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Method for setting navigation trajectory of AGV (Automatic Guided Vehicle)

A trajectory and position information technology, applied in the field of AGV navigation, can solve the problems of complicated navigation trajectory steps and low accuracy, and achieve the effect of high accuracy and simple steps.

Active Publication Date: 2017-02-15
GUANGDONG JATEN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, the navigation trajectory setting method in the prior art has complicated steps and low accuracy. When the road surface environment is complex, a large amount of manual repair is required.

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  • Method for setting navigation trajectory of AGV (Automatic Guided Vehicle)

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Embodiment Construction

[0017] A preferred embodiment of the present invention will be described below with reference to the accompanying drawings.

[0018] The AGV navigation trajectory setting method provided by the present invention comprises the following steps:

[0019] (1) Operation route construction:

[0020] Draw up the running route of the AGV, and lay some markers on the running route that can be recognized by the information collection module of the AGV; the markers can be (but not limited to) magnetic nails or two-dimensional codes, which are easy to set up and equipped with The corresponding collection tool is simple and low in cost.

[0021] (2) Basic walking trajectory fitting and basic parameter acquisition:

[0022] Make the AGV travel along the running route and complete a running route; the AGV is equipped with an encoder connected to the wheel, and the encoder records the travel distance of the AGV; the gyroscope on the AGV records the rotation parameters of the AGV once at an ...

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Abstract

The invention relates to the field of AGV navigation, in particular to a method for setting a navigation trajectory of an AGV (Automatic Guided Vehicle). The method comprises the following steps: drawing up a running route of the AGV, and paving a plurality of markers which can be identified by an information collection module of the AGV on the running route; enabling the AGV to travel along the running route; fitting a basic walking trajectory by a control module on the AGV according to a traveling distance recorded by a distance recorder and a rotation parameter recorded by a gyroscope; recording position information of each marker in a traveling process; enabling the AGV to continuously travel along the running route, repeatedly recording the position information of the markers, and recording the position information as a correcting parameter; repairing a basic parameter according to the correcting parameter to form a repairing fitting parameter; repairing the basic walking trajectory in combination with the repairing fitting parameter by the control module, and fitting a practical walking trajectory of the AGV; selecting a starting point and a termination point on the practical walking trajectory obtained by fitting, and intercepting corresponding trajectories to obtain a navigation trajectory of the AGV. Compared with the prior art, the method has the advantages of high accuracy and simple steps.

Description

technical field [0001] The invention relates to the field of AGV navigation, specifically an AGV navigation trajectory setting method. Background technique [0002] AGV navigation trajectory setting is an important part of AGV navigation technology. Whether the navigation trajectory is set accurately has an important impact on whether the AGV can operate accurately. The general navigation trajectory setting method needs to establish a coordinate system in the operating area according to the operating path of the AGV, select several key routes in the operating path, and set recording points on the key routes. The coordinate system corresponding to the operating area is established in the control module, and the position of the recording point is marked, so as to fit the navigation trajectory. [0003] For the determination of the position of the recording point, the more common method is to use measuring tools such as a tape measure and a laser rangefinder to measure. This ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G07C5/08G05D1/02
CPCG05D1/0212G07C5/085
Inventor 周小和
Owner GUANGDONG JATEN ROBOT & AUTOMATION