CN112629522B - 一种反光板与激光slam融合的agv定位方法及系统 - Google Patents
一种反光板与激光slam融合的agv定位方法及系统 Download PDFInfo
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- CN112629522B CN112629522B CN202011636143.3A CN202011636143A CN112629522B CN 112629522 B CN112629522 B CN 112629522B CN 202011636143 A CN202011636143 A CN 202011636143A CN 112629522 B CN112629522 B CN 112629522B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
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CN202011636143.3A CN112629522B (zh) | 2020-12-31 | 2020-12-31 | 一种反光板与激光slam融合的agv定位方法及系统 |
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CN112629522B true CN112629522B (zh) | 2023-04-11 |
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Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN113532421B (zh) * | 2021-06-30 | 2024-04-26 | 同济人工智能研究院(苏州)有限公司 | 一种基于子图更新和反光板优化的动态激光slam方法 |
CN113625249A (zh) * | 2021-07-30 | 2021-11-09 | 深圳市优必选科技股份有限公司 | 反光板定位方法、机器人及计算机可读存储介质 |
CN113625320B (zh) * | 2021-08-06 | 2023-10-24 | 恩际艾科技(苏州)有限公司 | 一种基于差分gps和反光板的室外组合定位方法 |
CN114659518B (zh) * | 2022-03-29 | 2024-05-14 | 亿嘉和科技股份有限公司 | 一种固定场景下的高精鲁棒定位方法 |
CN114593738B (zh) * | 2022-05-09 | 2022-07-26 | 山东大学 | 基于八叉树搜索反光柱的机器人全局定位方法及系统 |
CN115575963A (zh) * | 2022-12-07 | 2023-01-06 | 成都睿芯行科技有限公司 | 一种基于反光板与slam融合的定位方法 |
CN117095061B (zh) * | 2023-10-20 | 2024-02-09 | 山东大学 | 基于点云强度显著点的机器人位姿优化方法及系统 |
Citations (4)
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---|---|---|---|---|
CN107741743A (zh) * | 2017-11-06 | 2018-02-27 | 深圳精智机器有限公司 | 改进的图优化slam方法 |
CN108955666A (zh) * | 2018-08-02 | 2018-12-07 | 苏州中德睿博智能科技有限公司 | 一种基于激光雷达与反光板的混合导航方法、装置及系统 |
CN111307147A (zh) * | 2020-03-06 | 2020-06-19 | 同济人工智能研究院(苏州)有限公司 | 一种融合定位反光板与激光特征的agv高精度定位方法 |
CN112130166A (zh) * | 2020-09-04 | 2020-12-25 | 江苏智库智能科技有限公司 | 基于反光板网络的agv定位方法及装置 |
Family Cites Families (2)
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CN108732584B (zh) * | 2017-04-17 | 2020-06-30 | 百度在线网络技术(北京)有限公司 | 用于更新地图的方法和装置 |
CN109064506B (zh) * | 2018-07-04 | 2020-03-13 | 百度在线网络技术(北京)有限公司 | 高精度地图生成方法、装置及存储介质 |
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107741743A (zh) * | 2017-11-06 | 2018-02-27 | 深圳精智机器有限公司 | 改进的图优化slam方法 |
CN108955666A (zh) * | 2018-08-02 | 2018-12-07 | 苏州中德睿博智能科技有限公司 | 一种基于激光雷达与反光板的混合导航方法、装置及系统 |
CN111307147A (zh) * | 2020-03-06 | 2020-06-19 | 同济人工智能研究院(苏州)有限公司 | 一种融合定位反光板与激光特征的agv高精度定位方法 |
CN112130166A (zh) * | 2020-09-04 | 2020-12-25 | 江苏智库智能科技有限公司 | 基于反光板网络的agv定位方法及装置 |
Non-Patent Citations (1)
Title |
---|
基于多传感器融合的仓储AGV导航定位系统设计与实现;曹勇;《中国优秀博硕士学位论文全文数据库(硕士) 信息科技辑》;20190915;正文第39-45页 * |
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Effective date of registration: 20240422 Address after: 102, Building 9, Zhongrun Century City, No. 13777 Jingshi Road, Lixia District, Jinan City, Shandong Province, 250000 Patentee after: SHANDONG ALESMART INTELLIGENT TECHNOLOGY CO.,LTD. Country or region after: China Address before: 250061, No. ten, No. 17923, Lixia District, Ji'nan City, Shandong Province Patentee before: SHANDONG University Country or region before: China Patentee before: SHANDONG ALESMART INTELLIGENT TECHNOLOGY CO.,LTD. |