CN109885049B - Automatic mapping and path matching method for laser-guided AGV (automatic guided vehicle) based on dead reckoning - Google Patents
Automatic mapping and path matching method for laser-guided AGV (automatic guided vehicle) based on dead reckoning Download PDFInfo
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Abstract
A dead reckoning-based automatic mapping and path matching method for a laser guidance AGV comprises the following steps: establishing a world coordinate system of an AGV working area and a vehicle body coordinate system of the AGV; collecting first distance information and first angle information of nearby laser reflectors under the vehicle body coordinate system through a laser radar; predicting the AGV pose at the next moment according to the AGV pose prediction model so as to obtain second distance information and second angle information of the laser reflector at the next moment; and respectively comparing the first distance information with the second distance information and the first angle information with the second angle information, and completing automatic mapping and path matching of the AGV according to a comparison result. The invention provides an automatic mapping algorithm based on coordinate system conversion, which realizes automatic measurement of the coordinates of a reflector. In addition, aiming at the problem of large calculation amount of the traditional reflector matching algorithm, a dead reckoning-based rapid matching method is provided, and rapid matching of the reflector is realized.
Description
Technical Field
The invention relates to the technical field of laser positioning of an AGV with a reflector, in particular to a dead reckoning-based automatic mapping and path matching method for a laser-guided AGV.
Background
The navigation positioning technology is one of the key technologies of an Automatic Guided Vehicle (AGV), and currently, an AGV laser positioning method with a reflector is widely applied to industrial automatic production.
The existing laser positioning algorithm with the reflectors needs to preset the coordinates of each reflector in a world coordinate system and then complete the positioning of the AGV. According to the mode, on one hand, the positioning error of the AGV can be caused by the error generated by manually measuring the coordinates of the reflector, on the other hand, the coordinates of the reflector need to be measured again when the AGV switches the working environment, great inconvenience is brought, and the working efficiency of actual production is influenced. In addition, before laser positioning, matching of the laser plates needs to be completed firstly, namely, the correct corresponding relation between the distance value and the angle value of each reflecting plate obtained by scanning at a certain time and the coordinates of each reflecting plate in the world coordinate system is found. Most of the existing reflector matching methods have large calculation amount and long consumed time. Especially, when the AGV is dynamically positioned, due to the requirement of control real-time performance, the time of each positioning period is not suitable to be too long, otherwise, the control accuracy of the AGV is influenced.
Disclosure of Invention
The invention aims to provide a dead reckoning-based automatic mapping and path matching method for a laser guidance AGV, which is realized by the following technical scheme and comprises the following steps: establishing a world coordinate system of an AGV working area and a vehicle body coordinate system of the AGV; collecting first distance information and first angle information of nearby laser reflectors under the vehicle body coordinate system through a laser radar; predicting the AGV pose at the next moment according to the AGV pose prediction model so as to obtain second distance information and second angle information of the laser reflector at the next moment; and respectively comparing the first distance information with the second distance information and the first angle information with the second angle information, and completing automatic mapping and path matching of the AGV according to a comparison result.
Further, before collecting first distance information and first angle information of nearby laser reflectors under the vehicle body coordinate system through a laser radar, the method further comprises the following steps: arranging a plurality of asymmetric laser reflectors in an AGV field, wherein the asymmetric laser reflectors are used for assisting the AGV in positioning so as to plan a driving path of the AGV; wherein the laser reflector comprises: a laser reflector or a laser reflector pillar.
Further, the first distance information and the first angle information of nearby laser reflectors under the vehicle body coordinate system are collected through a laser radar and are coordinates under the vehicle body coordinate system; and predicting the AGV pose at the next moment according to the AGV pose prediction model, and further obtaining the coordinates of the second distance information and the second angle information of the laser reflector at the next moment under the world coordinate system.
Further, before comparing the first distance information and the second distance information with the first angle information and the second angle information, respectively, the method further includes: establishing a transformation relation between the world coordinate system and the vehicle body coordinate system; transforming the first distance information and the first angle information into the world coordinate system according to the transformation relation; and obtaining the position coordinates of the corresponding laser reflector in a world coordinate system after the first distance information is converted through the conversion relation.
