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Automatic deviation correction control method of magnetic guidance AGV based on visual SLAM and storage medium

An automatic deviation correction and control method technology, which is applied in the field of robots, can solve the problems that the indoor equipment inspection and maintenance of traction substations cannot be realized in time, and the railway transportation system is unstable, so as to achieve truly unmanned on-duty and eliminate tire slippage and accumulation Influence of error, effect of improving work efficiency

Pending Publication Date: 2022-08-05
HEFEI UNIV OF TECH
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Problems solved by technology

[0004] This method cannot realize the inspection and maintenance of the indoor equipment of the traction substation in time, and may cause unstable factors to the railway transportation system

Method used

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  • Automatic deviation correction control method of magnetic guidance AGV based on visual SLAM and storage medium
  • Automatic deviation correction control method of magnetic guidance AGV based on visual SLAM and storage medium
  • Automatic deviation correction control method of magnetic guidance AGV based on visual SLAM and storage medium

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Embodiment Construction

[0053] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments.

[0054] In this embodiment, an automatic deviation correction control method of a magnetically guided AGV based on visual SLAM is carried out according to the following steps:

[0055] Step 1. Calibrate the Kinect V2 camera;

[0056] The camera internal parameters determine the accuracy of coordinate transformation when the camera acquires data, and the distortion parameters can calibrate the radial distortion caused by the lens and the tangential distortion caused by the camera assembly error. In addition, there is a positional offset be...

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Abstract

The invention discloses an automatic deviation correction control method of a magnetic guidance AGV based on visual SLAM and a storage medium. The method comprises the following steps: calibrating a Kinect V2 camera; the AGV carries a Kinect V2 camera, and constructs a grid map of an inspection environment based on an improved ORB-SLAM2 system; obtaining a demagnetization state of the magnetic guidance AGV; and based on the grid map, information acquired by the Kinect V2 camera in real time and the demagnetization state of the AGV, visual SLAM navigation correction of the magnetic guidance AGV is realized. According to the method, after the AGV is demagnetized, the visual SLAM navigation is based on a known global map and is not limited by a magnetic strip laying track, when the mobile platform is separated from the magnetic strip track, the mobile platform can still know the position of the mobile platform, and the mobile platform is autonomously navigated to return to the track and the pose is adjusted by taking the position of a nearby magnetic strip in the map as a target point; therefore, the manual participation rate in the operation process of the AGV is reduced, and the working efficiency is improved at the same time.

Description

technical field [0001] The invention relates to the field of robotics technology, in particular to an automatic deviation correction control method of a magnetically guided AGV based on visual SLAM. Background technique [0002] At present, domestic substations have introduced more power-related equipment, which makes the operating environment of substations more complex, which greatly increases the work intensity and difficulty of substation inspection personnel. The emergence of substation inspection robots is used to replace manual work. , using its onboard equipment to monitor, manage and operate various equipment in the substation in real time, which greatly improves the possibility of solving problems in a timely manner and reduces the difficulty and danger of the substation staff. development trend. [0003] In order to realize the unmanned railway traction substation, a set of magnetic navigation automatic inspection and emergency operation robot is introduced. Its ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06T7/80
CPCG05D1/0246G05D1/0259G06T7/80G06T2207/10028Y02P90/60
Inventor 吴焱明李昂仲彦霖詹晨朱家诚
Owner HEFEI UNIV OF TECH
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