CN109308072A - The Transmission Connection method and AGV of automated guided vehicle AGV - Google Patents
The Transmission Connection method and AGV of automated guided vehicle AGV Download PDFInfo
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- 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
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Abstract
The disclosure is directed to the Transmission Connection method of automated guided vehicle AGV a kind of and AGV, belong to electronic technology field.The described method includes: control AGV is moved to docking platform；Obtain the image that image picking-up apparatus is shot to docking platform direction；Determine the location information of preset calibrations object in the picture；According to the location information of preset calibrations object in the picture, position adjustment information is determined；Based on position adjustment information, controls the service of connection devices and be displaced relative to car body.According to the location information of preset calibrations object in the picture, position adjustment information being determined, being based on position adjustment information, control the service of connection devices is displaced relative to car body.By the above method, the dislocation even being eliminated between the service of connection devices and docking platform can reduce, to decrease or even eliminate the case where the service of connection devices can not normally transmit article, and then guarantee the normal operation of entire logistics transportation system.
Description
Technical field
The disclosure is directed to electronic technology fields, especially with respect to the Transmission Connection side of automated guided vehicle AGV a kind of
Method and AGV.
Background technique
With the development of science and technology, science and technology using ubiquitous.For logistics transportation field, from manual handling to full-automatic
The machine of change transports, and leaping for matter has occurred in logistics transportation mode.Logistics transportation includes in the common express transportation of people and factory
Logistics transportation.Wherein, logistics transportation refers to the raw material to buying, the storage of components, storage, transport of outbound etc. in factory.
During logistics transportation, object can be transported by AGV (Automated Guided Vehicle, automated guided vehicle)
Product.AGV, which can be, magnetically or optically to be waited homing guidances device equipped with electricity, can travel along defined guide path, have transport
The transport vehicle of function and safety protection function.
The automation of logistics transportation relies primarily on AGV, and AGV can be with automatic butt to docking platform and automatic transportation object
Product.The usage mode of its most common AGV is docking platform A calling AGV, at AGV automatic running to docking platform A.AGV with
Docking platform A is docked, and article is sent on AGV by docking platform A, and AGV is travelled again to purpose docking platform B, by object
Product are sent to docking platform B.
In implementing the present disclosure, inventor discovery the prior art has at least the following problems:
Since there are error, AGV and docking platforms in docking during traveling by AGV, usually will appear compared with serious mistake
Position, so will lead to can not normally transmit article, to influence the normal operation of entire logistics transportation system.
Summary of the invention
In order to overcome the problems, such as that present in the relevant technologies, present disclose provides following technical schemes:
According to the first aspect of the embodiments of the present disclosure, the Transmission Connection method of automated guided vehicle AGV a kind of, institute are provided
Method is stated applied to AGV, the AGV include be arranged on car body, image picking-up apparatus and the car body can be relative to the vehicle
The service of connection devices that position moves, which comprises
It controls the AGV and is moved to docking platform；
Obtain the image that described image capture apparatus is shot to the docking platform direction；
Determine location information of the preset calibrations object in described image；
According to location information of the preset calibrations object in described image, position adjustment information is determined；
Based on the position adjustment information, controls the service of connection devices and be displaced relative to the car body.
Optionally, the location information according to the preset calibrations object in described image determines position adjustment information, packet
It includes:
According to location information of the preset calibrations object in described image, determine the preset calibrations object in described image
In relative to described image central point the first runout information；
Based on first runout information, the position adjustment information is determined.
Optionally, first runout information include the preset calibrations object in described image relative to described image
The first offset direction and the first deviation distance of central point；The position adjustment information include adjustment direction and adjustment away from
From；
Based on first runout information, the position adjustment information is determined, comprising:
Determine that adjustment direction is first offset direction, and pair based on pre-stored deviation distance and adjustment distance
It should be related to, determine adjustment distance corresponding with first deviation distance.
Optionally, the AGV further includes motor, is based on the actual range, controls the service of connection devices relative to described
Car body displacement, comprising:
Motor pulses quantity N is determined based on the adjustment distance；
It controls the motor to operate with the pulse of N number of predeterminated voltage and duration, so that the service of connection devices is relative to institute
State car body displacement, wherein the motor is the motor for adjusting the service of connection devices position.
