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Multi-sensor data fusion method and AGV navigation positioning device

A data fusion, multi-sensor technology, applied in the field of navigation and positioning, can solve problems such as large AGV measurement errors

Inactive Publication Date: 2018-11-02
郑州万达科技发展有限公司
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-sensor data fusion AGV navigation and positioning device to solve the problem of large measurement errors in the existing AGV using a single sensor; at the same time provide a multi-sensor data fusion method

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Embodiment Construction

[0073] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

[0074] The embodiment of the AGV navigation positioning device of multi-sensor data fusion of the present invention: as Figure 1-Figure 4 As shown, it includes the AGV body and 7 sets of sensors arranged on the AGV body. The sensors include the first infrared sensor s1, the second infrared sensor s7 arranged on the left and right sides of the AGV body, and the front of the AGV body. Ultrasonic sensor. There are 5 ultrasonic sensors, which are respectively installed in the right front, front right, front, front left, and left front of the AGV body. The ultrasonic sensors are marked as s2-s5 respectively.

[0075] The mathematical models of physical systems encountered in engineering practice are often nonlinear systems, and there are two ways to derive the extended Kalman fi...

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Abstract

The invention relates to a multi-sensor data fusion method and an AGV navigation positioning device. A multi-sensor data fusion AGV navigation positioning device comprises an AGV body and a sensor arranged on the AGV body. The sensor comprises a first infrared sensor arranged on the left side and the right side of the AGV body, a second infrared sensor and an ultrasonic sensor arranged at the front part of the AGV body, and three to five ultrasonic sensors are arranged. The multi-sensor data information is fused through an extended kalman filtering algorithm. According to the invention, the fault-tolerant capability and the data reliability of the system can be improved, and the data acquisition cost can be reduced; the system state measurement data is subjected to real-time tracking prediction by adopting the extended kalman filtering algorithm, so that the positioning precision is improved.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning, in particular to a multi-sensor data fusion method and an AGV navigation and positioning device. Background technique [0002] AGV is the abbreviation of (Automated Guided Vehicle), which means "automatically guided transport vehicle". Transporter with load function. It is widely used in logistics, warehousing and transportation links. [0003] It is more common for traditional industrial AGVs to use a single sensor as an AGV guidance decision-making technology solution, which greatly reduces the credibility and effectiveness of the information data source of the navigation device, which in turn affects the overall guidance decision-making ability of the system. Contents of the invention [0004] The purpose of the present invention is to provide a multi-sensor data fusion AGV navigation and positioning device to solve the problem of large measurement errors in the existing...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0255G05D1/0231
Inventor 马帅刘国晓王霞李怀刚
Owner 郑州万达科技发展有限公司