CN106197404A - A kind of AGV alignment system and localization method - Google Patents
A kind of AGV alignment system and localization method Download PDFInfo
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- CN106197404A CN106197404A CN201610545680.4A CN201610545680A CN106197404A CN 106197404 A CN106197404 A CN 106197404A CN 201610545680 A CN201610545680 A CN 201610545680A CN 106197404 A CN106197404 A CN 106197404A
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- 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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
- G06K19/06046—Constructional details
- G06K19/0614—Constructional details the marking being selective to wavelength, e.g. color barcode or barcodes only visible under UV or IR
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/12—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using a selected wavelength, e.g. to sense red marks and ignore blue marks
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
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- General Physics & Mathematics (AREA)
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- Radar, Positioning & Navigation (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Automation & Control Theory (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
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Abstract
The invention discloses a kind of AGV alignment system and localization method, described system includes electronic tag, infrared locating module and control module；Described electronic tag is preset in above AGV operating path, and has tag ID on label；Described infrared locating module is installed on both sides before and after described AGV direction of travel, and meets preset threshold range with the vertical dimension of described electronic tag；Described control module is connected with described infrared locating module, for obtaining the ID of described electronic tag and the relative position deviation that described infrared locating module sends, and obtains the positional information of described AGV according to the ID of described electronic tag and relative position deviation.The present invention is by respectively installing an infrared locating module in AGV both sides, and the attitude of AGV is calculated by two-point locating, improves repetitive positioning accuracy and the precise angular positions of AGV, and label is installed more convenient, and route diversion is flexible, and cost is relatively low.
Description
Technical field
The invention belongs to technical field of transportation, be specifically related to alignment system and the localization method of a kind of AGV.
Background technology
Defining according to U.S. Logistics association, AGV (Automated Guided Vehicle) refers to be equipped with electricity magnetically or optically
Learn guiding device, it is possible to travel according to the guided path of regulation, have trolley travelling and lugs, safety guard and
There is the travelling bogie of various transfer function.
In China's national standard " logistics terms ", the definition to AGV is:
AGV, equipped with homing guidance device, it is possible to along the route of regulation, has programming and selection of stopping on car body
Device, safety guard and the carrying vehicle of various material transfer function.
AGV navigation mode includes the navigation of electromagnetic navigation, tape, laser navigation, vision guided navigation and infrared vision guided navigation etc.；Its
In, infrared vision guided navigation is in the AGV operating path passive Landmark infrared tags with ID arranged above, by
AGV one infrared locating module of upper installation, after the infrared image that Treatment Analysis is returned by tag reflection, obtains position and direction number
According to, but use an infrared locating module, make the positioning precision of AGV and System Fault Tolerance rate the most relatively low.
Summary of the invention
The present invention, by installing and using two infrared vision modules on AGV, improves positioning precision and System Fault Tolerance rate.
One of purpose of the embodiment of the present invention is to provide a kind of AGV alignment system, including electronic tag, infrared locating module
And control module；
Described electronic tag is preset in above AGV operating path, and has tag ID on label；
Described infrared locating module is two, is respectively arranged in both sides before and after described AGV direction of travel, described infrared fixed
Position module meets preset threshold range with the vertical dimension of described electronic tag, so that the infrared-ray of described infrared locating module
Arrive the field range spacing not less than any two adjacent label of described electronic tag place plane；
Described control module is connected with described infrared locating module, and described infrared locating module is used for obtaining described electronics mark
The ID signed and relative position deviation, the described electronic tag that described control module sends for obtaining described infrared locating module
ID and relative position deviation, and the positional information of described AGV is obtained according to the ID of described electronic tag and relative position deviation.
Further, described control module is led according to the positional information of described AGV and the target location of described AGV
Boat.
Further, described electronic tag is passive infrared electronic tag.
Further, described infrared locating module is arranged on the centrage of described AGV, and about the center of described AGV
Point symmetry；
Described central point is the geometric center of described AGV body construction, in the centrage of described AGV and AGV walking passageway
Heart line is parallel and through described central point.
Further, described control module for obtain described infrared locating module send described electronic tag ID and
Relative position deviation, and the position coordinates of described electronic tag, described control module root is obtained according to the ID of described electronic tag
According to position coordinates and the position coordinates of the described relative position deviation described infrared locating module of acquisition of described electronic tag, and root
Position coordinates according to described infrared locating module calculates the positional information of described AGV.
