The invention discloses an AGV control system and method based on a Kalman observer, and relates to the technical field of automatic control. The system comprises a vehicle-mounted control system, and a terminal of the vehicle-mounted control system is connected with an information acquisition module. A laser navigation module is used for scanning the space contour of a factory environment where the trolley is located, a reference coordinate, initial positioning information and a digital map of trolley advancing are given, on the basis of initial positioning, a preliminary advancing path is generated through a Kalman observation module, and in the moving process of the trolley, the initial positioning information is obtained. The advancing route of the trolley at each moment is continuously corrected by combining an image shot by the image acquisition module and integrating and fusing an external signal through a Kalman algorithm, so that the advancing route of the trolley reaches the optimal advancing route, the position of the trolley at each moment is more accurately positioned, and even if the trolley loses the signal due to external interference, the positioning accuracy of the trolley is improved. And the Kalman observation module can also ensure that the trolley is positioned more accurately, and the working efficiency of the trolley is improved.

    本发明公开一种基于卡尔曼观测器的AGV小车控制系统及方法,涉及自动控制技术领域;而本发明包括车载控制系统,车载控制系统的终端连接有信息获取模块;利用激光导航模块对小车所处的工厂环境的空间轮廓扫描出来,给定参考坐标、初始定位信息和小车行进的数字地图,结合初始定位基础上,通过卡尔曼观测模块生成一个初步的行进路径,在小车的移动过程中,结合图像采集模块拍摄到的图像,再将外部信号,通过卡尔曼算法,整合融合不断修正小车每一时刻的前进路线,使小车的行进路线达到最优的行进路线,从而更加准确得定位小车每一时刻得位置,即使小车在由于外界干扰丢失信号时,卡尔曼观测模块也能保证小车定位更精准,提高小车工作效率。


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    Titel :

    AGV trolley control system and method based on Kalman observer


    Weitere Titelangaben:

    一种基于卡尔曼观测器的AGV小车控制系统及方法


    Beteiligte:
    SHU ZHIBING (Autor:in) / YANG CHUAN (Autor:in)

    Erscheinungsdatum :

    2023-11-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung




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