 illumination Methods 0.000 claims description 4
- 238000012549 training Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 description 11
- 238000007664 blowing Methods 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 2
- 206010047513 Vision blurred Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/40—Business processes related to the transportation industry
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Theoretical Computer Science (AREA)
- Economics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Human Resources & Organizations (AREA)
- Quality & Reliability (AREA)
- General Business, Economics & Management (AREA)
- Tourism & Hospitality (AREA)
- Strategic Management (AREA)
- Marketing (AREA)
- Multimedia (AREA)
- Entrepreneurship & Innovation (AREA)
- Operations Research (AREA)
- Development Economics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Primary Health Care (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an AGV scheduling system, a material pose correction method and a material pose correction device. According to the invention, for the AGVs which utilize the carrying platform to carry materials, the control device in the AGV scheduling system can send a pose detection request to the vision system after the AGVs reach the discharging position, and when the pose deviation of the material real pose of the AGVs is required to be corrected compared with the pose deviation of the material real pose of the carrying platform, the control device can carry out pose compensation with the pose deviation as compensation quantity on the AGV target pose for discharging the AGVs and send a discharging instruction containing the AGV target pose after pose compensation to the AGVs, so that the pose correction on the materials can be realized by adjusting the pose of the AGVs for discharging the materials under the condition that the relative pose between the materials and the carrying platform is not changed.
Description
Technical Field
The invention relates to the technical field of AGVs (Automated Guided Vehicle, automatic guided vehicles), in particular to an AGV dispatching system, a material pose correcting method and a material pose correcting device.
Background
The existing automatic warehouse carrying system based on AGVs is a collaborative process of a plurality of AGVs for receiving tasks and executing tasks.
The AGV transports the material that is loaded with goods to appointed target point, and in the transportation, there is the interference such as environmental factor such as ground slope change, the sudden stop that the AGV was run and is encountered the barrier, human intervention on the way, and the gesture skew takes place for the material, leads to on appointed target point unloading mechanism can not with the accurate butt joint of the material of AGV delivery, for example, fork truck can not accurately fork the material.
Disclosure of Invention
In order to solve the technical problems, the invention provides an AGV scheduling system, which comprises a control device and a vision system, wherein:
the control device is used for sending a pose detection request to the vision system after an AGV for bearing materials by using the carrying platform reaches a discharging position; according to the detection result provided by the vision system, determining whether the pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform needs to be corrected or not; when the pose deviation is determined to be required to be corrected, pose compensation taking the pose deviation as compensation quantity is carried out on the AGV target pose for AGV discharging, and a discharging instruction containing the pose compensated AGV target pose is issued to the AGV;
The vision system is used for responding to the pose detection request sent by the control device and photographing the AGV reaching the discharging position; and sending the detection result to the control device according to the detection image obtained by photographing the AGV.
Optionally:
the vision system is further used for determining the material real position and the loading platform real position of the AGV according to a detection image obtained by photographing the AGV, detecting the position deviation of the material real position and the loading platform real position, and sending the detection result containing the position deviation to the control device, and the control device is further used for obtaining the position deviation from the detection result; or alternatively
The vision system is further used for determining the material real position and the carrying platform real position of the AGV according to a detection image obtained by photographing the AGV, sending a detection result containing the material real position and the carrying platform real position to the control device, and the control device is further used for obtaining the material real position and the carrying platform real position from the detection result, and determining the position deviation of the obtained material real position compared with the carrying platform real position; or alternatively
The vision system is further used for sending a detection result containing a detection image obtained by photographing the AGV to the control device, and the control device is further used for acquiring the detection image from the detection result, determining the material real pose of the AGV and the carrier platform real pose according to the acquired detection image and determining the pose deviation of the material real pose compared with the carrier platform real pose.
Optionally, the vision system is further configured to detect the material measurement pose and the material loading platform measurement pose from the captured detection image by using a pre-trained detection model, where the detection model is obtained by training a reference image, and the reference image is a calibrated region of interest ROI, and the ROI includes feature patterns of the material loading platform and the material.
Optionally:
the vision system is further used for comparing the material real position and the material platform real position with a material platform target position and a material target position when the AGV discharges materials respectively, checking the validity of the material real position and the material platform real position according to the comparison result, carrying a validity mark representing whether the checking result is valid or not in the detection result, and the control device is further used for retransmitting the position detection request to the vision system when the validity mark carried in the detection result represents that the checking result is invalid; or alternatively
The control device is further used for comparing the material real position and the material object position with the material object position and the material object position of the carrier platform when the AGV is discharged after the material real position and the material object position are obtained from the detection result or the material real position and the material object position of the carrier platform of the AGV are determined according to the detection image, and retransmitting the position detection request to the vision system when the detection result is invalid.
Optionally, the control device is further configured to send a result acknowledgement notification to the vision system when the verification result is valid; the vision system is further configured to turn on a light source whose illumination range covers the discharge position in response to the pose detection request, and turn off the light source in response to an acknowledgement notification indicating the result.
Optionally, the control device is further used for performing reverse compensation on the target pose of the AGV, which takes the pose deviation as a compensation amount, of the next action of the AGV after the completion of discharging.
The embodiment of the invention also provides a material pose correction method, which comprises the following steps:
after an AGV carrying a material by using a carrying platform reaches a material discharging position designated by a material discharging task, a control device sends a pose detection request to a vision system, wherein the vision system field covers the material discharging position;
the control device determines whether the pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform needs to be corrected according to the detection result provided by the vision system, wherein the detection result is determined by the vision system through a detection image obtained by photographing the AGV reaching the discharging position;
when the pose deviation is determined to be corrected, the control device performs pose compensation with the pose deviation as a compensation amount on the AGV target pose for AGV discharging, and issues a discharging instruction containing the pose compensated AGV target pose to the AGV.
Optionally, the determining, by the control device according to the detection result provided by the vision system, whether the pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform needs to be corrected includes:
The control device acquires the pose deviation determined by the vision system from the detection result and judges whether the pose deviation needs to be corrected according to whether the acquired pose deviation exceeds a preset threshold value; or alternatively
The control device acquires the material real position and the material carrying platform real position determined by the vision system from the detection result, determines the position deviation of the acquired material real position and the material carrying platform real position, and judges whether the position deviation needs to be corrected according to whether the determined position deviation exceeds a preset threshold value; or alternatively
The control device acquires a detection image obtained by photographing the AGV by the vision system from the detection result, determines the material real position and the loading platform real position of the AGV according to the acquired detection image, and determines the position deviation of the material real position and the loading platform real position.
