基于红外检测与RFID技术的AGV定位方法研究  

Research on AGV Positioning Method Based on Infrared Detection and RFID Technology

作　　者：李双全 曹小华[1] LI Shuangquan;CAO Xiaohua(School of Logistics Engineering, Wuhan University of Technology, Wuhan 430063, China)

机构地区：[1]武汉理工大学物流工程学院,武汉430063

出　　处：《武汉理工大学学报（交通科学与工程版）》2021年第1期127-131,共5页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家重点研发计划项目资助(2018YFC1407405)。

摘　　要：定位是自动导引小车(AGV)自主导航的关键技术之一,其目的为了获取AGV在全局地图下的位置和航向角.针对这一问题,提出了一种基于红外检测与射频识别(RFID)技术的AGV定位方法,采用RFID技术进行粗定位,获取AGV在全局地图中的位姿信息,采用红外检测进行精定位,获取AGV位姿偏差信息.结合编码器实时反馈AGV的位姿信息,实现AGV精确定位.实验结果表明:该定位方法能够有效消除AGV运行过程中产生的误差,提高AGV定位精度.其横向和纵向位置误差均不超过5 mm,航向角误差不超过0.8°,能够满足AGV自主导航.Positioning is one of the key technologies for autonomous navigation of AGV,and its purpose is to obtain the position and heading angle of AGV in the global map.To solve this problem,an AGV location method based on infrared detection and radio frequency identification(RFID)technology was proposed.RFID technology was used for rough positioning,and the pose information of AGV in the global map was obtained.Accurate positioning of AGV was achieved by infrared detection,and the position and attitude deviation information of AGV were obtained.Combined with the real-time feedback of the position and attitude information of AGV by encoder,the accurate positioning of AGV was realized.The experimental results show that the positioning method can effectively eliminate the errors generated during the operation of AGV and improve the positioning accuracy of AGV.The lateral and longitudinal position errors are less than 5 mm,and the heading angle error is less than 0.8,which can satisfy the autonomous navigation of AGV.

关 键 词：定位 自动导引小车 红外检测 RFID技术 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]