A Multi-DoF Ultrasonic Receiving Device for Indoor Positioning of AGV System

In this paper, the AGV (Automated guided vehicles) positioning errors caused by wave loss phenomenon of ultrasonic sensor and the influence of the ultrasonic signal receiving angle are analyzed. In order to reduce the positioning error and blind area, a multi-degree of freedom (Multi-DoF) ultrasonic receiving device is designed. The Multi-DoF ultrasonic receiving device is fixed on the roof with two steering engine, whose horizontal rotate angle is 360 degrees and the vertical rotate angle is greater than 180 degrees. The Multi-DoF ultrasonic receiving device can aim at the ultrasonic transmitting device on AGV and automatically follow its moving in real time. Experiment results show, the average positioning error is 3.3 cm in fixed points positioning experiment, which improve greatly the positioning accuracy compared with the existing methods.