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Double-reflection panel laser positioning and navigation method based on filtering

A navigation method and laser positioning technology, applied in the field of intelligent warehousing and logistics, can solve problems that restrict the practicality of laser positioning and navigation technology

Active Publication Date: 2017-11-17
浙江科钛机器人股份有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

This quantity requirement is actually difficult to meet in complex industrial scenarios, which greatly restricts the practicality of laser positioning and navigation technology

Method used

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  • Double-reflection panel laser positioning and navigation method based on filtering
  • Double-reflection panel laser positioning and navigation method based on filtering
  • Double-reflection panel laser positioning and navigation method based on filtering

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Embodiment 1

[0160] like figure 1 Shown, the hardware composition of the present invention mainly comprises laser sensor, industrial computer, vehicle-mounted control circuit and vehicle-mounted power supply; Described industrial computer, laser sensor and vehicle-mounted control circuit communicate through modes such as RS232 / CAN / SPI; The sensor and the on-board control circuit are powered by DC through the DC / DC module, and the on-board industrial computer is powered by AC through the DC / AC module.

[0161] Further, place a certain number of reflectors at appropriate positions in the industrial environment (map), taking AGV as an example, so that the AGV can successfully detect 2 or more reflectors at any position on the map; the laser sensor emits laser light And detect the reflected signal.

[0162] Further, the industrial computer calculates the distance between the reflectors, uses static matching during initialization, and then uses dynamic matching to identify the reflectors, and ...

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Abstract

The invention discloses a double-reflection panel laser positioning and navigation method based on filtering and is different from geometric triangular positioning of the traditional technology. The reflection light complex number domain information is deeply mined and fully utilized, a technical problem of three reflection panels in traditional meaning is broken through, the operation condition is that data of two reflection panels is simultaneously detected, and application of the laser navigation technology is substantially improved; a calculation error caused by a measurement error is filtered through a filtering algorithm, and positioning and navigation precision is substantially improved; lastly, the lowest requirement is that the two reflection panels are detected, but during actual application, multiple reflection panels can be possibly detected simultaneously, the reflection panel information is utilized to a maximum degree through designing data fusion processing, and precision is improved.

Description

technical field [0001] The invention belongs to the field of intelligent warehousing and logistics, and in particular relates to a filtering-based double-reflector laser positioning and navigation method. Background technique [0002] The positioning and navigation technology based on laser sensors is a key technology in the fields of industrial AGVs and intelligent robots. Compared with traditional rail navigation methods, this technology has the advantages of high positioning accuracy, flexibility and changeability, and is suitable for complex and highly dynamic industries. scene. The existing reflector-based laser positioning technology at home and abroad all adopts the principle of geometric triangulation positioning, and three reflectors must be detected at the same time at all times to achieve positioning. This quantity requirement is actually difficult to meet in complex industrial scenarios, which greatly restricts the practicability of laser positioning and navigat...

Claims

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Application Information

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IPC IPC(8): G01S17/48G01S17/50G01S7/481G01S7/48
Inventor 林志赟邢浩金智
Owner 浙江科钛机器人股份有限公司
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