CN106969768A - A kind of trackless navigation AGV's is accurately positioned and parking method - Google Patents
A kind of trackless navigation AGV's is accurately positioned and parking method Download PDFInfo
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- CN106969768A CN106969768A CN201710268309.2A CN201710268309A CN106969768A CN 106969768 A CN106969768 A CN 106969768A CN 201710268309 A CN201710268309 A CN 201710268309A CN 106969768 A CN106969768 A CN 106969768A
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- reflecting plate
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The embodiments of the invention provide a kind of being accurately positioned and parking method for trackless navigation AGV, methods described includes：AGV obtains the coordinate of predeterminated position on reflecting plate by Laser Radar Scanning reflecting plate；The position for positioning is selected from the predeterminated position；The current positions of AGV are calculated by default rule according to the position chosen.The method of the present invention is to extract three special reflecting points, realizes three-point fix, mainly determines grid bearings of the AGV under global coordinate system by least square method, and AGV deflection is then calculated by many quadrants.Contour detecting can also be passed through, calculate relative position and deflection of the dolly relative to reflecting plate, AGV is allowd precisely to rest in the specified location of reflecting plate, such a method largely compensate for the not enough defect of SLAM technological orientations precision, also provide reliable solution for trackless navigation AGV automatic chargings.
Description
Technical field
The present invention relates to trackless navigation AGV fields, a kind of more particularly to trackless navigation AGV's is accurately positioned and parking side
Method.
Background technology
SLAM (Simultaneous Localization and Mapping) technology, is positioned and map structuring immediately,
Due to its important theory and application value, it is considered to realize the key of real full autonomous mobile robot by many scholars.When
The autonomous such as preceding sweeping robot, pilotless automobile, AGV field is all in large-scale use SLAM technologies.Modern industry is transported
In defeated system, particularly intelligent plant goods carries field, and trackless navigation AGV (Automated Guided Vehicle) plays the part of
Very important role.The today strided forward steadily in unmanned factory's construction, unmanned research, intelligent navigation technology, trackless
The AGV that navigates more is favored by SLAM technologies with flexibility by vast enterprise, but be due to SLAM technology generally existing errors compared with
Greatly, end position and docking process in be difficult to meet AGV needed for precision, such as AGV automatically into charging depressed place during,
Trackless navigation AGV can be caused because SLAM technological orientations precision is not high many times into the failure of charging depressed place, influence it normally to work
Operation.On the basis of original SLAM technologies, how to solve being accurately positioned for trackless navigation AGV just turns into current research with parking
Focus and urgent problem to be solved.Current numerous enterprises put into the local essence that substantial amounts of human and material resources seek trackless navigation AGV
It is determined that position and parking scheme, are emerged in an endless stream based on ultrasonic sensor, camera technique scheme, it is costly but effect is difficult all the time
To reach satisfactory degree.On the basis of many experiments and test, the present invention looks for another way, and uses high-precision laser thunder
Reach, the profile of triangle reflecting plate is detected using laser radar echo intensity level (Echo Amplitude), by selecting spy
Different pip, and then AGV position and direction are determined, make up the deficiency of SLAM technologies in this regard.Related generally in the present invention
Technology be position based on least square method calculate and AGV deflections calculating and screening, the realization based on the design thinking
Method and algorithm stability are good, precision is high, easy to operate, and trackless navigation AGV can be met completely and is accurately positioned in real time and essence
Quasi- parking demand, makes up the deficiency of SLAM technologies.
It is representative at present in view of the deficiency of SLAM technologies, the research and application for AGV navigation compensating modes is a lot of
Mainly magnetic navigation, GPS (global positioning system), image recognition navigation, inertial navigation, optical guidance, electromagnetic navigation, directly
Coodinate navigation, RFID location navigations, laser navigation etc., realization principle and method also vary.
Inertial navigation auxiliary SLAM technologies mainly install gyroscope on AGV, and the yaw angle for the AGV that navigated to trackless is carried out
Control, installs locating piece, AGV passes through the calculating to gyroscope deviation signal and terrestrial positioning signal on the ground of running region
Collection determine the position and direction of itself, so as to realize auxiliary SLAM technological orientations.
Image recognition navigation is to carry out image recognition to the environment of AGV running regions, realizes intelligence traveling, and research potential is huge
Greatly, what application at present was more is scanning two-dimension code navigation.In the higher local occasion of required precision SLAM can be coordinated to lead
Boat.
