Warehouse roadway automatic guided vehicle navigation device based on swing single-line laser radar

Abstract

The invention provides a warehouse roadway automatic guided vehicle navigation device based on swing single-line laser radar. The device comprises a laser radar swing control module, a three-dimensional point cloud data collection module and a vehicle navigation control module, the three-dimensional point cloud data collection module comprises the single-line laser radar, a motor and a rotating mechanism, the single-line laser radar serves as collection equipment for point cloud data, the motor and the rotating mechanism provide power for swinging of the single-line laser radar to realize a function of splicing planar point cloud to form three-dimensional space point cloud, the laser radar swing control module is responsible for receiving a control instruction of the vehicle navigation control module and a control task of the motor, and the vehicle navigation control module sends a swing control order to the laser radar swing control module according to current working state, receives and processes point cloud data and calculates according to current visual field point cloud to acquire position of an automatic guided vehicle so as to realize automatic positioning. The warehouse roadway automatic guided vehicle navigation device is simple in realization, high in performance-cost ratio, high in practicability and suitable for automatic guiding of warehouse roadways of various types.

Description

technical field [0001] The invention relates to a vehicle navigation technology for an automatic guided vehicle, in particular, it designs a navigation device for an automatic guided vehicle in a warehouse roadway based on a swinging single-line laser radar. Background technique [0002] In the information age, with the rapid development of warehousing and logistics, automatic guided vehicles (AGV) are playing an increasingly important role in the logistics production of factories. In the context of the continuous improvement of factory automation, the wide application of AGV has become the current development trend. The application of AGV in unattended production operations can not only improve production efficiency, but also effectively save production costs. The reason why AGV can realize unmanned driving is that automatic navigation plays a vital role in it. [0003] After searching, many patents related to AGV navigation were found. In the current patents and practica...

AI Technical Summary

Problems solved by technology

In the electromagnetic track scheme, the electromagnetic track is pasted on the floor or embedded in the ground groove, and the AGV relies on the information of the electromagnetic track to travel and position. This kind of solution usually has a relatively large construction volume and is not easy to modify the route; sensor induction tape and camera identification In the solution of the label tape, the tape and the label tape are pasted on the ground. Under the long-term and frequent use conditions of the warehouse, they are easy to wear and require frequent maintenance and inspection; the existing single-line laser scanning reflective beacon with a fixed scanning surface is used for navigation The solution generally needs to set a certain number of reflective labels on the path of AGV walking or in the warehouse environment for navigation, and the cost is relatively high. In addition, setting differentiated labels in the warehouse environment is also difficult to set, and the amount of construction is large. Expansion to change the route is inconvenient and other issues

After reviewing the existing literature, it is found that there is also a dynamic positioning and navigation scheme based on multi-line laser radar, and the navigation efficiency and accuracy are relatively high. Not practical to use in common factory warehouses

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