CN106772319B - Automatic calibration device and calibration method for deflection angle of AGV laser anti-collision sensor - Google Patents
Automatic calibration device and calibration method for deflection angle of AGV laser anti-collision sensor Download PDFInfo
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- CN106772319B CN106772319B CN201611175419.6A CN201611175419A CN106772319B CN 106772319 B CN106772319 B CN 106772319B CN 201611175419 A CN201611175419 A CN 201611175419A CN 106772319 B CN106772319 B CN 106772319B
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- 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
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Abstract
The invention discloses an automatic calibration device and a calibration method for deflection angles of an AGV laser anti-collision sensor, which comprise an AGV vehicle and a lane for the AGV vehicle to travel, and further comprise a front laser anti-collision sensor, a rear laser anti-collision sensor, a front antenna, a rear antenna, a magnetic stapler, a reflector and a processor, wherein the magnetic stapler is respectively arranged on the ground of the lane, the front laser anti-collision sensor is arranged at the front end of the AGV vehicle, the front antenna is also arranged at the front end of the AGV vehicle and at the rear of the front laser anti-collision sensor, the rear laser anti-collision sensor is arranged at the rear end of the AGV vehicle and at the front of the rear laser anti-collision sensor, and the reflector is uniformly arranged at one side of the lane at intervals through a reflector mounting support, and the processor is respectively connected with the front laser anti-collision sensor, the rear laser anti-collision sensor, the front antenna and the rear antenna in a data way. The deflection angle of the laser anti-collision sensor can be automatically calculated, and deflection angle errors are controlled, so that labor cost is reduced, and accuracy and efficiency are improved.
Description
Technical Field
The invention relates to the field of automatic container trolley carrying in an automatic wharf horizontal transport system, in particular to an automatic calibration device and a calibration method for a deflection angle of an AGV laser anti-collision sensor.
Background
The container AGV (Automated Guided Vehicle, the "automated guided vehicle") is an important component of an Automated Guided Vehicle (AGV) in an automated dock. When the AGV interacts with the container palletizing crane, the AGV and the container palletizing crane cannot always be synchronized, and for this purpose, the container is often temporarily placed on the buffer bracket, so that another device (the AGV or the container palletizing crane) can complete the task in advance to execute the next task. Because AGVs advance when buffering support, the gap that allows the reservation between AGV side and the buffering support is only about 16cm, when the AGV automobile body apart from the reflector panel and be less than 7cm, in order to avoid AGVs to bump with container buffering support, the AGVs must stop. In-process that the AGV got into the buffering support is considered, and AGV self probably has 3cm to rectify, and AGV car length 15m relies on the laser anticollision sensor who installs in the AGV locomotive to survey the reflecting plate of AGV the place ahead side, estimates the distance between AGV automobile body and the support reflecting plate, through calculating, requires to acquire laser anticollision sensor's deflection angle precision control in 0.15.
Currently, a common solution is to install multiple ultrasonic sensors at the sides of the AGV to achieve collision avoidance. However, the ultrasonic sensor only detects the single-point distance between the position of the AGV where the ultrasonic wave is installed and the container buffer support, and cannot estimate the distance between other positions of the vehicle body and the container buffer support.
The calibration method of the common laser anti-collision sensor can utilize the AGV body or some positioning references on the AGV as reference objects for calibration, but because the AGV is a large-scale welding structural member, the calibration precision error is required to be controlled within 0.15 degrees, and the difficulty is very high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic calibration device and a calibration method for the deflection angle of an AGV laser anti-collision sensor, which can automatically calculate the deflection angle of the laser anti-collision sensor and control the deflection angle error to be within 0.15 degrees, thereby reducing the labor cost and improving the precision and efficiency.