Optionally, motor pulses quantity N is determined based on the adjustment distance, comprising:
The motor pulses quantity N is calculated based on following formula:
Optionally, the preset calibrations object is preset pattern, location information of the preset calibrations object in described image
For location information of the central point in described image of the preset pattern；
Location information of the determining preset calibrations object in described image, comprising:
The outline position for subscribing calibration object is identified in described image；
Location information of the central point of the preset pattern in described image is determined based on the outline position.
According to the second aspect of an embodiment of the present disclosure, a kind of AGV is provided, the AGV include car body, image picking-up apparatus,
The service of connection devices and controller that can be displaced relative to the car body being arranged on the car body；The controller includes the first control
Module obtains module, determining module and adjustment module；
First control module is moved to docking platform for controlling the AGV；
The acquisition module, the image shot for obtaining described image capture apparatus to the docking platform direction；
The determining module, for determining location information of the preset calibrations object in described image；
The adjustment module determines position tune for the location information according to the preset calibrations object in described image
Whole information controls the service of connection devices and is displaced relative to the car body.
Optionally, the adjustment module includes the first determination unit and the second determination unit；
First determination unit determines institute for the location information according to the preset calibrations object in described image
Preset calibrations object is stated in described image relative to the first runout information of the central point of described image；
Second determination unit determines the position adjustment information for being based on first runout information.
Optionally, first runout information include the preset calibrations object in described image relative to described image
The first offset direction and the first deviation distance of central point；The position adjustment information include adjustment direction and adjustment away from
From；
Second determination unit is based on pre-stored inclined for determining that adjustment direction is first offset direction
Separation from the corresponding relationship with a distance from adjustment, determine corresponding with first deviation distance adjustment distance.
Optionally, which is characterized in that the AGV includes motor；The adjustment module includes third determination unit；The control
Device processed includes the second control module；
The third determination unit, for determining motor pulses quantity N based on the adjustment distance；
Second control module is operated for controlling the motor with the pulse of N number of predeterminated voltage and duration, so that
The service of connection devices is displaced relative to the car body.
Optionally, the third determination unit is used to calculate the motor pulses quantity N based on following formula:
Optionally, the preset calibrations object is preset pattern, location information of the preset calibrations object in described image
For location information of the central point in described image of the preset pattern；
The determining module includes recognition unit and the 4th determination unit；
The recognition unit, for identifying the outline position for subscribing calibration object in described image；
4th determination unit, for determining the central point of the preset pattern in the figure based on the outline position
Location information as in.
According to the third face of the embodiment of the present disclosure, provide a kind of Transmission Connection system, the system comprises docking platform,
AGV；Preset calibrations object is provided at the docking platform；The AGV includes car body, image picking-up apparatus, sets on the car body
The service of connection devices that can be displaced relative to the car body set；
The AGV, for being moved to the docking platform；Described image capture apparatus is obtained to the docking platform direction
The image of shooting；Determine location information of the preset calibrations object in described image；According to the preset calibrations object described
Location information in image determines position adjustment information；Based on the position adjustment information, control the service of connection devices relative to
The car body displacement.
The technical scheme provided by this disclosed embodiment can include the following benefits:
The method provided through the embodiment of the present invention can be determined according to the location information of preset calibrations object in the picture
Position adjustment information, is based on position adjustment information, and control the service of connection devices is displaced relative to car body.By the above method, can subtract
The small dislocation even being eliminated between the service of connection devices and docking platform, so that object can not normally be transmitted by decreasing or even eliminating the service of connection devices
The case where product, and then guarantee the normal operation of entire logistics transportation system.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of the Transmission Connection method of AGV shown according to an exemplary embodiment；
Fig. 2 is the schematic diagram that a kind of AGV shown according to an exemplary embodiment is docked with conveyer belt；
Fig. 3 is a kind of schematic diagram of video camera shooting conveyer belt shown according to an exemplary embodiment；
Fig. 4 is the structural schematic diagram of AGV shown according to an exemplary embodiment a kind of；
Fig. 5 is the structural schematic diagram of AGV shown according to an exemplary embodiment a kind of；
Fig. 6 is the structural schematic diagram of AGV shown according to an exemplary embodiment a kind of；
Fig. 7 is a kind of structural schematic diagram of transporter shown according to an exemplary embodiment.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
The embodiment of the invention provides the Transmission Connection method of AGV a kind of, this method can be applied to AGV, and by AGV
Controller realize.AGV may include the docking that can be displaced relative to car body being arranged on car body, image picking-up apparatus and car body
The components such as equipment, motor, controller, memory, traveling member.Motor can be used for adjusting the service of connection devices relative to car body
Position.The service of connection devices can be used for being docked with docking platform, article be transmitted to docking platform from the service of connection devices,
Or article etc. is obtained from docking platform.Controller can be CPU (Central Processing Unit, central processing
Unit) etc., it is determined for the location information of preset calibrations object in the picture, waits processing.Memory can be RAM
(Random Access Memory, random access memory), Flash (flash memory) etc., can be used for store receive data,
Data needed for treatment process, the data generated in treatment process etc..