Further, the positional information of described AGV includes center position coordinate and the deflection of described AGV of described AGV
Angle；
Wherein, the central point of described AGV is the geometric center of AGV body construction, and the deflection angle of described AGV is AGV's
Centrage and the angle of the actual direction of travel of AGV, the centrage of wherein said AGV and AGV walking passageway centerline parallel and warp
Cross described central point.
Further, distance D between infrared locating module described in said two and between described any two adjacent label
Meeting D=nd+1/2d, n away from d is integer and n >=0.
Further, described infrared locating module is provided around fence, is provided with black light-absorbing material inside described fence.
Further, described control module is additionally operable to the ID of the described electronic tag sent according to described infrared locating module
And relative position deviation, it is judged that the failure condition of described infrared locating module.
The another one purpose of the embodiment of the present invention is to provide a kind of AGV localization method, and described method comprises the steps:
Described control module obtains ID ID1 and ID2 of described electronic tag respectively from two described infrared locating modules,
And described relative position deviation (ID1X, ID1Y) and (ID2X, ID2Y)；
Described control module finds described ID1 in the data prestored respectively, position coordinates corresponding to ID2 (X1,
And (X2, Y2) Y1)；
Described control module is according to the position coordinates (X1, Y1) of described electronic tag and (X2, Y2), and described relative position
Deviation (ID1X, ID1Y) and (ID2X, ID2Y), obtain position coordinates A (X1+ID1X, the Y1+ of described infrared locating module
ID1Y), B (X2+ID2X, Y2+ID2Y)；
Described control module obtains the positional information of described AGV according to the position coordinates of described infrared locating module.
Further, described control module is according to the position on the target ground of the positional information of described AGV and AGV, to AGV's
Operation is navigated.
Further, the positional information of described AGV includes the position coordinates of the central point O of described AGV, and described AGV
Deflection angle a；
Described infrared locating module is arranged on the centrage of described AGV, and the central point O about described AGV is symmetrical, then
The position coordinates X=(X1+ID1X+X2+ID2X)/2 of the central point O of described AGV；Y=(Y1+ID1Y+Y2+ID2Y)/2, described
The deflection angle a=arctan [(Y1+ID1Y-Y2-ID2Y)/(X1+ID1X-X2-ID2X)] of AGV；
Wherein, the central point of described AGV is the geometric center of AGV body construction, and the deflection angle of described AGV is AGV's
Centrage and the angle of the actual direction of travel of AGV, the centrage of wherein said AGV and AGV walking passageway centerline parallel and warp
Cross described central point.
Further, described control module is according to the ID of the described electronic tag obtained from described infrared locating module and phase
Situation to position deviation, whether infrared locating module described in real-time judge breaks down.
Further, if described control module is inclined without the ID and position relatively receiving described electronic tag
Difference, or, ID and the relative position deviation of the described electronic tag received when described AGV runs do not change, then sentence
Fixed described infrared locating module breaks down.
Further, described control module checking (Y1+ID1Y-Y2-ID2Y)2+(X1+ID1X-X2-ID2X)2Whether it is equal to
D2If deviation is more than predetermined threshold value, then judge that described infrared locating module breaks down；Wherein, D be two described infrared fixed
Distance between the module of position.
Further, when judging that one of them described infrared locating module breaks down, described control module is according to another
The ID of the described electronic tag that individual described infrared locating module sends and relative position deviation, obtain this described infrared locating module
Position coordinates, and according to described position coordinates obtain described AGV positional information.
Further, the positional information of described AGV includes the position coordinates of the central point O of described AGV, and described AGV
Deflection angle a；Described infrared locating module is arranged on the centrage of described AGV, and the central point O about described AGV is symmetrical；
Described control module obtains position deviation IDX of described electronic tag from another infrared locating module described,
IDY, and the deflection angle a1 of described AGV；
Described control module find in the data prestored position coordinates corresponding to described electronic tag ID (X,
Y)；
The position coordinates X=X+IDX-1/2D*sina1, Y=Y+IDY-1/2D*cosa1 of the central point O of the most described AGV；
Wherein, D is the distance between two described infrared locating modules；The deflection angle of described AGV is the centrage of AGV
The angle of direction of travel actual with AGV, the centrage of wherein said AGV and AGV walking passageway centerline parallel and through described
Central point, the central point of described AGV is the geometric center of AGV body construction.
