Visual navigation system of AGV

Abstract

The invention discloses a visual navigation system of an AGV. The visual navigation system comprises an AGV vehicle-mounted subsystem, a colored paper tape guide strip and a two-dimensional code mark,wherein the colored paper tape guide strip is arranged on the driving route of the AGV, and the two-dimensional code mark is arranged at the key position of the driving route; the AGV vehicle-mountedsubsystem comprises a two-dimensional code scanner, an image acquisition module, a distance measuring sensor, an ARM processor, an AGV universal controller and an AGV driving device, the output endsof the two-dimensional code scanner, the image acquisition module and the distance measuring sensor are all connected with the ARM processor, the output end of the ARM processor is connected with theAGV driving device through the AGV universal controller; and the ARM processor is used for processing the colored paper tape guide strip image information collected by the image acquisition module toidentify the current position of the AGV, and through the combination of the two-dimensional code mark collected by the two-dimensional code scanner and the surrounding obstacle information collectedby the distance measuring sensor, the next-step driving can be planned. The system has the advantages of being simple in route arrangement, convenient to maintain and modify, and free of external electromagnetic interference.

Description

technical field [0001] The invention relates to an AGV trolley, in particular to a visual navigation system for an AGV trolley. Background technique [0002] Automated Guided Vehicle (AGV for short), also known as AGV trolley, is equipped with automatic guidance devices such as electromagnetic or optical, can drive along the prescribed guiding path, and has safety protection and various transfer functions. The transport vehicle, the ACV trolley does not require a driver in industrial applications, and uses a rechargeable battery as its power source. The AGV trolley is characterized by wheeled movement. Compared with walking, crawling or other non-wheeled mobile robots, it has the advantages of fast action, high work efficiency, simple structure, strong controllability, and good safety. Compared with other equipment, the AGV's activity area does not need to lay track, support frame and other fixed devices, and is not limited by the site, road and space; therefore, in the aut...

AI Technical Summary

Problems solved by technology

[0003] In practical applications, most AGV cars use the electromagnetic path-following system to set up their travel routes, and the AGV cars move and move according to the information brought by the electromagnetic path-following system. However, the laying of the electromagnetic track is complicated, the cost is high, and It is not easy to maintain and rewire, and is easily affected by external electromagnetic field interference

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