CN103048996A - Automatic guided vehicle based on laser scanning distance meter, and system and navigation method of automatic guided vehicle - Google Patents
Automatic guided vehicle based on laser scanning distance meter, and system and navigation method of automatic guided vehicle Download PDFInfo
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- CN103048996A CN103048996A CN2012105802546A CN201210580254A CN103048996A CN 103048996 A CN103048996 A CN 103048996A CN 2012105802546 A CN2012105802546 A CN 2012105802546A CN 201210580254 A CN201210580254 A CN 201210580254A CN 103048996 A CN103048996 A CN 103048996A
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Abstract
The invention discloses an automatic guided vehicle based on a laser scanning distance meter, and a system and a navigation method of the automatic guided vehicle. The automatic guided vehicle comprises a driving chassis, an automatic guided vehicle main body, a driving device, and a gyroscope, a displacement encoder, a driving controller, the laser scanning distance meter, a memory and a controller, which are arranged on the automatic guided vehicle main body, wherein the gyroscope is used for acquiring a course angle; the displacement encoder is used for acquiring displacement; the driving controller is used for controlling the driving device; the laser scanning distance meter is used for drawing an environment map; the memory is used for storing an electronic map; the controller is used for calculating according to the acquired course angle and the acquired displacement to obtain a running path of the automatic guided vehicle based on the laser scanning distance meter; and the environment map is matched with the electronic map, the course and the position are corrected, and the driving device operates under the control of the driving controller. By the adoption of the scheme, no device is required to be laid on a road where the vehicle runs, and therefore the road is freed from being damaged by rolling compaction. The daily maintenance of the automatic guided vehicle is simple and economic by only maintaining the vehicle itself.
Description
Technical field
The present invention relates to the automatic guide vehicle technology, particularly relate to automatic guide vehicle, system and air navigation aid based on the laser scanning and ranging instrument.
Background technology
AGV(Automatic Guided Vehicle) refer to automatic guide vehicle, it is take battery as power, and the unmanned automated handling vehicle of navigational system is housed.The distinguishing feature of AGV is unmanned, utilize automated navigation system, AGV can be in the situation that does not need artificial pilotage, along predetermined route automatic running, automatically goods is transported to the destination from starting point, and can be according to storage goods yard requirement, the technological process of productions etc. change and change flexibly, have flexible, automaticity is high and the intelligent level advantages of higher, so AGV has obtained research and used in a plurality of industry fields such as machining, material assembling, household electrical appliances production, microelectronics manufacturing, cigarette.
Yet traditional AGV adopts the rail navigate mode, easily being laid on ground guide wire crushing, or is rolled by other delivery vehicle (for example fork truck) in the daily operational process of AGV, causes often needing repairing.
Summary of the invention
Based on this, be necessary for need to the problem of orbit maintenance, providing a kind of simple automatic guide vehicle based on the laser scanning and ranging instrument of safeguarding.
A kind of automatic guide vehicle based on the laser scanning and ranging instrument, comprise and drive the chassis and be arranged on automatic guide vehicle main body and drive unit on the described driving chassis, also comprise: be arranged on the gyroscope on the described automatic guide vehicle main body, the course angle when being used for obtaining described automatic guide vehicle operation based on the laser scanning and ranging instrument; Be arranged on the displacement encoder on the described automatic guide vehicle main body, the displacement when being used for obtaining described automatic guide vehicle based on the laser scanning and ranging instrument and travelling; Be arranged on the driving governor on the described automatic guide vehicle main body, be used for controlling described drive unit; Be arranged on the laser scanning and ranging instrument on the described automatic guide vehicle main body, be used for drawing environmental map; Be arranged on the storer on the described automatic guide vehicle main body, be used for storing electronic map; And be arranged on controller on the described automatic guide vehicle main body, be electrically connected respectively with described gyroscope, described displacement encoder, described driving governor, described laser scanning and ranging instrument and storer, be used for calculating the position according to described course angle and the described displacement of obtaining, and obtain the operating path of described automatic guide vehicle based on the laser scanning and ranging instrument; Described controller carries out the correction of course and position according to the result of described environmental map and described electronic map match, controls described drive unit operation by described driving governor.
Among embodiment, also comprise: be arranged on the rudder angle scrambler on the described driving chassis, described rudder angle scrambler is connected with described controller therein, is used for measuring the drift angle between described automatic guide vehicle main body and the described driving chassis.
