52 results about "Code navigation" patented technology

The invention discloses an indoor AGV navigation method and system based on QR code guidance and visible light positioning. A QR code label is attached to the node of an AGV moving path, so that whenthe AGV moves to the position near the node, a QR code image captured by a high-speed camera can be analyzed to obtain the moving direction of the next step. The AGV can be positioned in real time through the RSS positioning method based on the visible light communication technology when the AGV moves between two nodes, and deviation can be prevented. The visible light communication positioning isadded when QR code recognition technology is used for navigation. The problem that the AGV is deviated from the direction due to lack of positioning information between QR codes which are too long indistance when only QR code navigation is used is avoided. An indoor AGV navigation positioning method which is low in cost is provided.

The invention discloses an AGV composite navigation method based on a quick response code and an inertia sensor. The method comprises the following steps: 1) arranging n quick response code labels inan AGV work area with an equal interval; 2) when AGV is at a quick response code site, employing a quick response code navigation mode, using an image identification technology to estimate deviation information from vertical, lateral and directions for performing AGV posture adjustment on the obtained quick response code images; 3) taking the deviation information obtained through the quick response code as an initial deviation of driving inertial navigation of the AGV at the site; and 4) when the AGV drives between two quick response code sites, employing an inertial navigation mode, performing real-time reckoning the deviation of the AGV during a walking process, and realizing the motion of the AGV during adjacent quick response codes. Through equal interval arrangement of the quick response code label, the AGV composite navigation is realized by combining the inertia sensor, the production cost is reduced, on-site enforcement difficulty is reduced, and the navigation precision is increased.

The invention discloses an integrated navigation method with fusion of laser radar and two-dimensional code, a device and a system. The integrated navigation method comprises the following steps: driving a carrier to move to an estimated position closing to a marked position by a laser navigation mode; acquiring an image collected by a visual sensor; analyzing the image and acquiring ID information of the two-dimensional code in the image and calculating accurate pose of the carrier; judging the operation mode of the next stage, and controlling movement of the carrier according to the operation mode of next stage. The integrated navigation method with fusion of laser radar and two-dimensional code, the device and the system disclosed by the invention have the beneficial effects that the advantages of two navigation modes such as laser navigation and two-dimensional code navigation are integrated, the laser navigation can grasp the rough path, the two-dimensional code can provide position information, is used as a reference of position correction, and only needs to be arranged at a key part in a navigation area, and the visual sensor is arranged on the carrier, so that the cost of modification and maintenance is low.

The invention discloses an AGV(automatic guided vehicle) and a control method thereof. The AGV comprises a two-dimensional code reader for collecting navigation information by scanning two-dimensional codes in a two-dimensional code navigation band and sending the navigation information to a master control device; and the master control device for sending the navigation information to a console and controlling advancing drive motors to operate based on a navigation control instruction from the console to adjust the advancing direction of the AGV. According to the AGV and the control method thereof, the navigation information can be obtained by scanning the two-dimension codes, so that cost of warehouse layout change is small, and routine maintenance is simple; through integrated navigation and control, the AGV can be navigated and controlled precisely; passage width can be reduced, and warehouse storage density is improved; 24-hour work can be realized; and the AGV is suitable for the scenes, where density of the e-commerce warehouses is large and orders are emergent and the like, can greatly reduce the number of workers and reduces operation cost of a warehouse.

The invention relates to the technical field of intelligent mobile robots, in particular to a laser navigation AGV high-precision positioning method based on a two-dimensional code. According to the method, a two-dimensional code camera is arranged on an AGV body, by pasting a two-dimensional code label on the ground at a fixed distance from a material frame and near a laser navigation end point,after an AGV arrives at the laser navigation end point and the two-dimensional code camera reads a two-dimensional code, a secondary positioning link is executed, a pose deviation of the AGV under a two-dimensional code coordinate is accurately obtained, a feasible path is planed, then the path is tracked through a PID algorithm, speeds of left and right wheels are calculated by using a two-wheeldifferential motion model, the AGV travels following the path, the deviation between the AGV and the path is corrected in real time, and finally the AGV reaches a specified position accurately. Compared with the prior art, the laser navigation AGV high-precision positioning method based on the two-dimensional code achieves the perfect connection between laser navigation and two-dimensional code navigation, has the final parking precision within +/-5 millimeters, and has the advantages of accurate positioning, convenient operation and lower cost.

