AGV Navigation Using Track Guidance and Laser Mapping
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Solution Overview
Problem
Existing navigation systems for automated guided vehicles (AGVs) are either inflexible and prone to defects in track-guidance systems or complex and costly in laser localization systems, requiring specialized personnel and extensive setup.
Innovation Solution
A method for creating a map of a navigation region by traveling along a predefined path marked by track guidance, determining distances from objects, and incorporating track guidance markings into the map, allowing for robust navigation without external apparatus or specialized staff, and enabling map creation and use across multiple vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If track guidance markings are used to guide AGVs, then the navigation system is simple to operate and install, but the track is susceptible to wear and abrasion leading to defects and system disruptions
Solution Approach 1:
The patent combines track guidance markings with laser localization technology into a hybrid navigation system. The AGV uses both the visual track markings for basic guidance and laser range finders for precise positioning and map creation, creating a redundant system that maintains reliability even when one component degrades
Solution Approach 2:
The system creates digital copies of the physical environment through laser scanning and map generation. This virtual representation allows the AGV to navigate using laser data even when physical track markings are worn or damaged, effectively creating a backup navigation layer
2Reliability
If laser localization systems are used to provide absolute position, then the navigation system is more reliable and flexible, but the system becomes complex and expensive requiring trained specialized staff
Solution Approach 1:
The laser range finder serves multiple functions: it creates the navigation map, determines absolute position, enables path planning, and provides backup navigation when track markings are unavailable. This multi-functionality reduces the need for separate specialized systems and staff
Solution Approach 2:
The AGV performs its own map creation and localization without requiring external apparatus or specialized personnel. The system autonomously generates navigation maps and plans paths using its onboard laser range finder and processing capabilities
3Measurement precision
If external apparatus is used to record or specify the path, then the map creation is more accurate, but the system becomes more complex and requires additional equipment
Solution Approach 1:
The AGV autonomously creates its own navigation map using onboard laser range finders without requiring external recording apparatus. The vehicle independently scans the environment, processes the data, and generates the navigation map, eliminating the need for external equipment while maintaining accuracy
Data Source
AI summary
The invention relates to a method of creating a map of a navigation region of a vehicle, the method comprising:traveling along a path, predefined by a track guidance marking present in the navigation region, with the vehicle; determining distances of the vehicle from objects possibly present in an environment of the path; and creating the map based on the track guidance marking and on the distances.The invention further relates to a method of determining a pose of a vehicle in a navigation region, the method comprising:determining a position of the vehicle relative to a track guidance marking present in the navigation region; determining distances of the vehicle from objects possibly present in an environment of the vehicle; and determining the pose based on the position, on the distances, and on a map. The invention further relates to a corresponding mapping apparatus and to a corresponding localization apparatus.