CN112284373A - AGV navigation method and system based on UWB wireless positioning and visual positioning - Google Patents

AGV navigation method and system based on UWB wireless positioning and visual positioning Download PDF

Info

Publication number
CN112284373A
CN112284373A CN202011109918.1A CN202011109918A CN112284373A CN 112284373 A CN112284373 A CN 112284373A CN 202011109918 A CN202011109918 A CN 202011109918A CN 112284373 A CN112284373 A CN 112284373A
Authority
CN
China
Prior art keywords
agv
positioning
uwb
coordinate
visual
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011109918.1A
Other languages
Chinese (zh)
Inventor
刘劭纯
李明
封佳良
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Specialized Machinery
Original Assignee
Beijing Institute of Specialized Machinery
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Specialized Machinery filed Critical Beijing Institute of Specialized Machinery
Priority to CN202011109918.1A priority Critical patent/CN112284373A/en
Publication of CN112284373A publication Critical patent/CN112284373A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves

Abstract

The invention discloses an AGV navigation method and device based on UWB wireless positioning and visual positioning, comprising: selecting 4 points indoors to arrange UWB positioning base stations; defining one UWB positioning base station as an origin positioning mark, and marking as OO(ii) a Acquiring an initial coordinate and a target position coordinate of the AGV according to the UWB positioning base station, wherein the target position is arranged on a position code band; guiding the AGV to the vicinity of the area adhered with the position code belt through a UWB wireless positioning system; navigating the AGV to a target position through a visual positioning system; the invention solves the problem of navigation positioning of the AGV under a UWB positioning and visual positioning composite positioning system, and can unify the position expression of the AGV by simple position matrix transformationThe transformation matrix is convenient to calculate, and the transformation matrix can be calculated quickly after the pose of the UWB coordinate system and the pose of the visual coordinate system are transformed, so that the positioning accuracy is improved, and the method has strong practicability.

