Development of micromirror based 2D laser-scanning and barcoded-reflector technology for AGV navigation**

自动导引车(Automated Guided Vehicles，简称AGVS)以其承载重载、高精度、高效率、低成本等优点，被广泛应用于工厂车间、仓库、配送中心等场所，替代人工作业。目前流行的AGV导航技术包括1)LIDAR(光探测和测距)技术；2)激光扫描和反射器定位技术，这两种技术具有路径灵活和安装容易的优点。然而，它们非常昂贵，例如，一种工业产品的价格为1000美元/台~3000美元/台。这就是工业合作伙伴SEW-EuroDrive Canada所面临的问题，即寻找低成本和高性能(路径灵活、易于安装、无人工干扰)的AGV导航技术。**本申请针对上述问题提出了一种解决方案，即开发一种用于AGV导航的基于微镜的二维激光扫描和条形码反射器技术，该技术成本低(100~200美元，而不是1000~3000美元)，性能高(路径灵活，安装容易，无人工干预)。即将开发的新技术使用：1)微镜取代传统的电机扫描仪，以显著降低成本；2)2D扫描，以取代一维扫描；以及3)条形码反射器，以取代空白反射器，以消除对AGV位置的手动初始化。**所提出的方法严重依赖于微镜技术。这位PI(何思远博士)已经在瑞尔森工作了10年，成功地开发了许多微镜。他的实验室配备了先进的微镜设计、模拟、表征和控制软硬件。SEW-EuroDrive组装AGV，除导航系统外，所有部件都是公司内部制造的。SEW-EuroDrive加拿大公司将积极参与并帮助该项目开发新的AGV导航技术。

AGVs (Automated Guided Vehicles) are widely used in factory workshops, warehouses, distribution centers to replace humans due to their capability of carrying heavy load, high accuracy, high efficiency and low cost. Current popular AGV's navigation technology includes 1) LIDAR (Light Detection and Ranging); and 2) Laser-scanning and reflector localization due to these two technologies' advantages of flexible path and easy installation. However they are extremely expensive, e.g., $1000~$3000/unit for an industrial product. This is the problem faced by the industrial partner, SEW-EURODRIVE Canada, i.e., looking for low cost and high performance (flexible path, easy to install, no manual interference) AGV navigation technology. ** This application proposes a solution to address the above problem, i.e., develop a micromirror based 2D laser-scanning and barcoded-reflector technology for AGV navigation, which is of low cost ($100~$200, versus $1000~$3000) and high performance (flexible path, easy to install, no manual interference). The new technology to be developed uses: 1) Micromirror to replace conventional motor scanner to significantly lower the cost; 2) 2D scanning to replace the 1D scanning; and 3) Barcoded-reflector to replace blank reflector to eliminate the need for manual initialization of AGV's location.**The proposed approach heavily relies on the micromirror technology. The PI (Dr. Siyuan He) has been working on micromirrors for >10 years at Ryerson with many successfully developed micromirrors. His lab is equipped with the advanced micromirror design, simulation, characterization and control software and hardware. SEW-EURODRIVE assembles AGVs with all components made within the company except for the navigation system. SEW-EURODRIVE Canada will actively participate in and help with the project to develop the new AGV navigation technology.********