CN106969768B - Accurate positioning and parking method for trackless navigation AGV - Google Patents

Accurate positioning and parking method for trackless navigation AGV Download PDF

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CN106969768B
CN106969768B CN201710268309.2A CN201710268309A CN106969768B CN 106969768 B CN106969768 B CN 106969768B CN 201710268309 A CN201710268309 A CN 201710268309A CN 106969768 B CN106969768 B CN 106969768B
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agv
positioning
preset
reflecting plate
calculating
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CN106969768A (en
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王斌
刘磊
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Shenzhen Zhumang Technology Co ltd
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Shenzhen Lzrobotics Co ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

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  • Radar, Positioning & Navigation (AREA)
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Abstract

The embodiment of the invention provides a method for accurately positioning and parking a trackless navigation AGV, which comprises the following steps: the method comprises the steps that an AGV scans a reflecting plate through a laser radar to obtain coordinates of a preset position on the reflecting plate; selecting a position for positioning from the preset positions; and calculating the current position of the AGV according to the selected position through a preset rule. The method comprises the steps of extracting three special reflection points, realizing three-point positioning, determining the coordinate position of the AGV under a global coordinate system mainly by means of a least square method, and then calculating the direction angle of the AGV through multiple quadrants. The relative position and the direction angle of the trolley relative to the reflecting plate can be calculated through contour detection, so that the AGV can accurately stop at the designated position of the reflecting plate, the defect that the positioning accuracy of the SLAM technology is insufficient is overcome to a great extent, and a reliable solution is provided for automatic charging of the trackless navigation AGV.

Description

Accurate positioning and parking method for trackless navigation AGV
Technical Field
The invention relates to the field of a trackless navigation AGV, in particular to an accurate positioning and parking method of the trackless navigation AGV.
Background
The slam (simultaneous Localization and mapping) technology, instant positioning and map construction, is considered as a key for realizing a real fully autonomous mobile robot by many scholars due to important theoretical and application values. At present, SLAM technology is used in the autonomous movement fields of sweeping robots, unmanned vehicles, AGV and the like in a large scale. In modern industrial transportation systems, especially in the field of intelligent factory goods handling, trackless navigation agvs (automated Guided vehicles) play a very important role. At the present day that unmanned factory construction, unmanned driving research, intelligent navigation technique are steadily marched, the railless navigation AGV receives numerous enterprises favour with the flexibility more with SLAM technique, but because SLAM technique ubiquitous error is great, be difficult to satisfy the required precision of AGV in terminal location and the parking process, AGV for example is in the automatic dock in-process that charges that gets into, because SLAM technique positioning accuracy is not high can lead to railless navigation AGV to get into the dock failure that charges many times, influences its normal work operation. On the basis of the original SLAM technology, how to solve the problems of accurate positioning and parking of a trackless navigation AGV becomes a hotspot of current research and needs to be solved urgently. A large amount of manpower and material resources are input into a large number of current enterprises to search for a local accurate positioning and parking scheme of a trackless navigation AGV, the scheme is endless based on ultrasonic sensors and cameras, the cost is huge, and the effect is always difficult to reach the satisfactory degree. On the basis of a large number of experiments and tests, the method develops a new path, uses a high-precision laser radar, detects the contour of the triangular reflecting plate by using a laser radar Echo intensity value (Echo Amplitude), and further determines the position and the direction of the AGV by selecting a special reflecting point, so that the defects of the SLAM technology in the aspect are overcome. The method and the algorithm based on the design idea are good in stability, high in precision and convenient to operate, can completely meet the requirements of real-time accurate positioning and accurate parking of the AGV (automatic guided vehicle) based on trackless navigation, and make up for the defects of the SLAM technology.
In view of the defects of the SLAM technology, research and application of a compensation mode for AGV navigation are quite numerous, which are typically magnetic navigation, GPS (global positioning system), image recognition navigation, inertial navigation, optical navigation, electromagnetic navigation, direct coordinate navigation, RFID positioning navigation, laser navigation, etc., and the implementation principles and methods are also very different.
