CN106940183A - A kind of AGV accurate positioning methods based on PSD rangings - Google Patents
A kind of AGV accurate positioning methods based on PSD rangings Download PDFInfo
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- CN106940183A CN106940183A CN201611149798.1A CN201611149798A CN106940183A CN 106940183 A CN106940183 A CN 106940183A CN 201611149798 A CN201611149798 A CN 201611149798A CN 106940183 A CN106940183 A CN 106940183A
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
Abstract
A kind of AGV accurate positioning methods based on PSD rangings are as follows：(1) visual guidance mode is used, AGV positioning precision is reached within ± 10mm；(2) after the completion of AGV coarse positionings, using PSD rangings, two benchmark point coordinates are measured, so as to determine AGV current horizontal and vertical offset distance and angle excursion according to linear equation, AGV current pose are obtained；(3) AGV current poses and targeted attitude set up the AGV equation of motion as input, calculate AGV yaw angle, the anglec of rotation；(4) by Mecanum wheel AGV omnidirectional moving (forward, keep straight on backward, to the left, traversing to the right, any angle diagonal, 0 radius of gyration rotate in place and above-mentioned motion combination), realize AGV pose adjustment；(5) during AGV pose adjustments, real-time resolving AGV pose, untill positioning precision reaches ± 0.3mm.The positioning precision of the present invention is high, calculates simple, Project Realization is easy.
Description
Technical field
The present invention relates to a kind of AGV accurate positioning methods based on PSD rangings, it is related to mechanical engineering, electronic engineering field
In detection, positioning, posture adjustment etc..
Background technology
AGV is the important component of flexible manufacturing system, has scarce one in terms of Automation of Manufacturing Process and intellectuality
Can not important function, especially in discrete manufacturing enterprise, complete multi-line between the instant of the multiple stations of unfixed point remove automatically
Fortune, realizes manufacturing automation, is processed, assembles, so the height of AGV positioning precisions, directly affects adding for product
Work and assembly precision, influence the characteristic of product.
Current AGV navigator fix modes have：Inertial positioning, vision positioning, laser positioning, GPS location, photoelectricity positioning etc.,
Positioning precision is relatively low, it is impossible to meet requirement of the fields such as precision manufactureing, assembling to AGV positioning precisions.Positioning precision is up to ±
5mm, for the coarse positioning to AGV.AGV coarse positionings are fully relied on, there is the problem of position error is larger, does not reach processing and fills
Situation with index, it is impossible to meet some use requirements higher to positioning accuracy request.
The content of the invention
Present invention solves the technical problem that being：Overcoming prior art deficiency, there is provided a kind of AGV based on PSD rangings is accurate
Localization method, for solving the problem of AGV positioning precisions are low in the prior art.
The technical scheme that the present invention is solved is：A kind of AGV accurate positioning methods based on PSD rangings, it is characterised in that step
It is rapid as follows：
(1) two position sensings are installed on automatical pilot transportation vehicle AGV (Automated Guided Vehicle) chassis
Detector PSD (Position Sensitive detector), and AGV coordinate systems and PSD coordinate systems are set up respectively；
(2) needing to carry out at pinpoint station AGV, two Laser emission instrument are being installed；
(3) use visual guidance mode, make AGV center need to carry out AGV relative to step (2) it is pinpoint
The centrical positioning precision of work is reached within ± 10mm, completes AGV coarse positionings；
(4) after the completion of step (3) AGV coarse positionings, the laser beam that two Laser emission instrument of step (2) are sent, respectively
Two luminous points are formed on the photosurface for two PSD being radiated at described in step (1), AGV gathers two luminous points respectively two in real time
Individual PSD coordinate systems o1-x1y1、o2-x2y2Under coordinate (x1,y1), (x2,y2)；
(5) coordinate (x of the luminous point obtained according to step (4)1,y1), (x2,y2), AGV current pose is determined, including
Current station coordinate system relative to the angle excursions of AGV coordinate systems, station coordinate origin relative to AGV coordinate systems origin
Offset distance in x directions and y directions；
(6) the current pose for the AGV for obtaining step (5) is contrasted with object pose, and object pose is：The current deflections of AGV
Angle is 0 °, horizontal and vertical offset distance is also 0mm, by the omnidirectional moving of the AGV based on Mecanum wheel, real
When AGV poses adjustment；
(7) during the adjustment of AGV poses, real-time resolving AGV current pose, until positioning precision reaches ± 0.3mm,
It is accurately positioned completion.
