Indoor agv automatic navigation system and navigation method based on laser slam

An automatic navigation and navigation method technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problems of poor autonomy of magnetic navigation AGV, easy to be damaged, easy to be affected by the environment, etc., to achieve strong navigation autonomy, speed up The development process and the effect of reducing the difficulty of development

Active Publication Date: 2022-07-29
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 are further described below with reference to the accompanying drawings and through specific implementation cases.

[0088] figure 1 It is the structure 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 driving module 40 , a lower computer 50 , an upper computer 60 and a monitoring terminal 70 .

[0089] In this embodiment, the host computer 60 is an industrial computer, the operating system is Linux and ROS, and includes functions of mapping, automatic navigation and information transmission. The lower computer 50 is an embedded development board, and STM32F407 is preferably recommended. The monitoring terminal 70 is one or more of a PC, a notebook, an indust...

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Abstract

The invention relates to an indoor AGV automatic navigation system and a navigation method based on laser SLAM, and relates to the technical field of automatic navigation of mobile robots. The indoor AGV automatic navigation system includes upper computer, lower computer, ground monitoring computer, drive module, lidar, inertial measurement unit and encoder. The obstacle position information collected by the upper computer through the lidar and the acceleration information of the AGV, the angular velocity information of the AGV, the speed information of the AGV, the rotation angle information of the AGV and the mileage information of the AGV transmitted by the lower computer are based on the laser SLAM mapping program. Build a two-dimensional grid map, and then receive the tasks assigned by the ground monitoring computer through wireless WIFI to carry out global path planning on the established map. The present invention utilizes the distributed framework and open source code of ROS, and can realize AGV indoor autonomous navigation.

Description

technical field [0001] The invention relates to the technical field of automatic navigation of mobile robots, in particular to an indoor AGV automatic navigation system and a navigation method based on laser SLAM. Background technique [0002] With the advent of "Made in China 2025" and Industry 4.0, the traditional manufacturing methods have undergone tremendous changes. As an important part of the manufacturing industry, the logistics industry has an important impact on the operation efficiency of the manufacturing industry. The application of AGV to realize the integration and automation of production and handling functions can effectively improve the operation 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 navi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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