2d laser navigation agv control center calibration method and system

Abstract

The application discloses a 2d laser navigation AGV control center calibration method, comprising the following steps: S1, constructing a 2d laser point cloud map; S2, collecting calibration data: when controlling the AGV to make circular motion around the control center for at least one circle, collecting the pose of the 2d laser sensor in real time and putting it into a rotating pose set pose_list1; when controlling the AGV control center to make linear motion, collecting the pose of the 2d laser sensor in real time and putting it into a straight pose set pose_list2; S3, calculating the rotation angle angle of the 2d laser sensor relative to the AGV control center based on the straight pose set pose_list2, and calculating the translation amount (tx, ty) of the 2d laser sensor relative to the AGV control center based on the rotating pose set pose_list1; (tx, ty, angle) is the relative pose transformation of the 2d laser sensor relative to the AGV control center. The calibration action is performed by using an additional device to control the AGV, so that the error caused by the slippage of the AGV is reduced, and the calibration high precision of the 2d laser navigation AGV control center is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of robot positioning technology, and more specifically, this invention relates to a calibration method and system for the control center of a 2D laser-guided AGV. Background Technology

[0002] With technological advancements and production demands, AGVs have been widely applied in industries such as warehousing and logistics. Positioning and navigation technology is a crucial component of AGV systems and a prerequisite for AGV task execution. Currently, most indoor AGVs use 2D laser sensors for positioning and navigation. Before using 2D laser sensors for positioning, it is necessary to know the relative pose transformation tf(tx,ty,angle) between the 2D laser sensor and the AGV control center.

[0003] CN 112731354 A, Invention Title: Self-calibration Method for LiDAR Pose on AGV. This method, on a flat surface, first controls the AGV to rotate in place, calculates the LiDAR pose value, and uses the least squares method to fit the equation of a circle to these AGV trajectory points, calculating the sensor's position in the AGV coordinate system. Then, it controls the AGV to move straight, calculates the LiDAR pose value, and uses the least squares method to fit these AGV trajectory points to a straight line. The slope k of the fitted line is used to obtain the radar's deflection angle theta relative to the chassis. However, this method has the following problems:

[0004] 1) The trolley needs to be controlled to complete the rotation and straight movement by its own power. Due to the influence of the trolley's own hardware and ground conditions, there will be errors in the trolley's straight movement and rotation, which will affect the calibration results.

[0005] 2) The LiDAR pose is obtained by ICP of the laser point cloud points in the previous and next frames, which results in low positioning accuracy;

[0006] 3) The attitude angle of the lidar relative to the car is obtained by fitting the slope k of the straight line of the car's straight trajectory. Due to the influence of the car body hardware and ground conditions, the straight trajectory of the car may not be a straight line, which leads to inaccurate calculation results. Summary of the Invention

[0007] This invention provides a calibrated method for the control center of a 2D laser-guided AGV, aiming to improve the above-mentioned problems.

[0008] This invention is implemented as follows: a calibration method for a 2D laser-guided AGV control center, the method specifically including the following steps:

[0009] S1. Construct a 2D laser point cloud map;

[0010] S2. Collect calibration data: When the AGV is controlled to make a circular motion around the control center for at least one revolution, the pose of the 2D laser sensor is collected in real time and put into the rotation pose set pose_list1. When the AGV control center is controlled to make a straight motion, the pose of the 2D laser sensor is collected in real time and put into the straight pose set pose_list2.

[0011] S3. Calculate the rotation angle angle of the 2D laser sensor relative to the AGV control center based on the straight pose set pose_list2, and calculate the translation amount (tx, ty) of the 2D laser sensor relative to the AGV control center based on the rotation pose set pose_list1.

[0012] (tx,ty,angle) represents the relative pose transformation of the 2D laser sensor relative to the AGV control center.

[0013] Furthermore, the method for obtaining the rotation angle is as follows:

[0014] Calculate the azimuth angle ori for all adjacent poses in the straight-line pose set pose_list2. i and the average pose angle

[0015] According to the azimuth angle ori i and the mean of pose angle Calculate the rotation angle of the 2D laser sensor relative to the control center.

[0016] All angles i The average value is the rotation angle (angle) of the 2D laser sensor relative to the AGV control center.

