AGV navigation angle compensation method and system, AGV and storage medium

Abstract

The invention discloses an AGV navigation angle compensation method and system, an AGV and a storage medium. The method comprises the steps that a vehicle body driving unit is controlled to operate toenable an AGV body to walk from a starting two-dimensional code to a predicted target two-dimensional code position in a preset direction; the actual driving distance of the AGV body in the whole movement process from the starting two-dimensional code to the target two-dimensional code is acquired; an image, collected by a camera, at the predicted target two-dimensional code position is acquired;the left-right offset distance of the center of the AGV body relative to the target two-dimensional code is calculated according to the image; the deviation angle of the target two-dimensional code relative to the starting two-dimensional code is calculated according to the left-right offset distance and the actual driving distance; and the preset direction is corrected according to the deviationangle to form a new preset direction. According to the AGV navigation angle compensation method and system, the AGV and the storage medium, the preset direction is compensated by calculating the deviation angle, so that the subsequent AGV can drive in the compensated preset direction when driving between the two-dimensional codes, and the walking precision of the AGV is improved.

Description

technical field [0001] The present invention relates to the field of AGV technology, in particular to an AGV navigation angle compensation method, system, AGV and storage medium. Background technique [0002] At present, AGV technology is booming, and there are many navigation technologies for AGV autonomous navigation, and two-dimensional code navigation is one of the important navigation methods. The basis of two-dimensional code navigation is the array of many two-dimensional codes set on the ground of the operation area. The AGV reads the two-dimensional codes through its own camera to determine its own position and judge the next move, so as to realize precise movement in the operation area . [0003] In actual navigation, when the AGV starts, it will adjust the angle of the car body according to the initial two-dimensional code, and walk the car body in the preset direction of the two-dimensional code. The direction deviation of the initial two-dimensional code (usual...

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Problems solved by technology

[0003] In actual navigation, when the AGV starts, it will adjust the angle of the car body according to the initial two-dimensional code, and walk the car body in the preset direction of the two-dimensional code. The direction deviation of the initial two-dimensional code (usually due to the artificial The posting error when pasting the QR code label) will cause the AGV to deviate from the QR code by a certain distance when driving to the next QR code, as attached figure 1 As shown, if the starting direction deviates α at the starting two-dimensional code (number 1 in the figure), it will lead to the target two-dimensional code (number 2 in the figure), and the left and right deviation distance is deta_x, for example, the starting deviation is 1 degree , in the case of L1=1300mm, it will cause the vehicle to deviate from the second code deta_x=1300*sin(1°)=22.69mm

This deviation distance will affect the accuracy of the AGV's continued navigation. Since every time it moves from one two-dimensional code to the next two-dimensional code, it is necessary to re-plan the route according to the deviation distance to correct the deviation, which makes the control more complicated. Therefore, it is necessary to take measures to eliminate The direction deviation

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