The inertial navigation assisted SLAM technology is mainly characterized in that a gyroscope is installed on an AGV, the yaw angle of the trackless navigation AGV is controlled, a positioning block is installed on the ground of a driving area, and the AGV determines the position and the direction of the AGV through calculation of a gyroscope deviation signal and collection of a ground positioning signal, so that the auxiliary SLAM technology positioning is realized.
The image recognition navigation is to carry out image recognition on the environment of an AGV driving area to realize intelligent driving, has huge research potential, and is mostly applied to scanning two-dimensional code navigation at present. The SLAM navigation can be matched in local occasions with higher precision requirements.
GPS is short for global positioning system. The system consists of three parts, namely space satellite, ground monitoring, user receiving and the like. The working principle of the GPS navigator is that the position of a point to be measured is determined by adopting a space distance rear intersection method according to the known calculation data of the instantaneous position of a satellite moving at a high speed. The current GPS is widely applied, the AGV is inspired by the method, and the navigation is carried out in some scenes by adopting a mode of fusing a GPS technology and an SLAM technology.
The disadvantages of the prior art mainly include:
(1) navigation modes such as image recognition are not flexible enough, navigation can not be performed on an area where the two-dimensional code is not pasted, and a walking route is quite limited. Similar to electromagnetic navigation and other modes, the path is difficult to change and expand, and the limitation on a complex path is large.
(2) For a trackless navigation AGV inertial navigation mode matched with an SLAM navigation mode, high-precision inertial navigation equipment is expensive, the guiding precision and reliability are closely related to the manufacturing precision and the service life of a gyroscope, generally, the gyroscope can only be used as auxiliary navigation due to large self-drifting, and the defects of an SLAM technology are difficult to make up for by the high-precision gyroscope under the condition of long-time work.
(3) The GPS is familiar to most people and widely applied, the control object in the unfixed pavement system is tracked and guided by the satellite, the effect is good in the open environment, but the effect is greatly reduced in a factory building, and the precision of the civil level is generally low. The navigation range can be expanded to a certain extent by matching the GPS technology with the SLAM navigation, but the positioning precision of the tail end is difficult to improve.
The invention aims to provide a terminal precision positioning and parking scheme which is high in reliability, good in stability, high in precision and proper in price on the basis of the SLAM technology for a trackless navigation AGV. According to the requirement of a navigation mode, a triangular reflecting plate is placed at a proper position, and special reflecting points on the reflecting plate are extracted according to the echo intensity of the laser radar. The relative position and the direction angle of the trolley relative to the reflecting plate can be calculated through contour detection, so that the AGV can accurately stop at the designated position of the reflecting plate, the defect that the positioning accuracy of the SLAM technology is insufficient is overcome to a great extent, and a reliable solution is provided for automatic charging of the trackless navigation AGV.
Disclosure of Invention
In order to solve the above problems, an embodiment of the present invention provides an accurate positioning and parking method for a trackless navigation AGV.
According to a first aspect of the present invention, there is provided a method for accurately positioning and parking a trackless navigation AGV, the method comprising:
the method comprises the steps that an AGV scans a reflecting plate through a laser radar to obtain coordinates of a preset position on the reflecting plate;
selecting a position for positioning from the preset positions;
and calculating the current position of the AGV according to the selected position through a preset rule.
Further, AGV passes through laser radar scanning reflecting plate, acquires the coordinate of presetting the position on the reflecting plate and includes:
returning a distance and a corresponding echo intensity value to each laser beam in the peripheral scanning process by taking the position of the laser radar as a coordinate origin;
calculating the position of the reflecting plate according to the echo intensity value;
acquiring angle information of the reflecting plate according to the sequence of the echo intensity values appearing in the laser scanning array;
and calculating the coordinates of each preset position on the reflecting plate.