Description

AGV navigation method and system based on UWB wireless positioning and visual positioning
Technical Field
The invention belongs to the technical field of AGV positioning, and particularly relates to an AGV navigation method and system based on UWB wireless positioning and visual positioning.
Background
An AGV, an Automated Guided Vehicle, automatically moves an article from one location to another location through a preset program, and is an automatic, information and intelligent device. The current navigation modes include magnetic stripes, RFID beacons, two-dimensional code identifiers, lasers and the like.
At present, the navigation and positioning of the AGV are mostly carried out under the same navigation system, the navigation and positioning of the AGV can directly utilize the navigation system positioning data under the condition, and for the composite AGV navigation scene of a plurality of navigation systems, the AGV has different pose representations under different navigation systems. At present, an AGV navigation system based on UWB wireless positioning and visual positioning is not applied much, and a navigation positioning method of the AGV under the composite navigation system needs to be researched.
Disclosure of Invention
The invention overcomes the defects of the prior art, and solves the technical problems that: the AGV navigation method and system based on UWB wireless positioning and visual positioning can be used for navigating the AGV through UWB wireless positioning and visual positioning, and navigation accuracy is improved.
In order to solve the technical problems, the invention adopts the technical scheme that: an AGV navigation method based on UWB wireless positioning and visual positioning comprises the following steps: s101, selecting 4 points indoors to arrange a UWB positioning base station; defining one UWB positioning base station as an origin positioning mark, and marking as OO(ii) a S102, determining an initial coordinate and a target position coordinate of the AGV according to the UWB positioning base station, wherein the target position is arranged on a position code band; s103, guiding the AGV to the vicinity of the area pasted with the position code band through a UWB wireless positioning system; and S104, navigating the AGV to the target position through the visual positioning system.
Preferably, the base station is located according to UWB, assuming the AGV initial coordinate is LA(XA,YA,θA) Target position coordinate is LD(XD,YD,θD)。
Preferably, the guiding the AGV to the vicinity of the area to which the position code strip is attached by the UWB wireless positioning system specifically includes:
according to the initial coordinate of AGV as LA(XA,YA,θA) Coordinate with target position as LD(XD,YD,θD) The difference value DeltaX, DeltaY and Deltatheta are used for allocating a UWB coordinate system O to the AGVOVelocity V ofo(vox,voy,ωO) (ii) a The reference coordinate system of the speed of the AGV is OAAt a velocity of VA(vAx,vAy,ωA)；
According to the velocity decomposition in the rigid body motion process, the following can be obtained:
Figure BDA0002728262260000021
preferably, the navigating the AGV to the target position by the visual positioning system specifically includes:
when the AGV runs to the area near the position code belt, the AGV is switched to the visual positioning system, and the current position coordinate of the AGV is LV(XV,YV,θV)；
According to the conversion relation between any two coordinate systems in the space, the following can be obtained:
Figure BDA0002728262260000022
in the formula (2), oPIs the representation of any point in space under another coordinate system;
Figure BDA0002728262260000023
the rotation matrix represents the rotation relation between two coordinate systems;OPS-Orithe translation matrix represents the translation relation between two coordinate systems;
location L under a visual positioning systemV(XV,YV,θV) The pose under the UWB wireless positioning system is expressed as:
Figure BDA0002728262260000024
in the formula (3), (X)ov,Yov,Zov) And alpha respectively represent a UWB positioning coordinate system OoAlong a visual coordinate system OvRespectively translate X in three coordinate axesov、Yov、ZovBack, along OvIs rotated counterclockwise by alpha in the Z-axis direction, then OoAnd OvAnd (4) overlapping.
Accordingly, an AGV navigation system based on UWB wireless positioning and visual positioning comprises:
an origin positioning unit: selecting 4 points indoors to arrange UWB positioning base stations; defining one UWB positioning base station as an origin positioning mark, and marking as OO；
A data acquisition unit: acquiring an initial coordinate and a target position coordinate of the AGV according to the UWB positioning base station, wherein the target position is arranged on a position code band;
a first navigation unit: guiding the AGV to the vicinity of the area adhered with the position code belt through a UWB wireless positioning system;
a second navigation unit: the AGV is navigated to a target location by a visual positioning system.
Preferably, the AGV is provided with a positioning tag.
Preferably, a vision module is disposed on the AGV.
Preferably, the AGV is further provided with a guide wheel for driving the AGV.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses an AGV navigation method and system based on UWB wireless positioning and visual positioning, comprising: selecting 4 points indoors to arrange UWB positioning base stations; defining one UWB positioning base station as an origin positioning mark, and marking as OO(ii) a Acquiring an initial coordinate and a target position coordinate of the AGV according to the UWB positioning base station, wherein the target position is arranged on a position code band; guiding the AGV to the vicinity of the area adhered with the position code belt through a UWB wireless positioning system; when the visual positioning system is used for navigating the AGV to the target position and the navigation task starts, the AGV is positioned through the UWB wireless positioning systemThe system can acquire the UWB positioning coordinate system O of the systemoIn the navigation process, corresponding speed can be distributed to the AGV in real time according to the pose of the AGV, after a visual module on the AGV identifies a position code band stuck to the ground, the AGV is switched to visual navigation, and during the visual navigation, the pose acquired by the AGV is relative to a code band coordinate system OvDue to OoAnd OvAll are fixed coordinate systems, and O can be calculatedvRelative to OoAccording to the conversion relation, O can be realizedvIn any pose to OoThe coordinate system of AGV navigation is unified, and the navigation control of the AGV under the double navigation system is realized; the invention solves the problem of navigation positioning of the AGV under a UWB positioning and visual positioning composite positioning system, can unify the expression of the position and the attitude of the AGV through simple position and attitude matrix transformation, is convenient and fast to calculate the transformation matrix, can calculate the transformation matrix quickly after the position and the attitude of a UWB coordinate system and a visual coordinate system are transformed, further improves the positioning accuracy and has strong practicability.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings;
FIG. 1 is a schematic flowchart illustrating an AGV navigation method based on UWB wireless positioning and visual positioning according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an AGV navigation system based on UWB wireless positioning and visual positioning according to an embodiment of the present invention;
