CN113504779B - Unmanned AGV navigation system based on identification band for intelligent logistics and navigation method thereof - Google Patents
Unmanned AGV navigation system based on identification band for intelligent logistics and navigation method thereof Download PDFInfo
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- CN113504779B CN113504779B CN202110938762.6A CN202110938762A CN113504779B CN 113504779 B CN113504779 B CN 113504779B CN 202110938762 A CN202110938762 A CN 202110938762A CN 113504779 B CN113504779 B CN 113504779B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
Abstract
The invention discloses an intelligent AGV unmanned navigation system for logistics based on identification bands, which comprises an AGV trolley, a plurality of transverse identification bands and longitudinal identification bands, wherein the transverse identification bands and the longitudinal identification bands are mutually perpendicular and are uniformly distributed on the ground in a crossing manner; the AGV trolley comprises a trolley body, a scanning mechanism, two laser emission units, an image processing unit and a central control unit; the two laser emission units can project linear laser beams on the ground below the vehicle body; the scanning mechanism is used for shooting the transverse identification belt, the longitudinal identification belt and the linear laser beam on the ground to obtain a photo, and transmitting the photo to the image processing unit; the image processing unit stores a coordinate function and is used for analyzing and processing the photo; the central control unit is used for calculating an optimal path according to the coordinate values and the attitude information and controlling the AGV trolley to run along the optimal path; the intelligent navigation system for the AGV trolley realizes intelligent navigation of the AGV trolley and has the characteristics of flexible and simple control and low cost.
Description
Technical Field
The invention relates to an intelligent AGV unmanned navigation system for logistics based on identification bands.
Background
The current AGV trolley navigation mode can be divided into two modes of direct coordinate navigation and global map navigation, wherein the direct coordinate navigation comprises modes such as magnetic stripe navigation, two-dimensional code identification navigation, RFID identification navigation and the like, and the fixed reference object is arranged on an AGV trolley running line, and the identification module on the AGV trolley is utilized to identify the reference object so as to realize the navigation of the AGV trolley; in the navigation mode, the operation line of the AGV trolley is fixed, if the operation line of the AGV trolley needs to be added or changed, the position of a reference object on the operation line needs to be changed, the change of the line is inconvenient, and the flexibility is poor;
the global map navigation is to sense the surrounding environment of the running track of the AGV by using a sensor on the AGV, construct a global map of the surrounding environment by using a SLAM algorithm, and perform autonomous navigation on the basis of the global map; the AGV trolley can carry out autonomous navigation according to the global map in the operation process without setting a fixed reference object, an operation line is adjusted in real time according to the surrounding environment, the AGV trolley has good obstacle avoidance and path optimization capability, and the AGV trolley is flexible to operate and high in efficiency, but is complex to control and high in cost due to the complexity of the environment.
Disclosure of Invention
The invention aims to overcome the defects and provide the AGV unmanned navigation system for intelligent logistics based on identification bands.