Among embodiment, also comprise: be arranged on the communicator on the described automatic guide vehicle main body, described communicator is connected with described controller therein, is used for communication.
Among embodiment, described laser scanning and ranging instrument level is installed on the described automatic guide vehicle main body therein, is used for obtaining the environmental map of horizontal direction.
Among embodiment, described laser scanning and ranging instrument is vertically mounted on the described automatic guide vehicle main body therein, is used for obtaining the environmental map of vertical direction.
In addition, also be necessary to provide a kind of automatic guide vehicle system based on the laser scanning and ranging instrument, also comprise: the dispatching center, by described communicator described automatic guide vehicle based on the laser scanning and ranging instrument is dispatched.
In addition, also be necessary to provide a kind of automatic guide vehicle air navigation aid based on the laser scanning and ranging instrument, comprise the steps: initialization course and position; Course angle when obtaining based on the operation of the automatic guide vehicle of laser scanning and ranging instrument; Shift value when obtaining automatic guide vehicle based on the laser scanning and ranging instrument and travelling; Calculate guidance path and navigation according to described course angle and described shift value.
Among embodiment, also comprise: electronic chart prestores therein; Draw environmental map; The result of mating according to described environmental map and described electronic chart carries out the correction of course and position.
Among embodiment, the step of described drafting environmental map is specially therein: the environmental map of drawing horizontal direction; Draw the environmental map of vertical direction; According to the environmental map of described horizontal direction and the environmental map drawing three-dimensional configuration picture of described vertical direction.
Among embodiment, also comprise: the receiving scheduling instruction therein; According to the described automatic guide vehicle operation based on the laser scanning and ranging instrument of described dispatch command control.
Adopt the automatic guide vehicle based on the laser scanning and ranging instrument, system and the air navigation aid of this programme, the displacement that only obtains by being arranged on the course angle that obtains based on the gyroscope in the AGV of laser scanning and ranging instrument and displacement encoder, can calculate the coordinate based on the AGV operation of laser scanning and ranging instrument, namely can be according to the destination coordinate navigation that presets.This shows, adopt the AGV based on the laser scanning and ranging instrument of this programme need to not lay any guide wire, wire or other device at the road of operation, avoided road to be rolled and damaged, reduced maintenance cost, daily maintenance only need to safeguard the AGV itself based on the laser scanning and ranging instrument and get final product, not only simply but also economical.
Description of drawings
Fig. 1 is the structured flowchart based on the automatic guide vehicle of laser scanning and ranging instrument;
Fig. 2 is the structured flowchart based on the automatic guide vehicle of laser scanning and ranging instrument of an embodiment;
Fig. 3 is the structured flowchart based on the automatic guide vehicle system of laser scanning and ranging instrument;
Fig. 4 is the process flow diagram based on the automatic guide vehicle air navigation aid of laser scanning and ranging instrument;
Fig. 5 is the process flow diagram based on the automatic guide vehicle air navigation aid of laser scanning and ranging instrument of an embodiment.
Embodiment
Based on the automatic guide vehicle (AGV, Automatic Guided Vehicle) of laser scanning and ranging instrument, the environment at its place is better, and road is more smooth, and what can be similar to thinks the operation of AGV in a two-dimensional level face based on the laser scanning and ranging instrument.The course angle of obtaining by gyroscope based on the AGV of laser scanning and ranging instrument, the displacement that displacement encoder obtains, controller calculates operating path based on the AGV of laser scanning and ranging instrument according to course angle and displacement, then move by the driving governor accessory drive, and then the AGV that drives based on the laser scanning and ranging instrument moves.
By reference to the accompanying drawings 1, based on the automatic guide vehicle of laser scanning and ranging instrument, comprise driving chassis (not shown), automatic guide vehicle main body (not shown) and drive unit (not shown); Also comprise the gyroscope 10, displacement encoder 20, driving governor 30, laser scanning and ranging instrument 40, storer 50 and the controller 60 that are arranged on the automatic guide vehicle main body.
Drive the chassis, the AGV car that is based on the laser scanning and ranging instrument forms the basis of unitary construction, and the effect of play supporting, motor car engine (drive unit) and each parts thereof being installed guarantees normally to travel.
The automatic guide vehicle main body is arranged on the driving chassis, can carry other mobile unit.
