CN207742338U - Laser navigation system - Google Patents
Laser navigation system Download PDFInfo
- Publication number
- CN207742338U CN207742338U CN201721808520.0U CN201721808520U CN207742338U CN 207742338 U CN207742338 U CN 207742338U CN 201721808520 U CN201721808520 U CN 201721808520U CN 207742338 U CN207742338 U CN 207742338U
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- China
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- laser
- reflection plate
- laser reflection
- navigation system
- motion carrier
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Abstract
The utility model provides a kind of Laser navigation system,Including being separately positioned on each multigroup laser reflection plate unit for needing pinpoint operating point,Motion carrier for being run in entire working environment,The laser radar apparatus of the reflected light of laser reflection plate on motion carrier for laser reflection plate unit to be scanned and incuded to entire working environment,Memory on motion carrier,The processor being connect on motion carrier and with laser radar apparatus and memory,The map of entire environment is drawn using SLAM algorithms according to the measurement data of laser radar apparatus,The coordinate system that the laser reflection plate that processor is sensed according to SLAM algorithms or the laser radar apparatus determines is positioned,The Laser navigation system of the utility model can carry out Global localization to entire environment,And it can be accurately positioned needing pinpoint operating point.
Description
Technical field
The utility model belongs to robot navigation's technical field, and in particular to a kind of Laser navigation system.
Background technology
Robot is needed when moving by means of airmanship, and navigation needs to position the position of robot, at present
Location technology be usually Global localization and local positioning, laser SLAM location algorithms, which are usually used, in Global localization is determined
Position, still, this kind of localization method positioning accuracy are generally [- 5cm ,+5cm], and precision is relatively low, relatively high in positioning accuracy request
Workplace cannot then meet positioning requirements.Local positioning is positioned by the way of laser strip, positioning accuracy be generally [-
1cm ,+1cm], precision is higher, but this kind of method overlay area is smaller, and overlay area is only dependent upon the detection of laser sensor
Distance.
Utility model content
The utility model be to solve the above-mentioned problems and carry out, and it is an object of the present invention to provide a kind of navigator fix range it is big and
It being capable of pinpoint Laser navigation system in the working region for needing positioning requirements relatively high.
The utility model provides a kind of Laser navigation system, which is characterized in that including：Multigroup laser reflection plate unit,
It is separately positioned on each pinpoint operating point of needs；
Motion carrier, for being run in entire working environment；
Laser radar apparatus, for being scanned to entire working environment and incuding laser in the laser reflection plate unit
The reflected light of reflecting plate is mounted on the motion carrier；
Processor is mounted on the motion carrier, is connect with the laser radar apparatus and the memory, according to institute
The measurement data for stating laser radar apparatus is drawn using SLAM algorithms in the map and the laser reflection plate unit of entire environment
The position of laser reflection plate, and determined according to the laser reflection plate that SLAM algorithms or the laser radar apparatus sense
Coordinate system positioned；And
Memory is mounted on the motion carrier, the map for storing the entire environment and the laser reflection
The position of the laser reflection plate of plate unit.
Further, it in Laser navigation system provided by the utility model, can also have the feature that：Wherein, often
The group laser reflection plate unit includes at least three laser reflection plates, and arbitrary three equal asymmetry of laser reflection plate are set
It sets.
Further, it in Laser navigation system provided by the utility model, can also have the feature that：Wherein, institute
It includes 3 laser reflection plates to state laser reflection plate unit, 3 laser reflections plate asymmetry setting.
Further, it in Laser navigation system provided by the utility model, can also have the feature that：Wherein, institute
It includes 4 laser reflection plates to state laser reflection plate unit, arbitrary three laser reflections plate asymmetry setting.
Further, it in Laser navigation system provided by the utility model, can also have the feature that：Wherein, institute
Laser reflection plate is stated to be made of the material of energy reflection laser.
Further, it in Laser navigation system provided by the utility model, can also have the feature that：Wherein, institute
Laser reflection plate is stated to paste or be mounted at operating point using screw.
Further, it in Laser navigation system provided by the utility model, can also have the feature that：Wherein, institute
Laser reflection plate is stated to be round or oval or polygon.
Further, it in Laser navigation system provided by the utility model, can also have the feature that：Wherein, institute
It is fork truck to state motion carrier.
Further, it in Laser navigation system provided by the utility model, can also have the feature that：Wherein, institute
It states and is additionally provided with the voice interaction module being connected to the processor, communication module, host computer, touch screen on motion carrier.
