AGV positioning method and device, storage medium and AGV

Abstract

The invention relates to the technical field of intelligent control, and discloses an AGV positioning method and device, a storage medium and an AGV, which can perform secondary positioning on the AGVto realize accurate positioning. And the method is simple and easy to use and low in hardware cost. The method comprises the following steps: acquiring first identification information of a target station through a first camera, and determining a first coordinate and a first deflection angle; correcting the first coordinate and the first deflection angle, acquiring second identification information through a second camera when the first coordinate and the first deflection angle meet a preset correction condition, and determining the deflection displacement between the projection of the secondcamera on the first coordinate system and the axis of the first coordinate system; calculating a second deflection angle according to the offset displacement and the first distance; and controlling the vehicle body to rotate according to the second deflection angle until the projection connecting line of the second camera and the first camera on the first coordinate system coincides with or is parallel to the axis of the first coordinate system.

Description

technical field [0001] The invention relates to the technical field of intelligent control, in particular to an AGV positioning method, device, storage medium and AGV. Background technique [0002] In the warehouse or workshop transportation management of the prior art, in order to reduce the demand for staff, AGV (Automated Guided Vehicle, automatic guided transport vehicle) is usually used instead of manual driving vehicles to realize the transportation inside the workshop. [0003] However, the inventor found in the research of the prior art that the current AGV (especially the heavy-duty AGV) is difficult to achieve accurate alignment when parking and positioning, resulting in the AGV requiring high-load and high-precision alignment. Under the circumstances, such as the position where the manipulator is docked, it cannot meet the positioning accuracy requirements, making the AGV unsuitable for high-precision alignment. Contents of the invention [0004] The technical ...

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Problems solved by technology

[0003] However, the inventor found in the research of the prior art that the current AGV (especially the heavy-duty AGV) is difficult to achieve accurate alignment when parking and positioning, resulting in the AGV requiring high load and high-precision alignment. Under the circumstances, such as the position where the manipulator is docked, it cannot meet the positioning accuracy requirements, making the AGV unsuitable for high-precision alignment

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