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AGV navigation angle compensation method and system, AGV and storage medium

A technology of angle compensation and deviation angle, which is applied in the field of AGV navigation angle compensation, AGV and storage media, can solve problems such as vehicle deviation, complex control, and influence on AGV's continued navigation accuracy, and achieve the effect of eliminating influence and high walking accuracy

Active Publication Date: 2020-02-14
牧星机器人(江苏)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In actual navigation, when the AGV starts, it will adjust the angle of the car body according to the initial two-dimensional code, and walk the car body in the preset direction of the two-dimensional code. The direction deviation of the initial two-dimensional code (usually due to the artificial The posting error when pasting the QR code label) will cause the AGV to deviate from the QR code by a certain distance when driving to the next QR code, as attached figure 1 As shown, if the starting direction deviates α at the starting two-dimensional code (number 1 in the figure), it will lead to the target two-dimensional code (number 2 in the figure), and the left and right deviation distance is deta_x, for example, the starting deviation is 1 degree , in the case of L1=1300mm, it will cause the vehicle to deviate from the second code deta_x=1300*sin(1°)=22.69mm
This deviation distance will affect the accuracy of the AGV's continued navigation. Since every time it moves from one two-dimensional code to the next two-dimensional code, it is necessary to re-plan the route according to the deviation distance to correct the deviation, which makes the control more complicated. Therefore, it is necessary to take measures to eliminate The direction deviation

Method used

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  • AGV navigation angle compensation method and system, AGV and storage medium
  • AGV navigation angle compensation method and system, AGV and storage medium
  • AGV navigation angle compensation method and system, AGV and storage medium

Examples

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no. 1 example

[0050] as attached image 3 The AGV navigation angle compensation method is applied to the control unit 104, and the method includes the following steps S201-S206:

[0051]Step S201, controlling the operation of the car body drive unit 102 so that the AGV car body 101 walks from the initial two-dimensional code along the preset direction to the predicted target two-dimensional code position;

[0052] In this step, the preset direction is the direction marked by the target two-dimensional code, and the AGV100 will align with this preset direction when it starts to walk, and the predicted target two-dimensional code position is the position of walking a set distance along the preset direction. For example: at the beginning, AGV100 is at the starting QR code. Before that, the navigation angle has not undergone any compensation, because the QR codes in the work area are arranged horizontally and vertically in a square array, so the default direction is starting The specific direc...

Embodiment 2

[0076] This embodiment provides an AGV navigation angle compensation system 500. The AGV navigation angle compensation system 500 may include or be divided into one or more program modules, one or more program modules are stored in a storage medium, and are controlled by one or more program modules. Executed by a plurality of processors to complete the present invention and realize the above-mentioned AGV navigation angle compensation method. The program module referred to in the embodiment of the present invention refers to a series of computer program instruction segments capable of completing specific functions, which is more suitable than the program itself to describe the execution process of the AGV navigation angle compensation method in the storage medium. The following description will specifically introduce the functions of each program module in this embodiment, as attached Figure 4 As shown, the AGV navigation angle compensation system 500 includes:

[0077] The ...

Embodiment 3

[0085] This embodiment also provides a computer-readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), only Read memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, server, App application store, etc., on which computer programs are stored, The corresponding functions are realized when the program is executed by the processor. The computer-readable storage medium in this embodiment is used to store the AGV navigation angle compensation system 500, and when executed by a processor, the AGV navigation angle compensation method of the present invention is realized.

[0086] The serial numbers of the above embodiments are for description only, and do not represent the advantages and disadvantages of the embodiments.

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Abstract

The invention discloses an AGV navigation angle compensation method and system, an AGV and a storage medium. The method comprises the steps that a vehicle body driving unit is controlled to operate toenable an AGV body to walk from a starting two-dimensional code to a predicted target two-dimensional code position in a preset direction; the actual driving distance of the AGV body in the whole movement process from the starting two-dimensional code to the target two-dimensional code is acquired; an image, collected by a camera, at the predicted target two-dimensional code position is acquired;the left-right offset distance of the center of the AGV body relative to the target two-dimensional code is calculated according to the image; the deviation angle of the target two-dimensional code relative to the starting two-dimensional code is calculated according to the left-right offset distance and the actual driving distance; and the preset direction is corrected according to the deviationangle to form a new preset direction. According to the AGV navigation angle compensation method and system, the AGV and the storage medium, the preset direction is compensated by calculating the deviation angle, so that the subsequent AGV can drive in the compensated preset direction when driving between the two-dimensional codes, and the walking precision of the AGV is improved.

Description

technical field [0001] The present invention relates to the field of AGV technology, in particular to an AGV navigation angle compensation method, system, AGV and storage medium. Background technique [0002] At present, AGV technology is booming, and there are many navigation technologies for AGV autonomous navigation, and two-dimensional code navigation is one of the important navigation methods. The basis of two-dimensional code navigation is the array of many two-dimensional codes set on the ground of the operation area. The AGV reads the two-dimensional codes through its own camera to determine its own position and judge the next move, so as to realize precise movement in the operation area . [0003] In actual navigation, when the AGV starts, it will adjust the angle of the car body according to the initial two-dimensional code, and walk the car body in the preset direction of the two-dimensional code. The direction deviation of the initial two-dimensional code (usual...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 汪文俊邵阳光黄志明
Owner 牧星机器人(江苏)有限公司
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