Further, the selecting a location for positioning from the preset locations comprises:
sorting the preset positions from small to large according to the angle values, wherein the distance information contained in the preset positions is also sorted according to the order;
calculating a first distance value between the first two preset positions;
calculating second distance values between every two preset positions;
calculating a difference value between each second distance value and each first distance value, and selecting a minimum corresponding preset position in the absolute values of the difference values as the position for positioning;
and sequentially selecting the positions for positioning according to the rule until the selected positions for positioning meet the preset quantity requirement.
Further, the preset number is required to be 3.
Further, the calculating the current position of the AGV according to the selected position by a preset rule includes:
and for the selected position, calculating the current position of the AGV according to a least square method.
Further, the method further comprises:
and calculating the AGV direction angle by using multiple quadrants and screening out the most reasonable current position of the AGV.
The embodiment of the invention provides a method for accurately positioning and parking a trackless navigation AGV, which comprises the following steps: the method comprises the steps that an AGV scans a reflecting plate through a laser radar to obtain coordinates of a preset position on the reflecting plate; selecting a position for positioning from the preset positions; calculating the current position of the AGV according to the selected position through a preset rule; the terminal precision positioning and parking scheme has the advantages of high reliability, good stability, high precision and proper price. According to the requirement of a navigation mode, a triangular reflecting plate is placed at a proper position, and special reflecting points on the reflecting plate are extracted according to the echo intensity of the laser radar. The relative position and the direction angle of the trolley relative to the reflecting plate can be calculated through contour detection, so that the AGV can accurately stop at the designated position of the reflecting plate, the defect that the positioning accuracy of the SLAM technology is insufficient is overcome to a great extent, and a reliable solution is provided for automatic charging of the trackless navigation AGV.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flowchart of a method for accurately positioning and parking a trackless navigation AGV according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a laser scanning reflector provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of an anchor point provided by an embodiment of the present invention in a first quadrant with respect to a lidar;
FIG. 4 is a schematic diagram of an anchor point provided by an embodiment of the present invention in a second quadrant with respect to a lidar;
FIG. 5 is a schematic diagram of an anchor point provided by an embodiment of the present invention in a third quadrant with respect to a lidar;
FIG. 6 is a diagram of an anchor point in the fourth quadrant relative to a lidar according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The embodiment of the invention provides a method for accurately positioning and parking a trackless navigation AGV, which comprises the following steps of:
step 101, an AGV scans a reflecting plate through a laser radar to obtain coordinates of a preset position on the reflecting plate;
102, selecting a position for positioning from the preset positions;
and 103, calculating the current position of the AGV according to the selected position through a preset rule.
Further, AGV passes through laser radar scanning reflecting plate, acquires the coordinate of presetting the position on the reflecting plate and includes:
returning a distance and a corresponding echo intensity value to each laser beam in the peripheral scanning process by taking the position of the laser radar as a coordinate origin;
calculating the position of the reflecting plate according to the echo intensity value;
acquiring angle information of the reflecting plate according to the sequence of the echo intensity values appearing in the laser scanning array;
and calculating the coordinates of each preset position on the reflecting plate.
Further, the selecting a location for positioning from the preset locations comprises:
sorting the preset positions from small to large according to the angle values, wherein the distance information contained in the preset positions is also sorted according to the order;
calculating a first distance value between the first two preset positions;
calculating second distance values between every two preset positions;
calculating a difference value between each second distance value and each first distance value, and selecting a minimum corresponding preset position in the absolute values of the difference values as the position for positioning;
and sequentially selecting the positions for positioning according to the rule until the selected positions for positioning meet the preset quantity requirement.
Further, the preset number is required to be 3.
Further, the calculating the current position of the AGV according to the selected position by a preset rule includes:
and for the selected position, calculating the current position of the AGV according to a least square method.
Further, the method further comprises:
and calculating the AGV direction angle by using multiple quadrants and screening out the most reasonable current position of the AGV.
