CN111547156A - Automatic guided vehicle and system based on differential wheel - Google Patents
Automatic guided vehicle and system based on differential wheel Download PDFInfo
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- CN111547156A CN111547156A CN202010407784.5A CN202010407784A CN111547156A CN 111547156 A CN111547156 A CN 111547156A CN 202010407784 A CN202010407784 A CN 202010407784A CN 111547156 A CN111547156 A CN 111547156A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses an automatic guided vehicle and a system based on differential wheels, wherein the automatic guided vehicle comprises a vehicle body and a positioning device; the vehicle body comprises a loading platform and a wheel-moving mechanism arranged on the loading platform; the first two-dimensional laser radar and the second two-dimensional laser radar of the positioning device are respectively arranged on two opposite sides of a loading surface of the vehicle body; the total plane working area of the first two-dimensional laser radar and the second two-dimensional laser radar at least covers a detection area surrounding the vehicle body; the method comprises the steps that a first two-dimensional laser radar obtains first environment information of a plane working area of the first two-dimensional laser radar and generates first data information; the second two-dimensional laser radar acquires second environment information of a plane working area of the second two-dimensional laser radar and generates second data information; and the data processor constructs a two-dimensional map of the total plane working area of the current first two-dimensional laser radar and the current second two-dimensional laser radar according to the first data information and the second data information, and acquires the current position information of the vehicle body.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent robots, in particular to an automatic guided vehicle and an automatic guided system of differential wheels.
Background
The automatic guided vehicle has the characteristics of high automation degree, safety, flexibility and the like, can automatically transport, load and unload materials and the like, so as to achieve the aim of saving labor cost, and is widely applied to industries such as storage logistics, mechanical manufacturing and the like.
However, with the diversification of the application field of the automated guided vehicle, how to improve the positioning accuracy and flexibility of the automated guided vehicle is a technical problem to be solved urgently at present.
Disclosure of Invention
In view of this, embodiments of the present invention provide an automated guided vehicle and a system based on a differential wheel, which can improve positioning accuracy and operation flexibility of the automated guided vehicle.
In a first aspect, an embodiment of the present invention provides an automated guided vehicle based on differential wheels, including: a vehicle body and a positioning device;
the vehicle body comprises a loading platform and a wheel-moving mechanism arranged on the loading platform; the wheel-moving mechanism comprises a differential wheel and a driven wheel; the differential wheel drives the driven wheel to rotate;
the positioning device comprises a first two-dimensional laser radar, a second two-dimensional laser radar and a data processor; the first two-dimensional laser radar and the second two-dimensional laser radar are respectively arranged on two opposite sides of a loading surface of the vehicle body; the detection device comprises a vehicle body, a detection area, a detection unit and a detection unit, wherein the plane area surrounding the vehicle body is the detection area, and the width of the detection area is L; the total plane working area of the first two-dimensional laser radar and the second two-dimensional laser radar at least covers the detection area;
the first two-dimensional laser radar is used for acquiring first environment information of a plane working area of the first two-dimensional laser radar and generating first data information according to the first environment information;
the second two-dimensional laser radar is used for acquiring second environment information of a plane working area of the second two-dimensional laser radar and generating second data information according to the second environment information;
the data processor is electrically connected with the first two-dimensional laser radar and the second two-dimensional laser radar respectively; the data processor is used for receiving the first data information and the second data information, constructing a two-dimensional map of a total plane working area of the first two-dimensional laser radar and the second two-dimensional laser radar at present according to the first data information and the second data information, and acquiring current position information of the vehicle body.
Optionally, the plane peripheral contour of the vehicle body is rectangular;
the rectangular platform comprises a first side edge, a second side edge, a third side edge and a fourth side edge, wherein the first side edge is opposite to the second side edge, and the third side edge is opposite to the fourth side edge;
the first two-dimensional laser radar is arranged at an included angle position between the first side edge and the third side edge; and the second two-dimensional laser radar is arranged at the position of an included angle between the second side edge and the fourth side edge.
Optionally, a direction from the fourth side to the third side is a first direction; the direction from the third side edge to the fourth side edge is a second direction;
an included angle theta between the extension direction of the main shaft of the first two-dimensional laser radar and the first direction1Is 45 degrees; an included angle theta between the extension direction of the main shaft of the second two-dimensional laser radar and the second direction2Is 45 degrees.
