Panoramic optic visual navigation control system of automatic guided vehicle and omnidirectional automatic guided vehicle

Abstract

The invention discloses a panoramic optic visual navigation control system of an automatic guided vehicle. The system comprises an autonomous navigation system and a vehicle tail positioning system; and the autonomous navigation system and the vehicle tail positioning system are controlled by a main control system. The autonomous navigation system consists of an omnidirectional optical module, a depth image sampling module, an image combination processing module, a visual window constructing 3D map module, a user-defined module with comparison of a real-time image feature with a 3D map feature, and a path planning module. According to the system, a global map of a warehouse is constructed in a completely unknown warehouse environment. With information stored in the map, the navigation system can obtain a position coordinate of the system in a working environment, position coordinates of various obstacles in the environment, and position coordinates of various station break points and thus the automatic guided vehicle can be guided to move according to a planned line.

Description

technical field [0001] The invention belongs to a visual navigation system, in particular to an automatic guided vehicle panoramic optical visual navigation control system with autonomous path planning and navigation capabilities based on an omnidirectional optical system supplemented by an isodepth camera (or laser radar) sensor. Background technique [0002] At present, the rise in labor costs has become the main difficulty encountered in the current business development of enterprises. In countries and regions with advanced manufacturing industries, automatic guided vehicles (AGV) are used to replace manual loading, unloading and transportation of goods in warehouses to save costs. has become mainstream today. In China, most of the currently used automatic guided vehicles still use magnetic track navigation and RFID positioning technology to autonomously move and deliver goods. Although this method can meet certain needs, it has relatively large limitations and needs to b...

AI Technical Summary

Problems solved by technology

In China, most of the currently used automatic guided vehicles still use magnetic track navigation and RFID positioning technology to autonomously move and deliver goods. Although this method can meet certain needs, it has relatively large limitations and needs to be compared for warehouses. Big modification, not universal

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