CN109709974B - Two-dimensional space guiding and positioning method based on laser ranging - Google Patents
Two-dimensional space guiding and positioning method based on laser ranging Download PDFInfo
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- CN109709974B CN109709974B CN201910006382.1A CN201910006382A CN109709974B CN 109709974 B CN109709974 B CN 109709974B CN 201910006382 A CN201910006382 A CN 201910006382A CN 109709974 B CN109709974 B CN 109709974B
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Abstract
A two-dimensional space guiding and positioning method based on laser ranging is mainly characterized in that a laser ranging unit is arranged on a moving platform and comprises four laser displacement sensors, and the distance between the moving platform and a positioning seat is measured. The positioning method comprises the following steps: the moving platform constantly obtains the measured values of the laser displacement sensor, constantly calculates the required rotating angle and the yaw direction, and moves to the target pose according to the calculation result, so that the moving platform is accurately positioned in the positioning seat. The invention has the advantages that: 1) the laser ranging sensor is adopted as a positioning measuring device, so that the positioning precision is high, the use adaptability is strong, and the cost is low; 2) in the positioning process, a mode of combining coarse adjustment and fine adjustment is adopted, so that the positioning rapidity and the positioning accuracy can be ensured; 3) the method has wide application range and can provide the function of accurate positioning in the automatic transfer transportation of large-scale parts such as aviation, automobiles and the like.
Description
Technical Field
The invention relates to the field of positioning of automatic transportation transfer stations of airplane components, in particular to a two-dimensional space guiding and positioning method based on laser ranging.
Background
In the information era today, with the rapid development of computer software and hardware technologies, the robot technology effectively combines the technologies of artificial intelligence technology, computer technology, automatic control and other fields, and gets a great breakthrough, and has been widely applied in various fields, and the revolution of robot changing is raised. At present, in the field of aircraft assembly, because aircraft components are large in size generally and the components need to accurately reach a target position in the process of transporting the components to a transfer station, and the like, the traditional manual transfer station mode has the problems of high labor intensity, poor safety and the like, and the positioning precision of the transfer station cannot be ensured, so that the automatic transfer station of the aircraft components by adopting a mobile platform to carry a navigation positioning system can well meet the requirements. Practice shows that the production efficiency can be improved to a great extent by improving the transportation efficiency, so that the application of the mobile platform is more and more emphasized by enterprises.
The mobile platform is an automatic unmanned intelligent carrying device, adopts Mecanum wheels, can move along any angle in a plane, has the advantages of zero turning radius and rapid direction switching, and can flexibly move in a limited space. Common navigation modes of the mobile platform include laser radar navigation, electromagnetic navigation, tape navigation, visual navigation and the like, the navigation modes can enable the mobile platform to run along a preset route, but the modes are low in running precision and high in price, the common laser radar navigation is taken as an example, the cost of a single set of navigation mode is more than ten thousand yuan, the positioning precision is greatly influenced by the environment, the mobile platform cannot be accurately positioned at a target position, and the mobile platform brings many limitations in the application of aircraft component transportation transfer station positioning.
Therefore, there is a need to improve the prior art to overcome the deficiencies of the prior art.
Disclosure of Invention
The invention aims to solve the problems of poor positioning precision, low positioning speed, high positioning equipment cost and complex structure of the existing mobile platform, and provides a two-dimensional space guiding and positioning method based on laser ranging by using a plurality of laser ranging sensors as measuring units at low cost so as to effectively solve the problem that the mobile platform cannot be accurately positioned.