Further, predicting the AGV pose at the next moment according to the AGV pose estimation model, and further obtaining second distance information and second angle information of the laser reflector at the next moment, the method includes: constructing a transformation relation between the distance information and the angle information of the reflector and the position and posture of the vehicle body under a world coordinate system; obtaining the coordinates of the AGV at the current moment in a world coordinate system and a vehicle body course angle; and obtaining the second distance information and the second angle information according to the AGV pose at the next moment, the transformation relation, the coordinate of the AGV at the current moment in a world coordinate system and the vehicle body heading angle.
Further, before comparing the first distance information and the second distance information with the first angle information and the second angle information, respectively, the method further includes: storing the obtained first distance information and the first angle information under the vehicle body coordinate system into a laser reflector actual information list according to a scanning sequence; storing the obtained position coordinates of the laser reflector in a world coordinate system into a laser reflector map list according to a scanning sequence; and storing second distance information and second angle information of the laser reflector at the next moment, which are obtained by the AGV pose presumption model, into an expected information list of the laser reflector.
Furthermore, the automatic mapping of the AGV according to the comparison result includes: comparing the distance information and the angle information of each laser reflector detected by the laser radar at the current moment with each element in the laser reflector expected information list; if at least one difference value of the two corresponding distance information or the two corresponding angle information is larger than or equal to the set threshold value, a new laser reflector is found; after all laser reflectors are successfully matched, updating the position coordinates of the new laser reflectors in a world coordinate system into the laser reflector map list; and repeating the process in the traveling process of the AGV, thereby completing the automatic mapping of the AGV.
Further, the completing the path matching according to the comparison result includes: if the difference value of the corresponding distance information and the corresponding angle information is smaller than a set threshold value, the laser reflectors are regarded as the same laser reflector; after all the laser reflectors are successfully matched, updating the actual distance information and the angle information of each current laser reflector to a laser reflector actual information list; and repeating the process in the traveling process of the AGV, thereby completing the path matching of the AGV.
Further, the pose estimation model includes:
wherein, W (K +1) is the pose of AGV at the moment of K +1, Xp(k) And Yp(k) The x and Y coordinates of the AGV at the initial position, respectively. ψ (k) is an AGV initial angle, Δ x (k), Δ y (k), and Δ ψ (k) are an x-coordinate variation amount, a y-coordinate variation amount, and an angle variation amount, respectively, vl (k), and Vr(k) The AGV left and right wheel control quantities are respectively, and Δ t is a time interval from time k to time k + 1.
The invention has the advantages that: an automatic mapping algorithm based on coordinate system conversion is provided, and automatic measurement of the coordinates of the laser reflector is achieved. In addition, aiming at the problem of large calculation amount of the traditional reflector matching algorithm, a dead reckoning-based rapid matching method is provided, and rapid matching of the reflector is realized.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flowchart illustrating a dead reckoning-based method for automatically mapping and matching a path of a laser guided AGV according to an embodiment of the present invention.
FIG. 2 illustrates a schematic view of an AGV according to an embodiment of the present invention detecting surrounding reflectors in an initial position.
FIG. 3 is a schematic diagram illustrating the relationship of the AGV's motion at time k to k +1 according to an embodiment of the present invention.
FIG. 4 shows a schematic view of an AGV according to an embodiment of the present invention detecting a new reflector.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The invention provides an automatic mapping algorithm based on coordinate system conversion, which realizes automatic measurement of the coordinates of a reflector. In addition, aiming at the problem of large calculation amount of the traditional reflector matching algorithm, a reflector fast matching method based on dead reckoning is provided, and fast and accurate matching of the reflector is realized. The process of the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a method for automatic mapping and path matching of a laser guided AGV based on dead reckoning according to an embodiment of the present invention. The workflow comprises the following steps: s1, establishing a world coordinate system of the AGV working area and a vehicle body coordinate system of the AGV; s2, collecting first distance information and first angle information of nearby laser reflectors under the vehicle body coordinate system through a laser radar; s3, predicting the AGV pose at the next moment according to the AGV pose presumption model, and further obtaining second distance information and second angle information of the laser reflector at the next moment; s4, comparing the first distance information with the second distance information and the first angle information with the second angle information respectively, and completing automatic mapping and path matching of the AGV according to the comparison result.
