A visual navigation and positioning method for AGV based on a new coded mark

Abstract

The invention discloses an AGV (Automated Guided Vehicle) visual navigation and positioning method based on a novel encoding mark. The method comprises the steps of firstly, designing an encoding markin combination with digital information and a two-dimensional code to make the mark have two functions of navigation and positioning; secondly, constructing a camera system model, when an AGV cameraidentifies that the front encoding mark is located at a position of a current frame image, converting the position into a position from an actual encoding mark to an AGV through the constructed camerasystem model; thirdly, performing image processing on the image collected by the camera so as to alleviate the problem of blurring caused by the condition that a moving object is shot by use of a cheap camera, and quickly positioning a positioning feature point and a navigation feature point designed in the encoding mark; fourthly, decoding the encoding mark, and positioning code value information-containing numbers in the encoding mark according to the identified navigation feature points, thereby reducing the difficulty for the subsequent classifier in identification of the numbers; and finally, designing a proportional-differential controller according to the previously obtained control information so as to control walking of the AGV trolley.

Description

technical field [0001] The invention relates to the technical fields of information coding, machine vision and machine learning, in particular to an AGV visual navigation and positioning method based on a novel coding mark. Background technique [0002] my country is a big Internet country with the largest number of netizens in the world. E-commerce is developing rapidly in my country, and online shopping is very popular in my country. As an important link in the online shopping process, logistics affects consumers' online shopping experience. Consumers hope to obtain the purchased goods as quickly as possible. However, the actual situation is that consumers usually need to wait for a few days, and even more than a week during e-commerce activities, which greatly reduces the availability of online shopping and consumption. Satisfaction has also dropped significantly. [0003] In my country's logistics industry, a large number of Automated Guided Vehicles (AGVs) are used to...

AI Technical Summary

Problems solved by technology

2. The sorting error rate is extremely low

The high-speed camera at the bottom of the robot can capture clear images of the road surface when moving at high speed, but the high-speed camera is expensive, and the image of the ordinary camera is easy to blur when shooting high-speed moving objects, and it is very difficult to recognize the blurred QR code image, and Inertial navigation is expensive

Images