CN114200476A - Laser forklift positioning method and laser forklift - Google Patents

Laser forklift positioning method and laser forklift Download PDF

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Publication number
CN114200476A
CN114200476A CN202111521862.5A CN202111521862A CN114200476A CN 114200476 A CN114200476 A CN 114200476A CN 202111521862 A CN202111521862 A CN 202111521862A CN 114200476 A CN114200476 A CN 114200476A
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truck
laser
point
radar
forklift
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陈智君
郝奇
郑亮
曹雏清
陈双
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Wuhu Robot Technology Research Institute of Harbin Institute of Technology
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Wuhu Robot Technology Research Institute of Harbin Institute of Technology
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00

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  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • Structural Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
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  • Life Sciences & Earth Sciences (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a laser forklift positioning method, which is used for automatic loading of a van truck and comprises the following steps: s1, scanning the reflective columns through a laser radar in the warehouse to obtain the pose of the laser forklift in a map; s2, when the truck is driven to a set distance from the tail of the truck, the laser forklift stops, the truck is scanned through the laser radar, and the position and pose of the truck in a map are obtainedc_m(ii) a S3, when the laser forklift drives into the boxcar, scanning the contour of the boxcar through the laser radar to acquire the position and position of the boxcar in a radar coordinate systemc_rAnd further calculating the pose of the laser forklift in the map so as to control the laser forklift to run to the target position of the boxcar. The positioning problem in the automatic loading process of the truck is solved by using the laser radar in the whole process, the system is simple, the cost is low, the environment is less in modification, and the positioning precision is high.

