CN104697515B - A kind of areflexia plate laser navigation sensor device and method - Google Patents
A kind of areflexia plate laser navigation sensor device and method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a kind of areflexia plate laser navigation sensor device and method, belong to mechano-electronic areas of information technology.The device includes generating laser, laser pickoff, wireless senser and master controller.Basic skills is encoded including laser pickoff, sensor protocol；Master controller storage coding and positional information；Generating laser real time rotation launches laser signal；Laser pickoff receives signal and wireless transmission of location information；Master controller reception processing wireless signal.The device is introduced the validity that " angle window " concept improves signal, laser transmitter positions information is accurately solved according to least square method, accurate positional information is provided for AGV Effec-tive Functions by customized coding method and protocol rule.On the premise of whole device meets high-precision requirement, system robustness is strong and cost performance is high, with stronger engineering application value.
Description
Technical field
The present invention relates to a kind of laser navigation sensor device and method, belong to mechano-electronic areas of information technology, specifically
Be related to a kind of areflexia plate laser navigation sensor device and method.
Background technology
With developing rapidly for logistics system, AGV application is also constantly extending.AGV(automated guided
Vehicle) it is automatic guided vehicle.Defined according to U.S. Logistics association, AGV refers to be equipped with electromagnetism or optical target sounding dress
Put, can be travelled along defined guide path, programmed and selection device, safeguard protection and the various loadings of stopping with dolly
The travelling bogie of function.AGV development and exploitation be related to computer, automatically control, information communication, Machine Design and electronics skill
Multiple subjects such as art are light harvesting, electromechanical and computer in the new and high technology of one.It can turn into material in shop logistics system
Bridge between information, intelligent AGV special character is that intelligent AGV has the characteristics that：
(1) logistics management --- intelligent AGV system is connected with existing logistics system, and it is optimized for optimization；
(2) site requirements is relatively low --- and intelligent AGV operating paths flexible can be changed；
(3) dispatching is reliable --- and host computer carries out data analysis and remote control, and dispatching is outstanding；
(4) security of operation --- intelligent AGV navigation mode clearly, barrier, barrier avoiding function is surveyed with autonomous；
(5) cost controllability --- intelligent AGV can reduce a large amount of artificial, saving ERM cost.
(6) damaged products are reduced --- the damaged products manually caused can be reduced.
Intelligent AGV replaces traditional artificial or half mechanical transport mode, has been that factory and enterprise are reduction production
The important measure of cost, the enterprise competitiveness that expands consumption market, improves.Current AGV turns into flexible manufacturing, material flows automation etc.
One of the study hotspot in field.It is unmanned why AGV can realize, navigation and guiding serve vital work to it
With with the development of technology, can be used in AGV navigation/guidance technology at present mainly has following several：Tape navigation, laser
Navigation and inertial navigation.Wherein, laser navigation AGV advantages：AGV registrations；Ground is without other location facilities；Driving path
Can be flexible and changeable, various field environment can be adapted to, it is the advanced guiding that current external many AGV manufacturers preferentially use
Mode；Have the disadvantage that manufacturing cost is high, technology grasp abroad, the restriction such as technology blockage.
Laser navigation AGV is most intelligent, state-of-the-art one kind in AGV, there is large batch of utilization in American-European countries, due to
High, no large batch of utilization at home of foreign technology secrecy and price.Therefore, it is necessary to design a kind of with high property
Valency becomes a kind of new technical need than, strong anti-interference ability and the laser navigation sensor of target identification ability.
The content of the invention
(1) technical problem to be solved
In order to solve the above mentioned problem of prior art presence, the invention provides a kind of areflexia plate laser navigation sensor
Device and method.The device is by fixed laser acceptor device, and combining with wireless sensor network technology, receives master controller
The real-time position information of transmission, realizes laser navigation AGV Effec-tive Function.
(2) technical scheme
According to an aspect of the present invention, it is proposed that a kind of areflexia plate laser navigation sensor device, the device includes
Generating laser, laser pickoff, wireless senser and master controller.
It is preferred that, the generating laser is arranged on the car body of motion, is located at laser pickoff in same level,
And generating laser carries out rotation sweep laser pickoff by the drive of motor with adjustable frequency.
Further, the car body prioritizing selection AGV car bodies and AGV dollies of described motion, can also select common machine
Tool car body.
