Accurate positioning and parking method of trackless navigation AGV

A technology of preset positions and reflectors, applied in positioning, navigation calculation tools, radio wave measurement systems, etc., can solve complex path limitations, it is difficult to make up for the lack of SLAM technology, and areas without QR codes cannot be navigated And other issues
CN106969768AActive Publication Date: 2017-07-21SHENZHEN ZHUMANG TECH CORP
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Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
SHENZHEN ZHUMANG TECH CORP
Publication Date
2017-07-21

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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.
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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...

Claims

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