The invention provides an unmanned aerial vehicle-mounted logistics system based on a two-dimensional code navigation type intelligent carrying robot, and is characterized in that the system comprisesan AGV storage robot and an unmanned aerial vehicle with a material conveying device fixed at the bottom; the AGV storage robot comprises an omni-directional moving chassis arranged at the bottom anda machine body arranged on the upper portion of the omni-directional moving chassis. An unmanned aerial vehicle parking platform with a two-dimensional code identifier is arranged on the upper side of the machine body; two-dimensional code recognition cameras are arranged on the lower side of the machine body and the lower side of the material conveying device. According to the scheme provided bythe invention, the structure is simple and reasonable, the orderliness of plane logistics transportation and three-dimensional logistics transportation in the logistics warehouse can be greatly improved, the three-dimensional space of the logistics warehouse is fully utilized, and the linkage coordination mechanism of the unmanned aerial vehicle and the AGV robot is perfected. Long-time accurateoperation can be carried out in the environment without manual participation, and the working efficiency and the automation degree of the working environment are greatly improved.

The invention discloses a four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation. The method comprises: acquiring AGV attitude deviation data in a two-dimensional code; calculating a first angle offset when the AGV controls the steering motor to perform deflection angle correction and a first displacement offset when the AGV controls the steering motor to perform displacement correction; judging the AGV attitude deviation data and the first angle deviation, judging whether the turntable rotates back after keeping the maximum angle of the turntablefor a preset time, and generating a deflection angle correction motor speed control curve; according to the AGV attitude deviation data and the first displacement deviation, judging whether the turntable rotates back after keeping the maximum angle of the turntable for a preset time, and generating a deviation correction motor speed control curve; and controlling the speed of the motor by utilizing the speed curves of the steering motor and the driving motor and the speed control curve of the offset correction motor. According to the method, a proper deviation rectifying path can be planned according to initial deviation and inherent parameters of the AGV, four driving motors and speed curves of the four driving motors are obtained, and motion deviation rectifying is completed.

The present invention relates to a dynamic two-dimensional code-based navigation system and method. The navigation system includes a navigation server, a two-dimensional code projection device, a two-dimensional code reader, and two-dimensional code navigation software; the navigation server is used for generating a two-dimensional code containing navigation information; the two-dimensional code projection device communicates with the navigation server, and projects the two-dimensional code received from the navigation server onto the ground; the two-dimensional code reader is mounted on a vehicle and is used for scanning and reading the two-dimensional code; and the two-dimensional code navigation software is installed on the vehicle machine center control system of the vehicle and is used for receiving the two-dimensional code read by the two-dimensional code reader and decoding the navigation information contained in the two-dimensional code. The invention also discloses a navigation system-based navigation method.

The invention discloses a high-precision navigation and positioning method for a mobile robot. The invention designs a combined sensor navigation and positioning method for AGV high-precision navigation and positioning. Inertial navigation and two-dimensional code navigation are fused; inertial navigation and a camera are respectively installed on an AGV chassis, a two-dimensional code array is pasted on a work site, each two-dimensional code has uniqueness and absolute position coordinate information, and an image acquisition element on the AGV identifies the absolute position and motion error of the image acquisition element through the two-dimensional codes and calibrates the inertial navigation according to the position information provided by the two-dimensional codes. According to the invention, a navigation form of combining inertial navigation and the two-dimensional code is adopted, the inertial navigation provides continuous position guidance, and the two-dimensional code isused for calibrating the inertial navigation and eliminating inertial navigation accumulation errors, so that high-precision continuous navigation positioning can be obtained; and meanwhile, the modedoes not need destructive transformation on a site, and the cost of sensor elements is low.

The invention discloses a two-dimensional code detection and correction method in a complex scene, and mainly solves a problem that a conventional two-dimensional code recognition related algorithm fails in the complex scene. According to the algorithm, local HOG features are used for detecting the two-dimensional code in a complex scene in a cascading mode, and a convolutional neural network is used for further screening and regressing positioning points in the two-dimensional code so as to accurately position and correct the two-dimensional code. Through the algorithm, the scheme can be usedto quickly and accurately position and correct the two-dimensional code in the complex scene, and has very high practical value and promotional value in the fields with two-dimensional code recognition function requirements, such as mobile payment, industrial detection and robot two-dimensional code navigation.

