Guidance device, landmark layout and guidance method based on multi-eye vision and inertial navigation

Abstract

The invention discloses a guidance device, landmark layout and guidance method based on multi-eye vision and inertial navigation, belonging to the field of automatic control. The guidance device includes cameras inclined downward on both sides of the vehicle body, a camera vertically downward in the center of the vehicle body, an inertial measurement unit on the top of the vehicle body, an obstacle sensor on the front side of the vehicle body, a radio frequency card reader at the bottom of the vehicle body, and A pilot controller that electrically connects the above components. Arrange colored guiding markings on both sides of the running path of the automatic guided vehicle (AGV), and place overlapping radio frequency tags and colored positioning marks on the guiding markings. The guidance method of the AGV includes area navigation in the middle area of ​​the guidance markings on both sides and path tracking guidance following the guidance markings on one side. It has cross-area remote movement flexibility and intra-area Targeting accuracy.

Description

technical field [0001] The invention belongs to the technical field of mobile robot navigation in automation control, and specifically refers to a guidance device, landmark layout and guidance method based on multi-eye vision and inertial navigation. Background technique [0002] The research on automatic guided technology began in the United States in the 1950s. In 1954, Barret Electronics developed the first automatic guided vehicle for cargo delivery, and then the application of automatic guided vehicles was extended to the field of industrial production. In 1974, the Volvo Kalmar car assembly plant in Sweden adopted automatic guided vehicles as the carrier of the automatic assembly line. Since the 1980s, the U.S. Department of Defense has started research on ground unmanned combat platforms, mainly targeting intelligent vehicles that adapt to different terrains and autonomously navigate. [0003] Automatic guidance technology has always been the core technology in the f...

AI Technical Summary

Problems solved by technology

[0008] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a guidance device, landmark layout and guidance method based on multi-eye vision and inertial navigation, so as to solve the shortcomings of various guidance technologies in the prior art. , there are problems such as poor navigation flexibility, low positioning accuracy, and poor operational reliability.

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