It is preferred that, the laser pickoff is fixed on surrounding's wall in sport(s) car running body path or on fixed support, and
Rectangular coordinate system is set up into whole space motion position, and measures the geographical position coordinates of laser pickoff in advance, is stored in
In the memory of laser pickoff.
Further, laser pickoff receives laser signal by the way of linear array reception, even if generating laser is with swashing
Optical receiver is not in same level, and the receiving portion of laser pickoff still can collect laser signal.
It is preferred that, RFID of the wireless senser based on CAN radio sensing network, by the ground of the laser pickoff
In position coordinates radio to master controller, while master controller record current encoder numerical value, according to advance coding
The positional information of rule query laser pickoff, and calculate the angle information between adjacent laser receiver.
It is preferred that, the master controller wirelessly receives laser receiver position data message, collects 4 positions
After information and corresponding 3 adjacent angle information, row write Nonlinear System of Equations, and it is non-to use least square method to iterate to calculate out
The coordinate information of the root of system of linear equations, i.e. present laser transmitter.
It is preferred that, the generating laser includes speculum, generating laser, transmitter top casing, generating laser
Main rotating shaft, rotating shaft screw 1~4, slip ring, Laser Power Devices, turntable, thrust bearing, plain bearing, support, decelerator, motor
And encoder.
Further, the speculum is used for the laser signal that reflection laser transmitter is sent, and laser signal is parallel
The laser pickoff projected around plane in.
Further, the laser transmitter projects laser signal, is projected in speculum first, is then reflexing to four
Week.
Further, the generating laser main rotating shaft is used for horizontal rotation generating laser at the uniform velocity so that laser
Transmission signal can send signal to surrounding, rather than only along same direction transmission signal.
Further, the rotating shaft screw fixes transmitter top casing, and four screws are detachable, work as Laser emission
When device breaks down, generating laser can be placed under repair by removing screw.
Further, the slip ring is used to be powered generating laser, and rim portion is carried out by turntable on slip ring
Rotation, and the mode that is combined by using thrust bearing and plain bearing of dynamic equilibrium of rotating part, thrust bearing are located at
Below turntable, thrust bearing is responsible for the pressure above carrying axle, reduces the radial load of center section main rotating shaft, plain bearing
Main rotating shaft " can be then blocked ", prevents it from all around rocking, mechanical structure portion adds thrust bearing and bearing can be with
Better ensure that generating laser laser can in same level scanning laser receiver, it is ensured that signal it is effective
Property, reduce the Loss Rate of signal.
According to another aspect of the present invention, it is proposed that a kind of areflexia plate laser navigation sensor master controller method.
After methods described substantially initializes system reset, master controller receives the data letter of sub-controller transmission
Breath, wherein sub-controller is laser pickoff, and the RFID radio sensing networks based on CAN carry out wireless data transmission, master control
The data message that device processed is wirelessly received is deposited into memory, and reads current storage numerical value, according to coding
Corresponding relation determine the classification of laser pickoff, while add 1 by the count value for receiving data, judge whether to meet and require；When
During backlog demand, sub-controller data reception operation is re-started, otherwise into next step, according to coordinate points and adjacent seat
Angle information between punctuate, laser transmitter positions iterative calculation is carried out using least-squares iteration method.
According to a further aspect of the invention, it is proposed that a kind of areflexia plate laser navigation sensor method, methods described
Comprise the following steps：
Step S101：Laser pickoff is encoded, sensor protocol；
Step S102：Master controller storage coding and positional information；
Step S103：Generating laser real time rotation launches laser signal；
Step S104：Laser pickoff receives laser signal and wireless transmission of location information；
Step S105：Master controller reception processing wireless signal.
Further, in the step S102, master controller prestores the coding and positional information of laser pickoff, it
The definite information of laser pickoff can be confirmed according to the information of wireless receiving afterwards.
Further, in the step S103, in trolley traveling process, the transmitting of generating laser real time rotation swashs
Optical signal so that the laser pickoff real-time reception signal on periphery.
Further, in the step S104, after the laser transmitter projects laser signal of trolley top, laser
Receiver receives signal, differentiates the validity of signal, and useful signal is radioed into master controller.
Further, in the step S105, master controller is received after the signal of generating laser transmission, according to
The statistical value of count counters, can calculate the positional information of generating laser in trolley, according to most when reaching 4
Small square law finally calculates the positional information of transmission signal.
