Two-stage composite obstacle avoiding device of automatic guided vehicle

An automatic guided vehicle and obstacle avoidance technology, applied in two-dimensional position/channel control and other directions, can solve the problems of low precision, complex algorithm, short obstacle avoidance distance, etc.

Inactive Publication Date: 2014-07-30
SOUTH CHINA UNIV OF TECH
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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 co

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  • Two-stage composite obstacle avoiding device of automatic guided vehicle
  • Two-stage composite obstacle avoiding device of automatic guided vehicle

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Embodiment Construction

[0016] The present invention will be described in further detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0017] Such as figure 1 As shown, a two-stage composite obstacle avoidance device for an automatic guided vehicle includes an obstacle detection module, a main controller 3 and an obstacle avoidance execution module 5. The obstacle detection module includes an ultrasonic detection unit 1 and a visual detection unit 2. The main controller 3 is respectively connected with the ultrasonic detection unit 1 , the visual detection unit 2 and the obstacle avoidance execution module 5 .

[0018] The ultrasonic detection 1 is short-distance obstacle detection, which is used to detect obstacles in the range of 0.02 meters to 3 meters, and the visual detection unit 2 is early warning detection, which is used to detect obstacles in the range of 3 meters to 6 meters, and detects Adju...

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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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Application Information

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IPC IPC(8): G05D1/02
Inventor 李伟光凌云志刘朋飞全思博万好杨芳沛苏霞
Owner SOUTH CHINA UNIV OF TECH
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