CN106382934A - High-precision moving robot positioning system and method - Google Patents
High-precision moving robot positioning system and method Download PDFInfo
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- CN106382934A CN106382934A CN201611030283.XA CN201611030283A CN106382934A CN 106382934 A CN106382934 A CN 106382934A CN 201611030283 A CN201611030283 A CN 201611030283A CN 106382934 A CN106382934 A CN 106382934A
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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
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a high-precision moving robot positioning system and method. The system and the method are technically characterized in that a positioning controller of the system comprises a microprocessor, a coder, a gyroscope and a communication interface; the coder, the gyroscope and the communication interface are connected with the microprocessor; the microprocessor respectively reads angle data through the coder and the gyroscope, reads two-dimensional code images through a two-dimensional code reader and performs calculation to realize the positioning function. The method comprises the following steps that (1) the positioning controller integrally calculates the AGV(Automatic guided vehicle) angle change according to the weight of the coder and the gyroscope; (2) the positioning controller obtains the AGV angle and the position through the two-dimensional code reader, corrects the angle deviation of the gyroscope, and corrects the relative displacement errors of the coder. According to the through the method provided by the invention, the two-dimensional code reader, the coder and the gyroscope are organically combined, so that the AGV angle precision reaches +/-0.1 degree; the position precision reaches +/-0.2mm; the navigation precision is greatly improved; the influence of angle drift of the gyroscope and the displacement errors of the coder on the angle change can be avoided.
Description
Technical field
The invention belongs to Mobile Robotics Navigation technical field, especially a kind of High-precision mobile robot alignment system and
Method.
Background technology
With the development of the fourth industrial revolution, Intelligent logistics and intelligence manufacture has become as manufacturing industry and Plant development must
So trend.And automatic transporting effect in logistics system for the AGV (automatic guide vehicle), production efficiency and production management are had
Very important effect.
In AGV navigation system, typically it be unable to do without three kinds of measurement apparatus, these three measurement apparatus are used for measuring AGV operation
During position deviation and angular deviation, respectively：Quick Response Code measurement apparatus, encoder measurement apparatus, gyroscope measurement dress
Put.The common feature of above-mentioned three's measurement apparatus is：All can be used in measure AGV angular deviation (Quick Response Code and encoder remove
Beyond measurement angle, also it is respectively used to measure the position deviation of AGV), but respectively have its feature：Quick Response Code is discontinuous measurement,
Because Quick Response Code is discrete type distribution, so its measure the cycle can not be continuous；Encoder is real-time survey with respect to Quick Response Code
Amount, but encoder is indirectly to measure in real time, because encoder is arranged on wheel, by the difference of encoder on each wheel
Measurement car body angle tilt (when there is oil stain on ground, wheel-slip in fact it could happen that wheel spin and produce tilting of car body angle
Measurement error)；Gyroscope is real-time measurement with respect to Quick Response Code, and gyroscope is generally mounted on the master control borad of car body, relatively
Be more nearly real-time measurement and direct measurement in Quick Response Code and encoder, but gyroscope due to the presence of disturbance torque, even if
In the presence of the disturbance torque of possibly very little, gyro also will produce precession, so that angular momentum vector slowly deviates originally
Direction, have report record：In gyroscope start after zero point 30 seconds, gyroscope integration is all that very normal (integrated value maintains
Within positive and negative 1 °), but spent this period, integrated value will slowly and constantly increase toward the direction.It can be seen that, only according to
The real-time control that encoder or gyroscope carry out tilting of car body angle has weak point.Number of patent application is
201510588416.4th, patent name is that a kind of patent documentation of the inertial navigation system of suitable storage AGV proposes a kind of use
Magnetic follow closely (cooperation RFID label tag)+encoder+gyroscope navigation system, its be solve gyroscope Zero drift in main amplifier, using from
The magnetic nail of scattered formula distribution, two magnetic follow closely the angle of inclination that line calculates car body with respect to the angle of inclination of car body centrage, this kind of
Although method is feasible, its precision is far smaller than Quick Response Code, reason be affected by read magnetic field intensity restriction, on magnetic induction line
The magnetic field intensity of one dimension is essentially identical, and therefore, the precision of magnetic nail correction and the precision of Quick Response Code correction be not comparable.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, provide a kind of High-precision mobile robot alignment system and
Method, the deficiency of solution Quick Response Code real-time control aspect, encoder measure hidden danger and the gyroscope null offset of presence indirectly
The problems such as.