AGV can also include transceiver, display unit, audio output part etc..Transceiver, can be used for and external equipment
Interaction, transceiver may include bluetooth component, WiFi (Wireless-Fidelity, wireless fidelity) component, antenna,
Match circuit, modem etc..Audio output part can be speaker, earphone etc..
An exemplary embodiment of the present disclosure provides the Transmission Connection methods of AGV a kind of, as shown in Figure 1, the place of this method
Managing process may include following step:
Step S110, control AGV are moved to docking platform.
In an implementation, AGV can be moved to docking platform according to scheduled route automatically, but due in moving process
There are a variety of presence for influencing its factor for moving accuracy, therefore when AGV is moved to docking platform, the service of connection devices of AGV
It is different surely with docking platform study plot to connecting.Under normal circumstances, the service of connection devices and docking platform are in transmission article direction
There is dislocation in vertical direction.As shown in Fig. 2, there is dislocation between conveyer belt and AGV.
Step S120 obtains the image that image picking-up apparatus is shot to docking platform direction.
Controller can control the image picking-up apparatus installed on AGV such as video camera and shoot image to docking platform direction.
Optionally, image picking-up apparatus is fixed on preset position, and is put with preset pitch angle, yaw angle.It is optional
Image picking-up apparatus, can be mounted on the middle position of the service of connection devices, and make image taking by ground, for convenience subsequent calculating
Equipment is upward towards level front.After image picking-up apparatus has been fixed, the mounting height of image picking-up apparatus is also
Fixed, and assume AGV after being moved to docking platform, AGV and docking platform on transmission article direction at a distance from energy
Reach preset value, then image picking-up apparatus is namely fixed at a distance from docking platform.In each of above-mentioned image picking-up apparatus
After installation parameter is fixed, the determination of follow-up location adjustment information also just it is easy mostly.The determination of specific location adjustment information
Method will be introduced later.
Step S130 determines location information of the preset calibrations object in described image.
After controller obtains the image that image picking-up apparatus is shot to docking platform direction, preset calibrations object can be determined
Location information in the picture.As shown in figure 3, shooting image to conveyer belt direction by video camera, obtain including conveyer belt figure
The image of picture.Due to being provided with preset calibrations object, such as a calibration line, a square icon on a moving belt in advance.?
The preset calibrations object being arranged on transmission belt in Fig. 3 is a square icon.At this point, the conveyer belt image that video camera takes
In further include a square icon.Determine the location information of the square icon in the image taken, such as square figure
Mark the coordinate information on each vertex.
Optionally, if preset calibrations object is a calibration line, it can determine that line segment midpoint, line segment midpoint are default
Demarcate the location information of object in the picture.If preset calibrations object is preset pattern, can be determined by following manner default
Demarcate the location information of object in the picture.Correspondingly, preset calibrations object is preset pattern, the position of preset calibrations object in the picture
Information is the location information of the central point of preset pattern in the picture；It determines the location information of preset calibrations object in the picture, wraps
Include: the outline position of calibration object is subscribed in identification in the picture；The central point of preset pattern is determined in the picture based on outline position
Location information.
In an implementation, as shown in figure 3, when preset calibrations object is a square icon, it is possible, firstly, to know in the picture
The outline position of not square icon such as two dimensional code icon, obtains the coordinate on arbitrary three vertex of square icon.Then,
The coordinate of square icon central point in the picture is determined based on the coordinate on three obtained vertex.It should be noted that can be with
The central point of image is set as to the starting point of transverse and longitudinal coordinate axis.
