CN111208827A - Projection type AGV two-dimensional code navigation system and application thereof - Google Patents
Projection type AGV two-dimensional code navigation system and application thereof Download PDFInfo
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- CN111208827A CN111208827A CN202010104494.3A CN202010104494A CN111208827A CN 111208827 A CN111208827 A CN 111208827A CN 202010104494 A CN202010104494 A CN 202010104494A CN 111208827 A CN111208827 A CN 111208827A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a projection type AGV two-dimensional code navigation system, which comprises an AGV trolley, a plurality of image projection assemblies and an AGV control system, wherein the image projection assemblies are arranged on the AGV trolley; the image projection assembly is arranged at the top of a working scene of the AGV trolley and is used for projecting the two-dimensional code image according to an appointed direction; a projection recognition platform is installed on one side of the AGV trolley and used for receiving the two-dimensional code image; and a first camera is installed on the projection identification platform and used for identifying the two-dimensional code image. The invention has the characteristic of convenient maintenance of the two-dimension code.
Description
Technical Field
The invention relates to the technical field of AGV navigation, in particular to a projection type AGV two-dimensional code navigation system and application thereof.
Background
With the development of the times, the processing and manufacturing industry level and the continuous improvement of the automation technology, the requirements on the processing precision, the production and transportation and the working efficiency are higher and higher. Automated transport guidance AGVs have become a widely used automated transport facility today, and therefore, research into automated transport facilities has become a core of the automation and transportation industry. The automatic transportation equipment has the advantages of high automation degree, simple and flexible operation, wide application, convenient maintenance and the like. The automatic manual operation system can improve the working efficiency in many fields, even can completely replace manpower under certain conditions, can improve the automation level of a production workshop, can replace manual operation under certain high-risk conditions, and greatly reduces the risk operation of manual operation. Therefore, the development of high-performance, safe and reliable automatic transportation equipment is imperative. The research of the AGV is mainly applied to the fusion of a plurality of subjects such as calculation control, mechanical dynamics, robots, sensor application and the like, and plays an indispensable role in the fields of national defense, automobile manufacturing, robots, visual navigation, transportation and the like.
The navigation modes adopted by the existing AGV include electromagnetic navigation, tape navigation, two-dimensional code navigation, inertial navigation and laser navigation. The two-dimensional code navigation type AGV comprises a two-dimensional code navigation type AGV, wherein the two-dimensional code navigation type AGV is accurate in positioning, small and flexible. The laying and the changing of the path are very easy, and the communication is convenient to control. However, the following disadvantages also exist: the path needs regular maintenance, and if the field is complicated, the two-dimensional code needs to be frequently replaced, so that the situation that the two-dimensional code cannot be identified due to label abrasion is avoided.
Disclosure of Invention
In view of this, the first objective of the present invention is to provide a projection type AGV two-dimensional code navigation system, which has the characteristic of convenient two-dimensional code maintenance.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a projection type AGV two-dimensional code navigation system comprises an AGV trolley, a plurality of image projection assemblies and an AGV control system; the image projection assembly is arranged at the top of a working scene of the AGV trolley and is used for projecting the two-dimensional code image according to an appointed direction; a projection recognition platform is installed on one side of the AGV; the projection identification platform comprises a first screw rod sliding table, a bearing table, a second screw rod sliding table, a first rotating arm, a second rotating arm, a projection panel and a first camera; the first screw rod sliding table is horizontally arranged inside the AGV trolley, and a through opening for the movement of the bearing table is formed in the side wall of the AGV trolley; the bearing table is arranged on the first screw rod sliding table; the second screw rod sliding table is horizontally arranged in the bearing table; one end of the first rotating arm is arranged on the second screw rod sliding table through a base; a first driving motor for driving the first rotating arm to rotate is arranged on the base; the first rotating arm adopts an electric telescopic rod; one end of the second rotating arm is rotatably arranged at the other end of the first rotating arm, and a second driving motor for driving the second rotating arm to rotate is arranged at the mounting position; the projection panel is arranged at the top of the bearing table, and an effective identification area is carved on the projection panel; the first camera is arranged on the second rotating arm;
first rocking arm, first lead screw slip table, second lead screw slip table, first driving motor, second driving motor and first camera all are connected with the major control system electricity of AGV dolly.
Preferably, the image projection assembly includes a projector lamp body, an attitude sensor, and a switch controller; wherein, the attitude sensor is arranged on the projection lamp body; the projection lamp body is provided with a third driving motor for driving the projection lamp body to rotate; the projection lamp body, the third driving motor and the attitude sensor are electrically connected with the switch controller; and the switch controller is in remote communication with the AGV control system.
