Blended laser navigation method of AGV (Automated Guided Vehicle)

Abstract

The invention belongs to the technical field of navigation of AGVs (Automated Guided Vehicles), and aims to provide a blended laser navigation method of an AGV, which is applicable to a working environment having a high requirement on terminal locating accuracy and having no fixed running path. The blended laser navigation method comprises the following steps of step one, constructing a two-dimensional map of an environment; step two, planning a navigation path; step three, carrying out AGV path navigation by utilizing a reflector-free laser navigation mode, and enabling the AGV to walk according to the navigation path; step four, entering a reflector laser accurate locating mode when a laser reflector is detected by the AGV, carrying out accurate navigation of the AGV, and completing reserved work of the AGV. According to the blended laser navigation method of the AGV, provided by the invention, AGV material transporting can be reliably, stably, conveniently and flexibly realized in a mode that the accuracy degree meets the requirement, the requirement on the environment of an application place is low, and the applicability is wide. The blended laser navigation method not only can be applied to the field of industrial AGV application, but also can be applied to other application occasions, such as navigation of a service robot.

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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