Visual sense guide vehicle parking method based on two-dimensional code and visual sense guide vehicle

Abstract

The invention discloses a visual sense guide vehicle parking method based on two-dimensional code and the visual sense guide vehicle, comprising a visual sense guide vehicle body. The front end and the back end of the vehicle body are provided with independently arranged Mecanum wheels. The Mecanum wheels are connected with a servo direct current motor through a speed reducer. The servo direct current motor is connected with a motor driver. The bottom of the vehicle body is provided with a camera installation cover. The camera installation cover is provided therein with a camera in connection with a Cortex-A9 processor. The Cortex-A9 processor communicates with the motor driver through a serial port. According to the invention, through the real time deviation correction to the grid positioning system and the grid lines, it is possible to accurately control the driving direction of the visual sense guide vehicle so as to eliminate the occurrence of navigation deviation and the derail accidents. With an embedded type processor and a small and compact camera, the entire system becomes light in weight, therefore, allowing the increase in the load weights. In addition, with the independently arranged Mecanum wheels, it is possible to realize the accurate positioning of a visual sense guide vehicle rapidly; and therefore, the transportation efficiency of the visual sense guide vehicle is increased.

Description

technical field [0001] The invention relates to the technical field of automatic guidance, in particular to a two-dimensional code-based positioning method for a vision-guided vehicle and a vision-guided vehicle. Background technique [0002] AGV (Automatic Guided Vehicle) is a wheeled robot that integrates sound, light and computer. With the development of intelligent control system, AGV (Automatic Guided Vehicle) has been adopted in more and more fields. AGV relies on non-contact guidance sensors and control systems, does not require human intervention, and is supplemented by safety alarms, scheduling controls, etc., and can automatically drive according to the established planned path, which can effectively improve work efficiency and complete material handling and unloading alone. materials and other tasks. [0003] At present, the AGV system mainly has a magnetic guidance method based on electromagnetic induction; an ultrasonic guidance method based on an ultrasonic ...

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Problems solved by technology

[0003] At present, the AGV system mainly has a magnetic guidance method based on electromagnetic induction; an ultrasonic guidance method based on an ultrasonic sensor; a laser guidance method based on laser reflection; but these methods have extremely high requirements on the environment.

With the continuous updating of science and technology, the guidance technology based on vision guidance appears, such as the positioning method of vision-guided vehicle based on auxiliary positioning device and the positioning method of vision-guided vehicle published by Chinese Patent No. CN 105929834 A. The two-dimensional code label is identified, but the two-dimensional code itself has errors. The collected two-dimensional code is decoded to obtain the position of the current two-dimensional code and the target two-dimensional code, and then calculates the deviation to calculate the position of the car off the track. A large number of calculations Accumulated errors will inevitably cause the deviation of the driving direction of the vision-guided vehicle, which will affect the accurate positioning and transportation efficiency of the vision-guided vehicle

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