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AGV positioning method that fuses multiple positioning sensor data

A positioning sensor and positioning data technology, applied in the field of navigation and control, can solve the problems of low accuracy, unstable positioning sensor data, unable to meet the requirements of autonomous navigation and docking, etc., and achieve the effect of stable data and high-precision docking and positioning

Active Publication Date: 2020-12-08
BEIJING INST OF SPECIALIZED MACHINERY
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Problems solved by technology

Especially in the field of precise docking, a single positioning sensor usually cannot meet the requirements of autonomous navigation and docking due to factors such as unstable data, low accuracy, or cumulative errors.

Method used

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  • AGV positioning method that fuses multiple positioning sensor data
  • AGV positioning method that fuses multiple positioning sensor data
  • AGV positioning method that fuses multiple positioning sensor data

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Embodiment Construction

[0026] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0027] Such as figure 1 As shown, the embodiment of the present invention provides an AGV positioning method that fuses multiple positioning sensor data, including the following steps:

[0028] S1. Install the camera sensor 2 and the laser sensor 5 on the AGV body 4, and use the center coordinates of the camera sensor 2 as the position coordinates of the AGV. The AGV body 4 is driven by the motor 3 to rotate the mecanum wheel 1 to realize the omnidirectional AGV move;

[0029] S2, such as figure 2 As shown, multiple reflective strips 6 are installed at the AGV use site, and the installation height of all reflective strips 6 is consistent with the height of the laser sensor 5, which is convenient for the laser sensor...

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Abstract

The invention relates to an AGV (automated guided vehicle) positioning method with the combination of multiple positioning sensor data, and belongs to the technical field of navigation and control. The positioning method provided by the invention combines data of a laser sensor and feedback values of three sensors, namely reflective stripes, a camera recognition code bar and a motor encoder, and thus AGV positioning can be achieved. In the autonomous navigation process of an AGV, advantages of the three sensors are comprehensively taken for positioning in a mode of setting a priority, and finally a positioning method which is stable in data and high in precision can be achieved.

Description

technical field [0001] The invention relates to the technical field of navigation and control, in particular to an AGV positioning method that fuses data from multiple positioning sensors. Background technique [0002] In the process of AGV autonomous navigation, positioning is the core issue. Especially in the field of precise docking, a single positioning sensor usually cannot meet the requirements of autonomous navigation and docking due to factors such as unstable data, low accuracy, or cumulative errors. Contents of the invention [0003] (1) Technical problems to be solved [0004] The technical problem to be solved by the present invention is: how to provide an AGV positioning method with good data stability and high precision, which can satisfy precise docking. [0005] (2) Technical solutions [0006] In order to solve the above technical problems, the present invention provides an AGV positioning method that fuses multiple positioning sensor data, including th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/00G01C21/20
Inventor 李波段三军李远桥王韡宋策
Owner BEIJING INST OF SPECIALIZED MACHINERY
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