基于室内GPS的AGV导航技术研究及应用

Study and Application on Technology of Navigation for AGV Based on iGPS

针对飞机脉动生产线物流运输需求,提出了基于室内GPS的AGV(Automated Guided Vehicle)导航方案,开展了导航测量场优化、车体姿态监测和AGV位姿控制技术研究,搭建了AGV自动导航运输平台,突破固定运输路径的限制,增加了AGV运输的使用灵活性。通过工艺验证与工程化应用,长距离运动轨迹误差不超过6mm,角度误差不超过0.1°,接泊区精定位误差不超过0.5mm,角度误差不超过0.02°,实现了飞机零部件的自动化、柔性精准运输。

In order to meet the logistics and transportation requirements of aircraft pulsating production line,this paper proposes an indoor GPS-based AGV navigation scheme,carries out research on navigation measurement field optimization,vehicle attitude monitoring and AGV pose control technology,and builds an AGV automatic navigation and transportation platform,which breaks through the limitations of fixed transportation routes and increases the flexibility of AGV transportation.Through process verification and engineering application,the long distance motion trajectory error does not exceed 6mm,the angle error does not exceed 0.1°,the precision positioning error of the docking area does not exceed 0.5mm,the angle error does not exceed 0.02°,realizing the automatic,flexible and accurate transportation of aircraft parts.