CN109143258A - The localization method of trackless navigation AGV - Google Patents
The localization method of trackless navigation AGV Download PDFInfo
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- CN109143258A CN109143258A CN201811038990.2A CN201811038990A CN109143258A CN 109143258 A CN109143258 A CN 109143258A CN 201811038990 A CN201811038990 A CN 201811038990A CN 109143258 A CN109143258 A CN 109143258A
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- reflector
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to the localization methods of trackless navigation AGV a kind of, comprising: AGV passes through the first reflector of laser radar scanning and the second reflector, wherein first reflector and second reflector are set to first area；The working face of first reflector and second reflector perpendicular to the AGV, first reflector forms the first line segment by the track of the laser radar scanning, second reflector forms second line segment by the track of the laser radar scanning, and first line segment and the second line segment are not parallel；The midpoint at the midpoint and the second line segment that connect first line segment forms third line segment, obtains the perpendicular bisector of the third line segment.The localization method of above-mentioned trackless navigation AGV, reflector can be apparent by optical sensor and accurately identify, when mobile robot is when being arranged the region of reflector, reflector is relied primarily on to calculate pose, to significantly improve positioning accuracy.
Description
Technical field
The present invention relates to trackless navigation AGV, more particularly to the localization method of trackless navigation AGV.
Background technique
The localization method of mobile robot is divided into rail positioning and trackless positions two kinds.Rail positioning method needs on ground
Upper patch marker, for example magnetic stripe, two dimensional code are pasted on the ground or in the air.Trackless positioning method relies primarily on camera, laser etc.
The position of mobile robot, that is, SLAM is obtained by calculation by the shape of scanning space in optical sensor
(simultaneous localization and mapping), also referred to as CML (Concurrent Mapping and
), Localization instant positioning and map structuring.Since article profile cannot be always consistent in space, location algorithm is deposited
In deviation, there are certain deviations for optical sensor, cause final positioning accuracy accurate enough.It is accurate in certain special requirements
The position of positioning, the positioning accuracy under SLAM algorithm cannot be met the requirements, and need that additional measures is taken to realize being accurately positioned at this time
Requirement.
When scanning peripheral outline, since chamfered shape may all change at any time, the data of receiving pass through optical sensor
After location algorithm, obtained location information can also change, so when causing to be completely dependent on the positioning of the optical sensors such as laser radar
Positioning accuracy is not always high.But optical sensor can but understand that reflective very strong marker in identification space is (such as reflective
Plate), in this case, it can mainly be calculated when being accurately positioned reflective by the way that strong reflective marker is arranged in space
The data that marker is fed back do position data to greatly reduce the situations such as profile variations in space, illumination variation
It disturbs, to realize more accurate positioning accuracy.
There are following technical problems for traditional technology:
At this stage, the navigation of mobile robot trackless relies primarily on the optical sensor of the types such as laser radar and camera,
This kind of sensor scans the posture information measured after ambient enviroment there are error in use, and there is also change at any time for ambient enviroment
Possibility, cause needing pinpoint region, the positioning accuracy of mobile robot is lower；
Then this coordinate is read machine using the coordinate of known reflector by some patents (such as 201710268309.2)
In device people's controller, using the location information that this calculated by coordinate and correction robot are present, higher precision is realized in this way
Positioning.This mode needs to switch location algorithm, and operand is big, and control algolithm is more complicated.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide the localization method of trackless navigation AGV a kind of, reflector can
It is accurately identified with apparent by optical sensor, when mobile robot is when being arranged the region of reflector, is relied primarily on anti-
Tabula rasa calculates pose, to significantly improve positioning accuracy.
A kind of localization method of trackless navigation AGV, comprising:
AGV passes through the first reflector of laser radar scanning and the second reflector, wherein first reflector and described the
Two reflectors are set to first area；First reflector and second reflector perpendicular to the AGV working face,
First reflector forms the first line segment by the track of the laser radar scanning, and second reflector is by the laser thunder
Second line segment is formed up to the track of scanning, first line segment and the second line segment are not parallel；
The midpoint at the midpoint and the second line segment that connect first line segment forms third line segment, obtains the third line
The perpendicular bisector of section；
The AGV moves to the first area or the first area along the perpendicular bisector of the third line segment
Near region, wherein the near zone refers to the first area at the region of predetermined angle and pre-determined distance.
In other one embodiment, the AGV is separated by a spacing along the perpendicular bisector with the third line segment
From parallel lines move to region near the first area or the first area.