(3) beneficial effect
Areflexia plate laser navigation sensor device and method proposed by the present invention can produce positive beneficial effect, whole
Individual device is met under high-precision requirement, and strong robustness and cost performance are high, with stronger engineering application value.
Brief description of the drawings
Fig. 1 shows areflexia plate laser navigation sensor structural representation proposed by the present invention；
Fig. 2 shows the signal of the RFID radio sensing network host-host protocols principle based on CAN of the preferred embodiment of the present invention
Figure；
Fig. 3 shows areflexia plate laser navigation sensor principle schematic proposed by the present invention；
Fig. 4 shows transmitter mechanical structure schematic diagram in areflexia plate laser navigation sensor proposed by the present invention；
Fig. 5 shows master controller method flow in the areflexia plate laser navigation sensor of the preferred embodiment of the present invention
Figure；
Fig. 6 shows areflexia plate laser navigation sensor method flow diagram proposed by the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention of greater clarity, with reference to embodiment and join
According to accompanying drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright scope.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring this
The concept of invention.
Fig. 1 shows areflexia plate laser navigation sensor structural representation proposed by the present invention.As shown in figure 1, this hair
The areflexia plate laser navigation sensor of bright proposition includes generating laser, laser pickoff, wireless senser and master controller
The generating laser is arranged on the car body of motion, limited selection AGV car bodies, with AGV car bodies in the specific embodiment of the invention
Exemplified by, be located at laser pickoff in same level, and generating laser by the drive of motor with adjustable frequency, for example
5~10Hz, carries out rotation sweep laser pickoff.The laser pickoff is fixed on surrounding's wall of AGV operating paths or solid
On fixed rack, and rectangular coordinate system is set up into whole space motion position, and measure the geographical position of laser pickoff in advance
Coordinate, is stored in the memory of laser pickoff.In addition, laser pickoff receives laser letter by the way of linear array reception
Number, even if generating laser is not in same level with laser pickoff, in ± 0.5 meter of allowed band, laser
The receiving portion of receiver still can collect laser signal.The present invention needs extra, it is noted that when system starts first
Initialization is needed, because the geographical location information without last moment, the present apparatus can not introduce " angle window ", initialize
Cheng Wei, master controller can at least calculate 3 identical geographical position values (close in permissible range), and just outside can be set
Standby (such as AGV) exports geographical location information.After laser pickoff receives laser signal, laser pickoff passes through master controller
T at the time of the last moment collection signal of notice1, it is T at the time of laser pickoff receives signal this moment2, introduce the general of time window
Read for judging that laser signal is useful signal or interference signal.The fundamental mechanism of judgement is by the position seat of all receivers
Mark is all deposited into the memory of master controller, and master controller is received after a valid data, and master controller can basis
The current position coordinates of oneself, when can calculate following several laser pickoff return datas, the anglec of rotation of generating laser
Degree, can be according to " an angle window " for being similar to time window be added centered on this moment angle, main controller judges Laser emission
The anglec of rotation of device, without when " angle window " is inner herein, master controller can not receive the data of laser pickoff, go to perform it
His task, the error rate of transmission data can be reduced by introducing " angle window ", improved the efficiency of master controller, made full use of resource.
After useful signal is determined as, by wireless senser, such as the RFID radio sensing networks based on CAN, the filtering of CAN identifiers
The presence of device group reduces CPU expense., improve the real-time of computing.Position coordinates in the ground of the laser pickoff
The coding information of (x, y) radios to master controller, while master controller is carried out according to the data of the sub-controller received
Address is decoded, and geocoding is corresponding with laser pickoff protocol related as shown in table 1 below.