By respectively installing an infrared locating module in AGV both sides, the attitude of AGV is calculated by two-point locating, improves
The repetitive positioning accuracy of AGV and precise angular positions, and label installation is more convenient, route diversion is flexible, and cost is relatively low.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the AVG navigation system structural representation that the embodiment of the present invention provides；
Fig. 2 is the AVG navigation system structured flowchart that the embodiment of the present invention provides；
Fig. 3 is the AVG air navigation aid schematic flow sheet that the embodiment of the present invention provides；
Fig. 4 is the AVG air navigation aid schematic flow sheet that the embodiment of the present invention provides；
Fig. 5 is the AVG navigation system mechanism exemplary relationship figure that the embodiment of the present invention provides；
Fig. 6 is the AVG navigation system structural relation exemplary plot that the embodiment of the present invention provides.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Understandable, below in conjunction with the accompanying drawings to the present invention for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from
Detailed description of the invention be described in detail.
Seeing Fig. 1, this figure is the AVG positioning system structure schematic diagram that the embodiment of the present invention provides.
As it is shown in figure 1, this system includes electronic tag 101, first infrared locating module the 102, second infrared locating module
103 and control module 104；
Described electronic tag 101 is preset in above AGV operating path, and has tag ID on label；
It should be noted that arranging of described electronic tag 101 can be equally spaced evenly distributed, it is also possible to be non-all
Even layout, as long as ensureing the infrared beam that label can be launched at described first infrared locating module 102 and the second infrared module 103
Within sweep of the eye；Described label is passive infrared exoelectron label, so that described infrared locating module can receive described
The ID of label；In the present embodiment, described electronic tag 101 is set in qually spaced in the ceiling above AGV operating path, such as between
Away from 1 meter.
Described first infrared locating module 102 and the second infrared locating module 103 are respectively arranged in described AGV direction of travel
Before and after both sides, the vertical dimension of described first infrared locating module, the second infrared locating module and described electronic tag meets
Preset threshold range, so that the infrared-ray of described first infrared locating module, the second infrared locating module arrives described electronics
The field range of label place plane is not less than the spacing of any two adjacent label；If described first infrared locating module or
Two infrared locating modules are detected simultaneously by two and above label, then according to the tag computation being introduced into the visual field.
Further, described infrared locating module is provided around fence 105, is provided with black light-absorbing material inside described fence
Material, reduces the interference of ambient.
It should be noted that for the repetitive positioning accuracy improving two described infrared locating modules, can be red by two
The spacing of outside fix module is n+1/2 times of label spacing, distance D between i.e. two infrared locating modules and described any two
Spacing d of adjacent label meets D=(n+1/2) d, and wherein n is integer and n >=0, so, when a label is at vision periphery
Time, another one is scheduled on central region；By label spacing be 1 meter, as a example by infrared locating module spacing is 4.5 meters, one is red
Outside fix module is when central region, and the positioning precision of module can reach ± 1mm, so can by two infrared locating modules
Repetitive positioning accuracy to be brought up to ± 6mm；AGV attitude is calculated by two-point locating, 4.5 meters distance the upper deviations less than ±
20mm, it is possible to the angle precision of AGV is brought up to 0.25 degree, and navigates at the AVG only using single infrared locating module
In system, if this module is under borderline state, repetitive positioning accuracy is ± 10mm, and angle precision is 1 degree；Therefore, at AGV
Before and after direction of travel, both sides respectively use an infrared locating module, can improve repetitive positioning accuracy and the angle location of AGV
Precision, and when a module breaks down wherein, still can continue to run with by using another module to reduce precision.
It should be noted that described infrared locating module and the visual infrared locating module of vertical dimension of described electronic tag
Infrared beam field range depending on, as long as at least one described electronic tag can be comprised described in Bao Zhenging within sweep of the eye i.e.
Can, comprise two and above electronic tag within sweep of the eye if described, then count according to the label being introduced into field range
Calculate；In the present embodiment, described infrared locating module is 1.2-1.5 rice with the vertical dimension of described electronic tag, described in two
Distance between infrared locating module is 4.5 meters.
Described control module 104 is arranged on AGV, and infrared fixed with described first infrared locating module 102, second respectively
Position module 103 connects, and described infrared locating module is for obtaining ID and the relative position deviation of described electronic tag, described control
Module is used for obtaining ID and the relative position deviation of the described electronic tag that described infrared locating module sends, and according to described electricity
The ID of subtab and relative position deviation obtain the positional information of described AGV；
Further, described control module 104 is carried out according to the positional information of described AGV and the target location of described AGV
Navigation.
