Answer: The visual positioning system of MRDVS mainly relies on features near the ceiling for positioning, such as lamps, beams, smoke alarms, etc. Wall features can also be used as references. This method avoids interference from dynamic objects on the ground (such as personnel and vehicles) and is not affected by changes in the production line. The system can adapt to strong and low-light environments under lighting conditions but avoids the impact of direct sunlight caused by large glass skylights. In low or no-light environments, the system has its light source to ensure accurate capture of depth data and maintain high accuracy. The ideal ceiling height is 3-5 meters, and accuracy will be slightly affected when it is above 10 meters.

2. What is the form of data output by the system? How to map? Do you need a laser radar when mapping?

Answer: The system outputs two-dimensional X, Y, and theta coordinates for global map positioning. During mapping, the vehicle manually or automatically drives around, records visual and odometer data, and completes map construction. During the mapping phase, LiDAR is usually needed as an auxiliary tool. After mapping is completed, LiDAR can be removed, and subsequent operations depend on the visual system.

3. What is the compatibility of the odometer and controller? Is the MRDVS system compatible with Pioneer or Kecong(KC) controllers?

Answer: The MRDVS system is suitable for wheeled vehicles with odometers, including different vehicles and steering wheel vehicles. For forklifts, the odometer data of the vehicle is received by default. If the vehicle itself comes with an odometer that meets the requirements, the system can be directly connected.

4. When multiple vehicles are running at the same time, will the positioning accuracy of the system be affected? How to deal with scenarios with high precision requirements?

Answer: When multiple vehicles are running simultaneously, there may be a slight decrease in repeatability due to sensor differences. In the case of a single vehicle, the accuracy can reach ±1cm. Reflective stickers are recommended in critical areas to improve accuracy in high-precision scenarios. In addition, the two-time docking method can also be used to ensure precise positioning of critical operations.

5. Does the visual system need to stick reflective stickers on the ceiling? How to further improve the positioning accuracy?

Answer: Visual systems usually do not require reflective stickers, unless it is necessary to improve the accuracy of local areas. The usage density of reflective stickers is low and only needs to be installed in specific areas. Putting reflective stickers can improve local accuracy and ensure the stable operation of the system in more complex environments.

6. Reflective Sticker Adhesion Precautions:

Normally, only 2 reflective stickers are needed to solve the problem of accuracy of the position at a certain station. Reflective stickers too dense will cause false detection.

When the distance between the camera and the reflective stickers is 1 meter, the distance between the adjacent reflective stickers should be 50 cm. When the distance is 2 meters, the distance between the adjacent reflective stickers is required to be about 100 cm. When the distance is 3 meters, the distance between the adjacent reflective stickers is required to be about 150 cm. In addition, multiple reflective stickers should be neatly arranged (e.g. along a line on the ceiling).

For areas on the route that require high positioning stability, you can add 1-2 reflective stickers to the areas that are prone to loss of positioning.

Notes for installing reflective stickers:

Avoid other reflective materials in the surrounding area.

Avoid sticking the stickers right above the traveling path of the AGV, and prevent them from being blocked by other low-altitude obstacles.

7. If the forklift moves after shutdown, how to position it when it is restarted? How does the system handle the situation where the vehicle is moved?

Answer: If the forklift is not moved after shutdown, the system can directly restore its position and continue to operate. If the forklift is moved, the system needs to search extensively or reposition through the set online point, but cannot automatically perform global positioning.

8. How to choose between M series and V series cameras in overhead view navigation?

Answer: M series cameras are suitable for short distance (within 5 meters) overhead view navigation, with an accuracy of about 1cm. V series has stronger computing power and detection distance (within 12 meters), more suitable for longer distance overhead view navigation and more complex scenes, with better overall performance.

9. How to deal with the slope during the mapping?

Answer: The system can handle the slope during the mapping process. Just collect the slope path together during mapping, and the system can pass through the slope normally in subsequent operations, maintaining normal navigation and positioning.

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