CN112285644A - AGV trolley positioning method and related device - Google Patents
AGV trolley positioning method and related device Download PDFInfo
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- CN112285644A CN112285644A CN202011139831.9A CN202011139831A CN112285644A CN 112285644 A CN112285644 A CN 112285644A CN 202011139831 A CN202011139831 A CN 202011139831A CN 112285644 A CN112285644 A CN 112285644A
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- 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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
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- 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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The application discloses a positioning method and a related device of an AGV (automatic guided vehicle), wherein the method comprises the following steps: when the receiving end passes through the target area, the electromagnetic wave intensity of the electromagnetic waves of each frequency band at the current position of the receiving end is obtained, and the receiving end is arranged on the AGV; acquiring a transmitting end corresponding to each frequency band and a three-dimensional curve model of the transmitting end, and obtaining the horizontal distance between the current position of a receiving end and each transmitting end according to the transmitting end, the electromagnetic wave intensity and the three-dimensional curve model; the three-dimensional curve model of the transmitting end is generated by the electromagnetic wave intensity of the receiving end at a plurality of sampling points and the horizontal distance between the transmitting end and the sampling points, each sampling point is distributed in a target area, each transmitting end is distributed on different reference points at the boundary of the target area, the frequency bands of the transmitting ends are different but the transmitting power is the same, and the number of the transmitting ends is not less than three; and calculating to obtain the positioning information of the current position of the receiving end according to the distance between the receiving end and each transmitting end. The technical problem that the cost of an existing AGV trolley is very high when the AGV trolley is located is solved.
Description
Technical Field
The application relates to the field of positioning, in particular to a positioning method and a related device for an AGV.
Background
An AGV is generally called an AGV cart, and is a transport vehicle equipped with an automatic navigation device such as an electromagnetic or optical device, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions, and the AGV cart needs to position its own position during navigation.
The technologies used by the existing AGV trolley during positioning generally comprise an electromagnetic induction guiding type, a laser guiding type and a vision guiding type. However, the electromagnetic induction guidance type requires a large number of wires to be embedded in advance, the laser guidance type requires expensive laser equipment to be installed, and the visual guidance type has a high calculation capability requirement on a processor built in the AGV, so that the cost of the conventional AGV is very high when positioning.
Disclosure of Invention
The embodiment of the application provides an AGV positioning method and a related device, which are used for solving the technical problem that the cost of the conventional AGV is very high when the AGV is positioned.
In view of the above, a first aspect of the present application provides a method for positioning an AGV, including:
s1, when a receiving end passes through a target area, acquiring the electromagnetic wave intensity of the electromagnetic waves of each frequency band at the current position of the receiving end, wherein the receiving end is arranged on an AGV;
s2, acquiring transmitting ends corresponding to the frequency bands and three-dimensional curve models of the transmitting ends, and acquiring the horizontal distance between the current position of the receiving end and each transmitting end according to the transmitting ends, the electromagnetic wave intensity and the three-dimensional curve models; the three-dimensional curve model of the transmitting end is generated by the electromagnetic wave intensity of the receiving end at a plurality of sampling points and the horizontal distance between the transmitting end and the sampling points, each sampling point is distributed in the target area, each transmitting end is distributed on different reference points at the boundary of the target area, the frequency bands of the transmitting ends are different, but the transmitting power is the same, and the number of the transmitting ends is not less than three;
and S3, calculating to obtain the positioning information of the current position of the receiving end according to the distance between the receiving end and each transmitting end.
Optionally, step S3 specifically includes:
and comparing the distance between the receiving end and each transmitting end with a digital map to obtain the positioning information of the current position of the receiving end.
Optionally, the distributing the sampling points in the target area specifically includes: and all the sampling points are distributed in a grid manner in the target area.
Optionally, the method further comprises: each transmitting end and each receiving end are arranged on the same horizontal plane.
Optionally, the method further comprises: and the electromagnetic wave transmission path between each transmitting end and the receiving end has no barrier.