[0017] Furthermore, the specific formula for calculating the translation amount (tx, ty) is as follows:

[0018] Calculate the average position (x0, y0) of all poses in the circular pose set pose_list1, and use (x0, y0) as the initial coordinates C0(x0, y0) of the circle's center. Calculate the average distance from all poses in the pose set pose_list1 to the initial coordinates C0(x0, y0) of the circle's center, and use the average distance as the initial radius R0 of the circle.

[0019] Using the initial coordinates of the circle's center C0(x0, y0) and the initial radius R0 of the circle as initial values, the coordinates of the circle's center C(x0, y0) with the least squares method are obtained. c ,y c ) and radius R c That is, the coordinates of the AGV control center on the map;

[0020] Iterate through each pose in the circular pose set pose_list1 and calculate the relative pose transformation of the AGV control center relative to the 2D laser sensor. Translation amount (tx) i ,ty i Then, the relative pose transformation tf of the 2D laser sensor relative to the AGV control center is calculated. i Translation amount (tx) i ,ty i ):

[0021] Calculate all relative pose transformations (tf) i The mean value of the translation amount is used to obtain the translation amount (tx, ty) of the 2d laser sensor relative to the AGV control center.

[0022] Furthermore, the AGV is fixed to the equipment Equip1, and the control center C of the AGV coincides with the center of the equipment Equip1. The drive motor drives the fixed plane to make a circular motion around the center, thereby driving the AGV to make a circular motion around the control center.

[0023] The equipment Equip1 includes: a fixed plane for fixing the AGV and a drive motor located at the bottom of the fixed plane. The drive motor is connected to the fixed plane through a transmission device and drives the fixed plane to rotate clockwise or counterclockwise.

[0024] Furthermore, the AGV is installed on the equipment Equip2, with the AGV control center located on the center line of the equipment Equip2, and the body of the AGV parallel to both sides of the equipment Equip2. The drive motor drives the equipment Equip2 to move in a straight line, and the AGV control center moves in a straight line along with the equipment Equip2.

[0025] The device Equip2 includes a fixed plane and a drive motor located at the bottom of the fixed plane. The drive motor is connected to the fixed plane through a transmission device.

[0026] Furthermore, the specific method for constructing high-precision maps is as follows:

[0027] (1) Stop the laser forklift in the middle of the panel surrounding area, start the 2D laser radar and start scanning. The point cloud data scanned in each frame is curr_points;

[0028] (2) Arrange the scanned point cloud curr_points into the container list_points according to the radar scan angle;

[0029] (3) Determine whether the current number of scans meets the number threshold. If not, return to step (2). If it does, execute step (4).

[0030] (4) Calculate the scan angle θ for each of the container list_points i The standard deviation σ of the distance measurement of the effective points in the point set i If the current scanning angle θ i If the number of valid points in the point set is greater than the quantity threshold and σi < max_error_d, where max_error_d is the maximum allowable ranging deviation, then proceed to step (5).

[0031] (5) Calculate the coordinates of the valid points in the 2D laser point cloud map. and the calculated points Save it into a 2D laser point cloud map.

[0032] Furthermore, the method for obtaining the pose of the 2D laser sensor in step S2 is as follows:

[0033] Scan the current environment to obtain the current frame point cloud data point_cloud, take the pose of the previous moment as the current initial pose pose(x,y,θ), and calculate the precise pose of the AGV in the current state.

[0034] Furthermore, the calculation process for the precise pose is as follows:

[0035] (1) Scan the current environment to obtain the current frame point cloud data point_cloud, sequentially traverse the current point cloud point_cloud, and for each point p in the current point cloud point_cloud... i (x,y) perform the following steps;

[0036] (2) Using the pose of the previous moment as the current initial pose pose(x,y,θ), point p i After projecting (x,y) onto the high-precision map map_points, obtain the projection point p′. i Find the distance from p′ in the high-precision map map_points i The two closest points p′1 and p′2, if the projection point p′ i If the distances to points p′1 and p′2 are both less than the maximum allowable deviation distance, then proceed to step (3);

[0037] (3) Calculate point p′ i The distance g to the line p′1p′2 is used to construct the objective function:

[0038]

[0039] (4) After completing the traversal of all points in the point cloud, the pose increment Δpose is calculated by using nonlinear least squares. The current pose is then added to the pose increment Δpose to obtain the optimized pose. The optimized pose is used as the initial pose for the next iteration. The current iteration count is checked to see if it has reached the threshold. If the check result is yes, the output pose is the current accurate pose. Otherwise, return to step (2) and start the next iteration.