FIG. 3 is a schematic view of a navigation scene of an AGV navigation method and apparatus based on UWB wireless positioning and visual positioning according to the present invention;
FIG. 4 is a schematic diagram of a coordinate relationship of an AGV navigation method and apparatus based on UWB wireless positioning and visual positioning according to the present invention;
in the figure: 1 is the initial point positioning element, 2 is the data acquisition unit, 3 is first navigation unit, 4 is the second navigation unit, 5 is the location label, 6 is the vision module, 7 is the guide pulley, 8 is UWB location basic station, 9 is the position code area, 10 is the AGV body.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flowchart of an AGV navigation method based on UWB wireless positioning and visual positioning according to an embodiment of the present invention, and as shown in fig. 1, an AGV navigation method based on UWB wireless positioning and visual positioning includes:
s101, selecting 4 points indoors to arrange a UWB positioning base station; defining one UWB positioning base station as an origin positioning mark, and marking as OO；
S102, acquiring initial coordinates and target position coordinates of the AGV according to the UWB positioning base station, wherein the target position is arranged on a position code band;
s103, guiding the AGV to the vicinity of the area pasted with the position code band through a UWB wireless positioning system;
and S104, navigating the AGV to the target position through the visual positioning system.
Further, according to UWB positioning base station, assuming AGV initial coordinate is LA(XA,YA,θA) Target position coordinate is LD(XD,YD,θD)。
Further, guiding the AGV to the vicinity of the area to which the position code strip is attached by the UWB wireless positioning system specifically includes:
according to the initial coordinate of AGV as LA(XA,YA,θA) Coordinate with target position as LD(XD,YD,θD) The difference value DeltaX, DeltaY and Deltatheta are used for allocating a UWB coordinate system O to the AGVOVelocity V ofo(vox,voy,ωO) (ii) a Reference coordinate of speed of AGV due to its motionIs OAAt a velocity of VA(vAx,vAy,ωA)；
According to the velocity decomposition in the rigid body motion process, the following can be obtained:
Figure BDA0002728262260000051
further, navigating the AGV to the target position via the visual positioning system specifically includes:
when the AGV runs to the area near the position code belt, the AGV is switched to the visual positioning system, and the current position coordinate of the AGV is LV(XV,YV,θV)；
According to the conversion relation between any two coordinate systems in the space, the following can be obtained:
Figure BDA0002728262260000052
in the formula (2), oPIs the representation of any point in space under another coordinate system;
Figure BDA0002728262260000053
the rotation matrix represents the rotation relation between two coordinate systems;OPS-Orithe translation matrix represents the translation relation between two coordinate systems;
location L under a visual positioning systemV(XV,YV,θV) The pose under the UWB wireless positioning system is expressed as:
Figure BDA0002728262260000054
in the formula (3), (X)ov,Yov,Zov) And alpha respectively represent a UWB positioning coordinate system OoAlong a visual coordinate system OvRespectively translate X in three coordinate axesov、Yov、ZovBack, along OvIs rotated counterclockwise by alpha in the Z-axis directionThen O isoAnd OvAnd (4) overlapping.
Specifically, as shown in fig. 4, coordinate systems are set at the zero point of the UWB base station, the center of the AGV visual module, and the zero point of the attached position code strip, which are O respectivelyO、OA、OvWhen the AGV executes a navigation task, the AGV first acquires the initial pose L of the AGVA(XA,YA,θA) Then, the AGV moves to the target position LD(XD,YD,θD) Moving, and distributing a UWB coordinate system O to the AGV according to the difference values delta X, delta Y and delta theta of the initial coordinates and the target position of the AGVOVelocity V ofo(vox,voy,ωO) (ii) a The reference coordinate system of the speed of the AGV is OAAt a velocity of VA(vAx,vAy,ωA) (ii) a According to the velocity decomposition in the rigid body motion process, the following can be obtained:
Figure BDA0002728262260000061
when the AGV runs to the area near the position code belt, the visual module on the AGV recognizes the position code belt, the navigation control of the AGV is switched to the visual system, and the position of the AGV is expressed as L under the visual systemV(XV,YV,θV)。
According to the conversion relationship between any two coordinate systems in the space, any point in the space is represented in one coordinate system if the point is known to be represented in the other coordinate system, and the representation o of the point in the other coordinate system is required to be obtainedPThe method comprises the following steps:
Figure BDA0002728262260000062
in the formula (2), oPIs the representation of any point in space under another coordinate system;
Figure BDA0002728262260000063
the rotation matrix represents the rotation relation between two coordinate systems;OPS-Orithe translation matrix represents the translation relation between two coordinate systems; location L under a visual positioning systemV(XV,YV,θV) The pose under the UWB wireless positioning system is expressed as:
Figure BDA0002728262260000064
in the formula (3), (X)ov,Yov,Zov) And alpha respectively represent a UWB positioning coordinate system OoAlong a visual coordinate system OvRespectively translate X in three coordinate axesov、Yov、ZovBack, along OvIs rotated counterclockwise by alpha in the Z-axis direction, then OoAnd OvThe L under the visual positioning system can be obtained according to the transformation relationvL under UWB positioning systemOAnd displaying, thereby realizing the conversion of the pose of the AGV between the two navigation systems.
In this embodiment, when the navigation task starts, the AGV may acquire its own positioning coordinate system O in the UWB through the UWB wireless positioning systemoInitial pose at LA(XA,YA,θA) In the navigation process, corresponding speed can be distributed to the AGV in real time according to the pose of the AGV, after the visual module on the AGV identifies the position code band pasted on the ground, the AGV is switched to visual navigation, and during the visual navigation, the pose acquired by the AGV is relative to a code band coordinate system OvDue to OoAnd OvAll are fixed coordinate systems, and O can be calculatedvRelative to OoAccording to the conversion relation, O can be realizedvIn any pose to OoThe coordinate system of AGV navigation is unified, and the navigation control of the AGV under the double navigation system is realized; the embodiment solves the problem of navigation and positioning of the AGV under the UWB positioning and visual positioning composite positioning system, the pose expression of the AGV can be unified through simple pose matrix transformation, the transformation matrix calculation is convenient, the transformation matrix can be calculated quickly after the pose transformation of the UWB coordinate system and the visual coordinate system, and the practicability is extremely high.
Fig. 2 is a schematic structural diagram of an AGV navigation system based on UWB wireless positioning and visual positioning according to an embodiment of the present invention, and as shown in fig. 2, an AGV navigation device based on UWB wireless positioning and visual positioning includes:
origin positioning unit 1: selecting 4 points indoors to arrange UWB positioning base stations; defining one UWB positioning base station as an origin positioning mark, and marking as OO；
The data acquisition unit 2: acquiring initial coordinates and target position coordinates of an AGV according to a UWB positioning base station, wherein the target position is arranged on a position code band;
the first navigation unit 3: guiding the AGV to the vicinity of the area adhered with the position code belt through a UWB wireless positioning system;
the second navigation unit 4: the AGV is navigated to a target location by a visual positioning system.
Further, a positioning tag 5 and a vision module 6 are arranged on the AGV.
Further, an idler 7 for driving the AGV is also provided on the AGV.
Specifically, fig. 3 is a schematic view of a navigation scene of an AGV navigation system based on UWB wireless positioning and visual positioning in this embodiment, as shown in fig. 3, the UWB wireless positioning system includes 4 UWB positioning base stations 8 and 2 positioning tags 5, the UWB positioning base station 8 is disposed at an indoor corner, and the positioning tags 5 are disposed on an AGV body; the visual positioning system comprises a visual module 6 and a position code belt 9, wherein the visual module 6 is arranged at the center of the AGV body 10, and the position code belt 9 is arranged near a target position; when the UWB wireless positioning system is used for navigation, the kinematics modeling analysis is carried out on the AGV model, and the speed control of the AGV is realized. When the visual module on the AGV recognizes the position code band stuck to the ground, the AGV switches to visual navigation, when the visual positioning system is used, the AGV pose is converted to the UWB coordinate system through the pose conversion matrix between the UWB positioning coordinate system and the visual positioning coordinate system, the uniformity of AGV positioning is realized, the navigation positioning of the AGV under the UWB positioning and visual positioning composite system is realized, and the positioning accuracy is further improved.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be appreciated that the relevant features of the method, apparatus and system described above are referred to one another. In addition, "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent merits of the embodiments.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. In addition, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and other divisions may be realized in practice, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. An AGV navigation method based on UWB wireless positioning and visual positioning is characterized in that: the method comprises the following steps:
s101, selecting 4 points indoors to arrange a UWB positioning base station; defining one UWB positioning base station as an origin positioning mark, and marking as OO；
S102, determining an initial coordinate and a target position coordinate of the AGV according to the UWB positioning base station, wherein the target position is arranged on a position code band;
s103, guiding the AGV to the vicinity of the area pasted with the position code band through a UWB wireless positioning system;
and S104, navigating the AGV to the target position through the visual positioning system.
2. The AGV navigation method based on UWB wireless positioning and visual positioning according to claim 1, characterized in that: positioning the base station according to UWB, assuming the AGV initial coordinate is LA(XA,YA,θA) Target position coordinate is LD(XD,YD,θD)。
3. The AGV navigation method based on UWB wireless positioning and visual positioning according to claim 2, characterized in that: guiding the AGV to the vicinity of the area pasted with the position code band through the UWB wireless positioning system, specifically including:
according to the initial coordinate of AGV as LA(XA,YA,θA) Coordinate with target position as LD(XD,YD,θD) The difference value DeltaX, DeltaY and Deltatheta are used for allocating a UWB coordinate system O to the AGVOVelocity V ofo(vox,voy,ωO) (ii) a The reference coordinate system of the speed of the AGV is OAAt a velocity of VA(vAx,vAy,ωA)；
According to the velocity decomposition in the rigid body motion process, the following can be obtained:
Figure FDA0002728262250000011
4. the AGV navigation method based on UWB wireless positioning and visual positioning according to claim 3, characterized in that: navigating the AGV to a target position through a visual positioning system specifically comprises:
when the AGV runs to the area near the position code belt, the AGV is switched to the visual positioning system, and the current position coordinate of the AGV is LV(XV,YV,θV)；
According to the conversion relation between any two coordinate systems in the space, the following can be obtained:
Figure FDA0002728262250000012
in the formula (2), oPIs the representation of any point in space under another coordinate system;
Figure FDA0002728262250000021
the rotation matrix represents the rotation relation between two coordinate systems;OPS-Orithe translation matrix represents the translation relation between two coordinate systems;
location L under a visual positioning systemV(XV,YV,θV) The pose under the UWB wireless positioning system is expressed as:
Figure FDA0002728262250000022
in the formula (3), (X)ov,Yov,Zov) And alpha respectively represent a UWB positioning coordinate system OoAlong a visual coordinate system OvRespectively translate X in three coordinate axesov、Yov、ZovBack, along OvIs rotated counterclockwise by alpha in the Z-axis direction, then OoAnd OvAnd (4) overlapping.
5. The utility model provides a AGV navigation based on UWB wireless location and visual positioning which characterized in that: the method comprises the following steps:
an origin positioning unit: selecting 4 points indoors to arrange UWB positioning base stations; defining one UWB positioning base station as an origin positioning mark, and marking as OO；
A data acquisition unit: acquiring an initial coordinate and a target position coordinate of the AGV according to the UWB positioning base station, wherein the target position is arranged on a position code band;
a first navigation unit: guiding the AGV to the vicinity of the area adhered with the position code belt through a UWB wireless positioning system;
a second navigation unit: the AGV is navigated to a target location by a visual positioning system.
6. The AGV navigation system based on UWB wireless positioning and visual positioning of claim 5 wherein the AGV navigation system further comprises: and a positioning label is arranged on the AGV.
7. The AGV navigation system based on UWB wireless positioning and visual positioning of claim 5 wherein the AGV navigation system further comprises: the AGV is provided with a vision module.
8. The AGV navigation system based on UWB wireless positioning and visual positioning of claim 5 wherein the AGV navigation system further comprises: still be provided with the guide pulley that is used for driving the AGV on the AGV.
CN202011109918.1A 2020-10-16 2020-10-16 AGV navigation method and system based on UWB wireless positioning and visual positioning Pending CN112284373A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011109918.1A CN112284373A (en) 2020-10-16 2020-10-16 AGV navigation method and system based on UWB wireless positioning and visual positioning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011109918.1A CN112284373A (en) 2020-10-16 2020-10-16 AGV navigation method and system based on UWB wireless positioning and visual positioning

