CN107505940A - Double laser radar control method, system and localization method on automated guided vehicle - Google Patents
Double laser radar control method, system and localization method on automated guided vehicle Download PDFInfo
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- CN107505940A CN107505940A CN201710670057.6A CN201710670057A CN107505940A CN 107505940 A CN107505940 A CN 107505940A CN 201710670057 A CN201710670057 A CN 201710670057A CN 107505940 A CN107505940 A CN 107505940A
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- laser radar
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- range data
- guided vehicle
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
Abstract
Double laser radar control method, system and localization method on automated guided vehicle provided by the invention, method are：Two groups of range data of two laser radars being arranged on automated guided vehicle body are obtained respectively；Two laser radars include first laser radar and second laser radar, and two groups of range data include first group of range data and second group of range data；According at least one set of range data in the two of two laser radars groups of range data, judge whether first laser radar is in radar shadown；According to blind area state residing for first laser radar, the method for operation or signal processing mode of at least one laser radar in two laser radars are controlled.The present invention passes through the setting of double laser radar so that can collect enough information in automated guided vehicle navigation procedure, and control the method for operation and/or signal processing mode of double laser radar, the AGV mistake blind time is reduced, improves AGV independent navigations precision and intellectuality, improves operating efficiency.
Description
Technical field
The present invention relates to the double laser radar control method on automation field, more particularly to automated guided vehicle, it is
System and localization method field.
Background technology
In general, automatic guided vehicle is used in the special indoor field such as factory or warehouse.Pass through autonomous positioning
With the function of navigation, automatic guided vehicle can drive to the position specified in the case of unattended, and perform goods
The task such as loading or unloading.Automatic guided vehicle typically possesses a deck for being used for bearing goods, and the deck is generally smooth
Broad platform, using the teaching of the invention it is possible to provide maximized load carrying capacity.In some cases, automatic guided vehicle have also been assembled crawl
Device, goods is captured to complete loading and unloading for task.
In all kinds of automatic guided vehicles, the automatic guided vehicle (Laser Guided Vehicle) of laser radar is used
It is a kind of high-precision automatic guided vehicle.By the laser radar installed on vehicle, controller or vehicle can be with continual
Scan whole space environment and obtain the measurement data of environment, and then generate 2D or 3D space map.According to the measurement of environment
Data, vehicle can complete autonomous positioning and navigation.
In automatic guided vehicle, often carry a relatively flat and broad deck and be used for bearing goods, so swashing
Optical radar can not be arranged on the top of vehicle, and even now can obtain preferable scanning angle.A kind of method is, by laser radar
Installed in the bottom front of vehicle.By adjusting a preferable scanning angle, the laser radar remains able to scanning and arrives vehicle
A more broad region of front.However, the difference of automatic guided vehicle and other automatic running automobiles is its task
It is special unique：Automatic guided vehicle needs to drive to the loading that goods could be completed around goods.It so may result in vehicle
When close to goods, the laser radar installed in vehicle bottom front end can enter a blind area.The generation of this blind area is due to
Barrier, that is, the distance of goods to be loaded and laser radar are got too close to, so that laser radar is in all scanning
Effective space measurement result can not be obtained on direction.In other cases, for example, used front end with grabbing device from
Dynamic guiding vehicle, then can also occur the situation that radar enters blind area.When radar enters blind area, location algorithm will be unable to obtain
Complete to position enough to more effective informations, therefore vehicle has also been put into the scene that positioning is lost.
Therefore, in the prior art the defects of, is, in all kinds of automatic guided vehicles, due to installed in vehicle bottom front end
The position of laser radar sets limitation, causes when radar enters blind area, and location algorithm, which will be unable to obtain, enough to be had
Information is imitated to complete to position, therefore vehicle has also been put into the scene that positioning is lost.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of double laser radar control method on automated guided vehicle, is
System and localization method, in automated guided vehicle navigation procedure, pass through the setting of double laser radar so that can collect enough
Information, and control the method for operation and/or signal processing mode of double laser radar, reduce the AGV mistake blind time, improve AGV
Independent navigation precision, AGV intellectuality is improved, improve operating efficiency.
In order to solve the above technical problems, technical scheme provided by the invention is：
In a first aspect, the present invention provides a kind of control method of the double laser radar on automated guided vehicle, including：
Step S1, two groups of range data of two laser radars being arranged on automated guided vehicle body are obtained respectively；
Two laser radars include first laser radar and second laser radar, and two groups of range data include first group of distance
Data and second group of range data, the first laser radar correspond to first group of range data, the second laser radar
Corresponding second group of range data；
Step S2, according at least one set of range data in the two of two laser radars groups of range data, judge institute
State whether first laser radar is in radar shadown；
Step S3, according to blind area state residing for the first laser radar, control at least one in two laser radars
The method of operation or signal processing mode of individual laser radar.