Specifically, described control module 104 is for obtaining the ID of the described electronic tag that described infrared locating module sends
And relative position deviation, and the position coordinates of the ID described electronic tag of acquisition according to described electronic tag, described control module
Position coordinates according to described electronic tag and the position coordinates of the described relative position deviation described infrared locating module of acquisition, and
Position coordinates according to described infrared locating module calculates the positional information of described AGV, and described control module is according to described AGV's
Positional information and target position information navigate.
It should be noted that in the present embodiment, described infrared locating module is for realizing obtaining relative position deviation merit
Can outsourcing part, the present embodiment used for the infrared locating module of STARGAZER, the most how to obtain relative position deviation
Not in scope.
It should be noted that described control module has the corresponding relation of tag ID and label position coordinate in advance, institute
State control module and can find the position coordinates of described electronic tag according to the ID of electronic tag.
It should be noted that the position coordinates of described first infrared locating module 102 and the second infrared locating module 103 is i.e.
Label position coordinate accessed by this infrared locating module and relative position deviation and.
It should be noted that the positional information of described AGV includes the center position coordinate of described AGV and described AGV's
Deflection angle；Described central point is the geometric center of described AGV body construction, and the deflection angle of described AGV is the centrage of AGV
The angle of direction of travel actual with AGV, wherein, the centrage of described AGV and the centerline parallel of described AGV walking passageway and warp
Cross described central point；Two infrared locating modules position on AGV and AGV centrage, the position relationship of AGV central point,
That infrared locating module determines that when installing and obtainable, and two described infrared locating module walking actual with AGV roads
The position relationship of line, can be by being calculated according to trigonometric function principle, further according to described infrared locating module and the actual row of AGV
Walk route, AGV centrage and the position relationship of central point, the positional information of AGV can be obtained, i.e. the position letter of AGV central point
Breath and the angular relationship of AGV centrage and the actual track route of GV, i.e. deflection angle.
In the present embodiment, described first infrared locating module 102 and the second infrared locating module 103 are arranged at described
On the centrage of AGV, and about the central point of described AGV, such calculated relationship becomes simple, if infrared by two
The position coordinates of locating module, can obtain the coordinate of described AGV central point, simultaneously according to trigonometric function principle, it is possible to obtain
The deflection angle of described AGV.
It should be noted that described control module 104 is led according to positional information and the target position information of described AGV
Boat, is the common knowledge in this area, no longer goes to live in the household of one's in-laws on getting married at this and tells.
Further, described control module 104 is additionally operable to the described electronic tag sent according to described infrared locating module
ID and relative position deviation, it is judged that the failure condition of described infrared locating module.
If it should be noted that control module be not received by tag ID that two infrared locating modules send and/or
Relative position deviation, or, the tag ID and the relative position deviation that receive when AGV runs do not change, then illustrate two
Individual infrared locating module all there occurs fault, and at this moment AGV is by out of service and send alarm；If control module only receives
The tag ID sent to one of them infrared locating module and/or relative position deviation, or, wherein one is only had when AGV runs
Tag ID and the relative position deviation of individual infrared locating module do not change, then the explanation infrared locating module of another one is sent out
Fault, this situation, the described electronic tag that control module can send are given birth to according to the infrared locating module not broken down
ID and relative position deviation, obtain the position coordinates of this infrared locating module, and obtain the position of AGV according to described position coordinates
Confidence ceases, thus AGV is moved roll off the production line etc. to home to be repaired.
The embodiment of the present invention provides a kind of AGV localization method simultaneously, as it is shown on figure 3, described method comprises the steps:
Control module 104 described in S101 is respectively from described first infrared locating module the 102, second infrared locating module 103
Obtain ID ID1 and ID2 of described electronic tag, and described relative position deviation (ID1X, ID1Y) and (ID2X, ID2Y)；
Control module 104 described in S102 finds described ID1, the position corresponding to ID2 in the data prestored respectively
Coordinate (X1, Y1) and (X2, Y2)；
Control module 104 described in S103 is according to the position coordinates (X1, Y1) of described electronic tag and (X2, Y2) and described
Relative position deviation (ID1X, ID1Y) and (ID2X, ID2Y), obtain the position coordinates A (X1+ of described first infrared locating module
ID1X, Y1+ID1Y), and the position coordinates B (X2+ID2X, Y2+ID2Y) of the second infrared locating module；
Control module 104 described in S104 obtains the position letter of described AGV according to the position coordinates of described infrared locating module
Breath.
