{"id":1032,"date":"2023-05-18T10:13:59","date_gmt":"2023-05-18T02:13:59","guid":{"rendered":"https:\/\/coro-digital.com\/?page_id=1032"},"modified":"2026-02-26T12:36:11","modified_gmt":"2026-02-26T04:36:11","slug":"agv%e8%87%aa%e8%b5%b0%e8%bb%8a%e5%b0%8e%e8%88%aa%e5%ae%a2%e8%a3%bd%e5%8c%96%e8%a8%ad%e8%a8%88","status":"publish","type":"page","link":"https:\/\/coro-digital.com\/en\/agv%e8%87%aa%e8%b5%b0%e8%bb%8a%e5%b0%8e%e8%88%aa%e5%ae%a2%e8%a3%bd%e5%8c%96%e8%a8%ad%e8%a8%88\/","title":{"rendered":"AMR\u81ea\u8d70\u8eca\u8edf\u9ad4\u5ba2\u88fd\u5316\u8a2d\u8a08"},"content":{"rendered":"

AMR\u81ea\u8d70\u8ecaSLAM\u5c0e\u822a<\/strong>\u8edf\u9ad4\u5ba2\u88fd\u5316\u8a2d\u8a08<\/h2>\n\n\n\n

AMR\u5f71\u7247\u5206\u4eab<\/a><\/strong><\/h2>\n\n\n\n

<\/h2>\n\n\n\n

\u95dc\u65bcCoRo SLAM\u8edf\u9ad4\u8aaa\u660e<\/strong><\/h2>\n\n\n\n

CoRo SLAM\u662f \u9233\u6d1b\u6578\u4f4d CoRo Digital \u958b\u767c\u7684\u4e00\u6b3e\u7528\u65bcAGV\/AMR\u7684\u5efa\u5716\u548c\u9a45\u52d5\u7684\u5c0e\u822a\u8edf\u9ad4\u3002\u5305\u542b\u4e09\u652f\u4e3b\u7a0b\u5f0f: Client, PathEdit, AGV_linux\u3002<\/strong><\/p>\n\n\n\n

<\/p>\n\n\n\n

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<\/p>\n\n\n\n

<\/p>\n\n\n\n

<\/p>\n\n\n\n

<\/h2>\n\n\n\n

SLAM\u7c21\u4ecb<\/strong><\/h2>\n\n\n\n

Simultaneous localization and mapping<\/strong>
\u5373\u6642\u5b9a\u4f4d\u8207\u5730\u5716\u69cb\u5efa<\/strong><\/p>\n\n\n\n

<\/p>\n\n\n\n

AGV AMR \u7121\u4eba\u642c\u904b\u8eca , \u96f7\u5c04\u5c0e\u822a , \u5730\u5716\u5b9a\u4f4d\u5c0e\u822a<\/strong>
Lidar Slam Navigation<\/strong>
* \u6fc0\u5149\u96f7\u9054 SICK Lidar \u6216 PEPPERL+FUCHS <\/strong>Lidar
* \u5b9a\u4f4d\u7cbe\u5ea6(+\/-)2cm , Enable OdoFilter(+\/-)1cm<\/strong>
* AMR AGV\u79fb\u52d5\u901f\u5ea61m\/sec<\/strong>
* \u8def\u5f91\u898f\u5283\u53ef\u9078\u64c7\u591a\u91cd\u8def\u5f91PathLink\u6216AB\u5169\u9ede\u6700\u77ed\u898f\u5283\u8def\u7dda<\/strong>
* \u524d\u9032,\u5f8c\u9000,\u539f\u5730\u65cb\u8f49,\u907f\u969c\u8ddd\u96e2\u8abf\u6574<\/strong>
* \u6fc0\u5149\u96f7\u9054\u53ef\u9078\u64c7\u55ae\u4e00\u6fc0\u5149\u96f7\u9054\u6216\u96d9\u6fc0\u5149\u96f7\u9054\u5b9a\u4f4d<\/strong>
* \u63d0\u4f9b2\u7a2e\u5efa\u5716\u65b9\u6cd5(1)\u5373\u6642\u5efa\u5716(2)\u6536\u96c6\u8cc7\u6599\u7d50\u675f\u5f8c\u518d\u8a08\u7b97\u8cc7\u6599\u5efa\u5716<\/strong>
* \u5730\u5716\u8cc7\u6599\u53ef\u532f\u51fa,\u532f\u5165Text File<\/strong>
* \u652f\u63f4\u8eca\u8f2a\u5b9a\u4f4dOdometry,\u7de8\u78bc\u5668\u8207\u9640\u87ba\u5100(TL740D)\u5b9a\u4f4d\u5c0e\u822a(IMU),<\/strong>
* \u652f\u63f4\u53cd\u5149\u677f\u5b9a\u4f4dReflector<\/strong>
* \u652f\u63f4\u5341\u5f35\u5730\u5716,\u53ef\u5206\u6a13\u5c64\u4f7f\u7528<\/strong>
* \u652f\u63f4\u56de\u74b0\u5730\u5716\u8aa4\u5dee\u4fee\u6b63 LoopClosure<\/strong><\/p>\n\n\n\n

