A Mecanum Wheeled AGV Parking Method Based on Visual Positioning

Abstract

The present invention provides a mecanum wheeled AGV parking method based on visual positioning, including S1, the setting of the two-dimensional code of the reference object of each working position in the walking planning path of the AGV, and the normalization of the working position of the two-dimensional code of the reference object. Upper center; S2, Calibration of the QR code of the reference object at each working position, and obtain the target pose of the reference object QR code; S3, the AGV recognizes the camera on the AGV to obtain the current pose of the AGV at a fixed time interval, and calculates the pose deviation; S4. Calculate the pose deviation by the visual secondary positioning algorithm software, and adjust the walking speed of the AGV; S5. Repeat steps S3 and S4 until the AGV walks to the next working position, the AGV walking speed drops to zero and stops to the reference object directly below the QR code. The mecanum wheeled AGV parking method of the present invention realizes the accurate parking of the mecanum wheeled AGV by integrating the characteristics of precise positioning, fast identification and strong error correction of visual images.

Description

technical field [0001] The invention belongs to the technical field of logistics automation, relates to an AGV parking technology, and specifically relates to a visual positioning-based Mecanum wheeled AGV parking method. Background technique [0002] AGV (Automated Guided Vehicle), that is, automatic guided transport vehicle or unmanned van, is a transport vehicle that can drive along a prescribed guiding path and has safety protection and various transfer functions, for example: no driving is required in industrial applications It can control its travel route and behavior through computer, or use electromagnetic track to set up its travel route. [0003] Generally speaking, the walking of the AGV is positioned through navigation. It can stop when walking to the working position, and then walk to the next working position after loading and unloading goods at the working position. Among them, the accurate parking position of the AGV is very important. It can realize the acc...

AI Technical Summary

Problems solved by technology

At present, the AGV control parking method is relatively simple, usually in the following two ways: one is the positioning parking method based on the odometer, the principle is to realize the AGV stopping at the working position by integrating the mileage of the left and right wheels of the AGV, However, there is a problem of cumulative errors in this positioning method, which cannot ensure that the AGV stops in the working position in a timely and stable manner; the second is based on the laser scanning scanning positioning and parking method, scanning the surrounding contours through the laser sensor, and matching with the given map. In order to realize the parking position of the AGV, although its positioning method relative to the two-dimensional code and the positioning method based on the odometer have high parking accuracy, there are problems of technical difficulty and high cost.

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