Optionally, the number of the transmitting ends is specifically four.
Optionally, the transmitting end specifically includes: the router comprises one of a router, an infrared device and a Bluetooth device.
This application second aspect provides a positioner of AGV dolly, the device includes:
the device comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring the electromagnetic wave intensity of electromagnetic waves of each frequency band at the current position of a receiving end when the receiving end passes through a target area, and the receiving end is arranged on an AGV;
the calculating unit is used for acquiring the transmitting ends corresponding to the frequency bands and the three-dimensional curve models of the transmitting ends, and obtaining the horizontal distance between the current position of the receiving end and each transmitting end according to the transmitting ends, the electromagnetic wave intensity and the three-dimensional curve models; the three-dimensional curve model of the transmitting end is generated by the electromagnetic wave intensity of the receiving end at a plurality of sampling points and the horizontal distance between the transmitting end and the sampling points, each sampling point is distributed in the target area, each transmitting end is distributed on different reference points at the boundary of the target area, the frequency bands of the transmitting ends are different, but the transmitting power is the same, and the number of the transmitting ends is not less than three;
and the positioning unit is used for calculating and obtaining the positioning information of the current position of the receiving end according to the distance between the receiving end and each transmitting end.
A third aspect of the present application provides an AGV cart positioning apparatus, the apparatus comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the steps of the method for positioning an AGV cart according to the first aspect of the present invention, according to instructions in the program code.
A fourth aspect of the present application provides a computer readable storage medium for storing program code for performing the method for positioning an AGV cart of the first aspect described above.
According to the technical scheme, the method has the following advantages:
the application provides a positioning method of an AGV, comprising the following steps: when the receiving end passes through the target area, the electromagnetic wave intensity of the electromagnetic waves of each frequency band at the current position of the receiving end is obtained, and the receiving end is arranged on the AGV; acquiring a transmitting end corresponding to each frequency band and a three-dimensional curve model of the transmitting end, and obtaining the horizontal distance between the current position of a receiving end and each transmitting end according to the transmitting end, the electromagnetic wave intensity and the three-dimensional curve model; the three-dimensional curve model of the transmitting end is generated by the electromagnetic wave intensity of the receiving end at a plurality of sampling points and the horizontal distance between the transmitting end and the sampling points, each sampling point is distributed in a target area, each transmitting end is distributed on different reference points at the boundary of the target area, the frequency bands of the transmitting ends are different but the transmitting power is the same, and the number of the transmitting ends is not less than three; and calculating to obtain the positioning information of the current position of the receiving end according to the distance between the receiving end and each transmitting end.
The positioning method of the AGV comprises the steps of setting at least three electromagnetic wave emitting devices with different frequency ranges on reference points around a target area used by the AGV, setting an electromagnetic wave receiving device on the AGV, taking different positions in the target area as sampling points for the AGV to receive the electromagnetic wave intensity of each frequency range, establishing a three-dimensional curve model of actual corresponding relation between the electromagnetic wave intensity and the transmission distance in target distinction according to the electromagnetic wave intensity of each sampling point, the horizontal transmission distance and the frequency corresponding to the electromagnetic wave of the electromagnetic wave receiving device, when the AGV passes through the target distinction, only needing to acquire the electromagnetic wave intensity of each frequency range currently received by the AGV, obtaining the horizontal distance between the AGV and each electromagnetic wave emitting device according to the established three-dimensional curve model, and comparing each horizontal distance with a built-in digital fixed graph to position the current position of the AGV, the low-cost characteristic of the existing electromagnetic wave equipment is utilized, and the problem that the cost of the existing AGV trolley is very high when the AGV trolley is positioned is solved by simply sampling in advance and establishing a model for positioning.
Drawings
FIG. 1 is a schematic flowchart illustrating a first exemplary embodiment of a method for locating an AGV according to an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic flowchart of a second exemplary embodiment of a method for positioning an AGV according to an exemplary embodiment of the present disclosure;
FIG. 3 is a schematic view of a positioning device for an AGV according to an embodiment of the present application.
