AGV trolley indoor positioning and navigation system and control method thereof

Abstract

The invention provides an AGV trolley indoor positioning and navigation system and a control method thereof. The system comprises a black line grid module which is an nxn black line grid, wherein thenode of each grid is provided with a two-dimensional code and each two-dimensional code has position information; at least one AGV trolley which comprises a driver used for movement, a black line tracking sensor which is used for identifying the black line grid, a two-dimensional code identification module which is used for reading the two-dimensional code information of the current node and a control module which sets the movement path from the initial position to the target position; and a central monitoring and scheduling system which establishes a two-dimensional code information database,communicates with all the AGV trolleys through a wireless communication module and plans the movement path of the AGV trolleys as a whole. The beneficial effects of the AGV trolley indoor positioningand navigation system and the control method thereof are that the movement path can be flexibly adjusted in real time, real-time accurate positioning can be realized, the positioning and navigation accuracy requires to be centimeter or higher level, and the system is simple and reliable, fast in response speed, high in anti-interference capacity and low in cost.

Description

technical field [0001] The invention belongs to the technical field of indoor navigation, in particular to an indoor positioning and navigation system of an AGV trolley and a control method thereof. Background technique [0002] At present, the indoor positioning technology of AGV trolley 1 at home and abroad mainly includes the following types: 1. Indoor positioning and navigation are carried out by using ranging sensors and slam algorithms to construct scene maps represented by lidar. On the one hand, this method has complex processing algorithms. The amount of calculation is seriously disturbed by the environment, and the positioning error is on the order of a few meters. Although the positioning accuracy of the laser radar can reach the centimeter level, the cost is extremely high; 2. Using wireless power measurement as a representative to realize the positioning of mobile wireless tags , this method needs to lay out multiple signal receiving points in the positioning sc...

AI Technical Summary

Problems solved by technology

[0002] At present, the indoor positioning technology of AGV trolley 1 at home and abroad mainly includes the following types: 1. Indoor positioning and navigation are carried out by using ranging sensors and slam algorithms to construct scene maps represented by lidar. On the one hand, this method has complex processing algorithms. The amount of calculation is seriously disturbed by the environment, and the positioning error is on the order of a few meters. Although the positioning accuracy of the laser radar can reach the centimeter level, the cost is extremely high; 2. Using wireless power measurement as a representative to realize the positioning of mobile wireless tags , this method needs to lay out multiple signal receiving points in the positioning scene in advance, and set up signal transmitting tags on the positioning target, the cost is also high, the error is about half a meter, and the signal coverage space is limited; 3. Represented by geomagnetic measurement Indoor positioning technology for building metal structure measurement, this technology has a large positioning error, and the measurement result is very unstable, and it is also easily disturbed by the environment; 4. Image recognition and positioning technology based on machine vision, which has a large amount of calculation Large, slow response, prone to mishandling, and easily disturbed by ambient light intensity; 5. Based on inertial navigation indoor positioning technology, this technology has high positioning accuracy in the initial stage, but the cumulative error is difficult to eliminate, and the cumulative error of long-term positioning will be reduced. reach a high level

6. Multi-sensor data fusion technology based on the above positioning technologies realizes indoor positioning. Although the effect is better than that of a single technology, it increases the complexity of data processing, and the positioning accuracy is difficult to reach centimeter-level accuracy.

At present, the navigation of the indoor AGV car 1 mainly consists of black line recognition navigation technology, inductive sensor navigation technology, camera image recognition navigation technology, etc. These technologies can realize the AGV car 1 to travel along the predetermined path more accurately (centimeter-level accuracy), but None of these technologies can provide the current positioning position of the AGV car 1, and it is also difficult to adapt to the requirements of real-time adjustment of the driving route.

For most of the AGV trolley 1 applications, such as logistics transportation in the workshop, warehouse logistics handling, and logistics sorting, it is required that the AGV must be able to flexibly adjust the walking path in real time according to task requirements, real-time precise positioning, and positioning and navigation. Accuracy needs to be at the centimeter level or higher, and the system is simple and reliable, with fast response, strong anti-interference ability, and low cost. At present, it is difficult to find an AGV car 1 indoor positioning and navigation technology that can perfectly meet such requirements.

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