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

Active Publication Date: 2017-07-21
SHENZHEN ZHUMANG TECH CORP
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  • Abstract
  • Description
  • Claims
  • Application Information

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 navig

Method used

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  • Accurate positioning and parking method of trackless navigation AGV
  • Accurate positioning and parking method of trackless navigation AGV

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Embodiment 1

[0043] The embodiment of the present invention provides a precise positioning and parking method of a trackless navigation AGV, such as figure 1 As shown, the method includes:

[0044] Step 101, the AGV scans the reflector through the lidar to obtain the coordinates of the preset position on the reflector;

[0045] Step 102, selecting a location for positioning from the preset locations;

[0046] Step 103, calculate the current position of the AGV according to the selected position through preset rules.

[0047] Further, the AGV scans the reflection plate through the lidar, and obtaining the coordinates of the preset position on the reflection plate includes:

[0048] Taking the position of the lidar as the origin of coordinates, each laser beam returns a distance and a corresponding echo intensity value during scanning to the surroundings;

[0049] Calculate the position of the reflector according to the echo intensity value;

[0050] Obtain the angle information of the r...

Embodiment 2

[0065] The embodiment of the present invention provides a precise positioning and parking method of a trackless navigation AGV, such as Figure 1 to Figure 6 As shown, the method includes:

[0066] (1) Use the lidar to scan the reflector to build a map, and obtain the precise coordinates of each position on the reflector.

[0067] The laser beam of the laser radar scans onto the reflector at a certain frequency. The laser radar is generally installed on the top of the AGV, mainly for a good view and to be able to scan the reflector in all directions. The principle of laser radar scanning to reflector, such as figure 2 shown. The trackless navigation AGV is constantly moving and changing directions in the work area, and the arrangement of the triangular reflectors should ensure that the AGV can scan enough special points during real-time movement (such as figure 2 In A, B, C three points), in order to locate.

[0068] Before using lidar and reflectors for navigation, it i...

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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.

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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Application Information

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IPC IPC(8): G01C21/20G01S5/16
CPCG01C21/20G01S5/16
Inventor 王斌刘磊
Owner SHENZHEN ZHUMANG TECH CORP
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