Detailed Description
The embodiment of the application provides an AGV positioning method and a related device, and solves the technical problem that the cost of the conventional AGV is very high when the AGV is positioned.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
Referring to fig. 1, a first embodiment of a positioning method for an AGV provided in an embodiment of the present application includes:
It should be noted that, the target area is an area where the AGV cart operates, the electromagnetic wave receiving end is disposed on the AGV cart, and when the AGV cart passes through the target area, that is, when the electromagnetic wave receiving end passes through the target area, the receiving end receives electromagnetic waves of various frequency bands, it can be understood that the electromagnetic waves of various frequency bands are emitted by the electromagnetic wave emitting ends disposed around the target area, and the electromagnetic wave intensity of the electromagnetic waves of each frequency band at the current position of the receiving end is obtained.
102, acquiring a transmitting end corresponding to each frequency band and a three-dimensional curve model of the transmitting end, and obtaining the horizontal distance between the current position of a receiving end and each transmitting end according to the transmitting end, the electromagnetic wave intensity and the three-dimensional curve model; the three-dimensional curve model of the transmitting end is generated by the electromagnetic wave intensity of the receiving end at a plurality of sampling points and the horizontal distance between the transmitting end and the sampling points, each sampling point is distributed in a target area, each transmitting end is distributed on different reference points at the boundary of the target area, the frequency bands of the transmitting ends are different, but the transmitting power is the same, and the number of the transmitting ends is not less than three.
It can be understood that, since the frequency bands of each set transmitting end are different, a corresponding three-dimensional curve model needs to be established for each transmitting end, where the three-dimensional curve model is established by the electromagnetic wave intensity and the electromagnetic wave transmission horizontal distance corresponding to each of a plurality of sampling points set in a target area by a receiving end, and it can be understood that the electromagnetic wave transmission horizontal distance is the horizontal distance from a certain sampling point in the target area to a certain transmitting end by the receiving end. And the respective transmitting ends are disposed at the boundary of the target area, and the positions of the respective transmitting ends do not coincide.
It should be noted that, assuming that the transmitting end and the receiving end are set as wireless routers, and there are at most 13 channels in a wireless router of 2.4g standard in China, so that there can be at most 13 wireless routers as the transmitting end, and each wireless router has a unique channel frequency, so that the receiving end can easily distinguish which wireless router the received electromagnetic wave is transmitted by, and therefore it is necessary to set different transmitting frequency bands for each transmitting end, avoid mutual interference of each wireless router, ensure that the receiving end can distinguish the transmitting ends, and set the same transmitting power value for the electromagnetic waves of each transmitting end in order to reduce the calculation amount of the receiving end.
The receiving end can know the corresponding transmitting end according to the acquired frequency band of each electromagnetic wave, and because the target area is sampled and established in advance in the three-dimensional curve model, the horizontal distance between the receiving end and each transmitting end can be known only according to the three-dimensional curve model and the current electromagnetic wave intensity of the receiving end, and it can be understood that the current coordinate of the receiving end can be determined only when the receiving end is horizontally distant from at least three transmitting ends, so that the number of the transmitting ends is at least three.
And 103, calculating to obtain the positioning information of the current position of the receiving end according to the distance between the receiving end and each transmitting end.
It is easy to understand that when the distances between the receiving end and each transmitting end are known, the coordinate information of the receiving end can be known, and the receiving end can be located according to the coordinate information.