Description

Laser forklift positioning method and laser forklift
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a laser forklift positioning method and a laser forklift.
Background
With the development of market and technology, in order to reduce production cost and improve production efficiency, the application of the automated warehouse logistics system is more and more extensive, wherein the automated warehouse-out and loading system is an important component module of the automated warehouse logistics system. The existing automatic warehouse-out loading solution is complex in structure, needs to be transferred for many times, even needs to install large-scale electromechanical equipment, and a loading module at the tail end of the system can be roughly divided into a conveyor belt type, a truss type and a mechanical arm type. The flexible loading system based on the mobile AGV can perfectly avoid the defects, can directly transfer goods from a warehouse to a logistics truck, and solves the problems of troubles caused by multiple transfer and cost and installation problems caused by large electromechanical equipment. The flexible loading system based on the mobile AGV has high requirements on positioning accuracy.
The flexible loading system of the conventional AGV adopts a laser reflection column to position in a warehouse, and the loading and unloading of goods on a boxcar are positioned by an SLAM algorithm based on linear characteristics. The technical scheme has the following two disadvantages: by adopting line feature SLAM positioning in the truck, the line feature can not be extracted due to real-time dynamic change of the field environment, and the line feature real-time SLAM positioning has large calculation amount and low precision.
Disclosure of Invention
The invention provides a laser forklift positioning method, which is high in positioning precision only by depending on the position and posture of a vehicle-mounted laser radar positioning mobile robot in the whole process of transferring from a cargo compartment to the interior of a truck.
The invention is realized in this way, a laser forklift positioning method is used for automatic loading of van trucks, and the method specifically comprises the following steps:
s1, scanning the reflective columns through a laser radar in the warehouse to obtain the pose of the laser forklift in a map;
s2, when the truck is driven to a set distance from the tail of the truck, the laser forklift stops, the truck is scanned through the laser radar, and the position and pose of the truck in a map are obtainedc_m；
S3, when the laser forklift drives into the boxcar, scanning the contour of the boxcar through the laser radar to acquire the position and position of the boxcar in a radar coordinate systemc_rAnd further calculating the pose of the laser forklift in the map so as to control the laser forklift to run to the target position of the boxcar.
Further, the position and position of the truck in the mapc_mThe measurement method is as follows:
21) laser radar scans a reflective column in an environment to determine the position and position of the laser radar in a mapr_m；
22) Scanning the environment by a radar, extracting the outline of the truck and obtaining the position (position) of the truck in a radar coordinate systemc_r；
23) Judging whether the scanning times reach a time threshold value, if the detection result is negative, returning to the step 21), and if the detection result is positive, executing the step 24);
24) calculate pose positionr_mPosition and pose ofc_rMean value of, i.e. posture
Figure BDA0003407980350000021
Pose position
Figure BDA0003407980350000022
25) Based on pose
Figure BDA0003407980350000023
Pose position
Figure BDA0003407980350000024
Calculating the position (position) of the truck in the mapc_m。
Furthermore, when the laser forklift drives into the boxcar, the laser forklift is on the map positionr_mThe pose acquisition method specifically comprises the following steps:
Figure BDA0003407980350000025
wherein, the positionc_rPosition of the truck in the radar coordinate systemr_mThe pose of the laser radar in the map.
Further, the extraction method of the wagon outline comprises the following specific steps:
311) scanning the surrounding environment by a radar to acquire point cloud data point _ cloud;
312) sequentially selecting each point, calculating the current point piDistance from all already fitted straight lines, if point piIf the distance from the known linear equation is less than the set distance, the point p is determinediBelongs to the known straight line, otherwise point piSelecting the next point as the point to be fitted of other straight lines;
313) for the point p to be fittediBased on point piAnd calculating the curvature C at five points before and after the pointiIf the curvature C isiLess than the curvature threshold, point piAnd the front point and the rear point are respectively fitted into a straight line;
314) extracting all points belonging to the straight line in the point cloud data point _ closed by using a RANSAC algorithm, and fitting the points into a final straight line equation again;
315) after all the straight lines are extracted, pairwise comparison is carried out on all the straight lines, and two straight lines l are judged1、l2Whether parallel or not, if the straight line l1、l2Parallel, then calculate two parallel straight lines l1、l2D, if d is equal to the width of the car, the parallel line l1、l2Is the side surface of the boxcar;
316) from the remaining straight lines, a straight line l is searched for perpendicular to the two parallel lines3If a straight line l3Is less than 0, then line l3The front of the boxcar.
Further, the position of the truck in the radar coordinate systemc_rThe acquisition method specifically comprises the following steps:
respectively calculate the straight line l3To two parallel straight lines l1、l2Point of intersection P1、P2Coordinates, calculating a midpoint P of the two intersection points, and establishing a truck coordinate system by taking the midpoint P as an origin;
reuse line l3Calculating the attitude of the truck in a radar coordinate system, a straight line l3The equation of (a) is as follows:
a3x+b3y+c3＝0
let θ be atan (b)3/a3) When theta is larger than zero, let theta be-theta, and obtain the position (x, y, theta) of the truck in the radar coordinate system, i.e. the positionc_r。
The invention is realized in such a way that the laser forklift is used for automatically loading goods of a van truck, and the laser forklift is integrated with a laser radar which is in communication connection with a positioning unit;
when the laser forklift receives a loading instruction, goods are automatically taken from a warehouse and conveyed to a target position in a carriage, in the processes of taking and delivering the goods, a laser radar scans the surrounding environment in real time, and a positioning unit performs positioning based on the laser forklift positioning method;
the warehouse is internally provided with a reflector, the boundary of the warehouse is provided with a parking area, and when a truck to be loaded is parked in the parking area, the door lock is unlocked to the two sides of the truck carriage.
The invention solves the positioning problem in the automatic loading process of the truck by using the laser radar in the whole process, and has the advantages of simple system, low cost, less environment modification and high positioning precision.
Drawings
FIG. 1 is a schematic diagram of a truck coordinate system and a radar coordinate system according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a truck parking in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a positioning scheme of a laser forklift truck according to an embodiment of the invention;
fig. 4 is a flowchart of a laser forklift positioning method according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
The truck in the invention must be a van truck, the periphery of the truck is totally closed, the length h and the width of the truck are known, the origin of a coordinate system of a truck body of the truck is positioned at the middle point of the front part of the truck, a y coordinate axis points to the positive direction of a truck head, the x-axis direction of a radar coordinate system is consistent with the positive front direction of a forklift, and the forklift drives into the truck in a reversing mode, as shown in an attached figure 1); after the truck is stably stopped, the distance between the truck and the loading platform of the warehouse is not more than 10cm, the included angle is not more than 5 degrees, and as shown in the attached drawing 2), after the truck is stably stopped, the truck door is opened, the truck door is locked to the side surface of the truck carriage, and the laser forklift is informed to take the truck from the warehouse.
Fig. 1 is a flowchart of a laser forklift positioning method provided in an embodiment of the present invention, and a schematic diagram is shown in fig. 3, the method is used for automatic loading of goods on a van truck, and the method specifically includes the following steps:
s1, scanning the reflective columns through a laser radar in the warehouse to obtain the pose of the laser forklift in a map;
s2, when the truck is driven to a set distance from the tail of the truck, the laser forklift stops, the truck is scanned through the laser radar, and the pose of the truck in the map is obtained;
and S3, when the laser forklift drives into the boxcar, scanning the contour of the boxcar through the laser radar to acquire the pose of the laser forklift in the map, and controlling the laser forklift to drive to the target position of the boxcar.
In the embodiment of the invention, the laser forklift positioning method based on the reflector specifically comprises the following steps:
11) traversing the current scanning frame of the laser radar, extracting reflection points of the reflective columns in the point cloud according to the relationship between the intensity and the distance, clustering the reflection points of the reflective columns according to the distance relationship, and fitting the central points of the reflective columns:
Figure BDA0003407980350000051
Figure BDA0003407980350000052
wherein, theta and d are the scanning angle and distance of the central point of the reflecting column in the scanning frame, and thetaiIs the scan angle of the scanning point i in the scan frame, diThe distance of a scanning point i in a scanning frame, and r is the radius of the reflecting column;
x＝d*cos(θ)
y＝d*sin(θ)
wherein, (x, y) is the coordinate of the center of the reflective column in the scanning frame, and all points are traversed based on the method to obtain a reflective column set ref _ points;
12) calculating the distance between every two reflecting columns in the reflecting column set ref _ points, matching with map points in a map, and finding out a map point set map _ points with the minimum matching error with the reflecting plate;
Figure BDA0003407980350000053
wherein (x)i,yi) Is the coordinate of the center of the reflection column i in the radar frame, (x)j,yj) Is the coordinate of the center of the reflecting column j in the radar frame, (X)i,Yi) Is the coordinate of map point i in the map, (X)j,Yj) The coordinates of a map point j in the map are shown, wherein i ≠ j, and the map point in the map is a reflector with a known position in the map.
13) Knowing a reflecting column set ref _ points in the current scanning frame and a map point set map _ points matched with the reflecting column set ref _ points, calculating the pose of the laser radar, namely the pose of the laser forklift truck, by the following formula:
Xm＝RXr+T
wherein, XmIs the coordinate, X, of a map point in a maprThe coordinates of the center of the reflecting column in the radar frame are obtained, R, T is a rotation matrix and a translation vector, the equation set is solved, and the calculation is carried out to obtainPose of the laser radar, assume:
Figure BDA0003407980350000061
Figure BDA0003407980350000062
the pose of the lidar in the map is then:
Figure BDA0003407980350000063
in the embodiment of the invention, after the goods are picked, the laser forklift runs to a position 1 m away from the middle part of a tail door of the truck and stops, the attitude measurement of the truck is carried out, namely the attitude of the truck in a map is measured, and the measurement steps are as follows:
21) the method comprises the steps of using the laser radar to scan a reflective column in the environment, and determining the position and position of the laser radar in a map through the steps 11) to 13)r_m；
