A method for adaptive positioning of indoor AGV based on laser slam

A positioning method and self-adaptive technology, applied in the re-radiation of electromagnetic waves, navigation, instruments, etc., can solve the problems of inability to provide consistent and stable positioning information, poor positioning flexibility, and increased costs, achieving low cost, improved efficiency, The effect of reducing the difficulty of development
CN113218384BActive Publication Date: 2022-05-06CHINA JILIANG UNIV
0 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
CHINA JILIANG UNIV
Publication Date
2022-05-06

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention relates to an indoor AGV self-adaptive positioning method based on laser SLAM, and relates to the technical field of positioning of fusion of multiple sensors of laser SLAM, odometer and IMU. The indoor AGV adaptive positioning system includes an upper computer, a lower computer, a motor drive device, a 2D laser radar, an odometer and an inertial measurement unit. Using lidar to build a two-dimensional grid map of the AGV's working environment, according to the different structural features in the working environment, adaptively switch between the ICP matching algorithm based on feature points and the matching algorithm based on optimization, so as to improve the AGV in The realization of positioning accuracy and speed in a complex working environment can effectively overcome the problems of low positioning accuracy, poor positioning flexibility and high cost of AGV existing in the prior art.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to the technical field of robot positioning, in particular to a laser SLAM positioning method for self-adaptive switching of multi-sensor fusion of 2D laser radar, odometer and inertial measurement unit. Background technique

[0002] With the rapid development of society, more and more people shop online in recent years, making the logistics industry develop in a more intelligent and efficient direction. Automated Guided Vehicle (AGV) is a vehicle that automatically travels along a specified path in a working environment, and is usually used for the transportation of industrial production or warehouse goods. It is one of the most widely used robots in the logistics industry. AGV is playing an increasingly important role in modern industrial production and has been widely used.

[0003] As a small car with autonomous positioning and navigation functions, AGV is a complex system integrating environmental perception, path planning,...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More