CN106843222A - A kind of laser navigation AGV system of local paving reflecting plate - Google Patents
A kind of laser navigation AGV system of local paving reflecting plate Download PDFInfo
- Publication number
- CN106843222A CN106843222A CN201710145772.8A CN201710145772A CN106843222A CN 106843222 A CN106843222 A CN 106843222A CN 201710145772 A CN201710145772 A CN 201710145772A CN 106843222 A CN106843222 A CN 106843222A
- Authority
- CN
- China
- Prior art keywords
- reflecting plate
- plate
- agv
- global map
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 206010003084 Areflexia Diseases 0.000 claims abstract description 18
- 230000008447 perception Effects 0.000 claims abstract description 10
- 230000011514 reflex Effects 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The invention discloses a kind of laser navigation AGV system of local paving reflecting plate, including areflexia plate AGV dollies, the AGV dollies are provided with laser scanner, reflecting plate of the regional area laying no less than three pieces in AGV work-yards；Origins of the AGV in global map is determined first, by laser scanner perception reflex plate, determines each reflecting plate in global map relative to the absolute position of origin；In the course of work by laser scanner scans to current reflective plate match to determine the current pose of AGV dollies with the reflecting plate in global map.The present invention is on the basis of existing areflexia plate AGV dollies, reflecting plate is laid in required precision regional area higher, by laser scanner perception reflex plate, and matched with the reflecting plate in global map and determine the current pose of AGV dollies, the advantage of areflexia plate AGV dollies and reflecting plate navigation is combined, positioning precision is reached within ± 10mm.
Description
Technical field
The present invention relates to AGV technologies, more particularly to a kind of laser navigation AGV system of local paving reflecting plate.
Background technology
AGV dollies（Automatic Guided Vehicle）Refer to be equipped with electricity magnetically or optically to wait homing guidance device, can be along regulation
Guide path is travelled, the travelling bogie with dolly programming with lugs, safeguard protection and various transfer functions.In recent years
As modern logistics and correlation technique are in China's high speed development, AGV oneself be widely used in logistics system and flexible manufacturing system
In, it efficiently, fast, flexibly, substantially increases production automation degree and production efficiency.Laser aiming is in the nineties
Phase starts the advanced guidance mode for using, and is the guidance mode for not needing floor treatment uniquely in addition to GPS, laser aiming AGV
Dolly arranges the reflecting plate of good position as laser positioning institute using laser scanner and in advance around AGV trolley travellings region
The basic environment for needing, mainly completes the tasks such as path planning, positioning and avoidance.
Existing laser navigation AGV dollies, need to install more than at least three reflections of high brightness plate in operation area, swash
Photoscanner is only able to detect the reflecting plate of this high brightness, after laser scanning two weeks, can obtain the anti-of two number of reflections plates
Firing angle, is then positioned according to the data for obtaining.The installation of reflecting plate is most important, it is necessary to all installed in operation area,
When laser navigation AGV dollies reach new region, reflecting plate need to be reinstalled.The position of other reflecting plate must be fixed, such as
Imprudence has moved reflecting plate, and AGV dollies will be unaware that the position of oneself, and flexibility and accuracy are comparatively poor.
Patent of invention（Application publication number：CN 106200643A）Disclose a kind of areflexia plate Laser Self navigation AGV small
Car.Areflexia plate Laser Self navigation AGV dollies include laser scanner and master system, and master system is being received
It is processed after the electric signal that laser scanner sends, is set up original map and it is defined, remove non-security district
Domain is stored in master system so as to obtain effective map, and after point of destination is set, master system is according to foundation
Map carries out path planning, finds a shortest path for arriving at, and shortest path radial actuator sends control accordingly
System instruction, control areflexia plate Laser Self navigates the operation of AGV dollies, period, and rotary encoder will will with angular transducer
The data such as rotating speed and angle are transmitted to master system by lower computer system, so as to realize the feedback control of master system,
The rotating speed and figure of wheel in executing agency are further adjusted, until reaching the destination of setting.Areflexia plate of the invention swashs
Light independent navigation AGV dollies do not need image-tape reflecting plate laser navigation AGV dollies like that, by the laser of baffle reflection come
The location of itself is calculated, but by the foundation of original map and effective map, realizes independent navigation.But at present without anti-
Plate Laser Self navigation AGV dollies positioning precision is penetrated not enough, in ± 30mm or so, it is necessary to further lift positioning precision.