22) Scanning the environment by the radar and extracting the contour of the truck from the step 311) to the step 316) to obtain the position (position) of the truck in a radar coordinate systemc_r；
23) Judging whether the scanning is carried out for 50 times, if not, returning to the step 21) to continue the scanning, and if so, executing the step 24);
24) calculate pose positionr_mAnd position pose positionc_rMean value of (1), position and attitude
Figure BDA0003407980350000064
Pose position
Figure BDA0003407980350000065
Show pose positionr_mPosition and pose ofc_rMean of, postulated pose
Figure BDA0003407980350000066
To (x, y, θ), the calculation formula is as follows:
Figure BDA0003407980350000071
wherein (x)i,yi,θi) For the position (position) of the laser radar in the map at the ith scanningr_m。
25) Based on pose
Figure BDA0003407980350000072
Pose position
Figure BDA0003407980350000073
Calculating the accurate position (position) of the truck in the mapc_mThe calculation formula is as follows:
Figure BDA0003407980350000074
in the embodiment of the invention, when entering a boxcar, the method for acquiring the pose of the laser forklift in the map comprises the following steps:
31) scanning the truck by using the laser radar, extracting the contour of the truck, establishing a truck coordinate system, and calculating the position and position of the truck in the radar coordinate systemc_r；
32) The position and position of the truck in the map can be knownc_mThen the position and pose of the radar in the map is posr_m：
Figure BDA0003407980350000075
In the embodiment of the invention, the extraction method of the wagon outline comprises the following specific steps:
311) scanning the surrounding environment by a radar to acquire point cloud data point _ cloud;
312) sequentially selecting each point, calculating the current point piThe distance from all the fitted straight lines, knowing that the straight line equation Ax + By + C is 0, the point pi(xi,yi) The calculation formula of the distance to the straight line is as follows:
Figure BDA0003407980350000076
if point piA distance from the known equation of a straight line of less than 0.02 m, the point p is identifiediBelongs to the known straight line, otherwise point piSelecting the next point as the point to be fitted of other straight lines;
313) for the point p to be fittediBased on point piCalculating the curvature C from five pointsiCurvature CiThe calculation formula of (a) is as follows:
Figure BDA0003407980350000077
if the curvature CiLess than 0.02, then piThe eleven points at the center belong to plane points;
314) for point piAnd fitting a straight line with the front and rear five points to form a new straight line, wherein the equation form of the straight line is assumed as follows:
y＝f(x)＝ax+b
the error equation can be listed according to the least squares method:
Figure BDA0003407980350000081
after linearization, the following results are obtained:
Figure BDA0003407980350000082
Figure BDA0003407980350000083
solving the equation set to obtain a linear equation y which is ax + b, extracting all points belonging to the linear equation in the point cloud data point _ cluster by using a RANSAC algorithm, fitting again and fitting to obtain a final linear equation;
315) based on the steps 311 to 314), after all the straight lines are extracted, pairwise comparison is performed on all the straight lines, whether the two straight lines are parallel or not is judged, and the two straight lines l are known1、l2Is given by the equation
Figure BDA0003407980350000084
When satisfying a1b2-a2b1When equal to 0, two straight lines l1、l2In parallel, the equation of a straight line can be converted into:
ax+by+c1＝0
ax+by+c2＝0
two parallel straight lines l are recalculated1、l2The distance between:
Figure BDA0003407980350000085
if d is equal to the width of the car, the two parallel lines l1、l2Is the side surface of the boxcar;
316) a straight line perpendicular to the two parallel lines is searched from the remaining straight lines,
known straight line l3The equation is:
a3x+b3y+c3＝0
when satisfying a1a3-b1b3When 0, the straight line l is illustrated3And a parallel line l1、l2Perpendicular, if straight line l3Is less than 0, then line l3The front of the boxcar.
In the embodiment of the invention, the position and position of the truck in the radar coordinate systemc_rThe acquisition method specifically comprises the following steps:
317) respectively calculate the straight line l3To two parallel straight lines l1、l2Point of intersection P1、P2The intersection point between the coordinates and straight lines can be obtained by solving a linear equation system, and the intersection point of the two intersection points is calculatedA coordinate value P (x, y) of the truck is obtained by the midpoint, and a truck coordinate system is established by taking the point P as an original point, the width direction as an x axis and the direction of the truck head as a y axis;
Figure BDA0003407980350000091
reuse line l3Calculating the attitude of the truck in a radar coordinate system, a straight line l3The equation of (a) is as follows:
a3x+b3y+c3＝0
let θ be atan (b)3/a3) When theta is larger than zero, enabling theta to be equal to-theta, and obtaining the position (x, y, theta) of the truck in the radar coordinate system, wherein (x, y) is the coordinate of the midpoint P, namely the positionc_rThen the position and attitude of the radar in the coordinate system of the truck are
Figure BDA0003407980350000092
The embodiment of the application also provides a laser forklift for automatically loading goods of the van truck, the laser forklift is integrated with the laser radar which is in communication connection with the positioning unit,
when the laser forklift receives a loading instruction, goods are automatically taken from a warehouse and conveyed to a target position in a carriage, in the processes of taking and delivering the goods, a laser radar scans the surrounding environment in real time, and a positioning unit performs positioning based on the laser forklift positioning method;
the warehouse is internally provided with a reflector, the boundary of the warehouse is provided with a parking area, and when a truck to be loaded is parked in the parking area, the door lock is unlocked to the two sides of the truck carriage.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.