PSD in described step (1) is Two-dimensional PSD, and photosurface is its important component, two outside laser
Two laser beams of transmitter transmitting can be exposed to respectively forms two luminous points, two two on the photosurface of two Two-dimensional PSDs
Dimension PSD can measure the x coordinate and y-coordinate of the luminous point on oneself photosurface respectively.Plane where AGV chassis is parallel to holding
AGV ground is carried, PSD photosurface is parallel with plane where AGV chassis, is installed towards ground, laser beam is perpendicular to carrying
AGV ground, then laser beam is perpendicular to photosurface.In AGV motion processes, the relative position between two PSD keeps constant.
Establishment of coordinate system is as follows：Two PSD coordinate system o1-x1y1、o2-x2y2With AGV coordinate system oa-xayaIt is flat square seat
Mark system, the plane where two PSD coordinate system is parallel with the plane where AGV coordinate system, AGV coordinate origin
Positioned at center chassis, the y-axis positive direction of AGV coordinate system and two PSD coordinate systems points to AGV direction of advance, 3 coordinates
The X-axis of system point-blank, points to the right side of AGV directions of advance, and the origin of coordinates of two PSD coordinate systems is respectively two
The center of individual PSD photosurfaces, and using the Y axles of AGV coordinate systems as symmetry axis, it is symmetrical.
Laser emission instrument in the step (2), which is arranged on, to be needed to carry out at pinpoint station AGV, with ground
For coordinate plane, using the center of the station as the origin of coordinates, vertical station is to the right X axles, sets up station coordinate system og-xgyg,
Station coordinate system is plane right-angle coordinate.When Laser emission instrument is installed, make the Laser emission direction of two Laser emission instrument equal
The reverse extending line of upward and laser beam intersects with the X-axis of station coordinate system perpendicular to the ground, and two intersection points are with station coordinate system
Y-axis is symmetry axis, symmetrical, and the distance of the Y-axis of intersection point and station coordinate system and the origin of coordinates of PSD coordinate systems with
The distance of the Y-axis of AGV coordinate systems is equal.Two laser beams, which are respectively perpendicular, to be radiated on two PSD photosurface, respectively forms one
Distance between individual laser spots, and two laser central point is identical with the centre-to-centre spacing of two PSD photosurfaces.
Visual guidance mode in the step (3) is：Need that AGV is carried out to set thick fixed at pinpoint station
Bit-identify, coarse positioning be designated it is parallel with the X-axis of station coordinate system, and with AGV desired position position stop when, direction
Distance is 400mm between the car body end face of coarse positioning mark.Stop to after station the x-axis and station coordinate of AGV coordinate systems in AGV
It is og-xgygThis straight line formation angle be the current angle excursions of AGV, AGV front, rear, left side and four, right side
The center position in direction respectively installs a set of vision positioning system；According to movement instruction, the vision positioning system of AGV orientations
System can photograph AGV stop lines, and the distance between stop line and AGV end faces are between 395mm to 405mm, and stop line
Angle coarse positioning when between -0.5 °~0.5 ° is completed between the X-axis or Y-axis (relevant with headstock direction) of AGV coordinate systems.
Need that AGV be accurately positioned at station to require AGV headstock direction in the step (5), headstock side
To that must fix, illustrated so that AGV theoretical headstock direction is parallel with the Y-axis of station coordinate system as an example, AGV present bit
Appearance determination process is as follows：
1) by two luminous point coordinate (x under PSD coordinate systems1,y1), (x2,y2) be transformed under AGV coordinate systems, it is respectively
(x1-a,y1), (x2+a,y2)：
Wherein, a is the distance between origin of coordinates of the origin of coordinates and the AGV coordinate systems of each PSD coordinate systems；
2) the luminous point coordinate value (x under AGV coordinate systems is utilized1-a,y1), (x2+a,y2), the current poses of AGV are calculated, i.e.,
Calculate AGV current angle excursions, AGV coordinate origins relative to station coordinate system origin x directions and y directions skew
Distance；
AGV current angle excursion is：α=arctan (k)
Wherein k is the slope of straight line,And x2-x1+2a≠0
Station coordinate origin relative to AGV coordinate systems origin in x directions offset distance, i.e. AGV lateral offset
From for：
Station coordinate origin relative to AGV coordinate systems origin y directions offset distance, i.e. AGV vertical misalignment away from
From for：
Pose in the step (6) and (7) adjusts the direction of rotation that process is determination AGV and the direction of motion and held
The process of row corresponding actions, during the adjustment of AGV poses, AGV movement velocity is between 0.2mm/s to 1mm/s, rotation speed
Degree prevents the overshoot concussion during pose adjustment between 0.3 °/s to 1 °/s.Station coordinate system is former during being accurately positioned
Point relative to AGV coordinate systems origin x directions and y directions offset distance x and y meet:x2+y2≤0.32When, then stop
AGV motion, is accurately positioned completion, and positioning precision reaches ± 0.3mm.
