CN107632602A - AGV trolley travelling tracks method for correcting error and system, terrestrial reference Quick Response Code acquisition device - Google Patents
AGV trolley travelling tracks method for correcting error and system, terrestrial reference Quick Response Code acquisition device Download PDFInfo
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Abstract
The invention discloses a kind of AGV trolley travelling tracks method for correcting error and system, terrestrial reference Quick Response Code acquisition device, the method comprising the steps of：S1. when AGV dollies deviate default running track, AGV dolly stop motions, and vehicle body is adjusted to parallel with default running track；S2. camera device starts transverse shifting scanning to obtain terrestrial reference Quick Response Code；If obtaining complete terrestrial reference Quick Response Code, step S4 is performed；Otherwise, then step S3 is performed；S3.AGV dollies advance or retrogressing pre-determined distance, return to step S2；S4. the transversal displacement of camera device is obtained, completes correction processing, so that AGV dollies are advanced according to default running track again.In the embodiment of the present invention, AGV dollies, by transversely movable camera device, advance without rotation body and significantly when carrying out running track correction or the mode of retrogressing translate vehicle body and just can find terrestrial reference Quick Response Code, save the time, improve operational efficiency.
Description
Technical field
The present invention relates to AGV dolly field of navigation technology, more particularly to a kind of AGV trolley travelling tracks method for correcting error and it is
System, terrestrial reference Quick Response Code acquisition device.
Background technology
Automatic guided vehicle (AGV) is a kind of using rechargeable battery as power, the unmanned automated vehicle of homing guidance, it
Can be under the monitoring of computer, planning and job requirements, the place specified of accurately walking and be accommodated to, are completed a series of by path
Job task such as picking, delivery, charging etc..With the raising of industrial automatization and developing rapidly for computer technology,
AGV uses more and more as the handbarrow between assembling line or implement.In the prior art, AGV navigation sides
Method is broadly divided into following several：Electromagnetic navigation, optical guidance, tape navigation, laser navigation, ultrasonic wave navigation, inertial navigation with
And image recognition navigation etc..In image recognition navigation, terrestrial reference two-dimension code navigation is a kind of widely used air navigation aid.
It is below the patent document on terrestrial reference two-dimension code navigation in the prior art：
The A of Publication No. CN 105404842 patent document disclose " AGV positioning and directings based on terrestrial reference Quick Response Code and
Speed-measuring method ", the invention are related to a kind of AGV positioning and directings and speed-measuring method based on terrestrial reference Quick Response Code, belong to navigation and control
Technical field.The invention utilizes the camera of taking pictures over the ground on AGV to be continuously shot two in Fixed Time Interval and included
The picture of terrestrial reference Quick Response Code, landmark information is obtained by the identification of terrestrial reference Quick Response Code and obtains landmark point in AGV travels complete trails
Global position, by resolving position and angle of the terrestrial reference Quick Response Code in picture respectively, the anti-AGV bodies that solve are relative to terrestrial reference two
The local location and angle of code are tieed up, then the exact position and course for obtaining AGV in global path are combined with global position；Pass through
Calculate the alternate position spike in the fixed time period and obtain AGV by the speed during terrestrial reference, so as to provide the position needed for AGV navigation
Put, course and velocity information.
The A of Publication No. CN 105388899 patent document discloses that " a kind of AGV based on image in 2 D code label is led
Navigate control method ", a kind of AGV navigation control methods based on image in 2 D code label of the disclosure of the invention, are as follows
Carry out：1st, the range size of each pixel in the scan image of two-dimension code label scanner is obtained；2nd, according to two-dimension code label
The scan image of scanner obtains the pose of corresponding ID number and image in 2 D code label in image local Coordinate System；3、
AGV dollies receive the guidance path instruction that control centre is sent；4th, AGV dollies instruct according to guidance path and establish local lead successively
Navigate coordinate system, and calculates initial pose of the AGV dollies in Local Navigation coordinate system；5th, plan AGV dollies at two two successively
Tie up the arc track between code image tag；6th, the controlled quentity controlled variable of AGV dollies is calculated according to the arc radius of planning so that AGV dollies
Each image in 2 D code label into guidance path command sequence is travelled successively, to complete guidance path instruction.