Optionally, a working area of the first two-dimensional laser radar is a first sector, and a working area of the second two-dimensional laser radar is a second sector;
the first sector and the second sector are provided with two overlapping areas, and the two overlapping areas are positioned on two opposite sides of the vehicle body.
Optionally, the angular arc α of the first sector and the angular arc β of the second sector are both greater than or equal to 270 °.
Optionally, the radius r1 of the first sector and the radius r2 of the second sector are both greater than L.
Optionally, the data processor includes a data acquisition module, a data fusion module, and an SLAM module;
the data acquisition module is used for acquiring the first data information and the second data information and sending the first data information and the second data information to the data fusion module;
the data fusion module is used for converting the first data information and the second data information into point cloud data, matching and splicing the point cloud data, and acquiring spliced point cloud data;
and the SLAM module is used for constructing a two-dimensional map of the total plane working area of the first two-dimensional laser radar and the second two-dimensional laser radar at present according to the spliced point cloud data by adopting an SLAM algorithm and acquiring the current position information of the vehicle body.
Optionally, the data processor further includes a driving control module;
the driving control module is used for controlling the running state of each differential wheel according to the two-dimensional map and the current position information of the vehicle body.
In a second aspect, an embodiment of the present invention provides an automated guided vehicle system based on differential wheels, including: a controller and at least one of the automated guided vehicles;
the controller is used for controlling the running state of each automatic guided vehicle
The embodiment of the invention provides an automatic guided vehicle and a system based on differential wheels, wherein the automatic guided vehicle comprises a vehicle body and a positioning device, a wheel-moving mechanism is arranged in the vehicle body of the automatic guided vehicle, the wheel-moving mechanism comprises differential wheels and driven wheels, the driven wheels can play a role in supporting and fixing, and the differential wheels drive the driven wheels to rotate, so that the automatic guided vehicle has a simple wheel-moving mechanism, the structure of the automatic guided vehicle can be simplified, the volume of the automatic guided vehicle is favorably reduced, and the automatic guided vehicle can have a flexible movement mode; meanwhile, two-dimensional laser radars are arranged in the positioning device of the automatic guided vehicle, and the total plane working areas of the two-dimensional laser radars cover the detection area surrounding the vehicle body so as to detect the area in the direction of 360 degrees around the vehicle body, thereby preventing the occurrence of detection blind areas and influencing the positioning accuracy, and further improving the positioning precision of the automatic guided vehicle.
Drawings
Fig. 1 is a block diagram of an automated guided vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vehicle body of an automatic guided vehicle according to an embodiment of the present invention;
fig. 3 is a schematic top view of a vehicle body of an automated guided vehicle according to an embodiment of the present invention;
fig. 4 is a block diagram of a positioning device of an automated guided vehicle according to an embodiment of the present invention;
fig. 5 is a schematic top view of a vehicle body of another automated guided vehicle according to an embodiment of the present invention;
fig. 6 is a block diagram of another automated guided vehicle according to an embodiment of the present invention;
fig. 7 is a block diagram of an automated guided vehicle system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides an automatic guided vehicle based on differential wheels, which can be applied to the industries of warehouse logistics, mechanical manufacturing and the like. Fig. 1 is a block diagram of an automated guided vehicle according to an embodiment of the present invention. As shown in fig. 1, the vehicle body 10 of the automated guided vehicle 100 includes a loading platform and a wheel-moving mechanism provided on the loading platform; the wheel-moving mechanism comprises a differential wheel and a driven wheel; the differential wheel can drive the driven wheel to rotate.
