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AGV initial positioning method and positioning system based on chamfer distance shape matching

A technology of initial positioning and initial position, which is applied in the field of AGV initial positioning method and positioning system based on chamfering distance shape matching degree, which can solve the problems of inability to determine the initial position of AGV, inability to build, lack of texture information in distance data, etc.

Active Publication Date: 2019-11-15
上海新松机器人有限公司
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for 2D LiDAR data, due to the lack of texture information in the distance data, it is impossible to construct a salient feature description based on the distance data, and it is also impossible to determine the initial position of the AGV

Method used

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  • AGV initial positioning method and positioning system based on chamfer distance shape matching
  • AGV initial positioning method and positioning system based on chamfer distance shape matching
  • AGV initial positioning method and positioning system based on chamfer distance shape matching

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Embodiment Construction

[0079] In order to make the purpose, technical solutions, and advantages of the embodiments of this application clearer and clearer, the following will clearly illustrate the spirit of the content disclosed in this application with drawings and detailed descriptions. Anyone skilled in the art will understand the embodiments of the content of this application. When the technology taught in the content of this application can be changed and modified, it does not depart from the spirit and scope of the content of this application.

[0080] The illustrative embodiments of the application and the description thereof are used to explain the application, but not as a limitation to the application. In addition, elements / components with the same or similar reference numerals used in the drawings and embodiments are used to represent the same or similar parts.

[0081] Regarding the "first", "second", etc. used herein, they do not specifically refer to order or sequence, nor are they used to...

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Abstract

This application provides an AGV initial positioning method and positioning system based on a chamfer distance shape matching degree. The AGV initial positioning method comprises the following steps:generating a distance map according to an established environment grid map; preprocessing a 2D LiDAR point cloud; and performing matching search on the preprocessed 2D LiDAR point cloud and the generated distance map, to obtain an AVG initial position and a direction angle. According to the initial positioning method, a chamfer distance between an outline currently obtained by the LiDAR and the environment grid map is used as a matching measurement evaluation, and an AGV initial position and an azimuth angle are determined by finding a maximum matching degree without manual reconnaissance. TheAGV initial positioning method has a very high automation degree, and can significantly improve calculation efficiency.

Description

Technical field [0001] This application belongs to the technical field of robot navigation and positioning, and specifically relates to an AGV initial positioning method and positioning system based on the chamfering distance and shape matching degree. Background technique [0002] With the improvement of industrial automation, the application of various advanced technologies and equipment has become more and more popular. More and more factories and warehouses have shifted from labor-intensive to technology-intensive, and realized intelligent production and transportation. Intelligent, modernized and upgraded. In particular, the implementation of the strategy of a manufacturing powerhouse has led to explosive growth in the use of AGVs (Automated Guided Vehicles) in automated production and intelligent logistics. More and more AGVs are used in automobile manufacturing, electricity, tobacco, and medical care. And other industries. [0003] As the most core technology in the AGV sy...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C1/00G06F16/29G06K9/62
CPCG01C21/00G01C1/00G06F16/29G06F18/22
Inventor 钱成越王鹏程张晨博杨涛张根雷
Owner 上海新松机器人有限公司
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