AGV control method and system based on inertial navigation error correction and SLAM indoor positioning

An indoor positioning and control method technology, applied in the control/adjustment system, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problems of AGV control technology error accumulation and avoid real-time shortage , Avoid the effect of being susceptible to interference and avoiding the accumulation of errors

Inactive Publication Date: 2018-03-30
台州市吉吉知识产权运营有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The technical problem to be solved by the present invention is to provide an AGV control method and system based on inertial navigation deviation correction a

Method used

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  • AGV control method and system based on inertial navigation error correction and SLAM indoor positioning
  • AGV control method and system based on inertial navigation error correction and SLAM indoor positioning
  • AGV control method and system based on inertial navigation error correction and SLAM indoor positioning

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Embodiment 1

[0059] This embodiment provides an AGV control method for inertial navigation deviation correction and SLAM indoor positioning, such as figure 1 shown, including steps:

[0060] S11: Establish a plane coordinate system based on the AGV running ground and set preset coordinate points;

[0061] S12: When the AGV is running between the preset coordinate points, the real-time deviation correction of the AGV is realized through the data returned by the inertial sensor;

[0062] S13: When the AGV runs to the preset coordinate point, the cumulative error caused by the inertial sensor correction is corrected again through SLAM indoor positioning.

[0063] The existing technology is mainly used to solve the material transportation of the factory assembly line by AGV through the pre-laid track. When the material delivery point is changed or needs to be changed or a new delivery task is added, Wangwang needs to change the original AGV track , This not only increases the restrictions on...

Embodiment 2

[0091] This embodiment provides an AGV control method based on inertial navigation deviation correction and SLAM indoor positioning, such as image 3 shown, including steps:

[0092] S21: Establish a plane coordinate system based on the AGV running ground and set preset coordinate points;

[0093] S22: After starting to work, monitor the instructions sent by the central control system through Wi-Fi;

[0094] S23: When the AGV is running between the preset coordinate points, the real-time deviation correction of the AGV is realized through the data returned by the inertial sensor;

[0095] S24: When the AGV runs to the preset coordinate point, the cumulative error caused by the inertial sensor correction is corrected again through SLAM indoor positioning.

[0096] The difference from the first embodiment is that step S22 is also included.

[0097] Specifically, when starting to work, the AGV on-board Wi-Fi module turns on the monitoring settings and monitors the instructions...

Embodiment 3

[0099] This embodiment provides an AGV control system for inertial navigation deviation correction and SLAM indoor positioning, such as Figure 4 shown, including:

[0100] Establish module 31, be used for establishing the plane coordinate system based on AGV operation ground and set preset coordinate point;

[0101] The inertial navigation correction module 32 is used to realize the real-time correction of the AGV through the data returned by the inertial sensor when the AGV is running between the preset coordinate points;

[0102] The SLAM positioning module 33 is used to correct the cumulative error generated by the inertial sensor deviation correction again through SLAM indoor positioning when the AGV runs to the preset coordinate point.

[0103]This embodiment adopts inertial navigation and SLAM indoor positioning system as the navigation method of AGV, and realizes the real-time deviation correction of AGV through the value returned by the inertial sensor between two pr...

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Abstract

The invention discloses an AGV control method and system based on inertial navigation error correction and SLAM indoor positioning, and is used for solving the problem of error accumulation existing in an existing single AGV control technology based on inertial navigation error correction. The method includes the steps of S1, establishing a plane coordinate system based on AGV running ground and setting preset coordinate points; S2, when the AGV runs between the preset coordinate points, realizing real-time error correction of the AGV through data returned by an inertial sensor; and S3, when the AGV runs to a preset coordinate point, performing error correction again through SLAM indoor positioning on an accumulated error generated by inertial sensor error correction. The AGV control method provided by the invention performs error correction on the AGV based on inertial navigation error correction and matched with a laser radar-based SLAM indoor positioning technology, and avoids the problem of error accumulation of single inertial navigation error correction.

Description

technical field [0001] The invention relates to the technical field of AGV control, in particular to an AGV control method and system based on inertial navigation deviation correction and SLAM indoor positioning. Background technique [0002] AGV, or "automatically guided transport vehicle", refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can drive along a prescribed guiding path, has safety protection and various transfer functions, and AGV is a wheeled vehicle. In the category of mobile robots, AGV has three main technologies: hinge structure, engine separation technology and energy feedback. [0003] Most of the current AGV guidance methods are laser guidance, magnetic guidance, visual guidance, etc., and laser guidance needs to install enough reflectors around the AGV running path, and both magnetic guidance and visual guidance need to be on the ground Corresponding tracks are laid on the ground; the indoo...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0257G05D2201/0216
Inventor 张海瑞
Owner 台州市吉吉知识产权运营有限公司
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