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AGV high-precision positioning method fusing positioning reflector and laser features

A technology that integrates positioning and positioning methods. It is used in surveying and navigation, navigation through speed/acceleration measurement, and measurement devices. It can solve the problems of high environmental requirements, accumulated positioning errors, and high environmental setting requirements, and achieves improved positioning accuracy. The effect of low relocation error

Pending Publication Date: 2020-06-19
TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
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AI Technical Summary

Problems solved by technology

[0005] At present, the product-level methods of AGV positioning are mainly laser navigation and positioning and magnetic nail and magnetic strip navigation and positioning. However, because the installation of reflectors and magnetic nails and magnetic strips in these methods is relatively complicated and has high environmental requirements, there is still room for improvement.
The positioning method that relies on reflectors has high requirements for environmental settings. It is often necessary to ensure that at least three reflectors can be detected at each point during operation. However, the positioning method based on pure laser cannot meet the working accuracy requirements of industrial AGVs. , and is easily affected by positioning drift, resulting in cumulative positioning error

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  • AGV high-precision positioning method fusing positioning reflector and laser features
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  • AGV high-precision positioning method fusing positioning reflector and laser features

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Embodiment Construction

[0040] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0041] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, ...

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Abstract

The invention relates to an AGV high-precision positioning method fusing a positioning reflector and laser features. The method comprises the following steps: establishing a laser map; enabling the outline of the reflector to be clearly visible on the map; collecting the position of the reflector on the map; starting AMCL positioning; with AMCL positioning as an optimization initial value, selecting the position of the reflector obtained through possible scanning; acquiring a distance from the reflector according to laser scanning; carrying out reverse solving and optimization to obtain, the accurate position of the AGV; and if the reflector is not identified, using the positioning result of the AMCL as position estimation of the AGV. The method does not depend on strict installation of the reflector, can obtain better accuracy than laser positioning, and can enable the industrial AGV to work stably for long time in a production environment.

Description

technical field [0001] The invention relates to the field of autonomous positioning of mobile robots, and relates to an AGV high-precision positioning method that integrates positioning reflectors and laser features. Background technique [0002] AGV is the abbreviation of Automated Guided Vehicle, which is "automatically guided transport vehicle". It is equipped with automatic guidance devices such as electromagnetic or optical. It can drive along the prescribed guiding path and has safety protection and various transfer functions. transport vehicle. [0003] Positioning technology is the basis for the stable operation of industrial AGV in the factory environment. Positioning is to determine the position and heading of the mobile robot relative to the global coordinates in the operating environment, and is the most basic link of AGV navigation. [0004] Autonomous AGV can automatically transport items from one point to another without human participation in the whole proce...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206Y02T10/40
Inventor 陈浩
Owner TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
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