High-precision AGV based on single-line laser

Abstract

The high-precision AGV comprises a vehicle body, a main control computer and a driving device for driving the vehicle body to advance, symmetrical single-line laser radars are arranged on the two side faces of the vehicle body, obstacle avoidance radars are installed at the advancing direction end of the vehicle body, and the single-line laser radars and the obstacle avoidance radars are connected with the main control computer. The two single-line laser radars are used for scanning light reflecting plates on the two sides of the vehicle body and collecting scanning data, the main control computer independently processes the scanning data collected by the two single-line laser radars and calculates deviation correction data, the lower end of the vehicle body is provided with a front wheel in transmission connection with the driving device, and the front wheel is provided with a steering device. The steering device and the driving device are connected with the main control computer; two groups of data are scanned through the two one-way laser radars, two groups of position coordinates are calculated respectively, deviation correction data are calculated according to the two groups of position coordinates, the navigation precision of a vehicle body is improved, the positioning precision is high, the operation stability is good, and navigation automation is achieved.

Description

Technical field [0001] The present invention relates to the field of AGV technology, and more particularly to a single-line laser high precision AGV. Background technique [0002] AGV automatically guides the carrier, refers to an automatic guidance system equipped with electromagnetic or optical, which can travel along a predetermined guide path, which has a safe protection and a variety of transfer functions. AGV navigation mode mainly with magnetic point navigation, electromagnetic navigation, tape navigation, visual navigation, laser navigation, natural navigation, QR code navigation. The single-line laser navigation method is to mount the rotating laser head on the body, scan the reflective plate placed on the workplace by the laser head, and obtains the laser rotation center coordinate, and the existing laser navigation is mostly single single line. Laser radar illuminates the center coordinates, which is easily irritated by the occlusion of the cargo, affecting the navigat...

AI Technical Summary

Problems solved by technology

The single-line laser navigation method is to install a rotating laser head on the car body, scan the reflector placed on the workplace through the laser head, and obtain the emission angle. After calculation, the coordinates of the laser rotation center are obtained. Most of the existing laser navigation uses a single single line The lidar irradiates the reflector to obtain the center coordinates. This method is prone to incomplete irradiation due to the occlusion of the cargo, which affects the navigation accuracy. Some use multiple single-line lidars, which can illuminate from multiple sides. Although this method can illuminate comprehensively, it is expensive in calculation They are all converted to the same coordinates. If there is an error in one of the irradiations, the calculated coordinates will also have errors. This method will also easily affect the navigation accuracy.

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