An agv car navigation system based on cross code
A navigation system and cross code technology, applied in control/regulation systems, two-dimensional position/channel control, motor vehicles, etc., can solve the problem of difficult two-dimensional code recognition for vehicle-mounted visual sensors, complicated two-dimensional code coding rules, and affecting navigation Reliability and other issues, to avoid the problem of operational limitations, the solution is simple, and the effect is remarkable
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Embodiment 1
[0055] This embodiment discloses a cross code, which can be laid on the ground of the navigation area of the AGV trolley after mass production, for navigating the AGV trolley, such as figure 1 As shown, the cross code disclosed in this embodiment includes four directional barcodes arranged in a cross and a radio frequency tag arranged in the middle; the four directional barcodes are respectively written with barcode information of four directions;
[0056] Specifically, the direction encoding rule of the cross code is: figure 1 In the horizontal direction from left to right, the bar code with the width ratio of black and white bars of 1:1:1:2:3 is "0", and the bar code of the direction of the width ratio of black and white bars of 3:2:1:1:1 is "1". ”, the width ratio of black and white bars from bottom to top is 1:1:1:2:3, and the bar code code is “0”, and the width ratio of black and white bars from bottom to top is 3:2:1:1:1. The orientation bar code is coded as "1". The...
Embodiment 2
[0061] like Figure 2-Figure 3 As shown, this embodiment discloses an AGV car navigation device, which can navigate through the cross code as described in Embodiment 1, which includes:
[0062] The RFID reader 1 set at the bottom of the AGV car is set at the bottom of the AGV car to sense the RFID card and obtain the absolute coordinate information of the current position of the AGV car;
[0063] The camera module 2 arranged at the bottom of the AGV trolley includes three camera groups 21 arranged in a row at the center position at the bottom of the AGV for acquiring real-time ground images; the real-time ground images include one or more of the four directional barcodes. an image;
[0064] Specifically, as Figure 4 As shown, the camera group 21 includes three groups of cameras, each group of cameras includes three cameras, and a total of image 3 There are nine cameras numbered 1-9 in the middle. When the geometric center of the bottom of the AGV trolley is aligned with t...
Embodiment 3
[0084] like Figure 7 As shown, this embodiment discloses a navigation method for an AGV car, which is based on the cross code described in Embodiment 1 and the AGV car navigation device described in Embodiment 2, and the steps include:
[0085] Place the AGV car on the navigation ground paved with cross yard and start it up;
[0086] The camera module collects real-time ground images, the processor processes the real-time ground images to obtain the current orientation information, and the RFID reader reads the absolute position coordinates in the RFID card as the current position of the AGV car; the processor controls the servo system to control the travel of the AGV car, Align its geometric center with the geometric center of the cross code;
[0087] The AGV car waits to receive the server start command. After receiving the start command, the processor first plans an optimal driving path according to the current position coordinates and the target position coordinates;
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