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: 2021-07-06
上海新松机器人有限公司
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  • Summary
  • Abstract
  • 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 purposes, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly illustrate the spirit of the content disclosed in the application with the accompanying drawings and detailed descriptions. After any person skilled in the art understands the embodiments of the content of the application , when it can be changed and modified by the technology taught in the content of the application, it does not depart from the spirit and scope of the content of the application.

[0080] The exemplary embodiments and descriptions of the present application are used to explain the present application, but not to limit the present application. In addition, elements / members with the same or similar numbers used in the drawings and embodiments are used to represent the same or similar parts.

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

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Abstract

This application provides an AGV initial positioning method and positioning system based on chamfering distance and shape matching degree. The AGV initial positioning method includes the following steps: generating a distance map based on the built environmental grid map; preprocessing the 2D LiDAR point cloud ; Match the preprocessed 2D LiDAR point cloud with the generated distance map to obtain the initial position and orientation angle of the AVG. This application uses the chamfering distance between the contour currently acquired by LiDAR and the environmental grid map as the matching measurement measure, and determines the initial position and azimuth of the AGV by finding the maximum matching degree, without manual point selection, and has high automation degree; and can significantly improve computational efficiency.

Description

technical field [0001] The application belongs to the technical field of robot navigation and positioning, and in particular relates to an AGV initial positioning method and positioning system based on 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, realizing intelligent production and transportation, from traditional models to Intelligent and modernized. In particular, the implementation of the manufacturing power strategy has led to explosive growth in the use of AGV (Automated Guided Vehicle) in automated production and intelligent logistics. More and more AGVs are used in automobile manufacturing, electric power, tobacco, and medical care. and other industries. [0003] Navigation and positioning techno...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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