Two patent documents of the above and other are similar in the prior art, mostly pass through the shooting being fixedly mounted with AGV bottoms
Head or scanner obtain terrestrial reference Quick Response Code, and the camera or scanner can not carry out the left and right adjustment of position, when AGV is because of certain
After reason deviate from original track, AGV needs are in situ to be done significantly rotation, is put down by advancing mobile, retrogressing movement
The methods of shifting vehicle, finds the terrestrial reference Quick Response Code on ground again, and time-consuming meeting is long, and correction efficiency is low.
The content of the invention
The embodiments of the invention provide a kind of AGV trolley travelling tracks method for correcting error and system and a kind of terrestrial reference two dimension
Code acquisition device, for solving in the prior art the problem of correction time is grown, and efficiency is low.
In a first aspect, the embodiments of the invention provide a kind of AGV trolley travelling tracks method for correcting error, methods described includes step
Suddenly：
S1. when AGV dollies deviate default running track, AGV dolly stop motions, and by vehicle body adjust to default fortune
Row parallel track；
S2. when AGV dolly vehicle bodies adjust to it is parallel with default running track after, camera device start transverse shifting scanning with
Obtain terrestrial reference Quick Response Code；
If camera device obtains complete terrestrial reference Quick Response Code, step S4 is performed；
If camera device does not obtain terrestrial reference Quick Response Code or the terrestrial reference Quick Response Code of acquisition is imperfect, step S3 is performed；
S3.AGV dollies advance or retrogressing pre-determined distance, return to step S2；
S4. obtain camera device transversal displacement, complete AGV dollies correction processing so that AGV dollies again according to
Default running track is advanced.
Further, in step S1, when AGV dollies are moved to next position that should have terrestrial reference Quick Response Code, camera device
When but arriving terrestrial reference Quick Response Code without scanning, judge that AGV dollies deviate default running track.
Further, in step S1, AGV dolly vehicle bodies, which are adjusted to parallel with default running track, is specially：
S11.AGV dollies control module reads Geomagnetism Information and gyroscope information in AGV dolly inertial navigation modules, obtains
Take the deviation angle of AGV dollies and default running track direction；
S12. control module adjusts AGV dolly vehicle bodies to parallel with default running track according to the deviation angle.
Further, in step S2, camera device starts transverse shifting scanning and is specially to obtain terrestrial reference Quick Response Code：
S21. when AGV dolly vehicle bodies adjust to it is parallel with default running track after, control module control camera device to the left
Or move right；
S22. camera device in moving process real time scan ground image to obtain terrestrial reference Quick Response Code；
S23. when camera device obtains complete terrestrial reference Quick Response Code, control module obtains the transverse direction of camera device now partially
Shifting amount；
S24. when the terrestrial reference Quick Response Code that camera device does not obtain terrestrial reference Quick Response Code or acquisition is imperfect, camera device returns
The initial position being back to before movement, and perform step S3.
Further, in step S4, the correction processing of AGV dollies is specially：
S41. control module control camera device is back to the initial position before movement, and is obtained completely according to camera device
Transversal displacement during terrestrial reference Quick Response Code, calculate AGV dollies vehicle body and the offset of default running track；
S42. control module calculates navigation correction strategy according to the offset of the vehicle body and default running track, so that
AGV dollies are advanced according to default running track again.
Second aspect, the embodiments of the invention provide a kind of AGV trolley travelling tracks deviation-rectifying system, the system includes：
Control module, for when AGV dollies deviate default running track, controlling AGV dolly stop motions, and by vehicle body
Adjust to parallel with default running track；
Camera device, for when AGV dolly vehicle bodies adjust to it is parallel with default running track after, start transverse shifting scanning
To obtain terrestrial reference Quick Response Code；
The control module is additionally operable to when camera device does not obtain terrestrial reference Quick Response Code or the terrestrial reference Quick Response Code of acquisition is endless
When whole, control AGV dollies advance or retreat pre-determined distance, and restart transverse shifting scanning to obtain terrestrial reference Quick Response Code, directly
Complete terrestrial reference Quick Response Code is obtained to camera device；
The control module is additionally operable to, when camera device obtains complete terrestrial reference Quick Response Code, obtain the transverse direction of camera device
Offset, the correction processing of AGV dollies is completed, so that AGV dollies are advanced according to default running track again.