Optionally, the control device determines, according to the detection result provided by the vision system, whether the pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform needs to be corrected, and before the material pose correction method further includes: the control device detects a validity identifier carried in the detection result, wherein the validity identifier represents a comparison result that the vision system performs verification on the validity of the material real position and the material carrying platform real position, and the verification is performed according to the comparison result that the material real position and the material carrying platform real position are respectively compared with a material carrying platform target position and a material target position when the AGV is discharged; when the validity identification indicates that the verification result is valid, the control device sends a result acknowledgement notification to the vision system to trigger the vision system to turn off a light source which is turned on in response to the pose detection request; and when the validity identification indicates that the verification result is invalid, the control device resends the pose detection request to the vision system.
Optionally, the control device determines, according to the detection result provided by the vision system, whether the pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform needs to be corrected, and before the material pose correction method further includes: the control device is used for respectively comparing the material real position and the material platform real position with a material object position and a material object position when the AGV is discharged after acquiring the material real position and the material platform real position from the detection result or determining the material real position and the material platform real position of the AGV according to the detection image; the control device verifies the validity of the material real position and the material carrying platform real position according to the comparison result; when the verification result is valid, the control device sends a result acknowledgement notice to the vision system to trigger the vision system to turn off a light source which is turned on in response to the pose detection request; and the control device resends the pose detection request to the vision system when the verification result is invalid.
Optionally, after the control device performs pose compensation with the pose deviation as a compensation amount on the pose of the target of the AGV for feeding the AGV, and issues a feeding instruction including the pose compensated pose of the target of the AGV to the AGV, the material pose correction method further includes: and the control device performs reverse compensation by taking the pose deviation as a compensation amount on the target pose of the AGV of the next action after the completion of discharging.
The embodiment of the invention also provides a control device which comprises a processor, wherein the processor is used for inducing the control device to execute the steps in the object position posture correcting method.
The embodiment of the invention also provides a material pose correcting device, which comprises:
the pose request module is used for sending a pose detection request to a vision system after an AGV for carrying materials by using the carrying platform reaches a material discharging position designated by a material discharging task, wherein the vision system vision covers the material discharging position;
the correction judgment module is used for determining whether the pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform needs to be corrected according to the detection result provided by the vision system, wherein the detection result is determined by the vision system through a detection image obtained by photographing the AGV reaching the discharging position;
And the correction execution module is used for carrying out pose correction on the AGV target pose for AGV discharging when the pose deviation is determined to be corrected.
Embodiments of the present invention also provide a non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in a method of object level pose correction as described above.
Based on the above embodiment, for an AGV that utilizes a carrying platform to carry a material, a control device in an AGV scheduling system can send a pose detection request to a vision system after the AGV reaches a discharging position, and when the pose deviation of the material real pose of the AGV is compared with that of the carrying platform real pose needs to be corrected, the control device can perform pose compensation with the pose deviation as a compensation amount on the target pose of the AGV for discharging the AGV and issue a discharging instruction containing the AGV target pose after the pose compensation to realize pose correction on the material by adjusting the pose of the AGV under the condition that the relative pose between the material and the carrying platform is not changed.
Drawings
The following drawings are only illustrative of the invention and do not limit the scope of the invention;
FIG. 1 is an exemplary schematic diagram of an AGV scheduling system in one embodiment of the invention;
FIG. 2 is an exemplary flow chart of a method of correcting a material level pose in an embodiment of the invention;
FIG. 3 is an exemplary expanded flowchart of a method for correcting a material level posture in an embodiment of the present invention;
FIG. 4 is another exemplary expanded flow chart of a method for object level gesture correction in an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating an exemplary structure of a material level posture rectification apparatus in an embodiment of the present invention;
fig. 6 is a schematic diagram of an exemplary extended structure of a material level posture correction apparatus in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below by referring to the accompanying drawings and examples.
FIG. 1 is an exemplary schematic diagram of an AGV scheduling system in one embodiment of the invention. Referring to FIG. 1, in one embodiment, an AGV scheduling system includes a control device 10 and a vision system 20.
The control device 10 may be a robotic dispatching system (Robot Control System, RCS) and the control device 10 is communicatively coupled to the vision system 20 and the AGV 30. The AGV scheduling system may include a plurality of AGVs 30, and the plurality of AGVs 30 may be communicatively connected to the control device 10 through a preset protocol.
AGV 30 includes the body, and lifting mechanism is installed to this body, and elevating system installs cargo carrying platform 31 (e.g. goods shelves) above, and when AGV 30 carried the goods, this cargo carrying platform 31 was used for bearing and lifting material 32, and when using, material 32 can include the material body of waiting to carry and drag the tray of putting the material body, and the tray can cooperate with unloading mechanism such as fork truck to material 32 is in the material loading and the blowing of cargo carrying platform 31.
For the material 32 loaded on the loading platform 31, the loading platform 31 can lift the material 32 by means of a lifting mechanism. In general, when a forklift utilizes the cooperation with a tray to load the loading platform 31 of the AGV 30, the lifting mechanism lifts the loading platform 31 carrying the material 32, and when the AGV 30 reaches the discharging position, the lifting mechanism lowers the loading platform 31 carrying the material 32, so that, for example, the loading and unloading mechanisms such as the forklift can discharge the material through the cooperation with the tray of the material 32.
The control device 10 is configured to receive a scheduling task, where the scheduling task includes an action set required by the AGV 30 to execute the task, a position where each action set occurs, and pose information of the AGV 30 when executing the action set, and the pose information of the AGV 30 when executing the action set may include at least one of an AGV target pose, a carrier platform target pose, and a material target pose. The control device 10 may issue an action command indicating a corresponding action set to the AGV 30 according to the scheduled task, the action command including an action type, a position of occurrence of the action set included in the action type, and pose information. The AGV 30 can be scheduled to complete the scheduled task by a plurality of action instructions sequentially sent.
