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Storage robot indoor mapping navigation system based on laser radar

A laser radar and navigation system technology, applied in the field of warehouse mapping, can solve the problems of low flexibility and poor adaptability, and achieve the effects of simplifying the structure, avoiding errors, and simplifying the processing of different data

Active Publication Date: 2021-07-09
CHINA TOBACCO ZHEJIANG IND
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Laser navigation with reflectors belongs to the traditional laser navigation, which has certain requirements on the surrounding environment and lighting conditions, and has extremely poor adaptability in dynamic environments. It can only be used in simple indoor scenes and has low flexibility. Laser navigation is the most advanced robot laser navigation technology

Method used

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  • Storage robot indoor mapping navigation system based on laser radar
  • Storage robot indoor mapping navigation system based on laser radar
  • Storage robot indoor mapping navigation system based on laser radar

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Embodiment Construction

[0044] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0045] On the contrary, the invention covers any alternatives, modifications, equivalent methods and schemes within the spirit and scope of the invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. The present invention can be fully understood by those skilled in the art without the description of these detailed parts.

[0046] Such as figure 1 As shown, a laser radar-based indoor navigation and mapping system for storag...

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Abstract

The invention discloses a storage robot indoor mapping navigation system based on a laser radar, and the system comprises a storage robot which is used for automatically scanning the surrounding environment through the laser radar, obtaining a laser data point set, and building a two-dimensional grid map through employing an approximation synchronous positioning and mapping algorithm based on the laser data point set, performing pose estimation on the laser data point set by using a least square method or singular value decomposition, constructing a two-dimensional grid map according to a pose estimation result, updating the two-dimensional grid map to a warehouse system in real time, determining an optimal path by using a Dijkstra algorithm based on the two-dimensional grid map, and performing positioning navigation according to the optimal path; a warehouse system which is used for receiving and storing the two-dimensional grid map and sending instruction information to the storage robot; and a mobile control terminal which is used for sending instruction information to the storage robot; the indoor mapping navigation system disclosed by the invention has relatively high mapping and directional navigation precision and relatively low data processing amount.

Description

technical field [0001] The invention belongs to the field of warehouse map building, and in particular relates to a laser radar-based indoor map building navigation system for a warehouse robot. Background technique [0002] With the advancement of science and technology and the increase of human resource costs, automation equipment and intelligent robots have become one of the important development directions of various manufacturers and companies, and the applications of indoor robots include: home cleaning, elderly care, home security, Human-computer interaction is the most common. In recent years, research on robotics has attracted more and more attention. [0003] Many robot-related application technologies have also been vigorously developed. Especially in some environments that consume manpower or are extremely dangerous and not suitable for manpower to work in, we hope to use robots to replace manpower to complete the work. Among them, robot navigation technology ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0261G05D1/0223G05D1/0221G05D1/028G05D1/0276
Inventor 高扬华陆海良郁钢
Owner CHINA TOBACCO ZHEJIANG IND
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