The technical scheme of the invention is as follows:
a two-dimensional space guiding and positioning method based on laser ranging is characterized by comprising the following steps:
firstly, a laser ranging unit consisting of a laser displacement sensor is arranged on a mobile platform, and the laser displacement sensor is used for measuring the distance between three surfaces of the mobile platform and a positioning seat of the mobile platform and sending the distance to a control center as a positioning basis;
secondly, before the first positioning, setting the measurement value of the ranging sensor when the positioning is finished under an ideal condition as a final target value, ensuring that each laser displacement sensor is within a measurement range at the moment, and then setting an adjustment threshold value of the mobile platform, namely, finishing the positioning when the error between the pose of the adjusted mobile platform and the pose of the target is within the threshold value range;
thirdly, when the mobile platform starts to be positioned, the condition that each laser displacement sensor of the mobile platform is within the measuring range must be met, and then the mobile platform starts to execute the positioning process;
fourthly, the mobile platform firstly carries out attitude adjustment, namely carries out rotation motion by using a self geometric center, the magnitude and the direction of the rotation amount are determined by the actual attitude and the target attitude of the mobile platform and are recorded as a rotation angle delta alpha, and when the difference value between the actual attitude and the target attitude of the mobile platform meets a set threshold range, the mobile platform immediately stops moving, which indicates that the attitude adjustment is finished;
fifthly, the mobile platform carries out position adjustment, the mobile platform judges whether the position adjustment is carried out for the first time, and if the position adjustment is carried out for the first time, coarse adjustment is carried out; if the position is not adjusted for the first time, fine adjustment is carried out;
and sixthly, if the yaw direction theta is needed to be calculated by the controller according to the actual position and the target position of the mobile platform, controlling the rotating speed and the steering direction of each wheel of the mobile platform to enable the mobile platform to move along the theta direction until the position difference value meets the set threshold range, and immediately stopping the movement of the mobile platform to indicate that the coarse adjustment is completed.
Seventhly, if fine adjustment is carried out, fine adjustment is required at the time; the trolley respectively adjusts the distance in the X direction and the distance in the Y direction according to the distance data in the X direction and the Y direction obtained by actual measurement, and when the difference value between the actual distance in the X direction and the target value in the Y direction and the target value meets the set threshold range, the mobile platform immediately stops moving, which indicates that the fine adjustment is finished;
eighthly, comparing the actual measurement value of the laser displacement sensor with the target value again after delaying for 1 second, if the actual measurement value is within the threshold range of the target value, indicating that the positioning is finished, and if the actual measurement value is not within the threshold range of the target value, repeating the four steps to the eight steps until the positioning is finished.
The specific calculation of the rotation angle and yaw direction is as follows:
1) rotation angle:
note that the target values of the laser displacement sensors at the top of the front side end and the top of the rear side end of the mobile platform are L2 and L3, and the actual measurement values are L2 'and L3', and the installation distance between them is H, at this time, the following results can be obtained according to the triangular relationship:
the deflection angle between the moving platform and the vertical direction in the target pose is as follows:
the deflection angle between the moving platform and the vertical direction in the actual pose is as follows:
the amount of rotation required for the mobile platform is:
when the delta alpha is larger than 0, the moving platform rotates anticlockwise to adjust the posture; when the delta alpha is less than 0, the moving platform rotates clockwise to adjust the posture;
2) a yaw direction;
c) during the first adjustment:
recording target values of sensors at the top of the front end, the top of the side front end and the top of the right rear end of the mobile platform as L1, L2 and L3 respectively, and actual measurement values as L1 ', L2 ' and L3 ', and theta is an included angle between advancing directions of the mobile platform when the current advancing direction rotates clockwise to the target pose of the mobile platform, and ordering:
if L1'>L1 and
the yaw direction is then:
if L1' < L1 and
the yaw direction is then:
if L1' < L1 and
the yaw direction is then:
if L1'>L1 and
the yaw direction is then:
if L1'>L1 and
the yaw direction is then: theta5＝0
If L1' is equal to L1 and
the yaw direction is then:
if L1' < L1 and
the yaw direction is then: theta7＝π
If L1' is equal to L1 and
the yaw direction is then:
d) when fine tuning is performed:
recording target values of sensors at the top of the front end, the top of the front side and the top of the rear side of the mobile platform as L1, L2 and L3 respectively, and actual measurement values as L1 ', L2 ' and L3 ' respectively, establishing a coordinate system XOY, and enabling Y to be the forward and backward directions of the mobile platform, wherein the forward direction is the positive direction of Y; making X be the left-right movement direction of the mobile platform, wherein the direction close to the positioning seat is the positive direction of X; then it can be obtained:
ΔY＝(L4′-L3′)-(L4-L3)
when the delta X is larger than 0, the trolley needs to move along the X axis in the negative direction; when the delta X is less than 0, the trolley needs to move along the X axis in the positive direction;
when the delta Y is larger than 0, the trolley needs to move along the Y axis in the positive direction; when the delta Y is less than 0, the trolley needs to move along the Y axis in the negative direction.