For example, the control device 10 may select the AGV 30 to perform a scheduling task through a task allocation algorithm, and accordingly, the control device 10 may send a loading instruction for loading the material 32 to the loading position to the AGV 30, then issue a transport instruction for lifting and moving the loading platform 31 for carrying the material 32 to the unloading position to the AGV 30 after completing the loading, and finally issue an unloading instruction for lowering the loading platform 31 for carrying the material 32 back to the AGV 30 reaching the unloading position, thereby realizing the transport of the goods.
During the process of carrying the AGV 30, the carrying platform 31 and the lifting mechanism will not change relative to the body of the AGV 30, and the material 32 may deviate relative to the carrying platform 31 due to the influence of road conditions or obstacles.
Therefore, if the AGV 30 still issues a discharging command according to the target pose of the AGV, the target pose of the loading platform, and the target pose of the material in the scheduling task after reaching the discharging position, the actual pose of the material 32 during discharging may deviate from the target pose of the material, so that the loading and unloading mechanism (e.g., forklift) is difficult to dock with the material 32. The aforementioned target pose of the material may be considered as a desired pose in which the material 32 can be docked with the loading and unloading mechanism at the unloading position.
Thus, in this embodiment, the control device 10 may correct the target pose of the AGV in the scheduling task by cooperation with the vision system 20, so as to compensate for the pose deviation α of the actual pose of the material 32 with respect to the target pose of the material when discharging by correcting the target pose of the AGV, and then issue a discharging instruction including the corrected target pose of the AGV to the AGV 30.
Accordingly, the control device 10 is configured to send a pose detection request to the vision system after the AGV that uses the loading platform to load the material reaches the loading position.
The vision of the vision system 20 covers the discharging position, and the vision system 20 is used for responding to the pose detection request sent by the control device 10 and photographing the AGV 30 reaching the discharging position; and sending a detection result to the control device according to the detection image obtained by photographing the AGV 30.
The control device 10 is further configured to determine, according to the detection result provided by the vision system 20, whether the pose deviation α of the material real pose of the AGV 30 needs to be corrected compared with the pose of the object carrying platform, for example, by determining whether the pose deviation α exceeds a predetermined deviation threshold value to determine whether the pose deviation α needs to be corrected; when the pose deviation alpha is determined to be required to be corrected, pose compensation is performed on the AGV target pose for discharging the AGV 30 by taking the pose deviation alpha as a compensation amount, and a discharging instruction containing the pose compensated AGV target pose is issued to the AGV 30.
For the implementation manner of pose compensation, the control device 10 may first read the target pose of the AGV for discharging the AGV 30 from the scheduling task, superimpose the pose deviation α on the read target pose of the AGV, and then issue a discharging instruction including the pose superimposed with the pose deviation α to the AGV 30. Alternatively, the control device 10 may further superimpose the pose deviation α on the AGV target pose for discharging the AGV 30 from the scheduled task, that is, modify the AGV target pose in the scheduled task, read the modified AGV target pose from the scheduled task, and then issue a discharging instruction including the modified AGV target pose to the AGV 30.
Based on the above-mentioned AGV dispatch system, to the AGV 30 that utilizes carrier platform 31 to bear material 32, the controlling means 10 in the AGV dispatch system can send the position detection request to vision system 20 after this AGV 30 reaches the blowing position, and, utilize the testing result of vision system 20, controlling means 10 can be compared when the position deviation alpha of carrier platform real position in the material real position of AGV 30 needs the correction, carry out the position compensation that uses this position deviation alpha as compensation quantity to the AGV target position that is used for AGV 30 blowing, and give the AGV 30 the blowing instruction that contains the AGV target position behind the position compensation, thereby, under the condition that does not change the relative position between material 32 and the carrier platform 31, can realize the position correction to the material through adjusting the AGV 30 in the gesture of the material of transferring.
The control device 10 may further perform the reverse compensation for the next target position of the AGV 30 after the completion of the discharging by using the position deviation α of the material measurement position at the time of discharging as the compensation amount compared to the position of the material loading platform measurement position. Thereafter, the pose callback of the AGV 30 with independent callback actions can be realized by issuing a return instruction containing the target pose of the AGV after reverse compensation to the AGV 30, or the pose callback of the AGV 30 fused in the next action can be realized by issuing a next action instruction containing the target pose of the AGV after reverse compensation to the AGV 30.
In particular implementations of the above, the vision system 20 may include a light source and a camera device. Wherein, the light source is arranged in consideration of the fact that the placing position is often positioned in a warehouse environment such as a warehouse, and the light in the warehouse environment is weaker, which is unfavorable for the camera device to shoot the AGV 30 to obtain a detection image capable of clearly showing the carrying platform 31 and the materials 32,
accordingly, the vision system 20 can respond to the pose detection request sent by the control device 10 to turn on the light source, and the illumination range of the light source after being turned on can cover the discharging position, so as to improve the brightness of the region where the discharging position is located, and can highlight the image features of the AGV 30, the carrying platform 31 thereof and the carried material 32 in the detection image shot by the image pickup device.
The vision system 20 can detect the material real-time pose and the loading platform real-time pose from the captured detection image. For example, vision system 20 may detect material real-time pose and carrier platform real-time pose from captured detection images using a pre-trained detection model, wherein the detection model may be trained from a reference image in which ROIs (Region of Interest, regions of interest) may be calibrated, and the ROIs in the reference image contain feature patterns of the carrier platform and material, preferably edge features of the carrier platform and material, to reduce the extent to which interfering edges in the detection image affect vision system 20 to help improve the accuracy and efficiency with which vision system 20 identifies carrier platform 31 and material 32 in the detection images.
The vision system 20 may also detect a pose deviation α of the material measured pose compared to the measured pose of the object carrying platform, and send a detection result including the pose deviation α to the control device 10, so that the control device 10 may obtain the pose deviation α from the detection result. And detecting the real position and the pose of the material and the real position and the pose of the carrying platform.
In actual use, even though the vision system 20 may turn on the light source during detection and may detect the material real pose and the material platform real pose from the detected image by using the pre-trained detection model, there is still a problem that the material platform 31 and the material 32 cannot be clearly distinguished in the detected image due to temporary shielding of illumination or due to temporary appearance of other objects near the position of the placed object, so that the detected material platform real pose and the detected material real pose are likely to be the pose of other interference features in the detected image instead of the real pose of the material platform 31 and the material 32. At this time, the pose deviation of the material real pose detected by the vision system 20 compared with the real pose of the carrying platform is not the real deviation of the material 32 compared with the carrying platform 31.
