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AGV navigation positioning method based on landmark identification

A navigation positioning and landmark technology, applied in the field of AGV navigation and positioning, AGV navigation and positioning based on landmark recognition, can solve the problems of lack of visual landmark path planning methods, lack of flexible navigation and positioning application methods, etc.

Active Publication Date: 2021-07-06
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of lack of path planning method based on visual landmarks in the application of visual landmarks in the field of AGV, and the lack of application methods based on landmark recognition to realize flexible navigation and positioning, and to invent an AGV navigation and positioning method based on landmark recognition

Method used

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  • AGV navigation positioning method based on landmark identification
  • AGV navigation positioning method based on landmark identification
  • AGV navigation positioning method based on landmark identification

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Embodiment Construction

[0059] The present invention will be further described below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, and are not intended to limit the present invention.

[0060] Such as Figure 1-3 shown.

[0061] An AGV navigation and positioning method based on landmark recognition, comprising the following steps: 1.1 A path planning method based on visual landmark calculation and 1.2 A visual landmark-based precise positioning and attitude adjustment calculation method.

[0062] The path planning method based on visual landmark solution includes the following content:

[0063] (1) The boundary between fine positioning and coarse positioning based on landmark calculation.

[0064] The path planning process is divided into fine positioning and coarse positioning stages: the rough positioning and navigation process is the process of navigating from the initial stat...

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Abstract

An AGV navigation positioning method based on landmark identification is characterized in that coarse positioning and fine positioning are included, path planning based on visual landmark calculation is achieved through the coarse positioning, and fine positioning attitude adjustment amount calculation based on visual landmarks is achieved through the fine positioning. According to the method, the positioning precision of station transfer is improved while the path planning efficiency is improved, and the navigation positioning precision is high; the landmarks are flexibly arranged according to different aeronautical manufacturing scenes, and the navigation positioning mode is flexible.

Description

technical field [0001] The present invention relates to an AGV navigation and positioning method, in particular to a navigation planning based on landmark recognition and a method for calculating precise positioning and attitude adjustment applied in the field of aviation manufacturing, specifically a landmark-based navigation method used in the field of aviation manufacturing. The identified AGV navigation and positioning method. Background technique [0002] In the AGV application of machine vision positioning in the field of aviation manufacturing, there are two directions: visual SLAM and visual landmarks: visual SLAM has a large amount of calculation, and is suitable for scenarios where positioning accuracy is not high in large-scale spaces such as large factories and parts delivery workshops; Based on visual landmarks (such as QR codes, AR codes, April codes, etc.) to calculate the AGV pose, millimeter-level and sub-millimeter-level positioning accuracy can be obtained...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/34
CPCG01C21/343G01C21/20G05D1/0234
Inventor 李泷杲黄翔黄智超李根曾琪齐凯陶克梅
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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