GPS is the abbreviation of global positioning system.It is by three parts groups such as Aerospace Satellite, ground monitoring and user receptions
Into.The operation principle of GPS navigator be the satellite instantaneous position according to high-speed motion as known known date, using space
Apart from the method for resection, the position of tested point is determined.Current GPS applications are rather extensive, and trackless navigation AGV is also opened by this
Hair, navigates by the way of some scenes are blended using GPS technology with SLAM technologies.
The shortcoming of prior art mainly includes：
(1) navigation such as image recognition mode underaction, for that can not be navigated without the region for pasting Quick Response Code, road of walking
Line is rather limited.Similar to modes such as electromagnetic navigations, path is difficult to change extension, and the limitation to pahtfinder hard is larger.
(2) SLAM navigation modes are coordinated for trackless navigation AGV inertial navigations, high-precision inertial navigation set price is held high
Expensive, guidance accuracy and reliability and the accuracy of manufacture and service life of gyroscope are closely related, in general, gyroscope due to from
Body drift, can only be as assisting navigation than larger, and high-precision gyroscope also is difficult to make up SLAM in the case of working long hours
The deficiency of technology.
(3) GPS geo-location system is familiar with by most people, using rather extensively, by satellite to on-fixed road surface
Control object in system is tracked and guided, and effect is fine under open-air atmosphere, but effect is had a greatly reduced quality in factory building,
And civilian dimension accuracy is not universal high.SLAM navigation is coordinated by GPS technology, navigation model can be expanded to a certain extent
Enclose, but be difficult to increase for end positioning precision.
It is high, steady based on a kind of reliability is provided on the basis of SLAM technologies the invention aims to trackless navigation AGV
Qualitative good, precision is high, affordable end precision is positioned and parking scheme.According to navigation mode needs, in position
The reflecting plate of holding triangular shape, the special reflecting point on reflecting plate, side of the invention are extracted according to laser radar echo intensity
Method is to extract three special reflecting points, realizes three-point fix, mainly determines AGV under global coordinate system by least square method
Grid bearing, then pass through many quadrants calculate AGV deflection.Can also by contour detecting, calculate dolly relative to
The relative position and deflection of reflecting plate so that AGV can precisely rest in the specified location of reflecting plate, and such a method is very big
The not enough defect of SLAM technological orientations precision is compensate in degree, also reliable solution is provided for trackless navigation AGV automatic chargings
Certainly scheme.
The content of the invention
In order to solve the above problems, the embodiments of the invention provide a kind of being accurately positioned and parking side for trackless navigation AGV
Method.
Being accurately positioned and parking method there is provided a kind of trackless navigation AGV according to the first aspect of the invention, the side
Method includes：
AGV obtains the coordinate of predeterminated position on reflecting plate by Laser Radar Scanning reflecting plate；
The position for positioning is selected from the predeterminated position；
The current positions of AGV are calculated by default rule according to the position chosen.
Further, the AGV obtains the coordinate bag of predeterminated position on reflecting plate by Laser Radar Scanning reflecting plate
Include：
Using the position of the laser radar as the origin of coordinates, to around scan during each laser beam return one away from
Echo strength value corresponding from one；
The position of reflecting plate is calculated according to echo strength value；
The order for appearing in laser scanning array according to echo strength value obtains the angle information of reflecting plate；
Calculate the coordinate of each predeterminated position on reflecting plate.
Further, it is described to select to include for the position of positioning from the predeterminated position：
The predeterminated position is sorted from small to large according to angle value, the range information that the predeterminated position is included is also according to this
Order is arranged；
Calculate the first distance value between the first two predeterminated position；
For all predeterminated positions, second distance value therebetween is calculated two-by-two；
The difference between each second distance value and the first distance value is calculated, correspondence minimum in the absolute value of the difference is chosen
Predeterminated position be the position for being used to position；
The position for being used to position is chosen successively according to above-mentioned rule until that the position for being used for positioning of selection reaches is default
Quantitative requirement.
Further, the default quantitative requirement is 3.
Further, the position chosen described in the basis calculates the current positions of AGV by default rule to be included：
For the position chosen, the current positions of AGV are calculated according to least square method.
Further, methods described also includes：
Many quadrants calculate AGV deflections and filter out the current positions of most rational AGV.