To avoid false pose correction caused by the false detection, the vision system 20 may further perform validity check on the detection result. For example, the vision system 20 may compare the material actual pose and the material platform actual pose detected from the detected image with the material platform target pose and the material target pose when the AGV discharges materials, respectively, verify the validity of the material actual pose and the material platform actual pose according to the comparison result, and carry a validity identifier in the detection result, where the validity identifier indicates whether the verification result is valid.
Accordingly, the control device 10 may further send a result acknowledgement notification to the vision system 20 when the verification result is valid, and the vision system 20 may turn off the light source in response to the indication result acknowledgement notification. And when the validity flag carried in the detection result indicates that the verification result is invalid, the control device 10 may resend the pose detection request to the vision system 20 to trigger the vision system 20 to re-detect by capturing the detection image again.
Typically, the situation that results in a detection failure will be temporary, and therefore, a high probability of the detection result being re-detected by the vision system 20 will be valid. In theory, there are extreme cases caused by durability reasons (such as damage to a light source, blurred vision of a camera, etc.), the control device 10 repeatedly requests the vision system 20 to detect that the detection result is invalid, for such extreme cases, the control device 10 may record the number of times the vision system 20 is requested to repeatedly detect, when the number of times the vision system 20 is requested to repeatedly detect reaches the preset upper limit of the number of times, the control device 10 may issue a task termination instruction to the AGV 30, so that the AGV 30 drives the lifting mechanism to drop the carrying platform 31 carrying the material 32 back to realize in-place discharging, and the control device 10 may also generate alarm information at this time to prompt an on-duty person in the storage environment to go to the discharging position for manual processing or maintenance.
In the above description, the example in which the vision system 20 detects the position deviation and transmits the detection result including the position deviation to the control device 10 is described. It will be appreciated that the detection of the pose deviation may instead be performed by the control device 10.
For example, the vision system 20 may determine the material real position and the loading platform real position of the AGV 30 according to the detected image obtained by photographing the AGV 30, and send the detection result including the material real position and the loading platform real position to the control device 10, and accordingly, the control device 10 may obtain the material real position and the loading platform real position from the detection result, and determine the position deviation of the obtained material real position compared with the loading platform real position.
For another example, the vision system 20 may send a detection result including a detection image obtained by photographing the AGV to the control device 10, and accordingly, the control device 10 may acquire the detection image from the detection result, determine the material real position and the loading platform real position of the AGV 30 according to the acquired detection image, and determine the position deviation of the material real position from the loading platform real position.
For the case where the detection of the pose deviation is performed by the control apparatus 10, the validity check may also be completed by the control apparatus 10. That is, the control device 10 acquires the material real position and the loading platform real position from the detection result provided by the vision system 20, or determines the material real position and the loading platform real position of the AGV 30 from the detection image included in the detection result, then compares the material real position and the loading platform real position with the loading platform target position and the material target position when the AGV is discharged, respectively, checks the validity of the material real position and the loading platform real position from the comparison result, and, when the check result is invalid, resends the position detection request to the vision system.
In the following embodiments, a material pose correction method suitable for a control device is provided.
Fig. 2 is an exemplary flowchart of a method for correcting a material level posture according to an embodiment of the present invention, and as shown in fig. 2, the method for correcting a material level posture may include:
s201: after the AGV which utilizes the carrying platform to carry the material reaches the discharging position designated by the material discharging task, the control device sends a pose detection request to the vision system.
Wherein the field of view of the vision system covers the discharge location.
S202: and the control device determines whether the position and posture deviation of the material real position and posture of the AGV compared with the position and posture of the material carrying platform needs to be corrected or not according to the detection result provided by the vision system.
The detection result is determined by a visual system through a detection image obtained by photographing the AGV reaching the discharging position.
In practical application, the detection result may include a pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform, and at this time, in this step, the control device may acquire the pose deviation determined by the vision system from the detection result, and determine whether the pose deviation needs to be corrected according to whether the acquired pose deviation exceeds a preset threshold.
Or, the detection result may also include a material real position and a material loading platform real position determined by the vision system, and in this step, the control device may acquire the material real position and the material loading platform real position from the detection result, determine a position deviation of the acquired material real position compared with the material loading platform real position, and determine whether the position deviation needs to be corrected according to whether the determined position deviation exceeds a preset threshold.
Still alternatively, the detection result may include a detection image obtained by photographing the AGV reaching the discharging position by the vision system, and at this time, in this step, the control device may acquire the detection image from the detection result, determine the material real position and the carrier platform real position of the AGV according to the acquired detection image, and determine the position deviation of the material real position compared with the carrier platform real position.
S203: when the pose deviation is determined to be required to be corrected, the control device performs pose compensation with the pose deviation as a compensation amount on the AGV target pose for AGV discharging, and issues a discharging instruction containing the pose compensated AGV target pose to the AGV.
In this step, controlling means can read the AGV target position appearance that is used for AGV blowing from the dispatch task earlier to with position appearance deviation stack to the AGV target position appearance of reading, then to the AGV give the blowing instruction that contains the AGV target position appearance of stacking the position appearance deviation again. Or, the control device may also superimpose the pose deviation on the pose of the AGV target for the AGV discharge in the slave scheduling task, that is, modify the pose of the AGV target in the scheduling task, read the modified pose of the AGV target from the scheduling task, and then issue a discharge instruction including the modified pose of the AGV target to the AGV.
S204: when the pose deviation is determined to be unnecessary to correct, the control device gives an uncompensated discharging instruction of the target pose of the AGV to the AGV.
In this step, the control device may read the original target pose of the AGV from the scheduling task, and then issue a discharging instruction including the original target pose of the AGV to the AGV.