The position of the mobile platform is adjusted in two stages, namely, the movement along the yaw direction theta during coarse adjustment and the movement along the X and Y directions during fine adjustment are respectively executed.
The invention also comprises safety setting, when a certain value of the four laser displacement sensors of the mobile platform exceeds the measurement range, the mobile platform automatically stops running, and the operation safety is ensured.
The laser ranging unit comprises four laser displacement sensors, and the mounting positions of the four laser displacement sensors are the front end top, the side rear end top and the rear end top of the mobile platform and are used for measuring the distance between the mobile platform and the positioning seat in real time.
The laser beams of the laser displacement sensor are all required to be vertical to the body of the mobile platform; the laser displacement sensors at the top of the front side end and the top of the rear side end have no requirement on the specific installation distance, and the appropriate installation position can be selected according to the actual length and layout of the vehicle body.
The invention has the following beneficial effects:
1) the invention adopts the laser displacement sensor as the measuring device, has the characteristics of strong adaptability and low equipment cost, has the total positioning cost of about one tenth of that of a laser radar, and greatly improves the practicability of the mobile platform in factory logistics.
2) The position adjustment of the mobile platform is divided into two stages, namely, the movement in the yaw direction theta of the coarse adjustment and the movement in the X and Y directions of the fine adjustment are respectively executed. Through the division of the adjusting mode, the positioning speed can be ensured, the positioning precision can be ensured, and the positioning efficiency is obviously improved. Compared with laser radar positioning, the speed is improved by 50%, and the precision is improved by more than 70%.
3) The method comprises safety setting, and when a certain numerical value of four laser displacement sensors of the mobile platform exceeds a measurement range, the mobile platform automatically stops running, so that the operation safety is ensured.
Drawings
Fig. 1 is a schematic diagram of the positioning of a mobile platform according to the present invention.
FIG. 2 is a top view of the laser ranging sensor mounting location according to the present invention.
Fig. 3 is a schematic view of the rotation angle calculation according to the present invention.
FIG. 4 is a schematic view of the yaw direction angle according to the present invention.
Fig. 5 is a specific flowchart of the mobile platform positioning according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings and the detailed description, it being understood that the specific embodiments described herein are merely illustrative of the invention and are not meant to be limiting.
As shown in fig. 1-5.
A two-dimensional space guiding and positioning method based on laser ranging is shown in figure 1 and comprises a moving platform 2 (a moving trolley AGV) and a laser ranging unit 3. The laser ranging unit 3 comprises four laser displacement sensors 4, 5, 6 and 7, the installation positions of the four laser displacement sensors are shown in fig. 2, the laser displacement sensors 4, 5, 6 and 7 are respectively installed at the top of the front end, the top of the rear end and the top of the rear end of the moving platform 2 and are used for measuring the distance between the moving platform and the positioning seat 1 (a stop station of the moving trolley, three surfaces of the stop station are provided with reflecting surfaces for reflecting laser beams for ranging, and one surface of the stop station is provided for the moving trolley to pass in and out). And laser beams of all the laser displacement sensors are required to be vertical to the body of the mobile platform. The laser displacement sensors at the top of the front side end and the top of the rear side end have no requirement on the specific installation distance, and the appropriate installation position can be selected according to the actual length and layout of the vehicle body.
The specific adjustment steps are as follows (as shown in fig. 5):
firstly, before first positioning, setting a measurement value of a ranging sensor when positioning is finished under an ideal condition as a final target value, ensuring that four laser displacement sensors are all in a measurement range at the moment, and then setting an adjustment threshold value of a mobile platform, namely, finishing positioning when the position and the target position of the adjusted mobile platform are in the threshold value range.