The invention will now be described in detail with reference to a preferred embodiment of the method of the invention:
FIG. 2 is a schematic diagram of an AGV according to an embodiment of the present invention detecting surrounding reflectors in an initial position. A plurality of laser reflectors L1, L2 and L3 are asymmetrically distributed in the working site of the AGV, and a laser radar sensor is placed at the point P in the center of the AGV body. And defining the world coordinate system as XOY, and defining the coordinate system fixedly connected with the vehicle body as a vehicle body coordinate system x 'py'. Coordinates of the reflector Li in the world coordinate system are (Xi, Yi), and coordinates in the vehicle body coordinate system are (Xi, Yi).
Fig. 3 is a schematic diagram showing the relationship between the motions of the AGV from time k to time k +1 according to the embodiment of the present invention. Establishing a pose calculation model for the AGV body, setting the pose of the trolley at the moment k as X (k),
setting the wheelbase of the left and right wheels of the AGV as B, setting the time interval as delta t and the speed control values of the left and right wheels as V respectively in the process of moving to the moment k +1l(k)、Vr(k) And the angle variation is delta psi (k), the pose of the trolley at the moment k +1 can be obtained according to the motion relation as follows:
then, the change relation of the angle and the distance of the reflector along with the position and the posture of the trolley is established, as shown in figure 2, for the ith reflector L monitored by the laser radariObtaining its coordinates in the world coordinate system as (X)i,Yi) The theoretical prediction distance and the theoretical prediction of the reflecting plate from the point P at the moment k +1 can be obtained from the geometrical relationThe angle measurement should be
Wherein Z isi(k +1) is a spatial characteristic of the laser reflector, Li(k +1) is the theoretical predicted distance, αi(k +1) is a theoretical prediction angle.
Starting from the automatic mapping, assuming that the cart is located at point P in the initial position as shown in FIG. 2, the coordinates (X) of point P in the world coordinate system are manually inputp(k)，Yp(k) To an initial heading angle ψ (k), at this time, the initial attitude of point P
Receiving the laser reflector data returned from the laser radar at the initial position, as shown in fig. 2, distance information | PL of each reflector can be obtainedi| and angle information αiWherein i is 1,2, 3. As shown in the following formula, the coordinates (xi, yi) (i ═ 1,2, 3) of each reflector in the vehicle body coordinate system can be further calculated; wherein the content of the first and second substances,
then, the coordinates of each reflector under the vehicle body coordinate system are converted into the coordinates under the world coordinate system, and the process is as follows:
the coordinates (Xi, Yi) of each reflector in the world coordinate system can be obtained from equations (4) and (5), where i is 1,2, and 3. According to the scanning sequence of the laser radar, optionally, the position coordinate data of the group of laser reflectors is stored in a reflector map list according to the traveling direction of the AGV, and the original distance and angle information of each reflector obtained through scanning is stored in a reflector actual information list.
Next, the AGV is ready to be moved to the next position as follows: the method comprises the steps of firstly predicting the position and posture of the AGV at the next moment according to the recursion relation of a formula (2), calculating theoretical values of distances and angles of all reflectors in a reflector map list at the next moment, then writing the theoretical values into a reflector expected information list, and moving the AGV after calculation is completed.
Next, after reaching the new position, comparing the distance information and the angle information of each laser reflector detected by the laser radar at the current moment with each element in the laser reflector expected information list; if the difference value of the corresponding distance information and the corresponding angle information is smaller than a set threshold value, the laser reflectors are regarded as the same laser reflector; after all the laser reflectors are successfully matched, updating the actual distance information and the angle information of each current laser reflector to a laser reflector actual information list; thereby completing the positioning of the AGV in the new position.
