AGV (Automatic Guided Vehicle) navigation method and device constructed by laser guidance map

Abstract

The invention discloses an AGV navigation method and device constructed by a laser guidance map. The method comprises the following steps that a topology map, a geometric map and a target terminal point of an AGV of a work area are obtained; positioning information, measured by a laser range finder and a speedometer, of the AGV is obtained, and the positioning information comprises position coordinate and self-positioning pose of the AGV; a global programming path is generated according to the positioning information and the topology map; and a grid map related to the position coordinate of the AGV is obtained according to the positioning information, and an instruction for indicating movement of the AGV is generated according to the global programming path. Real-time navigation of the AGV can be realized by obtaining positioning information of the AGV by the laser range finder and the speedometer, and it is not required to add other navigation guiding material or structure to the work area of the AGV.

Description

【Technical field】 [0001] The invention relates to robot navigation technology, in particular to a navigation method and device for a transport robot constructed with a laser-guided map. 【Background technique】 [0002] With the rapid development of logistics systems, handling robots (AGV, Automated Guided Vehicle) are widely used in industry, military, transportation, electronics and other fields. Handling robot refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guiding path, and having safety protection and various transfer functions. [0003] The handling robot is characterized by wheeled movement. Compared with walking, crawling or other non-wheeled mobile robots, it has the advantages of fast action, high work efficiency, simple structure, strong controllability, and good safety. Compared with other equipment commonly used in material transportation, the moving area of ​​the han...

AI Technical Summary

Problems solved by technology

[0006] 1) The ground measurement installation of the direct coordinate navigation method is complex, the workload is heavy, the guidance accuracy and positioning accuracy are low, and it cannot meet the requirements of complex paths

[0007] 2) The electromagnetic navigation path is difficult to change and expand, and has great limitations on complex paths

[0008] 3) The tape navigation method is easily interfered by metal substances around the loop, the tape is susceptible to mechanical damage, and the reliability of the guidance is greatly affected by the outside world

[0009] 4) The manufacturing cost of the inertial navigation method is relatively high, and the accuracy and reliability of the guidance are closely related to the manufacturing accuracy of the gyroscope and its subsequent signal processing

Due to the influence of obstacles (including environmental blind spots), the movement route of the handling robot is limited

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