Positioning methods for trackless navigation AGV

A positioning method and trajectory technology, applied in electromagnetic wave re-radiation, radio wave measurement system, utilization of re-radiation, etc., can solve problems such as large amount of calculation and complex control algorithm

Inactive Publication Date: 2019-01-04
SUZHOU YUANMOU INTELLIGENT ROBOT SYST CO LTD
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Problems solved by technology

This method needs to switch the positioning algorithm, the calcul

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  • Positioning methods for trackless navigation AGV
  • Positioning methods for trackless navigation AGV

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[0021] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0022] refer to figure 1 , a positioning method for a trackless navigation AGV, comprising:

[0023] The AGV scans the first reflective plate and the second reflective plate through the lidar, wherein the first reflective plate and the second reflective plate are arranged in the first area; the first reflective plate and the second reflective plate are vertical On the working plane of the AGV, the track of the first reflector scanned by the laser radar forms a first line segment, and the track of the second reflector scanned by the laser radar forms a second line segment, and the first reflector i...

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Abstract

The invention relates to a positioning method for a trackless navigation AGV. The method includes the following steps: the AGV scans a first reflector plate and a second reflector plate through a laser radar, wherein the first reflector plate and the second reflector plate are disposed in a first area; the first reflector plate and the second reflector plate are perpendicular to a working plane ofthe AGV, a trajectory that the first reflector plate is scanned by the laser radar forms a first line segment, the trajectory that the second reflector plate is scanned by the laser radar forms a second line segment, and the first line segment and the second line segment are not parallel; and a midpoint of the first line segment and the midpoint of the second line segment are connected to form athird line segment, and a perpendicular bisector of the third line segment is obtained. According to the positioning method for the trackless navigation AGV, the reflector plates can be clearly and accurately recognized by an optical sensor, when a mobile robot arranges areas of the reflector plates, poses are calculated by mainly relying on the reflector plates, thereby significantly improving the positioning accuracy.

Description

technical field [0001] The invention relates to a trackless navigation AGV, in particular to a positioning method for a trackless navigation AGV. Background technique [0002] The positioning methods of mobile robots are divided into two types: tracked positioning and trackless positioning. The track positioning method needs to paste markers on the ground, such as magnetic strips and QR codes on the ground or in the air. The trackless positioning method mainly relies on optical sensors such as cameras and lasers, and relies on the shape of the scanning space to obtain the position of the mobile robot through calculation, that is, SLAM (simultaneous localization and mapping), also known as CML (Concurrent Mapping and Localization), real-time positioning and map Construct. Because the contours of objects in space cannot always be kept consistent, the positioning algorithm has deviations, and the optical sensor has certain deviations, resulting in the final positioning accura...

Claims

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Application Information

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IPC IPC(8): G01S17/88
CPCG01S17/88
Inventor 戴军王宏军
Owner SUZHOU YUANMOU INTELLIGENT ROBOT SYST CO LTD
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