In order to achieve the above object, the present invention is specifically as follows:
an intelligent AGV unmanned navigation system for logistics based on identification bands comprises a plurality of transverse identification bands and longitudinal identification bands which are mutually perpendicular and uniformly distributed on the ground in a crossing manner, and an AGV trolley capable of automatically navigating;
the ground is divided into a plurality of grid areas by the transverse identification belt and the longitudinal identification belt; the transverse identification belt and the longitudinal identification belt are of right trapezoid structures, the colors of the transverse identification belt and the longitudinal identification belt are different, and the colors of the oblique sides of the transverse identification belt and the longitudinal identification belt are different from the colors of the right-angle sides of the oblique sides of the longitudinal identification belt and the longitudinal identification belt;
the AGV trolley comprises a trolley body, a scanning mechanism, two laser emission units, an image processing unit and a central control unit; the two laser emission units are respectively and correspondingly fixedly arranged at the two directions of length and width of the bottom of the vehicle body, and respectively and correspondingly can project linear laser beams on the ground below the vehicle body; the scanning mechanism is arranged in the center of the bottom of the vehicle body and is used for shooting a transverse identification belt, a longitudinal identification belt and a linear laser beam on the ground to obtain a photo, the photo is transmitted to the image processing unit, and the two laser emission units are positioned in the scanning range of the scanning mechanism; the image processing unit stores a coordinate function and is used for analyzing and processing the photo; the analysis processing comprises the steps of identifying the intersection position of a linear laser beam and a transverse identification belt or a longitudinal identification belt, identifying the intersection point between the linear laser beams, identifying the position relation between the intersection point and the intersection position, measuring the length from the intersection point to the transverse identification belt or the longitudinal identification belt along a ray path, the length of the linear laser beam intercepted by the transverse identification belt or the longitudinal identification belt and the included angle between the linear laser beam and the right-angle side of the transverse identification belt or the longitudinal identification belt, and calculating coordinate values of the center of the AGV and attitude information of the AGV through a coordinate function; the central control unit is used for calculating an optimal path according to the coordinate values and the attitude information and controlling the AGV trolley to run along the optimal path; the position relation comprises that the intersection point is positioned on the upper side, the lower side, the right side or the left side of the intersection position, and the gesture information comprises that the head of the AGV trolley faces, the head of the AGV trolley deflects leftwards, and the head of the AGV trolley deflects rightwards.
The invention further provides a scanning mechanism which comprises a scanning motor, a linear motor, two sliding blocks, a long-focus lens and a wide-angle lens; the scanning motor is fixed in the center of the bottom of the vehicle body, the linear motor is connected to the output end of the scanning motor, the two sliding blocks are correspondingly connected to the output end of the linear motor, and the long-focus lens and the wide-angle lens are correspondingly installed on the two sliding blocks respectively.
The invention further provides a camera shooting distance measuring unit which is respectively arranged in the front, back, left and right directions of the car body in a one-to-one correspondence manner; the camera shooting distance measuring unit comprises a camera for shooting the obstacle and an ultrasonic distance sensor for detecting the distance between the camera shooting distance measuring unit and the obstacle.
The AGV trolley further comprises a communication module for performing instant interactive communication.
The image processing unit is further used for carrying out contour extraction and characteristic analysis on a quadrilateral area formed at the intersection of the transverse identification belt and the longitudinal identification belt; the central control unit is provided with a coordinate value database corresponding to the quadrilateral areas one by one.
The invention further discloses a method for manufacturing the laser beam vehicle, which comprises the following steps of enabling the intersection point of the linear laser beams of the two laser emission units on the ground to coincide with the projection of the center of the vehicle body on the ground.
The beneficial effects of the invention are as follows: according to the invention, the transverse identification belt and the longitudinal identification belt which are rectangular trapezoids in section are paved on the ground, and the laser emitting unit on the AGV is utilized to emit a linear laser beam on the ground, so that the coordinate value of the AGV is obtained by carrying out visual identification through the image processing unit and calling a corresponding coordinate function, and the gesture information of the AGV is judged by visually identifying the position of the laser emitting unit and the width extending direction of the identification belt, so that the AGV runs along an optimal path under the control of the central control unit, and the intelligent navigation of the AGV is realized.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a perspective view of the AGV of the present invention;
FIG. 4 is a schematic representation of the coordinates of the present invention when the laser beam intersection point is located to the left of the longitudinal marker band and the light rays are obliquely upward;
FIG. 5 is a schematic representation of the coordinates of the present invention when the laser beam intersection point is located to the left of the longitudinal marker band and the light rays are obliquely downward;
FIG. 6 is a schematic representation of the coordinates of the present invention when the laser beam intersection point is located on the right side of the longitudinal marker band and the light rays are obliquely downward;
FIG. 7 is a schematic representation of the coordinates of the present invention when the laser beam intersection point is located on the right side of the longitudinal marker band and the light rays are obliquely upward;
FIG. 8 is a schematic representation of the coordinates of the present invention when the laser beam intersection is located on the underside of the lateral marker band and the light is deflected to the right;
FIG. 9 is a schematic representation of the coordinates of the present invention when the laser beam intersection is located on the underside of the lateral marker band and the light is biased to the left;
FIG. 10 is a schematic view of the coordinates of the present invention when the laser beam intersection is located on the upper side of the lateral marker band and the light is deflected to the right;
FIG. 11 is a schematic representation of the coordinates of the present invention when the laser beam intersection is located on the upper side of the lateral marker band and the light is biased to the left;
reference numerals illustrate: 100. a transverse identification band; 200. a longitudinal identification band; 300. AGV trolley; 1. a vehicle body; 2. a scanning mechanism; 21. a scanning motor; 22. a linear motor; 23. a sliding block; 24. a tele lens; 25. a wide angle lens; 3. a laser emitting unit; 4. an image processing unit; 5. a central control unit; 6. a camera ranging unit; 7. and a communication module.