Based on the above-mentioned flow, to the AGV that utilizes the carrier platform to bear the material, controlling means can send the position appearance detection request to vision system after this AGV reaches the blowing position to, utilize vision system's testing result, controlling means can be when the position appearance deviation of the real position appearance of material of AGV compares in carrier platform real position appearance needs correction, carry out the position appearance compensation that uses this position appearance deviation as compensation quantity to the AGV target position appearance that is used for the AGV blowing, and to the AGV deliver to the blowing instruction that contains the AGV target position appearance after the position appearance compensation, thereby, under the condition that does not change the relative position appearance between material and the carrier platform, can realize the position appearance correction to the material through adjusting the AGV in the gesture of the material of transferring.
For the case that the above process issues a discharging instruction to the AGV through S203, the method for correcting a pose of a material may further include: the control device performs reverse compensation for the target pose of the AGV in the next action after the completion of discharging by using the pose deviation of the material real pose during discharging compared with the real pose of the carrying platform as the compensation amount. Thereafter, the position callback of the AGV with the independent callback action can be realized by issuing a return instruction containing the target position of the AGV after the reverse compensation to the AGV, or the position callback of the AGV with the target position of the AGV after the reverse compensation can be realized by issuing a next action instruction containing the target position of the AGV after the reverse compensation to the AGV.
Fig. 3 is an exemplary extended flowchart of a method for correcting a material level posture in an embodiment of the present invention. As shown in fig. 3, the material pose correction method as shown in fig. 2 may further be extended to include the following steps:
s301: after the AGV which utilizes the carrying platform to carry the material reaches the discharging position designated by the material discharging task, the control device sends a pose detection request to the vision system. Wherein the field of view of the vision system covers the discharge location.
S302: the control device receives the detection result provided by the vision system.
The detection result is determined by a visual system through a detection image obtained by photographing the AGV reaching the discharging position. And, the testing result in this step can include the position appearance deviation and the validity sign of the real position appearance of material that compares in the real position appearance of year thing platform of AGV, and this validity sign can indicate that vision system carries out the check-up result of check-up to the real position appearance of material and the real position appearance of year thing platform to the check-up that vision system carried out can be according to the real position appearance of material and the real position appearance of year thing platform respectively with the comparison result that carries thing platform target position appearance and the material target position appearance when AGV blowing compares.
S303: the control device identifies the validity mark carried in the detection result.
And when the validity identification indicates that the verification result is invalid, returning to S301, and retransmitting a pose detection request to the vision system by the control device.
When the validity flag indicates that the check result is valid, the process goes to S304 and S305.
S304: the control device sends a result acknowledgement notification to the vision system to trigger the vision system to turn off the light source turned on in response to the pose detection request.
S305: the control device determines whether the position and posture deviation of the material real position and posture of the AGV is required to be corrected compared with the position and posture of the material carrying platform.
S306: when the pose deviation is determined to be required to be corrected, the control device performs pose compensation with the pose deviation as a compensation amount on the AGV target pose for AGV discharging, and issues a discharging instruction containing the pose compensated AGV target pose to the AGV.
This step can be considered to be substantially the same as S203 as shown in fig. 2.
S307: when the pose deviation is determined to be unnecessary to correct, the control device gives an uncompensated discharging instruction of the target pose of the AGV to the AGV.
This step can be considered to be substantially the same as S204 as shown in fig. 2.
For the situation that the flow gives a discharging instruction to the AGV through S306, the control device can still implement reverse compensation for the AGV target pose of the next action of the AGV after discharging is completed, wherein the pose deviation of the material real pose during discharging compared with the pose deviation of the carrying platform real pose is the compensation quantity. And, controlling means still can be through the return instruction that contains the AGV target position appearance after the reverse compensation to realize the position appearance callback of the AGV of independent callback action, or also can be through the next action instruction that contains the AGV target position appearance after the reverse compensation that gives to the AGV, with the position appearance callback of realizing the AGV of fusion in next action.
Fig. 4 is another exemplary extended flowchart of a method for correcting a material level posture in an embodiment of the present invention. As shown in fig. 4, the material pose correction method as shown in fig. 2 may further be extended to include the following steps:
s401: after the AGV which utilizes the carrying platform to carry the material reaches the discharging position designated by the material discharging task, the control device sends a pose detection request to the vision system. Wherein the field of view of the vision system covers the discharge location.
S402: the control device receives the detection result provided by the vision system.
The detection result is determined by a visual system through a detection image obtained by photographing the AGV reaching the discharging position. The detection result in this step may include the material real position and the loading platform real position determined by the vision system, or may include a detection image captured by the vision system.
S403: the control device checks the detection effectiveness of the vision system according to the detection result provided by the vision system.
In this step, after acquiring the material real position and the material carrying platform real position from the detection result or determining the material real position and the material carrying platform real position of the AGV according to the detection image, the control device may compare the material real position and the material carrying platform real position with the object position and the object position of the material carrying platform when the AGV is discharged, respectively, and check the detection validity of the vision system according to the comparison result.
When the verification result is invalid, the process returns to S401, and the control device resends the pose detection request to the vision system.
When the check result is valid, the process goes to S404 and S405.
S404: the control device sends a result acknowledgement notification to the vision system to trigger the vision system to turn off the light source turned on in response to the pose detection request.
S405: the control device determines whether the position and posture deviation of the material real position and posture of the AGV is required to be corrected compared with the position and posture of the material carrying platform.
S406: when the pose deviation is determined to be required to be corrected, the control device performs pose compensation with the pose deviation as a compensation amount on the AGV target pose for AGV discharging, and issues a discharging instruction containing the pose compensated AGV target pose to the AGV.
This step can be considered to be substantially the same as S203 as shown in fig. 2.
S407: when the pose deviation is determined to be unnecessary to correct, the control device gives an uncompensated discharging instruction of the target pose of the AGV to the AGV.
This step can be considered to be substantially the same as S204 as shown in fig. 2.
For the situation that the flow gives a discharging instruction to the AGV through S406, the control device can still implement the reverse compensation of which the pose deviation of the material real pose during discharging is the compensation amount compared with the pose deviation of the carrying platform real pose for the AGV target pose of the next action of the AGV after discharging is completed. And, controlling means still can be through the return instruction that contains the AGV target position appearance after the reverse compensation to realize the position appearance callback of the AGV of independent callback action, or also can be through the next action instruction that contains the AGV target position appearance after the reverse compensation that gives to the AGV, with the position appearance callback of realizing the AGV of fusion in next action.
