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Laser navigation AGV high-precision positioning and target alignment control method

A laser navigation and control method technology, applied in vehicle position/route/height control, two-dimensional position/course control, control/adjustment system, etc., can solve problems such as poor stability, high cost, and poor precision

Active Publication Date: 2020-06-30
XIAMEN UNIV +1
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Problems solved by technology

[0004] Aiming at the defects of AGV automatic charging and automatic alignment system in the prior art such as high cost, poor precision and poor stability, the present invention provides a laser-guided AGV high-precision positioning system with low cost, stability and high flexibility and applicability. Target Alignment Control Method

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  • Laser navigation AGV high-precision positioning and target alignment control method
  • Laser navigation AGV high-precision positioning and target alignment control method
  • Laser navigation AGV high-precision positioning and target alignment control method

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Embodiment Construction

[0077] The following embodiments will further illustrate the present invention in conjunction with the accompanying drawings.

[0078] The present invention is aimed at the high-precision positioning and alignment control of AGV relative to the "target". According to different specific applications (such as shelf alignment, charging docking, etc.), the "target" can be different fixed objects or local environments. The following embodiments will further illustrate the present invention in conjunction with the accompanying drawings.

[0079] The content of "a laser navigation AGV high-precision positioning and target alignment control method" of the present invention includes the following four parts.

[0080] (1) Target point cloud segmentation and extraction

[0081] Segment and extract the "target" point cloud data obtained by the laser radar sensor, the main steps are as follows:

[0082] ① Perform voxel filtering on the laser point cloud data to reduce the number and scal...

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Abstract

The invention discloses a laser navigation AGV high-precision positioning and target alignment control method, and relates to the technical field of mobile robot navigation. Point cloud segmentation and extraction is performed on the target environment features based on the laser point cloud to realize the capability of the AGV to acquire the target feature point cloud in real time; based on a nearest neighbor method, the problems of finding corresponding points in point cloud matching and establishing a target function are solved; a multi-resolution search matching method based on gradient point cloud density is designed, and branch and bound optimization search is carried out. High-precision and low-delay matching of the AGV for the target feature point cloud is realized, and the problemof high-precision positioning of the laser navigation AGV at a specific task point is solved; based on an AGV smooth motion controller, the capability of AGV smooth and accurate motion control to reach a target point is realized. The problems of laser navigation AGV high-precision positioning, pose alignment, charging butt joint and other target alignment control are solved, and the defects thatthe positioning precision of the SLAM technology is insufficient, and a traditional alignment control method is too high in cost are overcome.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation, in particular to a laser navigation AGV high-precision positioning and target alignment control method. Background technique [0002] SLAM (Simultaneous Localization and Mapping) technology, real-time positioning and map construction, plays an important role in the positioning, tracking and path planning of mobile robots. At present, SLAM technology is widely used in the field of autonomous navigation of mobile robots such as sweeping robots, AGV (Automated Guided Vehicle), and driverless cars. In particular, trackless navigation AGV has the advantages of being more flexible, smarter, more flexible, and free to schedule because it does not need to pre-lay paths such as magnetic strips. It is an important development direction of AGV. The laser navigation AGV is based on the SLAM method of the laser radar sensor for autonomous navigation. It has the characteristics of simple layou...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0223G05D1/0225G05D1/0291G05D1/0276
Inventor 仲训昱李鑫邹朝圣彭侠夫
Owner XIAMEN UNIV
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