Angle between the AGV direction of motion and AGV headstocks direction is designated as to AGV yaw angle in the present invention, gone off course
Angular configurations scope for [0 °, 360 °).When AGV is the motion of AGV headstocks direction forwards, yaw angle is 0 °.
The step of calculating AGV yaw angles is as follows：
If 1) x=0, AGV need to be moved along the y directions of AGV coordinate systems, i.e. AGV should forwards or rear motion.
If now y>0, then AGV yaw angle should be travelled forward for β=0 °, i.e. AGV；
If now y<0, then AGV yaw angle should be moved backward for β=180 °, i.e. AGV；
If now y=0, meets, x2+y2≤0.32AGV is accurately positioned completion, without adjusting again.
If 2) x>0, then AGV yaw angle be
If 3) x<0, then AGV yaw angle be
The step of calculating AGV direction of rotation is as follows：
If 4) k>0, then AGV answer rotate counterclockwise；
If 5) k<0, then AGV should turn clockwise；
If 6) k=0, AGV are without rotation.
Pinpoint process is carried out to AGV to determine the compound motion process of AGV yaw angles and AGV direction of rotation.
A kind of AGV accurate positioning methods based on PSD rangings described in step (1), it is characterised in that：The AGV is base
In the AGV of Mecanum wheel, the omnidirectional moving of the AGV based on Mecanum wheel includes：Forward, keep straight on backward, to the left, to the right
It is traversing, 0 radius of gyration rotate in place and above-mentioned motion combination.
Present invention advantage compared with prior art is：
(1) point on the basis of Laser emission instrument is used in the present invention, light beam is launched to PSD photosurface straight up
Mounting means, corresponds the coordinate of laser spots and AGV pose, it is ensured that the accuracy of AGV poses；
(2) Mecanum wheel AGV omnidirectional moving and Two-dimensional PSD are accurately positioned by the present invention is combined, and makes determining for AGV
Position precision is better than ± 0.3mm, solves AGV positioning precisions not high, it is impossible to the problem of meeting high position precision requirement.
(3) can according to actual needs, by needing to carry out AGV pinpoint multiple station punishment in the present invention
Not An Zhuan Laser emission instrument, unfixed point multiple stations are accurately positioned between multi-line can be achieved, and improve automatic processing or assembling etc.
The arrangement of streamline and the flexibility of change.
(4) it is accurately positioned in the present invention by being carried out to AGV so that the exact localization operation of production scene is automatically performed,
Time and the difficulty of positioning adjustment are substantially reduced, production efficiency and automatization level is effectively increased.
(5) in the present invention, by the raising to AGV positioning precisions, processing and the assembly precision of product are directly enhanced,
The performance of product in itself is improved, the surcharge of product is added.
Brief description of the drawings
The relation schematic diagram of PSD coordinate systems and AGV coordinate systems described in Fig. 1 embodiment of the present invention；
Station coordinate system schematic diagram described in Fig. 2 embodiment of the present invention；
Fig. 3 present invention implements described AGV coarse positioning position views；
Fig. 4 present invention implements the relation schematic diagram of described AGV coordinate systems and station coordinate system；
Fig. 5 present invention implements described AGV accurate positioning method flow charts.
