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Method and system for constructing AGV indoor map based on laser radar

A technology of lidar and indoor map, which is applied in the field of AGV navigation to achieve the effect of improving map construction efficiency, improving operation flexibility, and reducing the amount of computation

Active Publication Date: 2019-02-19
GUANGZHOU UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the feature-based SLAM algorithm, the computational complexity of the extended Kalman filter algorithm (EFK-SLAM) has a quadratic relationship with the number of environmental features, and it can only be applied in environments where the number of feature points is less than a few hundred. limitations

Method used

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  • Method and system for constructing AGV indoor map based on laser radar
  • Method and system for constructing AGV indoor map based on laser radar
  • Method and system for constructing AGV indoor map based on laser radar

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Embodiment 1

[0037] This patent introduces lidar sensors and odometers into the extended information filtering algorithm for multi-sensor information fusion to realize AGV map construction. Among them, the extended information filter (EIF) is the dual form of the extended Kalman filter (EKF), which uses the information matrix to represent the correlation of two features, and the off-diagonal elements of the correlation between the two features in the information matrix are in the form of Exponential decay. Therefore, the calculation efficiency is greatly improved under the premise of ensuring the positioning accuracy.

[0038] like figure 1 As shown, the present embodiment is an AGV indoor map construction system based on lidar, including a data acquisition part, a control part and a map construction part, wherein the data acquisition part includes a laser radar, an odometer and a data acquisition unit, and the control part includes a DC motor , a motor drive module and a control unit, t...

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Abstract

The invention discloses a method and a system for constructing an AGV(Automatic Guided Vehicle) indoor map based on a laser radar. The system comprises a data acquisition part, a control part and a map construction part. The data acquisition part comprises a laser radar, an odometer and a data acquisition unit. The control part comprises a direct-current motor, a motor driving module and a controlunit. The map construction part comprises a map construction unit and a data processing unit. The data acquisition unit, the control unit and the map construction part form a master control platformsystem. A grid map is constructed in combination with information of the laser radar and the odometer through an extended information filtering algorithm (EIF-SLAM), so that the real-time map construction efficiency of the AGV in an indoor unknown environment is improved on a premise of ensuring the accuracy of the map.

Description

technical field [0001] The invention relates to the technical field of AGV navigation, in particular to a lidar-based AGV indoor map construction method and system. Background technique [0002] AGV (Automatic Guided Vehicle), that is, automatic guided transport vehicles, is mostly used in automobiles, wharf e-commerce, warehousing, logistics and other enterprises that require large manpower for handling. Through AGV and various mechanical arms, the automatic loading, unloading and handling of goods can be realized, which completely liberates manpower from the handling process, reduces the demand for employees of enterprises, and reduces labor costs. [0003] AGV needs to navigate autonomously in an unknown environment, and it is especially important to have an environmental map at this time. In an unknown environment, using the data of its own sensors for positioning and mapping at the same time, while using the created map for real-time positioning, this is the real-time ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/89G01C21/20
CPCG01C21/206G01S17/89
Inventor 朱静吕鹏浩汪程辉黄文恺花明温泉河苏启彬
Owner GUANGZHOU UNIVERSITY
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