CN110147100A - A kind of AGV platform and air navigation aid with high-precision navigation locating function - Google Patents
A kind of AGV platform and air navigation aid with high-precision navigation locating function Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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Abstract
The AGV platform with high-precision navigation locating function that the present invention provides a kind of environment-adapting abilities by force, can effectively avoid wrong report wrong, and the air navigation aid based on the platform.AGV platform includes the car body (1) containing 4 wheel driven steering wheel, different location on the middle line of the bottom surface of car body is provided with First look camera (2) and the second vision camera (3), the trend of the middle line and the direction of advance of car body are consistent, on another middle line of the bottom surface of car body and the central point of deviation car body is additionally provided with third vision camera (4), and the bottom center Dian Chu of car body is provided with RFID card reader (5).Its air navigation aid are as follows: when the AGV platform advances, First look camera and the second vision camera take a crane shot to progress path, RFID card reader continually scans for the RFID information marked on path, to obtain position and the posture information of colour band, controls accordingly come the 4 wheel driven steering wheel to car body.Present invention can apply to the fields AGV.
Description
Technical field
The present invention relates to the fields AGV more particularly to a kind of with the AGV platform of high-precision navigation locating function and navigation side
Method.
Background technique
As the automation of manufacturing industry and logistic industry, intelligence degree are continuously improved, the fixture of point-to-point of tradition
Material transmission mode is no longer satisfied the requirement of flexibility, and the requirement that automatic Guided Vehicle (AGV) adapts to this flexibility obtains
Development at full speed.And as one of AGV core technology, also there are diversified forms in AGV navigation and positioning, such as magnetic navigation, color
Band navigation, inertial navigation, laser SLAM(Simultaneous Localization and Mapping, instant positioning and map
Building), (Visual Simultaneous Localization and Mapping, vision positions and map structure VSLAM immediately
Build) etc..However, the mode of these AGV navigation and positioning is also respectively to have advantage and disadvantage.
Using more mature, this navigation mode advantage is to can be used for the rugged environments such as dust, ponding for magnetic navigation, navigation
Principle is runout information of the magnetic brush detection AGV with respect to ground rail magnetic stripe, and feedback drive system does corresponding pose correction；Disadvantage
It is that this magnetic navigation magnetic brush and ground magnetic stripe need to keep lesser distance to guarantee that accurate location information inputs, and this magnetic brush is visited
The offset subdivision accuracy of survey is poor, is not suitable for the scene for needing exact position to navigate, and its positioning needs to cooperate other fixed
Position mode is realized.
Laser SLAM is usually that the back-end technologies such as GPS, AI (artificial intelligence) and big data is combined to support, come the carrier that navigates
(unmanned vehicle) accurately, is safely run in the road environment of height random, and laser plays navigator fix and barrier scene detection
The effect of input, laser SLAM are undoubtedly mode most stable, optimal and the most flexible, but its in existing navigation mode
Hardware cost and research and development higher cost, in plant area's application scenarios that technical grade is set, randomness is not high, laser SLAM's is excellent
Gesture just seems some redundancies.
VSLAM is limited to the maturity of depth camera, binocular camera, processor and image reconstruction algorithm, at present this kind
Navigation mode is still confined to the occasion under the set scene in laboratory.
Colour band navigation obtains posture information generally by the high angle shot camera shooting colour band track for being mounted on vehicle bottom,
And by the discrete two-dimensional code or digital information on colour band track, to judge opposite position of the crucial place relative to terrestrial coordinate system
It sets, the flexible degree of colour band navigation is better than magnetic navigation, and higher (and the magnetic navigation phase of the precision of probe vehicles solid offsetting colour band track
Than), but different control methods is still derived in terms of Pose Control, to the adaptability of damaged colour band also phase not to the utmost
Together, also there is higher requirement for judgement precision and the two dimensional code maintenance in crucial place.
In conclusion for plant area's application scenarios that technical grade is set, randomness is not high, it is clear that be that colour band navigation is more suitable
With., the navigator fix bad adaptability more demanding to the integrity degree of colour band however, current colour band navigates, when going out on colour band track
Existing breakage is stain, when covering, and AGV is moved to these colour band sections and is easy to appear wrong report mistake of overstepping the limit.
The present invention is exactly to be directed to the above problem present in the navigation of AGV colour band to design a kind of new AGV platform, to solve
The above problem.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide, a kind of environment-adapting ability is strong, energy
The AGV platform with high-precision navigation locating function for effectively avoiding wrong report wrong, and the air navigation aid based on the platform.