In order to achieve the above purpose, the invention adopts the following technical scheme:
on the one hand, AGV laser anticollision sensor deflection angle automatic calibration device, including automatic guide transport vechicle (call AGV car below), and supply the lane that the AGV car was gone, still include the front portion laser anticollision sensor, rear portion laser anticollision sensor, preceding antenna, rear antenna, magnetism is ordered, reflector panel and treater, magnetism is ordered and is had the several, locate the subaerial of lane respectively, all be equipped with the code of coordinate information in every magnetism is ordered, the front portion laser anticollision sensor locates the front end of AGV car, be used for to external emission laser, the front antenna also locates the front end of AGV car, and locate the rear portion laser anticollision sensor's rear end, be used for to external emission laser, the rear end of AGV car is also located to the rear antenna, and locate rear portion laser anticollision sensor's place ahead, be used for detecting magnetism and order, the reflector panel has the several, all set up in the one side of lane through corresponding reflector panel installation support even interval, the treater is located the front portion laser anticollision sensor respectively, rear portion laser anticollision sensor, the front antenna and rear antenna receive laser anticollision antenna and receive laser anticollision data, the front portion laser anticollision sensor is used for calculating the angle of collision avoidance sensor, and the laser anticollision sensor is used for calculating the front and collision avoidance angle analysis.
The laser irradiation angle range is-5-185 degrees, and the irradiation distance is 80m.
The front laser anti-collision sensor, the rear laser anti-collision sensor, the front antenna and the rear antenna are all arranged on the central line of the AGV.
The coordinate error of the magnetic binding is within 0.5 mm.
The reflecting plate is parallel to the central line of the lane and the connecting line of the magnetic binding.
On the other hand, the automatic calibration method for the deflection angle of the AGV laser anti-collision sensor comprises the following steps:
s1, calculating an included angle between a reflecting plate and a laser central line according to laser data, sending out a beam of laser at intervals of 0.25 degrees according to a range from-5 degrees to 185 degrees by a front laser anti-collision sensor, returning to the distance between the reflecting plate and the laser emission center when each beam of laser meets the reflecting plate, recording the angle, primarily fitting a linear equation of the reflecting plate in a laser rectangular coordinate system according to the distance and angle information of the laser beam returned by the reflecting plate by a processor, removing part of interference points according to the distance relation between the laser data reflected by the reflecting plate and the primarily fitted linear, then performing linear fitting again on the rest data points, and calculating the included angle between the reflecting plate and the laser central line according to the slope of linear fitting;
s2, calculating the attitude angle of the AGV according to the transverse deviation of the front antenna and the rear antenna relative to the magnetic binding, and when the front antenna and the rear antenna on the AGV simultaneously detect effective magnetic binding, returning the coordinate positions of the magnetic binding in an antenna coordinate system by the front antenna and the rear antenna, so that the processor can calculate the transverse deviation of the central points of the front antenna and the rear antenna relative to the magnetic binding connecting line, and according to the distance between the central points of the front antenna and the rear antenna, calculating the included angle, namely the attitude angle, of the AGV relative to the magnetic binding connecting line by the processor according to the triangular relation;
s3, calculating the installation deflection angle of the laser relative to the AGV, wherein the installation deflection angle of the laser relative to the AGV is finally obtained by subtracting the attitude angle of the AGV from the included angle between the reflecting plate and the laser central line due to the parallel arrangement of the reflecting plate and the magnetic binding connecting line.
In the step S1, the front laser anti-collision sensor is specifically calibrated as follows:
s11, determining the laser effective angle irradiation range of the reflector;
s12, obtaining the distance and the angle between the reflecting plate and the laser center at intervals of a fixed angle;
s13, converting the distance from each position of the reflector to the laser center into coordinates in a laser coordinate system;
s14, performing preliminary straight line fitting on the data of the reflecting plate;
s15, filtering the interference data points of the preliminarily fitted reflecting plate, and retaining effective points;
s16, performing re-straight line fitting on effective data points of the reflector after interference rejection;
s17, acquiring an included angle between the reflecting plate and the laser center line.
Step S15 filters the interference data points of the preliminarily fitted reflecting plate, and retains the effective points, and is specifically as follows:
s151, calculating the distance from the fitted point to the primary fitting straight line;
s152, calculating the standard deviation of the distance;
s153, the distance is not more than twice standard deviation;
s154, reserving the distance as an effective point;
s155, eliminating the interference points which are the distances.
In the step S2, the current attitude angle of the AGV is calculated as follows:
s21, detecting effective magnetic orders by front and rear antennas on the AGV;
s22, acquiring coordinates of a front antenna detected by a front antenna in a magnetically bound front antenna coordinate system;
s23, acquiring coordinates of the rear antenna detected by the rear antenna in a coordinate system of the rear antenna;
s24, calculating the attitude angle of the AGV according to the transverse deviation of the front antenna coordinate origin and the rear antenna coordinate origin detected by the front antenna and the rear antenna relative to the magnetic binding.
