Navigation and positioning method based on UWB and binocular vision

Abstract

The invention discloses a navigation and positioning method based on UWB and binocular vision. The method comprises the steps that step 1, a topological structure based on a UWB base station is established; step 2, a positioning tag is arranged according to the forklift, and position information of the forklift is determined; step 3, the position of the positioning tag is determined; step 4, an upper computer obtains the positioning information of the forklift and a controller controls the driving device of the forklift so that the forklift is enabled to move; step 5, a binocular vision moduleis started, a method based on triangulation is used, imaging of the shelf is performed by using two cameras and the distance information is recovered from the parallax; step 6, the distance information and the attitude information of the shelf tray relative to the forklift are measured, the driving device of the forklift is controlled to perform distance movement and steering and the forklift isenabled exactly face the shelf tray; and step 7, the cargos on the shelf are carried or unloaded. The position and the attitude of the intelligent forklift can be further adjusted and completing the follow-up carrying or unloading task can be facilitated for the forklift.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning, in particular to a navigation and positioning method based on the combination of UWB and binocular vision. Background technique [0002] Modern large-scale warehousing and logistics centers have gradually realized the situation of "replacing people with machines", and a large number of mobile robots shuttle among them, which has gradually become a very important link in production or logistics transportation. Forklifts or other mobile robots must implement the following steps to realize their functions: (1) the establishment of the environment map; (2) self-positioning (3) path planning. [0003] Existing positioning and navigation technologies include laser, magnetic field lines, two-dimensional codes, wifi, Bluetooth, and inertial navigation. [0004] At present, in the warehousing and logistics center where humans and machines work together, when using intelligent devices w...

AI Technical Summary

Problems solved by technology

[0004] At present, in the warehousing and logistics center where humans and machines work together, when using intelligent devices with autonomous positioning and navigation functions to carry out transportation, there will be a problem of poor positioning accuracy due to the inability to understand the posture of objects. This situation is particularly prominent at this time, and fast and high-precision positioning and navigation cannot be realized, which restricts the follow-up operation of intelligent forklifts moving goods

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