AGV indoor and outdoor compost navigation system and method integrating magnetic strips, magnetic nails and inertial navigation

Abstract

The invention discloses an AGV indoor and outdoor compost navigation system and method integrating magnetic strips, magnetic nails and inertial navigation. The system comprises the magnetic strips, the magnetic nails, RFID beacons, electronic maps and vehicle-mounted equipment, and the magnetic strips, the magnetic nails, the RFID beacons, the electronic maps and the vehicle-mounted equipment arelaid on the ground; the magnetic strips are laid indoors, the magnetic nails are sparsely laid outdoors, the RFID beacons are sparsely laid on indoor and outdoor AGV running tracks which are formed bythe magnetic strips or the magnetic nails, and the final indoor section of magnetic strips is a straight line section; each RFID beacon has the sole serial number and has the corresponding electronicmap; the vehicle-mounted equipment comprises a magnetic sensor, a gyroscope, an RFID card reader and a control unit; the control unit switches the indoor navigation motion control and outdoor navigation motion control according to the data of the RFID card reader, before an AGV leaves the indoor environment, the gyroscope data is corrected according to the transverse deviation data of the AGV relative to the magnetic strips and attitude angle data of the gyroscope itself which are collected by the magnetic sensor, and steady motion of the AGV under indoor and outdoor scenes is achieved.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to an AGV indoor and outdoor composite navigation system and method which integrates magnetic strips, magnetic nails and inertial navigation. Background technique [0002] At present, automatic guided vehicles have become important equipment for enterprise internal logistics, smart factories, and advanced logistics, and play a very important role in improving the automation, informatization and intelligence of enterprise internal logistics. The so-called automatic guidance and automatic material handling means that materials can be transported from one site to another independently, including moving materials to designated sites, running along designated tracks, and placing materials at designated destination sites. For the navigation of outdoor scenes, there is a lot of strong light interference, complex environmental factors, and easily damaged trajectories, so that th...

AI Technical Summary

Problems solved by technology

For the navigation of outdoor scenes, there is a lot of strong light interference, complex environmental factors, and easily damaged trajectories, so that the current common navigation methods such as magnetic stripes and lasers cannot meet the application requirements, but in actual factory applications, they often It is necessary to carry out indoor and outdoor navigation at the same time, and transport materials from a warehouse to an outdoor road and then into a production workshop

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