The control device suitable for the method may comprise a processor for causing the control device to perform the steps in the method for correcting a position of a material. And, the control device may further include a non-transitory computer readable storage medium storing instructions that, when executed by the processor, cause the processor to perform the steps of the material pose correction method as described above.
As a modular design of the above-mentioned control device, the following embodiments further provide a material-to-implement pose correction device, and fig. 5 is an exemplary structural schematic diagram of the material-to-pose correction device according to the embodiment of the present invention, and as shown in fig. 5, the material-to-pose correction device includes:
the pose request module 501 is configured to send a pose detection request to a vision system after an AGV that uses a loading platform to load a material reaches a material discharge position specified by a material discharge task, where a field of view of the vision system covers the material discharge position.
The correction decision module 502 is configured to determine, according to a detection result provided by the vision system, whether a pose deviation of a material real pose of the AGV compared with a real pose of the loading platform needs to be corrected, where the detection result is determined by the vision system through a detection image obtained by photographing the AGV reaching the discharging position.
The detection result is determined by a visual system through a detection image obtained by photographing the AGV reaching the discharging position.
In addition, the detection result may include a pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform, and at this time, the correction decision module 502 may acquire the pose deviation determined by the vision system from the detection result, and determine whether the pose deviation needs to be corrected according to whether the acquired pose deviation exceeds a preset threshold.
Or, the detection result may also include a material real position and a material loading platform real position determined by the vision system, and in this step, the control device may acquire the material real position and the material loading platform real position from the detection result, determine a position deviation of the acquired material real position compared with the material loading platform real position, and determine whether the position deviation needs to be corrected according to whether the determined position deviation exceeds a preset threshold.
Still alternatively, the detection result may include a detection image obtained by photographing the AGV reaching the discharging position by the vision system, and at this time, the correction decision module 502 may acquire the detection image from the detection result, determine the material real pose of the AGV and the carrier platform real pose according to the acquired detection image, and determine the pose deviation of the material real pose compared with the carrier platform real pose.
And the correction execution module 503 is configured to, when it is determined that the pose deviation needs to be corrected, perform pose compensation with the pose deviation as a compensation amount on the pose of the target of the AGV for discharging the AGV, and issue a discharging instruction including the pose-compensated pose of the target of the AGV to the AGV.
For example, the correction execution module 503 may first read the target pose of the AGV for the discharge of the AGV from the scheduling task, superimpose the pose deviation on the read target pose of the AGV, and then issue a discharge instruction including the pose superimposed target pose of the AGV to the AGV. Alternatively, the correction execution module 503 may also superimpose the pose deviation on the pose of the AGV target for the AGV discharge in the slave scheduling task, that is, modify the pose of the AGV target in the scheduling task, read the modified pose of the AGV target from the scheduling task, and then issue a discharge instruction including the modified pose of the AGV target to the AGV.
For the situation that the AGV is given a discharging instruction containing the AGV target pose after pose compensation, the correction execution module 503 can further implement reverse compensation for the AGV target pose of the next action after the completion of discharging by using the pose deviation of the material real pose during discharging compared with the pose deviation of the carrying platform real pose as the compensation amount. Thereafter, the correction execution module 503 may send a return instruction including the target pose of the AGV after the reverse compensation to the AGV to implement pose callback of the AGV with independent callback action, or may send a next action instruction including the target pose of the AGV after the reverse compensation to the AGV to implement pose callback of the AGV fused in the next action.
When it is determined that the pose deviation does not need to be corrected, the correction execution module 503 may issue a discharge instruction of the uncompensated target pose of the AGV to the AGV. For example, the corrective execution module 503 may read the original AGV target pose from the scheduled task and then issue a firing order to the AGV that includes the original AGV target pose.
Fig. 6 is a schematic diagram of an exemplary extended structure of a material pose correction device according to an embodiment of the present invention, as shown in fig. 6, the material pose correction device may further include a detection verification module 504 compared to the structure shown in fig. 5, wherein:
for the situation that the vision system compares the material real position and the material platform real position with the object position and the object position of the material platform when the AGV discharges materials respectively, and verifies the validity of the material real position and the object platform real position according to the comparison result, the detection result can carry a validity mark for showing whether the verification result is valid or not, at this time, the detection verification module 504 can trigger the position and position request module 501 to resend the position and position detection request to the vision system when the validity mark carried in the detection result shows that the verification result is invalid;
for the case that the detection result includes the material real position and the material carrying platform real position or includes the detection image, the detection verification module 504 may obtain the material real position and the material carrying platform real position from the detection result by the correction decision module 502, or compare the material real position and the material carrying platform real position with the object carrying platform target position and the material target position when the AGV is discharged according to the material real position and the material carrying platform real position after determining the material real position and the material carrying platform real position of the AGV according to the detection image, and trigger the position request module 501 to resend the position detection request to the vision system when the verification result is invalid.
In addition, the detection verification module 504 may send a result acknowledgement notification to the vision system to trigger the vision system to turn off the light source that was turned on in response to the pose detection request when the verification result is valid.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (14)
1. An AGV scheduling system comprising a control device and a vision system, wherein:
the control device is used for sending a pose detection request to the vision system after an AGV for bearing materials by using the carrying platform reaches a discharging position; according to the detection result provided by the vision system, determining whether the pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform needs to be corrected or not; when the pose deviation is determined to be required to be corrected, pose compensation taking the pose deviation as compensation quantity is carried out on the AGV target pose for AGV discharging, and a discharging instruction containing the pose compensated AGV target pose is issued to the AGV;
the vision system is used for responding to the pose detection request sent by the control device and photographing the AGV reaching the discharging position; sending the detection result to the control device according to a detection image obtained by photographing the AGV;
The method comprises the steps of determining whether the pose deviation needs to be corrected or not, wherein the material real pose and the object carrying platform real pose according to which the pose deviation needs to be corrected are determined to be valid through validity verification; and verifying the validity of the material real position and the material carrying platform real position, and comparing the material real position and the material carrying platform real position with the material carrying platform target position and the material target position when the AGV is discharged according to the material real position and the material carrying platform real position.