The encoder numerical value of table 1 is corresponding with laser pickoff protocol related
| Receiver is numbered | A | B | C | D |
| Geocoding | 00000000 | 00000001 | 00000010 | 00000011 |
As shown in Table 1, geocoding uses binary coding mode, and is carried out adaptively according to laser pickoff quantity
Regulation, using 8bit coded systems, can at most be expressed as 2^8=256 laser pickoff, and since 00000000, with
This analogizes, and maximum encoding value is 255 in 11111111, the i.e. decimal system.In the specific embodiment of the invention, with 4 receivers
Exemplified by.In addition, the data segment of the RFID transmission based on CAN includes wireless transmission protocol as shown in Fig. 2 order sends m every time
Grouped data, each grouped data is made up of guiding frame head, destination address, source address, grouped data, CRC check, guides frame head
It is preferential to use 0X55 or 0XAA, 2 bytes (byte) are taken, destination address represents the address of master controller, includes 8 bits
(bit), source address represents the address of each laser pickoff, and is corresponded with the advance numbering in table 1, occupies
8bits, grouped data represents the position coordinates of laser pickoff in a coordinate system, comprising 8bytes information, using IEEE bis-
Scale coding float mode carries out real-coded GA coding, and the laser receiver position of transmission can be accurate to 1cm.Finally
It is that CRC check is verified to whole data by parity check bit, judges that whether correct the data of system transmission are complete.This
Outside, in the present invention, radio sensing network host-host protocol can be expanded according to laser pickoff quantity and position etc., and agreement is simultaneously
Other parts explanation can be increased, such as frame head, trailer information, the extension content of the present invention is belonged to.In a particular embodiment,
Assuming that master controller have received 4 laser receiver positions data message A, B, C, D, the position between laser pickoff is adjacent
Angle is respectively α, β, γ, and the concept row for introducing vector write out 3 binary quadratic equation groups, are iterated to calculate using least square method
Go out the coordinate of equation root, i.e. present laser transmitter, positioning precision reaches 1cm.In addition, if AGV is moved, we can root
The AGV speed of service and direction is judged according to result of calculation not in the same time.
Fig. 3 shows areflexia plate laser navigation sensor principle schematic proposed by the present invention.
As shown in figure 3, in the specific embodiment of the invention, it is assumed that master controller have received 4 laser pickoffs and wirelessly pass
Defeated position data A, B, C, D, in the direct coordinate system XoY of plane, corresponding coordinate is respectively A (a1, a2), B (b1,
B2), the angle between C (c1, c2) and D (d1, d2), and A (a1, a2) and B (b1, b2) is α, between B (b1, b2 with) C (c1, c2)
Angle be β, the angle between C (c1, c2) and D (d1, d2) is γ, and the position coordinates of AGV dollies is O (x1, x2), then solves
The base of AGV dolly position coordinateses
This algorithm is as follows：
Vector
Similarly
Then, nonlinear equation is constructed
Finally, nonlinear equation is solved
F (x)=[F1(x),F2(x),F3(x) solution]=0
NoteThen Taylor's formula expansion is carried out, is removed after higher-order shear deformation item, least square method iterative method
Concretely comprise the following steps：
(1) primary election x0；
(2) according to below equation iteration, untill meeting default precision, and precision is typically chosen for Δ=10-5m；
xk+1=xk-(Jk TJk)-1JkF(xk)
Wherein F (xk) for F (x) in point xkFunctional value, JkIt is vector valued function F (x) in point xkJacobin matrixes.
When | F (xk) | stop iteration during ＜=eps=0.01, now obtain the solution of nonlinear equation.
The position coordinates that dolly coordinate o (x1, x2) is generating laser is calculated using least square method iterative method.
Fig. 4 shows transmitter mechanical structure schematic diagram in areflexia plate laser navigation sensor proposed by the present invention.
As shown in figure 4, transmitter includes speculum, laser hair in areflexia plate laser navigation sensor proposed by the present invention
Emitter, transmitter top casing, generating laser main rotating shaft, rotating shaft screw 1~4, slip ring, Laser Power Devices, turntable, thrust
Bearing, plain bearing, support, decelerator, motor and encoder.Speculum is used for the laser letter that reflection laser transmitter is sent
Number, and by the parallel laser pickoff projected around plane of laser signal；Laser transmitter projects laser signal, first
Project in speculum, then reflexing to surrounding；Generating laser main rotating shaft is used for horizontal rotation Laser emission at the uniform velocity
Device so that laser firing signals can send signal to surrounding, rather than only along same direction transmission signal；Rotating shaft screw
1~4 fixes transmitter top casing, and four screws are detachable, when generating laser breaks down, by removing screw
Generating laser can be placed under repair；Slip ring is used to be powered generating laser, and rim portion passes through turntable on slip ring
It can be rotated, but the dynamic balancing of rotating part is not easy to ensure, main rotating shaft or so or preceding can be caused after overlong time
After rock, so as to cause the laser that generating laser is sent not in same level, cause the dropout of receiver.
