AGV positioning, orientation and speed measurement method based on landmark two-dimensional code

The present invention relates to an AGV positioning, orientation and speed measurement method based on a landmark two-dimensional code, and belongs to the field of navigation and control technology. The method in the invention comprises: a camera that photographs the ground and that is mounted on an AGV continuously shooting two pictures containing a landmark two-dimensional code in a fixed time interval; obtaining a global position of a landmark point in a full travel path of the AGV by identifying the obtained landmark information through the two-dimensional code; inversely solving a local position and an angle of an AGV body relative to the landmark two-dimensional code by separately resolving a position and an angle of the two-dimensional code in the pictures; then in conjunction with the global position, obtaining an exact position and travel direction of the AGV in a global path; and obtaining the speed of the AGV when passing the landmark by calculating a position difference in the fixed time period, thereby providing position information, travel direction information and speed information needed by AGV navigation. Therefore according to the method, the position information, travel direction information and speed information of the AGV can all be obtained according to only the landmark two-dimensional code, thereby simplifying positioning, orientation, and speed measurement accessories needed by the AGV navigation.