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A laser reflector positioning method based on edge and corner joint feature structures

A technology of laser reflection and positioning method, which is applied in two-dimensional position/channel control, vehicle position/route/altitude control, instruments and other directions, and can solve problems such as high constraint requirements of unequal side lengths, incorrect matching, and failure of positioning and navigation. , to achieve the effect of strengthening anti-interference performance, strong stability and accuracy, and improving reliability

Active Publication Date: 2022-07-12
深圳易行机器人有限公司
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Problems solved by technology

However, the reflector data association based on the continuous field search method needs to ensure the accuracy of the initial pose estimation of the AGV, and the reflector data association based on the reflector side length characteristics has high requirements for the side length unequal constraints arranged between the reflectors. In some occasions, it is easy to cause wrong matching due to too uniform arrangement of reflectors, resulting in failure of positioning and navigation

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  • A laser reflector positioning method based on edge and corner joint feature structures
  • A laser reflector positioning method based on edge and corner joint feature structures
  • A laser reflector positioning method based on edge and corner joint feature structures

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[0023] In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only The embodiments are part of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.

[0024] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeabl...

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Abstract

The present application discloses a method for locating a laser reflector based on an edge and corner joint feature structure. First, the laser reflector data is processed to extract and generate a set of edge and corner feature structures for each reflector, and the reflectors in the laser are sorted one by one. Match with the reflector on the map through the edge and corner feature matching method, judge whether the matching is successful according to the set matching threshold, and sort the matched paired point sets according to the matching results from best to second. Then, the pairing uniqueness test is carried out on the obtained reflector pairing point set sorting result, the pairing of reflector plates with repeated participation is removed, and the optimal first three sets of reflector plate pairing points are taken as the data for the next geometric matching. Finally, using the acquired two-dimensional coordinates of the laser reflector and the map reference landmark in one-to-one correspondence, the initial estimated pose of the laser sensor is accurately transformed and positioned to the exact pose on the map through plane coordinate transformation, and the reflector is completed. accurate locating.

Description

technical field [0001] The present application relates to a positioning method, in particular to a laser reflector positioning method based on a joint feature structure of edges and corners. Background technique [0002] With the continuous application of automatic guided vehicles (AGVs) in the entire factory automation production, transportation, warehousing and logistics and other industries, the navigation technology of AGVs is becoming more and more important. At present, the navigation technologies used in AGVs mainly include magnetic navigation, laser navigation, and visual navigation. Among them, laser navigation, as a navigation technology solution that has been rapidly popularized in recent years, due to its high-precision characteristics and environmental impact It has many advantages such as low degree of transformation, more convenient construction than magnetic navigation, and more stability and accuracy than current visual navigation. It has gradually become th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/0219G05D1/0236
Inventor 徐冬云
Owner 深圳易行机器人有限公司
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