AGV handling robot navigation method and device based on laser-guided map construction

Abstract

The invention discloses a method and device for navigating a handling robot based on laser guidance map construction. The method includes the steps of: acquiring a topology map, a geometric map of an operation area and a target destination of a handling robot; The positioning information of the transporting robot, wherein the positioning information includes the position coordinates and self-positioning posture of the transporting robot; according to the positioning information and the topological map, a global planning path is generated; The grid map associated with the position coordinates of the robot, and the instructions for indicating the movement of the handling robot are generated according to the global planning path. The present invention only needs to obtain the positioning information of the handling robot through the laser range finder and the odometer to realize the real-time navigation of the handling robot, and does not need to install any other navigation guidance materials or structures in the working area of ​​the handling robot.

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 blind spots in the environment), the movement route of the handling robot is limited

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