Detailed Description
The invention will now be described in further detail with reference to the drawings and the specific embodiments, without limiting the scope of the invention.
As shown in fig. 1 to 11, the intelligent logistic unmanned AGV navigation system based on identification belt recognition according to the present embodiment includes a plurality of transverse identification belts 100 and longitudinal identification belts 200 which are vertically and crosswise distributed on the ground, and an AGV trolley 300 capable of autonomous navigation; the number of AGV trolleys 300 can be multiple, and the AGV trolleys can be freely set according to actual needs;
the transverse identification band 100 and the longitudinal identification band 200 divide the ground into a plurality of grid areas; the transverse identification belt 100 and the longitudinal identification belt 200 are both in right trapezoid structures, the colors of the transverse identification belt 100 and the longitudinal identification belt 200 are different, and the colors of the oblique sides and the right-angle sides of the transverse identification belt 100 and the longitudinal identification belt 200 are different, so that the oblique sides and the right-angle sides of the transverse identification belt 100 or the longitudinal identification belt 200 can be directly identified through color information in a picture;
the AGV trolley 300 comprises a trolley body 1, a scanning mechanism 2, two laser emission units 3, an image processing unit 4 and a central control unit 5; the two laser emission units 3 are respectively and correspondingly fixedly arranged at the positions of the bottom of the vehicle body 1 in the length-width direction, and respectively and correspondingly project linear laser beams which are coincident with the center plane of the vehicle body 1 in the length-width direction on the ground below the vehicle body 1; the scanning mechanism 2 is arranged in the center of the bottom of the vehicle body 1 and is used for shooting a transverse identification belt 100, a longitudinal identification belt 200 and a linear laser beam on the ground to obtain a photo, the photo is transmitted to the image processing unit 4, and the two laser emission units 3 are positioned in the scanning range of the scanning mechanism 2; the image processing unit 4 stores a coordinate function and is used for analyzing and processing the photo; the analysis processing includes identifying the intersection position of the linear laser beam and the transverse identification belt 100 or the longitudinal identification belt 200, identifying the intersection point between the linear laser beams, identifying the positional relationship between the intersection point and the intersection position, measuring the length from the intersection point to the transverse identification belt 100 or the longitudinal identification belt 200 along the light path, the length of the linear laser beam intercepted by the transverse identification belt 100 or the longitudinal identification belt 200, and the included angle between the linear laser beam and the right-angle side of the transverse identification belt 100 or the longitudinal identification belt 200, and calculating the coordinate value of the center of the AGV trolley 300 and the posture information of the AGV trolley 300 through a coordinate function; the central control unit 5 is used for calculating an optimal path according to the coordinate values and the gesture information and controlling the AGV trolley 300 to run along the optimal path; the position relationship includes that the intersection point is located at the upper side, the lower side, the right side or the left side of the intersection position, and the gesture information includes that the head of the AGV trolley 300 is oriented, the head of the AGV trolley 300 is biased leftwards, and the head of the AGV trolley 300 is biased rightwards.