Preferably, the top of the work scene is provided with a guide rail frame, the image projection assembly further comprises an electric guide wheel assembly, and the multi-axis motion base is arranged on the guide rail frame through the electric guide wheel assembly; the electric guide wheel component is electrically connected with the switch controller.
Preferably, a power supply circuit is arranged along the road in the guide rail bracket; the electric guide wheel assembly is provided with an electricity taking terminal matched with a power supply circuit, and the electricity taking terminal is always in contact with the power supply circuit in the moving process of the electric guide wheel assembly; the power taking terminal is electrically connected with the switch controller; the guide rail frame is provided with a plurality of two-dimensional code labels at intervals, the electric guide wheel assembly is provided with a second camera, and the second camera is electrically connected with the switch controller.
Preferably, the image projection assemblies are grouped in pairs, the same group is used for projecting the same two-dimensional code pattern to the same position, and the installation positions of the two image projection assemblies are bilaterally symmetrical with the position of the projected image projection assembly.
The second purpose of the present invention is to provide a driving control method for an AGV, which is implemented based on the above projection AGV two-dimensional code navigation system and can move according to a preset walking path.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a driving control method of an AGV comprises the following steps:
s10, position adjusting step:
the switch controller of the image projection component acquires the position information of the corresponding image projection component through the second camera and reports the position information to the AGV control system;
the AGV control system sends a position adjusting instruction to all the image projection assemblies according to the pre-configured travelling paths;
after receiving the adjusting instruction, a switch controller of the image projection assembly moves to a corresponding position;
s20, projection step:
the switch controller of the image projection assembly acquires the posture information of the projection lamp body through the posture sensor and controls the third driving motor to work so that the projection lamp body is switched to a proper specified angle;
the switch controller controls the projection lamp body to start, and projects the two-dimensional code pattern according to the specified direction;
s30, identification:
enabling the AGV trolley to be located at the initial position of the travelling path and communicating with an AGV control system in real time;
the AGV trolley sequentially controls the first lead screw sliding table and the second lead screw sliding table to move towards the outside of the AGV trolley, so that the first rotating arm extends out of the bearing table;
the AGV trolley controls the first rotating arm and the second rotating arm to rotate in sequence, so that the camera can be positioned right above the projection panel; the projection panel receives the two-dimensional code pattern projected by one of the image projection components;
s40, driving:
the AGV dolly is according to the driving instruction that first camera discerned information and received from AGV control system in the two-dimensional code pattern, along driving route removes to when reaching corresponding position, control first commentaries on classics arm is flexible to suitable length.
The technical effects of the invention are mainly reflected in the following aspects: by adopting the projection type two-dimensional code scheme, the traditional method of attaching the two-dimensional code label to the ground is abandoned, so that the trouble degree of replacing and maintaining the two-dimensional code label is avoided.
Drawings
FIG. 1 is an architecture diagram of a novel AGV two-dimensional code navigation system in an embodiment;
FIG. 2 is a view showing an installation structure of an image projection unit according to an embodiment;
FIG. 3 is a simplified diagram of an exemplary AGV configuration;
FIG. 4 is a schematic diagram showing the arrangement of the positions of the image projection units in the embodiment;
FIG. 5 is a schematic view of an exemplary AGV turning 90 degrees.
Reference numerals: 1. an AGV control system; 2. an AGV trolley; 31. a first screw rod sliding table; 32. a bearing table; 33. a second screw rod sliding table; 34. a first rotating arm; 35. a second rotating arm; 4. a first camera; 5. an image projection assembly; 51. a projector lamp body; 52. a third drive motor; 53. an electric guide wheel assembly; 54. a power taking terminal; 6. a guide rail bracket; 7. a power supply line; 8. a second camera; 9. two-dimensional code label.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in order to make the technical solution of the present invention easier to understand and understand.
The first embodiment,
Referring to fig. 1, the present embodiment provides a projection type AGV two-dimensional code navigation system, which includes an AGV cart 2, a plurality of image projection assemblies 5, and an AGV control system 1. The AGV trolley 2 and the image projection assembly 5 are in data interaction with the AGV control system 1. The AGV control system 1 generally comprises a data server, a wireless network, and a scheduling system, and the scheduling system is implemented by configuring corresponding software on a computer.