Further, the control module includes：
Reading unit, for reading Geomagnetism Information and gyroscope information in AGV dolly inertial navigation modules；
First acquisition unit, for obtaining the deviation angle of AGV dollies and default running track direction；
Adjustment unit, for according to the deviation angle, AGV dolly vehicle bodies to be adjusted to parallel with default running track.
Further, the control module also includes：
Computing unit, for obtaining transversal displacement during complete terrestrial reference Quick Response Code according to camera device, calculate AGV dollies
Vehicle body and the offset of default running track；
Correction unit, it is tactful for the offset calculating navigation correction according to the vehicle body and default running track, so that
AGV dollies are advanced according to default running track again.
Further, the control module also includes：
Mobile control unit, for controlling camera device to move to the left or to the right；
Second acquisition unit, for when camera device obtains complete terrestrial reference Quick Response Code, obtaining the transverse direction of camera device
Offset.
The third aspect, the embodiments of the invention provide a kind of terrestrial reference Quick Response Code acquisition device, the device includes：
Image unit, terrestrial reference Quick Response Code is obtained for scanning；
Driver element, for driving image unit transverse shifting；
Position sensor unit, for obtaining the transversal displacement of the image unit；
Fixed cell, for the terrestrial reference Quick Response Code acquisition device to be fixed into AGV dollies.
In embodiments of the present invention, AGV dollies are filled when carrying out running track correction by transversely movable shooting
Put, reach without rotation body and significantly advance or the mode that retreats translates vehicle body with regard to that can find the terrestrial reference Quick Response Code on ground
Purpose, save the time that correction is spent, improve the operational efficiency of system.
Brief description of the drawings
Fig. 1 is a kind of AGV trolley travelling tracks method for correcting error flow chart in the embodiment of the present invention one；
Fig. 2 is a kind of AGV trolley travelling tracks deviation-rectifying system structure chart in the embodiment of the present invention two；
Fig. 3 is control module structural representation in the embodiment of the present invention two；
Fig. 4 is a kind of terrestrial reference Quick Response Code acquisition device structure chart in the embodiment of the present invention three；
Fig. 5 is another terrestrial reference Quick Response Code acquisition device structure chart in the embodiment of the present invention four.
Embodiment
It is the specific embodiment of the present invention and with reference to accompanying drawing below, technical scheme is further described,
But the present invention is not limited to these embodiments.
It should be noted that the term used in embodiments of the present invention is only merely for the mesh of description specific embodiment
, and it is not intended to be limiting the present invention.
" one kind ", " described " and "the" of singulative used in the embodiment of the present invention and appended claims
It is also intended to including most forms, unless context clearly shows that other implications.
In addition, term " comprising " and " having " and their any deformations, it is intended that cover non-exclusive include.Such as
Contain the step of process, method, system, product or the equipment of series of steps or unit is not limited to list or list
Member, but alternatively also including the step of not listing or unit, or alternatively also include for these processes, method, product
Or the intrinsic other steps of equipment or unit.
It is the specific embodiment of the invention below.
Embodiment one
Some AGV employ the method that bottom terrestrial reference two-dimensional code scanning is positioned at present, when AGV is in two terrestrial reference two dimensions
Code between walking when, mostly by the way of inertial navigation, once inertial navigation system break down, may result in AGV
Next terrestrial reference Quick Response Code can not be found, that is, the problem of offset track occurs.The probe that most AGV are used all is solid
Dingan County's holding position, the left and right adjustment of position can not be carried out, as AGV because after certain reason deviate from original track, using sweeping
In situ do of AGV needs for retouching a fixed position mounting means significantly rotates, translated by advancing mobile, retrogressing movement
The methods of vehicle, finds the terrestrial reference Quick Response Code on ground again, and time-consuming meeting is long.When the terrestrial reference for finding a ground again
After Quick Response Code, then the position of vehicle body is corrected by servicing units such as built-in gyroscope, compasses, in order to search out again
The running track of oneself.
The present embodiment by a kind of bottom relative to the AGV directions of motion for reference, can left and right fine setting camera position,
Coordinating AGV advance or rear annealing method, it is possible to the terrestrial reference Quick Response Code on ground is quickly found out, so as to realize that AGV's is again fixed
Position.