Laser Power Devices use dual power supply mode, improve the reliability of power supply.In the present invention, thrust bearing and plain shaft are introduced
The mode being combined is held, thrust bearing is located at below turntable, and thrust bearing is responsible for the pressure above carrying axle, reduces pars intermedia
Divide the radial load of main rotating shaft, plain bearing " can then block " main rotating shaft, prevent it from all around rocking.Mechanical structure
Part adds thrust bearing and bearing and can better ensure that the laser of generating laser can be scanned in same level and swash
Optical receiver, it is ensured that the validity of signal, reduces the Loss Rate of signal.In addition, by selecting suitable decelerator can be with
Main rotating shaft is set to obtain the torque of appropriate rotating speed.Motor provides rotational power, it is ensured that the normal operation of system.Encoder is used
In calculate rotate angle, encoder use 500 lines, AB phase rising edge trailing edge counting modes, (main rotating shaft rotates a circle,
The rising edge and trailing edge of encoder output amount to 2000.), rotation can both be calculated by the numerical difference for recording encoder
Angle.It may also be noted that master controller is installed together with generating laser in the specific embodiment of the invention, main control
Device main task includes as follows：1st, motor rotates；2nd, capturing and coding device numerical value and convert angled；3rd, carry and be based on CAN
RFID wireless senser, receive the geographical location information that sends back of laser pickoff；4th, supplied using 24~36V wide powers
Electricity；5th, by the RS485 interfaces based on modbus agreements to external equipment (such as AGV) output position information.
Fig. 5 shows master controller method flow in the areflexia plate laser navigation sensor of the preferred embodiment of the present invention
Figure.
As shown in figure 5, system master controller basic procedure is after system reset is initialized, master controller receives sub-control
Device processed be laser pickoff transmission data message, wherein sub-controller is laser pickoff, and the RFID based on CAN protocol without
Line sensing network carries out wireless data transmission, and the data message that master controller is wirelessly received is deposited into memory
In, and current storage numerical value is read, the classification of laser pickoff is determined according to the corresponding relation of table 1, while data will be received
Count value count add 1, i.e. count=count+1, and judge whether count values reach 4, when backlog demand, again
Sub-controller data reception operation is carried out, otherwise into next step, according to the folder between 4 coordinate points and adjacent coordinates point
Angle, laser transmitter positions iterative calculation is carried out using least-squares iteration method, until meeting required precision.
Fig. 6 shows areflexia plate laser navigation sensor method flow diagram proposed by the present invention.
Connect as shown in fig. 6, areflexia plate laser navigation sensor proposed by the present invention mainly includes generating laser, laser
Device, wireless senser and master controller are received, calculating AGV dolly position coordinateses comprise the following steps that shown：
Step S101：Laser pickoff is encoded, sensor protocol；According to the basic format of table 1, according to the actual requirements
Laser pickoff coding is carried out, and the agreement for meeting actual scene demand is designed according to Fig. 2 basic agreement.
Step S102：Master controller storage coding and positional information；Master controller prestores the coding of laser pickoff
And positional information, the information crossed afterwards according to wireless receiving can confirm the definite information of laser pickoff.
Step S103：Generating laser real time rotation launches laser signal；In AGV dolly traveling process, generating laser
The transmitting laser signal of real time rotation so that the laser pickoff real-time reception signal on periphery, so can real-time judge AGV it is small
The position coordinates of car.
Step S104：Laser pickoff receives signal and wireless transmission of location information；The generating laser of AGV dollies top
Launch after laser signal, laser pickoff receives signal, and differentiates the validity of signal, is then entered according to wireless transmission protocol
Row information is sent.
Step S105：Master controller reception processing wireless signal；Master controller receives the signal of generating laser transmission
Afterwards, according to the statistical value of count counters, the position letter of generating laser in AGV dollies can be calculated when reaching 4
Breath, the positional information of transmission signal is finally calculated according to least square method.
In summary, the present invention proposes a kind of areflexia plate laser navigation sensor device and method, belongs to embedded
Electronic design art.The device includes generating laser, laser pickoff, wireless senser and master controller.Substantially it is square
Method is encoded including laser pickoff, sensor protocol；Master controller storage coding and positional information；Generating laser is real-time
Rotate transmission signal；Laser pickoff receives signal and wireless transmission information；Master controller reception processing wireless signal.The device
By customized coding method and protocol rule, the validity that " angle window " concept improves signal is introduced, according to least square
Method accurately solves AGV dolly positional informations, realizes laser navigation AGV Effec-tive Function.Whole device meets high-precision want
Ask down, strong robustness and cost performance are high, with stronger engineering application value.
