An AGV forklift autonomous positioning mobile SLAM navigation system comprises instant positioning and map construction, a three-thread structure is adopted, a tracking thread, a local optimization thread and a global closed-loop detection and optimization thread are synchronously carried out, and an AGV forklift adopts a laser + SLAM navigation system of a reflector-free laser AGV forklift. An artificial beacon of a pinhole camera model and a robust beacon recognition algorithm are adopted for instant positioning and map construction, and the artificial beacon adopts a visual SLAM algorithm architecture. A binocular odometer based on ORB feature points is designed at an algorithm front end, the influence of illumination change on the system is reduced, and the positioning error of the system is reduced by combining a RansacPnP algorithm and a local optimization algorithm in the pose tracking algorithm. An algorithm rear end establishes global plane optimization for the motion model of the AGV and the actual working scene, and the artificial beacon closed-loop detection optimizes the global pose graph, thereby improving the positioning precision and operation efficiency of the SLAM algorithm.

    一种AGV叉车自主定位移动SLAM导航系统,包括即时定位与地图构建,采用三线程结构、跟踪线程、局部优化线程、全局闭环检测与优化线程同步进行,AGV叉车采用无反光板激光AGV叉车的激光+SLAM导航系统。即时定位与地图构建采用针孔相机模型的人工信标及鲁棒的信标识别算法,人工信标采用视觉SLAM算法架构。本发明对算法前端设计基于ORB特征点的双目里程计,降低了系统受光照变化的影响,位姿跟踪算法利用RansacPnP算法和局部优化算法的结合,减少了系统的定位误差。算法后端针对AGV的运动模型和实际工作场景建立全局平面优化,人工信标闭环检测对全局位姿图进行优化,增加了SLAM算法的定位精度和运行效率。


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    Titel :

    AGV forklift truck autonomous positioning mobile SLAM navigation system


    Weitere Titelangaben:

    一种AGV叉车自主定位移动SLAM导航系统


    Beteiligte:
    ZHAO JIANGMIN (Autor:in) / DENG JUN (Autor:in)

    Erscheinungsdatum :

    2021-04-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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