And step two, when the mobile platform starts to be positioned, the condition that the four laser displacement sensors of the mobile platform are all in the measuring range is required to be met, and then the mobile platform starts to execute the positioning process.
And step three, the mobile platform firstly performs attitude adjustment, namely performs rotary motion by using a self geometric center, the magnitude and the direction of the rotary quantity are determined by the actual attitude and the target attitude of the mobile platform and are recorded as a rotary angle delta alpha, and when the difference value between the actual attitude and the target attitude of the mobile platform meets a set threshold range, the mobile platform immediately stops moving, which indicates that the attitude adjustment is completed.
And step four, the mobile platform adjusts the position. The mobile platform judges whether the position is adjusted for the first time or not, and if the position is adjusted for the first time, the mobile platform performs coarse adjustment; if the position is not adjusted for the first time, fine adjustment is performed.
And step five, if the yaw direction theta is roughly adjusted, calculating the required yaw direction theta according to the actual position and the target position of the mobile platform, controlling the rotating speed and the steering direction of each wheel of the mobile platform, enabling the mobile platform to move along the theta direction, and stopping the movement of the mobile platform immediately until the position difference value meets the set threshold range, so that the rough adjustment is finished.
And step six, if fine adjustment is carried out, the fine adjustment is required. And the mobile platform respectively adjusts the distances in the X and Y directions according to the X and Y-direction distance data obtained by actual measurement, and when the difference value between the actual distance in the X and Y directions and the target value meets the set threshold range, the mobile platform immediately stops moving to indicate that the fine adjustment is finished.
And step seven, after delaying for 1 second, comparing the actual measurement value of the laser displacement sensor with the target value again, if the actual measurement value is within the threshold range of the target value, indicating that the positioning is finished, and if the actual measurement value is not within the threshold range of the target value, repeating the steps three to seven until the positioning is finished.
Wherein: the specific calculation of the rotation angle and yaw direction is as follows:
1) the angle of rotation.
As shown in fig. 3, the target values of the laser displacement sensors at the top of the front side and the top of the rear right side of the mobile platform are L2 and L3, and the measured values are L2 'and L3', and the installation distance between them is H, then the following results can be obtained according to the trigonometric relationship:
the deflection angle between the moving platform and the vertical direction in the target pose is as follows:
the deflection angle between the moving platform and the vertical direction in the actual pose is as follows:
the amount of rotation required for the mobile platform is:
when the delta alpha is larger than 0, the moving platform rotates anticlockwise to adjust the posture; when the delta alpha is less than 0, the moving platform rotates clockwise to adjust the posture.
2) Direction of yaw
a) When first adjusted
As shown in fig. 3 and 4, the position a in fig. 4 is the actual pose of the mobile platform, and the position B is the target pose of the mobile platform. Recording target values of sensors at the top of the front end, the top of the front end and the top of the rear end of the side of the moving platform as L1, L2 and L3 respectively, and actual measurement values as L1 ', L2 ' and L3 ', wherein theta is a yaw angle, namely an included angle between advancing directions of the moving platform when the current advancing direction rotates clockwise to the target pose of the moving platform, so that
If L1'>L1 and
the yaw direction is then:
if L1' < L1 and
the yaw direction is then:
if L1' < L1 and
the yaw direction is then:
if L1'>L1 and
the yaw direction is then:
if L1'>L1 and
the yaw direction is then: theta5＝0
If L1' is equal to L1 and
the yaw direction is then:
if L1' < L1 and
the yaw direction is then: theta7＝π
If L1' is equal to L1 and
the yaw direction is then:
b) when performing fine adjustment
Recording target values of sensors at the top of the front end, the top of the side front end and the top of the right rear end of the mobile platform as L1, L2 and L3 respectively, and actual measurement values as L1 ', L2 ' and L3 ' respectively, establishing a coordinate system XOY, and enabling Y to be the advancing and retreating directions of the mobile platform, wherein the advancing direction is the positive direction of Y. And enabling the X to be the left-right movement direction of the mobile platform, wherein the direction close to the positioning seat is the positive direction of the X. Then it can be obtained:
ΔY＝(L4′-L3′)-(L4-L3)
when the delta X is larger than 0, the trolley needs to move along the X axis in the negative direction; when DeltaX is less than 0, the trolley needs to move along the X axis in the positive direction.