In this embodiment, specifically, the coordinate function includes the following: [ (l2×sinα -d)/tan β+l1×cos α ], [ (l2×sinα -d)/tan β -l1×cos α ], [ (l2×sinα -d)/tan β+ (l1—l2) ×cos α ], [ (l2×sinα -d)/tan β - (l1—l2) ×cos α ]; wherein L1 is the maximum length of the intersection point of the linear laser beam along the light path to the transverse identification belt 100 or the longitudinal identification belt 200, L2 is the length of the linear laser beam intercepted by the transverse identification belt 100 or the longitudinal identification belt 200, α is the angle between the linear laser beam and the right-angle side of the transverse identification belt 100 or the longitudinal identification belt 200, d is the width of the end of the transverse identification belt 100 or the longitudinal identification belt 200, and β is the angle between the oblique side of the transverse identification belt 100 or the longitudinal identification belt 200 and the right-angle side thereof; so, through the visual recognition line laser beam intersecting point and line laser beam and outline shape of the identification band, call the correspondent coordinate function automatically, wherein, when the line laser beam is perpendicular to the identification band, call any coordinate function; when the intersection point of the linear laser beam is located at the intersection area of the transverse identification belt 100 and the longitudinal identification belt 200, the coordinate value of the AGV trolley 300 is directly determined by the shape size of the intersection area of the transverse identification belt 100 and the longitudinal identification belt 200, because the shape size of the intersection area of each transverse identification belt 100 and each longitudinal identification belt 200 is unique. In fig. 4 to 11, L1 is the distance between points a and c, L2 is the distance between points b and c, and d is the distance between points h and k.
The working mode of the embodiment is as follows: in operation, a plurality of AGV trolleys 300 are parked on the ground, two laser emission units 3 on the AGV trolleys 300 emit two linear laser beams which are overlapped with the central plane of the length and width directions of the trolley body 1 towards the ground to form two linear laser beams which are mutually perpendicular to each other, and then the scanning mechanism 2 shoots the area below the trolley body 1, so that a picture of the ground is obtained, and the picture comprises the following components: the transverse identification band 100, the longitudinal identification band 200, the transverse linear laser beam, the longitudinal linear laser beam, the intersection point of the two linear laser beams and other characteristics, then the scanning mechanism 2 transmits the photo to the image processing unit 4, the image processing unit 4 performs sharpening processing on the photo, the contour definition of each characteristic on the photo is improved, and after the sharpening processing, the image processing unit 4 extracts contour lines of each characteristic on the photo information and converts the contour lines into a wire frame pattern; then, the corresponding coordinate functions are automatically called after the position relation between the intersection points among the linear laser beams and the intersection positions of the linear laser beams and the identification belt are identified through visual identification, the transverse coordinates and the longitudinal coordinates of the intersection points among the linear laser beams are calculated correspondingly, the transverse distance and the longitudinal distance between the intersection points among the linear laser beams and the center of the AGV trolley 300 are determined, so that the coordinate value of the AGV trolley 300 is obtained through the transverse coordinates and the longitudinal coordinates of the intersection points among the linear laser beams, the position of the AGV trolley 300 on the ground can be reflected through the coordinate value of the AGV trolley 300, meanwhile, the position of a light source is identified through the picture shot by the scanning mechanism 2, the head direction and the head deflection of the AGV trolley 300 are judged through combination of the width extension directions of the identification belt, then the image processing unit 4 transmits the calculated coordinate value and the gesture information of the AGV trolley 300 to the central control unit 5, the central control unit 5 calculates the optimal path and controls the AGV trolley 300 to run along the optimal path, and meanwhile, and the AGV 300 runs along the optimal path is adjusted through different gesture information and the obtained gesture information.
