AGV transport system based on vision guidance and driving control method thereof

Abstract

The invention discloses an AGV transport system based on vision guidance and a driving control method thereof. The AGV transport system comprises a GPS positioning module used for obtaining the absolute position and course information of an AGV; a visual perception positioning module used for recognizing ground lane lines and laid visual markers and obtaining the spatial position relations of the lane lines and the visual markers relative to a visual sensor and high-precision positioning information of the AGV; a laser radar perception module used for recognizing the position, the motion state and shape information of an obstacle in a short distance range in front of the AGV; a data fusion module used for obtaining fusion data; and a route planning module used for performing positioning and route planning on the AGV according to the fusion data and a known navigation electronic map and providing a positioning and route planning result to a vehicle control system. According to the system and the driving control method thereof, the cost is low, the precision is high, stability, safety and reliability are achieved, and the automation of the transport of port containers can be realized.

Description

technical field [0001] The invention belongs to the technical field of intelligent transportation, and in particular relates to an AGV transportation system based on vision guidance and a driving control method thereof. Background technique [0002] The containerization of my country's port transportation and the large-scale container ships have brought unprecedented pressure to the traditional port transportation mode, and it is becoming more and more important to realize the full automation of port container transportation. The AGV (Automatic Guided Vehicle) system can improve the transportation efficiency of port containers and save material, manpower and financial resources, so it shows great advantages. [0003] AGV refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guidance path, with safety protection and various transfer functions. AGV guidance methods include direct coordi...

AI Technical Summary

Problems solved by technology

[0008] To sum up the above, most of the existing AGV positioning and navigation technologies use electromagnetic or magnetic tape guidance devices to guide the AGV trolleys to travel on predetermined tracks. Not easy to install, maintain and transform

Most of the existing positioning and navigation technologies based on vision guidance also rely on the AGV guide track, and use visual equipment to obtain the image of the track, and then perform positioning and navigation, which also has the problem of poor flexibility

However, the use of ultrasonic sensors for distance measurement has the problems of poor stability and low accuracy.

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