Inertial navigation method applicable to AGV storage

Abstract

The invention discloses an inertial navigation method applicable to AGV storage, which comprises the following steps of S1, building a navigation system; S2, reading magnetic marker data; S3, acquiring trolley offset data; S4, programming a route; S5, acquiring gyroscope angle; S6, correcting the angle; S7, reading RFID; S8, determining an operational mode; S9, controlling movement; and S10, repeating the steps S2-S9. According to the invention, the magnetic marker is adopted to replace a magnetic stripe and a two-dimension code, so that the cost is saved, and the defect that the two-dimension code is influenced seriously by dirty environment at the same time, and the trackless navigation can be realized; the system is accurate in measurement position, the positional accuracy can be + / -5mm, the angle accuracy is + / -0.1 degree, the navigation accuracy is high and can be + / -10mm and the navigation speed is 1m / s, and the resource is saved effectively.

Description

technical field [0001] The invention belongs to the field of automatic control, in particular to an inertial navigation method suitable for storage AGVs. Background technique [0002] At present, with Industry 4.0 and Made in China 2015, intelligent logistics and intelligent manufacturing have become the inevitable development trend of manufacturing and factories. The automatic handling function of AGV (Automatic Guided Vehicle) in the logistics system plays a very important role in production efficiency and management, especially as the variety and quantity of factory products increase, the role of automatic storage will become more and more obvious. The so-called automatic guidance is to run along the specified track. At present, the common navigation methods include photoelectric sensors, visual navigation, laser navigation and magnetic navigation sensors and so on. In general warehouses, there are neatly placed shelves, and each unit shelf has several upper and lower sh...

AI Technical Summary

Problems solved by technology

In general warehouses, there are neatly placed shelves, and each unit shelf has several upper and lower compartments. The AGV needs to put the corresponding goods in the corresponding unit. Therefore, due to different storage points, the AGV path will be diversified and complicated.

At present, magnetic strip navigation is often used in the AGV industry, but the laying of magnetic strips in this way will appear densely packed, which is not only unsightly, but also the complex interlacing of magnetic strips will affect the normal operation of AGV, and even cause the AGV to vibrate due to the high height of the magnetic strips. Even go astray; at present, Amazon in the United States uses KIVASYSTEM products, and its navigation method is based on QR codes. Although QR codes are simple to lay, there are inevitably no dust accumulation, human footprints, cleaning water stains, etc. in the warehouse (especially domestic warehouses). These factors not only Make visual recognition of the QR code wrong, and may even cause the QR code label to be taken off

Neither magnetic stripe navigation nor QR code visual navigation can meet the automatic storage requirements of the warehouse, so there is an urgent need for an AGV navigation system that meets automatic storage in the market

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