A positioning system and method for an AGV trolley
A positioning system and trolley technology, applied in the field of AGV trolley positioning system, can solve problems such as large positioning error and expensive AGV trolley, and achieve the effect of improving positioning accuracy, satisfying real-time positioning, and reducing costs
Active Publication Date: 2021-09-21
SOUTH CHINA UNIV OF TECH
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Problems solved by technology
GPS positioning technology is to achieve positioning by receiving GPS satellite signals. The signal is easily affected by buildings and trees, and the positioning error is large, which is not suitable for indoor positioning of AGV cars; LiDAR positioning technology is to measure the distance and angle of the surrounding environment. Realize positioning, high positioning accuracy, but expensive and not suitable for AGV car positioning; visual positioning technology estimates the position of AGV car by processing image stream data, due to the low price of the camera, rich information and strong scalability, it is very suitable for AGV cars indoor positioning
Method used
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[0035] The solutions of the present invention will be described in further detail below in conjunction with the examples and accompanying drawings, but the embodiments of the present invention are not limited thereto.
[0036] like figure 1 As shown, a positioning system for an AGV trolley, including:
[0037] The global mapping module uses laser radar to scan the working environment to obtain laser data, and uses positioning and mapping algorithms to construct a global 3D point cloud map of the working environment;
[0038] The deep learning module uses the deep learning method to train the global 3D point cloud map of the working environment to obtain the map learning model and feature matching criteria, and store the map learning model in the cloud server;
[0039] The local mapping module uses the Kinect sensor to collect image data of the working environment in real time, and constructs a local three-dimensional point cloud map of the working environment according to the...
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The invention discloses a positioning system for an AGV trolley, comprising: a global mapping module, which uses a laser radar to scan the working environment to obtain laser data, and simultaneously uses a positioning and mapping algorithm to construct a global three-dimensional point cloud map of the working environment; a deep learning module, Use the deep learning method to train the global 3D point cloud map of the working environment to obtain the map learning model and feature matching criteria, and store them in the cloud server; the local mapping module uses the Kinect sensor to collect image data of the working environment in real time, according to The principle of small hole imaging constructs a local 3D point cloud map of the working environment; matching positioning module; real-time display module. The invention also discloses a positioning method for the AGV trolley. The present invention reduces costs by using the Kinect sensor to replace the laser radar, and uses deep learning to train the global working environment, realizes real-time positioning of the AGV trolley, and has strong robustness.
Description
technical field [0001] The invention relates to the field of positioning of mobile robots, in particular to a positioning system and method for an AGV trolley. Background technique [0002] AGV (Automated Guided Vehicle) is a mobile robot. It is an automated logistics equipment with autonomous positioning, navigation and obstacle avoidance functions. It is used to build a flexible logistics system for modern manufacturing workshops. Realizing the autonomous positioning of mobile robots is the premise and key of robot navigation and obstacle avoidance. [0003] At present, the common positioning methods of AGV cars are GPS positioning, lidar positioning and visual positioning. GPS positioning technology is to achieve positioning by receiving GPS satellite signals. The signal is easily affected by buildings and trees, and the positioning error is large, which is not suitable for indoor positioning of AGV cars; LiDAR positioning technology is to measure the distance and angle ...
Claims
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IPC IPC(8): G01S17/06G01S17/88G01S7/48
CPCG01S7/4802G01S17/06G01S17/88
Inventor 李伟光刘志洋万好张景润陈辉庄义钦郭明军
Owner SOUTH CHINA UNIV OF TECH