CN109358616A - A kind of bearing calibration of pair of self-navigation object space coordinate and the deviation of directivity - Google Patents
A kind of bearing calibration of pair of self-navigation object space coordinate and the deviation of directivity Download PDFInfo
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- CN109358616A CN109358616A CN201811059758.7A CN201811059758A CN109358616A CN 109358616 A CN109358616 A CN 109358616A CN 201811059758 A CN201811059758 A CN 201811059758A CN 109358616 A CN109358616 A CN 109358616A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
Abstract
A kind of bearing calibration of pair of self-navigation object space coordinate and the deviation of directivity, it is used on the self-navigation object that at least there is gyroscope, distance-measuring equipment, sensing device, comprising the following steps: all data when S1, acquisition self-navigation object of which movement to 0 moment；All data when S2, acquisition self-navigation object of which movement to m moment；S3, calculate m moment deflection correction value go forward side by side line direction angle amendment；S4, the correction value for calculating m moment plane coordinates simultaneously carry out plane coordinates amendment.The present invention is by calculating accurate location of the mobile object in autonomous reference frame in the relative position of specific position reference point and reference substance, the position coordinates of self-navigation object and azimuth are corrected in time to realize, the accumulative position coordinates and orientation angles error generate in continuous moving to autonomous positioning mobile object are removed in time；It is not only at low cost, but also can effectively solve the problems, such as that accumulated error caused by longtime running is increasing.
Description
Technical field
The present invention relates to autonomous positioning self-navigation mobile object (AGV) technical fields, especially a kind of pair of self-navigation
The bearing calibration of object space coordinate and the deviation of directivity.
Background technique
In industrial automation, autonomous positioning self-navigation mobile object (Self-Position &Guide
Vehicle or Auto-Guided Vehicle, abbreviation AGV or SPGV or self-navigation object) application increasingly cause people's
Concern and attention, because self-navigation object can help people to realize nothing of the processing component product between different operating posts
People's automatic transporting and movement.
At present there are mainly two types of AGV airmanships: rail mounted navigation, the navigation of rail-free formula.
The representative of rail mounted navigation AGV has magnetic navigation formula AGV and two-dimension code navigation formula AGV；The major technique of such AGV is special
Sign is to determine AGV sheet using magnetic stripe, magnetic bead or the colour band of predetermined layout path setting, the additional location information of two dimensional code battle array
The position or operational objective track of body；The predetermined layout path that is confined to of such AGV product provides path reference for AGV operation
While also limit the flexible change of AGV product operating path.
Rail-free formula navigates AGV without using the pre- laying object run rail such as tangible magnetic stripe, magnetic bead, colour band, two dimensional code
Road, but utilize other location technologies realize running track virtual settings, thus can adjust at any time object run track and
Purpose；Rail-free formula AGV airmanship has using outside reference positioning and two class major technique of autonomous positioning, wherein using outer
Portion's object of reference location technology mainly has radio radar fix and laser radar to position two kinds again；Laser radar location technology has
The high feature of positioning accuracy, but require outside reference to fix using outside reference location technology and be not blocked, while is right
Environment illumination intensity, light transmittance etc. require, therefore these application conditions limit the application of such product；It is autonomous fixed
Position airmanship is the one of AGV technology from the position coordinates of host computer AGV itself using gyroscope, IMU or other sensors
Kind is promoted, and referred to as SPGV, SPGV can get rid of the dependence to outside reference to greatest extent, can be in broader range and field
It is applied in conjunction；But autonomous positioning airmanship there is the problem of error accumulation from principle；Although using high-precision, low drift
Gyroscope, IMU or the other sensors of shifting degree are a kind of method of error accumulation during reducing shorter operation, but can not solve
The certainly increasing problem of accumulated error final when longtime running, also causes cost to increase substantially, and then limits such production
The application range of product.
Therefore, the prior art is to be improved and improves.
Summary of the invention
For the technical problems in the prior art, the object of the present invention is to provide a kind of pair of self-navigation object spaces
The bearing calibration of coordinate and the deviation of directivity, by self-navigation object in the relative position of specific position reference point and reference substance
Accurate location of the self-navigation object in autonomous reference frame is calculated, to realize to self-navigation object space coordinate
And direction is corrected in time, the accumulative position coordinates and orientation angles generate in continuous moving to autonomous positioning mobile object
Error is removed in time.
