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Improved graph optimization SLAM method

A graph optimization and algorithm technology, applied in the fields of robotics, navigation and positioning, which can solve problems such as heavy workload, high system requirements, and difficult maintenance.

Inactive Publication Date: 2018-02-27
SHENZHEN JINGZHI MACHINE
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  • Summary
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AI Technical Summary

Problems solved by technology

This method is a good solution to the situation where the reflector cannot be positioned after being blocked, but laying magnetic strips on the ground or injecting magnetic nails is not only a lot of work, but also difficult to maintain, and has higher requirements for the entire system

Method used

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Experimental program
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Embodiment Construction

[0086] The present invention will adopt the following realization process in order to realize the function of above-mentioned algorithm.

[0087] In order to realize the above algorithm, our solution needs to use the following equipment: four-wheel independent drive omnidirectional drive AGV, one PC (need to install Linux system, 4G memory, i7 processor, quad core, hard disk size is 500G), SICK151 lidar (resolution 0.5°, scanning frequency 50Hz), remote control handle or keyboard, several reflectors, odometer. The whole experimental platform is shown in Fig. figure 1 .

[0088] Four-wheel independent drive omnidirectional AGV includes: frame, four travel motors, four steering motors, four lift motors, four travel drives, four rotation drives, four lift drives, power lithium batteries, battery chargers, Reducer, proximity switch, emergency switch, gyroscope, lidar, ultrasonic sensor.

[0089] Triangulation Algorithm

[0090] A certain number of reflectors or reflector colum...

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Abstract

A traditional laser triangulation algorithm is high in location precision, and it is likely to be influenced by blocking of an obstacle to cause the phenomenon that AGV cannot be accurately located; the graph optimization SLAM algorithm ensures the precision and accuracy of map building through the method for building a map through front-end map building and rear-end optimization, and the integrity of map building is achieved through a closed-loop detection method. In the environment such as a garage which is less in feature, single in feature and symmetrical in feature height, the closed-loopdetection function cannot be well achieved, the phenomenon that the built map has multiple areas of overlap is caused, and the map cannot provide navigation and location. Accordingly, the method forconducting optimization by combining the laser triangulation algorithm with the SLAM algorithm is put forward, a reflector arranged in the environment in advance divides a large environment into countless small environments, and the small environments are numbered independently. The location can be conducted through laser triangulation in the small environments, after the environments are numberedin a regional mode, each area at which the AGV arrives can be detected, different areas have different numbers, and finally a graph optimization SLAM closed-loop detection signal is formed; in this way, the built map is high in precision.

Description

technical field [0001] The invention relates to a method for improving graph-optimized SLAM mapping, as well as the application of positioning in an intelligent garage, and relates to the technical fields of intelligent control, sensor fusion, robot, navigation and positioning. Background technique [0002] At present, the positioning of AGV mainly adopts laser triangle navigation and positioning, magnetic nail navigation and positioning, magnetic strip navigation and positioning, pulse line navigation and positioning, two-dimensional code positioning, laser SLAM navigation and positioning, visual navigation and positioning, hybrid positioning and other methods. [0003] The use of laser triangulation positioning algorithm requires the pre-arrangement of reflectors in the environment, and at least the position of three reflectors needs to be known to calculate the pose information of AGV. Although the positioning accuracy of laser navigation and positioning method is very hig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/30
CPCG05D1/0257G05D1/0274G01C21/30
Inventor 王昕吴钟管大功
Owner SHENZHEN JINGZHI MACHINE
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