Technical solution used by AGV platform of the present invention with high-precision navigation locating function is: it includes containing
There is the car body of 4 wheel driven steering wheel, the different location on the middle line of the bottom surface of the car body is provided with First look camera and the second view
Feel camera, the middle line trend it is consistent with the direction of advance of the car body, on another middle line of the bottom surface of the car body and
The central point for deviateing car body is additionally provided with third vision camera, and the bottom center Dian Chu of the car body is provided with RFID card reading
Device, when the AGV platform advances, the First look camera, the second vision camera and/or third vision camera are to progress path
It takes a crane shot, the RFID card reader continually scans for the RFID information marked on path, to obtain position and the pose letter of colour band
Breath, controls accordingly come the 4 wheel driven steering wheel to the car body.
It can be seen that causing colour band navigation and positioning accuracy poor for two dimensional code location information in the prior art, and close
Key point two dimensional code incompleteness will lead to the loss to global position and cause fatal maloperation；The present invention is used in combination RFID(and penetrates
Frequency ID, radiofrequency signal are a kind of electromagnetic signals), radio frequency encoding is carried out to the information of key point, control car body is slowed down, stopped
Only, enter the movement such as curved and traversing, it is fixed to solve two dimensional code incompleteness to be applicable in the environment such as dust and water dirt for the accuracy of safety action
The inaccurate problem in position；In addition, intending for due to the scribing line error of colour band track, the installation position and attitude error of camera and AGV curve
Close tracking causes AGV to have side deviation colour band track there are error, that is, the image pose of one camera shooting cannot
The case where accurately indicating AGV car body pose, colour band image that the double camera of present invention direction of advance obtains construct arrow
Amount carries out precision navigation, and host computer extracts the colour band image of First look camera and the second vision camera simultaneously, color is calculated
Position and colour band gradient of the band in the visual field, the then structure vector under AGV coordinate system, then with this vector feedback target rudder
Wheel corner and speed simultaneously adjust, to realize that the high-precision self-navigation to AGV car body positions；Meanwhile for colour band track
There may be discontinuous damaged or contaminations, this platform is equally applicable, therefore its road environment adaptive faculty is strong, can effectively avoid
Wrong report is wrong.
Further, avoidance radar and anticollision strip are additionally provided on the periphery of the car body.It can be seen that avoidance radar
The potential obstacle of AGV running environment can be safely monitored, plays the role of look-ahead and protection to AGV；Anticollision strip can
It avoids AGV car body from colliding with potential obstacle, guarantees the safety of car body, anticollision strip host computer can also be matched,
When anticollision strip is collided, host computer issues driving wheel power-off and the order of locking traveling wheel at once, thus farthest right
Car body is protected.
Further, the center of the First look camera, the second vision camera and third vision camera away from for
1800mm.As it can be seen that the center of camera of the present invention away from sufficiently large, can clap the larger range of track route
According to the difficulty that reduction ribbon position determines.
Air navigation aid based on the above-mentioned AGV platform with high-precision navigation locating function the following steps are included:
A.AGV, with the RFID information on the scan period scan path of setting, arrives RFID marker when scanning during advance
When information is precision navigation origin information, host computer transfers the image of the First look camera and second vision camera,
It is weighted and averaged the position P for calculating colour band in the visual field in the horizontal direction to image respectively1(x1,y1) and P2(x2,y2) with
And colour band gradient θ1And θ2, pose of the AGV relative to colour band is determined with this two parameter；
B. according to the posture information of colour band under AGV coordinate system structure pose vector；
C. according to the pose vector of institute's structurePosition and the offset for determining AGV adjust steering wheel corner according to the offset of AGV
With speed, waits pose next time to feed back, be precision navigation end point until reading RFID information.
Above scheme by the colour band image of the double camera acquisition of direction of advance to construct vector as it can be seen that accurately led
Boat, host computer extract the colour band image of First look camera and the second vision camera simultaneously, colour band are calculated in the visual field
Position and colour band gradient, the then structure vector under AGV coordinate system, then with this vector feedback target steering wheel corner and speed
And adjust, to realize that the high-precision self-navigation to AGV car body positions, reduce what running trolley on damaged colour band was overstepped the limit
Frequency reduces the frequency of maintenance of colour band；Also improve navigation and positioning accuracy；Also achieve AGV it is reliable and stable seek colour band track
Movement, and its algorithmic procedure is simple and reliable.