Publications (1)

Publication Number Publication Date
CN112284373A true CN112284373A (en) 2021-01-29

Family

ID=74497388

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011109918.1A Pending CN112284373A (en) 2020-10-16 2020-10-16 AGV navigation method and system based on UWB wireless positioning and visual positioning

Country Status (1)

Country Link
CN (1) CN112284373A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113225505A (en) * 2021-04-19 2021-08-06 深圳市纽瑞芯科技有限公司 Television device embedded with UWB positioning base station and UWB positioning base station position calibration method
CN113552884A (en) * 2021-07-21 2021-10-26 国电南瑞科技股份有限公司 Automatic navigation and obstacle avoidance method and device for valve hall fire-fighting robot

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105865471A (en) * 2016-04-01 2016-08-17 深圳安迪尔智能技术有限公司 Robot navigation method and navigation robot
CN108012325A (en) * 2017-10-30 2018-05-08 上海神添实业有限公司 A kind of navigation locating method based on UWB and binocular vision
CN108858124A (en) * 2018-09-07 2018-11-23 北京特种机械研究所 Its method for carrying mechanical arm position is demarcated using AGV location information
CN109117809A (en) * 2018-08-24 2019-01-01 浙江大丰实业股份有限公司 UWB positioning states switching system
CN109129397A (en) * 2018-09-07 2019-01-04 北京特种机械研究所 Its system for carrying mechanical arm position is demarcated using AGV location information
US20190227576A1 (en) * 2018-01-22 2019-07-25 Walmart Apollo, Llc System and method for position determination for unmanned vehicles
CN110398965A (en) * 2019-07-22 2019-11-01 北京特种机械研究所 It is a kind of based on have mark navigation map design AGV navigation scheduling method
CN111238474A (en) * 2020-02-05 2020-06-05 哈尔滨工业大学 Strapdown seeker non-singular line-of-sight angular velocity extraction method based on inclined coordinate system
CN111413970A (en) * 2020-03-18 2020-07-14 天津大学 Ultra-wideband and vision integrated indoor robot positioning and autonomous navigation method