The embodiment of the present invention provides a kind of being accurately positioned and parking method for trackless navigation AGV, and methods described includes：AGV
By Laser Radar Scanning reflecting plate, the coordinate of predeterminated position on reflecting plate is obtained；Select to be used to determine from the predeterminated position
The position of position；The current positions of AGV are calculated by default rule according to the position chosen；Be a kind of reliability it is high,
Stability is good, precision is high, affordable end precision is positioned and parking scheme.According to navigation mode needs, in appropriate position
The reflecting plate of placement location triangle, the special reflecting point on reflecting plate is extracted according to laser radar echo intensity, of the invention
Method is to extract three special reflecting points, realizes three-point fix, mainly determines AGV in global coordinate system by least square method
Under grid bearing, then pass through many quadrants calculate AGV deflection.Dolly can also be calculated relative by contour detecting
In the relative position and deflection of reflecting plate so that AGV can precisely rest in the specified location of reflecting plate, and such a method is very
The not enough defect of SLAM technological orientations precision is compensate in big degree, is also provided reliably for trackless navigation AGV automatic chargings
Solution.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of being accurately positioned and parking method flow chart for trackless navigation AGV provided in an embodiment of the present invention;
Fig. 2 is laser scanning reflecting plate schematic diagram provided in an embodiment of the present invention；
Fig. 3 be anchor point provided in an embodiment of the present invention relative to laser radar in first quartile schematic diagram；
Fig. 4 be anchor point provided in an embodiment of the present invention relative to laser radar in the second quadrant schematic diagram；
Fig. 5 be anchor point provided in an embodiment of the present invention relative to laser radar in third quadrant schematic diagram；
Fig. 6 be anchor point provided in an embodiment of the present invention relative to laser radar in fourth quadrant schematic diagram.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only this
Invent a part of embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art exist
The every other embodiment obtained under the premise of creative work is not made, the scope of protection of the invention is belonged to.
Embodiment one
The embodiments of the invention provide a kind of being accurately positioned and parking method for trackless navigation AGV, as shown in figure 1, methods described
Including：
Step 101, AGV obtains the coordinate of predeterminated position on reflecting plate by Laser Radar Scanning reflecting plate；
Step 102, the position for positioning is selected from the predeterminated position；
Step 103, the current positions of AGV are calculated by default rule according to the position chosen.
Further, the AGV obtains the coordinate bag of predeterminated position on reflecting plate by Laser Radar Scanning reflecting plate
Include：
Using the position of the laser radar as the origin of coordinates, to around scan during each laser beam return one away from
Echo strength value corresponding from one；
The position of reflecting plate is calculated according to echo strength value；
The order for appearing in laser scanning array according to echo strength value obtains the angle information of reflecting plate；
Calculate the coordinate of each predeterminated position on reflecting plate.
Further, it is described to select to include for the position of positioning from the predeterminated position：
The predeterminated position is sorted from small to large according to angle value, the range information that the predeterminated position is included is also according to this
Order is arranged；
Calculate the first distance value between the first two predeterminated position；
For all predeterminated positions, second distance value therebetween is calculated two-by-two；
The difference between each second distance value and the first distance value is calculated, correspondence minimum in the absolute value of the difference is chosen
Predeterminated position be the position for being used to position；
The position for being used to position is chosen successively according to above-mentioned rule until that the position for being used for positioning of selection reaches is default
Quantitative requirement.
Further, the default quantitative requirement is 3.
Further, the position chosen described in the basis calculates the current positions of AGV by default rule to be included：
For the position chosen, the current positions of AGV are calculated according to least square method.
Further, methods described also includes：
Many quadrants calculate AGV deflections and filter out the current positions of most rational AGV.
The embodiment of the present invention provides a kind of being accurately positioned and parking method for trackless navigation AGV, and methods described includes：AGV
By Laser Radar Scanning reflecting plate, the coordinate of predeterminated position on reflecting plate is obtained；Select to be used to determine from the predeterminated position
The position of position；The current positions of AGV are calculated by default rule according to the position chosen；Be a kind of reliability it is high,
Stability is good, precision is high, affordable end precision is positioned and parking scheme.According to navigation mode needs, in appropriate position
The reflecting plate of placement location triangle, the special reflecting point on reflecting plate is extracted according to laser radar echo intensity, of the invention
Method is to extract three special reflecting points, realizes three-point fix, mainly determines AGV in global coordinate system by least square method
Under grid bearing, then pass through many quadrants calculate AGV deflection.Dolly can also be calculated relative by contour detecting
In the relative position and deflection of reflecting plate so that AGV can precisely rest in the specified location of reflecting plate, and such a method is very
The not enough defect of SLAM technological orientations precision is compensate in big degree, is also provided reliably for trackless navigation AGV automatic chargings
Solution.