Optionally, image picking-up apparatus such as video camera can generate distortion such as radial distortion, tangential distortion when shooting image
Deng, therefore before executing the location information of determining preset calibrations object in the picture, it needs first to correct distortion.Wherein, radial abnormal
The producing cause of change is that light is more more serious than by paracentral place bending in the place of the lens centre far from video camera.Diameter
It mainly include barrel distortion and two kinds of pincushion distortion to distortion.The Producing reason of tangential distortion is that the lens of video camera are incomplete
Plane where being parallel to the scenery of shooting.Distortion will affect the standard of the location information of the preset calibrations object for determining and obtaining in the picture
True property, it is therefore desirable to before executing the location information of determining preset calibrations object in the picture, first correction distortion.Specifically, may be used
To determine distortion factor, it is then based on distortion factor and does the transformation opposite with distortion to image, distortion can be eliminated.It is being rectified
The operation of the location information of preset calibrations object in the picture is determined after pincushion distortion, the location information that can make is more
Accurately, and then when being corrected to dislocation existing between the service of connection devices and docking platform, correction it is just more accurate.
Step S140 determines position adjustment information according to the location information of preset calibrations object in the picture.
Wherein, position adjustment information may include adjustment direction and adjustment distance.Adjustment distance can be specific needs
The distance of the service of connection devices displacement.Adjustment direction can be the direction for needing the service of connection devices to be displaced.
It is alternatively possible to determine position adjustment information by following manner.Correspondingly, step S140 includes: according to default
The location information of object in the picture is demarcated, determines that preset calibrations object deviates relative to the first of the central point of image in the picture and believes
Breath；Based on the first runout information, position adjustment information is determined.
In an implementation, firstly, location information according to preset calibrations object in the picture, determines preset calibrations object in the picture
With the first runout information of the central point of image.Due to each installation parameter of image picking-up apparatus be it is fixed, can be true
Corresponding relationship between fixed the first runout information and position adjustment information in the picture.
Optionally, the first runout information includes preset calibrations object in the picture relative to the first deviation of the central point of image
Direction and the first deviation distance；Position adjustment information includes adjustment direction and adjustment distance；Based on the first runout information, really
The step of adjustment information is set in positioning may include: that determining adjustment direction is the first offset direction, and is based on pre-stored deviation
The corresponding relationship of distance and adjustment distance, determines adjustment distance corresponding with the first deviation distance.
In an implementation, deviation distance can be stored in advance in the memory of AGV and the corresponding relationship of adjustment distance is for example inclined
Separation from adjustment with a distance from list.Be stored in advance in the list the deviation distance being likely to occur in the horizontal direction and
Its corresponding adjustment distance in the horizontal direction in practice.If, can be with after determining that the first deviation distance is 2mm
Not by calculating, directly searching the deviation distance in horizontal direction in deviation distance and the list of adjustment distance is that 2mm is corresponding
Horizontal direction on adjustment distance be how many.For example, finding with the deviation distance in horizontal direction is the corresponding level of 2mm
Adjustment distance on direction is 30mm, it is determined that adjustment distance in the horizontal direction is 30mm.In addition, if image taking is set
The image of standby shooting is mirror image, then adjustment direction can be consistent with the first offset direction.
Step S150, is based on position adjustment information, and control the service of connection devices is displaced relative to car body.
Optionally, AGV further includes motor, the equipment motor that the service of connection devices can be made to be displaced relative to car body, however
In practical application, it cannot will directly adjust in the general motor of distance input, motor is allowed voluntarily to adjust the position of AGV.Certainly, no
Excluding intelligent electric machine can achieve this function.In ordinary circumstance, mode position can be set by the operating mode of motor,
Under the mode, motor pulses quantity can be inputted to motor, motor can be according to the motor pulses quantity of input, and voluntarily operating is electric
The revolution of machine number of pulses, so that AGV is moved.Correspondingly, it is based on position adjustment information, controls the service of connection devices relative to vehicle
Position moves, comprising: determines motor pulses quantity N based on adjustment distance；Motor is controlled to transport with the pulse of N number of predeterminated voltage and duration
Turn, so that the service of connection devices is displaced relative to car body, wherein motor is the motor for adjusting the service of connection devices position.
In an implementation, the duration of the voltage of motor pulses and a pulse persistance is preset.
Optionally, motor pulses quantity N is determined based on adjustment distance, comprising: motor pulses quantity N is calculated based on formula 1:
Wherein, screw pitch, the resolution ratio of motor are the build-in attributes of motor, and the reduction ratio of retarder is also retarder in motor
Build-in attribute.Therefore, in above-mentioned formula 1, only adjustment distance is unknown.Adjustment distance can provide through this embodiment
Method be determined, specific to determine that method is described in the foregoing description, details are not described herein.
