CN104697515A - Laser navigation sensor unit without reflective plate and method thereof - Google Patents
Laser navigation sensor unit without reflective plate and method thereof Download PDFInfo
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Abstract
The invention discloses a laser navigation sensor unit without a reflective plate and a method thereof, belonging to the field of the mechanical and electronic information technology. The unit comprises a laser transmitter, a laser receiver, a wireless sensor and a main controller. The basic method comprises the steps: the laser receiver encodes sensor protocol constraints; the main controller stores encoding and position information; the laser transmitter rotates real-timely to transmit laser signals; the laser receiver receives the signals and wirelessly transmits position information; and the main controller receives and processes the wireless signals. In the unit, a 'angle view' concept is introduced to improve the validity of signals by means of the self-defined encoding method and protocol rules; the position information of the laser transmitter is solved accurately according to the least square method, and the accurate position information is provided to the efficient running of the AGV (Angle View). On the premise of satisfying high-precision requirement, the whole unit is strong in system robustness and high in cost performance and has 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, be specifically related to a kind of no reflection events plate laser navigation sensor device and method.
Background technology
Along with developing rapidly of logistics system, the range of application of AGV is also in continuous expansion.AGV (automated guided vehicle) i.e. automatic guided vehicle.According to the definition of U.S. Logistics association, AGV refers to and is equipped with electromagnetism or optical target sounding device, can travel along the guide path of regulation, has the travelling bogie of dolly programming and parking selecting arrangement, safeguard protection and various load function.The manufacture and exploit of AGV relates to multiple subjects such as computing machine, control automatically, information communication, Machine Design and electronic technology, is that light harvesting, electromechanics and computing machine are in the new and high technology of one.It can become the bridge in shop logistics system between material and information, and the special character of intelligent AGV is just that intelligent AGV has following characteristics:
(1) logistics management---intelligent AGV system is connected with existing logistics system, is optimized it in optimization;
(2) site requirements is lower---and intelligent AGV operating path can flexible be changed;
(3) dispatching is reliable---and host computer carries out data analysis and Long-distance Control, and dispatching is outstanding;
(4) security operated---intelligent AGV navigate mode is clear and definite, has and independently surveys barrier, barrier avoiding function;
(5) cost controllability---intelligent AGV can reduce a large amount of artificial, saves Enterprise Resource cost.
(6) damaged products is reduced---the damaged products manually caused can be reduced.
Artificial or the half mechanical transport mode that intelligence AGV replacement is traditional has been factory and enterprise is the Important Action reducing production cost, the enterprise competitiveness that expands consumption market, improves.Current AGV has become one of the study hotspot in the field such as flexible manufacturing, material flows automation.It is unmanned why AGV can realize, and navigation and guiding serve vital effect to it, and along with the development of technology, the navigation/guidance technology that can be used in AGV at present mainly contains following several: tape navigation, laser navigation and inertial navigation.Wherein, laser navigation AGV advantage: AGV registration; Ground is without the need to other location facilities; Driving path can be flexible and changeable, can be applicable to various field environment, and it is the advanced guide mode that current external many AGV manufacturers preferentially adopt; Shortcoming is the restrictions such as manufacturing cost is high, technology rests in abroad, blockade on new techniques.
Laser navigation AGV is the most intelligent, state-of-the-art one in AGV, there is large batch of utilization in American-European countries, because foreign technology is maintained secrecy and price high, does not have large batch of utilization at home.Therefore, be necessary to design a kind of laser navigation sensor with high performance-price ratio, strong anti-interference ability and target recognition capability, and become a kind of new technical need.
Summary of the invention
(1) technical matters that will solve
In order to solve the problems referred to above that prior art exists, the invention provides a kind of no reflection events plate laser navigation sensor device and method.This device is by fixed laser acceptor device, and combining with wireless sensor network technology, receive the real-time position information that master controller sends, realize the Effec-tive Function of laser navigation AGV.
(2) technical scheme
According to an aspect of the present invention, propose a kind of no reflection events plate laser navigation sensor device, this device comprises generating laser, laser pickoff, wireless senser and master controller.
Preferably, described generating laser is arranged on the car body of motion, is positioned in same level with laser pickoff, 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 body of described motion and AGV dolly, also can select common mechanical car body.