The control method of double laser radar on automated guided vehicle provided by the invention, its technical scheme are：Including：Point
Two groups of range data of two laser radars that Huo Qu be arranged on automated guided vehicle body；Two laser radar bags
First laser radar and second laser radar are included, two groups of range data are including first group of range data and second group apart from number
According to the first laser radar corresponds to first group of range data, and the second laser radar corresponds to second group of distance
Data；According at least one set of range data in the two of two laser radars groups of range data, the first laser is judged
Whether radar is in radar shadown；According to blind area state residing for the first laser radar, control in two laser radars
The method of operation or signal processing mode of at least one laser radar.
The control method of double laser radar on the automated guided vehicle of the present invention, in automated guided vehicle navigation procedure
In, pass through the setting of double laser radar so that enough information can be collected, and control the method for operation of double laser radar
And/or signal processing mode, the AGV mistake blind time is reduced, improves AGV independent navigation precision, improves AGV intellectuality, is improved
Operating efficiency.
Further, it is described control two laser radars at least one laser radar the method for operation or signal at
Reason mode is：
At least one laser radar in two laser radars is changed to opening from closed mode；
And/or at least one laser radar in two laser radars is changed to high power consumption shape from low power consumpting state
State；
And/or at least one laser radar in two laser radars is adjusted to 3D scannings from 2D scannings；
And/or at least one laser radar in two laser radars is adjusted to high-resolution from low resolution.
Further, the step S2, it is specially：
First group of range data is matched with pattern set in advance, whether judges the first laser radar
In radar shadown.
Further, it is described to be matched first group of range data with pattern set in advance, judge described
Whether one laser radar is in radar shadown, is specially：
Identified when the part or all of range data in first group of range data enters less than minimum radar in distance,
Judge that the first laser radar is in radar shadown.
Further, the step S2, it is specially：It is described certainly by external positioning systems or the judgement of external view sensor
Whether dynamic guiding vehicle is in radar shadown.
Further, it is described to judge whether the automated guided vehicle is in radar shadown by external positioning systems, tool
Body is：
According to first group of range data, the current location of the first laser radar is obtained；
The current location is matched with pre-defined blind zone position, when the current location with it is pre-defined
When blind zone position matches, judge that the first laser radar enters radar shadown.
It is further, described to judge whether the automated guided vehicle is in radar shadown by external view sensor,
Specially：
The controller, when recognizing shelter, is sentenced by shelter in front of first laser radar described in image recognition
The fixed first laser radar enters radar shadown.
Further, the first laser radar and the second laser radar are included in following several combinations extremely
Few one kind, it is respectively：The first laser radar is high-precision laser radar, and the second laser radar is low precision laser
Radar；The first laser radar is multi-line laser radar, and the second laser radar is single line laser radar；Described first
Laser radar is 3D laser radars, and the second laser radar is 2D laser radars；The first laser radar swashs for modulation
Optical radar, and the second laser radar is pulse lidar.
Further, in addition to：When the first laser radar is in radar shadown, the automated guided vehicle is reduced
Speed；
And/or when the first laser radar and the second laser radar while enter radar shadown, pass through the control
Device processed is alarmed.
Second aspect, the invention provides a kind of control system of the double laser radar on automated guided vehicle, including：
Data acquisition module, for obtaining two groups of be arranged on automated guided vehicle body two laser radars respectively
Range data；Two laser radars include first laser radar and second laser radar, and two groups of range data include
First group of range data and second group of range data, the first laser radar correspond to first group of range data, and described
Dual-laser radar corresponds to second group of range data；
Radar shadown judge module, for two groups of range data according to two laser radars, judge described first
Whether laser radar is in radar shadown；
Blind area radar processing module, for the blind area state according to residing for the first laser radar, control two is described to swash
The method of operation or signal processing mode of at least one laser radar in optical radar.
The invention provides a kind of control system of the double laser radar on automated guided vehicle, its technical scheme is：It is logical
Data acquisition module is crossed, obtains two groups of range data of two laser radars being arranged on automated guided vehicle body respectively；
Two laser radars include first laser radar and second laser radar, and two groups of range data include first group of distance
Data and second group of range data, the first laser radar correspond to first group of range data, the second laser radar
Corresponding second group of range data；By radar shadown judge module, according to the two of two laser radars groups apart from number
According to judging whether the first laser radar is in radar shadown；By blind area radar processing module, according to the first laser
Blind area state residing for radar, control the method for operation of at least one laser radar or signal transacting side in two laser radars
Formula.