<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

<\/h2>\n\n\n\n

Mapping \u5efa\u5716<\/strong><\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u6a5f\u5668\u4eba\u5ba4\u5167\u5730\u5716\u5efa\u7acb,\u4f7f\u7528Wifi\u9059\u63a7\u6a5f\u5668\u4eba,\u6ed1\u9f20\u9059\u63a7\u6280\u8853
\u4f7f\u7528SLAM\u6280\u8853,ICP\uff08Iterative Closest Point\uff09\u6f14\u7b97\u6cd5,
\u5c07\u6bcf\u5f35\u6383\u63cf\u7684\u5730\u5716\u758a\u5408,\u4e00\u6b65\u4e00\u6b65\u5b8c\u6210\u6574\u500b\u7a7a\u9593\u5730\u5716
\u7576\u5ba4\u5167\u74b0\u5883\u5b8c\u5168\u6383\u63cf\u5f8c,\u8f38\u5165\u81f3\u7de8\u8f2f\u8edf\u9ad4,\u518d\u9032\u884c\u8def\u5f91\u898f\u5283
\u5efa\u5716\u65b9\u5f0f\u6709\u4e8c\u7a2e:
1.\u5373\u6642\u5f0f\u5efa\u5716: \u6a5f\u5668\u4eba\u8d70\u904e\u8def\u5f91,\u6cbf\u9014\u5373\u6642\u5efa\u5716
2.\u6536\u96c6\u5f0f\u5efa\u5716: \u6a5f\u5668\u4eba\u8d70\u5b8c\u5168\u7a0b\u5f8c,\u904b\u7b97\u6536\u96c6\u7684\u8cc7\u6599\u5b8c\u6210\u5efa\u5716`
\u652f\u63f4LoopClosure,\u53cd\u5149\u677f<\/strong><\/p>\n\n\n\n

<\/h2>\n\n\n\n

Localization &Navigating<\/strong><\/h2>\n\n\n\n

\u5b9a\u4f4d&\u5c0e\u822a<\/strong><\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u6a5f\u5668\u4eba\u7684\u5b9a\u4f4d\u6280\u8853\u7684\u767c\u660e,\u5927\u5927\u7684\u63a8\u9032\u79d1\u6280\u91cc\u7a0b\u7891,<\/strong>
\u5f9e\u5bb6\u7528\u6383\u5730\u6a5f,\u7121\u4eba\u642c\u904b\u8eca,\u5230\u672a\u4f86\u7684\u6a5f\u5668\u4eba\u90fd\u5fc5\u9808\u4f7f\u7528\u5230,<\/strong>
\u6a5f\u5668\u4eba\u900f\u904e\u6a5f\u5668\u4eba\u7684\u773c\u775b,360\/270\u5ea6\u7684\u6fc0\u5149\u96f7\u9054,\u6383\u63cf\u7a7a\u9593<\/strong>
\u518d\u6bd4\u5c0d\u5148\u524d\u5efa\u7acb\u597d\u7684\u5730\u5716\u5f97\u77e5\u6a5f\u5668\u4eba\u5ea7\u6a19\u5728\u5730\u5716\u4e2d\u54ea\u88e1,<\/strong>
\u900f\u904eClient\u61c9\u7528\u7a0b\u5f0f,\u6642\u6642\u523b\u523b\u76e3\u63a7\u638c\u63e1\u6a5f\u5668\u4eba\u6b63\u5728\u4f55\u8655,\u5c07\u6703\u53bb\u54ea\u88e1<\/strong><\/p>\n\n\n\n

\u4f7f\u7528 Particle Filter \u6f14\u7b97\u6cd5\u8a08\u7b97\u5ea7\u6a19,\u5feb\u901f\u53c8\u597d\u7528\u7684\u6f14\u7b97\u6cd5<\/strong>
\u7121\u4eba\u642c\u904b\u8eca\u5728\u611f\u6e2c\u5668\u88ab\u906e\u907f\u6642\u6703\u81ea\u52d5\u5207\u63db\u5230\u7c73\u8f2a(\u96d9\u8f2a)\u5b9a\u4f4d<\/strong>
\u66ab\u6642\u4f7f\u7528\u8eca\u8f2a\u5b9a\u4f4d,\u642c\u904b\u8eca\u53ef\u6301\u7e8c\u79fb\u52d5,\u79fb\u52d5\u5230\u611f\u6e2c\u5668\u91cd\u65b0\u8fa8\u8a8d\u51fa<\/strong>
\u5730\u5f62\u5f8c\u6703\u5207\u63db\u56de\u96f7\u5c04\u6fc0\u5149\u96f7\u9054\u5b9a\u4f4d<\/strong><\/p>\n\n\n\n

<\/p>\n\n\n\n

Robot AGV \u7121\u4eba\u642c\u904b\u8eca\u8def\u7dda\u898f\u5283,\u6a5f\u5668\u4eba\u901f\u5ea6\u53ef\u8abf,\u66f2\u7dda\u8def\u5f91\u66f4\u6d41\u66a2<\/strong>
\u4e0d\u4f7f\u7528\u78c1\u689d,\u4e0d\u9700\u65bd\u5de5,\u7cfb\u7d71\u5b89\u88dd\u65b9\u4fbf<\/strong>
\u8def\u5f91\u898f\u5283\u66f4\u6709\u5f48\u6027,\u4f7f\u7528\u96fb\u8166\u898f\u5283\u8def\u5f91<\/strong>
\u6a5f\u5668\u4eba\u81ea\u52d5\u5c0e\u822a\u6642\u53ef\u4f7f\u7528\u96f7\u5c04\u5340\u57df\u9632\u8b77,\u6709\u8b66\u544a\u8207\u8b66\u6025\u505c\u6b62<\/strong><\/p>\n\n\n\n

<\/h2>\n\n\n\n

PathEdit \u8def\u5f91\u7de8\u8f2f<\/strong><\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n

Path planning and edit<\/strong><\/p>\n\n\n\n

PathEdit\u8def\u5f91\u7de8\u8f2f\u5668\u662f\u5c08\u696d\u7684SLAM\u7de8\u8f2f\u8edf\u9ad4<\/strong>
\u6216\u662f\u589e\u52a0,\u79fb\u9664,\u4fee\u6539\u5730\u5716\u5167\u5bb9,\u53ef\u5feb\u901f\u5b8c\u6210\u6a5f\u5668\u4eba\u8def\u5f91<\/strong>
\u4f7f\u7528\u532f\u51fa(EXPORT)\u6216\u532f\u5165(IMPORT)\u6587\u5b57\u6a94\u7684\u529f\u80fd,\u518d\u4f7f\u7528\u6587\u5b57\u7de8\u8f2f\u5668\u4fee\u6539\u5167\u5bb9<\/strong>
\u8b93\u8cc7\u6599\u8655\u7406\u66f4\u6709\u5f48\u6027,\u900f\u660e\u6027,\u7de8\u8f2f\u6027<\/strong><\/p>\n\n\n\n

<\/h2>\n\n\n\n

SLAM \u529f\u80fd\u5340\u584a\u5716<\/strong><\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n

<\/h2>\n\n\n\n

3\u61c9\u7528\u7a0b\u5f0f\u6bd4\u8f03\u8868<\/h2>\n\n\n\n

<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

<\/h2>\n\n\n\n

<\/h2>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u914d\u5099\u5efa\u8b70<\/h2>\n\n\n\n

\u5efa\u8b70\u4f7f\u7528\u7121\u98a8\u6563\u96fb\u8166I7-6600U\u6216Atom-E3845,\u9700\u6709\u5169\u500bRS232\u5169\u500bEthernet,Memory8~16G<\/strong><\/p>\n\n\n\n

\u8eca\u8f2a\u5b9a\u4f4dOdometry,\u7de8\u78bc\u5668(1024 pulses)\u8207\u9640\u87ba\u5100(TL740D)\u5b9a\u4f4d\u5c0e\u822a(IMU)<\/strong><\/p>\n\n\n\n

Lidar : 360\/270\u5ea6\u7684\u6fc0\u5149\u96f7\u9054<\/strong><\/p>\n\n\n\n

DM\u4e0b\u8f09<\/strong><\/h2>\n\n\n\n

CoRo SLAM \u4f01\u696d\u7248_\u4e2d\u6587<\/strong><\/h2>\n\n\n\n