Preferably, on surrounding's wall that described laser pickoff is fixed on sport(s) car running body path or on fixed support, and rectangular coordinate system is set up in whole space motion position, and measure the geographical position coordinates of laser pickoff in advance, be stored in the storer of laser pickoff.
Further, the mode that laser pickoff adopts linear array to receive receives laser signal, even if generating laser and laser pickoff are not in same level, the receiving unit of laser pickoff still can collect laser signal.
Preferably, described wireless senser is based on the radio sensing network of the RFID of CAN, position coordinates in the ground of described laser pickoff is radioed to master controller, the numerical value of master controller record current encoder simultaneously, according to the positional information of coding rule inquiry laser pickoff in advance, and calculate the angle information between adjacent laser receiver.
Preferably, described master controller wirelessly receives laser receiver position data message, after collecting 4 positional informations angle information adjacent with corresponding 3, row write Nonlinear System of Equations, and adopt least square method iterative computation to go out the root of Nonlinear System of Equations, i.e. the coordinate information of present laser transmitter.
Preferably, described generating laser comprises catoptron, generating laser, transmitter top casing, generating laser main rotating shaft, rotating shaft screw 1 ~ 4, slip ring, Laser Power Devices, universal stage, thrust bearing, plain bearing, support, speed reduction unit, motor and scrambler.
Further, described catoptron is used for the laser signal that reflects laser transmitter sends, and by parallel for the laser signal laser pickoff projected around plane.
Further, described laser transmitter projects laser signal, first projects in catoptron, is then reflexing to surrounding.
Further, described generating laser main rotating shaft be used at the uniform velocity horizontally rotate generating laser, make laser firing signals can send signal to surrounding, instead of only transmit along same direction.
Further, transmitter top casing fixed by described rotating shaft screw, and four screws are detachable, when generating laser breaks down, can place under repair by removing screw to generating laser.
Further, described slip ring is used for powering to generating laser, slip ring top part is rotated by universal stage, and the mode that the mobile equilibrium of rotating part combines by adopting thrust bearing and plain bearing, thrust bearing is positioned at below universal stage, thrust bearing is responsible for the pressure above reach, reduce the radial force of center section main rotating shaft, plain bearing then " can block " main rotating shaft, it is made not rock all around, mechanical structure portion adds thrust bearing and bearing can ensure that the laser of generating laser can scan laser pickoff in same level better, ensure that the validity of signal, reduce the Loss Rate of signal.
According to another aspect of the present invention, a kind of no reflection events plate laser navigation sensor master controller method is proposed.
Described method is by after system reset initialization substantially, master controller receives the data message that sub-controller transmits, wherein sub-controller is laser pickoff, and carry out Wireless Data Transmission based on the RFID radio sensing network of CAN, the data message that master controller receives wirelessly is deposited in storer, and reads current storage numerical value, according to the classification of the corresponding relation determination laser pickoff of coding, the count value receiving data is added 1 simultaneously, judge whether to meet the demands; When backlog demand, re-start sub-controller data reception operation, otherwise enter next step, according to the angle information between coordinate points and adjacent coordinates point, utilize least-squares iteration method to carry out laser transmitter positions iterative computation.
According to a further aspect of the invention, propose a kind of no reflection events plate laser navigation sensor method, described method comprises the steps:
Step S101: laser pickoff is encoded, sensor protocol;
Step S102: master controller memory encoding and positional information;
Step S103: generating laser real time rotation Emission Lasers signal;
Step S104: laser pickoff receives laser signal and wireless transmission of location information;
Step S105: master controller receives process wireless signal.
Further, in described step S102, master controller prestores coding and the positional information of laser pickoff, can confirm the definite information of laser pickoff afterwards according to the information of wireless receiving.
Further, in described step S103, in trolley traveling process, the Emission Lasers signal of generating laser real time rotation, makes the laser pickoff real-time reception signal of periphery.
Further, in described step S104, after the laser transmitter projects laser signal of trolley top, laser pickoff Received signal strength, the validity of judgment signal, and useful signal is radioed to master controller.
Further, in described step S105, after master controller receives the signal of generating laser transmission, according to the statistical value of count counter, the positional information of generating laser in trolley can be calculated when reaching 4, finally calculating the positional information transmitted according to least square method.
(3) beneficial effect
The no reflection events plate laser navigation sensor device and method that the present invention proposes can produce positive beneficial effect, under whole device meets high-precision requirement, strong robustness and cost performance high, there is stronger engineer applied and be worth.
Accompanying drawing explanation
Fig. 1 shows the no reflection events plate laser navigation sensor structural representation that the present invention proposes;
Fig. 2 shows the RFID radio sensing network host-host protocol principle schematic based on CAN of the preferred embodiment of the present invention;
Fig. 3 shows the no reflection events plate laser navigation sensor principle schematic that the present invention proposes;
Fig. 4 shows transmitter physical construction schematic diagram in the no reflection events plate laser navigation sensor of the present invention's proposition;
Fig. 5 shows master controller method flow diagram in the no reflection events plate laser navigation sensor of the preferred embodiment of the present invention;
Fig. 6 shows the no reflection events plate laser navigation sensor method flow diagram that the present invention proposes.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with embodiment also with reference to accompanying drawing, the present invention is described in more detail.Should be appreciated that, these describe just exemplary, and do not really want to limit the scope of the invention.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring concept of the present invention.
Fig. 1 shows the no reflection events plate laser navigation sensor structural representation that the present invention proposes.As shown in Figure 1, the no reflection events plate laser navigation sensor that the present invention proposes comprises generating laser described in generating laser, laser pickoff, wireless senser and master controller and is arranged on the car body of motion, limited selection AGV car body, for AGV car body in the specific embodiment of the invention, be positioned in same level with laser pickoff, such as, and generating laser passes through the drive of motor with adjustable frequency, and 5 ~ 10Hz, carries out rotation sweep laser pickoff.On surrounding's wall that described laser pickoff is fixed on AGV operating path or on fixed support, and rectangular coordinate system is set up in whole space motion position, and measure the geographical position coordinates of laser pickoff in advance, be stored in the storer of laser pickoff.In addition, laser pickoff adopt linear array receive mode receive laser signal, even if generating laser and laser pickoff are not in same level, allowed band ± 0.5 meter in, the receiving unit of laser pickoff still can collect laser signal.The present invention needs additionally to be pointed out that, initialization is needed during system initiating switchup, because there is no the geographical location information in a upper moment, so this device cannot be introduced " angle window ", initialization procedure is, master controller at least can calculate 3 identical geographic position values (close in permissible range), just can export geographical location information to external unit (as AGV).After laser pickoff receives laser signal, the moment T of the upper moment collection signal that laser pickoff is notified by master controller
1, the moment of laser pickoff Received signal strength is T this moment
2, introduce the concept of time window for judging that laser signal is useful signal or undesired signal.The fundamental mechanism judged all is deposited in the storer of master controller by the position coordinates of all receivers, after master controller receives valid data, master controller can according to the current position coordinates of oneself, when can calculate following several laser pickoff return data, the anglec of rotation of generating laser, can according to adding " the angle window " that is similar to time window centered by this moment angle, primary controller judges the anglec of rotation of generating laser, not when this " angle window " is inner, master controller can not receive the data of laser pickoff, go to perform other tasks, introduce the error rate that " angle window " can reduce transmission data, improve the efficiency of master controller, make full use of resource.After being judged to be useful signal, by wireless senser, such as, based on the RFID radio sensing network of CAN, the existence of CAN identifier filter group decreases the expense of CPU., improve the real-time of computing.Position coordinates (x in the ground of described laser pickoff, y) coded message radios to master controller, master controller carries out address decoder according to the data of the sub-controller received simultaneously, and geocoding is corresponding with laser pickoff protocol related as shown in table 1 below.
Table 1 scrambler numerical value 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 adopts binary coding mode, and carry out Automatic adjusument according to laser pickoff quantity, adopt 8bit coded system, 2^8=256 laser pickoff can be expressed as at most, and from 00000000, by that analogy, maximum encoding value is 11111111, i.e. 255 in the decimal system.In the specific embodiment of the invention, for 4 receivers.In addition, the data segment transmitted based on the RFID of CAN comprises wireless transmission protocol as shown in Figure 2, each order sends m integrated data, each integrated data is by guiding frame head, destination address, source address, integrated data, CRC check forms, frame head is guided preferentially to adopt 0X55 or 0XAA, take 2 bytes (byte), destination address represents the address of master controller, comprise 8 bits (bit), source address represents the address of each laser pickoff, and with the one_to_one corresponding of numbering in advance in table 1, occupy 8bits, integrated data represents laser pickoff position coordinates in a coordinate system, comprise 8bytes information, the mode of IEEE binary coding float is adopted to carry out real-coded GA coding, the laser receiver position sent can be accurate to 1cm.Finally by parity check bit and CRC check, whole data are verified, judge that whether the data of system transfers are correctly complete.In addition, in the present invention, radio sensing network host-host protocol can expand according to laser pickoff quantity and position etc., and agreement can increase other parts simultaneously and illustrate, such as frame head, trailer information etc., all belong to expansion content of the present invention.In a particular embodiment, suppose that master controller have received 4 laser receiver position data messages A, B, C, D, position angle between laser pickoff is adjacent is respectively α, β, γ, the concept row introducing vector write out 3 binary quadratic equation groups, least square method iterative computation is adopted to go out equation root, the i.e. coordinate of present laser transmitter, positioning precision reaches 1cm.In addition, if AGV moves, we can judge travelling speed and the direction of AGV according to not result of calculation in the same time.
Fig. 3 shows the no reflection events plate laser navigation sensor principle schematic that the present invention proposes.
As shown in Figure 3, in the specific embodiment of the invention, suppose that master controller have received the position data A of 4 laser pickoff wireless transmission, B, C, D, in the direct coordinate system XoY of plane, corresponding coordinate is respectively A (a1, a2), B (b1, b2), C (c1, and D (d1 c2), d2), and A (a1, a2) with B (b1, b2) angle between is α, B (b1, b2 with) C (c1, c2) angle between is β, C (c1, c2) with D (d1, d2) angle between is γ, the position coordinates of AGV dolly is O (x1, x2), then solve the base of AGV dolly position coordinates
This algorithm is as follows:
Vector
In like manner
Then, nonlinear equation is constructed
Finally, nonlinear equation is solved
F (x)=[F
1(x), F
2(x), F
3(x)]=solution of 0
Note
then carry out Taylor's formula expansion, after removing higher-order shear deformation item, least square method process of iteration concrete steps are:
(1) primary election x
0;
(2) according to following formula iteration, preset precision until meet, and precision is generally chosen for Δ=10
-5m;
x
k+1＝x
k-(J
k TJ
k)
-1J
kF(x
k)
Wherein F (x
k) for F (x) is at an x
kfunctional value, J
kfor vector valued function F (x) is at an x
kjacobin matrix.
When | F (x
k) | stop iteration during <=eps=0.01, now obtain the solution of nonlinear equation.
Least square method process of iteration is utilized to calculate dolly coordinate o (x1, x2) the i.e. position coordinates of generating laser.
Fig. 4 shows transmitter physical construction schematic diagram in the no reflection events plate laser navigation sensor of the present invention's proposition.
