大雨天气集装箱AGV激光测距精度分析

Analysis on Container AGV Laser Ranging Accuracy in Heavy Rain

为了解决大雨天气因激光测距误差导致集装箱AGV防撞系统的误报,分析激光波在雨水中的反射、折射,以及在集装箱缓冲支架反光板表面水膜中的折射加多次反射等因素对测距精度的影响。根据集装箱缓冲支架反光板表面是否存在水膜,对激光反射及折射加多次反射的测距精度进行模拟测试。测试结果与理论分析基本符合,为集装箱AGV激光扫描仪在大雨天气的异常数据滤波提供帮助。

In order to solve false positives of the container AGV anti-collision system caused by the laser ranging error under the circumstance of heavy rain, the laser ranging accuracy is analyzed on the reflection and refraction of laser wave in the rain and the refraction with multiple reflection on the water film of container cushioning support reflector surface. More simulation tests are conducted against the ranging accuracy of the laser refraction with multiple reflections according to whether there is water film on the surface of container cushioning support reflector. It is shown that the test results are in line with the theoretical analysis, which can contribute to the abnormal data filtering of container AGV laser scanner in heavy rain.