The embodiment utilizes the transverse identification belt 100 and the longitudinal identification belt 200 which are paved on the ground and have rectangular trapezoid cross sections to form a coordinate network, and utilizes the laser emission unit 3 on the AGV trolley 300 to emit a linear laser beam on the ground, so that the coordinate value of the AGV trolley 300 is obtained by carrying out visual identification through the image processing unit 4 and calling a corresponding coordinate function, and the gesture information of the AGV trolley 300 is judged by visually identifying the position of the laser emission unit 3 and the width extending direction of the identification belt, so that the AGV trolley 300 runs along an optimal path under the control of the central control unit 5, and the intelligent navigation of the AGV trolley 300 is realized.
Based on the above embodiment, further, the scanning mechanism 2 includes a scanning motor 21, a linear motor 22, two sliding blocks 23, a telephoto lens 24, and a wide-angle lens 25; the scanning motor 21 is fixed at the center of the bottom of the vehicle body 1, the linear motor 22 is connected to the output end of the scanning motor 21, the two sliding blocks 23 are correspondingly connected to the output end of the linear motor 22, and the tele lens 24 and the wide lens 25 are respectively correspondingly installed on the two sliding blocks 23.
In actual use, during the movement process of the AGV trolley 300, the scanning motor 21 drives the long-focus lens 24 and the wide-angle lens 25 to rotate through the linear motor 22, so as to scan and shoot the area where the vehicle body 1 passes; in the shooting process, the wide-angle lens 25 shoots a photo capable of covering the ground area on the lower side of the vehicle body 1 with a larger focal length, the shot photo is transmitted to the image processing unit 4, the image processing unit 4 performs sharpening processing on the photo to obtain area coordinate information with a transverse identification band 100, a longitudinal identification band 200 and a linear laser beam in the photo, the area coordinate information is transmitted to the central control unit 5, the central control unit 5 controls the linear motor 22 to drive the sliding block 23 to move, the sliding block 23 drives the long-focus lens 24 to move to the area coordinate information, the long-focus lens 24 adjusts the focal length to shoot the characteristics in the area and obtain a high-definition photo, and then the image processing unit 4 performs sharpening processing on the obtained high-definition photo and calculates coordinate values and gesture information of the AGV 300, so that all contour lines are clearer and the AGV is more convenient to recognize the line block diagram.
Based on the above embodiment, further, the four directions of the vehicle body 1 are respectively provided with the imaging distance measuring units 6 in a one-to-one correspondence; the camera distance measuring unit 6 comprises a camera for shooting the obstacle and an ultrasonic distance sensor for detecting the distance between the camera distance measuring unit 6 and the obstacle.
In actual use, during the movement of the AGV 300, the camera ranging units 6 positioned around the vehicle body 1 can detect whether an obstacle exists in the travelling direction in real time through the ultrasonic distance sensor, when the ultrasonic distance sensor detects the existence of the obstacle, the camera shoots the environment in the direction of the obstacle and obtains a picture containing the characteristics of the obstacle, and the image processing unit 4 obtains the size and surface state information of the obstacle by processing and analyzing the picture containing the characteristics of the obstacle and obtains the position of the obstacle through the ultrasonic distance sensor; thus, the safety of the AGV 300 in the advancing process is guaranteed, and the navigation is safer and more reliable.
Based on the above embodiment, the AGV trolley 300 further includes a communication module 7 for performing instant interactive communication. The information such as the real-time position, the gesture, the surrounding obstacle distribution situation and the like of each AGV trolley 300 is shared in real time through the communication module 7, so that collision caused by route planning conflicts among different AGV trolleys 300 is avoided; meanwhile, sharing information is beneficial to enabling each AGV 300 to acquire more surrounding environment information for building a global map, repeated calculation of obstacles and environment characteristics is greatly reduced, system operation efficiency is improved, and control cost is further reduced.
