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A laser navigation AGV high-precision positioning and target alignment control method

A laser navigation and control method technology, applied in vehicle position/route/height control, two-dimensional position/course control, control/adjustment system, etc., can solve problems such as poor stability, high cost, poor precision, etc., and achieve cost Low, strong market competitiveness, high flexibility and applicability

Active Publication Date: 2021-08-10
XIAMEN UNIV +1
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  • Application Information

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Problems solved by technology

[0004] Aiming at the defects of AGV automatic charging and automatic alignment system in the prior art such as high cost, poor precision and poor stability, the present invention provides a laser-guided AGV high-precision positioning system with low cost, stability and high flexibility and applicability. Target Alignment Control Method

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  • A laser navigation AGV high-precision positioning and target alignment control method
  • A laser navigation AGV high-precision positioning and target alignment control method
  • A laser navigation AGV high-precision positioning and target alignment control method

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Embodiment Construction

[0077] The following embodiments will further illustrate the present invention in conjunction with the accompanying drawings.

[0078] The present invention is aimed at the high-precision positioning and alignment control of AGV relative to the "target". According to different specific applications (such as shelf alignment, charging docking, etc.), the "target" can be different fixed objects or local environments. The following embodiments will further illustrate the present invention in conjunction with the accompanying drawings.

[0079] The content of "a laser navigation AGV high-precision positioning and target alignment control method" of the present invention includes the following four parts.

[0080] (1) Target point cloud segmentation and extraction

[0081] Segment and extract the "target" point cloud data obtained by the laser radar sensor, the main steps are as follows:

[0082] ① Perform voxel filtering on the laser point cloud data to reduce the number and scal...

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Abstract

A laser navigation AGV high-precision positioning and target alignment control method relates to the technical field of mobile robot navigation. Segment and extract the point cloud of the target environment features based on the laser point cloud, realize the ability of AGV to obtain the target feature point cloud in real time; based on the nearest neighbor method, solve the problem of finding corresponding points and establishing the objective function in point cloud matching; design a method based on Gradient point cloud density, multi-resolution search matching methods, and search optimization via branch and bound. Realize the high-precision and low-latency matching of the target feature point cloud by the AGV, which solves the problem of high-precision positioning of the laser navigation AGV at a specific task point; based on the AGV smooth motion controller, realize the smooth and precise motion control of the AGV to reach the target point ability. Solve the target alignment control problems such as laser navigation AGV high-precision positioning, pose alignment, charging docking, etc., and make up for the shortcomings of SLAM technology, such as insufficient positioning accuracy and high cost of traditional alignment control methods.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation, in particular to a laser navigation AGV high-precision positioning and target alignment control method. Background technique [0002] SLAM (Simultaneous Localization and Mapping) technology, real-time positioning and map construction, plays an important role in the positioning, tracking and path planning of mobile robots. At present, SLAM technology is widely used in the field of autonomous navigation of mobile robots such as sweeping robots, AGV (Automated Guided Vehicle), and driverless cars. In particular, trackless navigation AGV has the advantages of being more flexible, smarter, more flexible, and free to schedule because it does not need to pre-lay paths such as magnetic strips. It is an important development direction of AGV. The laser navigation AGV is based on the SLAM method of the laser radar sensor for autonomous navigation. It has the characteristics of simple layou...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0225G05D1/0257G05D1/0276G05D1/0291G05D2201/02
Inventor 仲训昱李鑫邹朝圣彭侠夫
Owner XIAMEN UNIV
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