Installation and commissioning steps of industrial AGV inertial navigation sensing unit

In the navigation system of industrial AGV, the inertial navigation sensor unit is one of the core components to ensure the accurate positioning and stable operation of the equipment. The standardization of its installation and commissioning directly affects the navigation accuracy of the AGV. The following is a set of standardized installation and commissioning steps for the reference of relevant technicians.

The first step is the preliminary preparation. Technicians need to check the appearance status of the inertial navigation sensing unit to confirm that there is no collision damage and that the terminals are intact and rust-free; at the same time, prepare tools such as torque wrenches, high-precision levels, debugging computers, and insulating tapes. In addition, it is necessary to familiarize yourself with the overall structure layout of the AGV in advance, and clarify whether there are electromagnetic interference sources such as motors and electromagnets around the installation area. If necessary, plan a suitable avoidance plan to avoid interference of the sensing unit affecting the accuracy of data collection.

When entering the installation and positioning stage, it is necessary to give priority to the central area of the top of the AGV as the installation position. Here, the balance of the attitude data collected by the sensing unit can be guaranteed to the greatest extent, and the vibration interference during the operation of the AGV can be reduced. When installing, first place the sensing unit in the preset installation position, and use a level meter to detect and adjust the level of the unit to ensure that the deviation is controlled within the allowable range of the equipment; then use a torque wrench to fix the installation bolt according to the specified torque to avoid too loose and cause shaking during operation, or too tight damage to the unit shell. After fixing is completed, comb and connect the wiring between the sensing unit and the AGV control system, and wrap the joint with insulating tape to prevent the wiring from falling off or short-circuiting.

Next is the parameter calibration link. Connect the debugging computer to the AGV control system, open the special debugging software, and perform static zero-point calibration first: let the AGV be in a standing state, collect the initial attitude data of the sensing unit, and enter the software to complete the zero-point setting; then perform dynamic attitude calibration, control the AGV to run a certain distance along the straight line and turning path at low speed, the software will automatically compare the actual running trajectory with the data collected by the sensing unit to generate calibration parameters, and the technician can fine-tune the attitude compensation value of the unit according to the system prompts to further reduce the navigation error.

After completing the calibration, enter the functional test link. Set up multiple sets of simulated operation scenarios, including long-distance straight driving, continuous turning, in-situ steering, etc., observe the navigation and positioning data displayed in the debugging software, and check whether the sensing unit can accurately feedback the position and attitude changes of the AGV in real time. If the positioning deviation exceeds the allowable range, re-check the installation fixed state or perform parameter calibration again until the navigation accuracy in all test scenarios meets the requirements.

Finally, the finishing work. Organize the external circuit of the sensing unit, fix the circuit inside the AGV with a buckle to avoid friction with other components during operation; record all parameter data of this installation and debugging, including installation position size, calibration parameters, test results, etc., to form a debugging file for retention; at the same time inform the equipment operation and maintenance personnel to regularly review the installation status and data accuracy of the sensing unit to ensure its long-term stable operation.