As shown in Figure 4, the present invention propose no reflection events plate laser navigation sensor in transmitter comprise catoptron, generating laser, transmitter top casing, generating laser main rotating shaft, rotating shaft screw 1 ~ 4, slip ring, Laser Power Devices, universal stage, thrust bearing, plain bearing, support, speed reduction unit, motor and scrambler.Catoptron is used for the laser signal that reflects laser transmitter sends, and by parallel for the laser signal laser pickoff projected around plane; Laser transmitter projects laser signal, first projects in catoptron, is then reflexing to surrounding; Generating laser main rotating shaft be used at the uniform velocity horizontally rotate generating laser, make laser firing signals can send signal to surrounding, instead of only transmit along same direction; Transmitter top casing fixed by rotating shaft screw 1 ~ 4, and four screws are detachable, when generating laser breaks down, can place under repair by removing screw to generating laser; Slip ring is used for powering to generating laser, slip ring top part can be rotated by universal stage, but the transient equilibrium of rotating part is not easy to ensure, about causing main rotating shaft after overlong time or front and back are rocked, thus the laser causing generating laser to send is not in same level, cause the dropout of receiver.Laser Power Devices adopt dual power supply mode, improve the reliability of power supply.In the present invention, introduce the mode that thrust bearing and plain bearing combine, thrust bearing is positioned at below universal stage, thrust bearing is responsible for the pressure above reach, reduce the radial force of center section main rotating shaft, plain bearing then " can block " main rotating shaft, makes it not rock all around.Mechanical structure portion adds thrust bearing and bearing can ensure that the laser of generating laser can scan laser pickoff in same level better, ensure that the validity of signal, reduces the Loss Rate of signal.In addition, by selecting suitable speed reduction unit that main rotating shaft can be made to obtain the torque of suitable rotating speed.Motor provides rotational power, ensure that the normal operation of system.Scrambler is for calculating the angle of rotation, and scrambler adopts 500 lines, AB phase rising edge negative edge counting mode, and (main rotating shaft rotates a circle, and the rising edge that scrambler exports and negative edge amount to 2000.), the angle of rotation both can have been calculated by the numerical difference of record coding device.Also it is pointed out that in the specific embodiment of the invention that master controller and generating laser are installed together, master controller main task comprises as follows: 1, drive motor rotates; 2, capturing and coding device numerical value be converted into angle; 3, carry the wireless senser of the RFID based on CAN, receive the geographical location information that laser pickoff sends back; 4,24 ~ 36V wide power is adopted to power; 5, by RS485 interface external device (as the AGV) output position information based on modbus agreement.
Fig. 5 shows master controller method flow diagram in the no reflection events plate laser navigation sensor of the preferred embodiment of the present invention.
As shown in Figure 5, system master controller basic procedure is by after system reset initialization, master controller receives the data message of sub-controller and laser pickoff transmission, wherein sub-controller is laser pickoff, and carry out Wireless Data Transmission based on the RFID radio sensing network of CAN protocol, the data message that master controller receives wirelessly is deposited in storer, and read current storage numerical value, according to the classification of the corresponding relation determination laser pickoff of table 1, the count value count receiving data is added 1 simultaneously, i.e. count=count+1, and judge whether count value reaches 4, when backlog demand, re-start sub-controller data reception operation, otherwise enter next step, according to the angle between 4 coordinate points and adjacent coordinates point, least-squares iteration method is utilized to carry out laser transmitter positions iterative computation, until meet accuracy requirement.
Fig. 6 shows the no reflection events plate laser navigation sensor method flow diagram that the present invention proposes.
As shown in Figure 6, the no reflection events plate laser navigation sensor that the present invention proposes mainly comprises generating laser, laser pickoff, wireless senser and master controller, calculates AGV dolly position coordinates concrete steps as follows:
Step S101: laser pickoff is encoded, sensor protocol; According to the basic format of table 1, carry out laser pickoff coding according to the actual requirements, and design the agreement of realistic scene demand according to the basic agreement of Fig. 2.
Step S102: master controller memory encoding and positional information; Master controller prestores coding and the positional information of laser pickoff, and the information crossed according to wireless receiving afterwards can confirm the definite information of laser pickoff.
Step S103: generating laser real time rotation Emission Lasers signal; In AGV dolly traveling process, the Emission Lasers signal of generating laser real time rotation, makes the laser pickoff real-time reception signal of periphery, gets final product the position coordinates of real-time judge AGV dolly like this.
Step S104: laser pickoff Received signal strength wireless transmission of location information; After the laser transmitter projects laser signal of AGV dolly top, laser pickoff Received signal strength, and the validity of judgment signal, then carry out information transmission according to wireless transmission protocol.
Step S105: master controller receives process wireless signal; Master controller according to the statistical value of count counter, can calculate the positional information of generating laser in AGV dolly, finally calculating the positional information transmitted according to least square method after receiving the signal of generating laser transmission when reaching 4.
