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AGV laser navigation multilateral positioning method

A technology of multilateral positioning and laser navigation, which is used in surveying and navigation, re-radiation of electromagnetic waves, measuring devices, etc., and can solve problems such as low positioning accuracy

Active Publication Date: 2020-10-16
昆山同日智能技术有限公司
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Problems solved by technology

[0004] In the above technical solution, only the information of three reflectors can be used in the positioning process of the AGV trolley, and the above method relies on the position of the reflector plate to position the AGV trolley, resulting in low positioning accuracy. There are improvements in the existing technology

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  • AGV laser navigation multilateral positioning method
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  • AGV laser navigation multilateral positioning method

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Embodiment Construction

[0070] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0071] Such as figure 1 Said, an AGV laser navigation multilateral positioning method, including car body, laser radar and at least three reflectors, including the following steps:

[0072] Step 1: Filter out the local coordinates of the reflector from the lidar data:

[0073] Step 2: Use the matching algorithm to obtain the global coordinates of each reflector in the map:

[0074] Step 3: Utilize the trilateral positioning algorithm to determine an approximate value (x a0 ,y a0 ):

[0075] Step 4: Use the iterative search multi-landmark positioning algorithm based on the least square method to realize the precise positioning of the vehicle body:

[0076] Step 5: Calculate the orientation angle of the car body.

[0077] Such as figure 2 As shown, the above step 1 includes: the reflector adopts a cylindrical reflector with a diameter of D, and the las...

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Abstract

The invention discloses an AGV laser navigation multilateral positioning method. A vehicle body, a laser radar and at least three reflecting plates are included. The method comprises the following steps of 1, screening local coordinates of reflecting plates from data of the laser radar, specifically, the reflecting plates being cylindrical reflecting plates with the diameter of D, selecting (ri, theta i) with the minimum distance from each reflecting plate from the data of the laser radar, and ri being equal to ri + D / 2; 2, obtaining a global coordinate of each reflecting plate in the map by utilizing a matching algorithm; 3, determining an approximate value (xa0, ya0) of the real-time position of the vehicle body by using a trilateral positioning algorithm; 4, adopting an iterative searchmulti-road sign positioning algorithm based on a least square method to realize accurate positioning of the vehicle body; and 5, calculating the direction angle of the vehicle body. A least square iterative algorithm based on residual sum of squares is adopted, and compared with a triangular method and a trilateral method in the prior art, the method obviously improves the AGV body positioning precision and stability; the matching accuracy is improved, and dependence on the layout of the reflecting plate is reduced.

Description

technical field [0001] The invention relates to the technical field of AGV high-precision positioning, in particular to an AGV laser navigation multilateral positioning method. Background technique [0002] Lidar technology is widely used in AGV, unmanned driving and other fields. AGV based on Lidar technology is widely used in cargo transportation and express delivery due to its high stability, high positioning accuracy, and low dependence on scenes. transportation and other fields. LiDAR is mainly used for the self-positioning of AGV. The current mainstream positioning method is the triangulation positioning algorithm based on the reflector. [0003] The Chinese patent with the application number CN201910326851.8 discloses a high-precision positioning method for laser navigation AGV, which is based on the Kalman filter algorithm to improve the stability of positioning and solve the delay in positioning the AGV trolley during its movement. Greatly improved the running spe...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/48G01S17/931
CPCG01S17/48
Inventor 钟海廷刘文涛李剑林鲁川白慧丹
Owner 昆山同日智能技术有限公司
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