AGV POSITIONING METHOD AND APPARATUS, AND STORAGE MEDIUM AND AGV

WIPO Patent Application WO/2022/121738

A1

An AGV positioning method and apparatus, a storage medium, and an AGV, capable of implementing secondary positioning of an AGV to achieve precise positioning; the method is simple and easy to use, and the hardware costs are low. The method comprises: acquiring first recognition information of a target workstation by means of a first camera, and determining first coordinates and a first angle of deflection; performing correction on the first coordinates and the first angle of deflection and, when the first coordinates and the first angle of deflection meet a preset correction condition, acquiring second recognition information by means of a second camera and determining the offset displacement between the projection of the second camera in the first coordinate system and the axis of the first coordinate system; on the basis of the offset displacement and a first distance, calculating a second angle of deflection; and, on the basis of the second angle of deflection, controlling the vehicle to rotate until the connecting line of the projections of the second camera and the first camera in the first coordinate system coincides with or is parallel to the axis of the first coordinate system.

YAN BINGJIANG (CN)
ZHU XIAOKANG (CN)
ZHENG GUIGANG (CN)
ZENG ZHIWEI (CN)
SHI ZHENGUO (CN)

PCT/CN2021/134567

June 16, 2022

November 30, 2021

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SMARTGUY INTELLIGENT EQUIPMENT CO LTD (CN)
CONPROFE TECH GROUP CO LTD (CN)

G06K9/00; G06T7/73; H04N5/225

CN112597819A	2021-04-02
CN110347160A	2019-10-18
CN111044046A	2020-04-21
CN109543489A	2019-03-29
US20200206921A1	2020-07-02
CN110794838A	2020-02-14

SCIHEAD IP LAW FIRM (CN)

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