The present invention solves its technical problem and takes technical scheme below to realize：
A kind of High-precision mobile robot alignment system, including the register control being arranged on AGV, Quick Response Code code reader
With the two-dimension code label being distributed in indoor environment, described register control includes microprocessor and coupled coding
Device, gyroscope and communication interface, described communication interface is connected with Quick Response Code code reader, described microprocessor pass through encoder,
Gyroscope respectively reading angular data, image in 2 D code is read by Quick Response Code code reader and carries out calculating and realize positioning function.
Described microprocessor includes following functional unit：
Encoder and gyroscope weight parameter arranging unit：During calculating in angle change, microprocessor carries
Take the respective weight of encoder angular data, gyroscope angle-data；
Projected unit in encoder：Calculate the relative displacement that each moment of AGV is with respect to starting point；
Gyroscope reading angular unit：AGV angle change is obtained by angular velocity integration by microprocessor；
Encoder errors correct unit：The position of position reset encoder that drawn by microprocessor reading code is simultaneously advised again
Draw；
Gyroscope drift corrects unit：Reset the angle of gyroscope and again advised by the angle that microprocessor reading code draws
Draw；
Image in 2 D code processing unit：Receive image in 2 D code and image in 2 D code is identified；
Pose computing unit under world coordinate system for the car body：Draw AGV car body under world coordinate system by reading code
Position deviation and angular deviation.
Described two-dimension code label is single two-dimension code label, or Quick Response Code code battle array label.
Described Quick Response Code code reader is one or two.
A kind of localization method of High-precision mobile robot alignment system, comprises the following steps：
Step 1, register control according to the angle change of encoder, weight COMPREHENSIVE CALCULATING AGV of gyroscope, and according to
The angle change of AGV takes the air line to AGV or the angle turned carries out real-time control；
Step 2, register control by Quick Response Code code reader obtain AGV angles and positions, gyroscope angle is offset into
Row correction is simultaneously corrected to encoder relative displacement error.
Described step 1 comprises the following steps：
(1) it is respectively encoder and gyroscope is provided for the weight of calculation；
(2) gyroscope measures the angular velocity of AGV；
(3) angular velocity is integrated to obtain AGV angle change by microprocessor；
(4) encoder measures the relative displacement of AGV；
(5) microprocessor is according to the angle change of the mathematic interpolation AGV of encoder relative displacement on each wheel；
(6) microprocessor obtains the angle change value of AGV according to the weight COMPREHENSIVE CALCULATING of encoder and gyroscope；
(7) the angle change value of the AGV that microprocessor obtains according to COMPREHENSIVE CALCULATING, maintains AGV angle when real-time control takes the air line
Degree constant, rotation when AGV rotate in predetermined angular.
Described step 2 comprises the following steps：
(1) set up following three coordinate system：Image coordinate system (u, v), dolly coordinate system (xDolly、yDolly), world coordinate system
(xThe world、yThe world)；
(2) calculate under dolly coordinate system AGV with respect to the deviation angle of Quick Response Code and deviation position；
(3) calculate two-dimension code label with respect to the deviation position of world coordinate system and deviation angle；
(4) calculate AGV with respect to the deviation angle of world coordinate system and deviation position position, thus obtaining the accurate position of AGV
Appearance.
(5) microprocessor carries out school with respect to the deviation angle of world coordinate system to the angle skew of gyroscope according to AGV
Just, the relative displacement error of encoder is corrected with respect to the deviation position of world coordinate system according to AGV.
Advantages of the present invention and good effect are：
1st, Quick Response Code code reader, encoder and gyroscope are organically combined by the present invention, real by register control
When according to weight COMPREHENSIVE CALCULATING AGV angle change, and real-time control is carried out to AGV according to angle change, has slackened AGV real
When control during, the angle drift of gyroscope and the displacement error of encoder affect on produced by angle change, overcome
The deficiency of Quick Response Code real-time control aspect and the hidden danger of the indirect measurement of encoder.
2nd, the present invention, in position fixing process, resets AGV angle, gyroscope by the angle that register control reading code draws
Angle, new planning of laying equal stress on, the position of position reset AGV being drawn with reading code, the position of encoder, lay equal stress on new planning so that
AGV, encoder, the error of gyroscope can be corrected when reading every time yard so that the angle precision of AGV reach positive and negative
0.1 degree, positional precision reaches positive and negative 0.2mm, drastically increases navigation accuracy.
Brief description
Fig. 1 is the system connection diagram of the present invention；
Fig. 2 is the microprocessor function module map of register control.