[0040] This invention is implemented as follows: a 2D laser-guided AGV control center calibration system, the system comprising:

[0041] A 2D laser sensor installed on the AGV, and a processor that communicates with the 2D laser sensor;

[0042] Equip1, a device that controls the AGV to move in a circular motion around the control center, and Equip2, a device that controls the AGV control center to move in a straight line, are installed in a room with flat walls on all sides.

[0043] When the AGV moves in a circle around the control center, it sends the scan frame of the 2D laser sensor to the processor. When the AGV control center moves in a straight line, it sends the scan frame of the 2D laser sensor to the processor. The processor determines the relative pose transformation of the 2D laser sensor with respect to the AGV control center based on the above-mentioned 2D laser navigation AGV control center calibration method.

[0044] Using additional equipment to control the AGV to perform calibration actions reduces errors caused by slippage due to the AGV's own power, greatly improving the calibration accuracy of the 2D laser navigation AGV control center; using a high-precision map with scanned average values ​​for 2D laser radar positioning provides higher positioning accuracy compared to directly using point cloud ICP positioning from previous and subsequent frames; using equipment to control the AGV to travel strictly in a straight line, and employing segmented angle calculation to obtain the average value instead of relying on the method of calculating the slope angle based on the straight line travel, the calculated angles are more reliable and have higher accuracy. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the structure of the 2D laser navigation AGV control center calibration system provided in an embodiment of the present invention;

[0046] Figure 2 A flowchart of the 2D laser navigation AGV control center calibration method provided in an embodiment of the present invention. Detailed Implementation

[0047] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0048] Figure 1 This is a schematic diagram of the 2D laser-guided AGV control center calibration system provided in an embodiment of the present invention. For ease of explanation, only the parts relevant to the embodiment of the present invention are shown. The system includes:

[0049] A 2D laser sensor installed on the AGV, and a processor that communicates with the 2D laser sensor;

[0050] Equip1, a device that controls the AGV to move in a circular motion around the control center, and Equip2, a device that controls the AGV to move in a straight line, are installed in a room with flat walls on all sides.

[0051] The equipment Equip1 includes: a fixed plane for fixing the AGV and a drive motor located at the bottom of the fixed plane. The drive motor is connected to the fixed plane through a transmission device. The drive device includes a transmission rod 1 perpendicular to the motor output shaft and a transmission rod 2 perpendicular to the transmission rod 1 and parallel to the motor output shaft. It drives the circular plane to rotate clockwise or counterclockwise. The center of the fixed plane coincides with the control center of the AGV. When the AGV is fixed to the equipment Equip1, the control center C of the AGV coincides with the center of the equipment Equip1. The drive motor drives the fixed plane to perform circular motion around the center, thereby driving the AGV to perform circular motion around the control center C.

[0052] The equipment Equip2 includes a fixed plane and a drive motor located at the bottom of the fixed plane. The drive motor is connected to the fixed plane through a transmission device, which is a gear and rack structure that converts the rotation of the motor into linear motion. When the AGV is fixed on the fixed plane, the drive motor drives the control center of the AGV to move along the centerline of the fixed plane, and the body of the AGV is parallel to both sides of the equipment Equip2.

[0053] When the AGV is installed on the Equip2 device, the AGV control center C is located on the center line of the Equip2 device. After installation, the drive motor drives the Equip2 device to move in a straight line, and the AGV control center C moves in a straight line along with the Equip2 device.

[0054] Figure 2 The flowchart of the 2D laser-guided AGV control center calibration method provided in this embodiment of the invention includes the following steps:

[0055] (1) Construction of high-precision 2D laser point cloud map, the specific construction is as follows:

[0056] (a) Position the laser forklift in the middle of the room, activate the 2D LiDAR and begin scanning. The point cloud data scanned in each frame is curr_points.

[0057] (b) Arrange the scanned point cloud curr_points into the container list_points according to the radar scan angle: The number of points N scanned by the radar each time is fixed, and the scan angle of each point is also fixed. Therefore, the container list_points can be preset to N dimensions, and the scan angle of each dimension is also fixed. Add each point in the point cloud data curr_points into each dimension of the container list_points in turn.