The embodiment of the invention provides a method for accurately positioning and parking a trackless navigation AGV, which comprises the following steps: the method comprises the steps that an AGV scans a reflecting plate through a laser radar to obtain coordinates of a preset position on the reflecting plate; selecting a position for positioning from the preset positions; calculating the current position of the AGV according to the selected position through a preset rule; the terminal precision positioning and parking scheme has the advantages of high reliability, good stability, high precision and proper price. According to the requirement of a navigation mode, a triangular reflecting plate is placed at a proper position, and special reflecting points on the reflecting plate are extracted according to the echo intensity of the laser radar. The relative position and the direction angle of the trolley relative to the reflecting plate can be calculated through contour detection, so that the AGV can accurately stop at the designated position of the reflecting plate, the defect that the positioning accuracy of the SLAM technology is insufficient is overcome to a great extent, and a reliable solution is provided for automatic charging of the trackless navigation AGV.
Example two
The embodiment of the invention provides a method for accurately positioning and parking a trackless navigation AGV, which comprises the following steps of as shown in FIGS. 1 to 6:
(1) and scanning the reflecting plate by using the laser radar to build a picture, and acquiring the accurate coordinate of each position on the reflecting plate.
Laser radar's laser beam scans the reflecting plate with certain frequency on, and laser radar generally installs the top at AGV, and is mainly good for the field of vision, can all-round scanning to the reflecting plate. The lidar scans to the reflective plate principle as shown in fig. 2. The trackless navigation AGV moves continuously in the working area, changes direction, and the triangular reflecting plate is arranged to ensure that the AGV can scan enough special points (such as A, B, C points in fig. 2) during real-time movement so as to position the AGV.
Before navigation is performed by using the laser radar and the reflecting plate, all points on the reflecting plate in the area must be mapped to obtain coordinates. The position of the laser radar is used as a coordinate origin, in the process of scanning to the periphery, each laser beam can return a distance (d) and an echo intensity value, the echo intensity value of the reflecting plate is much higher than that of a surrounding common object, so that the reflecting plate can be distinguished, and the angle information (a) of the reflecting plate can be obtained according to the sequence of the echo intensity values appearing in the laser scanning array. And then can build the picture to each point on the reflecting plate to position when drawing is built to the AGV of trolley-bus navigation is coordinate origin (0,0), obtains the coordinate:
Figure 794686DEST_PATH_IMAGE001
Figure 39722DEST_PATH_IMAGE002
(1)
Figure 553880DEST_PATH_IMAGE003
Figure 542565DEST_PATH_IMAGE004
(2)
and after obtaining all the modeling coordinate information of the reflecting plates, storing the modeling coordinate information into an array form according to the angle sequence.
(2) And selecting special points on the reflecting plate and carrying out coordinate matching.
In the positioning process, the invention mainly selects the end point and the inflection point of the reflecting plate, and in each scanning process, a plurality of special points are scanned for positioning, but the invention does not utilize all the special points, and three special points are screened out from the special points for navigation positioning. According to the principle of the selected positioning points, the selected special positioning points are not concentrated as much as possible, so that the navigation precision is higher. After the positioning point is selected, the important link is to obtain the coordinate corresponding to the positioning point. The invention mainly adopts the following method:
firstly, sequencing the obtained special positioning points from small to large according to the angle values, arranging the distance information contained in the positioning points according to the sequence, calculating the distance value between the first two positioning points, and assuming that the distance and the angle are respectively'
Figure 825778DEST_PATH_IMAGE005
Figure 976137DEST_PATH_IMAGE006
"and"
Figure 977591DEST_PATH_IMAGE007
Figure 769967DEST_PATH_IMAGE008
", the distance value c of two positioning points can be obtained by trigonometric function cosine law:
Figure 907687DEST_PATH_IMAGE009
Figure 635471DEST_PATH_IMAGE010
(3)
after the distance value c is obtained, coordinate values are obtained according to the graphs established in the steps (1) and (2), and the distance values are calculated in pairs:
Figure 717697DEST_PATH_IMAGE011
Figure 313763DEST_PATH_IMAGE012
(4)
all are obtained
Figure 305990DEST_PATH_IMAGE013
Figure 204676DEST_PATH_IMAGE014
Subtracting c to select the coordinate value with the smallest absolute value
Figure 777127DEST_PATH_IMAGE015
Figure 52251DEST_PATH_IMAGE016
And
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Figure 93205DEST_PATH_IMAGE018
. And by analogy, selecting the other coordinate values for navigation.
