When the AGV enters the system for the first time and the current position of the AGV is not known, the initial position calculation is performed. By comparing the known positions of some known reflectors, the navigation module in the AGV controller calculates the position of the AGV.
The conditions required to initialize the static position calculation include the AGV being stationary, the laser scanner can find the position of at least three reflectors and the position of the reflectors is known.
There are principles and methods of initial static position calculation.
The last known position is preferred.If the position of the trolley captured during a revolution of the laser scanner matches the last known desired position, then the position can be used as the current position. If the last known position is not stored or the matching error occurs,the laser positioning algorithm is adopted.
Using the laser positioning algorithm, the laser scanner rotates once, and three well-distributed positions are selected. The position of the AGV in the coordinate system can be determined by calculation. If the position is correct, most of the remaining measurable positions are match the known light emitting board.
The reflector should be placed at a suitable position in the operating area, and the light emitting plate should be arranged in a triangle as far as possible for the AGV running route.
Shenzhen OKAGV Co., Ltd. dedicates to manufacturing& developing AGV and logistics robots,and provides high end AGV equipment and system constantly.