Two-dimensional laser radar mapping device with additional linear guide rail, and mapping method of two-dimensional laser radar mapping device

Abstract

The invention belongs to the field of mobile robot autonomous navigation and positioning, and discloses a two-dimensional laser radar mapping device with an additional linear guide rail. The device comprises a two-dimensional laser radar, the linear guide rail, a servo motor, a control cabinet, an AGV main body, and an upper computer. The servo motor is connected with the two-dimensional laser radar through a ball screw mechanism. The two-dimensional laser radar is electrically connected with the upper computer. The upper computer operates a mapping algorithm according to the signal data transmitted by the two-dimensional laser radar, builds precise sub-maps, and then carries out the global matching and optimization according to the building sequence and positions of the sub-maps, and builds one global map. According to the invention, the linear guide rail is used for providing one very precise insertion position for the frame data of the two-dimensional laser radar. In other words, the position of the frame data of the two-dimensional laser radar in the sub-map can be directly determined in advance, so there is no complex calculation, and the precision is very high. Therefore, thedevice greatly reduces the algorithm complexity and improves the building efficiency of the sub-maps.

Description

technical field [0001] The invention belongs to the field of autonomous navigation and positioning of mobile robots, and more specifically relates to a two-dimensional laser radar mapping device and a mapping method thereof. Background technique [0002] AGV (Automated Guided Vehicle) is the core equipment of modern factories, flexible manufacturing workshops, intelligent logistics, unmanned warehouses and sorting centers. [0003] The navigation methods of the AGV trolley generally include the direct coordinate guidance method of arranging beacons, the electromagnetic guidance method of arranging metal wires on the path, the tape guidance method of arranging tapes on the path, the optical guidance method of arranging ribbons on the path, and the laser radar ( Or visual) SLAM algorithm to build a real-time map navigation method, etc. The navigation of the first four types of AGVs all belong to the beacon preset guidance method of path planning in advance. This method has pr...

AI Technical Summary

Problems solved by technology

In a certain sense, it is indeed feasible, but for some engineering problems, the overall benefit needs to be considered, so these methods are not applicable to practical application problems, and the actual benefits in engineering are relatively poor

In addition, in the process of creating traditional subgraphs, the traditional method uses external sensors to estimate the initial position, and the established subgraphs have errors. As time goes by, after more and more subgraphs are created, the distance between subgraphs The accumulation of errors will become larger and larger

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