Optionally, after the step S150 that is finished, it can also return again to step S110, repeat step
S110-S150 is repeatedly adjusted with the position to the service of connection devices, until dislocation existing between the service of connection devices and docking platform
Size be less than preset threshold until.
Finally, article transmission can be carried out with docking platform by the service of connection devices.It should be noted that the type of AGV has
A variety of, the form of the service of connection devices of different AGV is also different.For example, certain the service of connection devices and AGV be it is integrated, as mobile AGV
When, the service of connection devices is also and then mobile.Pedestal there are also some the service of connection devices and AGV is to separate, when the pedestal of AGV is fixed
When fixed position is constant, the service of connection devices can be only moved to be docked with docking platform.In addition to this, there are also some
AGV can serve as the service of connection devices equipped with mechanical arm, mechanical arm in the present embodiment, can when AGV is not moved integrally
Only to adjust the position of mechanical arm.Finally, after determining position adjustment information, it can control the service of connection devices relative to car body position
It moves, by the service of connection devices after displacement, carries out article transmission with docking platform.
Generally, if docking platform be it is fixed, can be using this with docking platform dislocation when AGV is mobile to be deviated
The method that embodiment provides realizes adjustment.In addition, if AGV does not shift in moving process, but docking platform is sent out
Offset is given birth to, the method that can also be provided through this embodiment even eliminates dislocation to reduce.Furthermore if docking platform with
There is offset in AGV, the method that still can be provided through this embodiment even eliminates dislocation to reduce.
Optionally, after through the service of connection devices, with docking platform progress article transmission, if the service of connection devices is not with AGV
One, then the service of connection devices can be restored, to be restored to the position before carrying out position adjustment, then, AGV
It normally continues to move to next place and picks article.
The method provided through the embodiment of the present invention can be determined according to the location information of preset calibrations object in the picture
Position adjustment information, is based on position adjustment information, and control the service of connection devices is displaced relative to car body.By the above method, can subtract
The small dislocation even being eliminated between the service of connection devices and docking platform, so that object can not normally be transmitted by decreasing or even eliminating the service of connection devices
The case where product, and then guarantee the normal operation of entire logistics transportation system.
Disclosure another exemplary embodiment provides a kind of AGV, as shown in figure 4, the AGV includes car body 410, image bat
The service of connection devices 430 and controller 440 that can be displaced relative to car body taking the photograph equipment 420, being arranged on car body；Controller 440 includes
First control module 441 obtains module 442, determining module 443, adjustment module 444 and displacement module 455；
First control module 441 is moved to docking platform for controlling AGV；
Obtain module 442, the image shot for obtaining image picking-up apparatus 420 to docking platform direction；
Determining module 443, for determining the location information of preset calibrations object in the picture；
It adjusts module 444 and determines position adjustment information for the location information according to preset calibrations object in the picture；
Displacement module 445, for being based on position adjustment information, control the service of connection devices 430 is displaced relative to car body.
Optionally, as shown in figure 5, adjustment module 444 includes the first determination unit 4441 and the second determination unit 4442；
First determination unit 4441 determines preset calibrations object for the location information according to preset calibrations object in the picture
In the picture relative to the first runout information of the central point of image；
Second determination unit 4442 determines position adjustment information for being based on the first runout information.
Optionally, the first runout information includes preset calibrations object in the picture relative to the first deviation of the central point of image
Direction and the first deviation distance；Position adjustment information includes adjustment direction and adjustment distance；
Second determination unit 4442 for determine adjustment direction be the first offset direction, and based on it is pre-stored deviate away from
From with the corresponding relationship with a distance from adjustment, determine corresponding with the first deviation distance adjustment distance.
Optionally, as shown in fig. 6, AGV includes motor 610；Adjusting module 444 includes third determination unit 4443；Control
Device 440 includes the second control module 446；
Third determination unit 4443, for determining motor pulses quantity N based on adjustment distance；
Second control module 446 is operated for controlling motor 610 with the pulse of N number of predeterminated voltage and duration, so that right
Equipment is connect to be displaced relative to car body.
Optionally, third determination unit 4443 is used to calculate motor pulses quantity N based on following formula:
Optionally, preset calibrations object is preset pattern, and the location information of preset calibrations object in the picture is preset pattern
The location information of central point in the picture；
Determining module 443 includes recognition unit and the 4th determination unit；
Recognition unit, for identifying the outline position for subscribing calibration object in the picture；
4th determination unit, for determining the location information of the central point of preset pattern in the picture based on outline position.
