Positioning method and system based on high-speed camera vision automatic image acquisition trolley

Abstract

The invention discloses a positioning method and system based on a high-speed camera vision automatic image acquisition trolley. The positioning method comprises the steps that positioning labels are installed on the front side and the rear side of an AGV; a camera is arranged above the AGV, the camera is calibrated, and the mapping relation between the pixel position of the mark point in the image shot by the camera and the actual position is obtained; the method also includes shooting the environment by using a camera to obtain an image containing the positioning label; carrying out binarization processing on the image; analyzing a positioning label in the binarized image, and identifying the position, angle and content of the positioning label; according to the position and angle relation of the center point of the trolley between the positioning labels and the content of the corresponding positioning labels, solving the relative position relation between the center point of the trolley and the positioning labels; and in combination with the mapping relation calibrated by the camera, obtaining the pose information of the trolley in the environment through coordinate transformation. According to the invention, pose parameter positioning of the trolley in the environment is achieved, the calculation amount in the recognition process is small, and the positioning precision and speed can both meet the application requirements.

Description

technical field [0001] The invention relates to the technical field of AGV trolley positioning, in particular to a positioning method and system for a trolley based on high-speed camera vision automatic image acquisition. Background technique [0002] AGV (Automated Guided Vehicle), also commonly referred to as AGV trolley, refers to a transport vehicle equipped with an automatic navigation device, capable of driving along a prescribed navigation path, with safety protection and various transfer functions. [0003] According to the navigation method during the automatic driving process of AGV, AGV is divided into the following types: electromagnetic induction guided AGV, laser guided AGV, vision guided AGV, etc. Among them, the vision-guided AGV is equipped with cameras and sensors. During the driving process of the AGV, the camera dynamically obtains the image information of the surrounding environment of the vehicle and compares it with the image database to determine the ...

AI Technical Summary

Problems solved by technology

However, identification lines and QR code images are difficult to recognize, the entire visual analysis process is relatively cumbersome, requires high energy consumption, and requires a large amount of calculation, which cannot guarantee the trajectory accuracy of the AGV trolley.

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