Further, in the step a, when the RFID identification information of reading is not in accurately navigation starting point and knot
When between beam spot, host computer judges section locating at present as common navigation section, and the host computer same time only uses a vision
The image that camera obtains navigates；Host computer is when choosing the image that vision camera obtains, first with the First look phase
The colour band image of machine feedback, and judge whether the colour band information of the First look camera feedback is complete in opencv, if
Judge that colour band information is complete, then obtains the posture information of AGV using the image of First look camera output, it is on the contrary then adjust
With the image of second vision camera, the corner and speed of steering wheel are then adjusted according to the posture information, AGV is made steadily to exist
It is run on colour band track.It can be seen that even if colour band has parts against wear, either part is stain on common navigation route, but
That continuous damaged or to stain be not more than image center away from the posture information provided only with the image that a wherein camera obtains is just
Precision navigation can be completed, to reduce the investment of a camera, the data processing amount of host computer is reduced, improves efficiency,
Also reduce cost.
Still further, transferring the First look camera and second vision camera in host computer in the step a
Image after, it is further comprising the steps of: motion artifacts being carried out to the image of acquisition in opencv and image denoising is handled, then is right
Colour band in image carries out edge detection, determines the position of colour band in the picture.It can be seen that being carried out to the image that camera obtains
Processing provides premise for the determination of subsequent colour band posture information, also reduces the meter of follow-up work to guarantee the quality of image
Calculation amount.
Again still further, the scan period in step a is 20ms.It can be seen that by the extremely short scan period, it can
Obtain the high angle shot image in AGV traveling process at any time, and then confirm its pose, realize in conjunction with offset to the corner of steering wheel and
The adjustment of speed guarantees AGV always along ribbon motion.
Detailed description of the invention
Fig. 1 is the easy structure schematic diagram of entity A GV of the present invention；
Fig. 2 is the model top view that the present invention abstracts；
Fig. 3 is the steering wheel train that the present invention abstracts and camera arrangement schematic top plan view, wherein being located at upper right portion in figure
Coordinate system is the ribbon position signal in the image that First look camera obtains, and the coordinate system of lower right-most portion is second in figure
Ribbon position signal in the image that vision camera obtains；
Fig. 4 be the present invention abstract steering wheel train under deviation state has occurred in AGV car body and camera arrangement is overlooked and is shown
It is intended to, wherein the coordinate system for being located at middle and upper part point in figure is the ribbon position signal in the image of First look camera acquisition, position
The coordinate system of middle-lower part is the ribbon position signal in the image of the second vision camera acquisition, the coordinate positioned at right side in figure
The pose vector for beingSignal；
Fig. 5 is the illustraton of model that steering wheel corner and speed are adjusted according to the offset of AGV.
Specific embodiment
As shown in Figure 1 and Figure 4, in the present invention, the AGV platform with high-precision navigation locating function, including contain 4 wheel driven
The car body 1 of steering wheel, the different location on the middle line of the bottom surface of the car body 1 are provided with First look camera 2 and the second vision
Camera 3, the middle line trend it is consistent with the direction of advance of the car body 1, on another middle line of the bottom surface of the car body 1 and
The central point for deviateing car body is additionally provided with third vision camera 4, wherein third vision camera 4 is the ability when cross-car is mobile
Enable, be equally take a crane shot to ground with obtain car body it is traversing when colour band image.In the bottom center Dian Chu of the car body 1
It is provided with RFID card reader 5, when the AGV platform advances, the First look camera 2, the second vision camera 3 and/or third
Vision camera 4 takes a crane shot to progress path, and the RFID card reader 5 continually scans for the RFID information marked on path, to obtain
Position and the posture information of colour band are taken, the 4 wheel driven steering wheel of the car body 1 controlled accordingly.In the periphery of the car body 1
On be additionally provided with avoidance radar 6 and anticollision strip 7.The First look camera 2, the second vision camera 3 and third vision camera 4
Center is away from for 1800mm.