Fig. 1 is a kind of AGV trolley travelling tracks method for correcting error flow chart in the present embodiment, as shown in figure 1, in the present embodiment
A kind of AGV trolley travelling tracks method for correcting error includes step：
S1. when AGV dollies deviate default running track, AGV dolly stop motions, and by vehicle body adjust to default fortune
Row parallel track；
In this step, when AGV dollies are moved to next position that should have terrestrial reference Quick Response Code, camera device does not scan but
During to terrestrial reference Quick Response Code, judge that AGV dollies deviate default running track.The AGV control software finger out of service by AGV is sent
Order, AGV, which enters, to stop in emergency state, and now system starts correction software function module, and by vehicle body adjust to default operation
Parallel track.
AGV dolly vehicle bodies are adjusted to parallel with default running track：
S11.AGV dollies control module reads Geomagnetism Information and gyroscope information in AGV dolly inertial navigation modules, obtains
Take the deviation angle of AGV dollies and default running track direction；
S12. control module adjusts AGV dolly vehicle bodies to parallel with default running track according to the deviation angle.
Specifically, AGV control software will read Geomagnetism Information and gyroscope information in AGV inertial navigation software modules,
The deviation angle of current vehicle body and running track direction is obtained, and the electricity of the left side or the right wheel is calculated according to this deviation angle
The duty of the control PWM ripples of the machine when motor movement time, and start unilateral motor motion, until the axis and rail of vehicle body
When road direction is parallel, closing wheel motor.
S2. when AGV dolly vehicle bodies adjust to it is parallel with default running track after, camera device start transverse shifting scanning with
Obtain terrestrial reference Quick Response Code；
If camera device obtains complete terrestrial reference Quick Response Code, step S4 is performed；
If camera device does not obtain terrestrial reference Quick Response Code or the terrestrial reference Quick Response Code of acquisition is imperfect, step S3 is performed；
S3.AGV dollies advance or retrogressing pre-determined distance, return to step S2；
Preset in AGV on travel path, if uniformly sticking the terrestrial reference Quick Response Code using plastic packaging at certain intervals on ground,
And to the unique coding of each terrestrial reference Quick Response Code one on ground, according to its coordinate information known on ground, so that it may
To realize that AGV interior is accurately positioned.The information of terrestrial reference Quick Response Code can be including but not limited to the following information content：The room of terrestrial reference
Internal coordinate information, the title of the website title of bus stop (be similar to), the importance of website and other be advantageous to system software
The information being scheduled.Physical distance between terrestrial reference Quick Response Code, size, the essence of AGV inertial navigations that can be according to AGV vehicle bodies
The parameters such as degree are configured after carrying out comprehensive consideration.
Therefore, in this step, when default running track situation occurs to deviate for AGV, first have to obtain destination presence
Terrestrial reference Quick Response Code.
In this step, camera device starts transverse shifting scanning and is specially to obtain terrestrial reference Quick Response Code：
S21. when AGV dolly vehicle bodies adjust to it is parallel with default running track after, control module control camera device to the left
Or move right；
S22. camera device in moving process real time scan ground image to obtain terrestrial reference Quick Response Code；
S23. when camera device obtains complete terrestrial reference Quick Response Code, control module obtains and records camera device now
Transversal displacement.
S24. when the terrestrial reference Quick Response Code that camera device does not obtain terrestrial reference Quick Response Code or acquisition is imperfect, camera device returns
The initial position being back to before movement, and perform step S3.
Specifically, control system sends leftward or rightward control command to shooting head moving device, then camera can enter
Row movement, in the moving process of camera, the image of the synchronous continuous intake surface of meeting, if in the process of camera movement
In, there is the terrestrial reference 2 D code information for getting ground, then slow down translational speed and be finely adjusted, with ensuring in the image of intake
The information of mark Quick Response Code is in most complete state, and now system can record exact position of the camera on moving track,
The distance of i.e. off-center position, and calculate according to this data the precise information of vehicle body offset rail.
When terrestrial reference Quick Response Code can not be still found after a camera transverse shifting, control system control camera, by it
It is moved to the middle home position of vehicle body.
