Navigation method of automatic guided vehicle based on two-dimensional code positioning

Abstract

An automatic guided vehicle navigation method based on QR code positioning relates to the technical field of automatic vehicle navigation. It solves the technical problems of inconvenient deployment, high investment cost and inflexible routes of existing methods. This method places a grid-like array of QR code labels on the ground where the automated guided vehicle is used. When the automated guided vehicle travels, it uses a camera to obtain the QR code labels on the ground and identifies them, and controls them based on the location information in the QR code labels. The automatic guided vehicle travels to realize the navigation of the automatic guided vehicle. The method provided by the invention is easy to deploy, has low investment cost and is flexible in route.

Description

technical field [0001] The invention relates to automatic vehicle navigation technology, in particular to a technology of an automatic guided vehicle navigation method based on two-dimensional code positioning. Background technique [0002] In order to improve the automation level of sorting in factories and logistics yards, automatic guided vehicles (AGV) are widely used. The automatic guided vehicle can run automatically according to the commanded route without manual intervention, so it can greatly reduce the labor cost of internal transportation in factories and logistics yards, effectively improve transportation efficiency, and significantly reduce error rates. [0003] The automatic guided vehicle is equipped with a vehicle controller for controlling its travel, and the vehicle controller can control the automatic guided vehicle to travel to the target position according to the set planned path. The existing automatic guided vehicle navigation methods mainly include t...

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Problems solved by technology

[0004] 1) Magnetic strip guidance method, for example, a Chinese patent document with the patent document number CN102156475 discloses a method and device for electromagnetic guidance. In this method, a magnetic strip is buried on the path of the automatic guided vehicle, and the automatic guided vehicle follows the magnetic strip. The main disadvantage of this method is that the construction volume on the application site is relatively large, and the route is too single to change the route flexibly;

[0005] 2) Laser guidance method. For example, the Chinese patent document with the patent document number CN201993646U discloses an industrial laser-guided AGV navigation method. This method arranges markers in the AGV application site and uses lasers to realize navigation. The main method of this method is The disadvantage is that the markers are easily blocked, resulting in failure of navigation, and the input cost of the laser is also high, and the route is not flexible enough;

[0006] 3) The magnetic nail combined with RFID method, for example, the Chinese patent document with the patent document number CN103268116A discloses a magnetic strip combined with RFID AGV navigation method, this method can use RFID to indicate the coordinate position of the vehicle in the application site, and the route is relatively flexible. However, the problem is that the magnetic nails and RFID laying works are relatively large, and the price and cost of the magnetic scale are relatively high.

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