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Automatic guided vehicle dual-lidar control method and system and positioning method

A lidar, automatic guidance technology, applied in the control/regulation system, vehicle position/route/altitude control, non-electric variable control and other directions, can solve the problem of loss, the positioning algorithm cannot obtain enough effective information, etc., to improve the intelligence The effect of intelligentization, reducing blindness time, and positioning intelligence

Inactive Publication Date: 2017-12-22
SUGAN TECH BEIJING +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Therefore, the defect in the prior art is that in various types of automatic guided vehicles, due to the position setting limitation of the laser radar installed at the front end of the bottom of the vehicle, when the radar enters the blind spot, the positioning algorithm will not be able to obtain enough effective information to complete the positioning, so the vehicle also enters the scene where the positioning is lost

Method used

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  • Automatic guided vehicle dual-lidar control method and system and positioning method
  • Automatic guided vehicle dual-lidar control method and system and positioning method
  • Automatic guided vehicle dual-lidar control method and system and positioning method

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Experimental program
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Embodiment 1

[0056] First, see figure 1 , a method for controlling dual laser radars on an automatic guided vehicle provided in Embodiment 1, including:

[0057] Step S1, respectively acquire two sets of distance data of the two laser radars set on the automatic guided vehicle body; the two laser radars include the first laser radar and the second laser radar, and the two sets of distance data include the first set of distance data and the second set of distance data Two sets of distance data, the first laser radar corresponds to the first set of distance data, and the second laser radar corresponds to the second set of distance data;

[0058] Step S2, according to at least one set of distance data in the two sets of distance data of the two laser radars, it is judged whether the first laser radar is in a radar blind spot;

[0059] Step S3, according to the blind spot state of the first laser radar, control the operation mode or signal processing mode of at least one of the two laser rada...

Embodiment 2

[0094] As a preferred embodiment of the present invention, to determine whether the first laser radar enters the blind spot, there are several following implementations:

[0095] The first one is to judge whether the automatic guided vehicle is in the radar blind spot through the external positioning system, specifically: according to the first set of distance data, the current position of the first laser radar is obtained;

[0096] The current position is matched with the predefined blind spot position, and when the current position matches the predefined blind spot position, it is determined that the first laser radar enters the radar blind spot.

[0097] Specifically, when the distance between the current position and the predefined blind spot is within a predetermined threshold range, it is judged that the first lidar has entered the blind spot.

[0098] The second is to judge whether the automatic guided vehicle is in the radar blind spot through the external visual senso...

Embodiment 3

[0103] As a preferred embodiment of the present invention, it further includes: reducing the speed of the automatic guided vehicle when the first laser radar is in a radar blind zone.

[0104] Specifically, when the controller detects that it enters the radar blind zone, it controls the transmission of the vehicle to reduce the driving speed of the vehicle. As before, one scenario of entering the blind spot of the first lidar is that the vehicle is close to the cargo. At this time, reducing the speed of the vehicle will help reduce the probability of accidental collision between the vehicle and the cargo.

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Abstract

The invention provides an automatic guided dual-lidar control method and system and a positioning method. The method comprises the steps that two sets of distance data of two lidars arranged on an automatic guided vehicle are acquired respectively; two lidars include a first lidar and a second lidar, and two sets of distance data include a first set of distance data and a second set of distance data; based on at least one set of distance data in two sets of distance data of two lidars, whether the first lidar is in a radar dead zone is determined; and the operation mode or signal processing mode of at least one lidar in two lidars is controlled according to the status of the blind zone in which the first lidar is located. According to the invention, in the navigation process of the automatic guided vehicle, enough information are collected by two lidars; the operation mode and / or signal processing method of two lidars is controlled to reduce the time of blindness of the AGV; the autonomous navigation accuracy and intelligence of the AGV are improved; and the work efficiency is improved.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to the field of a dual laser radar control method, system and positioning method on an automatic guided vehicle. Background technique [0002] In general, automated guided vehicles are used in special indoor areas such as factories or warehouses. Through the function of autonomous positioning and navigation, the automatic guided vehicle can drive to the designated location without being on duty, and perform tasks such as loading or unloading of goods. Automated guided vehicles generally have a deck for carrying cargo, which is generally a flat and wide platform that can provide maximum load-carrying capacity. In some cases, automated guided vehicles are also equipped with grabbing devices to grab cargo for loading and unloading tasks. [0003] Among all kinds of automatic guided vehicles, the automatic guided vehicle (Laser Guided Vehicle) using lidar is a high-precision automatic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0268
Inventor 张一茗贾小龙陈震
Owner SUGAN TECH BEIJING
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