2. The AGV scheduling system of claim 1 wherein,
the vision system is further used for determining the material real position and the loading platform real position of the AGV according to a detection image obtained by photographing the AGV, detecting the position deviation of the material real position and the loading platform real position, and sending the detection result containing the position deviation to the control device, and the control device is further used for obtaining the position deviation from the detection result; or alternatively
The vision system is further used for determining the material real position and the carrying platform real position of the AGV according to a detection image obtained by photographing the AGV, sending a detection result containing the material real position and the carrying platform real position to the control device, and the control device is further used for obtaining the material real position and the carrying platform real position from the detection result, and determining the position deviation of the obtained material real position compared with the carrying platform real position; or alternatively
The vision system is further used for sending a detection result containing a detection image obtained by photographing the AGV to the control device, and the control device is further used for acquiring the detection image from the detection result, determining the material real pose of the AGV and the carrier platform real pose according to the acquired detection image and determining the pose deviation of the material real pose compared with the carrier platform real pose.
3. The AGV scheduling system of claim 2 wherein,
the vision system is further used for detecting the real position and the real position of the material from the shot detection image by utilizing a pre-trained detection model,
the detection model is obtained by training a reference image, a region of interest (ROI) is calibrated in the reference image, and the ROI comprises a carrying platform and a characteristic pattern of a material.
4. The AGV scheduling system of claim 2 wherein,
the vision system is further used for comparing the material real position and the material platform real position with the object position and the object position of the material platform when the AGV discharges materials respectively, checking the validity of the material real position and the material platform real position according to the comparison result, carrying a validity mark representing whether the checking result is valid or not in the detection result, and the control device is further used for retransmitting the position detection request to the vision system when the validity mark carried in the detection result represents that the checking result is invalid; or alternatively
The control device is further used for comparing the material real position and the material object position when the AGVs are discharged after the material real position and the material object position are obtained from the detection result or the material real position and the material object position of the AGVs are determined according to the detection image, and retransmitting the position and object detection request to the vision system when the detection result is invalid.
5. The AGV scheduling system of claim 4 wherein,
the control device is further used for sending a result acknowledgement notice to the vision system when the verification result is valid;
the vision system is further configured to turn on a light source whose illumination range covers the discharge position in response to the pose detection request, and turn off the light source in response to an acknowledgement notification indicating the result.
6. The AGV scheduling system of claim 1, wherein the control device is further configured to reverse compensate for a target pose of the AGV for a next action after the completion of the discharging by using the pose deviation as a compensation amount.
7. The material pose correction method is characterized by comprising the following steps of:
after an AGV for bearing materials by utilizing a carrying platform reaches a material discharging position designated by a material discharging task, a control device sends a pose detection request to a vision system, wherein the vision system vision covers the material discharging position;
the control device determines whether the pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform needs to be corrected according to the detection result provided by the vision system, wherein the detection result is determined by the vision system through a detection image obtained by photographing the AGV reaching the discharging position;
when the pose deviation is determined to be required to be corrected, the control device performs pose compensation with the pose deviation as a compensation amount on the AGV target pose for AGV discharging, and issues a discharging instruction containing the pose compensated AGV target pose to the AGV;
the method comprises the steps of determining whether the pose deviation needs to be corrected or not, wherein the material real pose and the object carrying platform real pose according to which the pose deviation needs to be corrected are determined to be valid through validity verification; and verifying the validity of the material real position and the material carrying platform real position, and comparing the material real position and the material carrying platform real position with the material carrying platform target position and the material target position when the AGV is discharged according to the material real position and the material carrying platform real position.
8. The method of claim 7, wherein the determining, by the control device according to the detection result provided by the vision system, whether the pose deviation of the material real pose of the AGV compared to the real pose of the loading platform needs to be corrected includes:
the control device acquires the pose deviation determined by the vision system from the detection result and judges whether the pose deviation needs to be corrected according to whether the acquired pose deviation exceeds a preset threshold value; or alternatively
The control device acquires the material real position and the material carrying platform real position determined by the vision system from the detection result, determines the position deviation of the acquired material real position and the material carrying platform real position, and judges whether the position deviation needs to be corrected according to whether the determined position deviation exceeds a preset threshold value; or alternatively
The control device acquires a detection image obtained by photographing the AGV by the vision system from the detection result, determines the material real position and the loading platform real position of the AGV according to the acquired detection image, and determines the position deviation of the material real position and the loading platform real position.
9. The method of claim 8, wherein the control device determines, based on the detection result provided by the vision system, whether the position deviation of the material real position of the AGV compared to the position deviation of the material real position of the loading platform needs to be corrected, the method further comprising:
the control device detects a validity mark carried in the detection result, wherein the validity mark represents whether a verification result of the visual system for verifying the validity of the material real position and the material carrying platform real position is valid or not;
when the validity identification indicates that the verification result is valid, the control device sends a result acknowledgement notification to the vision system to trigger the vision system to turn off a light source which is turned on in response to the pose detection request;
and when the validity identification indicates that the verification result is invalid, the control device resends the pose detection request to the vision system.
10. The method of claim 8, wherein the control device determines, based on the detection result provided by the vision system, whether the position deviation of the material real position of the AGV compared to the position deviation of the material real position of the loading platform needs to be corrected, the method further comprising:
The control device obtains the material real position and the material carrying platform real position from the detection result, or determines the material real position and the material carrying platform real position of the AGV according to the detection image, and then compares the material real position and the material carrying platform real position with a material carrying platform target position and a material target position when the AGV discharges materials respectively;
the control device verifies the detection effectiveness of the vision system according to the comparison result;
when the verification result is valid, the control device sends a result acknowledgement notice to the vision system to trigger the vision system to turn off a light source which is turned on in response to the pose detection request;
and the control device resends the pose detection request to the vision system when the verification result is invalid.
11. The method according to claim 10, wherein the control device performs pose compensation for an AGV target pose for the feeding of an AGV by using the pose deviation as a compensation amount, and issues a feeding command including the pose-compensated AGV target pose to the AGV, and the method further comprises:
And the control device performs reverse compensation by taking the pose deviation as a compensation amount on the target pose of the AGV of the next action after the completion of discharging.
12. A control device, characterized in that the control device comprises a processor for causing the control device to perform the steps in the object level pose correction method according to any of claims 7 to 11.