The advantages of the utility model, is as follows：
Laser navigation system involved by the utility model, can because being arranged in the higher operating point of required precision
Determine one group of laser reflection plate unit of local coordinate system, processor is using SLAM algorithms and true according to laser reflection plate unit
Fixed coordinate system carries out mixed positioning, and therefore, the Laser navigation system of the utility model can carry out the overall situation to entire environment to be determined
Position, and can be accurately positioned in the pinpoint operating point of needs.
Description of the drawings
Fig. 1 is the structural schematic diagram of Laser navigation system in the utility model；
Fig. 2 is that the position of laser reflection plate of laser reflection plate unit in the utility model and the local coordinate system of foundation show
It is intended to.
Wherein, X/Y coordinate systems are global coordinate system in Fig. 2, and x/y coordinate systems are local coordinate system.
Specific implementation mode
In order to make the technical means, creative features, achievement of purpose, and effectiveness of the utility model be easy to understand, with
Lower embodiment combination attached drawing is specifically addressed the Laser navigation system of the utility model.
As shown in Figure 1, a kind of Laser navigation system 100 includes：Multigroup laser reflection plate unit 10, swashs at motion carrier 20
Optical radar device 30, memory 40 and processor 50.
Multigroup laser reflection plate unit 10 is separately positioned on each pinpoint operating point of needs, in the present embodiment,
Multigroup laser reflection plate unit 10 is separately positioned on the ceiling 200 above operating point.Every group of laser reflection plate unit include
At least three laser reflection plates, the asymmetric setting of arbitrary three laser reflection plates.Laser reflection plate is pasted onto on operating point
On ceiling, or using screw on the ceiling on operating point.Laser reflection plate uses the material system of energy reflection laser
At.Laser reflection plate is round or oval or polygon.
In the present embodiment, one group of laser reflection plate unit 10 includes at least three laser reflection plates, and arbitrary three are swashed
The position of light reflecting board is asymmetric, and three asymmetric laser reflection plates can determine a local coordinate system.In one group of laser
When reflecting plate unit comprising three laser reflection plates, the position of three laser reflection plates is asymmetric, as shown in Fig. 2, three laser
Not on the same line, and three laser reflection plates will not constitute three vertex of isosceles triangle to reflecting plate；Alternatively, three are swashed
On the same line, but an intermediate laser reflection plate is not or not the midpoint of other two laser reflections plate lines for light reflecting board
Position.When one group of laser reflection plate unit includes four laser reflection plates, the position of arbitrarily wherein three laser reflection plates is not
Symmetrically, with it is aforementioned similar, when arbitrary three laser reflection plates are located at same straight line among a slap on the face laser reflection plate not at it
It will not become isoceles triangle when the point midway of his two laser reflection plate lines or not conllinear arbitrary three Laser emission plates
The vertex of shape, to sum up, the distance between any two laser reflection plate is unequal.
Motion carrier 20 in entire working environment for moving.In the present embodiment, motion carrier 20 is fork truck.At it
In his embodiment, motion carrier can be AGV trolleies, robot etc..
Laser radar apparatus 30 is used to be scanned entire working environment and incude the reflected light of laser reflection plate, installation
On motion carrier 20.
Processor 50 is mounted on motion carrier 20, is connect with laser radar apparatus 30 and memory 40, according to laser thunder
Up to device 30 measurement data using SLAM algorithms draw entire environment map and laser reflection plate unit in laser reflection plate
Position, and the coordinate system that the laser reflection plate that is sensed according to SLAM algorithms or laser radar apparatus 30 determines is positioned.
Memory 40 be mounted on motion carrier 20 on, for store the entire environment that processor 50 is calculated map and
The position of the laser reflection plate of laser reflection plate unit.
In the present embodiment, the voice interaction module being connect with processor 50, communication mould are additionally provided on motion carrier 20
Block, host computer, touch screen.
100 course of work of Laser navigation system：
First, motion carrier 20 moves in entire working environment, and 30 scanning circumstance of laser radar apparatus simultaneously incudes laser
The reflected light of baffle reflection, processor 50 create entire work according to the scan data of laser radar apparatus 30 using SLAM algorithms
Make the two-dimensional laser map of environment, and determine the position of laser reflection plate in two-dimensional laser map, and by two-dimensional laser map
It is stored in memory 40 with the position of laser reflection plate.
The manually position according to the position of laser reflection plate in working environment to the laser reflection plate stored in memory 40
It is screened, rejects noise spot.
Behind the position of the two-dimensional laser map for creating entire working environment and determining laser reflection plate, motion carrier 20
It is moved in entire working environment again, when not moved in operating point range, is positioned, reached using SLAM algorithms
When operating point range, laser radar apparatus 30 can sense multiple strong reflection spots, processor 50 calculate sense it is multiple strong
Position of the pip in two-dimensional laser map, and be compared with the position of the laser reflection plate stored in memory 40, sentence
Whether the disconnected strong reflection spot sensed is reflected by laser reflection plate, if the position of strong reflection spot and one of laser reflection plate
The distance between position is in the error range of permission, it is determined that the laser reflection that strong reflection spot is reflected by laser reflection plate
Point, otherwise, it determines strong reflection spot is noise spot.Processor 50 is created according to the laser reflection point for being determined as the reflection of laser reflection plate
Local coordinate system, and operation carrier 20 is positioned according to the local coordinate system.
The above embodiment is the preferred case of the utility model, is not intended to limit the scope of protection of the utility model.
Claims (9)
1. a kind of Laser navigation system, which is characterized in that including：
Multigroup laser reflection plate unit is separately positioned on each pinpoint operating point of needs；
Motion carrier, for being run in entire working environment；
Laser radar apparatus, for being scanned to entire working environment and incuding laser reflection in the laser reflection plate unit
The reflected light of plate is mounted on the motion carrier；
Processor is mounted on the motion carrier, is connect with the laser radar apparatus, according to the laser radar apparatus
Measurement data draws the position of the map and laser reflection plate in the laser reflection plate unit of entire environment using SLAM algorithms,
And the coordinate system that the laser reflection plate sensed according to SLAM algorithms or the laser radar apparatus determines is positioned；With
And
Memory, be mounted on the motion carrier on, be connected to the processor, for store the entire environment map and
The position of the laser reflection plate of the laser reflection plate unit.
2. Laser navigation system according to claim 1, it is characterised in that:
Laser reflection plate unit described in every group includes at least three laser reflection plates, and arbitrary three laser reflection plates are not right
Claim setting.
3. Laser navigation system according to claim 2, it is characterised in that:
The laser reflection plate unit includes 3 laser reflection plates, 3 laser reflections plate asymmetry setting.
4. Laser navigation system according to claim 2, it is characterised in that:
The laser reflection plate unit includes 4 laser reflection plates, arbitrary three laser reflections plate asymmetry setting.
5. Laser navigation system according to claim 1, it is characterised in that:
The laser reflection plate is made of the material of energy reflection laser.
6. Laser navigation system according to claim 1, it is characterised in that:
The laser reflection plate is pasted or is mounted at operating point using screw.
7. Laser navigation system according to claim 1, it is characterised in that:
The laser reflection plate is round or oval or polygon.
8. Laser navigation system according to claim 1, it is characterised in that:
The motion carrier is fork truck either AGV trolleies or robot.
9. according to the Laser navigation system described in claim 1 to 8 any one, it is characterised in that：
The voice interaction module being connected to the processor, communication module, host computer, touch are additionally provided on the motion carrier
Screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721808520.0U CN207742338U (en) | 2017-12-21 | 2017-12-21 | Laser navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721808520.0U CN207742338U (en) | 2017-12-21 | 2017-12-21 | Laser navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207742338U true CN207742338U (en) | 2018-08-17 |
Family
ID=63119086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721808520.0U Active CN207742338U (en) | 2017-12-21 | 2017-12-21 | Laser navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207742338U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112748445A (en) * | 2020-12-28 | 2021-05-04 | 芜湖哈特机器人产业技术研究院有限公司 | Intelligent radar system |
-
2017
- 2017-12-21 CN CN201721808520.0U patent/CN207742338U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112748445A (en) * | 2020-12-28 | 2021-05-04 | 芜湖哈特机器人产业技术研究院有限公司 | Intelligent radar system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 322000 2nd Floor, Building 14, Kechuang Garden, 968 Xuefeng West Road, Beiyuan Street, Yiwu City, Jinhua City, Zhejiang Province Patentee after: Zhejiang Zhong Dao Robot Technology Co.,Ltd. Address before: 230601 Haiheng Building 543 No. 6 Cuiwei Road, Hefei City, Anhui Province Patentee before: ZHONGDAO ROBOT TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210301 Address after: 201700 block B, room 126, area C, building 6, No. 500, Huapu Road, Qingpu District, Shanghai Patentee after: Shanghai Jidao robot Co.,Ltd. Address before: 322000 2nd Floor, Building 14, Kechuang Garden, 968 Xuefeng West Road, Beiyuan Street, Yiwu City, Jinhua City, Zhejiang Province Patentee before: Zhejiang Zhong Dao Robot Technology Co.,Ltd. |