The invention provides an AGV pose adjusting method, a device, a storage medium and an electronic device. The AGV pose adjusting method comprises the steps that: under the condition of determining that an AGV with the two-dimensional code navigation capacity is not located on a two-dimensional code node included in a map recorded in the AGV, determining an obstacle detection result of the AGV, a load state of the AGV and information of the map; determining a target two-dimensional code node included in the map based on the detection result, the load state and the information of the map; and planning a driving path for the AGV to drive to the target two-dimensional code node, and controlling the AGV to drive to the target two-dimensional code node according to the driving path. According tothe AGV pose adjusting method and the device, the problem that the pose of the AGV cannot be accurately adjusted in the prior art is solved, and the effect of accurately and efficiently adjusting thepose of the AGV is achieved.

The invention provides a satellite navigation signal design method based on pseudo-random Chirp. A navigation signal reference signal of each satellite is formed by splicing two sections of Chirp signals with the same symbol duration, the same frequency spectrum width and completely opposite modulation frequencies, and each section of Chirp signal is formed by splicing two sections of Chirp signals with the same modulation frequency and different initial frequencies; pseudo-random phase modulation of the reference signal of each satellite is carried out; the coded navigation message is modulated to the designed pseudo-random Chirp signal to obtain a satellite navigation signal. The method has the characteristics of large Doppler tolerance, multiple access and physical layer security. The method can fundamentally reduce the dimension of the receiver capture process into time domain one-dimensional search, shortens the capture time, improves the dynamic stress of a receiver, meets the carrier phase estimation requirements under high dynamic conditions, and is suitable for the fields of satellite navigation systems, pseudo-satellite positioning auxiliary systems, indoor positioning systems and the like.

The invention discloses a two-dimensional code detecting robot, system and method. The detecting robot comprises a robot body, a camera module, a control unit and a first receiving and transmitting module; the robot body can comprise a power assembly capable of driving the whole of the robot body to move controllably; the camera module is installed on the robot body, and comprises the previous oneor both of a first camera and a second camera; the control unit is electrically connected with the power assembly and the camera module; and the first receiving and transmitting module is electrically connected with the control unit and used for receiving and transmitting data. According to the two-dimensional code detecting robot, system and method, the robot body moves along a preset path, so that the cameral module acquires an image of a position where each two-dimensional code is located in an operation area; by processing the images, the position deviation of the two-dimensional codes can be obtained, and therefore a basis is provided for subsequent manual correcting or automatic correcting during robot travelling, and it is guaranteed that the intelligent robot has high travelling precision when subsequently performing two-dimensional code navigation in the operation area.

The invention relates to an initial alignment method of a robot based on inertia and two-dimensional code navigation. According to the initial alignment method of the robot based on the inertia and the two-dimensional code navigation, through methods of coarse alignment, fine alignment and translational position alignment, the problems of long alignment time and complex control algorithm existingin the initial value alignment of a robot inertial navigation system in an indoor plane are solved, the Kalman fusion is carried out by combining an inertial sensor with an angle of a car body and a two-dimensional code, the alignment time can be shortened, and the computational complexity is low.

The invention discloses a medium printed with a positioning identifier, an image processing method and an automatic guided vehicle. An image with higher anti-interference performance is obtained through a positioning graph which is arranged on the periphery of an identifier pattern and has a line width larger than that of a locator. The image is used for two-dimensional code navigation, so that after acquiring a to-be-recognized image, the automatic guided vehicle can recognize the positioning graph at first, determine a to-be-recognized region in the to-be-recognized image according to the recognized positioning graph, and then perform identifier pattern decoding and position information determination on the to-be-recognized region for navigation. The line width of the positioning graph is larger than that of the locator, so that the anti-interference performance of the positioning graph is higher, the region where the identifier pattern is located in the to-be-recognized image can be quickly recognized through the positioning graph, and the recognition speed and the robustness of two-dimensional code navigation are improved.

The invention discloses an intelligent AGV carrying robot for a multi-layer stereo garage and a carrying method thereof. The intelligent AGV carrying robot comprises a carrying machine outer body, front clamping arm assemblies, rear clamping arm assemblies, auxiliary rotating assemblies and telescopic motors, wherein the front clamping arm assemblies are movably arranged on two sides of one end of the carrying machine outer body correspondingly, the rear clamping arm assemblies are movably arranged on the two sides of the other end of the carrying machine outer body correspondingly, the auxiliary rotating assemblies are fixedly arranged on the two sides of the interior of the carrying machine outer body, and the telescopic motors are fixedly installed on the two sides of the interior of the carrying machine outer body correspondingly. According to the intelligent AGV carrying robot, a wheel can be lifted more smoothly, stress of all the mechanical arms is more uniform, in addition, the speed of lifting or putting down the wheel is increased, unfolding of the rear mechanical arms is automatically achieved, finally, the meshing process of internal gears is smooth, and the phenomenon of gear clamping is avoided. The invention further provides a carrying method based on fusion laser SLAM and two-dimensional code navigation.

