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Omnidirectional intelligent mobile equipment positioning and navigation method based on laser ranging

A technology of mobile equipment and laser ranging, which is applied in the direction of measuring devices, electromagnetic wave re-radiation, radio wave measurement systems, etc., to achieve the effects of reasonable design, reduced operating costs, and enhanced diversity

Active Publication Date: 2018-06-12
BEIJING SATELLITE MFG FACTORY
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0007] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, the present invention provides a positioning and navigation method for omnidirectional intelligent mobile equipment based on laser ranging, by reasonably arranging sensors and laser reflectors, and real-time calculation of AGV The deviation between the current position and orientation information of the car body center and the target path, and the angular velocity and yaw angle of the AGV are adjusted in real time according to the deviation, which realizes the flexible setting of the AGV operating route and accurate navigation, making up for the single and reliable path of the traditional laser navigation AGV positioning method poor sex defect

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Embodiment Construction

[0055] In order to make the solution of the present invention clearer, the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0056] Such as figure 1 As shown, an omnidirectional intelligent mobile equipment positioning and navigation method based on laser ranging includes the following steps:

[0057] The first step is to install the sensor on the top of the AGV and measure the distance d from the center of the sensor to the center of the AGV body;

[0058] The second step is to install laser reflectors in the AGV operating site, so that the sensor can illuminate no less than 3 laser reflectors at any time;

[0059] The third step is to set the initial origin and zero angle of the sensor, use the sensor to irradiate the laser reflector in the site, and use the navigation controller to collect the real-time pose information of the sensor and perform filtering to obtain the current pose information of the...

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Abstract

The invention discloses an omnidirectional intelligent mobile equipment positioning and navigation method based on laser ranging, which comprises the following steps: installing a sensor on an AGV, and measuring the distance from the center of the sensor to the center of the AGV; installing a laser reflector in the AGV operating site; setting the initial origin and zero angle of the sensor, usinga navigation controller to collect the real-time pose information of the sensor and filter it to obtain the current pose information of the sensor; obtaining the current pose information of the body center of the AGV through a conversion formula; and when the AGV performs patrol running, timely solving the deviation of the current pose information of the body center of the AGV from the target path, and timely adjusting the angular velocity and the yaw angle of the AGV according to the deviation to complete the navigation. The method arranges the sensor and the laser reflector, solves the deviation of the AGV pose and the target path in real time, and adjusts the AGV according to the deviation in real time, thereby realizing the flexible setting of the AGV running route and accurate navigation, and making up defects of the traditional laser navigation AGV positioning method that the path is single and the reliability is poor.

Description

technical field [0001] The invention relates to a positioning and navigation method for omnidirectional intelligent mobile equipment based on laser ranging, which is especially suitable for positioning and navigation in an AGV operating area, and belongs to the technical field of AGV navigation control. Background technique [0002] The navigation methods used by existing AGV manufacturers include: visual navigation, laser navigation, magnetic navigation, photoelectric navigation, etc. The main advantages of magnetic navigation are that the leads are concealed, not easy to be polluted and damaged, the guiding principle is simple and reliable, it is convenient for control and communication, there is no interference to sound and light, and the manufacturing cost is low. The disadvantage is that the path is difficult to change and expand, and it has great limitations on complex paths. [0003] GPS navigation is to track and guide the control objects in the non-fixed road syste...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/58G01S17/88
CPCG01S17/58G01S17/88
Inventor 王颜刘净瑜漆嘉林刘鑫盛君张仰成于荣荣胡黎明董礼港
Owner BEIJING SATELLITE MFG FACTORY
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