In sum, the present invention proposes a kind of no reflection events plate laser navigation sensor device and method, belong to embedded electronic design field.This device comprises generating laser, laser pickoff, wireless senser and master controller.Basic skills comprises laser pickoff coding, sensor protocol; Master controller memory encoding and positional information; Generating laser real time rotation transmits; Laser pickoff Received signal strength transmitting information wirelessly; Master controller receives process wireless signal.This device, by self-defining coding method and protocol rule, is introduced the validity that " angle window " concept improves signal, is gone out AGV dolly positional information, realize the Effec-tive Function of laser navigation AGV according to least square method Exact Solution.Under whole device meets high-precision requirement, strong robustness and cost performance high, there is stronger engineer applied and be worth.
Should be understood that, above-mentioned embodiment of the present invention only for exemplary illustration or explain principle of the present invention, and is not construed as limiting the invention.Therefore, any amendment made when without departing from the spirit and scope of the present invention, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.In addition, claims of the present invention be intended to contain fall into claims scope and border or this scope and border equivalents in whole change and modification.
Claims (10)
1. a no reflection events plate laser navigation sensor device, comprises generating laser, laser pickoff, wireless senser and master controller, it is characterized in that:
Described generating laser is arranged on the car body of motion, is positioned in same level with laser pickoff, and generating laser carries out rotation sweep laser pickoff by driven by motor central rotating shaft;
On surrounding's wall that described laser pickoff is fixed on sport(s) car running body path or on fixed support, and rectangular coordinate system is set up in whole space motion position, and measure the geographical position coordinates of laser pickoff in advance, be stored in the storer of laser pickoff;
The position encoded information wireless of described laser pickoff is transferred to master controller by described wireless senser, after master controller receives the information of laser pickoff, record the numerical value of current described scrambler, the positional information of inquiry laser pickoff, and calculate the angle information between adjacent laser receiver;
Described master controller wirelessly receives laser receiver position data message, after collecting 4 positional informations angle information adjacent with corresponding 3, row write Nonlinear System of Equations, and adopt least square method iterative computation to go out equation root, i.e. the coordinate information of present laser transmitter.
2. no reflection events plate laser navigation sensor device according to claim 1, is characterized in that: described generating laser comprises catoptron, generating laser, transmitter top casing, generating laser main rotating shaft, rotating shaft screw, slip ring, universal stage, thrust bearing, plain bearing, support, speed reduction unit, motor and scrambler.
3. no reflection events plate laser navigation sensor device according to claim 2, is characterized in that: described catoptron is used for the laser signal that reflects laser transmitter sends, and by parallel for the laser signal laser pickoff projected around plane.
4. no reflection events plate laser navigation sensor device according to claim 2, is characterized in that: described laser transmitter projects laser signal, first projects in catoptron, and then reflex to surrounding.
5. no reflection events plate laser navigation sensor device according to claim 2, is characterized in that: described generating laser main rotating shaft be used at the uniform velocity horizontally rotate generating laser, make generating laser can send signal to surrounding.
6. no reflection events plate laser navigation sensor device according to claim 2, it is characterized in that: transmitter top casing fixed by described rotating shaft screw, and four screws is detachable.
7. no reflection events plate laser navigation sensor device according to claim 2, it is characterized in that: described slip ring is used for carrying out two-wire to generating laser and powers, for improving the reliability of power supply, slip ring top part is rotated by universal stage, and the mode that the mobile equilibrium of rotating part combines by adopting thrust bearing and plain bearing, thrust bearing is positioned at below universal stage, thrust bearing is responsible for the pressure above reach, reduce the radial force of center section main rotating shaft, plain bearing then can block main rotating shaft, can not rock about making it, keep the vertical direction of main rotation, ensure that reflects laser is in same level.
8. a no reflection events plate laser navigation sensor method, described method comprises the steps:
Step S101: laser pickoff is encoded, sensor protocol;
Step S102: master controller memory encoding and positional information;
Step S103: generating laser real time rotation Emission Lasers signal;
Step S104: laser pickoff receives laser signal and wireless transmission of location information;
Step S105: master controller receives process wireless signal.
9. no reflection events plate laser navigation sensor method according to claim 8, it is characterized in that: in described step S102, master controller prestores coding and the positional information of laser pickoff, can confirm the definite information of laser pickoff afterwards according to the information of wireless receiving; In described step S103, in trolley traveling process, the Emission Lasers signal of generating laser real time rotation, makes the laser pickoff real-time reception signal of periphery.