[0058] (c) Determine if the current number of scans meets 50. If not, return to step (b) to continue scanning. If it does meet, proceed to step (d).

[0059] (d) Calculate the scan angle θ for each of the container list_points i The standard deviation of the distance measurement of valid points in the point set is calculated using the following formula:

[0060]

[0061] Where, σ i For the scanning angle θ i The standard deviation of the distance measurement of the corresponding point set, where n is the scanning angle θ. i The number of valid points in the corresponding point set, d j For the scanning angle θ i The distance measurement value of the j-th valid point in the corresponding point set. For the scanning angle θ i The average distance measurement of all valid points in the corresponding point set, if the current scanning angle θ i The number of valid points in the point set is greater than 40, and the standard deviation of the ranging is less than the maximum allowable ranging deviation max_error_d, i.e., σ i If the value is less than max_error_d, then calculate the coordinates of the above valid points in the 2D laser point cloud map map_points.

[0062]

[0063] θ i For scanning angles and calculating points Save it into a 2D laser point cloud map.

[0064] (2) Collect calibration data:

[0065] (a) Fix the AGV on the circular motion device Equip1, so that the control center of the AGV coincides with the center of the circular motion of Equip1. Start the device Equip1 and make the AGV move in a circle with the device Equip1. Collect the pose output by the 2D laser sensor in real time according to step 4). When the AGV rotates more than one revolution, stop the AGV and stop collecting the pose data output by the 2D laser sensor. Store the collected pose data into the rotation pose set pose_list1.

[0066] (b) Fix the AGV on the straight-moving device Equip2, start the device Equip2, and make the AGV move straight along with the device. Collect the pose output by the 2d laser sensor in real time according to step 4). When the AGV moves straight from one end of the device Equip2 to the other end, stop collecting the pose data output by the 2d laser sensor and store the collected pose data into the straight-moving pose set pose_list2.

[0067] (3) Calculate calibration data:

[0068] (a) Calculate the azimuth angle ori of all adjacent poses in the straight-line pose set pose_list2. i and the average pose angle

[0069] ori i =atan((y i+1 -y i ) / (x i+1 -x i ))

[0070]

[0071] (x i ,y i ,θ i ), (x i+1 ,y i+1 ,θ i+1 ) represent the i-th and (i+1)-th poses in the straight pose set pose_list2, respectively.

[0072] According to the azimuth angle ori i and the mean of pose angle The rotation angle of the 2D laser sensor relative to the control center can be calculated. Calculate all angles i The mean value is then used to obtain the rotation angle (angle) of the 2D laser sensor relative to the AGV control center.

[0073] (b) Calculate the mean position (x0, y0) of all poses in the circular pose set pose_list1, and use the mean position (x0, y0) as the initial coordinates C0(x0, y0) of the circle's center. Calculate the mean distance from all poses in pose_list1 to the initial coordinates C0(x0, y0) of the circle's center, and use the mean distance as the initial radius R0 of the circle. According to the equation of the circle:

[0074] (x-x0) 2 +(y-y0) 2 =R 2

[0075] The error equation for the fitted circle can be written out:

[0076] e = R 2 -(x-x0) 2 +(y-y0) 2

[0077] Using the initial coordinates of the circle's center C0(x0,y0) and the initial radius R0 of the circle as initial values, the coordinates of the circle's center C(x0,y0) of the circle with the minimum error are obtained using the least squares method. c ,y c ) and radius R c .

[0078] (c) Given all poses, rotation angles (angle), and center coordinates (C(x)) in the circular pose set pose_list1, c ,y c By iterating through each pose in pose_list1, the relative pose transformation of the AGV control center relative to the 2D laser sensor can be calculated using the following formula. Translation amount (tx) i ,ty i ):

[0079] tx i =x i -cos(-angle)*x c +sin(-angle)*y c

[0080] ty i =y i -sin(-angle)*x c -cos(-angle)*y c

[0081] After completing the traversal, calculate the relative pose transformation. The mean of the translation amounts is used to obtain the translation amount (tx, ty) of the AGV control center relative to the 2D laser sensor. Then, based on the following formula, the relative pose transformation tf of the 2D laser sensor relative to the AGV control center is calculated. i Translation amount (tx) i ,ty i ):

[0082] tx i = -cos(angle)*tx i +sin(angle)*ty i

[0083] ty i = -sin(angle)*tx i -cos(angle)*ty i

[0084] Calculate relative pose transformation tf i The mean of the translation amount is used to obtain the translation amount (tx,ty) of the 2D laser sensor relative to the AGV control center, and the relative pose transformation tf(tx,ty,angle) of the 2D laser sensor relative to the AGV control center.

