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Short-time accurate positioning device and method for AGV (Automated Guided Vehicle)

A technology of precise positioning and trolley, which is applied in the direction of navigation calculation tools, etc., can solve the problems of expensive equipment, susceptibility to external interference, high temperature and vibration, etc., and achieve the effect of cost reduction

Pending Publication Date: 2019-06-21
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

The above-mentioned short-term precise positioning devices and methods still have some shortcomings in some aspects, such as gyroscopes and IMUs, which are expensive and susceptible to external interference (such as greater temperature and vibration during the measurement process). shortcoming

Method used

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  • Short-time accurate positioning device and method for AGV (Automated Guided Vehicle)
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  • Short-time accurate positioning device and method for AGV (Automated Guided Vehicle)

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Embodiment Construction

[0028] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0029] see figure 1 , a short-term precise positioning device that can be used for AGV trolleys, including a left front wheel drive counting device 2 installed on the AGV trolley frame 4, a left steering drive counting device 3, a right front wheel drive counting device 6, a right Side steering drives counting device 5 and geomagnetic direction sensor 8, wherein,

[0030] The left front wheel ...

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Abstract

The invention belongs to the technical field of AGV positioning and discloses a short-time accurate positioning device and method for an AGV (Automated Guided Vehicle). The device comprises a left front wheel driving counting device, a left steering driving counting device, a right front wheel driving counting device, a right steering driving counting device and a geomagnetic direction sensor which are mounted on wheels of the AGV. The method comprises the following steps: 1) equally dividing duration T into n parts; 2) judging whether the AGV performs linear motion or steering motion to obtain a relative displacement coordinate value (deltaPxi, deltaPyi); and (3) accumulating the micro-segmented coordinate values calculated for n times. According to the method, a plurality of rotary encoders and the geomagnetic direction sensor are arranged on the AGV, and the data of the sensors are fused and calculated, so that the accurate displacement information of the AGV in a short time periodis finally calculated.

Description

technical field [0001] The invention belongs to the technical field of positioning of AGV trolleys, and more particularly relates to an accurate positioning device and method for AGV trolleys. Background technique [0002] AGV (Automated Guided Vehicle) is the core equipment of modern factories, flexible manufacturing workshops, intelligent logistics, unmanned warehouses and sorting centers. [0003] The navigation methods of the AGV trolley generally include the direct coordinate guidance method of arranging beacons, the electromagnetic guidance method of arranging metal wires on the path, the tape guidance method of arranging tapes on the path, the optical guidance method of arranging ribbons on the path, and the laser radar ( Or visual) SLAM algorithm to build a real-time map navigation method, etc. The navigation of the first four types of AGVs all belong to the beacon preset guidance method of path planning in advance. This method has problems such as complicated path ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
Inventor 邵文军刘秀峰黄禹刘超李根章小龙王辉
Owner HUAZHONG UNIV OF SCI & TECH
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