The control system of double laser radar on automated guided vehicle provided by the invention, is navigated through in automated guided vehicle
Cheng Zhong, pass through the setting of double laser radar so that enough information can be collected, and control the method for operation of double laser radar
And/or signal processing mode, the AGV mistake blind time is reduced, improves AGV independent navigation precision, improves AGV intellectuality, is improved
Operating efficiency.
The third aspect, the present invention provide a kind of localization method of the double laser radar on automated guided vehicle, including：
Step S10, two groups of range data of two laser radars being arranged on automated guided vehicle body are obtained respectively；
Two laser radars include first laser radar and second laser radar, and two groups of range data include first group of distance
Data and second group of range data, the first laser radar correspond to first group of range data, the second laser radar
Corresponding second group of range data；
Step S20, according at least one set of range data in the two of two laser radars groups of range data, judge institute
State whether first laser radar is in radar shadown；
Step S30, according to blind area state residing for the first laser radar, control at least one in two laser radars
The method of operation or signal processing mode of individual laser radar, realize the positioning of automated guided vehicle：
According to first group of range data and second group of range data, the first laser radar and described is obtained
The map and positional information of second laser radar；
The map and positional information of the first laser radar and the second laser radar are merged, obtain one
Map and positional information；
According to the map and positional information, the positioning of automated guided vehicle is realized；Or
First group of range data and second group of range data are merged, the range data merged；
According to the range data of the merging, a map and positional information are obtained；
According to the map and positional information, the positioning of automated guided vehicle is realized.
The localization method of double laser radar on automated guided vehicle provided by the invention, its technical scheme are：Obtain respectively
Take two groups of range data of two laser radars being arranged on automated guided vehicle body；Two laser radars include the
One laser radar and second laser radar, two groups of range data include first group of range data and second group of range data,
The first laser radar corresponds to first group of range data, and the second laser radar corresponds to described second group apart from number
According to；According at least one set of range data in the two of two laser radars groups of range data, the first laser thunder is judged
Up to whether being in radar shadown；According to blind area state residing for the first laser radar, control in two laser radars extremely
The method of operation or signal processing mode of a few laser radar, realize the positioning of automated guided vehicle：According to described first group
Range data and second group of range data, obtain map and the position of the first laser radar and the second laser radar
Confidence ceases；The map and positional information of the first laser radar and the second laser radar are merged, obtain one
Map and positional information；According to the map and positional information, the positioning of automated guided vehicle is realized；Or by described first group away from
Merged from data and second group of range data, the range data merged；According to the range data of the merging,
Obtain a map and positional information；According to the map and positional information, the positioning of automated guided vehicle is realized.
The localization method of double laser radar on automated guided vehicle provided by the invention, pass through setting for double laser radar
Put so that enough information can be collected, and control the method for operation and/or signal processing mode of double laser radar, reduced
The AGV mistake blind time, AGV independent navigation precision is improved, makes positioning result more accurate, positioning is more intelligent.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art.
Fig. 1 shows the control method of the double laser radar on a kind of automated guided vehicle that the embodiment of the present invention is provided
Flow chart；
Fig. 2 shows the control method of the double laser radar on a kind of automated guided vehicle that the embodiment of the present invention is provided
Double laser radar structural representation；
Fig. 3 shows the control system of the double laser radar on a kind of automated guided vehicle that the embodiment of the present invention is provided
Schematic diagram.
Embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Clearly illustrate technical scheme, therefore be intended only as example, and the protection of the present invention can not be limited with this
Scope.
Embodiment one
In a first aspect, referring to Fig. 1, a kind of controlling party for the double laser radar on automated guided vehicle that embodiment one provides
Method, including：
Step S1, two groups of range data of two laser radars being arranged on automated guided vehicle body are obtained respectively；
Two laser radars include first laser radar and second laser radar, and two groups of range data include first group of range data and the
Two groups of range data, the corresponding first group of range data of first laser radar, the corresponding second group of range data of second laser radar；
Step S2, according at least one set of range data in the two of two laser radars groups of range data, judge that first swashs
Whether optical radar is in radar shadown；
Step S3, according to blind area state residing for first laser radar, control at least one laser thunder in two laser radars
The method of operation or signal processing mode reached.