Air navigation aid based on above-mentioned AGV platform the following steps are included:
A.AGV during advance with the RFID information on the scan period of setting (scan period is 20ms) scan path, when
When the information for scanning RFID marker is precision navigation origin information, host computer transfers the First look camera 2 and described
The image of two vision cameras 3 is weighted and averaged the position P for calculating colour band in the visual field in the horizontal direction to image respectively1
(x1,y1) and P2(x2,y2) and colour band gradient θ1And θ2, pose of the AGV relative to colour band is determined with this two parameter.Upper
It is further comprising the steps of after machine transfers the image of the First look camera (2) and second vision camera (3):
Motion artifacts are carried out to the image of acquisition in opencv and image denoising is handled, then edge detection is carried out to the colour band in image,
Determine the position of colour band in the picture.
B. according to the posture information of colour band under AGV coordinate system structure pose vector。
C. according to the pose vector of institute's structurePosition and the offset for determining AGV adjust steering wheel according to the offset of AGV
Corner and speed wait pose next time to feed back, are precision navigation end points until reading RFID information.
In the step a, when the RFID identification information of reading is not being navigated between starting point and end point accurately
When, host computer judges section locating at present as common navigation section, and the host computer same time only uses a vision camera to obtain
Image navigate.Host computer is when choosing the image that vision camera obtains, first with the First look camera (2) feedback
Colour band image, and judge in opencv whether the colour band information of First look camera (2) feedback complete, if it is determined that
Colour band information is complete, then obtains the posture information of AGV using the image of the First look camera (2) output, on the contrary then adjust
With the image of second vision camera (2), the corner and speed of steering wheel are then adjusted according to the posture information, stablize AGV
Ground is run on colour band track.
In the step c, it is as follows that the step of steering wheel corner is with speed is adjusted according to the offset of AGV:
According to the offset of AGV, mesh is calculated by offset and the functional relation (i.e. Ackermann steering principle operator) of target rotation angle
The revolving speed of target steering wheel after the corner for determining target steering wheel, is sized to a constant value, then basis by the corner for marking steering wheel
Ackermann steering principle sets the corner and velocity magnitude of target steering wheel and remaining each steering wheel；Host computer issues movement to AGV and refers to
It enables, according to instruction action, the driving of remaining steering wheel meets Ackerman angle PID and follows adaptation (same control driving target steering wheel PID
Sample is arranged according to following Ackermann steering principle operators)；The time of interval setting judges primary each steering wheel speed and turns
Whether angle meets Ackermann steering principle, if meeting Ackermann steering principle in error permissible range, 4 wheel driven steering wheel is just protected
Current pose and revolving speed are held, waits next colour band sampling pose judgement, the time interval judged is 40ms；If each steering wheel speed
Degree is unsatisfactory for Ackermann steering principle with corner, then modifies to on-line study the pid parameter of each driving wheel, use again after having adjusted
Ackermann steering principle is as judgement, so circulation until each wheel speed and corner meet Ackermann steering principle.Herein, exist
The pid parameter that each driving wheel is modified on line study ground refers to the electric current fed back according to steering wheel movable motor, is weighted and averaged four steering wheels
Electric current mean value, electric current --- the PID scale parameter Kp of corresponding fitting, and according to the concussion of feedback current adjusts revolving speed mould
Integral and differential parameter Ki and Kd under formula realize on-line study adjustment.
As shown in figure 5, detailed process is as follows:
It is located in the direction of advance of AGV, the wheelbase between front two rows steering wheel is L, and the wheel width between same row's steering wheel is d, position
The radius of turn of steering wheel on the inside of front row is R11, the angle between the steering wheel pose and AGV direction of advance is θ11, revolving speed is
V11, the radius of turn of the steering wheel in outside is R12, the angle between the steering wheel pose and AGV direction of advance is θ12, revolving speed V11,
The radius of turn of steering wheel on the inside of heel row is R21, the angle between the steering wheel pose and AGV direction of advance is θ21, revolving speed
For V11, the radius of turn of the steering wheel in outside is R22, the angle between the steering wheel pose and AGV direction of advance is θ22, revolving speed is
V11, wherein θ11With θ21Equal in magnitude, contrary, θ12With θ22It is equal in magnitude, it is contrary；In the ideal situation, AGV
The vertical AGV of rotation center length direction and by the midpoint between front two rows steering wheel, setting AGV is in a forward direction
The steering wheel of front-seat inside is target steering wheel, is had according to Ackerman principle:
--- formula 1,
--- formula 2,
--- formula 3,
Formula 1 indicates half drive matrix of each steering wheel revolution, and wherein L and d is constant, existing θ11For independent variable, executed for the first time
Shi Qiwei preset value；Formula 2 indicates the rate matrices of each steering wheel, wherein there are independent variable V11And θ11, formula 3 indicates each steering wheel
Corner matrix, wherein the variable θ of existence anduniquess11, wherein θ11It is set according to colour band orbit radius and the clapped colour band offset of camera
It is fixed, V11According to the desired AGV speed of service and actually along the safe speed setting of the safe operation of not derailing of colour band.
