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

AGV（Automated Guided Vehicles，自动导引车）以其载重量大、精度高、效率高、成本低等特点，广泛应用于工厂车间、仓库、配送中心等场所，以取代人工。目前比较流行的AGV导航技术主要有激光雷达（Light Detection and Ranging，LIDAR）技术和激光扫描与反射镜定位技术，这两种技术具有路径灵活、安装方便等优点。然而，它们非常昂贵，例如，工业产品1000 ~ 3000美元/台。这是工业合作伙伴SEW-EURODRIVE Canada面临的问题，即，寻求低成本、高性能（路径灵活、安装方便、无人工干扰）的AGV导航技术。** 本申请提出了一种解决上述问题的方案，即，开发了一种低成本（100 ~ 200美元，而非1000 ~ 3000美元）、高性能（路径灵活、易于安装、无人工干预）的基于MEMS的二维激光扫描和条码反射器的AGV导航技术。该新技术将使用：1）微镜取代传统的电机扫描器，以显著降低成本; 2）2D扫描取代1D扫描; 3）条形码反射器取代空白反射器，以消除AGV位置的手动初始化。所提出的方法在很大程度上依赖于RFID技术。PI（何思远博士）在瑞尔森从事微镜研究超过10年，成功开发了许多微镜。他的实验室配备了先进的计算机设计、仿真、表征和控制软件和硬件。SEW-EURODRIVE将AGV与除导航系统外的所有内部组件组装在一起。SEW-EURODRIVE Canada将积极参与并帮助开发新的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.********