一种基于多传感器融合的AGV定位导航方法及装置

By using multi-sensor fusion technology, combining visual and ultra-wideband positioning information, high-precision environmental modeling and dynamic obstacle avoidance are achieved, solving the problem of insufficient positioning accuracy of traditional AGVs in complex environments and realizing efficient and reliable navigation and path planning.

CN121274968BActive Publication Date: 2026-07-17广州乐比机器人有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
广州乐比机器人有限公司
Filing Date
2025-09-17
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

Traditional AGV positioning and navigation methods suffer from insufficient accuracy and poor robustness in complex dynamic environments, making it difficult to provide continuous and stable positioning data. In particular, they are unable to achieve efficient and reliable path planning and obstacle avoidance in environments with changing lighting, occlusion, or other variable conditions.

Method used

By employing multi-sensor fusion technology, combining real-time visual detection video and ultra-wideband positioning information, super-resolution optimization and global topology perception modeling are performed to construct a real-time scene physical perception map. Abnormal object detection and obstacle avoidance fine-tuning are performed by combining lidar detection parameters. Dynamic response compensation and adaptive learning are achieved through intelligent obstacle avoidance path planning and time deviation calculation.

Benefits of technology

It improves the positioning accuracy and navigation stability of AGVs in complex environments, enhances the ability to perceive dynamic obstacles, ensures the accuracy and efficiency of path planning, and improves the autonomy and robustness of AGVs in changing environments.

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Abstract

本发明涉及AGV定位导航领域，尤其涉及一种基于多传感器融合的AGV定位导航方法及装置。该方法包括以下步骤：对实时视觉探测视频进行超分辨率优化及全局拓扑感知建模，构建实时场景物理感知地图；获取用户操作日志，进行任务目标点检测，并基于实时场景物理感知地图进行初始导航路径规划，以得到AGV初始导航路径；根据AGV初始导航路径进行AGV实时控制执行，并获取全方位激光雷达探测参数；对全方位激光雷达探测参数进行高频物体检测分析，得到异常物体多维度移动状态；对异常物体多维度移动状态进行移动态势预测，并进行智能避障微调，构建智能避障微调路径。本发明实现了精准、高效的AGV路径导航规划，并纠正位置移动偏差。
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Citation Information

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