The content of the invention
The present invention seeks to：On the basis of existing areflexia plate AGV system, there is provided a kind of laser of local paving reflecting plate
Navigation AGV system, further lifts positioning precision.
The technical scheme is that：
A kind of laser navigation AGV system of local paving reflecting plate, including areflexia plate AGV dollies, the AGV dollies are provided with sharp
Photoscanner, reflecting plate of the regional area laying no less than three pieces in AGV work-yards；Determine AGV in global map first
Origin, by laser scanner perception reflex plate, determine that each reflecting plate is absolute relative to origin in global map
Position；In the course of work by laser scanner scans to current reflective plate match to determine with the reflecting plate in global map
The current pose of AGV dollies.
Preferably, origin of the AGV dollies in global map is first specified in global map by artificial
It is good, then AGV dollies are reached into the specified location.
Preferably, the laser scanner perception reflex plate, is the reflectivity according to laser scanner scans to reflecting plate
It is higher than other materials in global map, with the position of this determination reflecting plate.
Preferably, the Current Scan to reflecting plate matched with reflecting plate in global map, according to reflecting plate complete
The constant principle of two two positions in the laying of local figure, if the reflecting plate that arrives of current partial sweep distance between any two and angle with
The distance of reflecting plate and the error of angle be in setting range in global map, then assert partial sweep to reflecting plate be entirely
The reflecting plate that office's Scaned map is arrived.
Preferably, the Current Scan to reflecting plate the quantity at least 3 that matches is done with reflecting plate in global map, then
According to three-point fix principle, the current pose of current AGV dollies is calculated.
Preferably, the laying of the reflecting plate ensures laser scanner in rotating a circle, even if there is barrier to block
In the case of the reflecting plate of part, it is also possible to measure at least 3 pieces reflecting plates.
Preferably, the laying of the reflecting plate ensures that the position of reflecting plate is no less than 300mm apart from high reflection material,
In case this kind of material is mistaken for reflecting plate by system, the high reflection material includes but is not limited to window, stainless steel faceplate, gold
Metal conduit.
Preferably, the laying of the reflecting plate ensures that two adjacent reflecting plates constitute angle and are more than certain angle with laser scanner
Degree, to avoid interfering.
It is an advantage of the invention that：
The laser navigation AGV system of local paving reflecting plate provided by the present invention, on the basis of existing areflexia plate AGV dollies
On, reflecting plate is laid in required precision regional area higher, by laser scanner perception reflex plate, determine that each reflecting plate exists
Relative to the absolute position of origin in global map；The current reflective plate for arriving laser scanner scans in the course of work and the overall situation
Reflecting plate in map does matching to determine the current pose of AGV dollies, and positioning precision is reached within ± 10mm.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 is the workflow diagram of the laser navigation AGV system of local paving reflecting plate of the present invention.
Specific embodiment
The laser navigation AGV system of disclosed local paving reflecting plate, including areflexia plate AGV dollies, it is described
AGV dollies are provided with laser scanner, and specific areflexia plate AGV dollies refer to the patent document of prior art（Application is public
Cloth number：CN 106200643A）A kind of disclosed areflexia plate Laser Self navigation AGV dollies.The areflexia plate Laser Self is led
Boat AGV dollies, by the foundation of original map and effective map, realize independent navigation.Including laser scanner and host computer system
System, master system is processed it after the electric signal for receiving laser scanner transmission, sets up original map and to it
It is defined, removal insecure area and is stored in master system so as to obtain effective map, when setting point of destination
Afterwards, master system carries out path planning according to the map set up, and finds a shortest path for arriving at, and accordingly most
Short-circuit radial actuator sends control instruction, the operation of control areflexia plate Laser Self navigation AGV dollies, period, rotation
Encoder will will transmit the data such as rotating speed and angle by lower computer system with angular transducer to master system, so as to realize
The feedback control of master system, further adjusts the rotating speed and figure of wheel in executing agency, until reaching the purpose of setting
Ground.
