Positioning and mapping method and positioning and mapping device for unmanned vehicle grain depot cleaning system

• Main Authors: LI DONGDING, ZHANG BOQIANG, ZHANG XUN, ZHOU YOU, WU LAN, SUN PENG
• Format: Patent
• Language: Chinese; English
• Published: 12.12.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a positioning and mapping method of an unmanned vehicle grain depot cleaning system. The unmanned vehicle grain depot cleaning system comprises a grain depot cleaning unmanned vehicle, a laser radar, an industrial personal computer and a vehicle inertial navigation system. The positioning and mapping method specifically comprises the following steps: acquiring position information of a grain accumulation area through satellite positioning, and transmitting the information to an industrial personal computer; an industrial personal computer is controlled to drive the grain depot cleaning unmanned vehicle to advance to a grain accumulation area, and meanwhile a laser radar and a vehicle inertial navigation system are started; point cloud data scanning is carried out based on an industrial personal computer and a laser radar which are started at the same time, feature points are extracted from point cloud data obtained by the laser radar by using a key frame based on each point in the poin