FIG. 4 is a schematic diagram of an AGV according to an embodiment of the present invention detecting a new reflector. After the new position is reached, (after the new position is reached, if the new position detects a new reflector, the matching of the old reflector is completed according to the method of the previous section so as to realize the positioning, and the rest reflectors which are not successfully matched are regarded as new laser reflectors); after all laser reflectors are successfully matched, updating the position coordinates of the new laser reflectors in a world coordinate system into the laser reflector map list; the vehicle body coordinate system coordinates of the new reflector L4 are converted into world coordinate system coordinates, as shown in the following formula:
wherein X4 and Y4 are position coordinates of the laser reflector L4 under a vehicle body coordinate system, X4 and Y4 are position coordinates of the laser reflector L4 under a world coordinate system, and X isp(k) And Yp(k) And the position coordinates of the AGV at the moment K.
And then, planning a reasonable driving path for the trolley, repeating the process of preparing to move the AGV to the next position to detect a new reflector in the advancing process of the AGV until the coordinates under the world coordinate systems of all reflectors are stored in a reflector map list, thereby completing the automatic key map and path matching process.
Compared with the prior art, the automatic mapping method for the laser guidance AGV based on the reflector provided by the invention can realize automatic mapping of the environment reflector coordinates, and reduces AGV positioning errors caused by inaccurate reflector coordinates due to manual measurement. In addition, compared with the traditional traversal matching algorithm and the traditional calculation amount, the reflector matching method based on the distance recurrence relation greatly reduces the positioning efficiency and ensures the real-time performance of the system.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (3)
1. A dead reckoning-based automatic mapping and path matching method for a laser guidance AGV is characterized by comprising the following steps:
establishing a world coordinate system of an AGV working area and a vehicle body coordinate system of the AGV;
collecting first distance information and first angle information of nearby laser reflectors under the vehicle body coordinate system through a laser radar;
predicting the AGV pose at the next moment according to the AGV pose prediction model so as to obtain second distance information and second angle information of the laser reflector at the next moment; the method for predicting the AGV pose at the next moment according to the AGV pose presumption model so as to obtain second distance information and second angle information of the laser reflector at the next moment comprises the following steps:
constructing a transformation relation between the distance information and the angle information of the reflector and the position and posture of the vehicle body under a world coordinate system;
obtaining the coordinates of the AGV at the current moment in a world coordinate system and a vehicle body course angle;
obtaining the second distance information and the second angle information according to the AGV pose at the next moment, the transformation relation, and the coordinates of the AGV at the current moment in a world coordinate system and the vehicle body heading angle;
the pose estimation model includes:
wherein, W (K +1) is the pose of the AGV at the moment of K +1, and xp (K) and Yp (K) are the x coordinate and the y coordinate of the AGV at the initial position respectively; psi (k) is an AGV initial angle, the delta x (k), the delta y (k) and the delta psi (k) are respectively an x coordinate variation, a y coordinate variation and an angle variation, vl (k) and Vr (k) are respectively AGV left and right wheel control quantities, delta t is a time interval from time k to time k +1, and B is an axle distance of the AGV left and right wheels;
the AVG moves to the next position, and third distance information and third angle information of the laser reflector under the vehicle body coordinate system at the moment are collected through a laser radar;
respectively comparing the third distance information with the second distance information and the third angle information with the second angle information, and completing automatic mapping and path matching of the AGV according to a comparison result;
comparing the third distance information with the second distance information and the third angle information with the second angle information respectively, and completing automatic mapping of the AGV according to a comparison result, comprising:
comparing the third distance information with the second distance information and the third angle information with the second angle information;
if at least one difference value of the two corresponding distance information or the two corresponding angle information is larger than or equal to a preset threshold value, a new laser reflector is found;
after all laser reflectors are successfully matched, updating the position coordinates of the new laser reflectors in a world coordinate system into a laser reflector map list;
repeating the above process in the traveling process of the AGV, thereby completing the automatic map building of the AGV;
wherein, respectively comparing the third distance information with the second distance information and the third angle information with the second angle information, and completing the path matching of the AGV according to the comparison result, includes:
comparing the third distance information with the second distance information and the third angle information with the second angle information;
if the difference value of the corresponding distance information and the corresponding angle information is smaller than a set threshold value, the laser reflectors are regarded as the same laser reflector;
after all the laser reflectors are successfully matched, updating the actual distance information and the angle information of each current laser reflector to a laser reflector actual information list;
repeating the above process in the traveling process of the AGV, thereby completing the path matching of the AGV; before comparing the third distance information with the second distance information and comparing the third angle information with the second angle information, the method further includes:
establishing a transformation relation between the world coordinate system and the vehicle body coordinate system;
transforming the first distance information and the first angle information into the world coordinate system according to the transformation relation; wherein the content of the first and second substances,
after the first distance information is transformed through the transformation relation, position coordinates of the corresponding laser reflector in a world coordinate system are obtained;
before comparing the third distance information with the second distance information and comparing the third angle information with the second angle information, the method further includes:
storing the obtained first distance information and the first angle information under the vehicle body coordinate system into a laser reflector actual information list according to a scanning sequence;
storing the obtained position coordinates of the laser reflector in a world coordinate system into a laser reflector map list according to a scanning sequence;
storing second distance information and second angle information of the laser reflector at the next moment, which are obtained through the AGV pose presumption model, into an expected information list of the laser reflector;
wherein the laser reflector comprises: a laser reflector or a laser reflector pillar.
