Global localization guiding system and method based on multiple sensors

Abstract

The invention discloses a global localization guiding system and a method based on multiple sensors. The system comprises an automatic guided vehicle (AGV) body, an embedded type controller, an acceleration sensor, a visual sensor, a light source and a guiding belt, wherein the guiding belt comprises a guiding line and a two-dimension code icon, and the acceleration sensor is used for measuring the acceleration value of the AGV body. The visual sensor is used for obtaining the image information contained in the ground guiding belt, and thus an automatic guiding function is achieved. The relative position of the AGV body is obtained by the embedded type controller according to the calculation of the acceleration value, and a global locating function of the AGV body is achieved through the global position information defined in the two-dimension code icon and identified by the visual sensor. The ground guiding belt is adopted so that AGV functions of automatic guiding and global locating are achieved through the method of combination of the acceleration sensor and the visual sensor, and therefore foundation for achieving multiple intelligent control of the AGV is offered, and global localization guiding system and the method are good in application prospect.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a multi-sensor-based global positioning and guidance system and method, which are suitable for use in automatic guided vehicles (AGV). Background technique [0002] The automatic guided vehicle (AGV) system has developed into one of the largest professional branches in the production logistics system, and there is a trend of industrialization development, and it has become an indispensable and important part of modern enterprise automation equipment. The most basic automatic guidance technology in AGV mainly includes electromagnetic induction guidance, laser guidance, visual guidance, inertial guidance, ultrasonic guidance and magnetic nails. Among them, vision guidance 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 ...

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Problems solved by technology

[0003] In the existing AGV guidance methods, such as "Visual Guidance AGV System and Method for Embedded Systems" (China Invention Patent Application No. 201110436672.3), the use of dual cameras to achieve AGV guidance cannot obtain the global positioning information of the AGV

"AGV operation control method based on passive RFID and auxiliary vision" (China Invention Patent Application No. 201110150892.X), when the AGV passes through the RFID reader, the AGV control center obtains the position of the AGV at this time, the defect is that the AGV cannot be obtained in real time location information

"Global Vision Positioning Method for Smart Vehicles Based on Ground Texture" (China Invention Patent Application No. 200910138235.6), this invention uses the image signal collected by the camera to match the global map of the environment stored in the system to achieve the global positioning of the AGV. However, this method requires Perform a large number of calculations, especially in large-area workshops, real-time performance cannot be guaranteed

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