The positioning method of the AGV comprises the steps of setting at least three electromagnetic wave emitting devices with different frequency ranges on reference points around a target area used by the AGV, setting an electromagnetic wave receiving device on the AGV, taking different positions in the target area as sampling points for the AGV to receive the electromagnetic wave intensity of each frequency range, establishing a three-dimensional curve model of actual corresponding relation between the electromagnetic wave intensity and the transmission distance in target distinction according to the electromagnetic wave intensity of each sampling point, the horizontal transmission distance and the frequency corresponding to the electromagnetic wave of the electromagnetic wave receiving device, when the AGV passes through the target distinction, only needing to acquire the electromagnetic wave intensity of each frequency range currently received by the AGV, obtaining the horizontal distance between the AGV and each electromagnetic wave emitting device according to the established three-dimensional curve model, and comparing each horizontal distance with a built-in digital fixed graph to position the current position of the AGV, the low-cost characteristic of the existing electromagnetic wave equipment is utilized, and the problem that the cost of the existing AGV trolley is very high when the AGV trolley is positioned is solved by simply sampling in advance and establishing a model for positioning.
The above is a first embodiment of the positioning method for an AGV provided in the embodiment of the present application, and the following is a second embodiment of the positioning method for an AGV provided in the embodiment of the present application.
Referring to fig. 2, a flowchart of a second embodiment of a method for positioning an AGV cart according to an embodiment of the present application is shown.
In this embodiment, a method for positioning an AGV includes:
It should be noted that, the receiving end and the transmitting end can be set as one of a router, a bluetooth device, an infrared device, and the like for transmitting electromagnetic waves, and in this embodiment, the receiving end and the transmitting end are set as a router, and the price of the router device is low.
It should be noted that, in order to improve the accuracy of measurement and reduce the external interference, there should be no obstacle to block the electromagnetic wave between the transmission paths from the electromagnetic waves emitted from the respective emitting ends to the receiving end, it can be understood that the absorption amount of the electromagnetic wave is different due to the different materials of the contact surface when the electromagnetic wave is refracted, and the refraction times of the electromagnetic wave are also changed due to the different spatial structures, and further, the target area may be disposed in a closed environment, such as a closed tunnel, to reduce the interference of the external electromagnetic wave.
Further, in order to reduce the calculation amount of the receiving end, each transmitting end and each receiving end are arranged on the same horizontal plane, it can be understood that when each transmitting end and each receiving end are on the same horizontal plane, the transmission distance of the electromagnetic wave transmitted by the transmitting end is horizontal, and the transmission distance is the horizontal distance from the receiving end to the transmitting end, it should be noted that, in this embodiment, it is determined that the straight line distance between the router on the AGV car and the router on the wall is direct, and the AGV is to be determined and a target area boundary, such as the distance of the wall of the tunnel to prevent wall collision, so if the horizontal height of the router is not consistent with the horizontal height of the router on the AGV car, the horizontal distance of the AGV relative to the wall can be obtained through simple calculation.
When the transmitting end and the receiving end are 2.4g standard routers, at most 13 channels in the routers can be selected, that is, 13 routers with different frequency bands can be set at the boundary of the target area as the transmitting end, in this embodiment, the number of the routers at the transmitting end is set to 4, because the cost is reduced as much as possible, the redundancy is considered at the same time, and when the router at one transmitting end fails, the coordinate information of the receiving end can be calculated according to the distance between the receiving end and the other three routers.
The sampling points are set to be distributed in a grid mode, it can be understood that the receiving ends are distributed evenly at each sampling point of a target area, the electromagnetic wave intensity and the transmission distance of the receiving ends are more representative, the established three-dimensional curve model is more accurate, and it needs to be explained that the number of the sampling points can be set according to actual conditions, the number of the sampling points is more, and the established three-dimensional curve model is more accurate.
The description of step 202 in this embodiment of obtaining the horizontal distances between the receiving router and each transmitting router is the same as that in the first embodiment, please refer to the description of step 102, which is not repeated herein.
It should be noted that the digital map is embedded in the AGV for positioning the current position of the receiving end router on the AGV according to the distance between the receiving router and each transmitting router, because the receiving end router is disposed on the AGV, that is, the positioning information of the receiving end router is the positioning information of the AGV.
