Positioning method and device for automatic guide trolley

Abstract

The invention discloses a positioning method for an automatic guiding trolley, which is suitable for the automatic guiding trolley configured with camera shooting equipment, relates to the field of map information acquisition, and comprises the following steps of: obtaining an environment image according to a shooting result of the camera shooting equipment; Performing two-dimensional code detection on the environment image; When the two-dimensional code image is not detected in the environment image, performing two-dimensional code detection on the next frame of environment image; When a two-dimensional code image is detected in the environment image, obtaining map coordinates and camera shooting coordinates of four vertexes of the two-dimensional code image; And according to the map coordinates and the camera shooting coordinates, calculating a conversion relation between the camera shooting coordinates and the map coordinates so as to obtain a relative pose of the automatic guided vehicle and the two-dimensional code. The embodiment of the invention further provides a positioning device of the automatic guide trolley, the relative pose of the automatic guide trolley and the two-dimensional code can be calculated more accurately and efficiently, and therefore higher-precision positioning of the automatic guide trolley is achieved.

Description

technical field [0001] The invention relates to the field of map information collection, in particular to a positioning method and device for an automatic guided vehicle. Background technique [0002] A two-dimensional code is a readable barcode, which records data through black and white images distributed on a plane according to certain rules according to a specific geometric figure. Two-dimensional codes have the characteristics of large information capacity and high reliability. Therefore, in application environments such as warehouse storage or workshop handling, two-dimensional code positioning technology, as one of the key technologies in the control of automatic guided vehicles, is often used to control automatic guided vehicles. for navigation and orientation. [0003] In the prior art, the relative position between the automatic guided vehicle and the two-dimensional code of the known position is usually calculated according to the acquired image, so as to calcula...

AI Technical Summary

Problems solved by technology

In the process of implementing the present invention, the inventors found that in the prior art, the position of the graphic is detected by the three positions of the two-dimensional code, and the rotation angle of the automatic guided vehicle is roughly estimated, and the obtained relative position of the automatic guided vehicle and the two-dimensional code exists. Large error, unable to perform high-precision positioning of the automatic guided vehicle

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