CN205121338U - AGV navigation based on image recognition and wireless network - Google Patents

The utility model relates to a commodity circulation haulage equipment technical field especially relates to a AGV navigation based on image recognition and wireless network, and the system includes a plurality of AGV individualities and control cabinet, and AGV is individual including controller unit, walking unit, first wireless unit and two -dimensional code unit, the control cabinet includes total controller unit, the wireless unit of second, man -machine interface unit and a plurality of camera unit, and serial number information and send location information to total controller unit that the camera unit will be discerned, total controller element calculate go out the deviation of individual position coordinate of AGV and target location, generate the individual walking path control AGV individuality of AGV and walk according to the route, and system simple structure, it is with low costs.

Based on the AGV navigational system of image recognition and wireless network

Technical field

The utility model relates to logistics haulage equipment technical field, particularly relates to a kind of AGV navigational system based on image recognition and wireless network.

Background technology

Known AGV navigate mode generally has following several:

Magnetic navigation AGV, lays magnetic rubber strip on ground, and AGV driver element line walking is walked;

Laser navigation AGV, on AGV top, rotary laser distance measuring equipment is installed, track route installs reflector, and laser ranging system calculates AGV present position coordinate and yaw angle according to the distance of reflecting plate return signal and angular relationship, and AGV navigates according to comparing with internal memory route;

Inertial navigation AGV, in AGV vehicle body, inertial navigation unit accelerometer and gyroscope are installed, export rotational angular velocity integration according to gyroscope and go out crab angle, exporting integration according to acceleration and go out speed and then integration goes out travel distance, navigating according to comparing with AGV internal memory route;

GPS navigation AGV, navigates according to gps satellite signal.

All there is various defect in above AGV navigation, wherein, the ground magnetic stripe of magnetic navigation AGV easily damages, and change route needs again to lay, and change is not easy; Laser navigation AGV, need to scan more than three or three reflecting strips at any time, and laser sensor cost is high; Then cumulative errors is increasing in time for inertial navigation AGV; GPS navigation AGV, needs to use under the spacious environment in outdoor.

Utility model content

The purpose of this utility model overcomes the defect that prior art exists, and provides that structure is simple, cost is low based on the AGV navigational system of image recognition and wireless network.

The technical scheme realizing the utility model object is: based on the AGV navigational system of image recognition and wireless network, comprise some AGV individuality and control desk, AGV individuality comprises controller unit, walking unit, the first radio-cell and Quick Response Code unit, first radio-cell is connected with controller unit, controller unit controls the track route of walking unit, the top of Quick Response Code cellular installation AGV individuality, the number information of Quick Response Code unit record AGV individuality; Control desk comprises master controller unit, the second radio-cell, human-machine interface unit and some camera unit, master controller unit is connected with the second radio-cell, human-machine interface unit and camera unit respectively, the position coordinates of the AGV individuality recognized and number information are transferred to master controller unit and process by camera unit, and the first radio-cell and the second radio-cell carry out radio communication.

As prioritization scheme of the present utility model, controller unit is PLC.

As prioritization scheme of the present utility model, master controller unit is industrial PC.

As prioritization scheme of the present utility model, the first radio-cell and the second radio-cell are technical grade wireless router.

As prioritization scheme of the present utility model, walking unit is two wheel guide robot driver element, and described two wheel guide robot driver element drives two wheels respectively by two motors, relies on velocity contrast between two-wheeled to realize turning to during walking.

As prioritization scheme of the present utility model, camera unit adopts technical grade picture recognition module.

As prioritization scheme of the present utility model, human-machine interface unit is touch-screen, and touch-screen is connected with master controller unit by serial ports.

The utility model has positive effect: 1) camera unit is located by the Quick Response Code at the individual top of AGV and identified that specific AGV is individual; Only the AGV individuality of increase need be put into camera unit energy identified region scope when increasing or reduce AGV individual amount, structure is simple;

2) separate unit AGV is individual owing to not needing navigation sensor, ground magnetic stripe and laser sensor etc., so make cost reduce;

3) separate unit AGV is individual owing to not needing independent navigation, so make program simplification and reliability enhancing;

4) control desk unified management, AGV individuality enters different regions by no camera unit identification, directly learns the individual positional information of all AGV, avoids the appearance of blocking up with colliding.

Accompanying drawing explanation

Fig. 1 is the structured flowchart of the utility model AGV individuality;

Fig. 2 is the structured flowchart of the utility model control desk.

Wherein, 1, AGV is individual, 11, controller unit, 12, walking unit, the 13, first radio-cell, 14, Quick Response Code unit, 2, control desk, 21, master controller unit, the 22, second radio-cell, 23, human-machine interface unit, 24, camera unit.

