AGV (Automatic Guided Vehicle) laser navigation system with inertia compensation

Abstract

The invention relates to an AGV (Automatic Guided Vehicle) laser navigation system with inertia compensation, which comprises a laser navigation module, an inertia compensation navigation module, a man-machine interaction module and a bottom-layer control module, and is characterized in that the laser navigation module comprises an industrial control computer and a laser radar; the inertia compensation navigation module comprises a nine-axis acceleration sensor formed by an accelerometer, a gyroscope and a magnetometer and an STM32 core control board (1); the man-machine interaction module comprises a development board integrated with an Android system, a voice interaction unit and a camera; and the bottom-layer control module comprises an STM32 core control board (2), a motor driver and an encoder. The invention realizes navigation of the system by combining a mode of combining inertia navigation compensation and laser navigation, and provides an AGV laser navigation system with inertia compensation which adapts to a working environment having high requirements for the tail-end positioning accuracy and not having a fixed route in operating path, facilitates daily material handling of enterprises, improves the logistics handling efficiency and reduces the labor introduction cost.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation, in particular to an AGV laser navigation system with inertia compensation. Background technique [0002] At present, the AGV automatic navigation car has become an important equipment in intelligent manufacturing, advanced logistics and digital factories. It plays a very important role in facilitating factory transportation and improving production efficiency. At present, the common AGV navigation methods include magnetic stripe navigation and laser navigation. Although the magnetic stripe navigation AGV is relatively cheap and reliable in operation, it needs to lay magnetic stripes every time the AGV is run. When the path is long, the laying workload is relatively large. , The cost of the magnetic strip will be relatively high. At the same time, after the route is changed, the bottom of the magnetic strip will become weaker and cannot be reused. The later maintenance of the magne...

AI Technical Summary

Problems solved by technology

At present, the operation of AGV in most of the domestic logistics handling links is still guided by rails, and a small part of very expensive laser trackless guidance and inertial guidance with complex construction; Requirements, but laser navigation without reflectors cannot meet the high-precision requirements of terminal positioning. Laser navigation with reflectors has a large environmental modification, and it is not easy to change the working scene

Therefore, for the working environment where the positioning accuracy of the terminal is high and the running path has no fixed line, the simple use of laser navigation forklifts without reflectors cannot meet the high-precision requirements of terminal positioning. It has the characteristics of flexible path and high positioning accuracy of the end, but the cost is too expensive, the amount of modification of the use environment is large, and the requirements for the use environment are high

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