(3) And modeling by using a least square method to obtain position information.
From top to bottomOne link knows that the distance, angle and corresponding coordinates of the reflection points for navigation are obtained, but the laser radar cannot distinguish the reflection distance and angle corresponding to different reflection points, taking 3 reflection points as an example, 6 positions can be calculated according to the least square method, and it is assumed that the three positions are respectively the three positions
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、
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Figure 29620DEST_PATH_IMAGE022
And
Figure 573734DEST_PATH_IMAGE023
Figure 190660DEST_PATH_IMAGE024
unknown points
Figure 136619DEST_PATH_IMAGE025
Figure 548009DEST_PATH_IMAGE026
Distances to three reflection points of
Figure 313840DEST_PATH_IMAGE027
Figure 468878DEST_PATH_IMAGE028
、
Figure 269343DEST_PATH_IMAGE029
Figure 117214DEST_PATH_IMAGE030
And
Figure 776865DEST_PATH_IMAGE031
Figure 331999DEST_PATH_IMAGE032
one of these is calculated according to the least squares method:
Figure 393496DEST_PATH_IMAGE033
Figure 5743DEST_PATH_IMAGE034
(5)
Figure 887111DEST_PATH_IMAGE035
Figure 774164DEST_PATH_IMAGE036
(6)
Figure 159009DEST_PATH_IMAGE037
Figure 473316DEST_PATH_IMAGE038
(7)
then, the formula (7) is subtracted from the formula (5), and the formula (7) is subtracted from the formula (6) to obtain:
Figure 576401DEST_PATH_IMAGE039
Figure 735987DEST_PATH_IMAGE040
(8)
Figure 506497DEST_PATH_IMAGE041
Figure 726126DEST_PATH_IMAGE042
(9)
the arrangement into a matrix form is:
Figure 316507DEST_PATH_IMAGE043
Figure 420729DEST_PATH_IMAGE044
(10)
thereby can calculate
Figure 170380DEST_PATH_IMAGE025
Figure 436276DEST_PATH_IMAGE026
According to this method, 6 coordinate values can be calculated.
(4) And calculating the AGV direction angle by multiple quadrants and screening.
6 alternative position coordinates can be obtained for each scan, and each coordinate can be used as a basis
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Figure 280921DEST_PATH_IMAGE026
Is calculated to
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、
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Figure 194858DEST_PATH_IMAGE022
And
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Figure 261220DEST_PATH_IMAGE024
a distance value of
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、
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Figure 779609DEST_PATH_IMAGE030
And
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Figure 966057DEST_PATH_IMAGE032
and comparing, and screening out the value which most accords with the actual position in theory:
Figure 274678DEST_PATH_IMAGE045
Figure 614393DEST_PATH_IMAGE046
(11)
Figure 641254DEST_PATH_IMAGE047
Figure 826248DEST_PATH_IMAGE048
(12)
Figure 989376DEST_PATH_IMAGE049
Figure 640937DEST_PATH_IMAGE050
(13)
according to the calculated distance value
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、
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Figure 896459DEST_PATH_IMAGE054
And
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Figure 159131DEST_PATH_IMAGE056
sum and
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Figure 149269DEST_PATH_IMAGE028
、
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Figure 968507DEST_PATH_IMAGE030
and
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taking the sum as a difference, and taking an absolute value to obtain:
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+
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+
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Figure 945897DEST_PATH_IMAGE062
) (14)
the laser radar has measurement error, and the distance and angle error calculated by scanning the reflecting plate is added, so that the minimum distance and angle error is obtained in practice
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Corresponding to
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Not necessarily the evaluation, therefore, it is necessary to use the matching screening of the direction angles, and the reflection angle of the laser radar corresponding to each quadrant is
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、
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、
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。
As shown in fig. 3, for the first reflection point, when the reflection point is in the first quadrant relative to the positive direction of the lidar, the calculated angle is recorded as
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Figure 577288DEST_PATH_IMAGE072
：
If it is not
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Figure 253961DEST_PATH_IMAGE074
:
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Figure 22383DEST_PATH_IMAGE076
(15)
Wherein if
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Figure 455955DEST_PATH_IMAGE078
,
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Figure 984206DEST_PATH_IMAGE080
(16)
As shown in fig. 4, for the first reflection point, when the reflection point is in the second quadrant relative to the positive direction of the lidar, the calculated angle is recorded as
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Figure 708765DEST_PATH_IMAGE072
：
If it is not
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Figure 528003DEST_PATH_IMAGE082
:
Figure 887440DEST_PATH_IMAGE083
Figure 277970DEST_PATH_IMAGE084
(17)
Wherein if
Figure 355647DEST_PATH_IMAGE077
Figure 122615DEST_PATH_IMAGE078
,
Figure 867717DEST_PATH_IMAGE079
Figure 304515DEST_PATH_IMAGE080
(18)
As shown in fig. 5, for the first reflection point, when the reflection point is in the third quadrant relative to the positive direction of the lidar, the calculated angle is recorded as
Figure 997052DEST_PATH_IMAGE071
Figure 177497DEST_PATH_IMAGE072
：
If it is not
Figure 370581DEST_PATH_IMAGE085
Figure 102914DEST_PATH_IMAGE086
:
Figure 155183DEST_PATH_IMAGE083
Figure 998374DEST_PATH_IMAGE084
(19)
Wherein if
Figure 452490DEST_PATH_IMAGE077
Figure 355724DEST_PATH_IMAGE078
,
Figure 895289DEST_PATH_IMAGE079
Figure 542171DEST_PATH_IMAGE080
(20)
As shown in fig. 6, for the first reflection point, when the reflection point is in the fourth quadrant relative to the positive direction of the lidar, the calculated angle is recorded as
Figure 850793DEST_PATH_IMAGE071
Figure 65874DEST_PATH_IMAGE072
：
If it is not
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Figure 277729DEST_PATH_IMAGE088
:
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Figure 951473DEST_PATH_IMAGE090
(21)
Wherein if
Figure 604913DEST_PATH_IMAGE077
Figure 734543DEST_PATH_IMAGE078
,
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Figure 433695DEST_PATH_IMAGE080
(22)
The calculation method is the same for the second, third and fourth reflection points.
Case of the second reflection plate:
if it is not
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Figure 961945DEST_PATH_IMAGE092
:
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Figure 686504DEST_PATH_IMAGE094
(23)
Wherein if
Figure 909675DEST_PATH_IMAGE095
Figure 505742DEST_PATH_IMAGE096
,
Figure 497969DEST_PATH_IMAGE097
Figure 662234DEST_PATH_IMAGE098
(24)
If it is not
Figure 231755DEST_PATH_IMAGE099
Figure 241300DEST_PATH_IMAGE100
:
Figure 743825DEST_PATH_IMAGE101
Figure 813412DEST_PATH_IMAGE102
(25)
Wherein if
Figure 11175DEST_PATH_IMAGE095
Figure 683465DEST_PATH_IMAGE096
,
Figure 915863DEST_PATH_IMAGE097
Figure 18336DEST_PATH_IMAGE098
(26)
If it is not
Figure 968975DEST_PATH_IMAGE103
Figure 320322DEST_PATH_IMAGE104
:
Figure 702DEST_PATH_IMAGE101
Figure 536725DEST_PATH_IMAGE102
(27)
Wherein if
Figure 443501DEST_PATH_IMAGE095
Figure 457594DEST_PATH_IMAGE096
,
Figure 664584DEST_PATH_IMAGE097
Figure 981296DEST_PATH_IMAGE098
(28)
If it is not
Figure 765581DEST_PATH_IMAGE105
Figure 458731DEST_PATH_IMAGE106
:
Figure 520228DEST_PATH_IMAGE107
Figure 398054DEST_PATH_IMAGE108
(29)
Wherein if
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Figure 900896DEST_PATH_IMAGE096
,
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Figure 740993DEST_PATH_IMAGE098
(30)
Case of the third reflection plate:
if it is not
Figure 499871DEST_PATH_IMAGE109
Figure 534823DEST_PATH_IMAGE110
:
Figure 305333DEST_PATH_IMAGE111
Figure 527891DEST_PATH_IMAGE112
(31)
Wherein if
Figure 649431DEST_PATH_IMAGE113
Figure 347129DEST_PATH_IMAGE114
,
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(32)
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:
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(33)
Wherein if
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,
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(34)
If it is not
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:
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Figure 781707DEST_PATH_IMAGE120
(35)
Wherein if
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,
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(36)
If it is not
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:
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(37)
Wherein if
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,
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(38)
If it is not
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、
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、
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Have a small difference therebetween, corresponding
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Which is the coordinate value we need, and the mean of the direction angles is:
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(39)
the complete flow chart of the precise positioning and parking of the AGV with trackless navigation in the invention is shown in FIG. 1.