To achieve the above object, the technical scheme adopted by the invention is that:
The bearing calibration of a kind of pair of self-navigation object space coordinate and the deviation of directivity at least has gyroscope, ranging
Equipment, sensing device self-navigation object on use, comprising the following steps:
S1, it with two reflecting plates BA and BB disposed in parallel and is being set between two reflecting plates and perpendicular to two first
In the calibration station of the correction trigger device SL of reflecting plate, under the autonomous reference frame of self-navigation object,
A, when self-navigation object of which movement to 0 moment, the sensing device SA on self-navigation object senses its movement
To correction trigger device SL；The 0th moment of self-navigation object is obtained by gyroscope on self-navigation object and distance-measuring equipment
Current location location status parameter sets be AGV_S0(X0,Y0,α0), wherein (X0,Y0) it is coordinate parameters, α0For azimuth
Parameter；
B, distance-measuring equipment CA, the CB being located on self-navigation object in same horizontal line measure it between reflecting plate respectively
Distance L10、L20；
C calculates angle, that is, self-navigation object deflection angle between the virtual line of symmetry AC and reflecting plate of self-navigation object
For θ0=arctg ((L20-L10)/D), wherein D is the distance between distance-measuring equipment CA, CB；Correction trigger device is calculated simultaneously
SL online in a coordinate system azimuth be β0=α0+π/2+θ0；
When S2, self-navigation object of which movement to m moment, the sensing device SA on self-navigation object senses its movement
To correction trigger device SL；
A, the position shape that self-navigation object passes through gyroscope and the current location at distance-measuring equipment acquisition m moment thereon
State parameter sets are AGV_Sm(Xm,Ym,αm), wherein (Xm,Ym) it is coordinate parameters, αmFor orientation angular dimensions；
B, distance-measuring equipment CA, the CB being located on self-navigation object in same horizontal line measure it between reflecting plate respectively
Distance L1m、L2m；
C calculates angle, that is, independent navigation object deflection between the virtual line of symmetry AC and reflecting plate of self-navigation object
Angle is θm=arctg ((L2m-L1m)/D)；Calculating the online in a coordinate system azimuth of correction trigger device SL institute is βm=αm+
π/2+θm；
S3, the correction value for calculating m moment deflection are αm'=α0-θ0+θmAnd the deflection of self-navigation object is carried out
Amendment,
The location status parameter sets of revised self-navigation object are AGV_Sm(Xm,Ym,αm’)；
S4, a calculate vertical line and the correction trigger device SL institute of the virtual line of symmetry AC of m moment self-navigation object
Online angle γm, γm=θm=arctg ((L2m-L1m)/D)；
B calculates the vertical range D of sensing device SA to reflecting plate BAm, Dm=L2m*COS(θm)；
C calculates DmWith D0Poor Δ Dm, Δ Dm=Dm-D0；Wherein D0=L20*COS(θ0)；
D, the correction value for calculating m moment plane coordinates is (Xm’,Ym’),And to certainly
The plane coordinates of dynamic navigation object is modified, and the location status parameter sets of revised self-navigation object are AGV_Sm'
(Xm',Ym',αm’)。
Compared with prior art, the beneficial effects of the present invention are:
Due to using above-mentioned bearing calibration, by self-navigation object in the opposite position of specific position reference point and reference substance
The accurate location for calculating mobile object in autonomous reference frame is set, to realize the position coordinates to self-navigation object
And azimuth is corrected in time, the accumulative position coordinates generate in continuous moving to autonomous positioning mobile object and azimuth
Degree error is removed in time；It is not only at low cost, and it is increasing effectively to solve accumulated error caused by longtime running
The problem of.
Detailed description of the invention
Attached drawing 1 is status diagram of the present invention at the 0th moment；
Attached drawing 2 is status diagram of the present invention at the m moment.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing:
Referring to Figure 1 and Fig. 2, the bearing calibration of a kind of pair of self-navigation object space coordinate of the invention and the deviation of directivity,
It is used on the self-navigation object that at least there is gyroscope, distance-measuring equipment, sensing device,
Distance-measuring equipment uses laser ranging, ultrasonic distance measurement etc.；
Sensing device corrects trigger device use: colour band induction and triggering, tape/pearl incude and trigger, is laser induced
And triggering, two dimensional code, RFID etc.；
The following steps are included:
S1, it with two reflecting plates BA and BB disposed in parallel and is being set between two reflecting plates and perpendicular to two first
In the calibration station of the correction trigger device SL of reflecting plate, under the autonomous reference frame of self-navigation object,
A, when self-navigation object of which movement to 0 moment, the sensing device SA on self-navigation object senses its movement
To correction trigger device SL；The 0th moment of self-navigation object is obtained by gyroscope on self-navigation object and distance-measuring equipment
Current location location status parameter sets be AGV_S0(X0,Y0,α0), wherein (X0,Y0) it is coordinate parameters, α0For azimuth
Parameter；
B, distance-measuring equipment CA, the CB being located on self-navigation object in same horizontal line measure it between reflecting plate respectively
Distance L10、L20；
C calculates angle, that is, self-navigation object deflection angle between the virtual line of symmetry AC and reflecting plate of self-navigation object
For θ0=arctg ((L20-L10)/D), wherein D is the distance between distance-measuring equipment CA, CB；Correction trigger device is calculated simultaneously
SL online in a coordinate system azimuth be β0=α0+π/2+θ0；
When S2, self-navigation object of which movement to m moment, the sensing device SA on self-navigation object senses its movement
To correction trigger device SL；
A, the position shape that self-navigation object passes through gyroscope and the current location at distance-measuring equipment acquisition m moment thereon
State parameter sets are AGV_Sm(Xm,Ym,αm), wherein (Xm,Ym) it is coordinate parameters, αmFor orientation angular dimensions；
B, distance-measuring equipment CA, the CB being located on self-navigation object in same horizontal line measure it between reflecting plate respectively
Distance L1m、L2m；
C calculates angle, that is, independent navigation object deflection between the virtual line of symmetry AC and reflecting plate of self-navigation object
Angle is θm=arctg ((L2m-L1m)/D)；Calculating the online in a coordinate system azimuth of correction trigger device SL institute is βm=αm+
π/2+θm；
S3, the correction value for calculating m moment deflection are αm'=α0-θ0+θmAnd the deflection of self-navigation object is carried out
Amendment,
The location status parameter sets of revised self-navigation object are AGV_Sm(Xm,Ym,αm’)；
S4, a calculate vertical line and the correction trigger device SL institute of the virtual line of symmetry AC of m moment self-navigation object
Online angle γm, γm=θm=arctg ((L2m-L1m)/D)；
B calculates the vertical range D of sensing device SA to reflecting plate BAm, Dm=L2m*COS(θm)；
C calculates DmWith D0Poor Δ Dm, Δ Dm=Dm-D0；Wherein D0=L20*COS(θ0)；
D, the correction value for calculating m moment plane coordinates is (Xm’,Ym’),And to certainly
The plane coordinates of dynamic navigation object is modified, and the location status parameter sets of revised self-navigation object are AGV_Sm'
(Xm',Ym',αm’)。
To sum up, the present invention through the above technical solution, solves the technical problems existing in the prior art, has cost
Low, the features such as having a wide range of application.