According to the automatic calibration device and the calibration method for the deflection angle of the AGV laser anti-collision sensor, provided by the invention, the included angle between the reflecting plate and the central lines of the front laser anti-collision sensor and the rear laser anti-collision sensor is obtained by performing linear fitting again after removing part of interference points by adopting a filtering method on the basis of preliminary linear fitting of the reflecting plate. And then when the front antenna and the rear antenna of the AGV detect magnetic binding at the same time, calculating the attitude angle of the AGV in a ground global coordinate system according to the transverse deviation of the front antenna and the rear antenna relative to the magnetic binding, and finally, automatically calculating the accurate value of the installation deflection angle of the front laser anti-collision sensor and the rear laser anti-collision sensor by combining the included angle between the reflecting plate and the central lines of the front laser sensor and the rear laser sensor. Accurate automatic calibration of the deflection angle of the laser anti-collision sensor is realized, the calibration precision is improved, the labor cost is reduced, and the time is saved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a block diagram of the components of the present invention;
FIG. 3 is a flow chart of the automatic calibration method of the present invention;
FIG. 4 is a schematic flow chart of calculating the included angle between the reflecting plate and the laser center line according to the present invention;
FIG. 5 is a schematic flow chart of the filtering of the interference points of the reflector of the present invention;
FIG. 6 is a schematic flow chart of the present invention for calculating the current attitude angle of the AGV;
FIG. 7 is a schematic representation of the present invention calculating the attitude angle of an AGV.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1 and 2, the automatic calibration device for deflection angle of an AGV laser collision avoidance sensor provided by the present invention includes an automatic guided transport vehicle (hereinafter, referred to as AGV vehicle 3), a lane 10 for the AGV vehicle 3 to travel, a front laser collision avoidance sensor 5, a rear laser collision avoidance sensor 1, a front antenna 4, a rear antenna 2, a magnetic binder 6, a reflector 7, and a processor 9, wherein the magnetic binder 6 has a plurality of magnetic binders, is buried on the ground of the lane 10 according to a certain rule in advance, and is written with codes containing coordinate information in advance for each magnetic binder 6, the front laser collision avoidance sensor 5 is disposed at the front end of the AGV vehicle 3 for emitting laser to the outside, emits a beam of laser every 0.25 °, the front antenna 4 is also disposed at the front end of the AGV vehicle 3, and is disposed behind the front laser collision avoidance sensor 5 for detecting magnetic binders, the coordinates of the detected magnetic binding 6 in the coordinate system of the front antenna 4 are obtained, the coordinates of the magnetic binding 6 in the global coordinate system of the ground are obtained, the rear laser anti-collision sensor 1 is arranged at the rear end of the AGV car 3 and is used for emitting laser to the outside, a beam of laser is emitted every 0.25 DEG, after the calibration of the front laser anti-collision sensor 5 is completed, the AGV car 3 is turned around, the rear laser anti-collision sensor 1 is calibrated, the rear antenna 2 is also arranged at the rear end of the AGV car 3 and is arranged in front of the rear laser anti-collision sensor 1 and is used for detecting the magnetic binding, the coordinates of the detected magnetic binding 6 in the coordinate system of the rear antenna 2 are obtained, the magnetic binding 6 in the global coordinate system of the ground is obtained, the reflector 7 is provided with a plurality of reflectors, the reflectors are uniformly arranged at one side of the lane 10 at intervals through the reflectors 8 and are simultaneously ensured to be parallel to the center line of the lane 10, the control angle error is within 0.1 DEG, the connecting lines of the reflecting plate 7 and the magnetic binding 6 are also arranged in parallel, the distance is controlled to be at a position beyond 0.15m on the basis of half of the AGV 3, and the processor 9 is respectively connected with the front laser anti-collision sensor 5, the rear laser anti-collision sensor 1, the front antenna 4 and the rear antenna 2 in data, is used for analyzing and processing received data information and calculating the deflection angle calibration angles of the front laser anti-collision sensor 5 and the rear laser anti-collision sensor 1.