Drive unit is arranged on and drives the chassis, for the AGV based on the laser scanning and ranging instrument provides power source.Drive unit can be motor, diesel engine or gasoline engine.In the present embodiment, what adopt based on the AGV of laser scanning and ranging instrument is motor, because the motor operation is more steady, easy to control, and environmental protection.
Gyroscope 10 is installed on the automatic guide vehicle main body, the course angle when being used for obtaining the AGV operation based on the laser scanning and ranging instrument.Particularly, the sensitive axes of gyroscope 10 is vertical with surface level, gyroscope 10 can detect the angular speed that rotates in the AGV operational process based on the laser scanning and ranging instrument, by the integration to angular speed, can obtain the course angle with respect to initial time (or Preset Time) based on the AGV of laser scanning and ranging instrument.
Driving governor 30 is installed on the automatic guide vehicle main body, is used for accessory drive.What in the present embodiment drive unit adopted is motor, and driving governor 30 be control circuit board, and driving governor 30 is according to the operation of instruction control motor, and then driving travelling based on the AGV of laser scanning and ranging instrument.
Laser scanning and ranging instrument 40 is installed on the automatic guide vehicle main body, is used for drawing environmental map.In other embodiments, laser scanning and ranging instrument 40 can level be installed on the described automatic guide vehicle main body, be used for obtaining the environmental map of horizontal direction, namely pass through the distance of sector region interior barrier in the place ahead in the laser scanning and ranging instrument 40 detection level faces, such as wall, pillar, equipment etc.Laser scanning and ranging instrument 40 also can be to be vertically mounted on the described automatic guide vehicle main body, be used for obtaining the environmental map of vertical direction, namely detect the distance of sector region interior barrier in top in the perpendicular by laser scanning and ranging instrument 40, such as wall, pillar, equipment or ceiling etc.When based on the AGV of laser scanning and ranging instrument operation the time, can obtain temporal evolution, the continuous environmental map on perpendicular, but according to continuous environmental map drawing three-dimensional configuration picture.Can certainly understand, laser scanning and ranging instrument 40 is two or more, or all be provided with laser scanning and ranging instrument 40 with vertical direction in the horizontal direction, when based on the AGV of laser scanning and ranging instrument walking, can be according to the environmental map of the horizontal direction that obtains and the three-dimensional map of the environmental map drafting full angle of vertical direction.
Storer 50 is installed on the automatic guide vehicle main body, is used for storing electronic map.The environment that in advance AGV based on the laser scanning and ranging instrument is travelled and the electronic chart in path are stored in the storer 50, for providing Data support based on the correction in the AGV operational process of laser scanning and ranging instrument.
This controller 60 is arithmetic processing apparatus, mainly is comprised of process chip (or single-chip microcomputer), carries out computing and Output rusults according to the data that obtain, and perhaps controls other device by the instruction of output.
Adopt the AGV based on the laser scanning and ranging instrument of this programme, the displacement that only obtains by being arranged on the course angle that obtains based on the gyroscope 10 in the AGV of laser scanning and ranging instrument and displacement encoder 20, can calculate the position based on the AGV operation of laser scanning and ranging instrument, be current coordinate, then can be according to the destination coordinate navigation that presets.Be appreciated that to have obtained course angle and displacement, can calculate this position coordinates by trigonometric function.
This shows, adopt the AGV based on the laser scanning and ranging instrument of this programme need to not lay any guide wire, wire or other device at the road of operation, avoided road to be rolled and damaged, reduced maintenance cost, daily maintenance only need to safeguard the AGV itself based on the laser scanning and ranging instrument and get final product, not only simply but also economical.
Further, the AGV based on the laser scanning and ranging instrument of this programme also combines laser scanning and ranging instrument 40, environmental map by the 40 described draftings of laser scanning and ranging instrument and pre-stored electronic chart at storer 50 mate, carry out the correction of course and position according to matching result, has self correcting capability, when in than complex environment, moving, can adjust timely the course, guarantee the accurate of AGV operation.
In addition, adopted laser scanning and ranging instrument 40, its price does not need to lay any guide line far below other AGV laser navigation mode yet, has reduced greatly cost, has improved economy.
