A UAV-assisted AGV self-guiding system and method thereof

A self-guided, unmanned aerial vehicle technology, applied in control/regulation systems, two-dimensional position/course control, instruments, etc., can solve problems such as limited perception range and difficulty in finding the global optimal path, and achieve Trajectory correction, effective long-term operation, and the effect of improving operation safety

Active Publication Date: 2020-12-01
TONGJI UNIV
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AI Technical Summary

Problems solved by technology

[0004] The existing AGV self-guidance system and its methods are basically based on the AGV's own perception system. Such a perception range is limited, and it is difficult to find the globally optimal path.

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  • A UAV-assisted AGV self-guiding system and method thereof
  • A UAV-assisted AGV self-guiding system and method thereof
  • A UAV-assisted AGV self-guiding system and method thereof

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Embodiment Construction

[0038] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0039] Such as figure 1 As shown, a UAV-assisted AGV self-guidance system includes an AGV transport vehicle, a self-guidance controller, a wireless communication module and a multi-rotor UAV. The self-guidance controller and wireless communication module are located on the AGV transport vehicle, and the self-guidance The guidance controller is connected with the perception system and control system of the AGV transport vehicle through the CAN bus, obtains the current state of the AGV transport vehicle in real time, and maintains real-time communication with the multi-rotor UAV through...

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Abstract

The invention relates to an AGV self-guiding system assisted by an unmanned aerial vehicle and a method thereof. The system comprises an AGV, a self-guiding controller, a wireless communication moduleand a multi-rotor unmanned aerial vehicle. The corresponding self-guiding method comprises the following steps of: switching the state of the multi-rotor unmanned aerial vehicle and completing switching between states by judging conditions, the states of the multi-rotor unmanned aerial vehicle including an automatic tracking state, an active detection state, a carrying state and a charging state.The switching process specifically comprises the following steps: S1, the environment information of the AGV is obtained, and the external environment state and the self motion state are judged; S2,a theoretical state of the multi-rotor unmanned aerial vehicle is obtained according to the external environment state and the self motion state, and a corresponding state switching instruction is generate3d; S3, the wireless communication module sends the state switching instruction; and S4, the multi-rotor unmanned aerial vehicle receives and processes the state switching instruction and entersa corresponding state. Compared with the prior art, the system has the advantages of being wider in coverage range, higher in safety, capable of running for a long time and the like.

Description

technical field [0001] The invention relates to the field of UAV-assisted transportation, in particular to an UAV-assisted AGV self-guiding system and a method thereof. Background technique [0002] AGV is a transport vehicle that can drive along a prescribed guiding path, has safety protection and various transfer functions, and is more and more widely used. In order to ensure the safety of AGV driving, it is very important to design the AGV self-guiding system and its method. [0003] To realize the scheduled handling plan and take advantage of the advantages of unmanned vans, the key depends on the guidance system. The electromagnetic guidance method is the first AGV guidance method developed, and it is currently the most widely used. However, due to the shortcomings of the electromagnetic guidance method, optical guidance methods, magnet guidance methods, laser guidance methods, mark tracking guidance methods, and image sensor guidance methods have successively appeare...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0276
Inventor 李刚何斌朱忠攀王志鹏周艳敏沈润杰徐寿林董怡
Owner TONGJI UNIV
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