Preferably, the laser irradiation angle range is-5-185 degrees, and the irradiation distance is 80m.
Preferably, the front laser anti-collision sensor 5, the rear laser anti-collision sensor 1, the front antenna 4 and the rear antenna 2 are all arranged on the central line of the AGV 3.
Preferably, the error of the magnetic binding 6 is controlled within 0.5 mm.
Referring to fig. 3, the automatic calibration method for the deflection angle of the AGV laser anti-collision sensor provided by the invention comprises the following steps:
s1, calculating an included angle between a reflecting plate and a laser central line according to laser data, sending out a beam of laser at intervals of 0.25 degrees according to a range from-5 degrees to 185 degrees by a front laser anti-collision sensor, returning to the distance between the reflecting plate and the laser emission center when each beam of laser meets the reflecting plate, recording the angle, primarily fitting a linear equation of the reflecting plate in a laser rectangular coordinate system according to the distance and angle information of the laser beam returned by the reflecting plate by a processor, removing part of interference points according to the distance relation between the laser data reflected by the reflecting plate and the primarily fitted linear, then performing linear fitting again on the rest data points, and calculating the included angle between the reflecting plate and the laser central line according to the slope of linear fitting;
s2, calculating the attitude angle of the AGV according to the transverse deviation of the front antenna and the rear antenna relative to the magnetic binding, and when the front antenna and the rear antenna on the AGV simultaneously detect effective magnetic binding, returning the coordinate positions of the magnetic binding in an antenna coordinate system by the front antenna and the rear antenna, so that the processor can calculate the transverse deviation of the central points of the front antenna and the rear antenna relative to the magnetic binding connecting line, and according to the distance between the central points of the front antenna and the rear antenna, calculating the included angle, namely the attitude angle, of the AGV relative to the magnetic binding connecting line by the processor according to the triangular relation;
s3, calculating the installation deflection angle of the laser relative to the AGV, wherein the installation deflection angle gamma of the laser relative to the AGV is finally obtained by subtracting the attitude angle of the AGV from the included angle between the reflecting plate and the laser central line due to the parallel arrangement of the reflecting plate and the magnetic binding connecting line.
Referring to fig. 4, in the step S1, the front laser collision avoidance sensor is specifically calibrated as follows (the rear laser collision avoidance sensor is specifically calibrated by turning around the AGV and calibrating by the same method):
s11, determiningThe laser effective angle irradiation range of the reflector is assumed that the distance from the central point of the front laser anti-collision sensor to the reflector is D y The distance from the furthest point of the reflecting plate to the AGV head is D x Then, the effective angle θ that the front laser crash sensor allows to detect the reflecting plate can be found as:
in this embodiment, the reflector panel is installed in the left side of AGV car, and anterior laser anticollision sensor is with the right side for zero degree, is 90 perpendicularly forward, so, the effective detection angle scope θ' of reflector panel satisfies:
θ′∈[180°-θ，180°]
s12, acquiring the distance and angle between the reflector and the laser center at intervals of a fixed angle, transmitting a beam of laser to the reflector at each 0.25 DEG according to the effective laser angle detection range of the reflector, and returning the laser to a front laser anti-collision sensor after each beam of laser irradiates the reflector, wherein the front laser anti-collision sensor records the distance and angle information, and the distance information is r i Representing the corresponding angle information by θ i A representation;
s13, converting the distance from each position of the reflector to the laser center into coordinates in a laser coordinate system, and assuming that the 90-degree outward emission direction of the front laser anti-collision sensor is the positive x-axis direction of the laser rectangular coordinate system and the 180-degree outward direction is the positive y-axis direction of the laser rectangular coordinate system, the distance r in S12 is as follows i And angle theta i Can be converted into corresponding coordinates (x i ，y i ) The method comprises the following steps:
s14, performing preliminary straight line fitting on the data of the reflecting plate, and assuming that a straight line equation of the reflecting plate under an anti-collision laser rectangular coordinate system is y=k 1 x+b 1 Representation, where k 1 Representation ofSlope, b 1 Representing the intercept, these two parameters are to be determined. For data (x) within N sets of effective angular ranges of the laser detected reflector i ，y i ) (wherein i=1, 2,) N, the same applies to data fitting the data to a straight line using the least squares method.
