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High-precision AGV position sensing method based on binocular laser

A high-precision, laser sensor technology, used in measuring devices, instruments, etc.

Active Publication Date: 2020-04-21
BEIJING SATELLITE MFG FACTORY
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  • Claims
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Problems solved by technology

[0008] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, provide a high-precision AGV position perception method based on binocular laser, and solve the problem of high-precision navigation and positioning of the large-size back-covering AGV in the prior art

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  • High-precision AGV position sensing method based on binocular laser
  • High-precision AGV position sensing method based on binocular laser
  • High-precision AGV position sensing method based on binocular laser

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Embodiment Construction

[0090] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0091] Such as Figure 4 Shown, the inventive method is specifically as follows:

[0092] 1) Install a laser sensor on the central axis of the front and rear top of the AGV (Automated Guided Vehicle), such as figure 1 Install reflectors within the AGV driving path and laser scanning range, and ensure that no less than 3 reflectors can be scanned each time the AGV is driving. After the installation is complete, perform calibration and set the initial coordinate 0° angle orientation.

[0093] 2) When the AGV is running, the navigation controller collects the current pose information of the sensor in real time through the serial port / network port. Such as figure 2 Shown is a schematic diagram of the relationship between the sensor coordinates and the center coordinates of the AGV car body. The center of the sensor and the center of the car bod...

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Abstract

The invention discloses a high-precision AGV position sensing method based on binocular laser. The method comprises the following specific steps: step one, installing a laser navigation sensor; step two, installing a reflector; step three, calculating the coordinate and pose angle of a real-time laser navigation sensor A in a motion area, and acquiring the coordinate value of the current positionof the laser navigation sensor A; step four, acquiring a coordinate and a pose angle of a laser navigation sensor B; step five, acquiring the current coordinates and pose angles of the laser navigation sensor A and laser navigation sensor B after filtering; step six, acquiring the current coordinate position and the attitude angle of the center of a vehicle body; step seven, acquiring a deviationdistance delta I and a deviation angle delta theta; and step eight, calculating the deviation between the current pose of the AGV and a target path in real time, and adjusting an angular speed omega and a yaw angle of vehicle body driving in real time according to the deviation angle delta theta and the deviation distance delta I to complete AGV deviation rectification.

Description

technical field [0001] The invention relates to a high-precision AGV position sensing method based on binocular laser, which belongs to the field of industrial control. Background technique [0002] The AGV navigation method can be divided into wired type and wireless type according to the form of the guide line. Divided according to the sensor principle, mainly include: electromagnetic navigation, magnetic tape navigation, laser navigation, inertial navigation, visual navigation, etc. [0003] Electromagnetic navigation is the earliest navigation method applied to AGV. The principle of this method is simple and the technology is mature. Until now, many AGV manufacturers still use this navigation method. Electromagnetic navigation needs to bury a special cable under the route of the AGV, and pass an alternating current of a certain frequency to the cable, and the electromagnetic induction sensor on the AGV detects the electromagnetic signal to realize navigation. This met...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 张加波韩建超王颜刘净瑜张仰成张俊辉吕晶薇
Owner BEIJING SATELLITE MFG FACTORY
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