According to the positioning method of the AGV trolley, the four electromagnetic wave transmitting devices with different frequency bands are arranged on the reference points around the used target area of the AGV trolley, so that the cost is reduced, the fault redundancy of a transmitting end is guaranteed, the AGV trolley is provided with the electromagnetic wave receiving devices, sampling points for receiving the electromagnetic wave intensity of each frequency band of the AGV trolley are set to be in grid distribution, the measurement accuracy is improved, and the established three-dimensional curve model is more representative; according to the electromagnetic wave intensity and distance of the electromagnetic wave receiving equipment at each sampling point and the frequency corresponding to the electromagnetic wave, a three-dimensional curve model of the actual corresponding relation between the electromagnetic wave intensity and the transmission distance in the target distinguishing is established, when an AGV passes through the target distinguishing, the horizontal distance between the AGV and each electromagnetic wave transmitting equipment can be obtained according to the established three-dimensional curve model only by acquiring the electromagnetic wave intensity of each frequency band currently received by the AGV, and the transmission distance of the electromagnetic wave is the horizontal distance because each transmitting end and each receiving end are arranged on the same horizontal plane, so that the calculated amount is reduced; finally, the current position of the AGV trolley can be positioned by comparing each horizontal distance with the built-in digital fixed graph, the characteristic of low cost of the existing electromagnetic wave equipment is utilized, and the AGV trolley only needs to be simply sampled in advance to establish a model for positioning, so that the technical problem that the cost of the existing AGV trolley is very high in positioning is solved.
The second embodiment of the positioning method for an AGV provided in the embodiment of the present application is as follows.
In this embodiment, a positioner of AGV dolly includes:
the acquiring unit 301 is configured to acquire the electromagnetic wave intensity of electromagnetic waves in each frequency band at the current position of the receiving end when the receiving end passes through a target area, where the receiving end is arranged on an AGV.
A calculating unit 302, configured to obtain a transmitting end and a three-dimensional curve model of the transmitting end corresponding to each frequency band, and obtain a horizontal distance between the current position of the receiving end and each transmitting end according to the transmitting end, the electromagnetic wave intensity, and the three-dimensional curve model; the three-dimensional curve model of the transmitting end is generated by the electromagnetic wave intensity of the receiving end at a plurality of sampling points and the horizontal distance between the transmitting end and the sampling points, each sampling point is distributed in the target area, each transmitting end is distributed on different reference points at the boundary of the target area, the frequency bands of the transmitting ends are different, but the transmitting power is the same, and the number of the transmitting ends is not less than three.
And a positioning unit 303, configured to calculate, according to the distance between the receiving end and each transmitting end, to obtain positioning information of the current position of the receiving end.
The positioning device of the AGV trolley in the application sets at least three electromagnetic wave transmitting devices with different frequency ranges on the reference points around the used target area of the AGV trolley, sets an electromagnetic wave receiving device on the AGV trolley, takes different positions in the target area as sampling points for the AGV trolley to receive the electromagnetic wave intensity of each frequency range, establishes a three-dimensional curve model of actual corresponding relation between the electromagnetic wave intensity and the transmission distance in the target distinction according to the electromagnetic wave intensity of each sampling point, the horizontal transmission distance and the corresponding frequency of the electromagnetic wave receiving device, when the AGV trolley passes through the target distinction, only needs to acquire the electromagnetic wave intensity of each frequency range currently received by the AGV trolley, can obtain the horizontal distance between the AGV trolley and each electromagnetic wave transmitting device according to the established three-dimensional curve model, and can position the current position of the AGV trolley by comparing each horizontal distance with a built-in digital fixed graph, the low-cost characteristic of the existing electromagnetic wave equipment is utilized, and the problem that the cost of the existing AGV trolley is very high when the AGV trolley is positioned is solved by simply sampling in advance and establishing a model for positioning.
The embodiment of the application also provides positioning equipment of the AGV, and the positioning equipment comprises a processor and a memory; the memory is used for storing the program codes and transmitting the program codes to the processor; the processor is configured to execute the method for positioning an AGV of one or both embodiments according to instructions in the program code.
