AGV composite navigation method based on quick response code and inertia sensor

An inertial sensor and composite navigation technology, applied in the field of automatic guided vehicle path navigation, can solve problems such as high environmental requirements, high cost, and difficult development, achieve high-precision navigation and positioning, eliminate accumulated errors, and reduce the amount of calculation.

Active Publication Date: 2018-09-28
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Disadvantages: It is troublesome to change or expand the route, it is relatively difficult to lay the guide line, and it lacks flexibility
[0008] Disadvantages: high environmental requirements, low real-time performance
[0011] Disadvantages: high cost, complex installation of laser navigation sensors and reflectors
[0014] Disadvantages: very sensitive to ribbon pollution and mechanical wear, demanding on the environment, and difficult to develop
[0017] Disadvantages: There is cumulative error, which makes it impossible to achieve high-precision positioning

Method used

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  • AGV composite navigation method based on quick response code and inertia sensor
  • AGV composite navigation method based on quick response code and inertia sensor
  • AGV composite navigation method based on quick response code and inertia sensor

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Embodiment Construction

[0058] In this embodiment, an AGV composite navigation method based on two-dimensional codes and inertial sensors is applied in smart factories, smart manufacturing, and smart logistics. In the factory workshop, a grid map of AGV walking space is established through two-dimensional code labels. Two-dimensional The code label contains site location coordinate information and direction information; through the vehicle-mounted industrial high-speed camera to dynamically identify the two-dimensional code frame in the grid map, estimate the longitudinal and lateral distance deviation and direction deviation when the AGV reaches the two-dimensional code label, and calculate the deviation As the initial deviation of inertial navigation between stations, the cumulative error of inertial navigation can be eliminated, and the purpose of precise navigation can be achieved. Specifically, proceed as follows:

[0059] step 1, Figure 1A and Figure 1B Shown is a schematic diagram of the in...

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Abstract

The invention discloses an AGV composite navigation method based on a quick response code and an inertia sensor. The method comprises the following steps: 1) arranging n quick response code labels inan AGV work area with an equal interval; 2) when AGV is at a quick response code site, employing a quick response code navigation mode, using an image identification technology to estimate deviation information from vertical, lateral and directions for performing AGV posture adjustment on the obtained quick response code images; 3) taking the deviation information obtained through the quick response code as an initial deviation of driving inertial navigation of the AGV at the site; and 4) when the AGV drives between two quick response code sites, employing an inertial navigation mode, performing real-time reckoning the deviation of the AGV during a walking process, and realizing the motion of the AGV during adjacent quick response codes. Through equal interval arrangement of the quick response code label, the AGV composite navigation is realized by combining the inertia sensor, the production cost is reduced, on-site enforcement difficulty is reduced, and the navigation precision is increased.

Description

technical field [0001] The invention belongs to the technical field of path navigation of automatic guided vehicles, and in particular relates to an AGV composite navigation method based on a two-dimensional code and an inertial sensor that can drive along a given path and realize autonomous positioning. Background technique [0002] Automatic guided vehicle (AGV for short) refers to a transport vehicle that can drive along a designated path and has safety protection and various transfer functions. For AGV, it is very important to confirm its own position. The execution of path tasks and the adjustment of attitude are all based on navigation and positioning. At present, AGV navigation methods mainly include magnetic navigation, visual navigation, laser navigation, optical belt navigation, and inertial navigation. Advantages and disadvantages of each navigation method: [0003] Geomagnetic navigation: Guidance is achieved through magnetic induction signals. [0004] Advant...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 肖献强王家恩程亚兵
Owner HEFEI UNIV OF TECH
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