Accurate positioning and parking method of trackless navigation AGV

Abstract

The embodiment of the invention provides an accurate positioning and parking method of a trackless navigation AGV. The accurate positioning and parking method comprises the steps that the AGV scans a reflection plate through laser radar to obtain coordinates of preset positions on the reflection plate; a position for positioning is selected from the preset positions; the current position of the AGV is calculated according to preset rules and the selected position. According to the method, three special reflection points are extracted to achieve three-point positioning, the coordinate orientation of the AGV under a global coordinate system is determined mainly through a least square method, and then the direction angle of the AGV is calculated through multiple quadrants. The relative position and the direction angle of the AGV with respect to the reflection plate can be also calculated through outline detection so that the AGV can be accurately parked at the designated of the reflection plate. By adopting the method, the defect of poor positioning accuracy of an SLAM technology is overcome to the most degree, and a reliable solution is also provided for automatic charging of the trackless navigation AGV.

Description

technical field [0001] The invention relates to the field of trackless navigation AGVs, in particular to a precise positioning and parking method for trackless navigation AGVs. Background technique [0002] SLAM (Simultaneous Localization and Mapping) technology, real-time positioning and map construction, is considered by many scholars to be the key to realizing a truly fully autonomous mobile robot due to its important theoretical and application value. At present, autonomous mobile fields such as sweeping robots, driverless cars, and AGVs are using SLAM technology on a large scale. In the modern industrial transportation system, especially in the field of smart factory cargo handling, trackless navigation AGV (Automated Guided Vehicle) plays a pivotal role. Today, with unmanned factory construction, unmanned driving research, and intelligent navigation technology making steady progress, trackless navigation AGVs are more favored by the majority of enterprises due to th...

AI Technical Summary

Problems solved by technology

[0008] (1) Navigation methods such as image recognition are not flexible enough, and navigation is not possible for areas without QR codes, and the walking route is quite limited

Similar to electromagnetic navigation and other methods, the path is difficult to change and expand, and the limitation of complex paths is relatively large

[0009] (2) For trackless navigation AGV inertial navigation combined with SLAM navigation, high-precision inertial navigation equipment is expensive, and the guidance accuracy and reliability are closely related to the manufacturing accuracy and service life of the gyroscope. Large, it can only be used as an auxiliary navigation, and the high-precision gyroscope can hardly make up for the lack of SLAM technology even when working for a long time

[0010] (3) The GPS global positioning system is familiar to most people, and it is widely used. Tracking and guiding the control objects in the non-fixed road system through satellites, the effect is acceptable in the open air environment, but the effect is greatly reduced in the factory building , and the civilian-level accuracy is generally not high

Through GPS technology combined with SLAM navigation, the navigation range can be expanded to a certain extent, but it is difficult to improve the positioning accuracy of the terminal

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