The embodiment of the invention provides a method for accurately positioning and parking a trackless navigation AGV, which comprises the following steps: the method comprises the steps that an AGV scans a reflecting plate through a laser radar to obtain coordinates of a preset position on the reflecting plate; selecting a position for positioning from the preset positions; calculating the current position of the AGV according to the selected position through a preset rule; the terminal precision positioning and parking scheme has the advantages of high reliability, good stability, high precision and proper price. According to the requirement of a navigation mode, a triangular reflecting plate is placed at a proper position, and special reflecting points on the reflecting plate are extracted according to the echo intensity of the laser radar. The relative position and the direction angle of the trolley relative to the reflecting plate can be calculated through contour detection, so that the AGV can accurately stop at the designated position of the reflecting plate, the defect that the positioning accuracy of the SLAM technology is insufficient is overcome to a great extent, and a reliable solution is provided for automatic charging of the trackless navigation AGV.

Claims (4)

1. A precise positioning and parking method for a trackless navigation AGV is characterized by comprising the following steps: the method comprises the steps that an AGV scans a reflecting plate through a laser radar to obtain coordinates of a preset position on the reflecting plate; selecting a position for positioning from the preset positions; calculating the current position of the AGV according to the selected position through a preset rule; selecting a location for positioning from the preset locations comprises:
sorting the preset positions from small to large according to the angle values, wherein the distance information contained in the preset positions is also sorted according to the order; calculating a first distance value between the first two preset positions; calculating second distance values between every two preset positions; calculating a difference value between each second distance value and each first distance value, and selecting a minimum corresponding preset position in the absolute values of the difference values as the position for positioning;
sequentially selecting the positions for positioning according to the rule until the selected positions for positioning meet the preset quantity requirement;
the method further comprises the following steps:
calculating the AGV direction angle in multiple quadrants and screening out the most reasonable AGV current position; the method comprises the following steps:
obtaining position coordinates through scanning;
comparing the distance values from the position coordinates obtained by calculation and scanning to the coordinates of each preset position, and screening out the value which most accords with the actual position in theory;
the direction angles are matched for screening, and the laser radar reflection angles corresponding to all quadrants are respectively selected;
and screening out the most reasonable current position of the AGV.
2. The method of claim 1 wherein the AGV scans the reflective panel with a laser radar and obtaining coordinates of the predetermined position on the reflective panel comprises:
returning a distance and a corresponding echo intensity value to each laser beam in the peripheral scanning process by taking the position of the laser radar as a coordinate origin;
calculating the position of the reflecting plate according to the echo intensity value;
acquiring angle information of the reflecting plate according to the sequence of the echo intensity values appearing in the laser scanning array;
and calculating the coordinates of each preset position on the reflecting plate.
3. The method of claim 2, wherein the predetermined number requires 3.
4. The method of claim 1, wherein said calculating the current position of the AGV according to the selected position by a predetermined rule comprises:
and for the selected position, calculating the current position of the AGV according to a least square method.
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