LIDAR - LOC
General description
The “LiDAR-LOC” Localization software is used to determine the position of automated guided vehicles (AGVs), autonomous mobile robots (AMRs) and manned transport systems. The localization software calculates positions based on contour data, while the localization controller compares the data with a reference map. The reference map has an absolute coordinate system. The result of the continuous position calculation is pose data comprising X, Y and orientation values. The pose data is outputted with respect to the coordinate system of the map and sent to the vehicle controller. This entire process is called localization.
Automated transport systems like AGVs or AMRs use the localization result to navigate the vehicle. Localization is thus an essential part of the navigation system of automated transport systems. Manual transport systems like forklifts or tuggers can use the localization result to digitize material flows by providing the information to an upper level tracking and tracing solution.
Maps
The localization solution requires a reference map of the environment in which you want to localize the automated guided vehicle (AGV). The reference map is created before using the software and contains contour data or 2D codes of the configured sensors. To be able to use additional, optional sensor information (1D codes or lines), you need to also capture these in the reference map.
System components
The LiDAR-LOC system consists of the following components:
Supported sensor types
The following sensor types are approved for operation in production environments.
Reflectors can be used in LiDAR-LOC to assist with localization.
Requirements for Installation and Commissioning
The installation of the localization system components is done by the customer. To ensure accurate and reliable localization in accordance with the specification, the following requirements must be taken into consideration:
• The system is suitable for surroundings with visible static contours and even floors. Addi-tional sensors must be used when driving on ramps.
• The ambient conditions for individual components, for example the temperature,must com-ply with the data sheets.
• Walls, columns and other fixed structures must be represented in the map. Enough objects must be sufficiently visible from all positions. The combined LiDAR scan data from all sen-sors must detect at least 60% of the statically mapped surrounding contour. The map cre-ated for commissioning must have structures in the direction of travel as well as in the transverse direction. The structures must represent the scans measured in operation. Lo-calization may also be possible with less than 60% detection, but must be tested on a case-by-case basis.
• Ensure that you use a suitable sensor type for your application. Use a 2D LiDAR sensor with high values for accuracy, range, resolution, and cycle time to improve the accuracy of the overall system.
• To increase the accuracy and robustness of the localization, a field of view of 360° from all LiDAR sensors combined is recommended. If necessary, use several LiDAR sensors to achieve a maximum field of view of 360°.
• The field of view of all LiDAR sensors together must be at least 200° to operate LiDAR-LOC reliably.
• To further increase the reliability of the localization, it is recommended to use additional odometry components.
• The sensor must be installed at a height that ensures a good field of view of the fixed ele-ments in the facility from every location. Fixed elements include, for example, walls, col-umns, and fixed racks.
• The scan plane of the sensor shall run parallel to the floor surface.
• The angular scan range of the 2D LiDAR sensor should not be obstructed.
Benefits
• Provides accurate positioning for AGVs, AMRs, and manual vehicles.
• Uses contour data and reference maps for reliable localization.
• Continuously outputs pose data (X, Y, orientation).
• Supports autonomous navigation and material flow digitization.
• Integrates with higher-level tracking systems