Embodiment two
It is as shown in Figures 1 to 6, described the embodiments of the invention provide a kind of being accurately positioned and parking method for trackless navigation AGV
Method includes：
(1) figure is built using Laser Radar Scanning reflecting plate, obtains the accurate coordinates of each position on reflecting plate.
The laser beam of laser radar is scanned onto reflecting plate with certain frequency, and laser radar is typically mounted at AGV top,
Primarily to the visual field is good, can comprehensive scanning to reflecting plate.Laser Radar Scanning is to reflecting plate principle, as shown in Figure 2.
Trackless navigation AGV is constantly moved in operation area, and change direction, the arrangement of triangle reflecting plate will ensure that AGV is moved through in real time
Enough particular points (3 points of A, B, C in such as Fig. 2) can be scanned in journey, are positioned with this.
Before using laser radar and reflecting plate navigation, it is necessary to first the point in region on all reflecting plates is built
Figure, obtains its coordinate.Using the position of laser radar as the origin of coordinates, during around scanning, each laser beam can be with
A distance (d) and an echo strength value are returned, because the echo strength value of reflecting plate is higher by much compared with surrounding common objects,
So reflecting plate can be determined, the order that laser scanning array can also be appeared according to echo strength value obtains reflecting plate
Angle information (a).And then figure can be built to the progress of each on reflecting plate point, seat is in position when building figure using trackless navigation AGV
Origin (0,0) is marked, coordinate is obtained：
(1)
(2)
Obtain after all reflecting plate modeling coordinate informations, array form is preserved into according to angle order.
(2) particular point on reflecting plate is chosen, and carries out coordinate matching.
In position fixing process, patent of the present invention mainly chooses the end points and flex point of reflecting plate, in scanning process each time,
Multiple particular points, which can be swept to, to be used to position, but the present invention will not utilize all particular points, therefrom filter out three particular points
For navigator fix.According to the principle of the anchor point of selection, the special anchor point of selection is made as far as possible to be concentrated very much, can so be led
Cause navigation accuracy higher.Choose after anchor point, important link is exactly to obtain the corresponding coordinate of anchor point.The present invention is mainly adopted
Take following method：
First, the special anchor point of acquisition is first sorted from small to large according to angle value, the range information that anchor point is included
Arranged according to this order, calculate the distance between the first two anchor point value, it is assumed that distance and angle are respectively "
" and " ", the distance value c of two anchor points can be obtained by the trigonometric function cosine law：
(3)
Obtain after distance value c, obtain coordinate value according to figure is built in (1) and (2), its distance value is calculated two-by-two：
(4)
Obtained all Subtract each other with c, choose the minimum corresponding coordinate value of absolute value With .By that analogy, choosing remaining coordinate value is used to navigate.
(3) modeled using least square method, obtain positional information.
From a upper link, distance, angle coordinate corresponding with its of the pip for navigation have been obtained,
But laser radar can not distinguish the distance and angle of the corresponding reflection of different pips, by taking 3 pips as an example,
According to least square method, 6 positions can be calculated, it is assumed that 3 positions are respectively 、
With , unknown point Distance to three pips is 、 With , according to most
Small square law, calculates a kind of situation therein：
(5)
(6)
(7)
Then (5) formula is utilized to subtract (7) formula, (6) formula subtracts (7) and can obtained：
(8)
(9)
Being organized into matrix form is：
(10)
So as to calculate , 6 coordinate values can be calculated according to the method.
(4) many quadrants calculate AGV deflections and screened.
Scanning can obtain 6 alternative position coordinateses each time, can be according to each coordinate Calculate
Arrive 、 With Distance value with 、 With Compare, sieve
Select the value for best suiting physical location in theory：
(11)
(12)
(13)
According to the distance value calculated 、 With Sum with 、 With It is poor that sum is made, and takes
Thoroughly deserve：
+ + )(14)
Because laser radar has measurement error in itself, add scanning reflection plate and calculate the distance and angular error come, so
It is minimum in practice Corresponding It may not be exactly desired value, therefore also need to utilization orientation
Angle coordinates screening, and each quadrant distinguishes corresponding laser radar reflection angle and is 、 、 。
As shown in figure 3, for first pip, when pip relative to laser radar positive direction in first quartile when,
Gained angle is calculated to be designated as ：
If :
(15)
If wherein ,
(16)
As shown in figure 4, for first pip, when pip relative to laser radar positive direction in the second quadrant when, calculate
Gained angle is designated as ：
If :
(17)
If wherein ,
(18)
As shown in figure 5, for first pip, when pip relative to laser radar positive direction in third quadrant when, calculate
Gained angle is designated as ：
If :
(19)
If wherein ,
(20)
As shown in fig. 6, for first pip, when pip relative to laser radar positive direction in fourth quadrant when, calculate
Gained angle is designated as ：
If :
(21)
If wherein ,
(22)
For second, third, the 4th pip, computational methods are all.
