Research On Positioning Technology Of Precast AGV Of Prefabricated Concrete In Prefabricated Building

With the liberation of productive forces and the rise of artificial intelligence,automatic guided vehicle is more and more widely applied in all kinds of the working situation of high degree of automation Within the concrete precast prefabricated construction workshop,AGV play the important role of transport material and mold The movement of the traditional automatic guided vehicle flexible is poorer,difficult to deal with complex and changeable work scenarios Based on wireless location technology based on UWB positioning is proposed on the basis of automatic guided vehicle way of navigation.First of all,in view of the inaccurate ranging in UWB positioning technology,this paper adopts the improved bilateral ranging principle to predict the distance between the base station and the label,and makes a linear fitting combination of the ranging results to get the fitting formula,so as to reduce the ranging error.Secondly,in view of the situation that multiple solutions appear when the location results are solved by adopting the time difference of arrival algorithm in UWB positioning technology,this paper proposes the time difference of arrival algorithm based on C-A-T co-positioning,namely Chan-AOA-Taylor co-positioning.The central idea of this algorithm is to use Chan algorithm without initial value and iteration to get the calculation result,and use AOA(Angle of Arrival)to measure the Angle of the sign-on to the main base station to eliminate the wrong result and then put the correct result into the expansion as the initial value of Taylor series expansion for iteration.After the error threshold is satisfied,the iterative process is finished and the final result is obtained.Then,aiming at the existence of multiple tags at the same time positioning in the collision problem,this paper presents a mixed group of collision algorithm,and the time slot ALOHA algorithm and has a group of binary tree algorithm,when so many label after entering the scope of work of UWB base station,first using time slot ALOHA algorithm part identification tags,and then detect the remaining tags collision,These collision bits are grouped.According to the collision bit information,the base station sends the tag part ID instruction of each group according to certain rules,and the tag containing the base station instruction content in the same group responds to the remaining ID content of this group.This algorithm can greatly improve the communication times and data transmission between base station and label.