AGV composite navigation method based on two-dimensional code and inertial sensor

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...

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

Images