Based on the above embodiment, further, the image processing unit 4 is further configured to perform contour extraction and feature analysis on a quadrilateral area formed at the intersection of the transverse identification belt 100 and the longitudinal identification belt 200; the central control unit 5 is provided with a coordinate value database corresponding to the quadrilateral areas one by one. Because the areas and the shapes of the quadrilateral areas formed at the intersections of the transverse identification bands 100 and the longitudinal identification bands 200 at different positions are unique, the accurate coordinate values of the AGV trolley 300 can be obtained by comparing the areas and the shapes of the quadrilateral areas extracted from the photos with quadrilateral area data in a coordinate value database, the coordinate values in the moving process of the AGV trolley 300 are corrected, and the navigation reliability is improved.
Further, on the basis of the above-described embodiment, the intersection point of the linear laser beams of the two laser emitting units 3 on the ground coincides with the projection of the center of the vehicle body 1 on the ground. Namely, the two laser emitting units 3 are respectively and correspondingly fixedly arranged at the central positions of the bottom of the vehicle body 1 in the length-width direction, at the moment, the transverse distance and the longitudinal distance between the intersection point of the linear laser beams and the center of the AGV 300 are zero, and the calculation of the coordinate value of the AGV 300 is simplified.
The foregoing description is only one preferred embodiment of the invention, and therefore all changes and modifications that come within the meaning and range of equivalency of the structures, features and principles of the invention are intended to be embraced therein.
Claims (7)
1. An intelligent AGV unmanned navigation system for logistics based on identification bands is characterized by comprising a plurality of transverse identification bands (100) and longitudinal identification bands (200) which are mutually perpendicular and are uniformly distributed on the ground in a crossing manner, and an AGV trolley (300) capable of automatically navigating;
the transverse identification belt (100) and the longitudinal identification belt (200) divide the ground into a plurality of grid areas; the transverse identification belt (100) and the longitudinal identification belt (200) are of right trapezoid structures, the colors of the transverse identification belt (100) and the longitudinal identification belt (200) are different, and the colors of the oblique sides of the transverse identification belt (100) and the longitudinal identification belt (200) and the right-angle sides of the transverse identification belt and the longitudinal identification belt are different;
the AGV trolley (300) comprises a trolley body (1), a scanning mechanism (2), two laser emission units (3), an image processing unit (4) and a central control unit (5); the two laser emission units (3) are respectively and correspondingly and fixedly arranged at the two directions of length and width of the bottom of the vehicle body (1), and respectively and correspondingly can project linear laser beams on the ground below the vehicle body (1); the scanning mechanism (2) is arranged in the center of the bottom of the vehicle body (1) and is used for shooting a transverse identification belt (100), a longitudinal identification belt (200) and a linear laser beam on the ground to obtain a photo, the photo is transmitted to the image processing unit (4), and the two laser emission units (3) are positioned in the scanning range of the scanning mechanism (2); the image processing unit (4) stores a coordinate function and is used for analyzing and processing the photo; the analysis processing comprises the steps of identifying the intersection position of a linear laser beam and a transverse identification belt (100) or a longitudinal identification belt (200), identifying the intersection point between the linear laser beams, identifying the position relation between the intersection point and the intersection position, measuring the length of the intersection point from the transverse identification belt (100) or the longitudinal identification belt (200) to the transverse identification belt (100) or the longitudinal identification belt (200) along a ray path, the length of the linear laser beam intercepted by the transverse identification belt (100) or the longitudinal identification belt (200) and the included angle between the linear laser beam and the right-angle edge of the transverse identification belt (100) or the longitudinal identification belt (200), and calculating the coordinate value of the center of the AGV trolley (300) and the posture information of the AGV trolley (300) through a coordinate function; the central control unit (5) is used for calculating an optimal path according to the coordinate values and the attitude information and controlling the AGV trolley (300) to run along the optimal path; the position relation comprises that the intersection point is located on the upper side, the lower side, the right side or the left side of the intersection position, and the gesture information comprises that the head of the AGV trolley (300) faces, the head of the AGV trolley (300) deflects leftwards, and the head of the AGV trolley (300) deflects rightwards.