The laser navigation AGV system of disclosed local paving reflecting plate, using areflexia plate AGV dollies, and
Regional area reflecting plate of the laying no less than three pieces that required precision is higher in AGV work-yards.
As shown in figure 1, the workflow of the laser navigation AGV system for local paving reflecting plate of the present invention.
Origins of the AGV in global map is determined first, and origin of the AGV dollies in global map is
First set in global map middle finger by artificial, then AGV dollies are reached into the specified location.
Then by laser scanner perception reflex plate, determine that each reflecting plate is absolute relative to origin in global map
Position；The laser scanner perception reflex plate, is the luminance factor global map according to laser scanner scans to reflecting plate
In other materials it is high, with the position of this determination reflecting plate.
Followed by the positioning in the AGV dolly courses of work, the current reflective plate that laser scanner scans are arrived with it is global
Reflecting plate in map does matching to determine the current pose of AGV dollies.Reflecting plate and global map that the Current Scan is arrived
Middle reflecting plate is matched, according to reflecting plate in global map laying the constant principle of two two positions, if current partial sweep is arrived
Reflecting plate distance between any two and angle exist respectively with the distance of reflecting plate in global map and the error range of angle
Within 300mm and 2 degree of scope, then assert partial sweep to the reflecting plate that scans of reflecting plate as global map.It is described to work as
The preceding reflecting plate for scanning does the quantity for matching at least 3 with reflecting plate in global map, further according to three-point fix principle, calculates
Go out the current pose of current AGV dollies.
The laying of the reflecting plate follows following principle：
1st, laser scanner is ensured in rotating a circle, even if in the case where there is barrier shield portions reflecting plate, it is also possible to
Scan at least 3 pieces reflecting plates.
2nd, ensure that the position of reflecting plate is no less than 300mm apart from high reflection material, in case system misses this kind of material
Reflecting plate is thought, the high reflection material includes but is not limited to window, stainless steel faceplate, metallic conduit etc..
3rd, ensure that two adjacent reflecting plates and laser scanner constitute angle and be more than 1.26 °, to avoid interfering.
The laser navigation AGV system of local paving reflecting plate provided by the present invention, in the base of existing areflexia plate AGV dollies
On plinth, reflecting plate is laid in required precision regional area higher, by laser scanner perception reflex plate, determine each reflecting plate
Relative to the absolute position of origin in global map；The current reflective plate for arriving laser scanner scans in the course of work with it is complete
Reflecting plate in local figure does matching to determine the current pose of AGV dollies, and positioning precision is reached within ± 10mm.
The above embodiments merely illustrate the technical concept and features of the present invention, its object is to allow person skilled in the art
Will appreciate that present disclosure and implement according to this, it is not intended to limit the scope of the present invention.It is all main according to the present invention
The modification for wanting the Spirit Essence of technical scheme to be done, should all be included within the scope of the present invention.
Claims (8)
1. a kind of part spreads the laser navigation AGV system of reflecting plate, it is characterised in that：It is described including areflexia plate AGV dollies
AGV dollies are provided with laser scanner, reflecting plate of the regional area laying no less than three pieces in AGV work-yards；Determine first
Origins of the AGV in global map, by laser scanner perception reflex plate, determines each reflecting plate phase in global map
For the absolute position of origin；In the course of work by laser scanner scans to current reflective plate and global map in reflection
Plate does matching to determine the current pose of AGV dollies.
2. part according to claim 1 spreads the laser navigation AGV system of reflecting plate, it is characterised in that：The AGV dollies
Origin in global map is first set in global map middle finger by artificial, then AGV dollies are reached into the specific bit
Put.
3. part according to claim 2 spreads the laser navigation AGV system of reflecting plate, it is characterised in that：The laser is swept
Instrument perception reflex plate is retouched, is that other materials are high in the luminance factor global map according to laser scanner scans to reflecting plate, with
The position of this determination reflecting plate.
4. part according to claim 2 spreads the laser navigation AGV system of reflecting plate, it is characterised in that：It is described currently to sweep
The reflecting plate retouched is matched with reflecting plate in global map, and according to reflecting plate, two two positions are constant in global map laying
Principle, if current partial sweep to the reflecting plate distance of distance and angle with reflecting plate in global map between any two and angle
The error of degree assert in setting range, then partial sweep to the reflecting plate that scans of reflecting plate as global map.
