Blended laser navigation method of AGV (Automated Guided Vehicle)

Abstract

The invention discloses an AGV trolley hybrid laser navigation method, which belongs to the technical field of AGV trolley navigation. The purpose is to provide an AGV trolley hybrid laser navigation method that adapts to the working environment where the terminal positioning accuracy is high and the running path has no fixed lines. The method includes the following steps: Step 1 constructs a two-dimensional map of the environment; In laser navigation mode without reflector, AGV car path navigation is carried out, and AGV car walks according to the navigation path; step 4 AGV car detects the laser reflector plate, enters laser precise positioning mode of reflector plate, performs precise navigation of AGV car, and completes AGV car reservation work. The invention is reliable, stable, portable, flexible, and accurate enough to realize AGV material pulling and transportation, has low environmental requirements for application sites, and has wide applicability. The present invention can not only be used in the industrial AGV application field, but also can be used in other application occasions, such as service robot navigation and the like.

Description

Technical field [0001] The invention specifically relates to an AGV trolley hybrid laser navigation method, which belongs to the technical field of AGV trolley navigation. Background technique [0002] Automated Guided Vehicles (AGV), also known as unmanned guided vehicles, first appeared in the 1950s. It is an automated, unmanned, intelligent handling equipment. It is a mobile robot system that can follow The set route is the important equipment of the modern industrial automated logistics system. Not only that, in military and dangerous places, other detection and disassembly equipment is inherited on the basis of AGV's automatic driving, which can be used for battlefield mine clearance, position detection and dangerous environment operations. [0003] The guidance method of AGV determines the flexibility of the logistics system composed of it and the reliability of the system during operation. With the development of science and technology, the guidance method of AGV is also di...

AI Technical Summary

Problems solved by technology

At present, the operation of AGV in most of the domestic logistics handling links is still guided by rails, and a small part of very expensive laser trackless guidance and inertial guidance with complex construction; Requirements, but laser navigation without reflectors cannot meet the high-precision requirements of terminal positioning. Laser navigation with reflectors has a large environmental modification, and it is not easy to change the working scene

[0011] Therefore, for the working environment where the positioning accuracy of the terminal is high and the running path has no fixed line, the simple use of laser navigation forklifts without reflectors cannot meet the high-precision requirements of terminal positioning. It has the characteristics of flexible path and high positioning accuracy of the end, but the cost is too expensive, the amount of modification of the use environment is large, and the requirements for the use environment are high

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