Further, described control module is according to the position on the target ground of the positional information of described AGV and AGV, to AGV's
Operation is navigated.
Further, the positional information of described AGV includes the position coordinates of the central point O of described AGV, and described AGV
Deflection angle a；Wherein, described central point is the geometric center of described AGV body construction, and the deflection angle of described AGV is AGV's
Centrage and the angle of the actual direction of travel of AGV, wherein, the centrage of described AGV is flat with the centrage of described AGV walking passageway
Go and through described central point；
As it is shown in figure 5, in the present embodiment, described first infrared locating module and the second infrared locating module are arranged at institute
State on the centrage of AGV, and the central point O about described AGV is symmetrical, the position coordinates X=(X1 of the central point O of the most described AGV
+ ID1X+X2+ID2X)/2, deflection angle the a=arctan [(Y1+ID1Y-of Y=(Y1+ID1Y+Y2+ID2Y)/2, described AGV
Y2-ID2Y)/(X1+ID1X-X2-ID2X)]。
Further, as shown in Figure 4, described control module is according to the described electronics mark obtained from described infrared locating module
The ID signed and the situation of relative position deviation, whether infrared locating module described in real-time judge breaks down；If described control
Module without receiving ID and/or the relative position deviation of described electronic tag, or, receive when described AGV runs
The ID of described electronic tag and relative position deviation do not change, then can be determined that described infrared locating module occur therefore
Barrier.
It should be noted that before described AGV navigation system is run and in running, be intended to carry out infrared locating module
Fault verification；If control module is not received by the tag ID of two infrared locating modules transmissions and/or position relatively is inclined
Difference, or, the tag ID and the relative position deviation that receive when AGV runs do not change, then two infrared location of explanation
Module all there occurs fault；If control module receives only tag ID and/or the phase that one of them infrared locating module sends
To position deviation, or, when AGV runs, tag ID and the relative position deviation of the infrared locating module of only one of which is not sent out
Changing, then the explanation infrared locating module of another one there occurs fault.
In the present embodiment, in order to increase the accuracy of infrared locating module breakdown judge, it is also possible to pass through control module
Checking (Y1+ID1Y-Y2-ID2Y)2+(X1+ID1X-X2-ID2X)2Whether equal to D2Realize, if deviation is more than presetting threshold
Value, then judge that described infrared locating module breaks down.
When the first infrared locating module, the second infrared locating module all there occurs fault, and control module will send warning and carry
Show；When one of them infrared locating module there occurs fault, control module can be according to the infrared locating module not broken down
The ID of the described electronic tag sent and relative position deviation, obtain the position coordinates of this infrared locating module, and according to described
Position coordinates obtains the positional information of AGV, thus AGV is moved roll off the production line etc. to home to be repaired.
How by an infrared locating module, AGV to be moved to home, be with position coordinates in the present embodiment
Illustrating as fault-free module for the first infrared locating module of A (X1+ID1X, Y1+ID1Y), position coordinates is B (X2+
ID2X, Y2+ID2Y) the second infrared locating module same as the calculation of fault-free module, be not repeated at this
Repeat.
As shown in Figure 6, the ID of the electronic tag of the first infrared locating module and relative position deviation, infrared locating module
The acquisition methods of position coordinates is identical with the acquisition mode of in the present embodiment two infrared locating modules, does not repeats them here；With
Time the position coordinates of central point O of the deflection angle a1, the most described AGV of AGV that obtains according to described first infrared locating module
For X=X1+ID1X-1/2D*sina1, Y=Y1+ID1Y-1/2D*cosa1；
Wherein, D is the distance between described first infrared locating module and the second infrared locating module；Described AGV's is inclined
Gyration a1 is the centrage angle with the actual direction of travel of AGV of AGV, and the most described first infrared locating module is relative to its institute
The angular deviation of the electronic tag obtained；The centrage of wherein said AGV and AGV walking passageway centerline parallel and through described
Central point, the central point of described AGV is the geometric center of AGV body construction.