The control method of double laser radar on automated guided vehicle provided by the invention, its technical scheme are：Obtain respectively
Take two groups of range data of two laser radars being arranged on automated guided vehicle body；Two laser radars include first and swashed
Optical radar and second laser radar, two groups of range data include first group of range data and second group of range data, first laser
The corresponding first group of range data of radar, the corresponding second group of range data of second laser radar；According to the two of two laser radars groups
At least one set of range data in range data, judges whether first laser radar is in radar shadown；According to first laser thunder
Up to residing blind area state, the method for operation or signal processing mode of at least one laser radar in two laser radars are controlled.
The control method of double laser radar on the automated guided vehicle of the present invention, in automated guided vehicle navigation procedure
In, pass through the setting of double laser radar so that enough information can be collected, and control the method for operation of double laser radar
And/or signal processing mode, the AGV mistake blind time is reduced, improves AGV independent navigation precision, improves AGV intellectuality, is improved
Operating efficiency.
Wherein, first laser radar is arranged on the front end of automated guided vehicle body bottom portion, and second laser thunder is arranged on certainly
Dynamic guiding vehicle body bottom portion, and have mounting distance between first laser radar and second laser thunder, in addition to connect with controller
Memory, processor and the communication unit connect；First laser radar passes through communication unit and control respectively with second laser radar
Device connects.Controller can obtain the data of first laser radar and second laser radar by communication unit, and pass through controller
Control changes the method for operation or signal processing mode of first laser radar and second laser radar.
Referring to Fig. 2, as the preferred embodiments of the present invention, second laser radar is arranged on automated guided vehicle body bottom portion
Rear end, it is corresponding with the position of first laser radar.The installation site of first laser radar and second laser radar can have
It is a variety of, it is not limited to Chinese herbaceous peony end and car rear end in physical significance.
As the preferred embodiments of the present invention, in addition to warning device, warning device is connected by communication unit and controller
Connect.When controller judges first laser radar and second laser radar while enters blind area, then by acousto-optic-electric send alarm or
Warning information is sent by mixed-media network modules mixed-media.
As the preferred embodiments of the present invention, controller is connected with the transmission control device of automated guided vehicle.Control car
Change circuit, change speed.
Wherein, blind area state refers to the movement due to vehicle, the change of environment and cause the first radar can not obtain enough
More high quality informations.Cause first laser radar can be by a variety of into the concrete scene of blind area：A kind of most direct scene
It is that vehicle completes a goods loading task, the mission requirements vehicle one goods of continuous approaching.Because goods and first swash
The hypotelorism of optical radar, such as distance are less than the minimum detection distance of first laser radar, cause first laser radar to own
Or most laser signal can not be received in receiving terminal.Another scene is that vehicle is preceding when loading goods and exercising
The goods grabbing device at end blocks first laser radar signal.Now the signal of first laser radar is also at least partially obscured.Again
For example, vehicle is when driving into a more narrow region, such as the turning in warehouse, the signal of first laser radar is also by part
Or all block.For another example the poor object of reflecting properties in environment be present, cause the dropout of first laser radar.
When controller judges that first laser radar enters blind area, it is meant that vehicle is positioned by first laser radar
The risk of reliability decrease will be faced with navigation, this is due to that the low quality data of first laser radar can not support vehicles
Precise positioning and navigation.Therefore, controller will enter first laser radar by implementing different strategies come support vehicles
Remain able to stably implement to position and navigate during blind area.Controller can by control laser radar control device realize pair
The change of the method for operation of first and second laser radars.
Wherein, step S2, it is specially：
First group of range data is matched with pattern set in advance, judges whether first laser radar is in radar
Blind area.
Identify in distance, judge less than minimum radar when the part or all of range data in first group of range data enters
First laser radar is in radar shadown.
Pattern wherein set in advance can be that point converges syntype, and by communication module, controller can pass through the mould that communicates
Block is continual to read range data from laser radar.Range data can be collected into controller by way of point cloud chart
Portion, each data point in point cloud chart represent the range data in an orientation, and a point cloud chart is in multiple orientation
The set of range data.
For example, defining a point converges conjunction, when the radar signal that the collection closes partly or entirely is lost, first is judged as
Laser radar enters blind area.The point converges the definition of conjunction, can be completed by offline setting, can also SLAM itself it is anti-
Present to generate.For example, controller monitoring SLAM positioning performance, when that can not obtain preferable positioning, records current radar
Signal condition.By the accumulation to mass data, controller can generate one or more signal modes in itself.When controller is sent out
When existing current radar reception signal meets one of which pattern, it is judged as the first radar and enters blind area.For example, θ is first laser
The metrical information of radar in all directions, θ _ n are θ n-th of subsets, have m_n data point.If met in θ _ n
x_n(x_n<M_n) range data of individual point is lost or distance is less than L, then can be determined that first laser radar enters blind area, its
Middle x_n is a predefined blind area judgment threshold.
