The invention discloses an AGV heavy truck battery replacement robot control system based on SLAM laser radar positioning navigation. The AGV heavy truck battery replacement robot control system comprises a laser radar data acquisition unit, a PLC central controller and a servo motion control unit. The laser radar data acquisition unit comprises a laser radar sensor, a radar MCU, a laser radar and four laser reflecting plates; the laser radar is mounted on the AGV heavy truck battery replacement robot; the four laser reflecting plates are mounted in the space coordinates of the battery swap station; the laser radar sensor detects the distance between the laser radar and the laser reflecting plate in real time to construct a plane coordinate system, the radar MCU collects data in real time and calculates the data, and the XY coordinates of the current AGV in the coordinate system and the angle of the current AGV are calculated through the distance between the center of the laser radar and the laser reflecting plate. AGV positioning data are uploaded to a PLC (programmable logic controller) motion controller in real time through a Modbus TCP (industrial bus communication protocol) protocol, so that the AGV positioning and navigation functions are realized.
本发明公开了基于SLAM激光雷达定位导航的AGV重卡换电机器人控制系统,包括激光雷达数据采集单元、PLC中央控制器和伺服运动控制单元;所述激光雷达数据采集单元包括激光雷达传感器、雷达MCU、激光雷达和4个激光反射板;所述激光雷达安装在AGV重卡换电机器人上;所述4个激光反射板安装在换电站空间坐标内;所述激光雷达传感器实时探测激光雷达与激光反射板的距离构建平面坐标系,雷达MCU实时采集数据并进行计算,通过激光雷达中心距离激光反射板的距离计算当前AGV在坐标系内部的XY坐标以及当前AGV的角度。通过Modbus TCP(一种工业总线通讯协议)协议实时将AGV定位数据上送至PLC(可编程逻辑控制器)运动控制器,从而实现AGV定位导航的功能。
AGV (Automatic Guided Vehicle) heavy truck battery replacement robot control system based on SLAM (Simultaneous Localization and Mapping) laser radar positioning navigation
基于SLAM激光雷达定位导航的AGV重卡换电机器人控制系统
2023-05-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen |
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