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AGV positioning method and device

A positioning device and positioning method technology, applied in positioning, measuring devices, instruments, etc., can solve the problems of high cost and complex structure of laser positioning sensors, and achieve the effects of strong portability, small size, and simple and easy technical means

Active Publication Date: 2020-03-24
SOUTH CHINA UNIV OF TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0004] In the prior art, the coordinates of the AGV are obtained by using a laser positioning sensor, but the cost of the laser positioning sensor is high and the structure is complicated

Method used

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  • AGV positioning method and device

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Experimental program
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Embodiment

[0032] Such as figure 1 As shown, the entire positioning process of the present invention can be divided into five steps, from the arrangement of the reflector in the working environment, the establishment of the coordinate system, to the installation of the laser emitting device on the vehicle body, and then the acquisition of measurement data, so as to establish a mathematical model based on the measurement data , and finally solve the mathematical model to obtain the coordinates of the car body in the working environment.

[0033] Such as figure 2 As shown, two reflectors (reflectors) with a certain length and size are placed in the working environment of the automatic guided vehicle (AGV) in advance, installed in a perpendicular relationship with each other, and fixed on the wall of the working environment.

[0034] The material used for the reflector must be highly reflective, for example, it is made of reflective materials that combine PET and PC materials of the micro...

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PUM

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Abstract

The invention discloses an AGV positioning method and device, relating to the field of laser positioning. A laser device is adopted in the method, and the device has the functions of emitting laser and measuring the distance between the center of the device and a reflecting plate. The positioning method comprises the following steps: step 1, two reflecting plates perpendicular to each other in anAGV working environment are arranged and a two-dimensional reference coordinate system is created by taking the reflecting plates as coordinate axes respectively; step 2, the two laser emitting devices are installed in the center of an AGV body in a mutually perpendicular mode; step 3, distance measurement is made twice on the operated AGV to obtain measurement data; step 4, a mathematical modelis established by utilizing the obtained measurement data; and step 5, the center coordinate of an AGV body is calculated.

Description

technical field [0001] The invention relates to the field of automatic guided vehicle (AGV) positioning in storage operations, in particular to an AGV positioning method and device. Background technique [0002] With the development of e-commerce, it is required to have a higher level of logistics operation efficiency, and the storage logistics handling mode has also been further upgraded: the storage handling robot replaces the manual handling operation mode, that is, it is converted into the operation mode from goods to people, AGV's Positioning and navigation has also become a key technology research hotspot. In general, the laser-guided AGV collects distance information through a laser ranging sensor, and determines the current position and direction according to the principle of triangulation ranging, thereby realizing the technology of AGV positioning and guidance. [0003] In the intelligent workshop, due to factors such as uneven ground and wheel train slippage, the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/16
CPCG01S5/16Y02P90/60
Inventor 叶峰周鑫杰赖乙宗
Owner SOUTH CHINA UNIV OF TECH
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