Temporary obstacle handling method for laser slam navigation

Abstract

The invention discloses a temporary obstacle handling method for laser slam navigation, which is applicable to the factory environment. The temporary obstacle handling method is characterized by comprising the steps of: S1, importing a positioned static map into an AGV, and using the static map as a background map of an alarm map; S2, displaying an occupied area and an expanded area of a fixed obstacle on the alarm map; S3, setting two-level alarm areas including a first-level alarm area and a second-level alarm area; S4, detecting an obstacle by means of a laser scanner, judging whether the obstacle is a fixed obstacle or a temporary obstacle based on the detection result, and displaying the temporary obstacle detected by the laser scanner on the alarm map; S5, detecting whether the AGV is positioned in a human-computer interaction area or an AGV exclusive area, carrying out no operation on the temporary obstacle when the AGV is positioned in the human-computer interaction area, and executing a step S6 when AGV is positioned in the AGV exclusive area; S6, and selectively performing speed reduction, stopping or running at an original speed by the AGV based on the judgment result ofthe step S4.

Description

technical field [0001] The invention relates to laser slam navigation, in particular to a temporary obstacle processing method for laser slam navigation, which is suitable for factory environments. Background technique [0002] Automated Guided Vehicle (AGV) is the key equipment of modern logistics technology. As an automatic transportation equipment, the accuracy of AGV running along the predetermined trajectory in the automated workshop directly affects the normal operation of the entire workshop. With the development of the emerging market of automatic guided vehicles, there is a huge demand for AGVs with low cost and high control accuracy. The key factors that determine the performance of AGV have attracted great attention, and the path tracking control method is the key to ensure the control accuracy of AGV. [0003] In the prior art, a laser scanner has been used as a sensor for AGV positioning and navigation. Using the occupied grid map and corresponding path search ...

AI Technical Summary

Problems solved by technology

[0005] 1. In the factory environment, often not only a single AGV works, the bypass strategy of the AGV affected by temporary obstacles will affect the AGVs operating in the same area;

[0006] 2. For narrow and long passages, there is not enough space for AGV to go around;

[0007] 3. Repeated detours will easily cause the AGV to shake and run unstable

[0008] In addition, some work areas are human-computer interaction areas where the AGV and the operator work together. The behavior of the operator in this area is restricted or regulated. The existing technology has not differentiated the AGV's handling strategy for temporary obstacles in such areas. set up

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