A navigation method and agv based on indoor microwave base station

Abstract

The present invention provides a navigation method and an AGV based on an indoor microwave base station, including the following steps: S1: power on, S2: during the startup process, obtain the absolute position of the AGV through the UWB module of the indoor microwave indoor microwave base station, S3: fully start After the AGV, dispatch the destination command, manually operate the AGV to the top of the two-dimensional code Tag label, accurately obtain the absolute position of the AGV, obtain the position error d and angle error θ of the AGV, and synthesize the fusion error e, S4: When the AGV is in the After the fusion error e is obtained on the two-dimensional code tag label, the position and angle of the next two-dimensional code tag label are adjusted through the inertial navigation system until the next two-dimensional code tag label is reached; when the AGV deviation is too large , out of the established orbit, use the UWB module to obtain the absolute position of the AGV, and dispatch the command to retrieve it. This navigation method has accurate positioning, high precision, low cost, and strong anti-interference ability. It can realize real-time positioning in the working area and facilitate retrieval. .

Description

technical field [0001] The invention relates to the technical field of route navigation of an automatic guided transport vehicle, in particular to a navigation method based on an indoor microwave base station and an AGV. Background technique [0002] AGV trolley refers to a transport vehicle equipped with an automatic guiding device, capable of driving along a prescribed guiding path, with safety protection and various transfer functions. The AGV trolley chassis supports and installs various components such as the vehicle drive system and power supply system , assembly, forming the overall shape of the car, so whether the chassis has sufficient load-bearing capacity is very important. The frame of the existing AGV trolley is welded with sheet metal, which can save metal materials, reduce structural weight, and simplify processing and installation procedures. Improve production efficiency, but because the sheet metal is a structure with one side open, the load-bearing capacit...

AI Technical Summary

Problems solved by technology

At present, AGV navigation methods mainly include inertial navigation, laser navigation, electromagnetic navigation and visual navigation. Among them, inertial navigation is to install a gyroscope on the AGV and install positioning blocks on the ground in the driving area. Inertial navigation is a mature and reliable technology. Navigation technology has the advantages of high reliability, high short-term accuracy and strong autonomy, but due to the AGV components themselves and the ground, there are accumulated errors that cannot be eliminated, and the long-term guidance accuracy is not enough; laser navigation is installed on the AGV car Laser transmitter, precise launching board is installed on the driving path, AGV emits laser beams and collects the laser beams reflected by the reflective board at the same time, so as to determine its current position and direction, laser navigation positioning is accurate, no other positioning facilities are required on the ground, and the driving path The change is flexible, but the laser navigation control is complicated, the cost is expensive, it is greatly affected by obstacles, and the requirements for suitable occasions are high; electromagnetic navigation is to bury metal wires on the AGV driving path, and the guiding metal wires are concealed, not easy to be polluted and damaged, simple and reliable, and resistant to damage. It has strong interference ability and low cost, but it is troublesome to change and expand the path, and it is relatively difficult to lay guide lines. In order to overcome the defects of the existing single navigation method, many AGVs use conforming navigation methods. The patent number is CN 108592906 A, and the name is The invention patent document of AGV composite navigation method based on two-dimensional code and inertial sensor discloses an AGV composite navigation method based on two-dimensional code and inertial sensor, and n two-dimensional code labels are arranged at equal intervals in the AGV working area; The AGV recognizes any ith two-dimensional code label in the driving path and starts the two-dimensional code navigation mode, so as to use the calculated longitudinal deviation ΔLQR, lateral deviation ΔDQR, and direction deviation ΔφQR to realize the AGV in the i-th two-dimensional code. Attitude adjustment on the tag; if the AGV cannot recognize any i-th QR code tag in the driving path, it will start the inertial navigation mode, and use the calculated longitudinal deviation ΔLIN, lateral deviation ΔDIN, and direction deviation ΔφIN to realize the AGV in the Navigation between the i-th two-dimensional code label and the i+1-th two-dimensional code label in the driving path. This composite navigation method realizes the composite navigation of the AGV through equidistantly placed two-dimensional code labels and combined with inertial sensors. In order to achieve the purpose of reducing production costs, reducing the difficulty of on-site implementation, and improving navigation accuracy, but when the AGV deviates far from the target route and cannot find the next QR code, it will cause derailment and cannot be retrieved, so it can only be operated manually by on-site staff

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