When the delta Y is larger than 0, the trolley needs to move along the Y axis in the positive direction; when the delta Y is less than 0, the trolley needs to move along the Y axis in the negative direction.
The two-dimensional space guiding and positioning method based on laser ranging is characterized in that the position adjustment of the mobile platform is divided into two stages, namely, the movement along the yaw direction theta during coarse adjustment and the movement along the X direction and the Y direction during fine adjustment are respectively executed.
The two-dimensional space guiding and positioning method based on laser ranging is characterized by comprising safety setting, wherein when a certain numerical value of four laser displacement sensors of a mobile platform exceeds a measuring range, the mobile platform automatically stops running, and the operation safety is guaranteed.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
The present invention is not concerned with parts which are the same as or can be implemented using prior art techniques.
Claims (5)
1. A two-dimensional space guiding and positioning method based on laser ranging is characterized by comprising the following steps:
firstly, a laser ranging unit consisting of a laser displacement sensor is arranged on a mobile platform, and the laser displacement sensor is used for measuring the distance between three surfaces of the mobile platform and a positioning seat of the mobile platform and sending the distance to a control center as a positioning basis;
secondly, before the first positioning, setting the measurement value of the ranging sensor when the positioning is finished under an ideal condition as a final target value, ensuring that each laser displacement sensor is within a measurement range at the moment, and then setting an adjustment threshold value of the mobile platform, namely, finishing the positioning when the error between the pose of the adjusted mobile platform and the pose of the target is within the threshold value range;
thirdly, when the mobile platform starts to be positioned, the condition that each laser displacement sensor of the mobile platform is within the measuring range must be met, and then the mobile platform starts to execute the positioning process;
fourthly, the mobile platform firstly carries out attitude adjustment, namely carries out rotation motion by using a self geometric center, the magnitude and the direction of the rotation amount are determined by the actual attitude and the target attitude of the mobile platform and are recorded as a rotation angle delta alpha, and when the difference value between the actual attitude and the target attitude of the mobile platform meets a set threshold range, the mobile platform immediately stops moving, which indicates that the attitude adjustment is finished;
fifthly, the mobile platform carries out position adjustment, the mobile platform judges whether the position adjustment is carried out for the first time, and if the position adjustment is carried out for the first time, coarse adjustment is carried out; if the position is not adjusted for the first time, fine adjustment is carried out;
sixthly, if the yaw direction theta is needed to be calculated by the controller according to the actual position and the target position of the mobile platform, the rotating speed and the steering direction of each wheel of the mobile platform are controlled, the mobile platform moves along the theta direction until the position difference value meets the set threshold range, the mobile platform stops moving immediately, and the coarse adjustment is finished;
seventhly, if fine adjustment is carried out, fine adjustment is required at the time; the trolley respectively adjusts the distance in the X direction and the distance in the Y direction according to the distance data in the X direction and the Y direction obtained by actual measurement, and when the difference value between the actual distance in the X direction and the target value in the Y direction and the target value meets the set threshold range, the mobile platform immediately stops moving, which indicates that the fine adjustment is finished;
eighthly, comparing the actual measurement value of the laser displacement sensor with the target value after delaying for 1 second, if the actual measurement value is within the threshold range of the target value, indicating that the positioning is finished, and if the actual measurement value is not within the threshold range of the target value, repeating the fourth step to the eighth step until the positioning is finished;
the specific calculation of the rotation angle and yaw direction is as follows:
1) rotation angle:
note that the target values of the laser displacement sensors at the top of the front side end and the top of the rear side end of the mobile platform are L2 and L3, and the actual measurement values are L2 'and L3', and the installation distance between them is H, at this time, the following results can be obtained according to the triangular relationship:
the deflection angle between the moving platform and the vertical direction in the target pose is as follows:
the deflection angle between the moving platform and the vertical direction in the actual pose is as follows:
the amount of rotation required for the mobile platform is:
when the delta alpha is larger than 0, the moving platform rotates anticlockwise to adjust the posture; when the delta alpha is less than 0, the moving platform rotates clockwise to adjust the posture;
2) yaw direction:
a) during the first adjustment:
recording target values of sensors at the top of the front end, the top of the side front end and the top of the right rear end of the mobile platform as L1, L2 and L3 respectively, and actual measurement values as L1 ', L2 ' and L3 ', and theta is an included angle between advancing directions of the mobile platform when the current advancing direction rotates clockwise to the target pose of the mobile platform, and ordering:
if L1' > L1 and
the yaw direction is then:
if L1' < L1 and
the yaw direction is then:
if L1' < L1 and
the yaw direction is then:
if L1' > L1 and
the yaw direction is then:
if L1' > L1 and
the yaw direction is then: theta5＝0
If L1' is equal to L1 and
the yaw direction is then:
if L1' < L1 and
the yaw direction is then: theta7＝π
If L1' is equal to L1 and
the yaw direction is then:
b) when fine tuning is performed:
recording target values of sensors at the top of the front end, the top of the front side and the top of the rear side of the mobile platform as L1, L2 and L3 respectively, and actual measurement values as L1 ', L2 ' and L3 ' respectively, establishing a coordinate system XOY, and enabling Y to be the forward and backward directions of the mobile platform, wherein the forward direction is the positive direction of Y; making X be the left-right movement direction of the mobile platform, wherein the direction close to the positioning seat is the positive direction of X; then it can be obtained:
ΔY＝(L4′-L3′)-(L4-L3)
when the delta X is larger than 0, the trolley needs to move along the negative direction of the X axis; when the delta X is less than 0, the trolley needs to move along the X axis in the positive direction;
when the delta Y is larger than 0, the trolley needs to move along the Y axis in the positive direction; when the delta Y is less than 0, the trolley needs to move along the Y axis in the negative direction.
2. The positioning method according to claim 1, wherein the position adjustment of the movable platform is performed in two stages, i.e., the movement in the yaw direction θ in the coarse adjustment and the movement in the X and Y directions in the fine adjustment are performed, respectively.
3. The positioning method according to claim 1, comprising a safety setting, wherein when a certain value of the four laser displacement sensors of the mobile platform exceeds a measurement range, the mobile platform automatically stops running, and the operation safety is ensured.
4. The positioning method of claim 1, wherein the laser ranging unit comprises four laser displacement sensors, which are mounted on the front top, the side rear top and the rear top of the mobile platform, for measuring the distance between the mobile platform and the positioning base in real time.
5. The positioning method according to claim 1, wherein the laser beams of the laser displacement sensor are all required to be vertical to the body of the mobile platform; the distance between the laser displacement sensors at the top of the front side end and the top of the rear side end is selected according to the actual length and layout of the vehicle body.
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| CN110282454A (en) * | 2019-08-12 | 2019-09-27 | 龙合智能装备制造有限公司 | The intelligent carriage and its displacement control method of Intelligent unattended loading system |
| CN110488834A (en) * | 2019-08-27 | 2019-11-22 | 北京特种机械研究所 | A kind of High Precision Automatic transfer device of spacecraft and its localization method |
| CN113093215B (en) * | 2021-04-01 | 2022-10-14 | 南京航空航天大学 | Mobile platform tracking method based on laser ranging |
| CN114229519B (en) * | 2021-12-30 | 2023-12-08 | 芜湖哈特机器人产业技术研究院有限公司 | Positioning device and positioning method for large material barrel |
| CN114323026B (en) * | 2022-01-07 | 2023-02-17 | 苏州康多机器人有限公司 | Navigation method, control device and mobile device based on discontinuous side reference plane |
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| 工业机器人视觉定位系统的实现;冯志刚等;《航空科学技术》;20180115;第48-53页 * |
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| CN109709974A (en) | 2019-05-03 |
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