An AGV cluster positioning method and AGV scheduling method based on pulsed ultra-wideband technology

Abstract

The invention provides an AGV cluster positioning method based on a pulse ultra wide band (UWB) technology. The method comprises the following steps that a 3D coordinate system is established; according to coordinates of four base stations adjacent to an AGV, the position of the moving AGV is calculated; and after that the position of the moving AGV is obtained, an optimal solution is obtained via a least square method, and an optimal value of a target function is solved to obtain a coordinate P of the AGV. The invention also provides an AGV scheduling method including AGV power control, AGV positioning and AGV navigation scheduling, and AGV positioning is realized by the above cluster positioning method. Compared with the prior art, four base stations including the UWB wireless sensors closest to the AGV are used to calculate coordinates of the moving AGV relative to the base stations, four-point positioning is carried out, the coordinate of the present position of each AGV is calculated, the AGV positioning precision is improved, and the present coordinate of each AGV is back fed to a host computer, AGV positioning monitoring, commanding and scheduling are in real time, and collision is avoided.

Description

technical field [0001] The invention relates to the field of positioning and navigation, in particular to an AGV cluster positioning method and an AGV scheduling method based on pulse ultra-wideband technology. Background technique [0002] With the development of factory automation, computer technology and the wide application of three-dimensional warehouses, AGV (Automatic Guided Vehicle) as an automatic means of handling and unloading to connect and adjust discrete logistics systems to make its operations continuous, its application range and technical level have been greatly improved. developed rapidly. However, the existing technologies mostly focus on the navigation methods and path planning based on machine vision, laser or magnetic nails. There are usually multiple shelves or obstacles on the factory floor, and multiple AGV clusters are required to work at the same time so that the delivery of goods can be carried out in parallel. Reduce waiting time. Collisions ma...

AI Technical Summary

Problems solved by technology

[0004] 1. AGV magnetic nail navigation technology is used to complete the AGV navigation scheme, such as path planning through 3D map reconstruction, but the existing technology fails to achieve real-time positioning and batch scheduling at the macro level;

[0005] 2. The AGV is moving above a magnetic nail 1 (such as figure 1 As shown), the host machine will display the color change of the magnetic nail 1, but in the distance between the magnetic nail 1 and the magnetic nail 1, the user cannot understand the details of where the AGV moves;

[0006] 3. There is often more than one AGV on the factory floor, and generally multiple or even cluster operations are required. Existing technologies cannot locate multiple targets at the same time, and it is difficult to perform cluster scheduling remotely;

[0007] 4. The synchronization of the clock under the existing technology is often guaranteed by network cables and POE, which increases the cost and difficulty of deployment;

[0008] 5. Although WIFI and other positioning technologies can also achieve positioning, the positioning accuracy is at the meter level. For AGV operations, this accuracy is unacceptable

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