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Laser navigation AGV high-precision positioning method based on two-dimensional code

A technology of laser navigation and positioning method, which is applied in two-dimensional position/channel control, vehicle position/route/altitude control, electromagnetic wave re-radiation and other directions, which can solve the problems of high cost and high parallelism requirements of code tape sticking. , to achieve the effect of low cost and simple structure

Inactive Publication Date: 2019-11-08
苏州寻迹智行机器人技术有限公司
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Problems solved by technology

However, this method is similar to magnetic strip navigation, and requires high parallelism of the code tape, and requires three QR code cameras in the secondary positioning, which is costly

Method used

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  • Laser navigation AGV high-precision positioning method based on two-dimensional code
  • Laser navigation AGV high-precision positioning method based on two-dimensional code
  • Laser navigation AGV high-precision positioning method based on two-dimensional code

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with drawings and embodiments.

[0027] Such as figure 1 As shown, a high-precision positioning method for a laser navigation AGV based on a two-dimensional code in this embodiment is applied to a latent jack-up AGV. The AGV includes an AGV body 1 with a laser navigation device, and the AGV body includes a PID A controller, a chassis driver, a chassis encoder and a servo motor driving the left and right wheels. The AGV body 1 is also provided with a two-dimensional code camera 2. The two-dimensional code camera 2 is installed in the center of the AGV body and faces the ground below. The camera coordinate system of the two-dimensional code is consistent with the coordinate system of the AGV body. The forward direction of the AGV is defined as the X positive direction, the left side is the Y positive direction, and the angle is positive when the AGV body turns counterclockwise.

[0028] Among them, the ...

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Abstract

The invention relates to the technical field of intelligent mobile robots, in particular to a laser navigation AGV high-precision positioning method based on a two-dimensional code. According to the method, a two-dimensional code camera is arranged on an AGV body, by pasting a two-dimensional code label on the ground at a fixed distance from a material frame and near a laser navigation end point,after an AGV arrives at the laser navigation end point and the two-dimensional code camera reads a two-dimensional code, a secondary positioning link is executed, a pose deviation of the AGV under a two-dimensional code coordinate is accurately obtained, a feasible path is planed, then the path is tracked through a PID algorithm, speeds of left and right wheels are calculated by using a two-wheeldifferential motion model, the AGV travels following the path, the deviation between the AGV and the path is corrected in real time, and finally the AGV reaches a specified position accurately. Compared with the prior art, the laser navigation AGV high-precision positioning method based on the two-dimensional code achieves the perfect connection between laser navigation and two-dimensional code navigation, has the final parking precision within + / -5 millimeters, and has the advantages of accurate positioning, convenient operation and lower cost.

Description

technical field [0001] The present invention relates to the technical field of mobile robot trolleys, in particular to a laser navigation AGV positioning method based on a two-dimensional code. Background technique [0002] Automated Guided Vehicle (AGV) is equipped with a variety of sensor devices, such as laser radar, depth camera and two-dimensional code camera, etc., which can send goods from point A to point B without manual guidance. point truck. [0003] At present, the material handling in the production workshop of most domestic factories is done manually. Manual handling has problems such as high work intensity, low efficiency, potential safety hazards and higher and higher labor costs. AGV has multiple safety protection levels. It only needs to complete the work of building maps and setting target points in the early stage, and then combine with multi-machine scheduling system or warehouse management system to realize automatic unmanned workshop. However, in or...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01S17/02G01S17/93
CPCG05D1/0246G05D1/0223G05D1/0221G05D1/0276
Inventor 翟冬灵张二阳葛凯
Owner 苏州寻迹智行机器人技术有限公司
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