Two-stage composite obstacle avoiding device of automatic guided vehicle

Abstract

The invention discloses a two-stage composite obstacle avoiding device of an automatic guided vehicle. The two-stage composite obstacle avoiding device comprises an obstacle testing module, a master controller and an obstacle avoidance execution module. The master controller is connected with the obstacle testing module and the obstacle avoidance execution module. The obstacle testing module comprises a visual testing unit used for detecting obstacles located within 3-6 meters and an ultrasonic testing unit used for detecting obstacles located within 0.02-2 meters. The two-stage composite obstacle avoiding device provides control information for parking, obstacle avoidance and other operation of the automatic guided vehicle, and the situation that the automatic guided vehicle collides with an obstacle, so that a vehicle body is damaged is avoided.

Description

technical field [0001] The invention relates to the field of obstacle detection and obstacle avoidance of automatic guided vehicles, in particular to a two-stage composite obstacle avoidance device for automatic guided vehicles. Background technique [0002] Automated Guided Vehicle (AGV for short), which is equipped with electromagnetic or optical automatic guidance device, can walk along the specified path, has programming and parking selection device, safety protection device and various material moving devices on the car body. Automatic transport vehicle with loading function. [0003] At present, the existing automatic guided vehicles have three types of obstacle avoidance methods: visual obstacle avoidance, ultrasonic obstacle avoidance and laser obstacle avoidance, and these three methods are basically used alone, and each obstacle avoidance method has its own shortcoming. Using laser sensors alone for obstacle avoidance, the sensor is expensive, and the system cons...

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Problems solved by technology

[0003] At present, the existing automatic guided vehicles have three types of obstacle avoidance methods: visual obstacle avoidance, ultrasonic obstacle avoidance and laser obstacle avoidance, and these three methods are basically used alone, and each obstacle avoidance method has its own shortcoming

Using laser sensors alone for obstacle avoidance, the price of sensors is high, and the cost of system construction is high

Using the visual sensor alone for obstacle avoidance, the algorithm is complex, the accuracy is not high, and the system operation speed is required to be high

Ultrasonic waves are used alone for obstacle avoidance, the obstacle avoidance distance is short, there will be blind spots in the obstacle avoidance area, and the number of ultrasonic sensors is large

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