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Obstacle Avoidance Application of Solid State Lidar in AGV

The development of smart logistics is inseparable from the support of smart equipment. Benewake has launched completely new logistics industry solution to assist the logistics industry for accurate measurement and lean control of logistics. This will help to promote and serve the development of smart logistics and better meet the development of high-end smart logistics and demand for high efficiency.

Detail
一. Introduction of Lidar in AGV Obstacle Avoidance Application

Lidar's application in AGV obstacle avoidance mainly includes single-point directional detection, and solid-state area array, as detailed below:


Advantages of using BENEWAKE lidar

Comparison table of advantages of various types of AGV lidar


Scanning Mode
Installation method Typical
products Advantages
Single point
Install  single-point lidars at a fixed position around the AGV to avoid obstacles in a specific direction
TFmini Plus
TFmini-S
TF-Luna

Low cost
Small size for easy installation and integration
Excellent stability
High detection frame rate
Low development costs
3D LiDAR
The solid-state area array radar is installed around the AGV to avoid obstacles in a specific reverse range
CE30 Series
High stability
Easy to install inheritance
Lower development costs
3D detection

the two competing products are compared of single-point orientation solutions and solid-state area array solutions,

Comparison of single point LiDAR
Parameters
TFmini Plus
TFmini-S
TF-Luna
FOV



Range
0.1-12m
0.1-12m
0.3-8m
Accuracy
<±1%
<±1%
<±2%
Frame rate
1~1000Hz
1~1000Hz
125Hz
Interface
URAT/IIC
URAT/IIC
URAT/IIC
Volume
69*41.5*26mm
80*47*34mm
204*57*57mm
Enclosure
IP65
/ /

Comparison of 3D LiDAR
Parameters
CE30-A/C
CE30-D
FOV
132°*9°
60°*4°
Range
0.4~4m@90%
0.4~28m@90%
Accuracy
4cm
4cm
Frame rate
20Hz
20Hz
Resolution
320*24
320*24
Volume
79*47*50mm
83*57*54mm
Enclosure
IP65
IP65
Operating Temperature
0~50℃
0~50℃

二. AGV Industry Information Summary

AGV installation and usage scenarios can be simply divided into two categories: indoor AGV and outdoor AGV:

1. Outdoor AGV

Outdoor AGV: refers to an AGV that operates outdoors and has autonomous navigation. Its main application scenarios are mainly outdoor, such as: streets, factory buildings, office buildings, commercial supermarkets and so on. Its functions include: cleaning, security, inspection, distribution and so on. The main classifications are: outdoor cleaning AGV, outdoor security patrol AGV, substation inspection AGV, logistics distribution AGV, etc.

Application description

The CE30-A is installed in front of the AGV, and the orientation and distance information of the identified obstacles are fed back to the AGV. After the AGV processes it, it performs early warning or obstacle avoidance.

Functional scenario Introduction
Advantages 
Power inspection
Power station inspection robots are mainly used in indoor and outdoor substations to perform inspections instead of inspectors. The robotic system carriesdetection equipment for power station equipment such as infrared thermal imagers and visible light CCDs. It autonomously and remotely replaces people to inspect outdoor high-voltage equipment in order to find internal thermal defects, external mechanical or electrical problems of power equipment in a timely manner. Such as foreign objects, damage, heat generation, oil leakage, etc., provide operators with relevant data for diagnosing potential accidents and failureprecursors in the operation of electrical equipment. No recruitment pressure;
Increased the frequency of periodic inspections;
Flexible working hours;
real time monitoring;
Outdoor security
Integrated IoT, artificial intelligence, cloud computing and robotics, intelligent security patrol robot with autonomous navigation, face recognition, voice interaction and other functions. No recruitment pressure;
low cost;
Flexible working hours;
Monitoring without dead ends;
Outdoor cleaning
Robot with autonomous cleaning function. The robot has autonomous walking function, navigation function, collision avoidance function, and automatic cleaning function. Compared with traditional cleaning vehicles, manual operation can be omitted, and street, factory, office, and property cleaning can be completed independently. No recruitment pressure;
low cost;
Flexible working hours;
Clean without dead ends;
Delivery
The distribution robot is the terminal in the ecological chain of the intelligent logistics system. The distribution scenarios faced are very complicated. It needs to respond to the various types of scenes, such as the on-site environment, roads, pedestrians, other vehicles, and users, to make timely and effective decisions and Rapid execution requires a highly intelligent and autonomous learning capability of the delivery robot. No recruitment pressure;
low cost;
Flexible working hours;
Large load;

Obstacle Avoidance Solution

The collision avoidance function of outdoor robot is realized by lidar, general 2D outdoor Lidar, mainly responsible for collision prevention of large and wide angle obstacles

2. Indoor AGV

Indoor AGV mainly stores AGV, service AGV, etc., mainly warehouse AGV. Here we focus on warehouse AGV.

Description

Warehouse AGV system: It consists of a series of hardware systems such as picking robots, movable shelves, replenishing / picking workstations, and software systems based on artificial intelligence algorithms. Process complete order intelligent fulfillment system. The main application scenarios include warehouse e-commerce logistics, and a small number of manufacturers are used in the production chain, such as the automotive industry.

Picking AGV is the core module of the warehouse AGV. In all the business processes related to the sorting warehouse area (including shelves, replenishment, picking, inventory, return, etc.), the target rack is shipped to the workstation according to the system assignment, waiting for employees After completing the business under the guidance of the system, return the shelves to the sorting warehouse area

Obstacle Avoidance Solution

The collision avoidance function of the picking robot is generally realized by: 2D / 3D Lidar

LiDAR:2D / 3D indoor lidar, mainly responsible for collision prevention of large and wide angle obstacles

3. Other Indoor AGV and Obstacle Avoidance

①. Special vehicle

TFmini-Plus is installed directly in front of the fork of the forklift, and the distance information of the obstacle in front is recognized and fed back to the forklift. After the forklift system processes it, it will perform collision prevention or assist in positioning the pallet position.

Advantages:The industrial control industry has a long history of intensive cultivation, non-standard customization for customers, and high matching. In the low-cost obstacle avoidance industry, the cost performance is high, and this solution has a certain influence.

②. Orbital Robot

Install the TFmini Plus at an oblique upper 45 ° angle. When the car is loaded with goods, the radar recognizes the obstacles and distance information in front, and detects whether the car can pass through.

Advantages:High accuracy and stable performance, support dual modes of positioning and obstacle avoidance. Simple installation and easy integration with high cost performance.

③. Stereo warehouse

The two TFmini Plus are installed at the front and rear of the smart shuttle, respectively, real-time monitoring of front and rear obstacles and distance information, and control the car deceleration or emergency stop, so as to achieve the functions of storage, obstacle avoidance

Advantages:Can be directly installed on the trolley, convenient installation, fast commissioning, high cost performance, accurate obstacle avoidance

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