[0085] (4) High-precision positioning using 2D lidar;

[0086] In this embodiment of the invention, the 2D LiDAR localization method based on 2D laser point cloud map (map_points) specifically includes the following steps:

[0087] The current environment is scanned to obtain the current frame point cloud data (point_cloud) and the pose from the previous moment as the current initial pose (pose(x,y,θ)). The precise pose of the laser forklift in the current state is then calculated. The specific calculation process for the precise pose is as follows:

[0088] (a) Scan the current environment to obtain the current frame point cloud data point_cloud;

[0089] (b) Iterate through the current point cloud (point_cloud) sequentially and extract the next point p from the point cloud (point_cloud). i (x,y);

[0090] (c) The pose of the previous moment is used as the current initial pose pose(x,y,θ), and point p i After projecting (x,y) onto the high-precision map map_points, obtain the projection point p′. i Find the distance from p′ in the high-precision map map_points i The two closest points p′1 and p′2, if the projection point p′i If the distance between the projection point p′1 and p′2 exceeds the maximum allowable distance deviation (1 meter), return to step (b) and iterate to the next point. If the projection point p′ i If the distances to both points p′1 and p′2 are less than the maximum allowable distance deviation, then proceed to step (d).

[0091] (d) Calculate point p′ i The distance to the line p′1p′2 is calculated using the following formula:

[0092]

[0093] Where g is point p′ i The distance to the line p′1p′2, Let p′1 and p′2 be the vector formed by the endpoints of the line. Let p' be the point i The vector formed by the endpoint p′1 of the line can be used to construct the objective function:

[0094]

[0095] (e) After traversing all points in the point cloud, nonlinear least squares is used to solve the problem and calculate the pose increment Δpose. The current pose is then added to the pose increment Δpose to obtain the optimized pose. The optimized pose is used as the initial pose for the next iteration. The iteration count is checked to see if it has reached 30. If the result is yes, the iteration is stopped and the output pose is the current accurate pose. Otherwise, the process returns to step (b) to continue the iteration calculation. (5) Nonlinear Least Squares

[0096] For nonlinear least squares problems that need to be solved:

[0097]

[0098] Performing a Taylor expansion on F(x), and substituting a first-order linear term into the above equation:

[0099]

[0100] Where J(x) is the Jacobian matrix of F(x); the derivative of the above equation with respect to Δx is set to 0:

[0101] J(x) T J(x)Δx=-J(x) T F(x)

[0102] Let A = J(x) T J(x),B=-J(x) TIf F(x), the above equation can be simplified to AΔx=B. Solving this system of linear equations will yield the pose increment Δx.

[0103] The present invention has been described by way of example. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A method for calibrating the control center of a 2D laser-guided AGV, characterized in that, The method specifically includes the following steps: S1. Construct a 2D laser point cloud map; S2. Acquire calibration data: When the AGV is controlled to perform at least one circular motion around the control center, the pose of the 2D laser sensor is collected in real time and put into the rotation pose set. In the process of controlling the AGV control center to perform linear motion, the pose of the 2D laser sensor is collected in real time and put into the linear pose set. middle; S3, Based on straight-line pose set Calculate the rotation angle of the 2D laser sensor relative to the AGV control center. Based on rotation pose set Calculate the translation of the 2D laser sensor relative to the AGV control center. ; This refers to the relative pose transformation of the 2D laser sensor relative to the AGV control center. Translation amount The specific calculation formula is as follows: Calculate the set of rotational poses Mean position of all poses ,Will Initial coordinates of the center of the circle Calculate the pose set All poses to the initial coordinates of the circle center The average distance is used as the initial radius of the circle. ; Initial coordinates of the center and the initial radius of the circle Using these as initial values, the coordinates of the center of the circle with the minimum error are obtained using the least squares method. With radius That is, the coordinates of the AGV control center on the map; Traverse the set of rotation poses For each pose, calculate the relative pose transformation of the AGV control center relative to the 2D laser sensor. Translation amount in Then, the relative pose transformation of the 2D laser sensor with respect to the AGV control center is calculated. Translation amount : Calculate all relative pose transformations The average translation amount is used to obtain the translation amount of the 2D laser sensor relative to the AGV control center. ; The specific method for obtaining the pose of the 2D laser sensor in step S2 is as follows: Scan the current environment to obtain the current frame point cloud data The pose of the previous moment is used as the initial pose of the current moment. Calculate the precise pose of the AGV in the current state; The calculation process for precise pose is as follows: (1) Scan the current environment to obtain the point cloud data of the current frame. traverse the current point cloud sequentially Regarding the current point cloud Each point in Perform the following steps; (2) The pose at the previous moment is used as the current initial pose. , will point Projected onto 2D laser point cloud map Then obtain the projection point In 2D laser point cloud map Searching for The two most recent points , If the projection point and , If the distance between the two points is less than the maximum allowable deviation distance, then proceed to step (3). (3) Calculation points to the straight line distance Based on distance Construct the objective function: ； (4) Complete the point cloud After traversing all points, the pose increment is calculated using nonlinear least squares. Make the current pose Add pose increment The optimized pose can be obtained. The optimized pose is used as the initial pose for the next iteration. The current iteration count is checked to see if the threshold is reached. If the check result is yes, the output pose is the current accurate pose. Otherwise, return to step (2) and start the next iteration.