The PWM ripples to the wheel output same duty cycle of left and right two, control vehicle body are moved forward or rearward AGV control softwares simultaneously
A certain distance, such as 2CM or 5CM etc., this displacement is according to vehicle body volume, terrestrial reference Quick Response Code size, the depth of field of camera
To determine.
Using the step described by S21-S22, the terrestrial reference Quick Response Code on ground is continually looked for, if finding the terrestrial reference two of terrestrial reference
Code is tieed up, then stops finding, and record current vehicle body deviation post.If can not still find terrestrial reference Quick Response Code, repeat
Step is stated, untill the terrestrial reference Quick Response Code on ground is found.
S4. obtain camera device transversal displacement, complete AGV dollies correction processing so that AGV dollies again according to
Default running track is advanced.
In this step, the correction processing of AGV dollies is specially：
S41. control module control camera device is back to the initial position before movement, and is obtained completely according to camera device
Transversal displacement during terrestrial reference Quick Response Code, calculate AGV dollies vehicle body and the offset of default running track；
S42. control module calculates navigation correction strategy according to the offset of the vehicle body and default running track, so that
AGV dollies are advanced according to default running track again.
Specifically, in AGV offset rails, and after looking for terrestrial reference Quick Response Code by mobile bottom camera, control system is first
Control camera device is back to the initial position before movement, and the position at the skew vehicle body center according to camera, calculates car
The precision offset amount of body；Vehicle body precision offset amount is automatically entered into AGV inertial navigation module；AGV inertial navigation module roots
Offset calculates the correction strategy that navigates accordingly, by controlling driving wheel differential operation control variable, in AGV arrival nextly
The variation that there is currently is eliminated before mark Quick Response Code so that AGV reruns the fortune being correctly made up of ground object Quick Response Code
Row track.
The present embodiment proposes a kind of AGV trolley travelling tracks method for correcting error, AGV dollies when carrying out running track correction,
By transversely movable camera device, the mode for reaching without rotation body and significantly advancing or retreat translates vehicle body just
The purpose of the terrestrial reference Quick Response Code on ground can be found, saves the time that correction is spent, improves the operational efficiency of system.
Embodiment two
Fig. 2 is a kind of AGV trolley travelling tracks deviation-rectifying system structure chart in the present embodiment, as shown in Fig. 2 in the present embodiment
A kind of AGV trolley travelling tracks deviation-rectifying system includes：
Control module 100, for when AGV dollies deviate default running track, controlling AGV dolly stop motions, and will
Vehicle body is adjusted to parallel with default running track；
Camera device 200, for when AGV dolly vehicle bodies adjust to it is parallel with default running track after, start transverse shifting
Scan to obtain terrestrial reference Quick Response Code；
The control module 100 is additionally operable to when camera device does not obtain the terrestrial reference Quick Response Code of terrestrial reference Quick Response Code or acquisition not
When complete, control AGV dollies advance or retreat pre-determined distance, and restart transverse shifting scanning to obtain terrestrial reference Quick Response Code,
Until camera device obtains complete terrestrial reference Quick Response Code；
The control module 100 is additionally operable to, when camera device obtains complete terrestrial reference Quick Response Code, obtain camera device
Transversal displacement, the correction processing of AGV dollies is completed, so that AGV dollies are advanced according to default running track again.
Fig. 3 is control module structural representation in the present embodiment, as shown in figure 3, control module 100 described in the present embodiment
Including：
Reading unit 110, for reading Geomagnetism Information and gyroscope information in AGV dolly inertial navigation modules；
First acquisition unit 120, for obtaining the deviation angle of AGV dollies and default running track direction；
Adjustment unit 130, for according to the deviation angle, AGV dolly vehicle bodies being adjusted to default running track and put down
OK.
The control module 100 also includes：
Computing unit 140, for obtaining transversal displacement during complete terrestrial reference Quick Response Code according to camera device, calculate AGV
Dolly vehicle body and the offset of default running track；
Correction unit 150, it is tactful for the offset calculating navigation correction according to the vehicle body and default running track, with
AGV dollies are made to be advanced again according to default running track.
The control module 100 also includes：
Mobile control unit 160, for controlling camera device to move to the left or to the right；
Second acquisition unit 170, for when camera device obtains complete terrestrial reference Quick Response Code, obtaining the horizontal stroke of camera device
To offset.