Fig. 2 is a schematic structural diagram of a vehicle body of an automated guided vehicle according to an embodiment of the present invention. The vehicle body 10 includes a loading platform 11 and a wheel-moving mechanism, and the wheel-moving mechanism may be mounted on the loading platform 11 by a mounting bracket (not shown in the drawings). The loading platform 11 may be any one of a rectangle, a circle, a triangle, a special-shaped figure, and the like. Taking the loading platform 11 as an example of a rectangular shape, the wheel movement arranged on the loading platform 11 includes a pair of differential wheels 120 and two pairs of driven wheels 131 and 132, and the two pairs of driven wheels 131 and 132 are respectively located at two opposite sides of the pair of differential wheels 120; the differential wheel 121 and the differential wheel 122 of the pair of differential wheels 120 constitute a two-wheel drive system, and each differential wheel (121, 122) has an independent actuator, which may be a dc motor, for example. Wherein the direction and speed of motion of the vehicle body 10 is the vector sum of the two differential wheels 121 and 122; the driven wheels 131 and 132 mainly play a role of auxiliary support, and have no independent actuating mechanism, so that the differential wheel 120 is required to drive the motion of the driven wheels; the driven wheel 131 may be, for example, a universal wheel having a rotation shaft and can rotate in various directions. In the wheel-driving mechanism, only the actuating mechanism of the differential wheel 120 needs to be arranged, and the driven wheel 131 does not need to be provided with a corresponding actuating mechanism, so that the chassis of the vehicle body 10 provided with the wheel-driving mechanism has a simple structure, can be suitable for roads in various environments, and has the advantages of long service life, low consumption, small volume and sensitive movement.
With continued reference to fig. 1, the automated guided vehicle 100 is further provided with a positioning device 20, the positioning device 20 includes a first two-dimensional lidar, a second two-dimensional lidar and a data processor, and the first two-dimensional lidar and the second two-dimensional lidar are respectively disposed on two opposite sides of the loading surface of the vehicle body 10; wherein, a plane area surrounding the vehicle body 10 is a detection area, and the width of the detection area is L; the total planar working area of the first two-dimensional lidar and the second two-dimensional lidar covers at least the detection area.
Fig. 3 is a schematic top view of a vehicle body of an automated guided vehicle according to an embodiment of the present invention, and fig. 4 is a block diagram of a positioning device of an automated guided vehicle according to an embodiment of the present invention. As shown in fig. 3 and 4, the loading surface of the vehicle body 10 may be a contact surface of the material loaded by the automatic guided vehicle and the vehicle body 10; at this time, the detection region 110 with the width L surrounds the vehicle body 10, that is, when the peripheral contour of the top view shape of the vehicle body 10 is a rectangle, the peripheral contour of the vehicle body 10 may include a first side 101, a second side 102, a third side 103, and a fourth side 104, and the first side 101 is opposite to the second side 102, the third side 103 is opposite to the fourth side 104, and all the linear distances between the peripheral boundaries of the first side 101, the second side 102, the third side 103, and the fourth side 104 to the detection region 110 are L. At this time, the first two-dimensional laser radar 21 and the second two-dimensional laser radar 22 may be respectively disposed on the first side 101 side and the second side 102 side which are opposite; alternatively, the first two-dimensional lidar 21 and the second two-dimensional lidar 22 may be disposed on the opposite third side 103 side and fourth side 104 side, respectively; alternatively, the first two-dimensional lidar 21 and the second two-dimensional lidar 22 are respectively disposed at two diagonal positions of a rectangle. For example, the first two-dimensional lidar 21 is disposed at an included angle between the first side 101 and the third side 103, and the second two-dimensional lidar 22 is disposed at an included angle between the second side 102 and the fourth side 103. The total plane working area of the working area 210 of the first two-dimensional laser radar 21 arranged at the included angle position between the first side edge 101 and the third side edge 103 and the working area 220 of the second two-dimensional laser radar 22 arranged at the included angle position between the second side edge 102 and the fourth side edge 103 at least covers the detection area 110, and the sum of the areas of the total plane working areas of the working area 210 of the first two-dimensional laser radar 21 and the working area 220 of the second two-dimensional laser radar 22 is far larger than the area of the detection area 110. When the first two-dimensional lidar 21 is disposed at an included angle position between the first side 101 and the third side 103, the first two-dimensional lidar 21 may be disposed at a vertex of the included angle between the first side 101 and the third side 103, or may be disposed in an inner corner region of a rectangle formed by the first side 101 and the third side 103; correspondingly, when the second two-dimensional lidar 22 is disposed at the included angle position between the second side 102 and the fourth side 104, the second two-dimensional lidar 22 may be disposed at the vertex of the included angle between the second side 102 and the fourth side 104, or may be disposed in the rectangular inner corner region formed by the second side 102 and the fourth side 104.