Referring to FIG. 2, an image projection assembly 5 is mounted on top of the operating scene of the AGV car 2 for projecting the two-dimensional code image in a designated direction. More specifically, the image projection assembly 5 includes a projector lamp body 51, an attitude sensor, and a switch controller; wherein, the attitude sensor is mounted on the projecting lamp body 51; a third driving motor 52 for driving the projector body 51 to rotate is mounted on the projector body 51; the projection lamp body 51, the third driving motor 52 and the attitude sensor are electrically connected with the switch controller; the switch controller communicates remotely with the AGV control system 1. The switch controller can detect the orientation angle of the projector body 51 through the attitude sensor and report the orientation angle to the AGV control system 1.
In addition, a guide rail frame 6 is installed at the top of the work scene, and the arrangement mode of the guide rail frame 6 can be a plurality of spaced arrangement. The multi-axis motion base is arranged on the guide rail frame 6 through an electric guide wheel component 53; a power supply circuit 7 is arranged along the road in the guide rail frame 6; the electric guide wheel assembly 53 is provided with an electricity taking terminal 54 adapted to the power supply line 7, and the electricity taking terminal 54 is always in contact with the power supply line 7 in the moving process of the electric guide wheel assembly 53. The power-taking terminal 54 is electrically connected to the switch controller. Wherein, the end of the power taking terminal 54 is provided with an arc-shaped elastic conducting strip, so as to be in closer contact with the power supply line 7; the power supply line 7 is composed of two metal conductive sheets and is laid along the guide rail frame 6.
In addition, a plurality of two-dimensional code labels 9 are arranged on the guide rail frame 6 at intervals, a second camera 8 is installed on the electric guide wheel assembly 53, and the second camera 8 is electrically connected with the switch controller. The two-dimensional code label 9 contains position information, so that when the second camera 8 recognizes a valid two-dimensional code label 9, it indicates that the motor-driven wheel assembly 53 has moved to the corresponding position.
Referring to fig. 3, a projection recognition platform is installed at one side of the AGV 2; the projection recognition platform comprises a first screw rod sliding table 31, a bearing table 32, a second screw rod sliding table 33, a first rotating arm 34, a second rotating arm 35, a projection panel and a first camera 4. First lead screw slip table 31 horizontal installation is in the inside of AGV dolly 2, offers the opening that supplies plummer 32 activity on the lateral wall of AGV dolly 2. The bearing table 32 is mounted on the first screw rod sliding table 31; the second screw rod sliding table 33 is horizontally installed in the bearing table 32. One end of the first rotating arm 34 is mounted on the second screw rod sliding table 33 through a base; a first driving motor (not shown) for driving the first rotating arm 34 to rotate is disposed on the base. In addition, the first rotating arm 34 adopts an electric telescopic rod, so that the length of the first rotating arm 34 can be adjusted; one end of the second rotating arm 35 is rotatably mounted to the other end of the first rotating arm 34, and a second driving motor (not shown) for driving the second rotating arm 35 to rotate is mounted thereto. The projection panel is arranged on the top of the bearing table 32, and an effective identification area is carved on the projection panel; the first camera 4 is mounted on the second rotating arm 35, and when the second rotating arm 35 is perpendicular to the first rotating arm 34, the first camera 4 can be directly opposite to the effective identification area.
The first rotating arm 34, the first screw rod sliding table 31, the second screw rod sliding table 33, the first driving motor, the second driving motor and the first camera 4 are all electrically connected with a main control system of the AGV trolley 2.
Thus, when the AGV car 2 is moved into position, the two-dimensional code pattern projected by the image projecting assembly 5 can be imaged on the projection panel; meanwhile, it is effective only when the two-dimensional code pattern entirely enters the effective recognition area of the projection panel. At this moment, the first camera 4 reads the position information contained in the two-dimensional code pattern, and then the AGV 2 can determine the position of the AGV itself.
The image projection assemblies 5 are in a group of two by two, the same group is used for projecting the same two-dimensional code pattern to the same position, and the installation positions of the two are bilaterally symmetrical with the position of the projected image projection assembly 5.
Example II,
The embodiment aims at providing a driving control method of an AGV based on the first embodiment, and the method comprises the following steps:
s10, position adjusting step:
the switch controller of the image projection component 5 acquires the position information corresponding to the image projection component 5 through the second camera 8 and reports the position information to the AGV control system 1;
the AGV control system 1 sends a position adjusting instruction to all the image projection assemblies 5 according to the pre-configured travelling paths;
and the switch controller of the image projection component 5 moves to the corresponding position after receiving the adjusting instruction.