Specific embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described：
A kind of High-precision mobile robot alignment system, as shown in figure 1, include being arranged in mobile robot (AGV)
Register control, Quick Response Code code reader and the two-dimension code label being distributed in indoor environment, this register control by microprocessor,
Encoder, gyroscope and communication interface connect and compose, and communication interface is connected with Quick Response Code code reader.Described microprocessor passes through
Encoder, gyroscope respectively reading angular data, by Quick Response Code code reader read image in 2 D code and carry out calculate realize essence
Determine bit function.Described two-dimension code label both can be single two-dimension code label or the two dimension being made up of Quick Response Code
Code code battle array label, described Quick Response Code code reader is one or two, two Quick Response Code code readers that Fig. 1 is given.
About Quick Response Code code battle array technical scheme refer to the patent No. 201610201583.3, patent name " a kind of is used for AGV
The rule schema shape code code battle array of navigation and its reading code method ", will not be described here.
Technical scheme about moving robot localization using Quick Response Code code reader refers to the patent No.
201210472984.4th, the technology of patent name " mobile robot positioning system based on multiple Quick Response Code code readers and method "
Scheme, will not be described here.
As shown in Fig. 2 the microprocessor in Quick Response Code location control includes following functions module：Encoder and gyroscope power
Projected unit, gyroscope reading angular unit, encoder errors correction unit, gyroscope in weight parameter set unit, encoder
Excursion correction unit, the image in 2 D code processing unit and AGV car body pose computing unit under world coordinate system.Described power
During weight parameter set unit is used for being arranged on angle change calculating, microprocessor extracts encoder angular data, gyro
The respective ratio of instrument angle-data.In described encoder, projected unit calculates the phase that each moment of AGV is with respect to starting point
To displacement.Described gyroscope reading angular unit obtains AGV angle change by microprocessor by angular velocity integration.Described coding
The position of the position reset encoder that device error correction unit is drawn by microprocessor reading code, new planning of laying equal stress on.Described gyro
Instrument excursion correction unit resets the angle of gyroscope, new planning of laying equal stress on by the angle that microprocessor reading code draws.Described AGV car
By reading code, pose computing unit under world coordinate system for the body show that position under world coordinate system for the AGV is inclined by microprocessor
Difference and angular deviation.
A kind of localization method of High-precision mobile robot alignment system, comprises the following steps：
Step 1, register control according to the angle change of encoder, weight COMPREHENSIVE CALCULATING AGV of gyroscope, and according to
The angle change of AGV takes the air line to AGV or the angle turned carries out real-time control；
Detailed process is as follows：
(1) it is the weight that encoder and gyroscope are respectively arranged to calculation；
(2) gyroscope measures the angular velocity of AGV；
(3) angular velocity is integrated to obtain AGV angle change by microprocessor, in order to be controlled；
(4) encoder measures the relative displacement of AGV；
(5) microprocessor is according to the angle change of the mathematic interpolation AGV of encoder relative displacement on each wheel；
(6) microprocessor obtains the angle change value of AGV according to the weight COMPREHENSIVE CALCULATING of encoder and gyroscope；
(7) the angle change value of the AGV that microprocessor obtains according to COMPREHENSIVE CALCULATING, maintains AGV angle when real-time control takes the air line
Degree constant, rotation when AGV rotate in predetermined angular；
Step 2, register control by Quick Response Code code reader obtain AGV angles and positions, gyroscope angle is offset into
Row correction is simultaneously corrected to encoder relative displacement error.
Obtain the technical side of angular deviation under world coordinate system for the AGV and position deviation about register control reading code
Case, refers to Patent No. ZL201210186563.5, patent name is " the indoor mobile robot positioning system based on Quick Response Code
System " and Patent No. ZL201310017927.1, patent name are the " mobile robot of rule-based graphic code composite label
The technical scheme of alignment system and method ", will not be described here.
Detailed process is as follows：
(1) set up following three coordinate system：Image coordinate system (u, v), dolly coordinate system (xDolly、yDolly), world coordinate system
(xThe world、yThe world)；
(2) calculate under dolly coordinate system AGV with respect to the deviation angle of Quick Response Code and deviation position；
(3) calculate two-dimension code label with respect to the deviation position of world coordinate system and deviation angle；
(4) calculate AGV with respect to the deviation angle of world coordinate system and deviation position position, thus obtaining the accurate position of AGV
Appearance.
(5) microprocessor carries out school with respect to the deviation angle of world coordinate system to the angle skew of gyroscope according to AGV
Just, the relative displacement error of encoder is corrected with respect to the deviation position of world coordinate system according to AGV.
It is emphasized that embodiment of the present invention is illustrative rather than determinate, bag therefore of the present invention
Include the embodiment being not limited to described in specific embodiment, every by those skilled in the art's technology according to the present invention scheme
The other embodiment drawing, also belongs to the scope of protection of the invention.
