An AGV navigation control method based on two-dimension code image tags

Abstract

The invention discloses an AGV navigation control method based on two-dimension code image tags. The AGV navigation control method comprises the following steps: 1) obtaining the range of each pixel point in scanned images of two-dimension code tag scanners; 2) obtaining corresponding IDs and positions of the two-dimension code image tags in a coordinate system of the images themselves according to the scanned images of the two-dimension code tag scanners; 3) an AGV receiving navigation path instructions sent by a scheduling center; 4) the AGV sequentially establishing local navigation coordinate systems according to the navigation path instructions and calculating initial positions of the AGV in the local navigation coordinate systems; 5) planning an arc track between two two-dimension code image tags of the AGV in sequence; and 6) calculating the control quantity of the AGV according to the planed arc radius to enable the AGV to drive to each two-dimension code image tag in a navigation path instruction sequence in sequence, and thus the navigation path instruction is finished. The method can reduce production cost, reduce on-site implementation difficulty and improve guiding flexibility.

Description

technical field [0001] The invention belongs to the field of automatic guided vehicle navigation control, and relates to an AGV navigation control method based on a two-dimensional code image label that can drive along a given path and realize autonomous positioning. Background technique [0002] Automated guided vehicle (AGV) is a rechargeable battery-powered, self-guided unmanned automated vehicle. Under the monitoring of the computer, it can accurately walk and stop at the designated location according to the path planning and operation requirements. Complete a series of homework tasks such as picking up, delivering, charging, etc. With the improvement of industrial automation and the rapid development of computer technology, AGV is used more and more as a handling tool between assembly lines or operating equipment. [0003] Chinese patent application publication number CN201410767757 proposes an AGV visual navigation control method. The visual navigation method include...

AI Technical Summary

Problems solved by technology

This method can make the AGV drive along the road markings and monitor the AGV status in real time. However, this method first needs to lay ribbons and install RFID, and the on-site construction is complicated; secondly, the ribbons are easily polluted, which affects the recognition accuracy; and the AGV The trolley can only run along the fixed ribbon, it is inconvenient to change the route in the warehouse with dense shelves, and the flexibility is poor

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