A kind of localization method of trackless navigation AGV, comprising:
AGV passes through the first reflector of laser radar scanning and the second reflector, wherein first reflector and described the
Two reflectors are set to first area；First reflector and second reflector perpendicular to the AGV working face,
First reflector forms the first line segment by the track of the laser radar scanning, and second reflector is by the laser thunder
Second line segment is formed up to the track of scanning, first line segment and the second line segment are conllinear；
The midpoint at the midpoint and the second line segment that connect first line segment forms third line segment, obtains the third line
The perpendicular bisector of section；
The AGV moves to the first area or the first area along the perpendicular bisector of the third line segment
Near region, wherein the near zone refers to the first area at the region of predetermined angle and pre-determined distance.
In other one embodiment, the AGV is separated by a spacing along the perpendicular bisector with the third line segment
From parallel lines move to region near the first area or the first area.
The localization method of above-mentioned trackless navigation AGV, reflector can be apparent by optical sensor and accurately identify, when
Mobile robot relies primarily on reflector when the region of reflector is arranged to calculate pose, to significantly improve positioning accuracy.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram one of the localization method of trackless navigation AGV provided by the embodiments of the present application.
Fig. 2 is a kind of schematic diagram two of the localization method of trackless navigation AGV provided by the embodiments of the present application.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Refering to fig. 1, a kind of localization method of trackless navigation AGV, comprising:
AGV passes through the first reflector of laser radar scanning and the second reflector, wherein first reflector and described the
Two reflectors are set to first area；First reflector and second reflector perpendicular to the AGV working face,
First reflector forms the first line segment by the track of the laser radar scanning, and second reflector is by the laser thunder
Second line segment is formed up to the track of scanning, first line segment and the second line segment are not parallel；
The midpoint at the midpoint and the second line segment that connect first line segment forms third line segment, obtains the third line
The perpendicular bisector of section；
The AGV moves to the first area or the first area along the perpendicular bisector of the third line segment
Near region, wherein the near zone refers to the first area at the region of predetermined angle and pre-determined distance.
It is appreciated that first line segment and the second line segment are two groups of highlighted point sets that AGV is observed and screened.
It is appreciated that the near zone can by setting to the first area at predetermined angle and pre-determined distance,
Polar coordinate system etc. mode is established to determine, since this is mode in the prior art, is here repeated no more.
It is appreciated that the comparison for calculation methods for calculating the bisector of first line segment and the second line segment is easy, mention
For certain geometric algorithm, the present invention is here repeated no more.
In other one embodiment, the AGV is separated by a spacing along the perpendicular bisector with the third line segment
From parallel lines move to region near the first area or the first area.
Referring to Fig.2, a kind of localization method of trackless navigation AGV, comprising:
AGV passes through the first reflector of laser radar scanning and the second reflector, wherein first reflector and described the
Two reflectors are set to first area；First reflector and second reflector perpendicular to the AGV working face,
First reflector forms the first line segment by the track of the laser radar scanning, and second reflector is by the laser thunder
Second line segment is formed up to the track of scanning, first line segment and the second line segment are conllinear；
The midpoint at the midpoint and the second line segment that connect first line segment forms third line segment, obtains the third line
The perpendicular bisector of section；
The AGV moves to the first area or the first area along the perpendicular bisector of the third line segment
Near region, wherein the near zone refers to the first area at the region of predetermined angle and pre-determined distance.
It is appreciated that first line segment and the second line segment are two groups of highlighted point sets that AGV is observed and screened.
It is appreciated that the near zone can by setting to the first area at predetermined angle and pre-determined distance,
Polar coordinate system etc. mode is established to determine, since this is mode in the prior art, is here repeated no more.
It is appreciated that the comparison for calculation methods for calculating the perpendicular bisector of first line segment and the second line segment holds
Easily, certain geometric algorithm is provided, the present invention here repeats no more.
In other one embodiment, the AGV is separated by a spacing along the perpendicular bisector with the third line segment
From parallel lines move to region near the first area or the first area.
The localization method of above-mentioned trackless navigation AGV, reflector can be apparent by optical sensor and accurately identify, when
Mobile robot relies primarily on reflector when the region of reflector is arranged to calculate pose, to significantly improve positioning accuracy.
Reflector is one piece to the very high one flat plate of the reflectivity of light, and laser radar is when scanning surrounding enviroment, scanning
Can be fed back to when on to reflector " 1 " (it is appreciated that in figure 1 at be exactly the first line segment and second line segment), other regions are then
For " 0 ".Launch scanning ray by laser radar, can calculate the position where reflector and between laser radar away from
From, reflector to the attitude offsets angle of laser radar coordinate.Only reading a reflector, will to will lead to measurement error larger, because
This calculates a virtual reference data line in such a way that 2 reflectors are averaging.When there are 2 reflectors in space
When, then it can determine the pose where laser radar, that is, the pose of mobile robot.