5. part according to claim 4 spreads the laser navigation AGV system of reflecting plate, it is characterised in that：It is described currently to sweep
The reflecting plate retouched does the quantity for matching at least 3 with reflecting plate in global map, further according to three-point fix principle, calculates and works as
The current pose of preceding AGV dollies.
6. the part according to claim 1-5 spreads the laser navigation AGV system of reflecting plate, it is characterised in that：The reflection
The laying of plate ensures laser scanner in rotating a circle, even if in the case where there is barrier shield portions reflecting plate, also may be used
To measure at least 3 pieces reflecting plates.
7. the part according to claim 1-5 spreads the laser navigation AGV system of reflecting plate, it is characterised in that：The reflection
Plate laying ensure reflecting plate position apart from high reflection material be no less than 300mm, in case system by this kind of material by mistake with
To be reflecting plate, the high reflection material includes but is not limited to window, stainless steel faceplate, metallic conduit.
8. the part according to claim 1-5 spreads the laser navigation AGV system of reflecting plate, it is characterised in that：The reflection
The laying of plate ensures that two adjacent reflecting plates constitute angle and are more than certain angle with laser scanner, to avoid interfering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710145772.8A CN106843222A (en) | 2017-03-13 | 2017-03-13 | A kind of laser navigation AGV system of local paving reflecting plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710145772.8A CN106843222A (en) | 2017-03-13 | 2017-03-13 | A kind of laser navigation AGV system of local paving reflecting plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106843222A true CN106843222A (en) | 2017-06-13 |
Family
ID=59143543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710145772.8A Pending CN106843222A (en) | 2017-03-13 | 2017-03-13 | A kind of laser navigation AGV system of local paving reflecting plate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106843222A (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107144853A (en) * | 2017-07-13 | 2017-09-08 | 浙江科钛机器人股份有限公司 | A kind of double reflecting pole laser positionings and air navigation aid based on data screening |
| CN107144854A (en) * | 2017-07-13 | 2017-09-08 | 浙江科钛机器人股份有限公司 | A kind of laser positioning and air navigation aid based on double reflecting poles |
| CN107238841A (en) * | 2017-07-13 | 2017-10-10 | 浙江科钛机器人股份有限公司 | A kind of high-precision laser positioning and air navigation aid based on double reflecting poles |
| CN107346025A (en) * | 2017-07-13 | 2017-11-14 | 浙江科钛机器人股份有限公司 | A kind of double reflecting pole laser positionings and air navigation aid based on filtering |
| CN107515605A (en) * | 2017-07-12 | 2017-12-26 | 上海斐讯数据通信技术有限公司 | A kind of AGV dolly navigation methods and systems based on ultrasonic ranging |
| CN107625490A (en) * | 2017-11-03 | 2018-01-26 | 重庆众誉材工科技有限公司 | A kind of floor cleaning machine in factory |
| CN107702722A (en) * | 2017-11-07 | 2018-02-16 | 云南昆船智能装备有限公司 | A kind of las er-guidance AGV natural navigation localization methods |
| CN107741743A (en) * | 2017-11-06 | 2018-02-27 | 深圳精智机器有限公司 | Improved figure optimizes SLAM methods |
| CN108195377A (en) * | 2017-12-22 | 2018-06-22 | 广东嘉腾机器人自动化有限公司 | One kind is based on the matched reflector matching algorithm of triangle perimeter |
| CN108332750A (en) * | 2018-01-05 | 2018-07-27 | 深圳市功夫机器人有限公司 | Robot localization method and terminal device |
| CN108489479A (en) * | 2017-12-29 | 2018-09-04 | 合肥中导机器人科技有限公司 | Laser navigation accurate positioning method, robot navigation method and laser navigation system |