2. The 2D laser-guided AGV control center calibration method as described in claim 1, characterized in that, Rotation angle The specific method for obtaining it is as follows: Calculate the set of straight-line poses Azimuth angles of all adjacent poses and the average pose angle : According to azimuth and the mean of pose angle Calculate the rotation angle of the 2D laser sensor relative to the control center. ; All The average value is the rotation angle of the 2D laser sensor relative to the AGV control center. .

3. The 2D laser-guided AGV control center calibration method as described in claim 1, characterized in that, Fix the AGV to the equipment The AGV control center C and equipment When the centers of the two circles coincide, the drive motor drives the fixed plane to move in a circle around the center, thereby driving the AGV to move in a circle around the control center. equipment Includes: a fixed plane for fixing the AGV and a drive motor located at the bottom of the fixed plane. The drive motor is connected to the fixed plane through a transmission device and drives the fixed plane to rotate clockwise or counterclockwise.

4. The 2D laser-guided AGV control center calibration method as described in claim 1, characterized in that, Install AGVs on the equipment Above, the AGV control center is located at the equipment On the center line, and the AGV body and equipment The two sides are parallel, and the drive motor drives the equipment. The AGV control center moves in a straight line, following the equipment. To move in a straight line; equipment It includes: a fixed plane and a drive motor located at the bottom of the fixed plane, the drive motor being connected to the fixed plane via a transmission device.

5. The 2D laser-guided AGV control center calibration method as described in claim 1, characterized in that, The specific method for constructing a 2D laser point cloud map is as follows: (1) Position the laser forklift in the center of the room, activate the 2D laser radar, and begin scanning. The point cloud data obtained in each frame is as follows: ; (2) The scanned point cloud Arrange them into containers according to radar scan angle. middle; (3) Determine whether the current number of scans meets the number threshold. If not, return to step (2). If it does, execute step (4). (4) Calculate the container Each scanning angle Standard deviation of distance measurement of effective points in the point set If the current scanning angle The number of valid points in the point set is greater than the quantity threshold, and ,in, To determine the maximum allowable ranging deviation, proceed to step (5). (5) Calculate the coordinates of the valid points in the 2D laser point cloud map. and the calculated points Save it into a 2D laser point cloud map.

6. A 2D laser-guided AGV control center calibration system, characterized in that, The system includes: A 2D laser sensor installed on the AGV, and a processor that communicates with the 2D laser sensor; Equipment for controlling AGVs to move in a circular motion around a control center And the equipment that controls the AGV control center to perform straight-line motion. ,equipment and equipment It is located in a room with flat walls on all sides; When the AGV moves in a circle around the control center, it sends the scan frame of the 2D laser sensor to the processor. When the AGV control center moves in a straight line, it sends the scan frame of the 2D laser sensor to the processor. The processor determines the relative pose transformation of the 2D laser sensor with respect to the AGV control center based on the 2D laser navigation AGV control center calibration method described in any one of claims 1 to 5.

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