Multi-AGV cooperative dynamic tracking method and device

A dynamic tracking and variance technology, applied in motor vehicles, transportation and packaging, non-electric variable control, etc., can solve the problems of easy installation, flexible and reliable operation and low cost, etc., to achieve dynamic tracking accuracy, low cost, and guarantee The effect of reliability and flexibility

Active Publication Date: 2020-05-26
PEKING UNIV
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AI Technical Summary

Problems solved by technology

[0005] However, for the indoor environment of storage, the existing technologies are difficult to meet the practical requirements of convenient installation, flexible and reliable operation, and low cost.

Method used

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  • Multi-AGV cooperative dynamic tracking method and device
  • Multi-AGV cooperative dynamic tracking method and device
  • Multi-AGV cooperative dynamic tracking method and device

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Embodiment Construction

[0027] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] refer to figure 1 As shown, the present invention utilizes a set of sensors equipped on each AGV, including the accelerometer and gyroscope of the inertial navigation module, the signal receiving device of the wireless positioning module, the radar and camera of the target detection module, etc., to obtain the AGV The location information and the location information of the adjacent AGV, and then use the wireless communication module to send the observed location information of the adjacent AGV to the corresponding AGV. During specific implementation, the collaborative dynamic tracking system is used to realize flexible and reliable AGV dynamic tracking in complex and sheltered warehouse indoor environments.

[0029] The p...

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Abstract

The invention discloses a multi-AGV cooperative dynamic tracking method and device. By using wireless positioning and inertial navigation positioning, a multi-AGV cooperative dynamic tracking optimization method and device are provided. The device comprises a self-position optimization module, a multi-AGV cooperative dynamic tracking module, a target detection module, a wireless transmission module, and a delay compensation module. The self-position optimization module comprises a wireless positioning module, an inertial navigation module and an optimization algorithm module. The obtained AGVoptimized position information is closer to the actual position, the dynamic tracking precision can still be ensured even if the wireless positioning signal is lost, and the reliability of AGV dynamictracking is improved. By adopting the technical scheme provided by the invention, on the basis of ensuring the reliability and the flexibility of single-AGV dynamic tracking, the dynamic tracking precision is improved, the change of original system equipment is small, no additional influence exists, the installation is convenient, the operation is flexible and reliable, and the cost is low.

Description

technical field [0001] The invention belongs to the technical field of wireless communication positioning, and specifically relates to a flexible and reliable dynamic tracking technology applied to an indoor automatic guided vehicle (Automated Guided Vehicle, AGV). The effective integration of AGV realizes flexible and reliable multi-AGV collaborative dynamic tracking. Background technique [0002] With the development of science and technology, intelligent logistics has become an inevitable trend. Its main task is to rely on technical means to reduce the cost of logistics transportation process. As the key equipment of intelligent logistics, AGV is a flexible, intelligent, automatic guidance technology. A system that can automatically realize logistics tasks without manual intervention. Among various technologies related to AGV equipment, dynamic tracking technology is a prerequisite for realizing AGV automation and intelligent operation. [0003] As one of the core techno...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0225G05D1/0246G05D1/0257G05D1/0276G05D2201/02
Inventor 张辉杨澎涛陈晨程翔
Owner PEKING UNIV
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