Positioning system and positioning method for AGV (Automated Guided Vehicle)

Abstract

The invention discloses a positioning system for an AGV (Automated Guided Vehicle). The positioning system comprises a global mapping module, a depth learning module, a local mapping module, a matching positioning module and a real-time display module; the working environment is scanned by using laser radar to obtain laser data; meanwhile, a global three-dimensional point cloud map of the workingenvironment is constructed by using a positioning and mapping algorithm; the global three-dimensional point cloud map of the working environment is trained by using a depth learning method so as to obtain a map learning model and a feature matching criterion which are stored into a cloud service side; the local mapping module acquires image data of the working environment in real time by using a Kinect sensor; a local three-dimensional point cloud map of the working environment is constructed according to a pinhole imaging principle. The invention discloses a positioning method for the AGV. The positioning system disclosed by the invention has the advantages that the laser radar is replaced with the Kinect sensor so as to reduce the cost; the global working environment is trained by usingdepth learning; the positioning system realizes real-time positioning of the AGV and has higher robustness.

Description

technical field [0001] The invention relates to the field of positioning of mobile robots, in particular to a positioning system and method for an AGV trolley. Background technique [0002] AGV (Automated Guided Vehicle) is a mobile robot. It is an automated logistics equipment with autonomous positioning, navigation and obstacle avoidance functions. It is used to build a flexible logistics system for modern manufacturing workshops. Realizing the autonomous positioning of mobile robots is the premise and key of robot navigation and obstacle avoidance. [0003] At present, the common positioning methods of AGV cars are GPS positioning, lidar positioning and visual positioning. GPS positioning technology is to achieve positioning by receiving GPS satellite signals. The signal is easily affected by buildings and trees, and the positioning error is large, which is not suitable for indoor positioning of AGV cars; LiDAR positioning technology is to measure the distance and angle ...

AI Technical Summary

Problems solved by technology

GPS positioning technology is to achieve positioning by receiving GPS satellite signals. The signal is easily affected by buildings and trees, and the positioning error is large, which is not suitable for indoor positioning of AGV cars; LiDAR positioning technology is to measure the distance and angle of the surrounding environment. Realize positioning, high positioning accuracy, but expensive and not suitable for AGV car positioning; visual positioning technology estimates the position of AGV car by processing image stream data, due to the low price of the camera, rich information and strong scalability, it is very suitable for AGV cars indoor positioning

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