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Indoor AGV automatic navigation system and navigation method based on laser SLAM

An automatic navigation and laser technology, which is applied in navigation, surveying and mapping and navigation, navigation computing tools, etc., can solve the problems of being easily disturbed by magnetic substances, easily affected by the environment, and laser-guided AGV easily affected by the environment.

Active Publication Date: 2020-12-11
HEFEI UNIV OF TECH
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Problems solved by technology

[0006] 1) Magnetic navigation AGV has poor autonomy and is easily affected by the environment. Magnetic navigation AGV can only walk along the tape, cannot change tasks in real time, and is susceptible to interference from magnetic substances
The tape is laid on the ground and is also vulnerable to damage and requires regular maintenance
[0007] 2) Laser-guided AGV also faces the disadvantage of being easily affected by the environment. Since laser-guided AGV needs to install reflective plates with precise positions, laser-guided AGV is not suitable for narrow corridors
And when the light in the environment is complex, it is not conducive to the positioning of the laser-guided AGV

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  • Indoor AGV automatic navigation system and navigation method based on laser SLAM
  • Indoor AGV automatic navigation system and navigation method based on laser SLAM

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Embodiment Construction

[0087]The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation examples.

[0088] figure 1 It is a structural diagram of the indoor AGV automatic navigation system based on laser SLAM in the present invention. Depend on figure 1 It can be seen that an indoor AGV automatic navigation system based on laser SLAM provided by the present invention includes a laser radar 10 , an inertial measurement unit 20 , an encoder 30 , a drive module 40 , a lower computer 50 , an upper computer 60 and a monitoring terminal 70 .

[0089] In this embodiment, the upper computer 60 is an industrial computer, and the operating system is Linux and ROS, including functions of mapping, automatic navigation and information transmission. The lower computer 50 is an embedded development board, preferably STM32F407 is recommended. The monitoring terminal 70 is one or more of PCs, notebooks, industr...

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Abstract

The invention relates to an indoor AGV automatic navigation system and navigation method based on laser SLAM, and relates to the technical field of mobile robot automatic navigation. The indoor AGV automatic navigation system comprises an upper computer, a lower computer, a ground monitoring computer, a driving module, a laser radar, an inertia measurement unit and an encoder. An upper computer constructs a two-dimensional grid map according to a laser SLAM mapping program through obstacle position information collected by a laser radar and AGV acceleration information, AGV angular speed information, AGV speed information, AGV circulating angle information and AGV driving mileage information transmitted by a lower computer; and the upper computer receives tasks allocated by the ground monitoring computer through wireless WIFI, and carries out global path planning on the established map. According to the invention, the distributed framework and the open source code of the ROS are utilized, so that AGV indoor autonomous navigation can be realized.

Description

technical field [0001] The invention relates to the technical field of mobile robot automatic navigation, in particular to an indoor AGV automatic navigation system and navigation method based on laser SLAM. Background technique [0002] With the arrival of "Made in China 2025" and Industry 4.0, the traditional manufacturing mode of production has undergone tremendous changes. As an important part of the manufacturing industry, the logistics industry has an important impact on its operating efficiency. The application of AGV to realize the integration and automation of production and handling functions can effectively improve the operating efficiency of the logistics industry and promote the development of the manufacturing industry. . [0003] Automatic navigation technology is one of the core technologies of AGV, and it is also an important limiting factor that plagues the application of AGV in the industrial field. The current AGV automatic navigation system often faces...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/00G01C21/16G01S17/931G01S17/89
CPCG01C21/206G01C21/005G01C21/165G01S17/931G01S17/89
Inventor 孔慧芳孙纪兴胡杰房亮赵志慧
Owner HEFEI UNIV OF TECH
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