Laser-guided AGV navigation and location method and device employing multiple laser scanners

A laser scanner, navigation and positioning technology, applied in two-dimensional position/channel control, vehicle position/route/height control, instrument and other directions, can solve the problem of limiting the application of laser-guided AGV, affecting the range of vision of laser radar, and restricting laser Guide AGV application and other issues

Pending Publication Date: 2017-05-31
YUNNAN KSEC INTELLIGENT EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the laser-guided AGV uses a single laser scanner, and the laser scanner is installed on the highest point of the AGV through a tall pillar, so that the laser scanner is at a position about 2m above the ground, which can avoid pedestrians, objects and AGV It itself blocks the laser, but this limits the application of laser-guided AGV in highly space-constrained occasions
For submerged AGVs that need to drill into pallets or cargo, flat AGVs without laser installation pillars, or height-limited AGVs, laser scanners need to be installed on the front and rear ends or left and right sides of the AGV, which will be affected by the AGV itself. Obstruction affects the field of view of the laser radar, which seriously restricts the development of the laser-guided AGV towards a flat and submerged structure, and restricts the application of the laser-guided AGV in height-limited occasions

Method used

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  • Laser-guided AGV navigation and location method and device employing multiple laser scanners
  • Laser-guided AGV navigation and location method and device employing multiple laser scanners
  • Laser-guided AGV navigation and location method and device employing multiple laser scanners

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Embodiment 1: as figure 1 As shown, a laser-guided AGV navigation and positioning method with multiple laser scanners includes the following steps:

[0038] S01: At least two laser scanners are installed on the AGV body, and at least two laser scanners collect the original contour data of the scanning area A1 and the scanning area A2 respectively, and perform filtering and data preprocessing on the collected data;

[0039] S02: Perform feature extraction on the data after filtering and data preprocessing in S01 to obtain feature data of contour data; the feature data includes natural contour feature data or artificial landmark feature data or a mixture of the two. The natural contour feature data includes feature point data, straight line segment data, and arc data; the artificial landmark includes plane or cylindrical reflective stickers;

[0040] S03: extracting one or more feature data of points, straight line segments or arcs from the feature data obtained in S02, ...

Embodiment 2

[0046] Embodiment 2: as Figure 2 ~ Figure 4 As shown, a laser-guided AGV navigation and positioning device with multiple laser scanners includes an AGV car body 1, an on-board controller placed on the AGV car body 1, and a driving device that drives the AGV car body 1 to move, and is characterized in that At least two laser scanners are installed on the AGV body 1: the first laser scanner 2 is installed at the front end of the AGV body 1, the scanning area A1 of the first laser scanner 2 is installed, and the second laser scanner is installed at the rear end of the AGV body 1. The laser scanner 3, the scanning area A2 of the second laser scanner 3.

[0047] The first laser scanner 2 and the second laser scanner 3 are installed at the front end and the rear end of the AGV body 1 respectively, both are installed along the center line of the AGV, and both are installed on the same installation plane A.

[0048] The AGV body 1 also includes a front actuator 4 at the front end of...

Embodiment 3

[0049] Embodiment 3: as Figure 5 As shown, an improvement is made on the basis of Embodiment 2, the first laser scanner 2 and the second laser scanner 3 are respectively installed at the end of the edge of the front end of the AGV car body 1 and the rear end of the AGV car body 1 At one end of different sides of the edge, the two are installed along the diagonal of the AGV and are located on the same installation plane.

[0050] The front actuator 4 and the rear actuator 5 can be hydraulic jacking devices, cam jacking mechanisms, rack and pinion, worm or screw structures.

[0051] The road wheels 6 can be mecanum wheels, bogies, steering wheels.

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Abstract

The invention provides a laser-guided AGV navigation and location method and device employing multiple laser scanners. Two laser scanners are arranged at two positions of an opposite angle at the front end of an AGV body and an opposite angle at the rear end, arranged along the diagonal line of the AGV and located on a same installation plane. A wider scanning view can be obtained through data fusion processing on scanning information obtained by two laser scanners in different directions, and the problem that the view is blocked due to the fact that the laser scanners are shielded by the AGV is solved. Therefore, the condition that the AGV obtains more comprehensive environment data can be effectively ensured, more accurate navigation and location effects are obtained, and the navigation and location stability and accuracy are improved.

Description

technical field [0001] The invention relates to the field of laser navigation and positioning, and belongs to the field of navigation and positioning methods involved when an automatic guided vehicle (AGV) adopts laser navigation and positioning, and specifically relates to a laser-guided AGV navigation and positioning method and device with multiple laser scanners. Background technique [0002] Laser-guided AGV (Automated Guided Vehicle) is widely used in automated handling systems in industry, military, tobacco, and smart parking garages. It uses laser scanning scanners combined with navigation and positioning algorithms to realize the positioning of AGVs. The laser scanner continuously emits the laser beam to the surrounding environment with the set scanning frequency and resolution, and receives the laser beam reflected back by the object, calculates the distance from the laser to the object according to the flight time of the light, and outputs the data to the vehicle of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B60R11/00
CPCG05D1/0231B60R11/00B60R2011/004
Inventor 田华亭杨文华李元勇董海英杨保龙聂稳杨进王宇轩李兵陈俊梅罗蒙时吕
Owner YUNNAN KSEC INTELLIGENT EQUIP
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