Embodiment
The present invention basic ideas be：Propose that a kind of AGV accurate positioning methods based on PSD rangings are as follows：(1) use
Visual guidance mode, makes AGV positioning precision reach within ± 10mm；(2) after the completion of AGV coarse positionings, using PSD rangings, survey
Two benchmark point coordinates are obtained, so that AGV current horizontal and vertical offset distance and angle excursion are determined according to linear equation,
Obtain AGV current pose；(3) AGV current poses and targeted attitude set up the AGV equation of motion as input, calculate
AGV yaw angle, the anglec of rotation；(4) by Mecanum wheel AGV omnidirectional moving (forward, keep straight on backward, to the left, to
Right traversing, any angle diagonal, 0 radius of gyration rotate in place and above-mentioned motion combination), realize AGV pose adjustment；(5)
During AGV pose adjustments, real-time resolving AGV pose, untill positioning precision reaches ± 0.3mm.The positioning of the present invention
High precision, calculates simple, Project Realization is easy.
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings,
(1) two two-dimensional positions are installed on automatical pilot transportation vehicle AGV (Automated Guided Vehicle) chassis
Sensitive detectors PSD (Position Sensitive detector), photosurface is PSD important component, outside
Two laser beams of two Laser emission instrument transmittings can be exposed to respectively forms two light on the photosurface of two Two-dimensional PSDs
Point.AGV also known as automatic guided vehicle, refer to and are equipped with homing guidance device, can have along predetermined guide path automatic running
Safeguard protection and the Unpiloted carrier vehicle of various transfer functions.AGV can be automatic from starting point transport by goods or material
To destination, and its driving path can change according to storage goods yard requirement, technological process of production etc. and flexibly change.
AGV it is general by controller on car body, electric power storage and charging device, drive device, homing guidance device, car, safety guard,
Shifting apparatus etc. is constituted.AGV species and form are varied.Usually will according to the navigation mode during AGV automatic runnings
AGV points are：Magnetic cuiding formula AGV, laser guiding AGV, visual guidance formula AGV etc..PSD is that one kind can measure luminous point
The optical detector of continuous position on detector photosurface.The position signalling data of the PSD and luminous point are on the detector
Shape is unrelated, only relevant with the center of energy of luminous point.It is divided into one-dimensional PSD and Two-dimensional PSD.One-dimensional PSD detects an incidence
The position of a dimension of the luminous point on its photosurface.Two-dimensional PSD detects two of an incident luminous point on its photosurface
The position of individual dimension (x and y).Plane in the present invention where AGV chassis is parallel to carrying AGV ground, PSD photosurface
Parallel with plane where AGV chassis and towards ground, laser beam is perpendicular to carrying AGV ground, then laser beam is perpendicular to light
Quick face.In AGV motion processes, the relative position between two PSD keeps constant.Establishment of coordinate system is as follows：Two PSD seat
Mark system o1-x1y1、o2-x2y2With AGV coordinate system oa-xaYa is plane right-angle coordinate, is PSD coordinate systems as shown in Figure 1
With the relation schematic diagram of AGV coordinate systems, the plane where two PSD coordinate system is put down with the plane where AGV coordinate system
OK, AGV coordinate origin is located at the y-axis positive direction sensing AGV of center chassis, AGV coordinate system and two PSD coordinate systems
Direction of advance, the X-axis of 3 coordinate systems point-blank, points to the right side of AGV directions of advance, and two PSD coordinate systems
The origin of coordinates be respectively two PSD photosurfaces center, it is symmetrical and using the Y-axis of AGV coordinate systems as symmetry axis, be easy to
Subsequent coordinates are changed and attitude algorithm.
(2) needing to carry out at pinpoint station AGV, two Laser emission instrument are being installed as pinpoint
Benchmark.Wherein need that AGV is carried out at pinpoint station to refer to：In the automatic assembly lines such as automatic assembling, AGV is used
At carry parts to relative stations, capture parts automatically by manipulator and carry out automatic assembling, manipulator is to parts
Positioning precision is had higher requirements to ensure final assembly precision, and parts and AGV relative position are fixed in carry process,
So requiring to be accurately positioned AGV at high-precision assembly station.Using ground as coordinate plane, with the center of the station
For the origin of coordinates, vertical station is to the right X-axis, sets up station coordinate system og-xgyg, as shown in Fig. 2 station coordinate system is plane
Rectangular coordinate system.When Laser emission instrument is installed, makes the Laser emission direction of two Laser emission instrument upward perpendicular to the ground, swash
The beam orthogonal that light transmitter is sent is radiated on PSD photosurface, it is ensured that the coordinate of two laser spots and AGV pose one
One correspondence, it is ensured that the accurate measurement of AGV poses；And the reverse extending line of laser beam intersects with the X-axis of station coordinate system, two
Intersection point is symmetrical using the Y-axis of station coordinate system as symmetry axis, and intersection point and the distance of the Y-axis of station coordinate system are sat with PSD
The origin of coordinates for marking system is equal with the distance of the Y-axis of AGV coordinate systems.