Embodiment

As shown in Figure 1, the utility model discloses a kind of AGV navigational system based on image recognition and wireless network, comprise some AGV individual 1 and control desk 2, AGV individuality 1 comprises controller unit 11, walking unit 12, first radio-cell 13 and Quick Response Code unit 14, first radio-cell 13 is connected with controller unit 11, controller unit 11 controls the track route of walking unit 12, and Quick Response Code unit 14 installs the top of AGV individuality 1, and Quick Response Code unit 14 records the number information of AGV individuality 1; Control desk 2 comprises master controller unit 21, second radio-cell 22, human-machine interface unit 23 and some camera unit 24, master controller unit 21 is connected with the second radio-cell 22, human-machine interface unit 23 and camera unit 24 respectively, the position coordinates of the AGV individuality 1 recognized and number information are transferred to master controller unit 21 and process by camera unit 24, and the first radio-cell 13 and the second radio-cell 22 carry out radio communication.

Wherein, camera unit 24 is arranged on eminence, and Quick Response Code unit 14 can be sprayed on individual 1 top surface of AGV with reflectorised paint, and camera unit 24 identifies the number information of record on the position coordinates of AGV individuality 1 and Quick Response Code unit 14 by Quick Response Code unit 14.Secondary battery unit provides power supply to respectively controller unit 11, walking unit 12, first radio-cell 13 and Quick Response Code unit 14.Control desk 2 is by Power supply.Controller unit 11 drived control first radio-cell 13; Master controller unit 21 is drived control second radio-cell 22, human-machine interface unit 23 and camera unit 24 respectively.In this AGV navigational system based on image recognition and wireless network, control desk 2 can comprise a lot of AGV individuality 1, control desk 2 and can comprise a lot of camera unit 24, camera unit 24 and once can identify multiple Quick Response Code unit 14.

Controller unit 11 is PLC.Master controller unit 21 is industrial PC.First radio-cell 13 and the second radio-cell 22 are technical grade wireless router.Camera unit 24 adopts technical grade picture recognition module.Adopt the various equipment of technical grade to make system run all right, processing speed is fast.PLC and technical grade wireless router use RJ45 joint netting twine to be connected, industrial PC and technical grade wireless router use RJ45 joint netting twine to be connected, human-machine interface unit 23 is touch-screen, touch-screen is connected with master controller unit 21 by serial ports, undertaken checking and control operation by touch-screen, be connected by RJ45 joint netting twine between camera unit 24 with master controller unit 21, camera unit 24 can install multiple technical grade picture recognition module.

Walking unit 12 is two wheel guide robot driver element, and two wheel guide robot driver element drives two wheels respectively by two motors, relies on velocity contrast between two-wheeled to realize turning to during walking.

Based on the air navigation aid of the AGV navigational system of image recognition and wireless network, the method comprises the following steps:

1) camera unit 24 identifies number information and the positional information of the AGV individuality 1 of record by Quick Response Code unit 14;

2) number information of identification and positional information are sent to master controller unit 21 by camera unit 24, and master controller unit 21 calculates the position coordinates of AGV individuality 1 and the deviation of target location, generate the track route of AGV individuality 1;

3) track route of AGV individuality 1 is sent to the first radio-cell 13, first radio-cell 13 by the second radio-cell 22 and the track route of AGV individuality 1 is transferred to controller unit 11 processes by master controller unit 21;

4) controller unit 11 is according to the track route of the AGV individuality 1 received, and controls walking unit 12 and walks according to track route; When the position of AGV individuality 1 changes, circulation performs step 1) to 4).

When camera unit 24 cannot obtain the positional information of AGV individuality 1, alarm operation will be performed.When control desk 2 finds the track route walking of the AGV individuality 1 that AGV individuality 1 does not receive according to controller unit 11, alarm operation will be performed.Perform alarm operation, problem of being convenient to is investigated in time and corrects, thus makes the individual 1 well-regulated operation of AGV.

During system cloud gray model, the number information that the position coordinates of Quick Response Code unit 14 on AGV individuality 1 and Quick Response Code record is identified by camera unit 24, the information identified is sent to master controller unit 21 by wired mode, master controller unit 21 calculates the deviation between the position coordinates of AGV individuality 1 and target location, generate the track route of AGV individuality 1, the track route generating AGV individuality 1 is sent to the first radio-cell 13 of AGV individuality 1 by the second radio-cell 22 of control desk 2, the track route of AGV individuality 1 is sent to the first radio-cell 13 by the second radio-cell 22 by master controller unit 21, the track route of AGV individuality 1 is transferred to controller unit 11 and processes by the first radio-cell 13, controller unit 11 is according to the track route of the AGV individuality 1 received, control walking unit 12 to walk according to track route, when the position of AGV individuality 1 changes, camera unit 24 obtains new information and calculates new path and sends to AGV individuality 1, circulation like this.

Example is made up of three AGV individual 1 and a control desk 2 including two camera unit 24, during system cloud gray model, two cameras identify the positional information of AGV individuality 1 in two regions respectively, individual for three AGV 1 position is all transferred to master controller unit 21, master controller unit 21 goes out according to positional information and system pre-stored path comparing calculation the action that next cycle every platform AGV should perform, three AGV individualities 1 are transferred to respectively by wireless network, in AGV individuality 1, PLC controls two wheel guide robot driver element and carries out corresponding action after receiving action command.

Above-described specific embodiment; the purpose of this utility model, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiment of the utility model; be not limited to the utility model; all within spirit of the present utility model and principle, any amendment made, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.