It should be noted that, on the premise that the total planar working area of the working area 210 of the first two-dimensional lidar 21 and the working area 220 of the second two-dimensional lidar 22 at least covers the detection area 110, the area of the total planar working area of the working area 210 of the first two-dimensional lidar 21 and the working area 220 of the second two-dimensional lidar 22 is not specifically limited in the embodiment of the present invention.
When the first two-dimensional laser radar 21 acquires first environment information of a planar working area of the first two-dimensional laser radar and generates first data information according to the first environment information, and the second two-dimensional laser radar 22 acquires second environment information of the planar working area of the second two-dimensional laser radar and generates second data information according to the second environment information, the first data information and the second data information can be simultaneously sent to the data processor 23; so that when the data processor 23 receives the first data information and the second data information, it can construct a two-dimensional map of the total planar work area of the current first two-dimensional lidar 21 and the second two-dimensional lidar 22 according to the first data information and the second data information, and acquire the current position information of the vehicle body 10.
Wherein, when an obstacle at a position where the linear distance from the vehicle body 10 is equal to or less than L is defined as an obstacle having a large influence on the operation of the vehicle body 10, and an obstacle at a position at which the straight-line distance from the vehicle body 10 is greater than L is defined as an obstacle having a smaller influence on the operation of the vehicle body 10, if the total planar work area of the first two-dimensional lidar 21 and the second two-dimensional lidar 22 covers the detection zone 110, the first two-dimensional lidar 21 and the second two-dimensional lidar 22 can at least acquire the environmental information in the detection area 110, generate corresponding data information and send the data information to the data processor 23, so that the data processor 23 can construct a corresponding two-dimensional map, and acquire the current position of the vehicle body 10, therefore, the position of the obstacle and the distance between the obstacle and the vehicle body 10 in the two-dimensional map can be analyzed, and the running route of the vehicle body can be planned according to the position and the distance. Like this, need not with the help of outside structure, for example reflector panel etc. just can realize the real-time location of automobile body 10, and the total plane operating area of first two-dimensional lidar 21 and second two-dimensional lidar 22 covers detection zone 110, can detect the barrier of 360 degrees within ranges around the automobile body 10, prevents because of having the detection blind area, and influence the operation of automobile body 10 to can improve the positioning accuracy, improve the security and the reliability of automated guided vehicle.
Optionally, fig. 5 is a schematic top view of a vehicle body of another automated guided vehicle according to an embodiment of the present invention. As shown in fig. 5, when the plane peripheral contour of the vehicle body 10 is rectangular, the first two-dimensional lidar 21 is disposed at an included angle position between the first side 101 and the third side 103 of the rectangle, the second two-dimensional lidar 22 is disposed at an included angle position between the second side 102 and the fourth side of the rectangle, a direction from the fourth side 104 to the third side 103 is a first direction + X, and a direction from the third side 103 to the fourth side 104 is a second direction-X, an included angle θ between an extending direction of a main shaft of the first two-dimensional lidar 21 and the first direction of the rectangle is1Is 45 DEG, and the angle theta between the extending direction of the main axis of the second two-dimensional laser radar 22 and the second direction2Also 45 deg.. So, first two-dimensional laser radar 21 can detect the environmental information of first side 101 and third side 103 department simultaneously, and second two-dimensional laser radar can detect the environmental information of second side 102 and fourth side 104 simultaneously to can all detect 360 degrees within ranges's environment around automobile body 10, in case detect the blind area, improve automated guided vehicle's positioning accuracy and operation security and reliability. The extending direction of the main shaft of the two-dimensional laser radar refers to the extending direction of laser emitted by a laser emitter of the two-dimensional laser radar.
Optionally, with continued reference to fig. 5, the working area 210 of the first two-dimensional lidar 21 is a first sector, and the working area 220 of the second two-dimensional lidar 22 is a second sector; the first sector 21 and the second sector 220 have two overlapping areas 111 and 112, and the two overlapping areas 111 and 112 are located on opposite sides of the vehicle body 10. The angular radians α and β of the first and second sectors 210 and 220 are both 270 ° or more, and the radii r1 and r2 of the first and second sectors 210 and 220 are both greater than L.
