AGV inertial navigation system

Abstract

The invention discloses an AGV (Automatic Guided Vehicle) inertial navigation system which comprises a gyroscope, a magnetic nail, an encoder, a magnetic sensor, a data processing unit and a motion control unit, wherein the gyroscope is arranged on an AGV vehicle; the magnetic nail is paved on a ground AGV channel; the magnetic sensor is arranged on a central line at the bottom of a vehicle head of the AGV vehicle; the gyroscope, the magnetic sensor, the encoder and the motion control unit are respectively connected with the data processing unit; the encoder, the data processing unit and the motion control unit are arranged in a control box on the AGV vehicle; the data processing unit comprises a gyroscope collecting module, a fixed shifting processing module, a Kalman filtering processing module, an angle acquiring module, a magnetic nail aligning module, a track plotting module and a PID (Proportion Integration Differentiation) regulator which are connected with each other in turn; the encoder is connected with the track plotting module; the PID regulator is connected with the motion control unit. The angle accuracy of the system is + / -0.1 degree, the track plotting accuracy is + / -5mm and the navigation precision is + / -10mm.

Description

technical field [0001] The invention belongs to the field of automatic control, in particular to an AGV car navigation system. Background technique [0002] At present, the AGV automatic guided vehicle has become an important equipment in intelligent manufacturing, advanced logistics and digital factories. It plays a very important role in facilitating factory transportation and improving production efficiency. The so-called automatic guidance is to run along the designated track. At present, the common line patrol navigation includes photoelectric sensors, vision, laser and magnetic navigation sensors, etc. For photoelectric sensors, it is cheap and simple to cooperate with black and white tape, but the signal is easy to cause The uneven ground leads to instability, the tape is easily affected by dust and garbage, etc., resulting in unstable line inspection; the visual range is large, and the requirements for the line are not high, but it is easily affected by light, and th...

AI Technical Summary

Problems solved by technology

The so-called automatic guidance is to run along the designated track. At present, the common line patrol navigation includes photoelectric sensors, vision, laser and magnetic navigation sensors, etc. For photoelectric sensors, it is cheap and simple to cooperate with black and white tape, but the signal is easy to cause The uneven ground leads to instability, the tape is easily affected by dust, garbage, etc., resulting in unstable line inspection; the visual range is large, and the requirements for the line are not high, but it is easily affected by light, and the video acquisition and processing card is expensive. , the sampling frequency is not high; and most of the most common AGV products on the market at home and abroad currently use magnetic strip navigation

Although the magnetic stripe navigation AGV is relatively cheap and reliable in operation, it needs to lay a magnetic stripe every time the AGV is running, especially when the path is long, the laying workload is large, and the cost of the magnetic stripe will be relatively high when the path is too long At the same time, after changing the route, the bottom of the magnetic strip becomes weaker and cannot be reused. The maintenance of the magnetic strip is more troublesome under the conditions of water, rolling, wear and other conditions in the later stage. With the demand of Industry 4.0 and intelligent manufacturing, the market is more concerned about The development of a more flexible and convenient AGV navigation is imminent

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