High-precision navigation and positioning method for mobile robot

Abstract

The invention discloses a high-precision navigation and positioning method for a mobile robot. The invention designs a combined sensor navigation and positioning method for AGV high-precision navigation and positioning. Inertial navigation and two-dimensional code navigation are fused; inertial navigation and a camera are respectively installed on an AGV chassis, a two-dimensional code array is pasted on a work site, each two-dimensional code has uniqueness and absolute position coordinate information, and an image acquisition element on the AGV identifies the absolute position and motion error of the image acquisition element through the two-dimensional codes and calibrates the inertial navigation according to the position information provided by the two-dimensional codes. According to the invention, a navigation form of combining inertial navigation and the two-dimensional code is adopted, the inertial navigation provides continuous position guidance, and the two-dimensional code isused for calibrating the inertial navigation and eliminating inertial navigation accumulation errors, so that high-precision continuous navigation positioning can be obtained; and meanwhile, the modedoes not need destructive transformation on a site, and the cost of sensor elements is low.

Description

technical field [0001] The invention relates to a method for high-precision navigation and positioning of a mobile robot. The patent of the invention relates to a system for AGV navigation and positioning, especially for occasions where destructive modification is not allowed on the surface of the site. Background technique [0002] AGV is widely used in the field of material handling. The navigation and positioning system is the key to realize the high-precision operation of AGV. Common navigation methods include laser navigation, magnetic strip navigation, magnetic nail navigation, two-dimensional code navigation, visual navigation, inertial navigation, etc., among which The method of using laser radar has wide applicability, but it is expensive, and the accuracy is about ± mm. Magnetic strip and magnetic nail navigation need to destroy the ground. QR code and magnetic nail navigation are discontinuous guidance methods, and cannot To obtain more accurate position informati...

AI Technical Summary

Problems solved by technology

[0002]AGV is widely used in the field of material handling. The navigation and positioning system is the key to realize the high-precision operation of AGV. Common navigation methods include laser navigation, magnetic strip navigation, and magnetic nail navigation , two-dimensional code navigation, visual navigation, inertial navigation, etc. Among them, the laser radar method has wide applicability, but is expensive, and the accuracy is about ±mm. Magnetic strip and magnetic nail navigation need to destroy the ground. Two-dimensional code, Magnetic nail navigation is a discontinuous guidance method, and it is impossible to obtain more accurate position information in the middle position. Long-term use of inertial navigation will lead to large cumulative errors and affect navigation accuracy.

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