When estimating parameters by least square method, the observed value y is required i The weighted sum of squares of the deviations of (c) is minimal. Linear fitting to an equal accuracy observation, namely: the following values are minimized:
for k in the above 1 And b 1 Respectively obtaining the deviation guide:
after finishing, the following steps are obtained:
solving the above equation yields:
(wherein i=1, 2, … …, N)
Then, a linear equation y=k of the initial fitting of the reflector in the anticollision laser rectangular coordinate system can be obtained 1 x+b 1 Slope k of (a) 1 And intercept b 1 Is the best estimate of (2)
S15, filtering the interference data points of the preliminarily fitted reflecting plate, retaining effective points, and firstly calculating the distance from the fitted data points to the preliminarily fitted straight line; then, the standard deviation of these distances is calculated; finally, the data points with the distance larger than twice the standard deviation are removed, and the data points with the distance smaller than twice the standard deviation are reserved.
S16, carrying out re-straight line fitting on effective data points of the reflecting plate after interference elimination, and carrying out linear fitting on effective data points (x j ，y j ) (wherein j=1, 2, … …, M) performing straight line fitting to obtain a straight line equation y=k of fitting the reflector in the rectangular coordinate system of the anti-collision laser sensor 2 x+b 2 Slope k of (a) 2 And intercept b 2 Is the best estimate of (2)
And->
(wherein j=1, 2, … …, M)
S17, obtaining an included angle between the reflecting plate and a laser central line, and assuming that the included angle between the reflecting plate and an anti-collision laser central line (namely an x-axis) is denoted by alpha, then:
please refer to fig. 5, which illustrates filtering the interference data points of the primarily fitted reflector, and retaining the effective points, specifically as follows:
s151, calculating the distance from the fitted point to the primary fitting straight line, and calculating the coordinates (x) of a plurality of data points on the reflecting plate in an anti-collision laser coordinate system i ，y i ) To a preliminary fitting straight line
Distance d of (2) i 。
S152, calculating standard deviation of distance, fitted point (x i ，y i ) To a preliminary fitting straight line
Distance d of (2) i Mean>
And standard deviation sigma d Then, there are:
s153, the distance is not more than twice the standard deviation, according to the distance d i Standard deviation sigma of twice that d And comparing, removing the interference points and reserving the concentrated points.
S154, the point is the effective point, which is reserved, when d i ≤2σ d When the data of the ith point is reserved, wherein i=1, 2, … …, N
S155, eliminating the interference point, and when d i ＞2σ d At this time, the data of the i-th point is deleted, where i=1, 2, … …, N
Assume that after deleting a portion of the interference points, the total number of remaining valid data points is denoted by M.
Referring to fig. 6, the calculation of the current attitude angle of the AGV vehicle is specifically as follows:
s21, detecting effective magnetic orders by the front antenna and the rear antenna on the AGV, and when the front antenna and the rear antenna on the AGV are buried in the ground in advance and the magnetic orders of accurate coordinate information are written, the front antenna and the rear antenna can send an identification for detecting the effective magnetic orders, and the AGV is started to calculate the attitude angle in the ground global coordinate system.
S22, acquiring coordinates of the front antenna coordinate system, detected by the front antenna and the antenna, magnetically binding the coordinates in the front antenna coordinate system, calculating a triangular relation diagram of an AGV vehicle attitude angle by combining with FIG. 7, and assuming the front antennaThe center point is the origin of coordinates of the front antenna coordinate system, the x-axis square of the front antenna coordinate system is arranged towards the outer side of the AGV body, and the y-axis positive direction of the front antenna coordinate system is obtained according to the principle of the Cartesian coordinate system. When the front antenna detects effective magnetic binding, the front antenna can acquire the coordinates of the magnetic binding in an antenna coordinate system, and in the front antenna coordinate system, the center of the magnetic binding A can be easily calculated from the center of the magnetic binding A to the center point O of the front antenna by utilizing the right triangle relation according to the coordinates of the magnetic binding center point F Distance of (2)
Sum angle AO F Size of B.