According to formula 1~3, the rotational angle theta of target steering wheel is being determined11With speed V11Afterwards, the corner and speed of the other three steering wheel
Degree determines.
Compared with prior art, the present invention by the setting of RFID card reader, it can be during AGV advances to colour band
All RFID informations are read out present on path, and information is avoided to leave, while lower to environmental requirement, reduce damaged color
The derailed frequency of running trolley is taken, the frequency of maintenance of colour band is reduced；By the setting of three cameras, for having damaged or staiing
Colour band, can rapidly and accurately obtain the posture information that AGV should have and also be mentioned to improve navigation and positioning accuracy
The reliable and stable colour band track of seeking of AGV has been risen to move.
Claims (8)
1. a kind of AGV platform with high-precision navigation locating function, including the car body (1) containing 4 wheel driven steering wheel, feature exists
In: the different location on the middle line of the bottom surface of the car body (1) is provided with First look camera (2) and the second vision camera
(3), the trend of the middle line is consistent with the direction of advance of the car body (1), on another middle line of the bottom surface of the car body (1)
And the central point for deviateing car body is additionally provided with third vision camera (4), is provided in the bottom center Dian Chu of the car body (1)
RFID card reader (5), when the AGV platform advances, the First look camera (2), the second vision camera (3) and/or third
Vision camera (4) takes a crane shot to progress path, and the RFID card reader (5) continually scans for the RFID information marked on path,
To obtain position and the posture information of colour band, the 4 wheel driven steering wheel of the car body (1) controlled accordingly.
2. a kind of AGV platform with high-precision navigation locating function according to claim 1, it is characterised in that: in institute
It states and is additionally provided with avoidance radar (6) and anticollision strip (7) on the periphery of car body (1).
3. a kind of AGV platform with high-precision navigation locating function according to claim 1, it is characterised in that: described
The center of First look camera (2), the second vision camera (3) and third vision camera (4) is away from for 1800mm.
4. a kind of carry out colour band navigation using the AGV platform as described in claim 1 with high-precision navigation locating function
Method, which is characterized in that method includes the following steps:
A.AGV, with the RFID information on the scan period scan path of setting, arrives RFID marker when scanning during advance
When information is precision navigation origin information, host computer transfers the First look camera (2) and second vision camera (3)
Image is weighted and averaged the position P for calculating colour band in the visual field in the horizontal direction to image respectively1(x1,y1) and P2(x2,
y2) and colour band gradient θ1And θ2, pose of the AGV relative to colour band is determined with this two parameter；
B. according to the posture information of colour band under AGV coordinate system structure pose vector；
C. position and the offset that AGV is determined according to the pose vector of institute's structure adjust steering wheel corner and speed according to the offset of AGV
Degree waits pose next time to feed back, is precision navigation end point until reading RFID information.
5. colour band air navigation aid according to claim 4, which is characterized in that it is further comprising the steps of: in the step a
In, when the RFID identification information of reading is not when accurately between navigation starting point and end point, host computer judges current institute
The section at place is common navigation section, and the host computer same time is only navigated with the image that a vision camera obtains.
6. colour band air navigation aid according to claim 5, which is characterized in that host computer is in the figure for choosing vision camera acquisition
When picture, the colour band image fed back first with the First look camera (2), and the First look camera is judged in opencv
(2) whether the colour band information fed back is complete, if it is determined that colour band information is complete, is then exported using the First look camera (2)
Image obtain the posture information of AGV, image that is on the contrary then calling second vision camera (2), then according to the pose
Information adjusts the corner and speed of steering wheel, runs AGV steadily on colour band track.
7. colour band air navigation aid according to claim 4, which is characterized in that in the step a, transferred in host computer described
It is further comprising the steps of: to acquisition in opencv after First look camera (2) and the image of second vision camera (3)
Image carry out motion artifacts and image denoising processing, then in image colour band carry out edge detection, determine colour band in image
In position.
8. colour band air navigation aid according to claim 4, it is characterised in that: the scan period in step a is 20ms.
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