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A kind of AGV navigation and positioning method for container loading

A navigation positioning and container technology, applied in the field of intelligent logistics, can solve the problems of high cost, increased inconvenience, and location markers are easily affected by the environment, and achieve the effect of precise navigation operation and low cost

Active Publication Date: 2021-08-10
安歌智慧科技(上海)有限公司
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to propose an AGV navigation and positioning method for container loading in order to solve the problems of high cost, inconvenient addition of positioning markers, and vulnerability to environmental influences in the navigation and positioning method of the AGV for container loading. Advantages of low cost, no environmental influence and high accuracy

Method used

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  • A kind of AGV navigation and positioning method for container loading
  • A kind of AGV navigation and positioning method for container loading
  • A kind of AGV navigation and positioning method for container loading

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Embodiment Construction

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0030] refer to figure 1 Shown, a kind of AGV navigation positioning method for container loading, the method comprises the following steps:

[0031] Install a lidar directly above the AGV, where the X-axis of the physical coordinate system of the lidar coincides with the central symmetry axis of the car body;

[0032] The automatic guided transport vehicle walks along the central axis of the container, and the laser radar collects the point cloud data inside...

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Abstract

The invention discloses an AGV navigation and positioning method for container loading, which belongs to the technical field of intelligent logistics. The method includes the following steps: installing a laser radar on the AGV; automatically guiding the transport vehicle to walk along the inner axis of the container, and during the walking process by The lidar collects the point cloud data inside the container; from the original point cloud data, the straight line features on both sides of the container are independently extracted, so as to calculate the distance from the lidar to the left and right sides of the container, and obtain the deviation of the automatic guided transport vehicle from the central axis of the container. Distance deviation, the angle deviation between the course angle of the automatic guided transport vehicle and the central axis of the container can be obtained through the slope of the two straight line features; according to the distance deviation and angle deviation, the movement of the AGV can track the predetermined route. Only one 2D lidar can be used to realize the navigation and positioning of the car body, without adding additional auxiliary navigation sensors and landmarks, which greatly saves the cost of AGV automatic loading in the container.

Description

technical field [0001] The invention relates to the technical field of intelligent logistics, in particular to an AGV navigation and positioning method for container loading. Background technique [0002] With the development of science and technology, the logistics industry has gradually moved towards the era of intelligence. In the intelligent logistics industry, AGV means "automatic guided transport vehicle" and has a wide range of applications. AGV refers to automatic guidance devices equipped with electromagnetic or optical. It is a transport vehicle that can drive along the specified guiding path, has safety protection and various transfer functions, and a transport vehicle that does not require a driver in industrial applications, and uses a rechargeable battery as its power source. Generally, the computer can be used to control its travel route and behavior, or use the electromagnetic track to set up its travel route. The electromagnetic track is pasted on the floor,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/0219G05D1/0223G05D1/0257
Inventor 姜跃君蔡亚
Owner 安歌智慧科技(上海)有限公司
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