S23, acquiring coordinates of the magnetic binding detected by the rear antenna in a rear antenna coordinate system, or calculating a triangular relation diagram of an AGV vehicle attitude angle by combining with FIG. 7, wherein the center point of the rear antenna is assumed to be the origin of coordinates of the rear antenna coordinate system, the direction towards the outer side of the AGV vehicle body is the x-axis square of the rear antenna coordinate system, and the y-axis positive direction of the rear antenna coordinate system is obtained according to the principle of a Cartesian coordinate system. When the rear antenna detects effective magnetic binding, the rear antenna can acquire the coordinates of the magnetic binding in an antenna coordinate system, and in the rear antenna coordinate system, the center of the magnetic binding C can be easily calculated from the center of the magnetic binding C to the center point O of the rear antenna by utilizing the right triangle relation according to the coordinates of the magnetic binding center point R Distance of (2)
And angle of CO R Size of B.
S24, according to the fact that the coordinate origins of the front antenna and the rear antenna detect the transverse deviation of the magnetic orders relative to the front antenna and the rear antenna respectively, calculating the attitude angle of the AGV, and calculating a triangular relation diagram of the attitude angle of the AGV according to FIG. 7, wherein the three angles are calculated according to the sine theorem of the triangle:
due to +.O F BA＝∠O R BC, and
the distance of the magnetic order detected for the front and rear antennas is a known quantity. Therefore, it is possible to obtain:
∠O F and BA is the included angle between the AGV and the magnetic binding center line and is marked as beta.
In summary, the invention can automatically calculate the deflection angle of the laser anti-collision sensor according to the data of the laser reflector at the side edge of the container buffer bracket detected by the laser anti-collision sensor arranged in front of the AGV and the current position and posture of the AGV, and control the deflection angle error to be within 0.15 degrees. Thereby reducing the labor cost and improving the precision and efficiency.
It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration only and not for limitation of the invention, and that variations and modifications of the above described embodiments are intended to fall within the scope of the claims of the invention as long as they fall within the true spirit of the invention.
Claims (9)
- The utility model provides an AGV laser anti-collision sensor deflection angle automatic calibration device, including the AGV car, and supply the lane that the AGV car went, a serial communication port, still include anterior laser anti-collision sensor, rear portion laser anti-collision sensor, preceding antenna, back antenna, magnetism is ordered, reflector panel and treater, magnetism is ordered and is had the several, locate the subaerial of lane respectively, all be equipped with the code of coordinate information in every magnetism is ordered, anterior laser anti-collision sensor locates the front end of AGV car, be used for to external transmission laser, the front end of AGV car is also located to preceding antenna, and locate the rear end of AGV car, be used for to external transmission laser, the rear end of AGV car is also located to the rear antenna, and locate the place ahead of rear portion laser anti-collision sensor, be used for detecting magnetism and order, the reflector panel has the several, all set up in one side of lane through corresponding reflector panel mount pad even interval, the treater respectively with anterior laser anti-collision sensor, the rear portion laser anti-collision sensor, preceding antenna and back antenna are even, the front antenna is located the front end of AGV car, laser sensor receives laser sensor data, and laser sensor receives the data of collision angle, and calculate the laser sensor is used for carrying out the laser anti-collision angle analysis of data sensor.
- 2. The automatic calibration device for the deflection angle of the AGV laser anti-collision sensor according to claim 1, wherein the laser irradiation angle ranges from-5 degrees to 185 degrees, and the irradiation distance is 80m.
- 3. The automatic calibration device for the deflection angle of the AGV laser collision avoidance sensor according to claim 1 wherein the front laser collision avoidance sensor, the rear laser collision avoidance sensor, the front antenna and the rear antenna are all arranged on the central line of the AGV.
- 4. The automatic calibration device for the deflection angle of the AGV laser anti-collision sensor according to claim 1, wherein the error of the magnetic binding is within 0.5 mm.
- 5. The automatic calibration device for the deflection angle of the AGV laser anti-collision sensor according to claim 1, wherein the reflecting plate is arranged in parallel with the central line of the lane and the connecting line of the magnetic binding.