Claims (10)
1. an AGV alignment system, it is characterised in that: include electronic tag, infrared locating module and control module；
Described electronic tag is preset in above AGV operating path, and has tag ID on label；
Described infrared locating module is two, is respectively arranged in both sides before and after described AGV direction of travel, described infrared location mould
Block meets preset threshold range with the vertical dimension of described electronic tag, so that the infrared-ray of described infrared locating module arrives
The field range of described electronic tag place plane is not less than the spacing of any two adjacent label；
Described control module is connected with described infrared locating module, and described infrared locating module is for obtaining described electronic tag
ID and relative position deviation, described control module for obtain described infrared locating module send described electronic tag ID and
Relative position deviation, and the positional information of described AGV is obtained according to the ID of described electronic tag and relative position deviation.
2. AGV alignment system as claimed in claim 1, it is characterised in that: described infrared locating module is arranged at described AGV's
On centrage, and about the central point of described AGV；
Described central point is the geometric center of described AGV body construction, the centrage of described AGV and AGV walking passageway centrage
Parallel and through described central point.
3. AGV alignment system as claimed in claim 1, it is characterised in that: it is described infrared fixed that described control module is used for obtaining
The ID of the described electronic tag that position module sends and relative position deviation, and obtain described electronics according to the ID of described electronic tag
The position coordinates of label, described control module obtains institute according to position coordinates and the described relative position deviation of described electronic tag
State the position coordinates of infrared locating module, and calculate the position letter of described AGV according to the position coordinates of described infrared locating module
Breath.
4. AGV alignment system as claimed in claim 3, it is characterised in that: the positional information of described AGV includes described AGV's
Center position coordinate and the deflection angle of described AGV；
Wherein, the central point of described AGV is the geometric center of AGV body construction, and the deflection angle of described AGV is the center of AGV
The angle of line and the actual direction of travel of AGV, the centrage of wherein said AGV and AGV walking passageway centerline parallel and through institute
State central point.
5. AGV alignment system as claimed in claim 1, it is characterised in that: described in said two between infrared locating module
It is integer and n >=0 that spacing d of distance D and described any two adjacent label meets D=nd+1/2d, n.
6. an AGV localization method, is applied to the AGV navigation system as described in any one of claim 1-5, it is characterised in that:
Described method comprises the steps:
Described control module obtains ID ID1 and ID2 of described electronic tag respectively from two described infrared locating modules, and
Described relative position deviation (ID1X, ID1Y) and (ID2X, ID2Y)；
Described control module finds described ID1 in the data prestored respectively, the position coordinates (X1, Y1) corresponding to ID2
And (X2, Y2)；
Described control module is according to the position coordinates (X1, Y1) of described electronic tag and (X2, Y2), and described relative position deviation
(ID1X, ID1Y) and (ID2X, ID2Y), obtains the position coordinates A (X1+ID1X, Y1+ID1Y) of described infrared locating module, B
(X2+ID2X, Y2+ID2Y)；
Described control module obtains the positional information of described AGV according to the position coordinates of described infrared locating module.
7. localization method as claimed in claim 6, it is characterised in that: the positional information of described AGV includes the center of described AGV
The position coordinates of some O, and the deflection angle a of described AGV；
Described infrared locating module is arranged on the centrage of described AGV, and the central point O about described AGV is symmetrical, then described
The position coordinates X=(X1+ID1X+X2+ID2X)/2 of the central point O of AGV；Y=(Y1+ID1Y+Y2+ID2Y)/2, described AGV's
Deflection angle a=arctan [(Y1+ID1Y-Y2-ID2Y)/(X1+ID1X-X2-ID2X)]；
Wherein, the central point of described AGV is the geometric center of AGV body construction, and the deflection angle of described AGV is the center of AGV
The angle of line and the actual direction of travel of AGV, the centrage of wherein said AGV and AGV walking passageway centerline parallel and through institute
State central point.
8. localization method as claimed in claim 6, it is characterised in that: described control module is according to from described infrared locating module
The ID of described electronic tag obtained and the situation of relative position deviation, infrared locating module described in real-time judge whether occur therefore
Barrier.
9. localization method as claimed in claim 8, it is characterised in that: if described control module is described without receiving
The ID of electronic tag and relative position deviation, or, the ID of the described electronic tag received when described AGV runs and phase para-position
Put deviation not change, then judge that described infrared locating module breaks down.
10. localization method as claimed in claim 9, it is characterised in that: described control module checking (Y1+ID1Y-Y2-ID2Y)2
+(X1+ID1X-X2-ID2X)2Whether equal to D2If deviation is more than predetermined threshold value, then judge that described infrared locating module occurs
Fault；Wherein, D is the distance between two described infrared locating modules.
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