The present embodiment proposes a kind of AGV trolley travelling tracks deviation-rectifying system, AGV dollies when carrying out running track correction,
By transversely movable camera device, the mode for reaching without rotation body and significantly advancing or retreat translates vehicle body just
The purpose of the terrestrial reference Quick Response Code on ground can be found, saves the time that correction is spent, improves the operational efficiency of system.
Embodiment three
Fig. 4 is a kind of terrestrial reference Quick Response Code acquisition device structure chart in the present embodiment, as shown in figure 4, a kind of in the present embodiment
Terrestrial reference Quick Response Code acquisition device includes：
Image unit 210, terrestrial reference Quick Response Code is obtained for scanning；
Driver element 220, for controlling image unit transverse shifting；
Position sensor unit 230, for obtaining the transversal displacement of the image unit.
In addition, also include：
Fixed cell 240, for the terrestrial reference Quick Response Code acquisition device to be fixed into AGV dollies.
The present embodiment proposes a kind of terrestrial reference Quick Response Code acquisition device, applied to a kind of AGV trolley travelling tracks method for correcting error
And system, the device are reached without rotation body and are significantly advanced or retreated by transversely movable image unit
Mode, which translates vehicle body, just can find the purpose of the terrestrial reference Quick Response Code on ground, save the time that correction is spent, improve system
Operational efficiency.
Example IV
Fig. 5 is another terrestrial reference Quick Response Code acquisition device structure chart in the present embodiment, as shown in figure 5, another in the present embodiment
A kind of terrestrial reference Quick Response Code acquisition device includes：
Leftward position sensor 1, centre position sensor 2, right positions sensor 3, the first sliding block trapped orbit 4, a left side
Side fixed support 5, right side fixed support 6, stepper motor 7, probe 8, the second sliding block trapped orbit 9, camera fix sliding block
10th, screw mandrel 11.
In the present embodiment, probe 8 is used to obtain terrestrial reference Quick Response Code by scanning, so as to realize positioning.Camera is fixed
Sliding block 10 is used for scanning constant first 8, and camera fixes sliding block 10 can be along the transverse shifting of screw mandrel 11.First sliding block trapped orbit 4,
Second sliding block trapped orbit 9 is used for fixing camera and fixes sliding block 10.Left side fixed support 5, right side fixed support 6 are used for solid
It is fixed.
Stepper motor 7 is used to control camera to fix the transverse shifting of sliding block 10, that is, the control transverse shifting of probe 8.
Leftward position sensor 1, centre position sensor 2, right positions sensor 3 are used for the positional information for obtaining probe, i.e., horizontal
To offset.
The present embodiment proposes another terrestrial reference Quick Response Code acquisition device, applied to a kind of AGV trolley travelling tracks correction side
Method and system, the device are reached without rotation body and are significantly advanced or retreated by transversely movable image unit
Mode translate vehicle body and just can find the purpose of the terrestrial reference Quick Response Code on ground, save the time that correction is spent, improve system
Operational efficiency.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (10)
1. a kind of AGV trolley travelling tracks method for correcting error, it is characterised in that including step：
S1. when AGV dollies deviate default running track, AGV dolly stop motions, and by vehicle body adjust to default operation rail
Road is parallel；
S2. when AGV dolly vehicle bodies adjust to it is parallel with default running track after, camera device starts transverse shifting scanning to obtain
Terrestrial reference Quick Response Code；
If camera device obtains complete terrestrial reference Quick Response Code, step S4 is performed；
If camera device does not obtain terrestrial reference Quick Response Code or the terrestrial reference Quick Response Code of acquisition is imperfect, step S3 is performed；
S3.AGV dollies advance or retrogressing pre-determined distance, return to step S2；
S4. the transversal displacement of camera device is obtained, completes the correction processing of AGV dollies, so that AGV dollies are again according to default
Running track is advanced.
2. a kind of AGV trolley travelling tracks method for correcting error as claimed in claim 1, it is characterised in that in step S1, work as AGV
Dolly is moved to next position that should have terrestrial reference Quick Response Code, when camera device but arrives terrestrial reference Quick Response Code without scanning, judges AGV
Dolly deviates default running track.
