Navigation map construction method based on multiple types of AGVs

Abstract

The invention discloses a navigation map construction method based on multiple types of AGVs. The method comprises the following steps: recording a navigation map of an AGV of a certain vehicle type;recording the reflective columns of the vehicle type in a set range; and when the navigation map exceeds the set range, rearranging the position of the specially-made reflective column, continuously recording the reflective column of the vehicle type in the set range until the navigation map is completely recorded, and when the set range is configured to be the reflective column in the set range,locating the specially-made reflective column in the view field range of a navigator of the first AGV; and after the position of the specially-made reflective column is readjusted each time, recordingthe coordinate of the specially-made reflective column in the navigation map, manually assigning the coordinate to other navigation maps, and recording the other navigation maps by referring to the coordinate. According to the invention, coordinate errors of navigation maps of different types of AGVs are reduced.

Description

technical field [0001] The invention relates to the technical field of AGV navigation map construction, in particular to a multi-type AGV-based navigation map construction method. Background technique [0002] At present, laser navigation AGV is more and more widely used in smart factories. In the past, a single model was used in the factory, and there were not many requirements for the construction of navigation maps. However, with the development of smart logistics, there are more and more application scenarios in smart factories. There are many types of goods in the factory, and the types of automatic handling AGVs that are required are also increasing. There are forklift-type AGV transport pallets and submerged jack-up Models need to dive to the bottom of the rack and then jack up to carry the cargo. [0003] A variety of models work in the same workshop, and the heights of the models are different, so the installation height of the navigator is naturally different. How...

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Problems solved by technology

[0004] The reflective pillars of different models are independent and installed at different heights, which will cause a problem. When different models record the navigation map, although the same origin is selected for multiple models, after building maps separately, the distance from the origin is two At the same position more than ten meters away, the coordinates of different models are different by more than 10cm, and the difference in the position of a hundred meters away may reach one meter

After this situation occurs, it is difficult to dispatch and avoid vehicles among various vehicles. Different vehicles may be very close and need to avoid each other, but the avoidance is not triggered because of positioning problems, or the vehicles are far away and can travel normally, but they have to mutually avoid each other. avoid

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