Specifically, a corresponding visual three-dimensional module is configured in the dispatching system, and three-dimensional data of the whole working scene is simulated and constructed and presented as a three-dimensional mode including the guide rail frame 6; then, arranging a driving path in the simulated three-dimensional scene; the projector lamp body 51 has a fixed projection distance, and therefore, it is necessary to place the corresponding image projection assembly 5 in a proper position. As shown in fig. 4, M is the position of the image projection assembly 5, G is the orientation and projection distance of the projector lamp body 51, and the length of G remains unchanged; p is the central position of the projection panel; l is the horizontal distance from M to P, H is the vertical distance from M to the ground, F is the vertical distance from P to the ground, and the intersection point N is a walking path. Therefore, since there is a certain randomness in the arrangement of the travel path and the position of the power supply terminals on the rack 6 is fixed, the orientation of the projector body 51 (i.e., the orientation of G) and the distance of F, which is determined by the length of the first swing arm 34, are required according to the position of the image projection assembly 5, and therefore, the length of the first swing arm 34 is required to be adjusted again, which can be realized by sending a corresponding adjustment command to the AGV cart 2. After the arrangement in the simulated three-dimensional scene is completed, the system generates corresponding adjusting parameters or instructions, and issues the adjusting parameters or instructions to the AGV trolley 2 and the image projection component 5 for execution.
S20, projection step:
the on-off controller of the image projection assembly 5 acquires the posture information of the projection lamp body 51 through the posture sensor, and controls the third driving motor 52 to work so that the projection lamp body 51 is switched to a proper specified angle;
the switch controller controls the projection lamp body 51 to start, and projects the two-dimensional code pattern according to the specified direction;
s30, identification:
enabling the AGV trolley 2 to be located at the initial position of the travelling path and to be in real-time communication with the AGV control system 1;
the AGV trolley 2 sequentially controls the first screw rod sliding table 31 and the second screw rod sliding table 33 to move towards the outside of the AGV trolley 2, so that the first rotating arm 34 extends out of the bearing table 32;
the AGV trolley 2 controls the first rotating arm 34 and the second rotating arm 35 to rotate in sequence, so that the camera can be positioned right above the projection panel; the projection panel receives the two-dimensional code pattern projected by one of the image projection components 5;
s40, driving:
the AGV trolley 2 moves along a travelling path according to the information recognized from the two-dimensional code pattern by the first camera 4 and travelling instructions received from the AGV control system 1, and controls the first rotating arm 34 to stretch and contract to a proper length when reaching a corresponding position.
Specifically, since different two-dimensional code patterns projected by different image projection assemblies 5 may need different receiving heights (i.e. distances of F), the AGV 2 obtains the receiving height (i.e. distance of F) corresponding to the image projection assembly 5 at the next position from the AGV control system 1 according to the position of the AGV 2, and then automatically controls the first rotating arm 34 to extend and retract to the corresponding length after leaving the current position.
In addition, the embodiment further describes how the AGV 2 realizes a 90-degree turn in detail; referring to fig. 5, two vertical dotted lines are 2 vertical paths, and A, B, C, D represent reception positions of 4 two-dimensional code patterns, respectively; when the AGV 2 is to turn, it only needs to rotate 90 degrees in situ until the projection panel receives a valid two-dimensional code pattern (during which the length of the first rotating arm 34 needs to be adjusted, it is automatically adjusted).
It should be noted that it is the prior art to determine the position of the AGV cart 2 by recognizing the two-dimensional code pattern and control the AGV cart 2 to move on the path according to the position, and therefore, the embodiment is not described with reference to the specific principle of two-dimensional code pattern navigation, but those skilled in the art should understand and implement the present invention based on the two-dimensional code pattern navigation technology known in the art.
The above are only typical examples of the present invention, and besides, the present invention may have other embodiments, and all the technical solutions formed by equivalent substitutions or equivalent changes are within the scope of the present invention as claimed.
Claims (6)
1. A projection type AGV two-dimensional code navigation system is characterized by comprising an AGV trolley (2), a plurality of image projection assemblies (5) and an AGV control system (1); the image projection assembly (5) is mounted at the top of a working scene of the AGV trolley (2) and is used for projecting the two-dimensional code image according to a specified direction; a projection recognition platform is installed on one side of the AGV trolley (2); the projection recognition platform comprises a first screw rod sliding table (31), a bearing table (32), a second screw rod sliding table (33), a first rotating arm (34), a second rotating arm (35), a projection panel and a first camera (4); the first screw rod sliding table (31) is horizontally arranged inside the AGV trolley (2), and a through opening for the movement of the bearing table (32) is formed in the side wall of the AGV trolley (2); the bearing table (32) is arranged on the first screw rod sliding table (31); the second screw rod sliding table (33) is horizontally arranged in the bearing table (32); one end of the first rotating arm (34) is arranged on the second screw rod sliding table (33) through a base; the base is provided with a first driving motor for driving the first rotating arm (34) to rotate; the first rotating arm (34) adopts an electric telescopic rod; one end of the second rotating arm (35) is rotatably arranged at the other end of the first rotating arm (34), and a second driving motor for driving the second rotating arm (35) to rotate is arranged at the mounting position; the projection panel is arranged at the top of the bearing table (32), and an effective identification area is carved on the projection panel; the first camera (4) is arranged on the second rotating arm (35);
the AGV comprises an AGV trolley (2) and is characterized in that a first rotating arm (34), a first lead screw sliding table (31), a second lead screw sliding table (33), a first driving motor, a second driving motor and a first camera (4) are electrically connected with a master control system of the AGV trolley (2).