Claims (7)
1. a kind of High-precision mobile robot alignment system, including the register control being arranged on AGV, Quick Response Code code reader and
Be distributed in two-dimension code label in indoor environment it is characterised in that：Described register control includes microprocessor and coupled
Encoder, gyroscope and the communication interface connecing, described communication interface is connected with Quick Response Code code reader, and described microprocessor passes through
Encoder, gyroscope respectively reading angular data, read by Quick Response Code code reader image in 2 D code and carry out calculating realize fixed
Bit function.
2. a kind of High-precision mobile robot alignment system according to claim 1 it is characterised in that：Described microprocessor
Including following functional unit：
Encoder and gyroscope weight parameter arranging unit：During calculating in angle change, microprocessor extracts to be compiled
Code device angle-data, the respective weight of gyroscope angle-data；
Projected unit in encoder：Calculate the relative displacement that each moment of AGV is with respect to starting point；
Gyroscope reading angular unit：AGV angle change is obtained by angular velocity integration by microprocessor；
Encoder errors correct unit：Lay equal stress on new planning in the position of the position reset encoder being drawn by microprocessor reading code；
Gyroscope drift corrects unit：The angle that the angle being drawn by microprocessor reading code resets gyroscope is laid equal stress on new planning；
Image in 2 D code processing unit：Receive image in 2 D code and image in 2 D code is identified；
Pose computing unit under world coordinate system for the car body：Position under world coordinate system for the AGV car body is drawn by reading code
Deviation and angular deviation.
3. a kind of High-precision mobile robot alignment system according to claim 1 and 2 it is characterised in that：Described two dimension
Code label is single two-dimension code label, or Quick Response Code code battle array label.
4. a kind of High-precision mobile robot alignment system according to claim 1 and 2 it is characterised in that：Described two
Dimension code code reader is one or two.
5. the localization method of High-precision mobile robot alignment system as described in a kind of any one as Claims 1-4, its feature exists
In comprising the following steps：
Step 1, register control according to the angle change of encoder, weight COMPREHENSIVE CALCULATING AGV of gyroscope, and according to AGV's
Angle change takes the air line to AGV or the angle turned carries out real-time control；
Step 2, register control obtain AGV angles and positions by Quick Response Code code reader, carry out school to the skew of gyroscope angle
Just and to encoder relative displacement error it is corrected.
6. a kind of High-precision mobile robot alignment system according to claim 5 localization method it is characterised in that：Institute
State step 1 to comprise the following steps：
(1) it is respectively encoder and gyroscope is provided for the weight of calculation；
(2) gyroscope measures the angular velocity of AGV；
(3) angular velocity is integrated to obtain AGV angle change by microprocessor；
(4) encoder measures the relative displacement of AGV；
(5) microprocessor is according to the angle change of the mathematic interpolation AGV of encoder relative displacement on each wheel；
(6) microprocessor obtains the angle change value of AGV according to the weight COMPREHENSIVE CALCULATING of encoder and gyroscope；
(7) the angle change value of the AGV that microprocessor obtains according to COMPREHENSIVE CALCULATING, maintains AGV angle not when real-time control takes the air line
When becoming, rotating, AGV rotates in predetermined angular.
7. a kind of High-precision mobile robot alignment system according to claim 5 localization method it is characterised in that：Institute
State step 2 to comprise the following steps：
(1) set up following three coordinate system：Image coordinate system (u, v), dolly coordinate system (xDolly、yDolly), world coordinate system (xThe world、
yThe world)；
(2) calculate under dolly coordinate system AGV with respect to the deviation angle of Quick Response Code and deviation position；
(3) calculate two-dimension code label with respect to the deviation position of world coordinate system and deviation angle；
(4) calculate AGV with respect to the deviation angle of world coordinate system and deviation position position, thus obtaining the accurate pose of AGV.
Microprocessor the skew of the angle of gyroscope is corrected with respect to the deviation angle of world coordinate system according to AGV, root
The relative displacement error of encoder is corrected with respect to the deviation position of world coordinate system according to AGV.
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| CN107962568A (en) * | 2017-11-16 | 2018-04-27 | 上海斐讯数据通信技术有限公司 | The real-time location method and system of a kind of robot |
| CN108469262A (en) * | 2018-03-13 | 2018-08-31 | 上海三利数字技术有限公司 | The positioning system and method for rail transit train |
| CN108773433A (en) * | 2018-06-05 | 2018-11-09 | 广州市远能物流自动化设备科技有限公司 | A kind of butt junction location calibration method and AGV trolleies based on AGV trolleies |
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