AGV based on laser scanner and navigation method thereof

A technology of laser scanners and navigation methods, applied in navigation, surveying and mapping, navigation, instruments, etc., can solve problems such as inflexible use, achieve high efficiency, and realize the effect of intelligent material handling

Pending Publication Date: 2020-06-26
TIANHE COLLEGE GUANGDONG POLYTECHNIC NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above technical problems, the present invention provides an AGV based on a laser scanner to solve the technical problem that the AGV in the prior art needs to lay guide materials on the walking path and cannot be flexibly used

Method used

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  • AGV based on laser scanner and navigation method thereof
  • AGV based on laser scanner and navigation method thereof
  • AGV based on laser scanner and navigation method thereof

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specific Embodiment

[0044] A specific embodiment of an AGV navigation method based on a laser scanner of the present invention comprises the following steps:

[0045] Obtain the distance between the laser scanner-based AGV and each reflector;

[0046] Obtain the angle between the AGV based on the laser scanner and each reflector;

[0047] The target coordinates are preset, and the current position of the AGV based on the laser scanner is calculated according to the distance and the angle, and navigated according to the target position.

[0048] Specifically, a pulsed laser is used to emit a laser beam, and the laser beam is reflected by a mirror and shoots to the surroundings. The fifth motor drives the laser scanner to rotate, and the laser scanner scans the surrounding reflectors. The reflected laser beam obtains the distance between the AGV and each reflector; the angle encoder receives the laser beam reflected by the reflector to obtain the angle between the AGV and each reflector, and the c...

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Abstract

The invention relates to an AGV based on a laser scanner and a navigation method thereof. The AGV comprises a vehicle body and a driving device for driving the vehicle body. The AGV further comprisesa laser scanner, an angle encoder, a driving mechanism and a controller. The laser scanner and the angle encoder are coaxially and rotationally assembled on the vehicle body; wherein the driving mechanism drives the laser scanner and the angle encoder to rotate, the laser scanner is used for emitting laser and obtaining the distance between the AGV and each reflector, the angle encoder is used forobtaining the angle between the AGV and each reflector, and the controller is electrically connected with the driving device, the angle encoder and the laser scanner; and the controller is used for receiving signals of the angle encoder and the laser scanner to calculate the current position coordinates of the AGV, obtaining an operation path according to preset target coordinates and sending anoperation signal to the driving device. Any processing on the ground is not needed, path changing is flexible and convenient, the method is suitable for various field environments, and movement parameters and driving paths can be conveniently and quickly modified.

Description

technical field [0001] The invention relates to the field of AGV technology, in particular to an AGV based on a laser scanner and a navigation method thereof. Background technique [0002] Automated Guided Vehicles (AGV), also known as unmanned vans, first appeared in the 1950s. Pre-set route driving is an important equipment of modern industrial automation logistics system. Not only that, in military and dangerous places, based on the automatic driving of AGV, it can inherit other detection and disassembly equipment, which can be used for battlefield demining, 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 methods of AGV are also various. According to the form of AGV guidance line, it can be divided into There are fixed path guidance and free path gui...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01S17/42
CPCG01C21/005G01S17/42
Inventor 张德福王如意焉圣杰支艳利何卓朗于淼
Owner TIANHE COLLEGE GUANGDONG POLYTECHNIC NORMAL UNIV
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