3. a kind of AGV trolley travelling tracks method for correcting error as claimed in claim 1, it is characterised in that in step S1, AGV is small
Car vehicle body is adjusted to parallel with default running track：
S11.AGV dollies control module reads Geomagnetism Information and gyroscope information in AGV dolly inertial navigation modules, obtains
AGV dollies and the deviation angle in default running track direction；
S12. control module adjusts AGV dolly vehicle bodies to parallel with default running track according to the deviation angle.
A kind of 4. AGV trolley travelling tracks method for correcting error as claimed in claim 1, it is characterised in that in step S2, shooting dress
Put beginning transverse shifting scanning is specially to obtain terrestrial reference Quick Response Code：
S21. when AGV dolly vehicle bodies adjust to it is parallel with default running track after, control module control camera device to the left or to
Move right；
S22. camera device in moving process real time scan ground image to obtain terrestrial reference Quick Response Code；
S23. when camera device obtains complete terrestrial reference Quick Response Code, control module obtains the lateral shift of camera device now
Amount；
S24. when the terrestrial reference Quick Response Code that camera device does not obtain terrestrial reference Quick Response Code or acquisition is imperfect, camera device is back to
Initial position before movement, and perform step S3.
A kind of 5. AGV trolley travelling tracks method for correcting error as described in claim 1 or 4, it is characterised in that in step S4, AGV
The correction of dolly is handled：
S41. control module control camera device is back to the initial position before movement, and obtains complete terrestrial reference according to camera device
Transversal displacement during Quick Response Code, calculate AGV dollies vehicle body and the offset of default running track；
S42. control module calculates navigation correction strategy according to the offset of the vehicle body and default running track, so that AGV is small
Car weight is newly advanced according to default running track.
A kind of 6. AGV trolley travelling tracks deviation-rectifying system, it is characterised in that including：
Control module, for when AGV dollies deviate default running track, controlling AGV dolly stop motions, and vehicle body is adjusted
It is extremely parallel with default running track；
Camera device, for when AGV dolly vehicle bodies adjust to it is parallel with default running track after, start transverse shifting scanning to obtain
Take terrestrial reference Quick Response Code；
The control module is additionally operable to when the terrestrial reference Quick Response Code that camera device does not obtain terrestrial reference Quick Response Code or acquisition is imperfect,
Control AGV dollies to advance or retreat pre-determined distance, and restart transverse shifting scanning to obtain terrestrial reference Quick Response Code, until shooting
Device obtains complete terrestrial reference Quick Response Code；
The control module is additionally operable to, when camera device obtains complete terrestrial reference Quick Response Code, obtain the lateral shift of camera device
Amount, the correction processing of AGV dollies is completed, so that AGV dollies are advanced according to default running track again.
A kind of 7. AGV trolley travelling tracks deviation-rectifying system as claimed in claim 6, it is characterised in that the control module bag
Include：
Reading unit, for reading Geomagnetism Information and gyroscope information in AGV dolly inertial navigation modules；
First acquisition unit, for obtaining the deviation angle of AGV dollies and default running track direction；
Adjustment unit, for according to the deviation angle, AGV dolly vehicle bodies to be adjusted to parallel with default running track.
8. a kind of AGV trolley travelling tracks deviation-rectifying system as claimed in claim 7, it is characterised in that the control module is also
Including：
Computing unit, for obtaining transversal displacement during complete terrestrial reference Quick Response Code according to camera device, calculate AGV dolly vehicle bodies
With the offset of default running track；
Correction unit, it is tactful for the offset calculating navigation correction according to the vehicle body and default running track, so that AGV is small
Car weight is newly advanced according to default running track.
9. a kind of AGV trolley travelling tracks deviation-rectifying system as claimed in claim 7, it is characterised in that the control module is also
Including：
Mobile control unit, for controlling camera device to move to the left or to the right；
Second acquisition unit, for when camera device obtains complete terrestrial reference Quick Response Code, obtaining the lateral shift of camera device
Amount.
A kind of 10. terrestrial reference Quick Response Code acquisition device, it is characterised in that including：
Image unit, terrestrial reference Quick Response Code is obtained for scanning；
Driver element, for driving image unit transverse shifting；
Position sensor unit, for obtaining the transversal displacement of the image unit；
Fixed cell, for the terrestrial reference Quick Response Code acquisition device to be fixed into AGV dollies.
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