Illustratively, the angular arc α of the first fan 210 and the angular arc β of the second fan 220 are both 270The angle theta between the extension direction of the main shaft of the dimension laser radar 21 and the first direction + X1At 45 °, the boundary of the first sector 210 is parallel to the first side 101 and the third side 103, respectively; when the angle theta between the extension direction of the main axis of the second two-dimensional laser radar 22 and the second direction-X2At 45 °, the boundary of the second sector 220 is parallel to the second side 102 and the fourth side 104, respectively; in this way, the first sector 210 and the second sector 220 have two overlapping areas, and the total working area of the first sector 210 and the second sector 220 surrounds the vehicle body 10, thereby ensuring that 360-degree omni-directional detection can be performed around the vehicle body 10.
Optionally, fig. 6 is a block diagram of a structure of another automated guided vehicle according to an embodiment of the present invention. As shown in fig. 6, the data processor 23 of the positioning apparatus 20 includes a data acquisition module 231, a data fusion module 232, and a SLAM module 233; the data obtaining module 231 can obtain first data information generated by the first two-dimensional laser radar 21 and second data information of the second two-dimensional laser radar 22, and send the first data information and the second data information to the data fusion module 232; the data fusion module 232 can convert the first data information and the second data information into point cloud data, match and splice the point cloud data, and generate spliced point cloud data; the SLAM module 233 is configured to construct a two-dimensional map of the total plane working area of the current first two-dimensional laser radar 21 and the current second two-dimensional laser radar 22 according to the spliced cloud data by using a SLAM algorithm, and acquire current position information of the vehicle body 10.
Specifically, the first two-dimensional lidar 21 acquires environment information of a working area of the first two-dimensional lidar 21, and the second two-dimensional lidar 22 acquires environment information of a working area of the second two-dimensional lidar 22; the data acquisition module 231 of the data processor 23 can respectively acquire first data information generated by the first two-dimensional laser radar 21 according to the acquired environmental information and second data information generated by the second two-dimensional laser radar 22 according to the acquired environmental information; since the first data information and the second data information collected by the data acquisition module 231 are data information generated by the first two-dimensional lidar 21 and the second two-dimensional lidar 22 respectively, therefore, the data fusion module 232 is required to generate the corresponding point cloud data from the first data information and the second data information, and matching and splicing the point cloud data, for example, a unified point cloud data coordinate system is established to convert each point cloud data into point cloud data under the unified coordinate system, then matching and splicing the point cloud data after the unified coordinate system to obtain spliced point cloud data which forms 360 degrees around the vehicle body 10, so that the SLAM module can adopt an SLAM (Simultaneous Localization and Mapping, instant positioning and map construction) algorithm, a two-dimensional map surrounding the vehicle body 10 is constructed from the stitched point cloud data, and current position information of the vehicle body 10 is obtained. The SLAM algorithm may include, for example, a Monte Carlo Method, a Kalman filtered Method, an Occupancy Grid SLAM, and the like, which is not particularly limited in this embodiment of the present invention.
Optionally, with continued reference to fig. 6, the data processor 23 further comprises a drive control module 234; the drive control module 234 can control the operation state of the differential wheel 120 based on the two-dimensional map constructed by the SLAM module 233 and the acquired current position information of the vehicle body 10. In this way, a corresponding route can be planned from the two-dimensional map and the current position information of the vehicle body 10, and the movement direction, speed, and the like of the vehicle body 10 can be controlled, so that an optimal route can be planned on the premise of avoiding obstacles.
Fig. 6 is a block diagram of a configuration according to an embodiment of the present invention, which only shows a connection relationship between the respective structures, and does not limit relative positions between the respective structures. In addition, other structural block diagrams in the embodiments of the present invention have similar meanings to those expressed in fig. 6, and are not described herein again.
The embodiment of the invention also provides an automatic guided vehicle system based on the differential wheel, which comprises a controller and at least one automatic guided vehicle provided by the embodiment of the invention, wherein the controller is used for controlling the running state of each automatic guided vehicle. Since the automatic guided vehicle system provided by the embodiment of the present invention includes the automatic guided vehicle provided by the real-time embodiment of the present invention, the automatic guided vehicle system provided by the embodiment of the present invention can achieve the beneficial effects of the automatic guided layer provided by the embodiment of the present invention, and details are not described here.