2. The intelligent logistics unmanned AGV navigation system based on identification belt identification according to claim 1, wherein the scanning mechanism (2) comprises a scanning motor (21), a linear motor (22), two sliding blocks (23), a tele lens (24) and a wide lens (25); the scanning motor (21) is fixed at the center of the bottom of the vehicle body (1), the linear motor (22) is connected to the output end of the scanning motor (21), the two sliding blocks (23) are correspondingly connected to the output end of the linear motor (22), and the tele lens (24) and the wide-angle lens (25) are correspondingly arranged on the two sliding blocks (23) respectively.
3. The unmanned AGV navigation system based on identification belt identification for intelligent logistics according to claim 1, wherein the four directions of the car body (1) are respectively provided with a camera shooting distance measuring unit (6) in a one-to-one correspondence; the imaging distance measuring unit (6) comprises a camera for shooting the obstacle and an ultrasonic distance sensor for detecting the distance between the imaging distance measuring unit (6) and the obstacle.
4. The intelligent logistics unmanned AGV navigation system based on identification band identification of claim 1, wherein the AGV trolley (300) further comprises a communication module (7) for instant interactive communication.
5. The intelligent logistics unmanned AGV navigation system based on identification belt identification according to claim 1, wherein the image processing unit (4) is further used for performing contour extraction and feature analysis on a quadrilateral area formed by the intersection of the transverse identification belt (100) and the longitudinal identification belt (200); the central control unit (5) is provided with a coordinate value database corresponding to the quadrilateral areas one by one.
6. The intelligent logistics unmanned AGV navigation system based on identification belt identification according to claim 1, wherein the intersection point of the linear laser beams of the two laser emitting units (3) on the ground coincides with the projection of the center of the vehicle body (1) on the ground.
7. The navigation method of an intelligent logistics unmanned AGV navigation system based on identification belt identification according to claim 1, wherein a plurality of AGV trolleys (300) are parked on the ground during operation, two laser emitting units (3) on the AGV trolleys (300) emit two linear laser beams which are coincident with the central plane of the length and width directions of the vehicle body (1) towards the ground to form two linear laser beams which are mutually perpendicular and intersected, and then a scanning mechanism (2) shoots the area below the vehicle body (1) to obtain a picture of the ground, wherein the picture comprises the following steps: the method comprises the steps of (1) transmitting a photo to an image processing unit (4) by a scanning mechanism (2), sharpening the photo by the image processing unit (4) to improve the definition of the outline of each feature on the photo, and extracting the outline of each feature on photo information by the image processing unit (4) and converting the outline into a wire frame graph after the sharpening; then, through visual recognition of a wire frame graph and recognition of the position relationship between the intersection point between the linear laser beams and the intersection position of the linear laser beams and the identification belt, corresponding coordinate functions are automatically called, the transverse coordinates and the longitudinal coordinates of the intersection point between the linear laser beams are calculated correspondingly, the transverse distance and the longitudinal distance between the intersection point between the linear laser beams and the center of the AGV trolley (300) are determined, so that the coordinate value of the AGV trolley (300) is obtained through the transverse coordinates and the longitudinal coordinates of the intersection point between the linear laser beams, the position of the AGV trolley (300) on the ground can be reflected through the coordinate value of the AGV trolley (300), meanwhile, the position of the two laser emitting units (3) is determined, the position of the light source is recognized through the picture shot by the scanning mechanism (2), the width extending direction of the identification belt is combined, the head orientation and the head deflection of the AGV trolley (300) are judged, then the image processing unit (4) transmits the calculated coordinate value and gesture information of the AGV trolley (300) to the central control unit (5), the central control unit (5) calculates the optimal path and controls the position of the AGV trolley (300) to be located along the optimal path (300), and the optimal path (300) is not adjusted, and the AGV is simultaneously, and the optimal path (300) is obtained.
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