AGV laser tape hybrid navigation system

Abstract

The invention discloses an AGV laser tape hybrid navigation system. The system comprises an AGV upper control system and an AGV dolly. The AGV upper control system adopts a mode of combining tape navigation and laser navigation to realize system navigation. A specific structure of the system comprises a laser navigation module, a laser tape hybrid accuracy positioning material module and an automatic charging module. By using the system of the invention, the material can be flexibly transported in a factory; simultaneously, advantages of a flexible laser navigation path and accurate tape navigation positioning are possessed; and a requirement to complexities of the structure, a navigation control algorithm and a task scheduling algorithm is reduced. Cost is low, control is stable and reliable, the structure is simple, a full limitation path requirement is not needed, a navigation path can be conveniently modified and a loading and unloading area and a power supply area possess high positioning precision.

Description

technical field [0001] The invention discloses an AGV laser tape hybrid navigation system and relates to the technical field of AGV transport vehicles. Background technique [0002] Automated Guided Vehicles (AGV), also known as unmanned vans, first appeared in the 1950s. It is an important equipment for modern industrial automation logistics system. Not only that, in military and dangerous places, based on the automatic driving of AGV, it can inherit other detection and disassembly equipment, which can be used for battlefield demining, position detection and dangerous environment operations. [0003] The guidance method of AGV determines the flexibility of the logistics system composed of it and the reliability of the system during operation. With the development of science and technology, the guidance methods of AGV are also various. According to the form of AGV guidance line, it can be divided into There are fixed path guidance and free path guidance. The fixed path gu...

AI Technical Summary

Problems solved by technology

[0014] For the electromagnetic tracking method based on the induction coil described in the patent (CN101387522A), although its control and navigation algorithm is simple and the cost is low, the navigation accuracy is affected by the number and layout of the induction coil, and the appearance is large, which is inconvenient for small AGV, and the number and layout of coils need to be redesigned for different environments, which is too troublesome

[0015] For the automatic guided vehicle, system and navigation method based on the laser scanning rangefinder described in the patent (CN103048996A), although the laser scanning environment is used to construct the map and then navigate, compared with the traditional reflector-based laser navigation method, its environmental requirements Further reduction; but its positioning accuracy is heavily dependent on the encoding angle, gyroscope, laser head and algorithm, and requires more than two laser heads, resulting in more complex navigation and control algorithms, and higher cost of AGV

[0016] For a non-reflective laser autonomous navigation AGV trolley and its navigation method described in the patent (CN103777637A), the method of constructing a map using a single laser scanning environment is used for navigation. Compared with the traditional reflector-based laser navigation method and multi-laser navigation, its The requirements for the on-site environment and the algorithm are further reduced, but its path planning is heavily dependent on the motor encoder and gyroscope, and the calculation amount of the navigation method is too large, and the complexity of the navigation and control algorithm is too high, resulting in high cost of AGV

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