(3) use visual guidance mode, make AGV center need to carry out AGV relative to step (2) it is pinpoint
The centrical positioning precision of work is reached within ± 10mm, completes AGV coarse positionings.Visual guidance mode is：Need to carry out AGV
At pinpoint station set coarse positioning identify, coarse positioning be designated it is parallel with the X-axis of station coordinate system, and with AGV reason
When thinking the parking of position location (when AGV vehicle positioning stops are error free, AGV position location) place, the body end identified towards coarse positioning
Distance is 400mm between face, as shown in Figure 3.Current station coordinate system refers to relative to the angle excursion of AGV coordinate systems：
AGV stops to after station the x-axis and station coordinate system o of AGV coordinate systemsg-xgygX-axis formation angle be the current angle of deviations of AGV
Degree, AGV front, rear, the center position of left side and right side four direction respectively install a set of vision positioning system；According to
Movement instruction, the vision positioning system of AGV orientations can be photographed between AGV stop lines, and stop line and AGV end faces
Distance between 395mm to 405mm, and between stop line and the X-axis or Y-axis (relevant with headstock direction) of AGV coordinate systems press from both sides
Angle coarse positioning when between -0.5 °~0.5 ° is completed, and makes AGV centrical to the pinpoint work of AGV progress relative to needing
Positioning precision reach within ± 10mm, refer to：To need to carry out AGV pinpoint station center as round dot, radius is
10mm draws a circle, and AGV center fallen into the circle, then meets positioning precision, to ensure light beam that Laser emission instrument is sent
It can be radiated on PSD25mm × 25mm photosurface.
(4) after the completion of step (3) AGV coarse positionings, the laser beam that two Laser emission instrument of step (2) are sent, respectively
Two luminous points are formed on the photosurface for two PSD being radiated at described in step (1), preferred scheme is：AGV real-time judges are irradiated
Luminous point number on photosurface, if spot number is less than 2, being accurately positioned to perform, and it is wrong that AGV dispatches system feedback to AGV
False information.Now need AGV to dispatch the instruction that system issues coarse positioning to AGV again, carry out AGV pose adjustment, or manually
Intervene, check and repair Laser emission instrument, PSD, AGV circuit etc., make coarse positioning complete respectively may be used in latter two PSD photosurface
Detect a luminous point.If the spot number that AGV is detected is 2, two luminous points of record are respectively in two PSD coordinate systems o1-
x1y1、o2-x2y2Under coordinate (x1,y1), (x2,y2)；
(5) coordinate (x of the luminous point obtained according to step (4)1,y1), (x2,y2), AGV current pose is determined, including
Current AGV coordinate systems relative to the angle excursion of station coordinate system, AGV coordinate origins relative to station coordinate system origin
Offset distance in x directions and y directions, now the relation of AGV coordinate systems and station coordinate system is as shown in Figure 4.Need to AGV
Progress is accurately positioned at station to be required to AGV headstock direction, and with AGV theoretical headstock direction, (AGV parking positioning is errorless
When poor, the direction of headstock) it is parallel with the Y-axis of station coordinate system exemplified by illustrate, AGV current pose determination process is as follows：
1) by two luminous point coordinate (x under PSD coordinate systems1,y1), (x2,y2) be transformed under AGV coordinate systems, it is respectively
(x1-a,y1), (x2+a,y2)：
Wherein, a is the distance between origin of coordinates of the origin of coordinates and the AGV coordinate systems of each PSD coordinate systems；
2) the luminous point coordinate value (x under AGV coordinate systems is utilized1-a,y1), (x2+a,y2), the current poses of AGV are calculated, i.e.,
Calculate AGV current angle excursions, AGV coordinate origins relative to station coordinate system origin x directions and y directions skew
Distance；