By reference to the accompanying drawings 2, in one embodiment, the automatically guiding trolley based on the laser scanning and ranging instrument also comprises: rudder angle scrambler 70 is arranged on the driving chassis, and rudder angle scrambler 70 and controller 60 electrical connections are used for measuring the drift angle between automatic guide vehicle main body and the driving chassis.Particularly, owing to drive the below that the chassis is positioned at the automatic guide vehicle main body, its connected mode mainly is connected through the hinge, and the hinge turning axle is vertical with surface level.At this moment, the course angle of new AGV based on the laser scanning and ranging instrument is that the course angle that gyroscope 10 obtains adds " drift angle " that rudder angle scrambler 70 obtains, new course angle is for providing more accurately course angle in the AGV driving process based on the laser scanning and ranging instrument, for the AGV self-correction based on the laser scanning and ranging instrument provides more accurately data, so that it is safer, accurate to travel based on the AGV of laser scanning and ranging instrument, operational efficiency is higher.
In one embodiment, automatically guiding trolley based on the laser scanning and ranging instrument also comprises: communicator 80, be arranged on the automatic guide vehicle main body, be connected with controller 60, be used for communication, can send to the external world AGV driving information based on the laser scanning and ranging instrument, also can receive the extraneous information of transmitting.Communicator 80 can be Wireless Telecom Equipment, such as infrared, wifi etc.
Based on above-mentioned automatic guide vehicle based on the laser scanning and ranging instrument, also provide the automatic guide vehicle system based on the laser scanning and ranging instrument.
Consult accompanying drawing 3, should comprise above-mentioned automatic guide vehicle based on the laser scanning and ranging instrument based on the automatic guide vehicle system of laser scanning and ranging instrument, also comprise: dispatching center 90.
Dispatch by 80 pairs of automatic guide vehicles based on the laser scanning and ranging instrument of communicator dispatching center 90.Dispatching center 90 sends to the AGV based on the laser scanning and ranging instrument and controls instruction, for example dispatching center 90 according to requirements of one's work to send mission bit stream (a series of coordinates that travel for example based on the AGV of laser scanning and ranging instrument, whether travel speed needs to stop to wait mission bit stream).Further, the handle that communicator 80 can also be initiatively is sent to dispatching center 90 in real time based on the out of Memory such as coordinate of the AGV current driving of laser scanning and ranging instrument.Dispatching center 90 can Real-time Obtaining based on the AGV travel conditions of laser scanning and ranging instrument, send new instruction or monitor its state according to the task needs, understand in real time and also adjust the AGV working condition, realize dispatching center 90 and interaction based on the AGV of laser scanning and ranging instrument.
Adopt the automatic guide vehicle system based on the laser scanning and ranging instrument of this programme, dispatching center 90 can carry out interaction with AGV based on the laser scanning and ranging instrument by communicator 80, and monitoring is based on the running status of the AGV of laser scanning and ranging instrument or send new operation task instruction for the AGV based on the laser scanning and ranging instrument.Simultaneously, AGV based on the laser scanning and ranging instrument also can feed back to dispatching center 90 based on the ruuning situation of the AGV of laser scanning and ranging instrument or the implementation status of task by communicator 80 handles, realize comprehensively monitoring and scheduling, improve the operational efficiency based on the AGV system of laser scanning and ranging instrument.
Based on above-mentioned automatic guide vehicle based on the laser scanning and ranging instrument and system, the automatic guide vehicle air navigation aid based on the laser scanning and ranging instrument also is provided, by reference to the accompanying drawings 4, comprise the steps:
S10: initialization course and position.Particularly, more smooth based on the road surface of the AGV of laser scanning and ranging instrument operation, can be similar to and think that it moves in the surface level of two dimension.Therefore, path locus, course information, position coordinates and the destination coordinate information etc. that the AGV based on the laser scanning and ranging instrument are moved carry out initialization.
S30: the course angle when obtaining based on the operation of the automatic guide vehicle of laser scanning and ranging instrument.Can obtain course angle by being installed in based on the gyroscope on the AGV of laser scanning and ranging instrument, particularly, gyrostatic sensitive axes is vertical with surface level, can detect the angular speed that rotates in the AGV operational process based on the laser scanning and ranging instrument, by the integration to angular speed, can obtain AGV with respect to the course angle of initial time (or Preset Time).
In other embodiments, course angle is the automatic guide vehicle main body that measures of the course angle obtained of gyroscope and rudder angle scrambler and the stack that drives the drift angle between the chassis.