About the AGV in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
The AGV provided through the embodiment of the present invention can determine position according to the location information of preset calibrations object in the picture
Adjustment information is set, position adjustment information is based on, control the service of connection devices is displaced relative to car body.By the above method, can reduce
The dislocation even being eliminated between the service of connection devices and docking platform, so that article can not normally be transmitted by decreasing or even eliminating the service of connection devices
The case where, and then guarantee the normal operation of entire logistics transportation system.
It should be understood that AGV provided by the above embodiment is in Transmission Connection, only with the division of above-mentioned each functional module
It is illustrated, in practical application, can according to need and be completed by different functional modules above-mentioned function distribution, i.e., will
The internal structure of AGV is divided into different functional modules, to complete all or part of the functions described above.In addition, above-mentioned
The Transmission Connection embodiment of the method for AGV and AGV that embodiment provides belong to same design, and specific implementation process is detailed in method reality
Example is applied, which is not described herein again.
The another exemplary embodiment of the disclosure shows a kind of Transmission Connection system, which includes docking platform, AGV；
Preset calibrations object is provided at docking platform；AGV include car body, image picking-up apparatus, be arranged on car body can be relative to car body
The service of connection devices of displacement.
AGV, for being moved to docking platform；Obtain the image that image picking-up apparatus is shot to docking platform direction；It determines
The location information of preset calibrations object in the picture；According to the location information of preset calibrations object in the picture, position adjustment letter is determined
Breath；Based on position adjustment information, controls the service of connection devices and be displaced relative to car body.
The another exemplary embodiment of the disclosure shows a kind of structural schematic diagram of transporter.
Referring to Fig. 7, transporter 700 may include following one or more components: processing component 702, memory 704, electricity
Source component 706, multimedia component 708, audio component 710, the interface 712 of input/output (I/O), sensor module 714 lead to
Believe component 716, input equipment 718, motor 720, the service of connection devices 722, traveling member 724.
Motor 720 can be the motor for adjusting 718 position of the service of connection devices.The service of connection devices 722 is used for and docking platform
It is docked, to transmit cargo.Traveling member 724 is used for shifting of conveyer.
Processing component 702 usually control transporter 700 integrated operation, such as with display, telephone call, data communication,
Camera operation and record operate associated operation.Processing element 702 may include that one or more processors 720 refer to execute
It enables, to perform all or part of the steps of the methods described above.In addition, processing component 702 may include one or more modules, just
Interaction between processing component 702 and other assemblies.For example, processing component 702 may include multi-media module, it is more to facilitate
Interaction between media component 708 and processing component 702.
Memory 704 is configured as storing various types of data to support the operation in transporter 700.These data
Example includes the instruction of any method for operating on transporter 700.Memory 704 can be by any kind of volatibility
Or non-volatile memory device or their combination realize that, such as static random access memory (SRAM), electric erasable can be compiled
Journey read-only memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM), only
It reads memory (ROM), magnetic memory, flash memory, disk or CD.
Electric power assembly 706 provides electric power for the various assemblies of transporter 700.Electric power assembly 706 may include power management
System, one or more power supplys and other with for audio output apparatus 700 generate, manage, and distribute the associated component of electric power.
Multimedia component 708 includes the screen of one output interface of offer between the transporter 700 and user.?
In some embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel,
Screen may be implemented as touch screen, to receive input signal from the user.Touch panel includes that one or more touch passes
Sensor is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding is dynamic
The boundary of work, but also detect duration and pressure associated with the touch or slide operation.In some embodiments, defeated
Entering equipment 718 includes a front camera and/or rear camera.When transporter 700 is in operation mode, such as screening-mode
Or when video mode, front camera and/or rear camera can receive external multi-medium data.Each front camera
It can be a fixed optical lens system with rear camera or there are focusing and optical zoom capabilities.
Audio component 710 is configured as output and/or input audio signal.For example, audio component 710 includes a Mike
Wind (MIC), when audio output apparatus 700 is in operation mode, when such as call mode, recording mode, and voice recognition mode, wheat
Gram wind is configured as receiving external audio signal.The received audio signal can be further stored in memory 704 or warp
It is sent by communication component 716.
