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AGV positioning method for multiple sensors

A positioning method and multi-sensor technology, applied in two-dimensional position/channel control and other directions, to achieve the effects of easy installation, cost reduction, and simple algorithm processing

Inactive Publication Date: 2019-05-28
ANHUI NORMAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The main purpose of the present invention is to provide a multi-sensor AGV positioning method, which can effectively solve the problem of determining the absolute angle of the AGV at the QR code and the compensation for wheel slippage after leaving the QR code

Method used

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Embodiment Construction

[0046] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0047] All features disclosed in this specification, except mutually exclusive features, can be combined in any way.

[0048] Any feature disclosed in this specification (including any appended claims, abstract and drawings), unless expressly stated otherwise, may be replaced by alternative features which are equivalent or serve a similar purpose. That is, unless expressly stated otherwise, each feature is one example only of a series of equivalent or similar features.

[0049] A multi-sensor AGV positioning method, said method comprising the following steps:

[0050] Step 1: Arrange QR codes as visual beacon nodes on the travel path of the AGV.

[0051] Step 2: Collect the QR code image information arranged on the AGV travel path through the ca...

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Abstract

The invention discloses an AGV positioning method for multiple sensors. According to the method, based on a QR code landmark system, a label number and position information are inserted in a QR code,in a route from a starting point to a terminal point, after an industrial camera identifies the QR code, an AGV extracts the position of a QR code characteristic point in a network, and a position deviation and gesture between the current QR code and the AGV are calculated; according to the position relation of the QR code and the AGV, the position and gesture of the AGV are adjusted, and an absolute driving angle of the AGV is determined. In addition, an installation method for a coder on the AGV is designed again, a correction algorithm for an S-shaped curve slip error is proposed, the QR code and the coder are alternatively used, and the error accumulated of the coder during large-angle range change is made up for. In order to overcome the defects that for a wheel-type AGV, a positioning method is monotonous, wheels easily slip, and the installation cost is high, the two positioning strategies are alternatively used, the practicability and stability are effectively improved, and themethod has the advantages of being easy and convenient to install and simple in algorithm processing.

Description

technical field [0001] The invention relates to the technical field of AGV positioning, in particular to a multi-sensor AGV positioning method. Background technique [0002] Automatic guided vehicle (AGV) is an important part of the modern logistics system. With the development of the logistics industry and the improvement of technology, domestic AGV technology has developed rapidly, and the demand for AGV ranks among the top in the world. The reason why AGV can realize unmanned driving, navigation and guidance play a key role in it, and whether the AGV can complete the task stably and accurately, the accuracy of positioning will directly affect the accuracy of AGV navigation. Generally, positioning methods for known environments are mainly divided into relative positioning methods and absolute positioning methods. Relative positioning methods usually use dead reckoning and inertial navigation to complete the navigation method of AGV attitude calculation, but the estimation ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 邓亚颂曲立国杜友武盛宇
Owner ANHUI NORMAL UNIV
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