AGV composite navigation system and method integrating electronic map, two-dimensional code and colored tape

Abstract

The invention discloses an AGV composite navigation system and method integrating an electronic map, a two-dimensional code and a colored tape. The system comprises a car-mounted device, an electronicmap and a colored tape; the colored tape is provided with a two-dimensional code site comprising at least two two-dimensional codes; each two-dimensional code site has an exclusive number and corresponds to the electronic map; the car-mounted device comprises a camera and a control unit; the control unit comprises a two-dimensional code site image decoding module, a decision module, a straight path tracking control module, an arc path tracking control module and a fixed point rotation movement module; the decision module selects a next path according to a site number and an AGV azimuth angleacquired by the two-dimensional code site image decoding module, obtains a type of the next path from the electronic map, and switches the straight path tracking control module, the arc path trackingcontrol module and the fixed point rotation movement module to respectively perform the straight movement, the arc movement and the fixed point rotation movement, so that the autokinetic movement of an AGV cart from any site to another site of a car-mounted electronic map.

Description

Technical field [0001] The invention belongs to the field of automatic control, and particularly relates to an AGV composite navigation system and method that integrates electronic maps, two-dimensional codes and color bands. Background technique [0002] At present, automatic guided vehicles have become important equipment for enterprise internal logistics, smart factories, and advanced logistics, and play a very important role in enhancing the automation, information and intelligence of enterprise internal logistics. The so-called automatic guidance and automatic material handling are the ability to autonomously move materials from one site to another, including moving materials to a designated site, running along a designated track, and placing materials at a designated destination site. At present, the common magnetic navigation method needs to lay a magnetic strip on the ground, which is easily damaged by the vehicle rolling, and the later maintenance cost is high; the laser...

AI Technical Summary

Problems solved by technology

At present, the common magnetic navigation method needs to lay magnetic strips on the ground, which is very easy to be damaged by vehicles, and the maintenance cost is high in the later period; the laser navigation method in the deep roadway due to the formation of a strange spatial structure, the positioning becomes inaccurate, and the cost is high; Composite navigation that integrates QR code and gyroscope information can only perform grid-like linear motion, and cannot satisfy arc motion under specific scene constraints

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