The situation of second reflecting plate：
If :
(23)
If wherein ,
(24)
If :
(25)
If wherein ,
(26)
If :
(27)
If wherein ,
(28)
If :
(29)
If wherein ,
(30)
The situation of 3rd reflecting plate：
If :
(31)
If wherein ,
(32)
If :
(33)
If wherein ,
(34)
If :
(35)
If wherein ,
(36)
If :
(37)
If wherein ,
(38)
If 、 、 Between differ very little, it is now corresponding It is exactly the coordinate that we need
Value, while deflection takes the average to be：
(39)
In the present invention trackless navigation AGV be accurately positioned with parking entire flow figure it is as shown in Figure 1.
The embodiment of the present invention provides a kind of being accurately positioned and parking method for trackless navigation AGV, and methods described includes：AGV
By Laser Radar Scanning reflecting plate, the coordinate of predeterminated position on reflecting plate is obtained；Select to be used to determine from the predeterminated position
The position of position；The current positions of AGV are calculated by default rule according to the position chosen；Be a kind of reliability it is high,
Stability is good, precision is high, affordable end precision is positioned and parking scheme.According to navigation mode needs, in appropriate position
The reflecting plate of placement location triangle, the special reflecting point on reflecting plate is extracted according to laser radar echo intensity, of the invention
Method is to extract three special reflecting points, realizes three-point fix, mainly determines AGV in global coordinate system by least square method
Under grid bearing, then pass through many quadrants calculate AGV deflection.Dolly can also be calculated relative by contour detecting
In the relative position and deflection of reflecting plate so that AGV can precisely rest in the specified location of reflecting plate, and such a method is very
The not enough defect of SLAM technological orientations precision is compensate in big degree, is also provided reliably for trackless navigation AGV automatic chargings
Solution.
Claims (6)
1. a kind of trackless navigation AGV's is accurately positioned and parking method, it is characterised in that methods described includes：
AGV obtains the coordinate of predeterminated position on reflecting plate by Laser Radar Scanning reflecting plate；
The position for positioning is selected from the predeterminated position；
The current positions of AGV are calculated by default rule according to the position chosen.
2. according to the method described in claim 1, it is characterised in that the AGV obtains anti-by Laser Radar Scanning reflecting plate
Penetrating the coordinate of predeterminated position on plate includes：
Using the position of the laser radar as the origin of coordinates, to around scan during each laser beam return one away from
Echo strength value corresponding from one；
The position of reflecting plate is calculated according to echo strength value；
The order for appearing in laser scanning array according to echo strength value obtains the angle information of reflecting plate；
Calculate the coordinate of each predeterminated position on reflecting plate.
3. according to the method described in claim 1, it is characterised in that the position selected from the predeterminated position for positioning
Put including：
The predeterminated position is sorted from small to large according to angle value, the range information that the predeterminated position is included is also according to this
Order is arranged；
Calculate the first distance value between the first two predeterminated position；
For all predeterminated positions, second distance value therebetween is calculated two-by-two；
The difference between each second distance value and the first distance value is calculated, correspondence minimum in the absolute value of the difference is chosen
Predeterminated position be the position for being used to position；
The position for being used to position is chosen successively according to above-mentioned rule until that the position for being used for positioning of selection reaches is default
Quantitative requirement.
4. method according to claim 3, it is characterised in that the default quantitative requirement is 3.
5. according to the method described in claim 1, it is characterised in that the position chosen described in the basis passes through default rule
Calculating the current positions of AGV includes：
For the position chosen, the current positions of AGV are calculated according to least square method.
6. the method according to claim 1-5 any one, it is characterised in that methods described also includes：
Many quadrants calculate AGV deflections and filter out the current positions of most rational AGV.
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