Reflective column tracking and positioning method and device and electronic equipment

Abstract

The invention provides a reflection column tracking and positioning method and device and electronic equipment, wherein the method comprises the steps: predicting a prediction pose of a laser radar ata current moment according to the pre-obtained pose information of the laser radar at two moments before the current moment when the laser radar detects the data information at the current moment, wherein the data information comprises initial coordinates, detected at the current moment, of reflection columns in a laser radar coordinate system; according to the prediction pose, determining prediction coordinates, detected at the current moment, of the reflection columns in a global coordinate system; searching a target reflection column matched with the prediction coordinate according to theprediction coordinate and a pre-established KD tree, wherein the KD tree is established in advance according to the position information of all the reflection columns in a global landmark map; and determining the pose of the laser radar at the current moment according to the target reflection column, and updating the pose information of the laser radar at the first two moments. The calculation amount can be reduced, and the resolving speed of the pose of the laser radar at the current moment is improved.

Description

technical field [0001] The invention relates to the technical field of laser radar positioning, in particular to a tracking and positioning method, device and electronic equipment for a reflective column. Background technique [0002] In modern manufacturing, the automation of production stages is gaining in importance as it can significantly increase production efficiency and reduce costs. Automated Guided Vehicle (AGV) is a means of transportation in automated production, and the navigation and positioning of AGV has also received widespread attention. Common industrial AGV navigation and positioning methods include magnetic navigation, natural navigation (visual SLAM or laser SLAM), landmark navigation (QR code or RFID tags, etc.), laser navigation (reflective columns), etc. Among them, laser navigation based on reflective columns (or anti-reflective) has been widely used in forklift AGV due to its advantages of high positioning accuracy, low maintenance cost, relatively...

AI Technical Summary

Problems solved by technology

However, during the positioning process, the existing reflective pole lidar positioning algorithm usually uses the principle that the Euclidean distance between the reflective poles is invariant in the global coordinate system and the radar coordinate system to perform a matching search between the reflective poles and the global landmark map , the lidar pose prior information is not effectively used in the global search, and the global matching search is computationally intensive and slow

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