Claims (6)

1. A laser forklift positioning method is used for automatic loading of a van truck and is characterized by specifically comprising the following steps:
s1, scanning the reflective columns through a laser radar in the warehouse to obtain the pose of the laser forklift in a map;
s2, when the truck is driven to a set distance from the tail of the truck, the laser forklift stops, the truck is scanned through the laser radar, and the position and pose of the truck in a map are obtainedc_m；
S3, when the laser forklift drives into the boxcar, scanning the contour of the boxcar through the laser radar to acquire the position and position of the boxcar in a radar coordinate systemc_rAnd further calculating the pose of the laser forklift in the map so as to control the laser forklift to run to the target position of the boxcar.
2. The laser forklift positioning method as recited in claim 1, wherein a position of said truck in a mapc_mThe measurement method is as follows:
21) laser radar scans a reflective column in an environment to determine the position and position of the laser radar in a mapr_m；
22) Scanning the environment by a radar, extracting the outline of the truck and obtaining the position (position) of the truck in a radar coordinate systemc_r；
23) Judging whether the scanning times reach a time threshold value, if the detection result is negative, returning to the step 21), and if the detection result is positive, executing the step 24);
24) calculate pose positionr_mPosition and pose ofc_rMean value of, i.e. posture
Figure FDA0003407980340000011
Pose position
Figure FDA0003407980340000012
25) Based on pose
Figure FDA0003407980340000013
Pose position
Figure FDA0003407980340000014
Calculating the position (position) of the truck in the mapc_m。
3. The laser forklift positioning method of claim 1, wherein the laser forklift is at a map position when the laser forklift drives into the truck bedr_mThe pose acquisition method specifically comprises the following steps:
Figure FDA0003407980340000015
wherein, the positionc_rPosition of the truck in the radar coordinate systemr_mThe pose of the laser radar in the map.
4. The laser forklift positioning method as claimed in any one of claims 1 to 3, wherein the extraction method of the wagon outlines is as follows:
311) scanning the surrounding environment by a radar to acquire point cloud data point _ cloud;
312) sequentially selecting each point, calculating the current point piDistance from all already fitted straight lines, if point piIf the distance from the known linear equation is less than the set distance, the point p is determinediBelongs to the known straight line, otherwise point piSelecting the next point as the point to be fitted of other straight lines;
313) for the point p to be fittediBased on point piAnd calculating the curvature C at five points before and after the pointiIf the curvature C isiLess than the curvature threshold, point piAnd the front point and the rear point are respectively fitted into a straight line;
314) extracting all points belonging to the straight line in the point cloud data point _ closed by using a RANSAC algorithm, and fitting the points into a final straight line equation again;
315) after all the straight lines are extracted, pairwise extraction is carried out on all the straight linesComparing and judging two straight lines l1、l2Whether parallel or not, if the straight line l1、l2Parallel, then calculate two parallel straight lines l1、l2D, if d is equal to the width of the car, the parallel line l1、l2Is the side surface of the boxcar;
316) from the remaining straight lines, a straight line l is searched for perpendicular to the two parallel lines3If a straight line l3Is less than 0, then line l3The front of the boxcar.
5. The laser forklift positioning method as claimed in claim 4, wherein the position of the truck in the radar coordinate systemc_rThe acquisition method specifically comprises the following steps:
respectively calculate the straight line l3To two parallel straight lines l1、l2Point of intersection P1、P2Coordinates and calculating the midpoint P (x, y) of the two intersection points;
reuse line l3Calculating the attitude of the truck in a radar coordinate system, a straight line l3The equation of (a) is as follows:
a3x+b3y+c3＝0
let θ be atan (b)3/a3) When theta is larger than zero, let theta be-theta, and obtain the position (x, y, theta) of the truck in the radar coordinate system, i.e. the positionc_r。
6. A laser forklift is used for automatic loading of goods of van trucks and is characterized in that a laser radar is integrated on the laser forklift and is in communication connection with a positioning unit;
when a laser forklift receives a loading instruction, goods are automatically taken from a warehouse and conveyed to a target position in a carriage, a laser radar scans the surrounding environment in real time in the processes of taking and delivering the goods, and a positioning unit is positioned based on the laser forklift positioning method as claimed in any one of claims 1 to 5;
the warehouse is internally provided with a reflector, the boundary of the warehouse is provided with a parking area, and when a truck to be loaded is parked in the parking area, the door lock is unlocked to the two sides of the truck carriage.
CN202111521862.5A 2021-12-13 2021-12-13 Laser forklift positioning method and laser forklift Pending CN114200476A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114890173A (en) * 2022-06-02 2022-08-12 未来机器人（深圳）有限公司 Cargo loading method and device, computer equipment and storage medium

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114890173A (en) * 2022-06-02 2022-08-12 未来机器人（深圳）有限公司 Cargo loading method and device, computer equipment and storage medium

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