I/O interface 712 provides interface between processing component 702 and peripheral interface module, and above-mentioned peripheral interface module can
To be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and lock
Determine button.
Sensor module 714 includes one or more sensors, and the state for providing various aspects for transporter 700 is commented
Estimate.For example, sensor module 714 can detecte the state that opens/closes of transporter 700, the relative positioning of component, such as institute
The display and keypad that component is transporter 700 are stated, sensor module 714 can also detect transporter 700 or transporter 700
The position change of one component, the existence or non-existence that user contacts with transporter 700,700 orientation of transporter or acceleration/deceleration
With the temperature change of transporter 700.Sensor module 714 may include proximity sensor, be configured to not any
It is detected the presence of nearby objects when physical contact.Sensor module 714 can also include optical sensor, such as CMOS or ccd image
Sensor, for being used in imaging applications.In some embodiments, which can also include that acceleration passes
Sensor, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 716 is configured to facilitate the communication of wired or wireless way between transporter 700 and other equipment.Fortune
Defeated machine 700 can access the wireless network based on communication standard, such as WiFi, 2G or 3G or their combination.It is exemplary at one
In embodiment, communication component 716 receives broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel
Information.In one exemplary embodiment, the communication component 716 further includes near-field communication (NFC) module, to promote short distance logical
Letter.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) can be based in NFC module
Technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, transporter 700 can be by one or more application specific integrated circuit (ASIC), number
Signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of computer readable storage medium including instruction is additionally provided, for example including finger
The memory 704 of order, above-metioned instruction can be executed by the processor 720 of transporter 700 to complete the above method.For example, the meter
Calculation machine readable storage medium storing program for executing can be ROM, random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage and set
It is standby etc..
The another embodiment of the disclosure provides a kind of computer readable storage medium, the instruction in the storage medium
When being executed by the processor of terminal, enable the terminal to execute:
Control AGV is moved to docking platform；
Obtain the image that image picking-up apparatus is shot to docking platform direction；
Determine the location information of preset calibrations object in the picture；
According to the location information of preset calibrations object in the picture, position adjustment information is determined；
Based on position adjustment information, controls the service of connection devices and be displaced relative to car body.
Optionally, the location information according to preset calibrations object in the picture determines position adjustment information, comprising:
According to the location information of preset calibrations object in the picture, determine preset calibrations object in the picture relative in image
First runout information of heart point；
Based on the first runout information, position adjustment information is determined.
Optionally, the first runout information includes preset calibrations object in the picture relative to the first deviation of the central point of image
Direction and the first deviation distance；Position adjustment information includes adjustment direction and adjustment distance；
Based on the first runout information, position adjustment information is determined, comprising:
Determine that adjustment direction is the first offset direction, and the corresponding pass based on pre-stored deviation distance with adjustment distance
System determines adjustment distance corresponding with the first deviation distance.
Optionally, AGV further includes motor, is based on actual range, and control the service of connection devices is displaced relative to car body, comprising:
Motor pulses quantity N is determined based on adjustment distance；
Motor is controlled to operate with the pulse of N number of predeterminated voltage and duration, so that the service of connection devices is displaced relative to car body,
In, motor is the motor for adjusting the service of connection devices position.
Optionally, motor pulses quantity N is determined based on adjustment distance, comprising:
Motor pulses quantity N is calculated based on following formula:
Optionally, preset calibrations object is preset pattern, and the location information of preset calibrations object in the picture is preset pattern
The location information of central point in the picture；
Determine the location information of preset calibrations object in the picture, comprising:
The outline position of calibration object is subscribed in identification in the picture；
The location information of the central point of preset pattern in the picture is determined based on outline position.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (13)
1. a kind of Transmission Connection method of automated guided vehicle AGV, which is characterized in that the method is applied to AGV, described
AGV includes the service of connection devices that can be displaced relative to the car body being arranged on car body, image picking-up apparatus and the car body, described
Method includes:
It controls the AGV and is moved to docking platform；
Obtain the image that described image capture apparatus is shot to the docking platform direction；
Determine location information of the preset calibrations object in described image；
According to location information of the preset calibrations object in described image, position adjustment information is determined；
Based on the position adjustment information, controls the service of connection devices and be displaced relative to the car body.
2. the method according to claim 1, wherein the position according to the preset calibrations object in described image
Information determines position adjustment information, comprising:
According to location information of the preset calibrations object in described image, preset calibrations object phase in described image is determined
For the first runout information of the central point of described image；
Based on first runout information, the position adjustment information is determined.