S50: the displacement when obtaining automatic guide vehicle based on the laser scanning and ranging instrument and travelling.Can link to each other with the wheel of automatic guide vehicle main body by being fixed in based on the increment type shaft-position encoder on the AGV main body of laser scanning and ranging instrument, detect the displacement with respect to ground based on the AGV of laser scanning and ranging instrument.
S70: the goal-selling coordinate calculates current location and according to described coordinates of targets navigation according to course angle and displacement.
According to displacement and the course angle with respect to ground, can calculate the position (being the coordinate figure of AGV) based on the AGV of laser scanning and ranging instrument, then according to the coordinate (being coordinates of targets) of the operation destination of setting, drive travelling based on the AGV of laser scanning and ranging instrument.Certainly, can be by the coordinates of targets of a plurality of associations be set, the impact point of next coordinates of targets as current coordinates of targets, recursion is successively then finished wherein coordinates of targets one by one based on the automatic guide vehicle of laser scanning and ranging instrument, realizes navigation.It is more to be appreciated that coordinates of targets arranges, and the path of travelling will be more accurate, navigation will be more accurate.
Adopt the method for this programme, the AGV to based on the laser scanning and ranging instrument that can be autonomous navigates, lay any guide wire, wire or other device at the road of operation and do not guide, reduces a large amount of equipment and maintenance of equipment expense, not only simply but also economy.
In one embodiment, by reference to the accompanying drawings 5, also comprise based on the automatic guide vehicle air navigation aid of laser scanning and ranging instrument:
S90A: electronic chart prestores.Particularly, the environment that in advance AGV based on the laser scanning and ranging instrument is travelled and the electronic chart in path are stored.
S90B: draw environmental map.Based on the automatic guide vehicle of laser scanning and ranging instrument in the process of travelling, while travel, draw surrounding environment map in the driving process.
S90C: carry out the correction of course and position according to the result of environmental map and electronic map match.Particularly, in the process of operation, respectively obtain course angle and displacement by gyroscope and position coder based on the AGV of laser scanning and ranging instrument, just can calculate current measurement coordinate figure.Simultaneously the laser scanning and ranging instrument has been drawn environmental map dynamically, when the unique point (unique point can be feature obvious Sign Board, pillar or equipment etc.) of outlet in the environmental map more than three or three, environmental map and electronic chart is mated.After the match is successful, just can from electronic chart, obtain the absolute coordinate of unique point, take unique point as the center of circle, the laser scanning and ranging instrument measures with the distance (can obtain this distance from environmental map) of unique point and draws a circle for radius, and common intersection is the absolute coordinate of AGV in electronic chart based on the laser scanning and ranging instrument.At last, compare measuring coordinate figure and absolute coordinate, and can obtain course error based on the AGV of laser scanning and ranging instrument, and carry out self-correction according to this error, make it to travel on correct path.
In other embodiments, the step of drafting environmental map is specially:
Horizontal direction when drawing operation or the environmental map of vertical direction.Particularly, obtain the environmental map of horizontal direction, namely pass through the distance of sector region interior barrier in the place ahead in the laser scanning and ranging instrument detection level face, such as wall, pillar, equipment etc.Obtain the environmental map of vertical direction, namely detect the distance of sector region interior barrier in top in the perpendicular by the laser scanning and ranging instrument, such as wall, pillar, equipment or ceiling etc.
The environmental map of the vertical direction when drawing operation is according to the environmental map drawing three-dimensional configuration picture of described vertical direction.Particularly, when based on the AGV of laser scanning and ranging instrument operation the time, can obtain temporal evolution, the continuous environmental map on perpendicular, but according to continuous environmental map drawing three-dimensional configuration picture.
Carry out the correction of course and position according to the result of environmental map and electronic map match.Particularly, during based on the AGV of laser scanning and ranging instrument walking, both obtained the environmental map of horizontal direction, obtain again the environmental map of vertical direction, can draw according to the environmental map of the horizontal direction that obtains and the environmental map of vertical direction the three-dimensional map of full angle, the data of this map are more abundant and accurate.
In one embodiment, the automatic guide vehicle air navigation aid based on the laser scanning and ranging instrument also comprises:
The receiving scheduling instruction.Particularly, the reception operating instruction that can launch by dispatching center or other control center.
According to the automatic guide vehicle operation of dispatch command control based on the laser scanning and ranging instrument.Particularly, carry out corresponding dispatch command based on the AGV of laser scanning and ranging instrument, for example stop to travel, change driving path, send transport condition etc. to the dispatching center.