2. The method of claim 1, further comprising, prior to collecting first distance information and first angle information of nearby laser reflectors in the body coordinate system via a lidar, the steps of:
arranging a plurality of asymmetric laser reflectors in an AGV field, wherein the asymmetric laser reflectors are used for assisting the AGV in positioning so as to plan a driving path of the AGV; wherein the content of the first and second substances,
the laser reflector includes: a laser reflector or a laser reflector pillar.
3. The laser-guided AGV automatic mapping and path matching method of claim 1,
the method comprises the steps that first distance information and first angle information of nearby laser reflectors under a vehicle body coordinate system are collected through a laser radar and are coordinates under the vehicle body coordinate system;
and predicting the AGV pose at the next moment according to the AGV pose prediction model, and further obtaining the coordinates of the second distance information and the second angle information of the laser reflector at the next moment under the world coordinate system.
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| CN112147637A (en) * | 2019-06-28 | 2020-12-29 | 杭州海康机器人技术有限公司 | Robot repositioning method and device |
| JP7395280B2 (en) * | 2019-08-08 | 2023-12-11 | 三菱重工業株式会社 | Position calculation system, position calculation method, and automated guided vehicle |
| CN110442137A (en) * | 2019-08-12 | 2019-11-12 | 北京特种机械研究所 | Mecanum wheel AGV Automatic Track Finding driving system |
| CN110442136A (en) * | 2019-08-12 | 2019-11-12 | 北京特种机械研究所 | A kind of any attitude air navigation aid of Mecanum wheel AGV |
| CN110471031A (en) * | 2019-08-28 | 2019-11-19 | 佛山市兴颂机器人科技有限公司 | A kind of laser position localization method and system based on reflector |
| CN111337877A (en) * | 2020-03-19 | 2020-06-26 | 北京北特圣迪科技发展有限公司 | Reflector matching positioning method |
| CN111307168A (en) * | 2020-03-19 | 2020-06-19 | 苏州艾吉威机器人有限公司 | AGV (automatic guided vehicle) map building method and positioning method and system |
| CN111337016A (en) * | 2020-03-31 | 2020-06-26 | 广东技术师范大学天河学院 | AGV (automatic guided vehicle) based on laser scanner and navigation method thereof |
| CN111781609B (en) * | 2020-04-10 | 2022-11-29 | 昆山同日智能技术有限公司 | AGV laser navigation multilateral positioning method |
| CN111694013B (en) * | 2020-06-11 | 2023-03-28 | 三一机器人科技有限公司 | Method, device and equipment for constructing map of reflective column and storage medium |
| CN113884093A (en) * | 2020-07-02 | 2022-01-04 | 苏州艾吉威机器人有限公司 | AGV mapping and positioning method, system, device and computer readable storage medium |
| CN111830491B (en) * | 2020-08-04 | 2023-06-27 | 三一机器人科技有限公司 | Method and device for monitoring reflector in navigation system and electronic equipment |
| CN111829517A (en) * | 2020-08-19 | 2020-10-27 | 三一机器人科技有限公司 | AGV navigation positioning system and method |
| CN112213738B (en) * | 2020-09-28 | 2023-02-28 | 劢微机器人科技(深圳)有限公司 | Map construction method, device and equipment for automated guided vehicle and storage medium |
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