| CN108562908A (en) * | 2017-12-21 | 2018-09-21 | 合肥中导机器人科技有限公司 | Laser navigation hybrid locating method, robot navigation method and Laser navigation system |
| CN108775864A (en) * | 2018-04-10 | 2018-11-09 | 深圳普智联科机器人技术有限公司 | A kind of laser calibration system and scaling method based on reflector |
| CN108955666A (en) * | 2018-08-02 | 2018-12-07 | 苏州中德睿博智能科技有限公司 | A kind of hybrid navigation method, apparatus and system based on laser radar and reflector |
| CN109709955A (en) * | 2018-12-24 | 2019-05-03 | 芜湖智久机器人有限公司 | A kind of method, system and storage medium by laser reflector data and CAD coordinate system matching |
| CN110531756A (en) * | 2018-05-26 | 2019-12-03 | 罗伯特·博世有限公司 | The system and method for the position of the vehicle for automating traveling are determined for ground on the scene |
| CN111367269A (en) * | 2018-12-26 | 2020-07-03 | 武汉万集信息技术有限公司 | Navigation positioning method, device and system of laser radar |
| CN111443713A (en) * | 2020-04-14 | 2020-07-24 | 三一机器人科技有限公司 | Fusion positioning navigation system and method |
| CN111580073A (en) * | 2020-04-10 | 2020-08-25 | 昆山同孚智能技术有限公司 | Detection method for measuring distribution quality of AGV laser navigation reflecting plate |
| CN111781609A (en) * | 2020-04-10 | 2020-10-16 | 昆山同孚智能技术有限公司 | AGV laser navigation multilateral positioning method |
| CN111984016A (en) * | 2020-08-27 | 2020-11-24 | 华晟（青岛）智能装备科技有限公司 | Navigation map construction method based on multiple types of AGV |
| CN112327312A (en) * | 2020-10-28 | 2021-02-05 | 上海高仙自动化科技发展有限公司 | Vehicle pose determining method and device, vehicle and storage medium |
| CN113167896A (en) * | 2018-12-11 | 2021-07-23 | 3M创新有限公司 | Position detection system, position detection method, angle detection method, and marker |
| WO2021184814A1 (en) * | 2020-03-19 | 2021-09-23 | 苏州艾吉威机器人有限公司 | Agv mapping method, positioning method, and system |
| CN113884093A (en) * | 2020-07-02 | 2022-01-04 | 苏州艾吉威机器人有限公司 | AGV mapping and positioning method, system, device and computer readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102402224A (en) * | 2010-09-03 | 2012-04-04 | 株式会社日立工业设备技术 | Automatic guided vehicle and method for drive control of the same |
| CN203274724U (en) * | 2013-04-28 | 2013-11-06 | 浙江中烟工业有限责任公司 | Angle location device used for AGV (automated guided vehicle) baffle board |
| CN104102222A (en) * | 2014-07-31 | 2014-10-15 | 广州大学 | Accurately positioning method for AGV (Automatic Guided Vehicle) |
| CN105867389A (en) * | 2016-06-14 | 2016-08-17 | 深圳力子机器人有限公司 | Blended laser navigation method of AGV (Automated Guided Vehicle) |
| CN205692044U (en) * | 2016-06-14 | 2016-11-16 | 深圳力子机器人有限公司 | A kind of areflexia plate laser navigation traction heavy load mode AGV |
| CN205920406U (en) * | 2016-06-14 | 2017-02-01 | 深圳力子机器人有限公司 | Mix laser navigation fork truck formula AGV |
-
2017
- 2017-03-13 CN CN201710145772.8A patent/CN106843222A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102402224A (en) * | 2010-09-03 | 2012-04-04 | 株式会社日立工业设备技术 | Automatic guided vehicle and method for drive control of the same |
| CN203274724U (en) * | 2013-04-28 | 2013-11-06 | 浙江中烟工业有限责任公司 | Angle location device used for AGV (automated guided vehicle) baffle board |
| CN104102222A (en) * | 2014-07-31 | 2014-10-15 | 广州大学 | Accurately positioning method for AGV (Automatic Guided Vehicle) |
| CN105867389A (en) * | 2016-06-14 | 2016-08-17 | 深圳力子机器人有限公司 | Blended laser navigation method of AGV (Automated Guided Vehicle) |
| CN205692044U (en) * | 2016-06-14 | 2016-11-16 | 深圳力子机器人有限公司 | A kind of areflexia plate laser navigation traction heavy load mode AGV |