Wherein, in step S3, according to blind area state residing for first laser radar, control at least one in two laser radars
The method of operation or signal processing mode of laser radar, it is specially：
When first laser radar is in radar shadown, the operation of at least one laser radar in two laser radars is controlled
Mode or signal processing mode, including following several ways：
The first, at least one laser radar in two laser radars is changed to opening from closed mode；Such as
When first laser radar is in radar shadown, second laser radar is switched into opening from closed mode.
Second, at least one laser radar in two laser radars is changed to high power consumption state from low power consumpting state.
For example when first laser radar is in radar shadown, second laser radar is switched into high power consumption state from low power consumpting state.
The third, 3D scannings are adjusted to by least one laser radar in two laser radars from 2D scannings.Such as
When first laser radar is in radar shadown, second laser radar is switched into 3D scanning modes from 2D scanning modes.
4th kind, at least one laser radar in two laser radars is adjusted to high-resolution from low resolution.
For example when first laser radar is in radar shadown, second laser radar is adjusted to high-resolution from low resolution state
State.
Also include only using first laser radar in a sub-spaces.
As the preferred embodiments of the present invention, first laser thunder and second laser radar are same type of laser radars.
As the preferred embodiments of the present invention, first laser radar and second laser radar are different types of laser thunders
Reach, including at least one of following several combinations：
Wherein, first laser radar can be High Accuracy Radar, and second laser radar is low precision radar；Such as first swash
Optical radar is the laser radar of continuous wave modulation, and spatial resolution reaches 0.1 degree, is a high-precision laser radar, second
Laser radar is the laser radar of pulse signal, and spatial resolution is 1 degree, is the laser radar of a low precision.
Wherein, first laser radar is multi-thread radar, and second laser radar is single line radar；That is, first laser
Radar can obtain the range data in multiple directions within the unit interval, such as using 16 lines or 64 line laser radars, and
Dual-laser radar is only capable of obtaining the range data on a direction within the unit interval.
Wherein, first laser radar is 3D radars, and second laser radar is 2D radars；Such as use machinery rotation or wave beam
The mode of excipient, 3D laser radars can be raised to haircut to send the direction of laser signal and measure and be somebody's turn to do in horizontal and vertical two dimensions
The distance in direction.The laser radar of 2D scan functions can only adjust the sending direction of laser signal in horizontal or vertical dimension,
And measure the distance of the direction.
Wherein, first laser radar is modulation laser radar, and second laser radar is pulse lidar.
Due to laser radar cost costly, therefore be slightly weaker than using a kind of performance the method for first laser radar,
The performance of second laser radar as described above is all weaker than first laser radar, can save the cost of whole system.In order to
So that whole system remains able to more reliably run.First laser radar and second laser radar are not limited to above-mentioned several sides
The selection of formula, other modes are may also include, within the scope of the present invention.
Referring to Fig. 3, second aspect, the present invention provides a kind of control system of the double laser radar on automated guided vehicle
10, including：
Data acquisition module 101, for obtaining be arranged on automated guided vehicle body two laser radars respectively
Two groups of range data；Two laser radars include first laser radar and second laser radar, and two groups of range data include first
Group range data and second group of range data, the corresponding first group of range data of first laser radar, second laser radar corresponding the
Two groups of range data；
Radar shadown judge module 102, for two groups of range data according to two laser radars, judge first laser thunder
Up to whether being in radar shadown；
Blind area radar processing module 103, for the blind area state according to residing for first laser radar, control two laser radars
In at least one laser radar the method for operation or signal processing mode.
The invention provides a kind of control system 10 of the double laser radar on automated guided vehicle, its technical scheme is：
By data acquisition module 101, acquisition respectively is arranged on two groups of distances of two laser radars on automated guided vehicle body
Data；Two laser radars include first laser radar and second laser radar, and two groups of range data include first group apart from number
Second group of distance is corresponded to according to second group of range data, the corresponding first group of range data of first laser radar, second laser radar
Data；By radar shadown judge module 102, according to the two of two laser radars groups of range data, first laser radar is judged
Whether radar shadown is in；By blind area radar processing module 103, according to blind area state residing for first laser radar, control two
The method of operation or signal processing mode of at least one laser radar in individual laser radar.
