运输机器人组合导航与防撞传感器

N. Eisenreich, A. Herzog, F. Sinn, H.P. Kugler, E. Angele
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引用次数: 0

摘要

描述了一种用于检测和定位自动运输车辆(例如叉车)的标签的传感器系统。它由一个扫描标签的激光扫描仪组成。由于每个标签都有单独的编码,因此可以从反射光中得到典型的脉冲序列。该脉冲序列包含有关标签身份和相对于扫描仪的标签位置的信息。数据处理由扫描系统内的微型计算机完成,并将数据传输到叉车的控制系统。从而为优化驾驶策略的实时计算提供了依据。额外的激光扫描仪可以探测到车辆前方明确范围内反射非常微弱的障碍物,并防止与叉车工作区域内的人员和物体发生碰撞。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Combined Navigation and Anti-collision Sensor for Transport Robots

A sensor system to detect and locate a tag for an automatic transport vehicle, e.g., a forklifter, is described. It consists of a laser scanner that scans a tag.

Due to an individual coding of each tag, a typical pulse train can be derived from the reflected light. This pulse train contains information about the tag identity and the tag position relative to the scanner. Data processing is done by a microcomputer within the scanner system, which transfers the data to the control system of the forklifter. Thus, the basis is given for a real-time computation of an optimized driving strategy.

An additional laser scanner detects even extremely faintly reflecting obstacles in a well-defined range in front of the vehicle and prevents collisions with persons and objects in the working area of the forklifter.

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