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105865471A (en) * 2016-04-01 2016-08-17 深圳安迪尔智能技术有限公司 Robot navigation method and navigation robot
CN108012325A (en) * 2017-10-30 2018-05-08 上海神添实业有限公司 A kind of navigation locating method based on UWB and binocular vision
US20190227576A1 (en) * 2018-01-22 2019-07-25 Walmart Apollo, Llc System and method for position determination for unmanned vehicles
CN109117809A (en) * 2018-08-24 2019-01-01 浙江大丰实业股份有限公司 UWB positioning states switching system
CN108858124A (en) * 2018-09-07 2018-11-23 北京特种机械研究所 Its method for carrying mechanical arm position is demarcated using AGV location information
CN109129397A (en) * 2018-09-07 2019-01-04 北京特种机械研究所 Its system for carrying mechanical arm position is demarcated using AGV location information
CN110398965A (en) * 2019-07-22 2019-11-01 北京特种机械研究所 It is a kind of based on have mark navigation map design AGV navigation scheduling method
CN111238474A (en) * 2020-02-05 2020-06-05 哈尔滨工业大学 Strapdown seeker non-singular line-of-sight angular velocity extraction method based on inclined coordinate system
CN111413970A (en) * 2020-03-18 2020-07-14 天津大学 Ultra-wideband and vision integrated indoor robot positioning and autonomous navigation method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113225505A (en) * 2021-04-19 2021-08-06 深圳市纽瑞芯科技有限公司 Television device embedded with UWB positioning base station and UWB positioning base station position calibration method
CN113552884A (en) * 2021-07-21 2021-10-26 国电南瑞科技股份有限公司 Automatic navigation and obstacle avoidance method and device for valve hall fire-fighting robot

Similar Documents

Publication Publication Date Title
KR102521978B1 (en) Systems, methods, and tools for spatially-registering virtual content with physical environment in augmented reality platforms
CN101561680B (en) Embedded guidance device of autonomous vehicle and intelligent composite guidance method thereof
CN103353758B (en) A kind of Indoor Robot navigation method
CN112284373A (en) AGV navigation method and system based on UWB wireless positioning and visual positioning
CN106940713A (en) Large-scale intermittent manufacture workshop holographic map and implementation method based on RFID and UWB
CN109374003A (en) A kind of mobile robot visual positioning and air navigation aid based on ArUco code
CN109352658A (en) Industrial robot precise assembly method, system and computer readable storage medium
CN106347919A (en) Automatic warehousing system
CN103456025A (en) Sensor-enhanced localization in virtual and physical environments
CN203038111U (en) Indoor robot positioning and navigating system based on RFID
CN114127806A (en) System and method for enhancing visual output from a robotic device
CN104898524A (en) Unmanned plane remote control system based on gesture
CN111966113A (en) Intelligent tool car system based on ultra-bandwidth wireless communication
CN108436915A (en) Dual robot motion control method
CN111273770A (en) Warehouse management system and warehouse-in and warehouse-out method based on AR technology
CN105955510A (en) Man-machine interaction system and method
CN111812583A (en) Unmanned aerial vehicle group positioning system and positioning method
CN111207751A (en) Warehouse navigation system and navigation method based on UWB positioning and AR technology
CN113319859B (en) Robot teaching method, system and device and electronic equipment
CN113282083B (en) Unmanned vehicle formation experiment platform based on robot operating system
CN206236102U (en) A kind of space based on RFID is looked for something navigation system
EP3998563A1 (en) Unmanned aerial vehicle-combined autonomous mobile robot checking system
CN109129397A (en) Its system for carrying mechanical arm position is demarcated using AGV location information
CN107045342B (en) A kind of autonomous guidance system of interactive mode based on three-wheel Omni-mobile and method
CN111113415B (en) Robot positioning method based on two-dimensional code road sign, camera and gyroscope

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20210129

RJ01 Rejection of invention patent application after publication