Adopt the air navigation aid of this programme, can realize, based on AGV and the external world of laser scanning and ranging instrument carrying out interaction, so that more convenient based on the operation of the AGV of laser scanning and ranging instrument, operational efficiency is higher.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. automatic guide vehicle based on the laser scanning and ranging instrument comprises driving the chassis and being arranged on automatic guide vehicle main body and drive unit on the described driving chassis, it is characterized in that, also comprises:
Be arranged on the gyroscope on the described automatic guide vehicle main body, the course angle when being used for obtaining described automatic guide vehicle operation based on the laser scanning and ranging instrument;
Be arranged on the displacement encoder on the described automatic guide vehicle main body, the displacement when being used for obtaining described automatic guide vehicle based on the laser scanning and ranging instrument and travelling;
Be arranged on the driving governor on the described automatic guide vehicle main body, be used for controlling described drive unit;
Be arranged on the laser scanning and ranging instrument on the described automatic guide vehicle main body, be used for drawing environmental map;
Be arranged on the storer on the described automatic guide vehicle main body, be used for storing electronic map; And
Be arranged on the controller on the described automatic guide vehicle main body, be electrically connected respectively with described gyroscope, described displacement encoder, described driving governor, described laser scanning and ranging instrument and storer, be used for calculating the position according to described course angle and the described displacement of obtaining, and obtain the operating path of described automatic guide vehicle based on the laser scanning and ranging instrument; Described controller carries out the correction of course and position according to the result of described environmental map and described electronic map match, controls described drive unit operation by described driving governor.
2. the automatic guide vehicle based on the laser scanning and ranging instrument according to claim 1, it is characterized in that, also comprise: be arranged on the rudder angle scrambler on the described driving chassis, described rudder angle scrambler is connected with described controller, is used for measuring the drift angle between described automatic guide vehicle main body and the described driving chassis.
3. the automatic guide vehicle based on the laser scanning and ranging instrument according to claim 2 is characterized in that, also comprises: be arranged on the communicator on the described automatic guide vehicle main body, described communicator is connected with described controller, is used for communication.
4. the automatic guide vehicle based on the laser scanning and ranging instrument according to claim 3 is characterized in that, described laser scanning and ranging instrument level is installed on the described automatic guide vehicle main body, is used for obtaining the environmental map of horizontal direction.
5. the automatic guide vehicle based on the laser scanning and ranging instrument according to claim 3 is characterized in that, described laser scanning and ranging instrument is vertically mounted on the described automatic guide vehicle main body, is used for obtaining the environmental map of vertical direction.
6. automatic guide vehicle system based on the laser scanning and ranging instrument, it is characterized in that, comprise such as the described automatic guide vehicle based on the laser scanning and ranging instrument of claim 1 ~ 5 any one, also comprise: the dispatching center, by described communicator described automatic guide vehicle based on the laser scanning and ranging instrument is dispatched.
7. the automatic guide vehicle air navigation aid based on the laser scanning and ranging instrument comprises the steps:
Initialization course and position;
Course angle when obtaining based on the operation of the automatic guide vehicle of laser scanning and ranging instrument;
Displacement when obtaining automatic guide vehicle based on the laser scanning and ranging instrument and travelling;
The goal-selling coordinate calculates current location and according to described coordinates of targets navigation according to described course angle and described displacement.
8. the automatic guide vehicle air navigation aid based on the laser scanning and ranging instrument according to claim 7 is characterized in that, also comprises:
Electronic chart prestores;
Draw environmental map;
Carry out the correction of course and position according to the result of described environmental map and described electronic map match.
9. the automatic guide vehicle air navigation aid based on the laser scanning and ranging instrument according to claim 8 is characterized in that the step of described drafting environmental map is specially:
Horizontal direction when drawing operation or the environmental map of vertical direction;
The environmental map of the vertical direction when drawing operation is according to the environmental map drawing three-dimensional configuration picture of described vertical direction;
According to the environmental map of described horizontal direction and the environmental map drawing three-dimensional map of described vertical direction.
10. the automatic guide vehicle air navigation aid based on the laser scanning and ranging instrument according to claim 9 is characterized in that, also comprises:
The receiving scheduling instruction;
According to the described automatic guide vehicle operation based on the laser scanning and ranging instrument of described dispatch command control.
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