2. The projection AGV two-dimensional code navigation system according to claim 1, wherein the image projection module (5) comprises a projector body (51), an attitude sensor and a switch controller; wherein the attitude sensor is mounted on the projection lamp body (51); the projector lamp body (51) is provided with a third driving motor (52) for driving the projector lamp body (51) to rotate; the projection lamp body (51), the third driving motor (52) and the attitude sensor are electrically connected with the switch controller; the switch controller is in remote communication with the AGV control system (1).
3. The projected AGV two-dimensional code navigation system according to claim 2, wherein the top of the working scene is installed with a guide rail frame (6), the image projection assembly (5) further comprises a motorized guide wheel assembly (53), and the multi-axis motion base is installed on the guide rail frame (6) through the motorized guide wheel assembly (53); the electric guide wheel assembly (53) is electrically connected with the switch controller.
4. A projected AGV two-dimensional code navigation system according to claim 3, characterized in that the power supply line (7) is arranged along the way in the guide rail frame (6); the electric guide wheel assembly (53) is provided with an electricity taking terminal (54) matched with the power supply line (7), and the electricity taking terminal (54) is always in contact with the power supply line (7) in the moving process of the electric guide wheel assembly (53); the electricity taking terminal (54) is electrically connected with the switch controller; the guide rail frame (6) is provided with a plurality of two-dimensional code labels (9) at intervals, the electric guide wheel assembly (53) is provided with a second camera (8), and the second camera (8) is electrically connected with the switch controller.
5. A projected AGV two-dimensional code navigation system in accordance with claim 4, wherein the image projection modules (5) are grouped in pairs, and the same group is used to project the same two-dimensional code pattern to the same position, and the installation positions of the two modules are left-right symmetrical with the projected image projection module (5) position.
6. A driving control method of an AGV car is implemented based on the projection type AGV two-dimensional code navigation system of claim 4, and is characterized by comprising the following steps:
s10, position adjusting step:
a switch controller of the image projection assembly (5) acquires position information corresponding to the image projection assembly (5) through a second camera (8) and reports the position information to the AGV control system (1);
the AGV control system (1) sends a position adjusting instruction to all the image projection assemblies (5) according to a pre-configured travelling path;
after receiving the adjusting instruction, a switch controller of the image projection component (5) moves to a corresponding position;
s20, projection step:
a switch controller of the image projection assembly (5) acquires the posture information of the projection lamp body (51) through a posture sensor and controls a third driving motor (52) to work so that the projection lamp body (51) is switched to a proper specified angle;
the switch controller controls the projection lamp body (51) to start, and projects the two-dimensional code pattern according to the specified direction;
s30, identification:
enabling the AGV trolley (2) to be located at the initial position of the travelling path and to be in real-time communication with the AGV control system (1);
the AGV trolley (2) sequentially controls the first screw rod sliding table (31) and the second screw rod sliding table (33) to move towards the outside of the AGV trolley (2), so that the first rotating arm (34) extends out of the bearing table (32);
the AGV trolley (2) controls a first rotating arm (34) and a second rotating arm (35) to rotate in sequence, so that a camera can be positioned right above a projection panel; the projection panel receives the two-dimensional code pattern projected by one of the image projection components (5);
s40, driving:
the AGV trolley (2) moves along the travelling path according to the information recognized from the two-dimensional code pattern by the first camera (4) and the travelling instruction received from the AGV control system (1), and controls the first rotating arm (34) to stretch to a proper length when reaching a corresponding position.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113318410A (en) * | 2021-05-31 | 2021-08-31 | 集美大学 | Running training method |
| CN113408318A (en) * | 2021-07-19 | 2021-09-17 | 嘉兴必威智能装备有限公司 | AGV logistics robot of two-dimensional code projection discernment |
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