Positioning and guiding system and method based on ground road sign

Abstract

The invention discloses positioning and guiding system and method based on a ground road sign. The positioning and guiding system is characterized by comprising a visual system, the ground road sign, an AGV (automatic guided vehicle) body, and an embedded controller, wherein the visual system is used for obtaining a ground road signal feature image; the ground road sign is a characteristic band composed of black and white templates and is paved on the ground; the embedded controller utilizes a template matching method to compare and match the obtained ground road sign feature image with a characteristic band image in a memory vault, to obtain the position and the gesture of the AGV body according to the position of the feature road sign in the image and a geometrical relationship in a world coordinate system to achieve global positioning and guiding functions. The invention also provides a corresponding method. The black and white dual-color encoding characteristic band is adopted as the ground road sign, and the system also can realize the global positioning besides an automatic guiding function of an AGV. Thus, the foundation is provided for realizing multi-AGV collaborative transportation, assembly and the like, and the system has a good application prospect.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a positioning and guiding method based on vision technology, which is suitable for use in digital assembly, and in particular to a positioning and guiding system and method based on ground road signs. Background technique [0002] Automatic guidance technology mainly includes electromagnetic induction guidance, laser guidance, visual guidance, inertial guidance, ultrasonic guidance and magnetic nails. Among them, visual guidance refers to the image recognition of the environment of the driving area by AGV (Automatic Guided Vehicle) to realize intelligent driving. This is a guidance technology with great potential. The visual sensor receives information passively and is not interfered by other sensors; the amount of information collected by the visual sensor is large, and even after a large amount of information is discarded, it can still navigate the vehicle well. At the same ti...

AI Technical Summary

Problems solved by technology

However, this invention will not be able to obtain a good navigation effect in an environment with insufficient light or when road signs are blocked; at the same time, for a single camera and non-omnidirectional vision, under discontinuous and limited number of road signs, due to the limited viewing angle, will not be able to achieve high positioning accuracy

[0004] As for the ground marking, the color ribbon is basically laid on the ground to provide the movement direction for the automatic guided vehicle, but the positioning information cannot be obtained.

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