The above is only preferable implementation of the invention, is not intended to limit the present invention in any form, any
Those skilled in the art are changed or are modified to the equivalence enforcement of equivalent variations possibly also with above-mentioned technology contents
Example, here, it is all without departing from technical solution of the present invention content, it is just to the above embodiments according to the technical essence of the invention
Any simple modification, equivalent change and modification, all of which are still within the scope of the technical scheme of the invention.
Claims (1)
1. the bearing calibration of a kind of pair of self-navigation object space coordinate and the deviation of directivity at least there is gyroscope, ranging to set
It is used on standby, sensing device self-navigation object, which comprises the following steps:
S1, first with two reflecting plates BA and BB disposed in parallel and be set between two reflecting plates and perpendicular to two reflection
In the calibration station of the correction trigger device SL of plate, under the autonomous reference frame of self-navigation object,
A, when self-navigation object of which movement to 0 moment, the sensing device SA on self-navigation object senses that it moves to school
Positive trigger device SL；Working as the 0th moment of self-navigation object is obtained by gyroscope on self-navigation object and distance-measuring equipment
The location status parameter sets of front position are AGV_S0(X0,Y0,α0), wherein (X0,Y0) it is coordinate parameters, α0For azimuth ginseng
Number；
B, be located on self-navigation object distance-measuring equipment CA, CB in same horizontal line measure respectively its between reflecting plate away from
From L10、L20；
C, calculating angle, that is, self-navigation object deflection angle between the virtual line of symmetry AC and reflecting plate of self-navigation object is θ0=
arctg((L20-L10)/D), wherein D is the distance between distance-measuring equipment CA, CB；It is online that correction trigger device SL institute is calculated simultaneously
Azimuth in a coordinate system is β0=α0+π/2+θ0；
When S2, self-navigation object of which movement to m moment, the sensing device SA on self-navigation object senses that it moves to school
Positive trigger device SL；
A, the location status ginseng that self-navigation object passes through gyroscope and the current location at distance-measuring equipment acquisition m moment thereon
Manifold is combined into AGV_Sm(Xm,Ym,αm), wherein (Xm,Ym) it is coordinate parameters, αmFor orientation angular dimensions；
B, be located on self-navigation object distance-measuring equipment CA, CB in same horizontal line measure respectively its between reflecting plate away from
From L1m、L2m；
C, calculating angle, that is, independent navigation object deflection angle between the virtual line of symmetry AC and reflecting plate of self-navigation object is θm
=arctg ((L2m-L1m)/D)；Calculating the online in a coordinate system azimuth of correction trigger device SL institute is βm=αm+π/2+θm；
S3, the correction value for calculating m moment deflection are αm'=α0-θ0+θmAnd the deflection of self-navigation object is repaired
Just, the location status parameter sets of revised self-navigation object are AGV_Sm(Xm,Ym,αm’)；
S4, a, vertical line and the correction trigger device SL institute for calculating the virtual line of symmetry AC of m moment self-navigation object are online
Angle γm, γm=θm=arctg ((L2m-L1m)/D)；
B calculates the vertical range D of sensing device SA to reflecting plate BAm, Dm=L2m*COS(θm)；
C calculates DmWith D0Poor Δ Dm, Δ Dm=Dm-D0；Wherein D0=L20*COS(θ0)；
D, the correction value for calculating m moment plane coordinates is (Xm’,Ym’),And to leading automatically
The plane coordinates of boat object is modified, and the location status parameter sets of revised self-navigation object are AGV_Sm'(Xm',
Ym',αm’)。
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Cited By (1)
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