Vision based guideline interpretation method for stable driving control of guideline tracing AGVs

摘要

PURPOSE: An image-based guide line analysis method for the flexible driving control of a guideline tracking automated guided vehicle (AGV) improves reliability by flexibly driving the AGV at a guideline in a complex structure without getting out of the driving path of the AGV. CONSTITUTION: An image received from a camera module removes a perspective component by performing inverse perspective transformation. A guideline pixel region is extracted based on color, and damage compensation is processed to obtain a segment of a guideline to analyze a guideline structure. An appropriate direction is determined according to the guideline structure after a guideline structure analysis process determining the guideline structure at the current point as one among a single path structure, a branch structure, a joining structure, a line branch structure, and a post-joining structure by analyzing inputted guideline segment information. The driving of an AGV is controlled according to the determined direction. [Reference numerals] (AA) Structure analysis and moving direction determination process start; (BB) Structure analysis process; (CC) Single line; (DD) Multiple line; (EE) Single path; (FF) Branch; (GG) Line branch; (HH) Joining, abnormal branch; (II) Continuous branch; (JJ) Initial branch; (KK) Joining later; (LL) Nearest line selection; (MM) Branch line selection; (NN) Recent contact selection; (OO) Moving branch point proceeding; (PP) Destination line middle point; (QQ) Destination recent contact; (RR) Destination moving branch point; (SS) Moving direction angle calculation; (TT) AGV moving direction moving direction angle; (UU) Return; (VV) Moving direction determination process