Initial locating method and system, and computer readable storage medium

Abstract

The invention provides an initial locating method for locating an initial pose of an AGV trolley. The initial locating method includes the steps that S1, a global map of a work area of the AGV trolleyis established; S2, when the AGV trolley begins to work, an expected initial pose in the global map is calculated; and S3, the expected initial pose is used for determining the searching range, and aparticle filtering algorithm is adopted in a small-range searching region to calculate the precise initial pose of the AGV trolley in the global map. The invention further provides a computer readable storage medium and an initial locating system.

Description

[0001] 【Technical field】 [0002] The invention relates to the field of AGV trolleys, in particular to an initial positioning method, a computer-readable storage medium and a system. [0003] 【Background technique】 [0004] AGV (Automated Guided Vehicle) usually refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guiding path, with safety protection and various transplanting functions. In the existing AGV cars, there are also AGV cars that do not need a guiding device, and can freely set the driving path by obtaining the map of the working area in advance. However, when the existing AGV car obtains the initial pose of the car on the map, it usually only has a rough prediction, and cannot accurately obtain the precise initial pose of the car on the map. [0005] 【Content of invention】 [0006] In order to overcome the existing problems, the present invention provides an initial positio...

AI Technical Summary

Problems solved by technology

However, when the existing AGV car obtains the initial pose of the car on the map, it usually only has a rough prediction, and cannot accurately obtain the precise initial pose of the car on the map.

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