AGV current angle excursion is：α=arctan (k)
Wherein k is the slope of straight line,And x2-x1+2a≠0。
Because the size of the photosurface of the PSD of the invention chosen is 25mm × 25mm, therefore x1、x2、y1、 y2The scope of permission
For [- 12.5,12.5] (unit is mm), and a is determined by mounting distance, and a is 100 (unit is mm) in the present invention, therefore is calculated
In the absence of the situation that denominator is 0 during k；
Station coordinate origin relative to AGV coordinate systems origin in x directions offset distance, i.e. AGV lateral offset
From for：
Station coordinate origin relative to AGV coordinate systems origin y directions offset distance, i.e. AGV vertical misalignment away from
From for：
(6) the current pose for the AGV for obtaining step (5) is contrasted with object pose, and object pose is：The current deflections of AGV
Angle is 0 °, horizontal and vertical offset distance is also 0mm, by the omnidirectional moving of the AGV based on Mecanum wheel, really
Determine AGV direction of rotation and yaw angle and perform corresponding actions, in real time adjustment AGV attitude.Based on Mecanum wheel
AGV omnidirectional moving includes keeping straight on forward, backward, to the left, traversing to the right, 0 radius of gyration rotate in place and above-mentioned motion group
Close.During accurate adjustment, AGV movement velocity is relatively low, is that rotary speed is in 0.3 °/s to 1 °/s between 0.2mm/s to 1mm/s
Between, the overshoot concussion during pose adjustment is prevented, handling process is as shown in Figure 5.AGV coordinate systems during being accurately positioned
Origin relative to station coordinate system origin x directions and y directions offset distance x and y meet:x2+y2≤0.32When, then stop
Only AGV motion, is accurately positioned completion, and positioning precision reaches ± 0.3mm.α as shown in Figure 4 is the current angle excursions of AGV, i.e.,
Angle between the X-axis of station coordinate system and the X-axis of AGV coordinate systems.
Angle between the AGV direction of motion and AGV headstocks direction is designated as to AGV yaw angle in the present invention, gone off course
Angular configurations scope for [0 °, 360 °).When AGV is the motion of AGV headstocks direction forwards, yaw angle is 0 °.
The step of calculating AGV yaw angles is as follows：
If 1) x=0, AGV need to be moved along the y directions of AGV coordinate systems, i.e. AGV should forwards or rear motion.
If now y>0, then AGV yaw angle should be travelled forward for β=0 °, i.e. AGV；
If now y<0, then AGV yaw angle should be moved backward for β=180 °, i.e. AGV；
If now y=0, meets, x2+y2≤0.32AGV is accurately positioned completion, without adjusting again.
If 2) x>0, then AGV yaw angle be
If 3) x<0, then AGV yaw angle be
The step of calculating AGV direction of rotation is as follows：
If 7) k>0, then AGV answer rotate counterclockwise；
If 8) k<0, then AGV should turn clockwise；
If 9) k=0, AGV are without rotation.
The compound motion of above-mentioned motion is adjusted to AGV pose.
(7) during the adjustment of AGV poses, real-time resolving AGV current pose, and repeat：Detect current pose, pose
The process that accordance judges and pose is adjusted, until positioning precision reaches ± 0.3mm, is accurately positioned completion.
Mecanum wheel AGV omnidirectional moving and Two-dimensional PSD are accurately positioned by the present invention to be combined, and determines the accurate of AGV
Position is automatically performed, and positioning precision is better than ± 0.3mm, solves AGV positioning precisions not high, it is impossible to which meeting high position precision will
The problem of asking, substantially reduces time and the difficulty of positioning adjustment, effectively increases production efficiency and automatization level, improve
The processing of product and assembly precision, improve the performance of product in itself, add the surcharge of product.By needing
AGV is carried out to be respectively mounted Laser emission instrument at pinpoint multiple stations, the multiple stations of unfixed point between multi-line can be achieved
Be accurately positioned, improve the streamlines such as automatic processing or assembling arrangement and change it is flexible.
