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Laser positioning method and device

A laser positioning and reflective technology, applied in two-dimensional position/channel control, vehicle position/route/height control, instruments, etc., can solve the problem of inaccurate positioning of laser AGV

Active Publication Date: 2021-01-26
RUIJIE NETWORKS CO LTD
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Problems solved by technology

[0004] The embodiment of the present invention provides a laser positioning method and device to make up for and solve the problem of inaccurate laser AGV positioning in the prior art

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  • Laser positioning method and device
  • Laser positioning method and device

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Embodiment Construction

[0046] Aiming at the problem of inaccurate laser AGV positioning in the prior art, the laser positioning method provided by the embodiment of the present invention first screens and matches the reflective marks detected by the laser to obtain the corresponding matched set of reflective marks, and then according to the matched reflective marks The collective reflective marker coordinates are calculated to determine the current position of the AGV. The flow process of the inventive method is as figure 1 As shown, it is applied to the positioning of areas with multiple reflective markers deployed in advance, and the execution steps are as follows:

[0047] Step 101, performing laser detection on the surrounding area to obtain a set of reflective marks to be matched including the coordinates of at least one reflective mark;

[0048] In the embodiment of the present invention, the reflective marker is made of a special reflective material, and the reflective marker will be deploye...

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Abstract

The invention discloses a laser positioning method and device, and the method can accurately eliminate the interference of a pseudo reflector through the matching of to-be-matched reflection marks detected by laser, and enables the unmatched reflection marks to serve as supplementary verification for detection if there are still unmatched reflection marks after a unique result is obtained throughmatching. And accuracy of the reflection mark is further improved. The matching process of the reflection marks starts from the two reflection marks with the largest distance span, follows the principle of nearby searching and increasing the number until the reflection marks are matched to the largest matching number, all known reflection marks do not need to be traversed, the efficiency is high.And all detected reflection marks can participate in positioning calculation, so that the accuracy is greatly improved.

Description

technical field [0001] The invention relates to the technical field of positioning, in particular to a laser positioning method and device. Background technique [0002] Laser automatic guided vehicle (Automated Guided Vehicle, AGV) uses laser radar as the main sensor, which is a device capable of autonomous positioning and navigation. The core technology of AGV is laser-based natural positioning and navigation: it uses laser measurement sensors to measure, scan and identify surfaces such as walls, pillars and other landmarks in the surrounding natural environment, thereby building the surrounding environment into the navigation map system. In the actual walking process, the laser measurement sensor measures the distance and environment by continuously rotating the laser in the field of view. The laser AGV compares the static shape of the object scanned by the laser measurement sensor with the navigation map in the vehicle to determine its own position. . This technology c...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0234G05D1/0257
Inventor 郑超
Owner RUIJIE NETWORKS CO LTD
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