The control system 10 of double laser radar on automated guided vehicle provided by the invention, navigated in automated guided vehicle
During, pass through the setting of double laser radar so that enough information can be collected, and control the operation side of double laser radar
Formula and/or signal processing mode, the AGV mistake blind time is reduced, improve AGV independent navigation precision, improve AGV intellectuality, carry
High workload efficiency.
Embodiment two
As the preferred embodiments of the present invention, judge whether first laser radar enters blind area, also have following several realizations
Mode：
The first, judges whether automated guided vehicle is in radar shadown by external positioning systems, is specially：According to
One group of range data, obtains the current location of first laser radar；
Current location is matched with pre-defined blind zone position, when current location and pre-defined blind zone position
During matching, judge that first laser radar enters radar shadown.
Specifically, when the distance between current location and pre-defined blind zone position are in predetermined threshold range, judge
First laser radar enters blind area.
Second, judge whether automated guided vehicle is in radar shadown by external view sensor, be specially：
Controller, when recognizing shelter, judges that first swashs by shelter in front of image recognition first laser radar
Optical radar enters radar shadown.
Specifically, the pointing direction of external view sensor is consistent with the scanning center direction of first laser radar, passes through
Pattern match is carried out to view data, judges whether first laser radar enters radar shadown.
The third, is demarcated by electromagnetism, vision calibration, and other positioning methods such as wireless distance finding can also directly or auxiliary obtains
Obtain the state that first laser radar enters blind area.Controller by these alignment systems, by current position with it is predefined
Blind zone position is compared, when both range differences away from it is sufficiently small when, be judged as vehicle and enter radar shadown.
Embodiment three
As the preferred embodiments of the present invention, in addition to：When first laser radar is in radar shadown, the automatic guiding of reduction
The speed of vehicle.
Specifically, when controller is detected into radar shadown, by controlling the transmission device of vehicle, and then vehicle is reduced
Travel speed.As before, a scene into first laser radar shadown is that vehicle close to goods, now reduces vehicle row
Sailing speed helps to reduce the accident collision probability of vehicle and goods.
Example IV
As the preferred embodiments of the present invention, in addition to：When first laser radar and second laser radar enter thunder simultaneously
Up to blind area, alarmed by controller.
Specifically, controller finds that first laser radar enters radar shadown, while is detected using similar detection method
Radar shadown is also entered to second laser radar, now vehicle stops traveling, and sends alarm using modes such as light electricity, or
Person sends an alert message by network communication unit.
Embodiment five
As the preferred embodiments of the present invention, the present embodiment provides a kind of determining for the double laser radar on automated guided vehicle
Position method, including：
Step S10, two groups of range data of two laser radars being arranged on automated guided vehicle body are obtained respectively；
Two laser radars include first laser radar and second laser radar, and two groups of range data include first group of range data and the
Two groups of range data, the corresponding first group of range data of first laser radar, the corresponding second group of range data of second laser radar；
Step S20, according at least one set of range data in the two of two laser radars groups of range data, judge that first swashs
Whether optical radar is in radar shadown；
Step S30, according to blind area state residing for first laser radar, control at least one laser thunder in two laser radars
The method of operation or signal processing mode reached, realizes the positioning of automated guided vehicle：
According to first group of range data and second group of range data, the ground of first laser radar and second laser radar is obtained
Figure and positional information；
The map and positional information of first laser radar and second laser radar are merged, obtain a map and position
Confidence ceases；
According to the map and positional information, the positioning of automated guided vehicle is realized.
The localization method of double laser radar on automated guided vehicle provided by the invention, pass through setting for double laser radar
Put so that enough information can be collected, and control the method for operation and/or signal processing mode of double laser radar, reduced
The AGV mistake blind time, AGV independent navigation precision is improved, makes positioning result more accurate, positioning is more intelligent.Pass through above-mentioned side
Formula, the positioning to vehicle is realized, map and positional information are obtained according to range data by SLAM methods, realize positioning, it is fixed to make
Position is more accurate.
Wherein, common SLAM methods include Monte Carlo Method, Kalman Filter based Methods
Such as the methods of EKF SLAM, Occupancy Grid Slam.Pass through SLAM (Simultaneous Localization and
Mapping) method obtains the map of current environment and the current location of continuous tracking control unit.Controller is based on SLAM methods
The environmental map and programme path of middle acquisition, the planning of route can pass through the paths planning method (Route of local
Planning) or by communication unit from far-end server obtain.