| CN205920406U (en) * | 2016-06-14 | 2017-02-01 | 深圳力子机器人有限公司 | Mix laser navigation fork truck formula AGV |
Non-Patent Citations (1)
| Title |
|---|
| 张玮 等: "基于SICK激光扫描器的反射板布置和测量方法", 《HTTP://WWW.DOC88.COM/P-6592011743433.HTML》 * |
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107515605A (en) * | 2017-07-12 | 2017-12-26 | 上海斐讯数据通信技术有限公司 | A kind of AGV dolly navigation methods and systems based on ultrasonic ranging |
| CN107515605B (en) * | 2017-07-12 | 2020-12-18 | 台州智奥通信设备有限公司 | AGV (automatic guided vehicle) navigation method and system based on ultrasonic ranging |
| CN107346025A (en) * | 2017-07-13 | 2017-11-14 | 浙江科钛机器人股份有限公司 | A kind of double reflecting pole laser positionings and air navigation aid based on filtering |
| CN107238841B (en) * | 2017-07-13 | 2019-08-13 | 浙江科钛机器人股份有限公司 | A kind of high-precision laser positioning and air navigation aid based on double reflecting poles |
| CN107238841A (en) * | 2017-07-13 | 2017-10-10 | 浙江科钛机器人股份有限公司 | A kind of high-precision laser positioning and air navigation aid based on double reflecting poles |
| CN107144853A (en) * | 2017-07-13 | 2017-09-08 | 浙江科钛机器人股份有限公司 | A kind of double reflecting pole laser positionings and air navigation aid based on data screening |
| CN107144854A (en) * | 2017-07-13 | 2017-09-08 | 浙江科钛机器人股份有限公司 | A kind of laser positioning and air navigation aid based on double reflecting poles |
| CN107346025B (en) * | 2017-07-13 | 2019-09-24 | 浙江科钛机器人股份有限公司 | A kind of double reflecting pole laser positionings and air navigation aid based on filtering |
| CN107144853B (en) * | 2017-07-13 | 2019-08-13 | 浙江科钛机器人股份有限公司 | A kind of double reflecting pole laser positionings and air navigation aid based on data screening |
| CN107144854B (en) * | 2017-07-13 | 2019-08-13 | 浙江科钛机器人股份有限公司 | A kind of laser positioning and air navigation aid based on double reflecting poles |
| CN107625490A (en) * | 2017-11-03 | 2018-01-26 | 重庆众誉材工科技有限公司 | A kind of floor cleaning machine in factory |
| CN107741743A (en) * | 2017-11-06 | 2018-02-27 | 深圳精智机器有限公司 | Improved figure optimizes SLAM methods |
| CN107702722A (en) * | 2017-11-07 | 2018-02-16 | 云南昆船智能装备有限公司 | A kind of las er-guidance AGV natural navigation localization methods |
| CN108562908A (en) * | 2017-12-21 | 2018-09-21 | 合肥中导机器人科技有限公司 | Laser navigation hybrid locating method, robot navigation method and Laser navigation system |
| CN108195377A (en) * | 2017-12-22 | 2018-06-22 | 广东嘉腾机器人自动化有限公司 | One kind is based on the matched reflector matching algorithm of triangle perimeter |
| CN108489479A (en) * | 2017-12-29 | 2018-09-04 | 合肥中导机器人科技有限公司 | Laser navigation accurate positioning method, robot navigation method and laser navigation system |
| CN108332750A (en) * | 2018-01-05 | 2018-07-27 | 深圳市功夫机器人有限公司 | Robot localization method and terminal device |
| CN108775864A (en) * | 2018-04-10 | 2018-11-09 | 深圳普智联科机器人技术有限公司 | A kind of laser calibration system and scaling method based on reflector |
| CN110531756A (en) * | 2018-05-26 | 2019-12-03 | 罗伯特·博世有限公司 | The system and method for the position of the vehicle for automating traveling are determined for ground on the scene |
| CN108955666A (en) * | 2018-08-02 | 2018-12-07 | 苏州中德睿博智能科技有限公司 | A kind of hybrid navigation method, apparatus and system based on laser radar and reflector |
| CN113167896A (en) * | 2018-12-11 | 2021-07-23 | 3M创新有限公司 | Position detection system, position detection method, angle detection method, and marker |
| CN109709955A (en) * | 2018-12-24 | 2019-05-03 | 芜湖智久机器人有限公司 | A kind of method, system and storage medium by laser reflector data and CAD coordinate system matching |
| CN111367269B (en) * | 2018-12-26 | 2023-08-15 | 武汉万集信息技术有限公司 | Navigation positioning method, device and system of laser radar |