Claims (8)
1. a kind of AGV accurate positioning methods based on PSD rangings, it is characterised in that step is as follows：
(1) automatical pilot transportation vehicle AGV chassis install two position sensitive detectors PSD, and set up respectively AGV coordinate systems and
PSD coordinate systems；
(2) needing to carry out at pinpoint station AGV, two Laser emission instrument are being installed；
(3) visual guidance mode is used, makes AGV center need to carry out in pinpoint station AGV relative to step (2)
The positioning precision of the heart is reached within ± 10mm, completes AGV coarse positionings；
(4) after the completion of step (3) AGV coarse positionings, the laser beam that two Laser emission instrument of step (2) are sent irradiates respectively
Two luminous points are formed on the photosurface of two PSD described in step (1), AGV gathers two luminous points respectively in two PSD in real time
Coordinate system o1-x1y1、o2-x2y2Under coordinate (x1,y1), (x2,y2)；
(5) coordinate (x of the luminous point obtained according to step (4)1,y1), (x2,y2), determine AGV current pose, including current work
Position coordinate system is relative to station coordinate origin under the angle excursions of AGV coordinate systems, AGV coordinate systems relative to AGV coordinate systems
Offset distance of the origin in x directions and y directions；
(6) the current pose for the AGV for obtaining step (5) is contrasted with object pose, and object pose is：The current angle excursions of AGV
0mm is also for 0 °, horizontal and vertical offset distance, by the omnidirectional moving of the AGV based on Mecanum wheel, adjustment in real time
AGV pose；
(7) during the adjustment of AGV poses, real-time resolving AGV current pose, until positioning precision reaches ± 0.3mm, it is accurate fixed
Position is completed.
2. a kind of AGV accurate positioning methods based on PSD rangings according to claim 1, it is characterised in that：Described step
Suddenly the PSD in (1) is Two-dimensional PSD, and Two-dimensional PSD includes photosurface, two laser beams that two outside Laser emission instrument are launched
Two luminous points of formation on the photosurface of two Two-dimensional PSDs can be exposed to respectively, and two Two-dimensional PSDs can measure respective light respectively
X coordinate and y-coordinate of the luminous point under respective PSD coordinate systems on quick face, the plane where AGV chassis is parallel to carrying AGV's
Ground, PSD photosurface is parallel with plane where AGV chassis, and is installed towards ground, and laser beam is perpendicular to carrying AGV ground
Face, then laser beam is in photosurface, AGV motion processes, and the relative position between two PSD keeps constant, and coordinate system is built
Under Liru：Two PSD coordinate system o1-x1y1、o2-x2y2With AGV coordinate system oa-xayaIt is plane right-angle coordinate, two
Plane where PSD coordinate system is parallel with the plane where AGV coordinate system, and AGV coordinate origin is located in chassis
The y-axis positive direction of the heart, AGV coordinate system and two PSD coordinate systems points to AGV direction of advance, and the X-axis of 3 coordinate systems is one
On bar straight line, the right side of AGV directions of advance is pointed to, and the origin of coordinates of two PSD coordinate systems is respectively two PSD photosurfaces
Center, and using the Y-axis of AGV coordinate systems as symmetry axis, it is symmetrical.
3. a kind of AGV accurate positioning methods based on PSD rangings according to claim 1, it is characterised in that：The step
(2) the Laser emission instrument in, which is arranged on, to be needed to carry out at pinpoint station AGV, using ground as coordinate plane, with the work
The center of position is the origin of coordinates, and vertical station is to the right X-axis, sets up station coordinate system og-xgyg, station coordinate system is that plane is straight
Angular coordinate system, when installing Laser emission instrument, makes the Laser emission directions of two Laser emission instrument perpendicular to the ground upwards and laser
The reverse extending line of beam intersects with the X-axis of station coordinate system, and two intersection points are using the Y-axis of station coordinate system as symmetry axis, symmetrical point
Cloth, and intersection point and the distance phase of the distance of the Y-axis of station coordinate system and the origin of coordinates of PSD coordinate systems and the Y-axis of AGV coordinate systems
Deng two laser beams, which are respectively perpendicular, to be radiated on two PSD photosurface, respectively forms a laser spots, and two laser center
Distance between point is identical with the centre-to-centre spacing of two PSD photosurfaces.