13. A material pose correction device, comprising:
the pose request module is used for sending a pose detection request to a vision system after an AGV for carrying materials by using the carrying platform reaches a material discharging position designated by a material discharging task, wherein the vision system vision covers the material discharging position;
the correction judgment module is used for determining whether the pose deviation of the material real pose of the AGV compared with the real pose of the carrying platform needs to be corrected according to the detection result provided by the vision system, wherein the detection result is determined by the vision system through a detection image obtained by photographing the AGV reaching the discharging position;
the correction execution module is used for carrying out pose compensation by taking the pose deviation as compensation quantity on the AGV target pose for AGV discharging when the pose deviation is determined to be required to be corrected, and sending a discharging instruction containing the pose compensated AGV target pose to the AGV;
The method comprises the steps of determining whether the pose deviation needs to be corrected or not, wherein the material real pose and the object carrying platform real pose according to which the pose deviation needs to be corrected are determined to be valid through validity verification; and verifying the validity of the material real position and the material carrying platform real position, and comparing the material real position and the material carrying platform real position with the material carrying platform target position and the material target position when the AGV is discharged according to the material real position and the material carrying platform real position.
14. A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps in the object level pose correction method according to any of claims 7 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910642347.9A CN112241944B (en) | 2019-07-16 | 2019-07-16 | AGV scheduling system, material pose correction method and material pose correction device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910642347.9A CN112241944B (en) | 2019-07-16 | 2019-07-16 | AGV scheduling system, material pose correction method and material pose correction device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112241944A CN112241944A (en) | 2021-01-19 |
| CN112241944B true CN112241944B (en) | 2024-03-29 |
Family
ID=74167105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910642347.9A Active CN112241944B (en) | 2019-07-16 | 2019-07-16 | AGV scheduling system, material pose correction method and material pose correction device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112241944B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105955259A (en) * | 2016-04-29 | 2016-09-21 | 南京航空航天大学 | Monocular vision AGV accurate positioning method and system based on multi-window real-time range finding |
| CN205905024U (en) * | 2016-05-05 | 2017-01-25 | 四川省桑瑞光辉标识***股份有限公司 | Ageing automatic system of placing of flowing water line light pipe based on vision positioning |
| CN107240077A (en) * | 2017-06-02 | 2017-10-10 | 华中科技大学无锡研究院 | A kind of vision measuring method corrected based on oval conformation deviation iteration |
| WO2018077164A1 (en) * | 2016-10-28 | 2018-05-03 | 北京进化者机器人科技有限公司 | Method and system for enabling robot to automatically return for charging |
| CN108972557A (en) * | 2018-08-16 | 2018-12-11 | 中国科学院自动化研究所 | Micro- part pose automatic alignment apparatus and its method |
| CN109848994A (en) * | 2019-02-22 | 2019-06-07 | 浙江启成智能科技有限公司 | A kind of robot vision guidance location algorithm |
| CN109949362A (en) * | 2019-03-01 | 2019-06-28 | 广东九联科技股份有限公司 | A kind of material visible detection method |
-
2019
- 2019-07-16 CN CN201910642347.9A patent/CN112241944B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105955259A (en) * | 2016-04-29 | 2016-09-21 | 南京航空航天大学 | Monocular vision AGV accurate positioning method and system based on multi-window real-time range finding |
| CN205905024U (en) * | 2016-05-05 | 2017-01-25 | 四川省桑瑞光辉标识***股份有限公司 | Ageing automatic system of placing of flowing water line light pipe based on vision positioning |
| WO2018077164A1 (en) * | 2016-10-28 | 2018-05-03 | 北京进化者机器人科技有限公司 | Method and system for enabling robot to automatically return for charging |
| CN107240077A (en) * | 2017-06-02 | 2017-10-10 | 华中科技大学无锡研究院 | A kind of vision measuring method corrected based on oval conformation deviation iteration |
| CN108972557A (en) * | 2018-08-16 | 2018-12-11 | 中国科学院自动化研究所 | Micro- part pose automatic alignment apparatus and its method |
| CN109848994A (en) * | 2019-02-22 | 2019-06-07 | 浙江启成智能科技有限公司 | A kind of robot vision guidance location algorithm |
| CN109949362A (en) * | 2019-03-01 | 2019-06-28 | 广东九联科技股份有限公司 | A kind of material visible detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112241944A (en) | 2021-01-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6931314B2 (en) | Method of automating a loading and unloading of container ships in container terminals, and crane automation system | |
| KR100658649B1 (en) | Optical device for the automatic loading and unloading of containers onto vehicles | |
| CN108291880B (en) | Arrangement, method, device and software for checking containers | |
| CN100406371C (en) | A system and a method for container identification | |
| CN109641729B (en) | Detection of a locking device | |
| US10850923B2 (en) | Transporter and transporting method | |
| CN108773433A (en) | A kind of butt junction location calibration method and AGV trolleies based on AGV trolleies | |
| EP3512785B1 (en) | Integrated obstacle detection and payload centering sensor system | |
| US11797011B2 (en) | Traveling control system for transport vehicle and traveling control method for transport vehicle | |
| CN108803603A (en) | AGV trolley butt junction location methods based on coded image and AGV trolleies | |
| WO2022237221A1 (en) | Adjustment method, apparatus, and device for goods retrieval and placement apparatus, robot, and warehouse system | |
| CN112824990A (en) | Cargo information detection method and system, robot and processing terminal | |
| JP6686705B2 (en) | Management system, management method, and information processing device | |
| CN112241944B (en) | AGV scheduling system, material pose correction method and material pose correction device | |
| US10926960B2 (en) | Overhead conveyance vehicle | |
| EP3647236B1 (en) | Projection instruction device, parcel sorting system, and projection instruction method | |
| CN208673144U (en) | Unmanned logistics vehicle | |
| EP1594791A1 (en) | A system and a method for container identification | |
| CN116468366A (en) | Inventory system, inventory method, inventory stand, electronic device and computer medium | |
| CN113673435A (en) | Identification method and identification system for steel coil label | |
| JP6690411B2 (en) | Management system, management method, and transportation system | |
| JP6750315B2 (en) | Management system, management method, and transportation system | |
| CN113233335B (en) | Method and system for processing abnormal container of quay crane | |
| US11858498B2 (en) | Autonomous vehicle loading with smart transportation platforms | |
| CN114821015A (en) | Goods placement control method and device, computer equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |