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Indoor self-mapping method for storage environment

A warehousing and environmental technology, applied in two-dimensional position/channel control, non-electric variable control, instruments, etc., can solve the problems of cumbersome and huge workload, achieve human-computer interaction, enhance recognition, improve map level and effect of information

Active Publication Date: 2019-01-11
SOUTH CHINA AGRI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Blindly relying on thinking should be used to explore and traverse the environment, the workload is very cumbersome and huge

Method used

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  • Indoor self-mapping method for storage environment

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Embodiment Construction

[0048] The invention discloses an indoor autonomous mapping method for storage environment, such as figure 1 , image 3 As shown, the method is set on the warehouse forklift with:

[0049] The laser radar is installed on the top of the storage forklift to obtain real-time laser scanning data of 360° in the current environment; the Kinect sensor is installed at the rear of the storage forklift to collect the depth information and point cloud information of the environment directly behind the storage forklift; The inertial sensor is installed on the chassis of the storage forklift to collect the acceleration information and rotation angle information of the storage forklift; the industrial computer is installed in the cab of the storage forklift to receive the information collected by the laser radar, Kinect sensor, and inertial sensor. Use these information to build indoor maps independently, and at the same time connect with the ECU unit of the storage forklift to control the...

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Abstract

the invention discloses an indoor self-mapping method for storage environment. The indoor self-mapping method for the storage environment comprises the following steps that environment information iscollected by installing various sensors on a storage forklift, data storage, data fusion and data processing are carried out, and the real-time creation of a grid map is realized through a SLAM algorithm based on the graph optimization; all exit areas on the currently established grid map are determined, the exit areas are sequenced based on a distance evaluation function value, and an exit area with a largest value is selected as a next exploration target; if the next exploration target is not reached within specified time, and then a sub-large value is selected as the next exploration target; and after the next exploration target is reached, a same method is adopted for creating and expanding the grid map. According to the indoor self-mapping method for the storage environment, the identification of small obstacles can be enhanced, further obstacle information is additionally arranged on to the map, and the efficiency of mapping and the accuracy of the map are improved.

Description

technical field [0001] The present invention relates to the technical field of control automation, in particular to an indoor autonomous mapping method for a storage environment based on simultaneous localization and mapping (SLAM, Simultaneous localization and Mapping) technology. Background technique [0002] With the introduction of the concept of Industry 4.0 and Made in China 2025, intelligent logistics has become a crucial issue for agricultural material storage now and in the future. How to reduce labor costs, give full play to the supply efficiency of existing logistics resources, and improve the intelligence of storage forklifts has become the focus of attention. [0003] In order to realize intelligent logistics, intelligent navigation is the key technology, which mainly consists of three parts: map construction, positioning and path planning. Among them, in the indoor storage environment, independent exploration is one of the key functions required by forklifts, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0236G05D1/0257G05D1/0276
Inventor 吕恩利陆华忠水沁刘妍华郭嘉明曾志雄王昱王飞仁林伟加董冰
Owner SOUTH CHINA AGRI UNIV
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