Concrete methods of realizing is handles laser radar signal using one, with reference to residing for first laser radar
Blind area state, vehicle location is specifically described：
When first laser radar is in radar shadown, the signal processing mode of two laser radars can be controlled；Obtain two
The map and positional information of at least one laser radar, realize the positioning of automated guided vehicle in individual laser radar.
Under normal operating conditions, the signal of first laser radar and second laser radar is both input into is used for into SLAM
Build environment map and self poisoning.When entering radar shadown, controller can be used only using the signal of second laser radar
In SLAM.Now, the low-quality signal of first laser radar will not participate in SLAM computing.Again or, into first laser
During radar shadown, the signal of controller only member-retaining portion first laser radar is used for SLAM.The fraction of laser light radar signal can be with
Select the high-quality signal beyond blind area.It is specifically that the map and positional information of first laser radar and second laser radar is first
Merged, obtain a map and positional information；Then the positioning of automated guided vehicle is realized by a SLAM.
When first laser radar is not at radar shadown, equally by the map of first laser radar and second laser radar and
Positional information is first merged, and obtains a map and positional information；Then automated guided vehicle is realized by a SLAM
Positioning.
Embodiment six
As the preferred embodiments of the present invention.As the preferred embodiments of the present invention, the present embodiment provides one kind and drawn automatically
The localization method of double laser radar on guide-car, including：
Step S10, two groups of range data of two laser radars being arranged on automated guided vehicle body are obtained respectively；
Two laser radars include first laser radar and second laser radar, and two groups of range data include first group of range data and the
Two groups of range data, the corresponding first group of range data of first laser radar, the corresponding second group of range data of second laser radar；
Step S20, according at least one set of range data in the two of two laser radars groups of range data, judge that first swashs
Whether optical radar is in radar shadown；
Step S30, according to blind area state residing for first laser radar, control at least one laser thunder in two laser radars
The method of operation or signal processing mode reached, realizes the positioning of automated guided vehicle：
According to first group of range data and second group of range data, the ground of first laser radar and second laser radar is obtained
Figure and positional information；
The map and positional information of first laser radar and second laser radar are merged, obtain a map and position
Confidence ceases；
According to the map and positional information, the positioning of automated guided vehicle is realized.
The localization method of double laser radar on automated guided vehicle provided by the invention, pass through setting for double laser radar
Put so that enough information can be collected, and control the method for operation and/or signal processing mode of double laser radar, reduced
The AGV mistake blind time, AGV independent navigation precision is improved, makes positioning result more accurate, positioning is more intelligent.Pass through above-mentioned side
Formula, the positioning to vehicle is realized, map and positional information are obtained according to range data by SLAM methods, realize positioning, it is fixed to make
Position is more accurate.
Concrete methods of realizing is that laser radar signal is handled using two SLAM respectively.With reference to first laser
Blind area state residing for radar, vehicle location is specifically described：
When first laser radar is in radar shadown, the signal processing mode of two laser radars can be controlled；Obtain two
The map and positional information of at least one laser radar, realize the positioning of automated guided vehicle in individual laser radar.
When entering first laser radar shadown, the signal of controller only member-retaining portion first laser radar is used for SLAM.
The fraction of laser light radar signal can select the high-quality signal beyond blind area.Specifically first according to first group of range data and the
Two groups of range data, the map and positional information of first laser radar and second laser radar are respectively obtained by two SLAM；
Then the map and positional information of first laser radar and second laser radar are merged, obtains a map and position letter
Breath；According to the map and positional information, realize the positioning of automated guided vehicle finally.
When first laser radar is not at radar shadown, same elder generation is according to first group of range data and second group apart from number
According to respectively obtaining the map and positional information of first laser radar and second laser radar by two SLAM；Then by first
The map and positional information of laser radar and second laser radar are merged, and obtain a map and positional information；Last root
According to map and positional information, the positioning of automated guided vehicle is realized.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.
Claims (11)
- A kind of 1. control method of the double laser radar on automated guided vehicle, it is characterised in thatStep S1, two groups of range data of two laser radars being arranged on automated guided vehicle body are obtained respectively；Two The laser radar includes first laser radar and second laser radar, and two groups of range data include first group of range data With second group of range data, the first laser radar corresponds to first group of range data, and the second laser radar is corresponding Second group of range data；Step S2, according at least one set of range data in the two of two laser radars groups of range data, judge described Whether one laser radar is in radar shadown；Step S3, according to blind area state residing for the first laser radar, control at least one sharp in two laser radars The method of operation or signal processing mode of optical radar.
