AGV composite guiding system based on image and inertia technology

Abstract

The invention discloses an AGV composite guiding system based on an image and inertia technology. The system comprises an inertia guiding module, which can intelligently sense the positions and moving information of AGV in a vehicle coordinate system in every moment through a plurality of inertia sensors; a visual guiding module, which can intelligently sense the position and environment information of AGV through a visual sensor, when AGV move to a preset position in a reference coordinate system; an information interaction module, which efficiently passing information among the inertia guiding module, the visual guiding module, and a movement control module, and the movement control module, wherein the movement control module obtains the data of the sensors of the inertia guiding module and the visual guiding module, then the data of each sensor are fused by a Sage-Husa self-adaption Kalman filtering algorithm, according to the obtained fused data, AGV is controlled, and the accumulated errors of the inertia guiding module are corrected. Based on visual guiding and inertia guiding technologies, multiple information sources supplement each other, and an AGV composite guiding system, which has redundancy and higher navigation accuracy, is constructed.

Description

technical field [0001] The invention relates to the field of automation, in particular to an AGV composite guidance system based on image and inertia technology. Background technique [0002] At present, most of the AGV (Automated Guided Vehicle, automatic guided vehicle) used in industrial occasions adopt rail guidance technology. The specific lines can be guide cables in the electromagnetic induction method, tracks in the mechanical method, magnetic strips in the magnetic guidance method, and reflective tapes in the light guidance method. Its main feature is that the technology is relatively mature, but the preliminary construction is cumbersome, the fixed operating lines, the working methods and the number of mobile robots are greatly limited, and it is difficult to meet the needs of future intelligent manufacturing, intelligent logistics and other fields. The trackless guidance system often adopts a single guidance system, which is limited by its own limitations, result...

AI Technical Summary

Problems solved by technology

Its main feature is that the technology is relatively mature, but the preliminary construction is cumbersome, the operation line is fixed, the working method and quantity of mobile robots are greatly limited, and it is difficult to meet the needs of future intelligent manufacturing, intelligent logistics and other fields

The trackless guidance system often adopts a single guidance system, which is limited by its own limitations, resulting in a limited application range. For example, visual guidance does not require artificially setting up physical paths, but its real-time performance is poor, and it is not applicable in complex background situations; Guidance has good real-time performance and high precision, but there are cumulative errors

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