Technology of navigation of fixed position of AGV lidar SLAM

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  • source:DALLMAN CNC Machining
Is AGV wants to walk independently basically to solve " where be? " , " want to go? " , " how to go? " these 3 problems. "Where? " the problem that is fixed position, "Should go? " the problem that is method program, "How to go? " the problem that is navigation, solved these 3 problems to basically also solve the problem that Agv freedom walks. Fixed position and navigation are to supplement each other commonly, pattern of traditional fixed position navigation (electromagnetism navigation, magnetism navigation) following square chart place show actor weakness, the advantage of these plan and limitation are apparent. The plan of navigation fixed position that chooses neatly a little applies 2 dimension code, glance board etc, set a few features to locate beforehand artificially, more typical case is the Kiva of Amazon. The Kiva of Amazon ■ SLAM (synchronous fixed position and map compose are built) the algorithm use in AGV car is current, the most advanced navigation means that AGV manufacturer uses is lidar + the technology of fixed position navigation of SLAM. SLAM expresses to be below the premise that does not possess surroundings information, the sensor that lets mobile robot be carried according to oneself in athletic process and the perception to surroundings undertake oneself locates, at the same time increment form form builds surroundings map. SLAM can raise mobile robot own capability and environment get used to ability, implementation undertakes own fixed position and navigation in sealed environment. SLAM is applied the car flows in AGV content, need not use beforehand laid any orbit, of convenient factory product line upgrade to transform and guide the change of air route line, real time avoids barrier, the environment gets used to ability strong, realize the cooperative control of much AGV car better. ■ the main sensor that lidar can undertake environmental information is felt in the use SLAM in AGV car has lidar, photograph like first class. Among them, the AGV car that is based on lidar is own fixed position and the method that propose a plan, because its are measured,tall detective range finding leaves precision far, and the interference that suffers outside ambient not easily, it is the sensor that suits AGV car to SLAM locates and propose a plan most. The lidar exploration distance of intelligence of god of radium of N301 navigation lidar is far, farthermost can amount to 200 meters, measure precision tall, OK and very good be used at map compose to build, the application in the own fixed position in AGV car and navigation is very wide. WXX0AGV is prevented bumping into lidar WXX0X is a series of at indoor facilities using that prevent bump into the product that reachs intelligent area to detect, this series product special apply to AGV, RGV, robot to wait. This series product can measure input signal combination to select group of 15 groups of area through 4 switch (FieldSet) medium anyone serves as group of current work area, get used to complex and changeful application environment, still can output the data that nod the cloud. ■ radium god lidar + lidar of <1> of 5 big functions gives priority to SLAM algorithmic realizable the SLAM map compose of sensor builds lidar to be able to undertake 360 ° inside monitoring area per fire detector 2 dimension or three-dimensional scanning, produce data information. The data information form that SLAM can offer according to lidar builds the position that circumjacent annulus condition pursues and computational oneself is in. Lidar depends on than the advantage of other sensor can more the measures an obstacle to nod point of view of high accuracy and distance, navigation of convenient fixed position and map compose are built. Car of program study AGV is in the method below <2> basis map and setting application mode to already built the travel in good map, edge travel edge is remembered, learn new way, the way that memory already learned, below same setting, intelligence singles out optimal path to finish working job. <3> commands the job that undertakes basis of free course cruise needs to finish according to established study method and working mode, free switch is optimal method. <4> is used prevent the intelligent multistage in bumping into lidar to realize athletic process to avoid barrier protection is in process of free course cruise, lidar can undertake scanning to surroundings continuously. When discovering dynamic object or sealed obstacle, local program implement the local news that arrives according to these scanning, decide the motion of short-term . When avoiding the former method of edge of first step prep above of barrier behavior advances, local program implement the control that can gain executive system through competing counterpoises, make AGV moves according to local program result. Finish pair of current fraise after avoiding action, overall situation plans implement the control that gains executive system again counterpoises, make AGV new return global program method to go up, continue to pressing the path movement that already studied. Can set early-warning area according to need, decelerate area and quit travel division, achieve intelligent multistage to avoid the purpose of barrier. <5> drive wheel and AGV bodywork maintain steady movement to because chassis motion and pose of AGV automobile body are asynchronous,control a technology below different axis, reason need joins in chassis and automobile body the axis is adscititious coder, adjust with using synchronous and both campaign. CNC Milling CNC Machining