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Navigation and positioning method for hybrid navigation AGV system fused with linear tracking

A hybrid navigation, navigation and positioning technology, applied in navigation, ground navigation, surveying and navigation, etc., can solve the problem that the positioning accuracy cannot meet the application requirements

Pending Publication Date: 2019-08-09
上海威瞳视觉技术有限公司
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Problems solved by technology

At this time, the positioning accuracy of the current inertial navigation system cannot meet the application requirements

Method used

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  • Navigation and positioning method for hybrid navigation AGV system fused with linear tracking
  • Navigation and positioning method for hybrid navigation AGV system fused with linear tracking
  • Navigation and positioning method for hybrid navigation AGV system fused with linear tracking

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with the accompanying drawings.

[0050] A navigation and positioning method for a hybrid navigation AGV system fused with linear tracking provided by the present invention, comprising an AGV car 1, a gyroscope 2, a magnetic nail 3, a magnetic ruler sensor 4, a laser sensor 5 and a calibration structure 6; the gyroscope 2 It is arranged at the in-situ rotation center of the AGV car 1 to provide the sensing signal required by the gyroscope for linear navigation; the magnetic ruler sensor 4 is provided with two, and is installed on the center of the AGV car 1 in a symmetrical manner. The front end and the rear end are used to provide the sensing signals required by the magnetic nail inertial navigation; the magnetic nail 3 is laid on the ground AGV channel; the calibration structure 6 is a linear guide rail, which is installed on the target object requiring precise positioning; The laser sensor 5 is inst...

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Abstract

The invention discloses a navigation and positioning method for a hybrid navigation AGV system fused with linear tracking, which comprises an AGV (1), a gyroscope (2), a magnetic nail (3), a magnetictape sensor (4), a laser sensor (5), and a calibration structure (6). Through sequential switching among three navigation modes, the positioning accuracy between the AGV system and a target object isimproved gradually, the positioning accuracy requirements of different regions are met, the method is suitable for controlling the AGV along an object with a linear characteristic, the cost is low, and the algorithm is simple and easy.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation, in particular to a navigation positioning method of a hybrid navigation AGV system fused with linear tracking. Background technique [0002] AGV (automatic guided vehicle) automatic transportation plays a very important role in the production efficiency and management of factories and logistics warehouses. Its common navigation methods include photoelectric sensors, visual navigation, laser navigation and magnetic navigation sensors. At present, magnetic stripe navigation or QR code navigation is often used in the AGV industry, but because there is inevitably no dust accumulation, human footprints, cleaning water stains, etc. in the warehouse (especially domestic warehouses), these factors will damage the magnetic stripe or QR code, not only Increases the probability of error, and makes both of them unreusable. [0003] Therefore, the inertial navigation system is gradually used ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/06
CPCG01C21/005G01C21/165G01C21/06
Inventor 石飞黄怡李星张向群
Owner 上海威瞳视觉技术有限公司
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