- 6. The automatic calibration method for the deflection angle of the AGV laser anti-collision sensor according to claim 1, comprising the following steps:s1, calculating an included angle between a reflecting plate and a laser central line according to laser data, sending out a beam of laser at intervals of 0.25 degrees according to a range from-5 degrees to 185 degrees by a front laser anti-collision sensor, returning to the distance between the reflecting plate and the laser emission center when each beam of laser meets the reflecting plate, recording the angle, primarily fitting a linear equation of the reflecting plate in a laser rectangular coordinate system according to the distance and angle information of the laser beam returned by the reflecting plate by a processor, removing part of interference points according to the distance relation between the laser data reflected by the reflecting plate and the primarily fitted linear, then performing linear fitting again on the rest data points, and calculating the included angle between the reflecting plate and the laser central line according to the slope of linear fitting;s2, calculating the attitude angle of the AGV according to the transverse deviation of the front antenna and the rear antenna relative to the magnetic binding, and when the front antenna and the rear antenna on the AGV simultaneously detect effective magnetic binding, returning the coordinate positions of the magnetic binding in an antenna coordinate system by the front antenna and the rear antenna, so that the processor can calculate the transverse deviation of the central points of the front antenna and the rear antenna relative to the magnetic binding connecting line, and according to the distance between the central points of the front antenna and the rear antenna, calculating the included angle, namely the attitude angle, of the AGV relative to the magnetic binding connecting line by the processor according to the triangular relation;s3, calculating the installation deflection angle of the laser relative to the AGV, wherein the installation deflection angle of the laser relative to the AGV is finally obtained by subtracting the attitude angle of the AGV from the included angle between the reflecting plate and the laser central line due to the parallel arrangement of the reflecting plate and the magnetic binding connecting line.
- 7. The automatic calibration method for the deflection angle of the laser collision avoidance sensor of the AGV according to claim 6, wherein in the step S1, the front laser collision avoidance sensor is specifically calibrated as follows:s11, determining the laser effective angle irradiation range of the reflector;s12, obtaining the distance and the angle between the reflecting plate and the laser center at intervals of a fixed angle;s13, converting the distance from each position of the reflector to the laser center into coordinates in a laser coordinate system;s14, performing preliminary straight line fitting on the data of the reflecting plate;s15, filtering the interference data points of the preliminarily fitted reflecting plate, and retaining effective points;s16, performing re-straight line fitting on effective data points of the reflector after interference rejection;s17, acquiring an included angle between the reflecting plate and the laser center line.
- 8. The automatic calibration method for the deflection angle of the AGV laser anti-collision sensor according to claim 7, wherein the step S15 filters the interference data points of the preliminarily fitted reflecting plate, and retains the effective points, specifically as follows:s151, calculating the distance from the fitted point to the primary fitting straight line;s152, calculating the standard deviation of the distance;s153, the distance is not more than twice standard deviation;s154, reserving the distance as an effective point;s155, eliminating the interference points which are the distances.
- 9. The automatic calibration method for the deflection angle of the AGV laser collision avoidance sensor according to claim 6, wherein in the step S2, the current attitude angle of the AGV is calculated as follows:s21, detecting effective magnetic orders by front and rear antennas on the AGV;s22, acquiring coordinates of a front antenna detected by a front antenna in a magnetically bound front antenna coordinate system;s23, acquiring coordinates of the rear antenna detected by the rear antenna in a coordinate system of the rear antenna;s24, calculating the attitude angle of the AGV according to the transverse deviation of the front antenna coordinate origin and the rear antenna coordinate origin detected by the front antenna and the rear antenna relative to the magnetic binding.
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| CN107831019A (en) * | 2017-10-25 | 2018-03-23 | 上海玖锶自动化技术有限公司 | A kind of AGV operational factors caliberating device and method |
| CN109144071B (en) * | 2018-09-30 | 2021-06-25 | 青岛港国际股份有限公司 | AGV driving control method in narrow lane |
| RU2742323C2 (en) | 2018-12-29 | 2021-02-04 | Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" | Method and computer device for determining angular displacement of radar system |
| CN109737988B (en) * | 2019-01-23 | 2020-07-28 | 华晟（青岛）智能装备科技有限公司 | Laser navigator consistency calibration method of automatic guided transport vehicle |
| CN109813213A (en) * | 2019-02-11 | 2019-05-28 | 芯球（上海）智能科技有限责任公司 | AGV vehicle angle detection system and method |
| CN111580066A (en) * | 2019-02-18 | 2020-08-25 | 上海汽车集团股份有限公司 | Steering angle detection method, device and system |
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