For example, fig. 7 is a block diagram of an automated guided vehicle system according to an embodiment of the present invention. As shown in fig. 7, the automated guided vehicle system 300 includes a plurality of automated guided vehicles 100 according to an embodiment of the present invention, and the controller 200 can control start and stop of each automated guided vehicle and control each automated guided vehicle 100 according to a two-dimensional map and position information of each automated guided vehicle.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A differential wheel-based automated guided vehicle, comprising: a vehicle body and a positioning device;
the vehicle body comprises a loading platform and a wheel-moving mechanism arranged on the loading platform; the wheel-moving mechanism comprises a differential wheel and a driven wheel; the differential wheel drives the driven wheel to rotate;
the positioning device comprises a first two-dimensional laser radar, a second two-dimensional laser radar and a data processor; the first two-dimensional laser radar and the second two-dimensional laser radar are respectively arranged on two opposite sides of a loading surface of the vehicle body; the detection device comprises a vehicle body, a detection area, a detection unit and a detection unit, wherein the plane area surrounding the vehicle body is the detection area, and the width of the detection area is L; the total plane working area of the first two-dimensional laser radar and the second two-dimensional laser radar at least covers the detection area;
the first two-dimensional laser radar is used for acquiring first environment information of a plane working area of the first two-dimensional laser radar and generating first data information according to the first environment information;
the second two-dimensional laser radar is used for acquiring second environment information of a plane working area of the second two-dimensional laser radar and generating second data information according to the second environment information;
the data processor is electrically connected with the first two-dimensional laser radar and the second two-dimensional laser radar respectively; the data processor is used for receiving the first data information and the second data information, constructing a two-dimensional map of a total plane working area of the first two-dimensional laser radar and the second two-dimensional laser radar at present according to the first data information and the second data information, and acquiring current position information of the vehicle body.
2. The automated guided vehicle of claim 1, wherein the planar peripheral profile of the vehicle body is rectangular;
the rectangular platform comprises a first side edge, a second side edge, a third side edge and a fourth side edge, wherein the first side edge is opposite to the second side edge, and the third side edge is opposite to the fourth side edge;
the first two-dimensional laser radar is arranged at an included angle position between the first side edge and the third side edge; and the second two-dimensional laser radar is arranged at the position of an included angle between the second side edge and the fourth side edge.
3. The automated guided vehicle of claim 2, wherein the direction from the fourth side to the third side is a first direction; the direction from the third side edge to the fourth side edge is a second direction;
an included angle theta between the extension direction of the main shaft of the first two-dimensional laser radar and the first direction1Is 45 degrees; an included angle theta between the extension direction of the main shaft of the second two-dimensional laser radar and the second direction2Is 45 degrees.
4. The automated guided vehicle of claim 3, wherein the first two-dimensional lidar has a first sector of its operating area and the second two-dimensional lidar has a second sector of its operating area;
the first sector and the second sector are provided with two overlapping areas, and the two overlapping areas are positioned on two opposite sides of the vehicle body.
5. The automated guided vehicle of claim 4, wherein the angular arc a of the first sector and the angular arc β of the second sector are each greater than or equal to 270 °.
6. The automated guided vehicle of claim 4, wherein the radius r1 of the first sector and the radius r2 of the second sector are both greater than L.
7. The automated guided vehicle of claim 1, wherein the data processor comprises a data acquisition module, a data fusion module, and a SLAM module;
the data acquisition module is used for acquiring the first data information and the second data information and sending the first data information and the second data information to the data fusion module;
the data fusion module is used for converting the first data information and the second data information into point cloud data, matching and splicing the point cloud data, and acquiring spliced point cloud data;
and the SLAM module is used for constructing a two-dimensional map of the total plane working area of the first two-dimensional laser radar and the second two-dimensional laser radar at present according to the spliced point cloud data by adopting an SLAM algorithm and acquiring the current position information of the vehicle body.
8. The automated guided vehicle of claim 7, wherein the data processor further comprises a drive control module;
the driving control module is used for controlling the running state of the differential wheel according to the two-dimensional map and the current position information of the vehicle body.
9. A differential wheel-based automated guided vehicle system, comprising: a controller and at least one automated guided vehicle according to any one of claims 1 to 8;
the controller is used for controlling the running state of each automatic guided vehicle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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