The embodiment of the application also provides a storage medium which is used for storing program codes, and the program codes are used for executing the positioning method of the AGV trolley of the data set of the first embodiment or the second embodiment.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method for positioning an AGV comprising:
s1, when the receiving end passes through the target area, acquiring the electromagnetic wave intensity of the electromagnetic wave of each frequency band at the current position of the receiving end, wherein the receiving end is arranged on an AGV;
s2, acquiring transmitting ends corresponding to the frequency bands and three-dimensional curve models of the transmitting ends, and acquiring the horizontal distance between the current position of the receiving end and each transmitting end according to the transmitting ends, the electromagnetic wave intensity and the three-dimensional curve models; the three-dimensional curve model of the transmitting end is generated by the electromagnetic wave intensity of the receiving end at a plurality of sampling points and the horizontal distance between the transmitting end and the sampling points, each sampling point is distributed in the target area, each transmitting end is distributed on different reference points at the boundary of the target area, the frequency bands of the transmitting ends are different, but the transmitting power is the same, and the number of the transmitting ends is not less than three;
and S3, calculating to obtain the positioning information of the current position of the receiving end according to the horizontal distance between the current position and each transmitting end.
2. The method of claim 1, wherein step S3 specifically includes:
and comparing the distance between the receiving end and each transmitting end with a digital map to obtain the positioning information of the current position of the receiving end.
3. The AGV cart positioning method of claim 1, wherein the sampling points are distributed in the target area, and specifically include: and all the sampling points are distributed in a grid manner in the target area.
4. The method of positioning an AGV cart of claim 1, further comprising: each transmitting end and each receiving end are arranged on the same horizontal plane.
5. The method of positioning an AGV cart of claim 1, further comprising: and the electromagnetic wave transmission path between each transmitting end and the receiving end has no barrier.
6. The AGV cart positioning method of claim 1, wherein the number of launch ports is specifically four.
7. The AGV cart positioning method of claim 1, wherein said launch end specifically includes: the router comprises one of a router, an infrared device and a Bluetooth device.
8. A positioning device for an AGV comprising:
the device comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring the electromagnetic wave intensity of electromagnetic waves of each frequency band at the current position of a receiving end when the receiving end passes through a target area, and the receiving end is arranged on an AGV;
the calculating unit is used for acquiring the transmitting ends corresponding to the frequency bands and the three-dimensional curve models of the transmitting ends, and obtaining the horizontal distance between the current position of the receiving end and each transmitting end according to the transmitting ends, the electromagnetic wave intensity and the three-dimensional curve models; the three-dimensional curve model of the transmitting end is generated by the electromagnetic wave intensity of the receiving end at a plurality of sampling points and the horizontal distance between the transmitting end and the sampling points, each sampling point is distributed in the target area, each transmitting end is distributed on different reference points at the boundary of the target area, the frequency bands of the transmitting ends are different, but the transmitting power is the same, and the number of the transmitting ends is not less than three;
and the positioning unit is used for calculating and obtaining the positioning information of the current position of the receiving end according to the distance between the receiving end and each transmitting end.
9. An apparatus for positioning an AGV cart, the apparatus comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the method for positioning an AGV according to any of claims 1-7 in accordance with instructions in the program code.
10. A computer readable storage medium characterized in that the computer readable storage medium is configured to store program code for performing the AGV cart positioning method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011139831.9A CN112285644A (en) | 2020-10-22 | 2020-10-22 | AGV trolley positioning method and related device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011139831.9A CN112285644A (en) | 2020-10-22 | 2020-10-22 | AGV trolley positioning method and related device |
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| Publication Number | Publication Date |
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| CN112285644A true CN112285644A (en) | 2021-01-29 |
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Cited By (1)
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| CN115113631A (en) * | 2022-08-29 | 2022-09-27 | 科安特(山东)智能装备有限公司 | AGV trolley visual self-inspection method capable of improving operation precision |
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