科技论文
技术报告-关于安全路径
发布05/02/2019
RSL 400安全激光扫描仪不仅通过保护和警告区域确保自动导航车辆(agv)的安全操作,而且它还可以同时捕获导航软件的测量值
采用三角测量原理进行导航时,agv通常配备两种不同的传感器:一种用于安全,另一种用于导航。Leuze电子公司的新型RSL 400安全激光扫描仪提供了一个真正的替代方案:它不仅能够处理安全方面的问题,而且它还基于自然导航原理为AGV的导航提供所有测量值。此外,测量值具有极高的角度分辨率和精度。这对于精确确定AGV的位置非常重要。这意味着为了安全和导航,只需要一个扫描仪。RSL 400的测量值输出是为导航软件优化的,导航软件根据自然导航原理与SLAM (Simultaneous Localization and Mapping)一起工作。安全激光扫描仪的偏转装置每转一圈,持续40毫秒,就会发出2700个光脉冲。这些是分散在各个方向的障碍。部分散射光被传送回扫描仪,用来计算到障碍物的距离。类似于地图,导航软件包含各个房间的图像,包括所有固定的边界。 The current position of the AGV is then calculated by comparing the measurement values to the map. This concept is referred to as natural navigation. The more detailed and exact the measurement values of a scanner are, the more precisely the AGV can navigate. With an angular resolution of 0.1°, the RSL 400 can capture the environment in high detail over the entire measurement range up to 50 m. This is achieved through a particularly narrow laser spot that maintains its perpendicular shape over the entire scanning angle. It also reduces incorrect measurements, the likes of which can occur on edges.
关注障碍
障碍有多远?除了角度分辨率之外,距离值也很重要。典型的误差精度<30毫米,这些都是高精度的。除此之外,值不受物体的反射率的影响,无论是反射器还是黑墙。每个光束的接收信号强度值的附加输出允许通过导航软件自主检测反射器。当光束撞击反射器时,值差异从任何其他环境都很大。这使得可以简单可靠地检测。除了导航方面外,还没有缺乏安全性:Compact RSL 400安全激光扫描仪提供多达100个可切换保护和警告字段对。由于这种高分,保护磁场可以适应各个运动和负载条件以及以许多不同的方式的车辆的速度。在具有50个可切换字段组的4场模式下,设备可以同时监控多达四个保护区域。 This enables safe and reliable reduction of the speed of AGVs. With a scanning angle of 270°, the RSL 400 can also cover the front and side areas of AGVs at the same time, i.e., around the corner. With these features and a maximum operating range of 8.25 meters, even large AGVs can be fully safeguarded with only two RSL 400. The safety laser scanner is available in various models. The product range includes nine functional variants, three of which with data output for AGV navigation. All variants are available for the four operating ranges of 3.0, 4.5, 6.25, and 8.25 meters. Models with PROFIsafe/PROFINET interfaces are also available. These interfaces make it much easier to integrate the devices, particularly when many different protective field configurations are used.