10. no reflection events plate laser navigation sensor method according to claim 8, is characterized in that: in described step S104, after the laser transmitter projects laser signal of trolley top, and laser pickoff Received signal strength, and the validity of judgment signal; In described step S105, after master controller receives the signal of generating laser transmission, according to the statistical value of count counter, the positional information of generating laser in trolley can be calculated when reaching 4, finally calculating the positional information of generating laser according to least square method.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105222709A (en) * | 2015-10-21 | 2016-01-06 | 中国矿业大学(北京) | A kind of based on iGPS mono-station multiple spot timesharing measuring method |
| CN105277206A (en) * | 2015-10-26 | 2016-01-27 | 广西师范大学 | Method for allowing hillside machine to travel linearly at equal intervals |
| CN105739522A (en) * | 2016-02-04 | 2016-07-06 | 青岛市光电工程技术研究院 | Laser information processing method used for underwater guide |
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| CN106950912A (en) * | 2017-04-13 | 2017-07-14 | 无锡职业技术学院 | Control system at the top of AGV intelligent vehicles |
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| CN106969768A (en) * | 2017-04-22 | 2017-07-21 | 深圳力子机器人有限公司 | A kind of trackless navigation AGV's is accurately positioned and parking method |
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| WO2017020641A1 (en) * | 2015-07-31 | 2017-02-09 | 天津大学 | Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning |
| CN105222709B (en) * | 2015-10-21 | 2018-02-09 | 中国矿业大学(北京) | One kind is based on the mono- station multiple spot timesharing measuring methods of iGPS |
| CN105222709A (en) * | 2015-10-21 | 2016-01-06 | 中国矿业大学(北京) | A kind of based on iGPS mono-station multiple spot timesharing measuring method |
| CN105277206A (en) * | 2015-10-26 | 2016-01-27 | 广西师范大学 | Method for allowing hillside machine to travel linearly at equal intervals |
| CN105277206B (en) * | 2015-10-26 | 2019-01-08 | 广西师范大学 | A method of realizing the mechanical equidistant straight-line travelling in mountainous region |
| CN105739522A (en) * | 2016-02-04 | 2016-07-06 | 青岛市光电工程技术研究院 | Laser information processing method used for underwater guide |
| CN106563232A (en) * | 2016-10-27 | 2017-04-19 | 江苏金米智能科技有限责任公司 | Intelligent fire-fighting truck based on laser |
| CN106959693A (en) * | 2017-04-13 | 2017-07-18 | 无锡职业技术学院 | AGV intelligent vehicles magnetic conductance is moved and laser guidance system |
| CN106950912A (en) * | 2017-04-13 | 2017-07-14 | 无锡职业技术学院 | Control system at the top of AGV intelligent vehicles |
| CN106959693B (en) * | 2017-04-13 | 2023-08-29 | 无锡职业技术学院 | AGV intelligent vehicle magnetic guide moving and laser guidance system |
| CN106969768A (en) * | 2017-04-22 | 2017-07-21 | 深圳力子机器人有限公司 | A kind of trackless navigation AGV's is accurately positioned and parking method |
| 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 |
| CN108319262A (en) * | 2017-12-21 | 2018-07-24 | 合肥中导机器人科技有限公司 | A kind of the filtering method and laser navigation method of laser reflection plate pip |
| CN111307071A (en) * | 2018-12-11 | 2020-06-19 | 斯凯孚公司 | System and method for determining angular displacement, angular velocity and angular acceleration of a rotating member |
| CN111522023A (en) * | 2020-05-21 | 2020-08-11 | 东莞市光劲光电有限公司 | Laser positioning device applying indoor and outdoor AGV and application method |
| CN111522023B (en) * | 2020-05-21 | 2024-04-05 | 东莞市光劲光电有限公司 | Laser positioning device applying indoor and outdoor AGV trolley and application method |
| CN112783153A (en) * | 2020-12-18 | 2021-05-11 | 苏州寻迹智行机器人技术有限公司 | Novel laser navigation system |
| CN118060114A (en) * | 2024-04-19 | 2024-05-24 | 中国空气动力研究与发展中心超高速空气动力研究所 | Full-automatic spraying device of thermosensitive paint |
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