It should be appreciated that the above-mentioned embodiment of the present invention is used only for exemplary illustration or explains the present invention's
Principle, without being construed as limiting the invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent substitution, improvement etc., should be included in the scope of the protection.In addition, appended claims purport of the present invention
Covering the whole changes fallen into scope and border or this scope and the equivalents on border and repairing
Change example.
Claims (9)
1. a kind of areflexia plate laser navigation sensor device, including transmitter, laser pickoff, wireless senser and main control
Device, it is characterised in that：
The transmitter is arranged on the car body of motion, is located at laser pickoff in same level, and transmitter passes through
Motor drives central rotating shaft to carry out rotation sweep laser pickoff；
The laser pickoff is fixed on surrounding's wall in sport(s) car running body path or on fixed support, and whole space is transported
Line position sets up vertical rectangular coordinate system, and measures the geographical position coordinates of laser pickoff in advance, is stored in laser pickoff
In memory；
The position encoded information of the laser pickoff is radioed to master controller by the wireless senser, and master controller connects
After the information for receiving laser pickoff, the numerical value of current encoder is recorded, the positional information of laser pickoff is inquired about, and calculates phase
Angle information between adjacent laser pickoff；
The master controller wirelessly receives laser receiver position data message, collects 4 positional informations and relative
After the 3 adjacent angle information answered, row write Nonlinear System of Equations, and iterate to calculate out equation root using least square method, i.e.,
The coordinate information of current transmitter.
2. areflexia plate laser navigation sensor device according to claim 1, it is characterised in that：The transmitter includes
Speculum, generating laser, transmitter top casing, generating laser main rotating shaft, rotating shaft screw, slip ring, turntable, thrust
Bearing, plain bearing, support, decelerator, motor and encoder.
3. areflexia plate laser navigation sensor device according to claim 2, it is characterised in that：The speculum is used for
The laser signal that reflection laser transmitter is sent, and by the parallel laser pickoff projected around plane of laser signal.
4. areflexia plate laser navigation sensor device according to claim 2, it is characterised in that：The generating laser
Launch laser signal, project first in speculum, be then re-reflected into surrounding.
5. areflexia plate laser navigation sensor device according to claim 2, it is characterised in that：The generating laser
Main rotating shaft is used for horizontal rotation generating laser at the uniform velocity so that generating laser can send signal to surrounding.
6. areflexia plate laser navigation sensor device according to claim 2, it is characterised in that：The rotating shaft screw is consolidated
Surely transmitter top casing is lived, and four screws are detachable.
7. areflexia plate laser navigation sensor device according to claim 2, it is characterised in that：The slip ring be used for pair
Generating laser carries out two-wire and powered, the reliability for improving power supply, and rim portion is rotated by turntable on slip ring, and
The mode that the dynamic equilibrium of rotating part is combined by using thrust bearing and plain bearing, thrust bearing is located under turntable
Side, thrust bearing is responsible for the pressure above carrying axle, reduces the radial load of center section main rotating shaft, and plain bearing can then block
Firmly main rotating shaft, makes its left and right to rock, keeps the vertical direction of main rotation, it is ensured that reflection laser is in same level
On.
8. a kind of method of utilization areflexia plate laser navigation sensor navigation, methods described comprises the following steps：
Step S101：Laser pickoff is encoded, sensor protocol；
Step S102：Master controller storage coding and positional information；
Step S103：Generating laser real time rotation launches laser signal；
Step S104：Laser pickoff receives laser signal and wireless transmission of location information, the Laser emission of trolley top
After device transmitting laser signal, laser pickoff receives signal, and differentiates the validity of signal；
Step S105：Master controller reception processing wireless signal, detailed process is：Main controller receives the position of laser pickoff
After encoded signal, according to the statistical value of count counters, generating laser in trolley can be calculated when reaching 4
Positional information, the positional information of generating laser is finally calculated according to least square method.
9. the method for utilization areflexia plate laser navigation sensor navigation according to claim 8, it is characterised in that：It is described
In step S102, master controller prestores the coding and positional information of laser pickoff, afterwards according to the information of wireless receiving
The information of laser pickoff can be confirmed；In the step S103, in trolley traveling process, generating laser real time rotation
Transmitting laser signal so that the laser pickoff real-time reception signal on periphery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510113208.9A CN104697515B (en) | 2015-03-16 | 2015-03-16 | A kind of areflexia plate laser navigation sensor device and method |
Applications Claiming Priority (1)
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