3. according to the method described in claim 2, it is characterized in that, first runout information includes that the preset calibrations object exists
Relative to the first offset direction of the central point of described image and the first deviation distance in described image；The position adjustment letter
Breath includes adjustment direction and adjustment distance；
Based on first runout information, the position adjustment information is determined, comprising:
Determine that adjustment direction is first offset direction, and the corresponding pass based on pre-stored deviation distance with adjustment distance
System determines adjustment distance corresponding with first deviation distance.
4. according to the method described in claim 3, be based on the actual range it is characterized in that, the AGV further includes motor,
The service of connection devices is controlled to be displaced relative to the car body, comprising:
Motor pulses quantity N is determined based on the adjustment distance；
It controls the motor to operate with the pulse of N number of predeterminated voltage and duration, so that the service of connection devices is relative to the vehicle
Position moves, wherein the motor is the motor for adjusting the service of connection devices position.
5. according to the method described in claim 4, it is characterized in that, determining motor pulses quantity N, packet based on the adjustment distance
It includes:
The motor pulses quantity N is calculated based on following formula:
。
6. the method according to claim 1, wherein the preset calibrations object is preset pattern, the pre- bidding
Location information of the earnest in described image is location information of the central point of the preset pattern in described image；
Location information of the determining preset calibrations object in described image, comprising:
The outline position for subscribing calibration object is identified in described image；
Location information of the central point of the preset pattern in described image is determined based on the outline position.
7. a kind of AGV, which is characterized in that the AGV include car body, image picking-up apparatus, be arranged on the car body can be opposite
In the service of connection devices and controller of car body displacement；The controller includes the first control module, obtains module, determines mould
Block, adjustment module and displacement module；
First control module is moved to docking platform for controlling the AGV；
The acquisition module, the image shot for obtaining described image capture apparatus to the docking platform direction；
The determining module, for determining location information of the preset calibrations object in described image；
The adjustment module determines position adjustment letter for the location information according to the preset calibrations object in described image
Breath；
The displacement module controls the service of connection devices and is displaced relative to the car body for being based on the position adjustment information.
8. AGV according to claim 7, which is characterized in that the adjustment module includes that the first determination unit and second are true
Order member；
First determination unit determines described pre- for the location information according to the preset calibrations object in described image
Earnest is marked in described image relative to the first runout information of the central point of described image；
Second determination unit determines the position adjustment information for being based on first runout information.
9. AGV according to claim 8, which is characterized in that first runout information includes that the preset calibrations object exists
Relative to the first offset direction of the central point of described image and the first deviation distance in described image；The position adjustment letter
Breath includes adjustment direction and adjustment distance；
Second determination unit for determine adjustment direction be first offset direction, and based on it is pre-stored deviate away from
From with the corresponding relationship with a distance from adjustment, determine corresponding with first deviation distance adjustment distance.
10. AGV according to claim 9, which is characterized in that the AGV includes motor；The adjustment module includes third
Determination unit；The controller includes the second control module；
The third determination unit, for determining motor pulses quantity N based on the adjustment distance；
Second control module is operated for controlling the motor with the pulse of N number of predeterminated voltage and duration, so that described
The service of connection devices is displaced relative to the car body.
11. AGV according to claim 10, which is characterized in that the third determination unit is by based on following formula
Calculate the motor pulses quantity N:
。
12. AGV according to claim 7, which is characterized in that the preset calibrations object is preset pattern, the pre- bidding
Location information of the earnest in described image is location information of the central point of the preset pattern in described image；
The determining module includes recognition unit and the 4th determination unit；
The recognition unit, for identifying the outline position for subscribing calibration object in described image；
4th determination unit, for determining the central point of the preset pattern in described image based on the outline position
Location information.
13. a kind of Transmission Connection system, which is characterized in that the system comprises docking platforms, AGV；It is set at the docking platform
It is equipped with preset calibrations object；The AGV include car body, image picking-up apparatus, be arranged on the car body can be relative to the car body
The service of connection devices of displacement；
The AGV, for being moved to the docking platform；Described image capture apparatus is obtained to shoot to the docking platform direction
Image；Determine location information of the preset calibrations object in described image；According to the preset calibrations object in described image
In location information, determine position adjustment information；Based on the position adjustment information, the service of connection devices is controlled relative to described
Car body displacement.
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