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AGV-oriented global hierarchical positioning system and method

A local positioning system and positioning system technology, applied in the field of robot navigation, can solve problems such as heavy construction workload, loss of pose, high construction cost, etc., and achieve the effect of improving product cost performance, improving accuracy, and reducing construction cost

Active Publication Date: 2019-07-09
普智联科(深圳)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention proposes an AGV-oriented global layered positioning system and method, which solves the problems of huge construction cost, loss of pose, and large interference of laser scanning by using the laser navigation method, and solves the problems of adopting two-dimensional code navigation The construction workload is heavy, the maintenance is heavy, and the problem that the next QR code cannot be photographed due to the angle deviation of the car body

Method used

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  • AGV-oriented global hierarchical positioning system and method
  • AGV-oriented global hierarchical positioning system and method
  • AGV-oriented global hierarchical positioning system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0063] Example 1: Set a precision for each WIFI hotspot.

[0064] The following pair Figure 1a to Figure 1c The AGV positioning process is described as follows;

[0065] ⑴When the AGV is walking Figure 1a How to judge the effective feature point

[0066] Such as Figure 1aAs shown, at this time, network card 1 is connected to WIFI1, and network card 2 is connected to WIFI2. Since the signal strength received by network card 2 from WIFI2 is outside the first accuracy range of WIFI2, the signal strength received by network card 2 from WIFI2 is smaller than the signal strength received from network card 1 from WIFI1. . It can be seen that the AGV is walking between the No. 1 and No. 2 pallets. Since the AGV walks between No. 1 and No. 2 pallets, the four feature points of No. 2 pallet are the closest to the center point of the laser coordinate system, and then further judge whether the mutual positional relationship between the four feature points of No. 2 pallet satisfies t...

Embodiment 2

[0071] Example 2: Set 3 precisions for each WIFI hotspot

[0072] ⑴ if figure 2 As shown, when the AGV enters between No. 1 and No. 2 trays, at this time, the network card 1 receives the signal of the first accuracy range of WIFI1, and the network card 2 receives the signal of the fourth accuracy range of WIFI2. Based on this, it is judged that the AGV is walking in 1 Between No. and No. 2 pallets. The locked pallet can be any one of No. 1 and No. 2 pallets, and valid feature points are determined according to different scanning angles.

[0073] (2) When the AGV enters between No. 3 and No. 4 trays, at this time, network card 1 receives the signal of the first precision range of WIFI1, and network card 2 receives the signal of the third precision range of WIFI2. Based on this, it is judged that the AGV is walking on No. 3, between pallets 4. The locked pallet can be any one of No. 3 and No. 4 pallets, and valid feature points are determined according to different scanning ...

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Abstract

The invention relates to an AGV-oriented global layered positioning system and a method thereof. The system and the method are mainly characterized in that the positioning system comprises an area positioning system, a local positioning system, a working point location positioning system and an AGV central control system. The area positioning system, the local positioning system and the working point location positioning system are connected with the AGV central control system through a wireless network. The positioning method is characterized in that the working mode of the AGV is set to a working point mode and a non-working point mode; the AGV enters a starting point or an object point working mode area; and positioning is performed according to a positioning method which corresponds with the working point mode. According to the system and the method, through combination of the area positioning system and the local positioning system based on three-stage positioning, a traditional method of laser positioning through arranging a large number of laser reflecting boards in an environment is replaced. The system and the method further have advantages of realizing a low-cost laser positioning method without laser reflecting boards, settling a problem of incapability of overcoming an accumulated error by means of mileometer in a traditional method, and improving AGV positioning precision.

Description

technical field [0001] The invention belongs to the technical field of robot navigation, and in particular relates to an AGV-oriented global hierarchical positioning system and method. Background technique [0002] AGV laser navigation is an advanced navigation method with fast speed, accurate positioning and simple construction that has been generally recognized by the industry in recent years. However, laser navigation has the following two problems. First, laser navigation adopts the setting method of laser reflectors, and the construction cost is too high. The main reason is that laser navigation requires multiple laser reflectors to be laid around its environment, and The requirement for laying laser reflectors is non-uniform distribution. For an environment with almost similar faces between shelves and pallets in dense storage areas, if you want to use non-uniformly distributed laser reflectors to describe each phase Adjacent to the different characteristics of simila...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/42H04W4/024H04W4/029
CPCG01S17/42
Inventor 刘征
Owner 普智联科(深圳)有限公司