AGV integrated navigation positioning method based on vision and imu or odometer

Abstract

The invention discloses an AGV combined navigation and positioning method based on vision and IMU or odometer, belonging to the technical field of automatic control, including four steps of establishing a coordinate system, setting configuration files, AGV initialization and combined positioning. The controller processes the two-dimensional code information to obtain the initial pose of the AGV; when the visual camera collects effective ground information, the controller uses the Kalman filter algorithm to fuse vision and IMU or odometer data to correct the positioning error and complete the integrated navigation positioning. The beneficial effects of the present invention are: get rid of the dependence of the traditional method on special reference objects, only need the existing common ground reference objects, greatly reduce the cost, difficulty and workload of on-site construction; do not rely on radio frequency positioning signals (such as UWB, WIFI , Bluetooth, etc.), suitable for applications in complex electromagnetic environments such as stage theaters; the visual camera shoots the ground, and is not afraid of being blocked by people or obstacles (such as laser reflectors, lidar, etc.), suitable for applications in dynamic unstructured environments.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to an AGV combined navigation and positioning method based on a visual camera and an IMU or a visual camera and an odometer. Background technique [0002] AGV, or Automated Guided Vehicle, automatically moves items from one location to another through a preset program. It is an automated, informatized, and intelligent device. Its current navigation methods include magnetic stripes, RFID beacons, QR codes, lasers, etc. [0003] For an AGV that needs to drive the stage to move and rotate according to a preset trajectory, such as a stage theater, the above-mentioned navigation method has at least the following technical problems: [0004] There are many ways to move the stage, and the range of motion is large. Laying magnetic strips, RFID beacons or QR codes on the ground will greatly increase the cost, difficulty and workload of on-site construction; if radio fr...

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Problems solved by technology

[0004] There are many ways to move the stage, and the range of motion is large. Laying magnetic strips, RFID beacons or QR codes on the ground will greatly increase the cost, difficulty and workload of on-site construction; if radio frequency is used, due to The audio equipment, wireless microphones and the audience's portable electronic equipment in the stage theater make the electromagnetic environment very complicated and the interference is serious; etc.) make it difficult to install reflectors for laser navigation, leading to the above-mentioned known navigation methods that cannot be realized or require a higher cost to realize

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