- 2. the control method of the double laser radar on automated guided vehicle according to claim 1, it is characterised in thatIt is described to control the method for operation of at least one laser radar or the signal processing mode in two laser radars to be：At least one laser radar in two laser radars is changed to opening from closed mode；And/or at least one laser radar in two laser radars is changed to high power consumption state from low power consumpting state；And/or at least one laser radar in two laser radars is adjusted to 3D scannings from 2D scannings；And/or at least one laser radar in two laser radars is adjusted to high-resolution from low resolution.
- 3. the control method of the double laser radar on automated guided vehicle according to claim 1 or 2, it is characterised in thatThe step S2, it is specially：First group of range data is matched with pattern set in advance, judges whether the first laser radar is in Radar shadown.
- 4. the control method of the double laser radar on automated guided vehicle according to claim 3, it is characterised in thatIt is described to be matched first group of range data with pattern set in advance, whether judge the first laser radar In radar shadown, it is specially：Identify in distance, judge less than minimum radar when the part or all of range data in first group of range data enters The first laser radar is in radar shadown.
- 5. the control method of the double laser radar on automated guided vehicle according to claim 1 or 2, it is characterised in thatThe step S2, it is specially：Judge that the automated guided vehicle is by external positioning systems or external view sensor It is no to be in radar shadown.
- 6. the control method of the double laser radar on automated guided vehicle according to claim 5, it is characterised in thatIt is described to judge whether the automated guided vehicle is in radar shadown by external positioning systems, be specially：According to first group of range data, the current location of the first laser radar is obtained；The current location is matched with pre-defined blind zone position, when the current location and pre-defined blind area During location matches, judge that the first laser radar enters radar shadown.
- 7. the control method of the double laser radar on automated guided vehicle according to claim 5, it is characterised in thatIt is described to judge whether the automated guided vehicle is in radar shadown by external view sensor, be specially：The controller, when recognizing shelter, judges institute by shelter in front of first laser radar described in image recognition State first laser radar and enter radar shadown.
- 8. the control method of the double laser radar on automated guided vehicle according to claim 1, it is characterised in thatThe first laser radar and the second laser radar include at least one of following several combinations, respectively For：The first laser radar is high-precision laser radar, and the second laser radar is low precision laser radar；Described One laser radar is multi-line laser radar, and the second laser radar is single line laser radar；The first laser radar is 3D laser radars, and the second laser radar is 2D laser radars；The first laser radar is to modulate laser radar, and institute It is pulse lidar to state second laser radar.
- 9. the control method of the double laser radar on automated guided vehicle according to claim 1, it is characterised in thatAlso include：When the first laser radar is in radar shadown, the speed of the automated guided vehicle is reduced, and/orWhen the first laser radar and the second laser radar while enter radar shadown, reported by the controller It is alert.
- 10. the control system of the double laser radar on automated guided vehicle, it is characterised in that including：Data acquisition module, for obtaining two groups of distances of be arranged on automated guided vehicle body two laser radars respectively Data；Two laser radars include first laser radar and second laser radar, and two groups of range data include first Group range data and second group of range data, the first laser radar correspond to first group of range data, and described second swashs Optical radar corresponds to second group of range data；Radar shadown judge module, for two groups of range data according to two laser radars, judge the first laser Whether radar is in radar shadown；Blind area radar processing module, for the blind area state according to residing for the first laser radar, control two laser thunders The method of operation or signal processing mode of at least one laser radar in reaching.
- 11. the localization method of the double laser radar on automated guided vehicle, it is characterised in thatStep S10, two groups of range data of two laser radars being arranged on automated guided vehicle body are obtained respectively；Two The laser radar includes first laser radar and second laser radar, and two groups of range data include first group of range data With second group of range data, the first laser radar corresponds to first group of range data, and the second laser radar is corresponding Second group of range data；Step S20, according at least one set of range data in the two of two laser radars groups of range data, judge described Whether one laser radar is in radar shadown；Step S30, according to blind area state residing for the first laser radar, control at least one sharp in two laser radars The method of operation or signal processing mode of optical radar, realize the positioning of automated guided vehicle：According to first group of range data and second group of range data, the first laser radar and described second are obtained The map and positional information of laser radar；The map and positional information of the first laser radar and the second laser radar are merged, obtain a map And positional information；According to the map and positional information, the positioning of automated guided vehicle is realized；OrFirst group of range data and second group of range data are merged, the range data merged；According to the range data of the merging, a map and positional information are obtained；According to the map and positional information, the positioning of automated guided vehicle is realized.
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