| CN111367269A (en) * | 2018-12-26 | 2020-07-03 | 武汉万集信息技术有限公司 | Navigation positioning method, device and system of laser radar |
| WO2021184814A1 (en) * | 2020-03-19 | 2021-09-23 | 苏州艾吉威机器人有限公司 | Agv mapping method, positioning method, and system |
| CN111580073A (en) * | 2020-04-10 | 2020-08-25 | 昆山同孚智能技术有限公司 | Detection method for measuring distribution quality of AGV laser navigation reflecting plate |
| CN111781609A (en) * | 2020-04-10 | 2020-10-16 | 昆山同孚智能技术有限公司 | AGV laser navigation multilateral positioning method |
| CN111443713A (en) * | 2020-04-14 | 2020-07-24 | 三一机器人科技有限公司 | Fusion positioning navigation system and method |
| CN111443713B (en) * | 2020-04-14 | 2023-07-18 | 三一机器人科技有限公司 | Fusion positioning navigation system and method |
| WO2022000882A1 (en) * | 2020-07-02 | 2022-01-06 | 苏州艾吉威机器人有限公司 | Mapping and localization method, system, and apparatus for agv, and computer readable storage medium |
| CN113884093A (en) * | 2020-07-02 | 2022-01-04 | 苏州艾吉威机器人有限公司 | AGV mapping and positioning method, system, device and computer readable storage medium |
| CN111984016A (en) * | 2020-08-27 | 2020-11-24 | 华晟（青岛）智能装备科技有限公司 | Navigation map construction method based on multiple types of AGV |
| CN111984016B (en) * | 2020-08-27 | 2023-10-13 | 华晟（青岛）智能装备科技有限公司 | Navigation map construction method based on multi-type AGV |
| CN112327312A (en) * | 2020-10-28 | 2021-02-05 | 上海高仙自动化科技发展有限公司 | Vehicle pose determining method and device, vehicle and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106843222A (en) | A kind of laser navigation AGV system of local paving reflecting plate | |
| EP3351699B1 (en) | Construction management system and method | |
| CN103777637A (en) | Non-baffle-board laser AGV and navigation method thereof | |
| US7647199B2 (en) | Method for determining positions of points to be measured | |
| CN104102222B (en) | A kind of pinpoint method of AGV | |
| CN103170980B (en) | A kind of navigation system of household service robot and localization method | |
| US11378398B2 (en) | Surveying device with automatic training of locked object or person for camera based target tracking | |
| US20030174305A1 (en) | Measuring device and measuring method for determining distance and/or position | |
| US20050221840A1 (en) | Mobile device and mobile device system therefor | |
| CN105094130A (en) | AGV (Automatic Guided Vehicle) navigation method and device constructed by laser guidance map | |
| CN102897503B (en) | Combined positioning control system | |
| CN109143258A (en) | The localization method of trackless navigation AGV | |
| CN111435164A (en) | Method for detecting obstacle by robot and robot | |
| CN204883363U (en) | AGV transport robot navigation system that laser guidance map found | |
| CN104949986A (en) | Intelligent vision acquisition system | |
| CN103964154A (en) | Control method of combined positioning control system | |
| CN112578392A (en) | Environment boundary construction method based on remote sensor and mobile robot | |
| KR100876561B1 (en) | Position correction device of mobile robot and its method | |
| JP2017204062A (en) | Autonomous conveyance system | |
| CN107797095A (en) | A kind of space navigation method applied to robot motion | |
| CN110471031A (en) | A kind of laser position localization method and system based on reflector | |
| CN112388626A (en) | Robot-assisted navigation method | |
| CN208861287U (en) | Track mobile devices Precise Position System | |
| JP2004138422A (en) | Method of surveying in tunnel hole and system of surveying in tunnel hole | |
| CN204575133U (en) | Visual intelligent gathers positioning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |
|
| RJ01 | Rejection of invention patent application after publication |