4. a kind of AGV accurate positioning methods based on PSD rangings according to claim 1, it is characterised in that：The step
(3) the visual guidance mode in is：Need to carry out AGV to set coarse positioning to identify at pinpoint station, coarse positioning mark
For a line parallel with the X-axis of station coordinate system, during the resonable scenario bit positions parkings of AGV, coarse positioning mark with towards thick
Distance is 400mm between positioning the car body end face of mark, and the x-axis and station coordinate system of AGV coordinate systems are stopped to after station in AGV
og-xgygX-axis or Y-axis formation angle be the current angle excursions of AGV, AGV front, rear, left side and right side four direction
Center position a set of vision positioning system is respectively installed；According to movement instruction, the vision positioning system of AGV orientations can
The distance between AGV coarse positionings mark, i.e. stop line, and stop line and AGV end faces towards stop line is photographed to arrive in 395mm
Between 405mm, and angle coarse positioning when between -0.5 °~0.5 ° is completed between stop line and the X-axis or Y-axis of AGV coordinate systems.
5. a kind of AGV accurate positioning methods based on PSD rangings according to claim 1, it is characterised in that：The step
(5) need that AGV be accurately positioned at station to require AGV headstock direction in, headstock direction must be fixed, AGV's
Theoretical headstock direction is parallel with the Y-axis of station coordinate system, and AGV current pose determination process is as follows：
(1) by two luminous point coordinate (x under PSD coordinate systems1,y1), (x2,y2) be transformed under AGV coordinate systems, it is respectively (x1-a,
y1), (x2+a,y2)：
Wherein, a is the distance between origin of coordinates of the origin of coordinates and the AGV coordinate systems of each PSD coordinate systems；
(2) the luminous point coordinate value (x under AGV coordinate systems is utilized1-a,y1), (x2+a,y2), the current poses of AGV are calculated, that is, are calculated
The current angle excursions of AGV, AGV coordinate origins relative to station coordinate system origin x directions and y directions offset distance；
AGV current angle excursion is：α=arctan (k)
Wherein k is the slope of straight line,And x2-x1+2a≠0
Station coordinate origin relative to AGV coordinate systems origin in x directions offset distance, i.e. the lateral shift distance of AGV is：
Station coordinate origin relative to AGV coordinate systems origin in y directions offset distance, i.e. the vertical misalignment distance of AGV is：
6. a kind of AGV accurate positioning methods based on PSD rangings according to claim 1, it is characterised in that：The step
(6) the pose adjustment process and in (7) is direction of rotation and the direction of motion and the process for performing corresponding actions for determining AGV,
AGV poses adjustment during, AGV movement velocity between 0.2mm/s to 1mm/s, rotary speed 0.3 °/s to 1 °/s it
Between, prevent pose adjust during overshoot concussion, during being accurately positioned under AGV coordinate systems station coordinate origin relative to
Offset distance x and y of the origin of AGV coordinate systems in x directions and y directions are met:x2+y2≤0.32When, then stop AGV motion,
Completion is accurately positioned, positioning precision reaches ± 0.3mm.
7. a kind of AGV accurate positioning methods based on PSD rangings according to claim 6, it is characterised in that：By AGV's
Angle between the direction of motion and AGV headstocks direction is designated as AGV yaw angle, yaw angle span for [0 °, 360 °),
When AGV is the motion of AGV headstocks direction forwards, yaw angle is 0 °；
The step of calculating AGV yaw angles is as follows：
If 1) x=0, AGV need to be moved along the y directions of AGV coordinate systems, i.e. AGV should forwards or rear motion；
If now y>0, then AGV yaw angle should be travelled forward for β=0 °, i.e. AGV；
If now y<0, then AGV yaw angle should be moved backward for β=180 °, i.e. AGV；
If now y=0, meets, x2+y2≤0.32AGV is accurately positioned completion, without adjusting again；
If 2) x>0, then AGV yaw angle beUnit for °；
If 3) x<0, then AGV yaw angle beUnit for °；
The step of calculating AGV direction of rotation is as follows：
If 1) k>0, then AGV answer rotate counterclockwise；
If 2) k<0, then AGV should turn clockwise；
If 3) k=0, AGV are without rotation；
Pinpoint process is carried out to AGV to determine the compound motion process of AGV yaw angles and AGV direction of rotation.
8. a kind of AGV accurate positioning methods based on PSD rangings according to claim 1, it is characterised in that：The AGV
For the AGV based on Mecanum wheel, the omnidirectional moving of the AGV based on Mecanum wheel includes：Forward, keep straight on backward, to the left, to
It is right traversing, 0 radius of gyration rotate in place and above-mentioned motion combination.
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