V groove butt navigation
This navigation system is currently supported SLAM navigation mode, V grooves navigation mode, navigation mode magnetic stripe.
When the AGV work, according to the scene, the navigation mode switch back at any time. Making navigation accuracy and ease of reach applications.
Note: The navigation mode the core difference is calculated car position feedback, in the path planning and control of the same algorithm.
SLAM navigation principle
Map shows
Map: gray is unknown areas and the white area is known, is the dark outline of the walls.
Red laser profile data.
SLAM navigation accuracy and environmental requirements
1, the path of the AGV work, analysis agv walking distance, from the wall or the like of reference. Laser radar detection requirement far enough, the total length can detect the contour of greater than 1 meter. Also note that with a laser radar for objects of different colors, its detection range is not the same.
If the AGV walking outdoors, it is recommended for outdoor special radar.
2, the laser AGV profile obtained during walking, the amount of change over the contour of the original map is less than 40%, the positioning accuracy can be stabilized within the range of 3cm.
When the change in profile is too large, because the laser repair capacity for data decreases encoder odometer, as the distance will cause AGV walking, linear gradual loss of positioning accuracy. But do not worry about a sudden jump distance AGV position.
V groove charging post
V grooves navigation principle
In order to solve large environmental profile changes, SLAM navigation accuracy problem of uncertainty, we have developed the V-groove navigation.
The basic principle of this method is to extract the front and rear vehicle AGV laser data about a certain area, and then analyze the geometric features V groove, to calculate the position of the vehicle with respect to the V-groove. So no matter how changes in the external environment, as long as the radar can detect the V-grooves, resulting AGV position feedback is very accurate and reliable.
Then according to the trajectory control position, positioning accuracy can be stably final docked to within the range of 10mm.
V grooves navigation accuracy and environmental requirements
Navigation Accuracy: within a range of 10mm.
Environmental requirements:
1) there is defined path, the radar must ensure that the vehicle runs during a complete scan of the V-groove.
2) from the vehicle V groove is less than 3 m
3) return to the V-grooves allow placement site Sohu, see more