The invention discloses a two-dimensional code and inertial navigation control method for a single-steering-wheel AGV. The single-steering-wheel AGV is included, and comprises two directional wheels and a steering wheel, the steering wheel is used for steering of the single-steering-wheel AGV, the two directional wheels are located on the rear side of the AGV and used for supporting a vehicle body, and a two-dimensional code navigation sensor used for reading two-dimensional code information is mounted on the single-steering-wheel AGV; and the two-dimensional code navigation sensor is installed on the single-steering-wheel AGV. The inertial navigation sensor is installed on the kinematics center of the single-steering-wheel AGV, the two-dimensional code navigation sensor and the inertial navigation sensor are installed on the single-steering-wheel AGV body, a navigation deviation model is combined, the position direction of the two-dimensional code navigation sensor on the single-steering-wheel AGV can be kept to point to the next two-dimensional code all the time instead of simply walking along midline of two-dimensional code, the swing amplitude is small, and the path adjustment is rapid.

The invention provides a mobile robot navigation method based on a two-dimensional code. The method is implemented by a mobile robot equipped with a wheel encoder, a laser rangefinder, a Kinect sensor, an airborne server and an intelligent terminal capable of generating a two-dimensional code. The method comprises the following steps: the airborne server obtains position and posture information data of the laser rangefinder, and constructs and stores a two-dimensional map of the environment; the airborne server transmits the two-dimensional map information to the intelligent terminal to generate a two-dimensional code image; a two-dimensional code image generated by the intelligent terminal is scanned by the kinect sensor to obtain position information in the two-dimensional code image; the mobile robot plans a navigation route according to the position information in the two-dimensional code image and performs autonomous navigation. The invention can simplify and visualize the input mode of the autonomous navigation system, reduce the operation difficulty of the user, be more suitable for the user, and realize the two-dimensional code navigation quickly.

The invention relates to the technical field of AGV navigation, in particular to a correction method and correction system for a double-steering-wheel AGV based on a color track and two-dimensional code navigaby.The correction method comprises the steps that deviation information is obtained, specifically, the deviation information between the AGV and a preset path is obtained; and standardization of the deviation information: processing and converting the deviation information to form standardized deviation information. According to the method, the deviation angle and distance of an AGV relative path are collected in real time through a visual sensor, the rudder angle, speed and rotating speed information of the AGV is output in real time through a double-steering-wheel motion model, and steering wheel angle and speed output is carried out through a double-steering-wheel motion model. The stable operation of the AGV with different steering wheel installation modes is ensured on the occasion that a color track is damaged and lost.

The invention discloses a multi-AGV mobile robot path optimization method based on two-dimensional code navigation. The multi-AGV mobile robot path optimization method comprises the steps that S1, a two-dimensional code landmark pasting mode in an actual terrain map state is stipulated; s2, a multi-mobile-robot operation priority strategy is set based on the AGV battery electric quantity; s3, proposing a programmed obstacle avoidance algorithm based on the two-dimensional code mobile robot based on an A * algorithm, and avoiding conflicts generated in the operation process of the robot; and S4, reducing the possibility of vertical collision of the AGV mobile robot in the operation process by adopting a scheduling traffic rule based on a path intersection. According to the invention, based on an actual factory test environment, the above strategies are tested on a two-dimensional code map with 50% of obstacles; experimental results show that the multi-AGV mobile robot path optimization method based on two-dimensional code navigation provided by the invention can enable the overall path length to be shortest on the basis of keeping the multi-robot path search efficiency and safety.

The invention provides an AGV control system based on two-dimensional code navigation. A two-dimensional code array composed of a plurality of two-dimensional codes is arranged in a driving area of an AGV according to a preset mode; each two-dimensional code comprises position information of the position of the two-dimensional code; a visual detection unit on an AGV vehicle-mounted system tracks and positions a two-dimensional code in the advancing process of the AGV, the position of the AGV is confirmed in real time through an upper computer system, the current position of the AGV is uploaded to a background system in real time, an optimal path for reaching a designated place is found through algorithm operation, and related instructions are issued to the AGV. After the AGV control system carries out processing, related operation is executed to reach a designated position to complete the operation, so that the reliability of AGV navigation is greatly improved, the preset path of the AGV trolley can be set at any time by adjusting the setting of the two-dimensional code, and the whole equipment is simple to maintain and reroute and is not easily interfered by external electromagnetic interference.