Typical reflective plate arrangement is arranged in same plane and at an angle two kinds.Two reflectors are same flat
When in face, the reflector of laser radar scanning to high reflectance, obtains the line segment of two high brightness in space at this time.It does at this time
The perpendicular bisector of the line at the midpoint of two line segments, then mobile robot is on the basis of this perpendicular bisector, then robot
Along perpendicular bisector close to two reflectors, until reaching distance to a declared goal.Similar, it can also be with the parallel lines of perpendicular bisector
On the basis of, then along this parallel reference line close to the distance to a declared goal to reflector.
When between two reflectors, there are when angle, the angular bisector of angle can be calculated easily.It can be with when positioning
Perpendicular bisector is benchmark line, is approached along reference line to the position apart from reflector distance to a declared goal.To realize precise positioning.
Direct Laser scans ambient enviroment positioning, and precision is+- 50mm, is positioned using reflector, and precision is+- 3mm.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (4)
1. a kind of localization method of trackless navigation AGV characterized by comprising
The AGV passes through the first reflector of laser radar scanning and the second reflector, wherein first reflector and described the
Two reflectors are set to first area；First reflector and second reflector perpendicular to the AGV working face,
First reflector forms the first line segment by the track of the laser radar scanning, and second reflector is by the laser thunder
Second line segment is formed up to the track of scanning, first line segment and the second line segment are not parallel；
The midpoint at the midpoint and the second line segment that connect first line segment forms third line segment, obtains the third line segment
Perpendicular bisector；
The AGV moves to the attached of the first area or the first area along the perpendicular bisector of the third line segment
Near field, wherein the near zone refers to the first area at the region of predetermined angle and pre-determined distance.
2. the localization method of trackless according to claim 1 navigation AGV, which is characterized in that the AGV is along with described the
The perpendicular bisector of three line segments parallel lines separated by a distance move to the attached of the first area or the first area
Near field.
3. a kind of localization method of trackless navigation AGV characterized by comprising
AGV passes through the first reflector of laser radar scanning and the second reflector, wherein first reflector and described second is instead
Tabula rasa is set to first area；First reflector and second reflector perpendicular to the AGV working face, it is described
First reflector forms the first line segment by the track of the laser radar scanning, and second reflector is swept by the laser radar
The track retouched forms second line segment, and first line segment and the second line segment are conllinear；
The midpoint at the midpoint and the second line segment that connect first line segment forms third line segment, obtains the third line segment
Perpendicular bisector；
The AGV moves to the attached of the first area or the first area along the perpendicular bisector of the third line segment
Near field, wherein the near zone refers to the first area at the region of predetermined angle and pre-determined distance.
4. the localization method of trackless according to claim 3 navigation AGV, which is characterized in that the AGV is along with described the
The perpendicular bisector of three line segments parallel lines separated by a distance move to the attached of the first area or the first area
Near field.
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Cited By (8)
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| CN109959937A (en) * | 2019-03-12 | 2019-07-02 | 广州高新兴机器人有限公司 | Localization method, storage medium and electronic equipment of the gallery environment based on laser radar |
| CN110262474A (en) * | 2019-05-06 | 2019-09-20 | 盐城品迅智能科技服务有限公司 | A kind of automatic control system and method for las er-guidance trolley travel line |
| CN110596716A (en) * | 2019-10-11 | 2019-12-20 | 劢微机器人科技(深圳)有限公司 | AGV laser radar positioning system and method |
| CN110907891A (en) * | 2019-11-27 | 2020-03-24 | 华南理工大学 | AGV positioning method and device |
| CN111062540A (en) * | 2019-12-25 | 2020-04-24 | 武汉万集信息技术有限公司 | Reflector layout checking method, device, equipment and storage medium |
| CN111381244A (en) * | 2020-03-05 | 2020-07-07 | 三一机器人科技有限公司 | Positioning enhancement method and device for vehicle, vehicle and readable storage medium |
| CN111538035A (en) * | 2020-05-29 | 2020-08-14 | 三一机器人科技有限公司 | Positioning method, device and system |
| CN112818715A (en) * | 2020-12-31 | 2021-05-18 | 北京云迹科技有限公司 | Pose identification method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109959937A (en) * | 2019-03-12 | 2019-07-02 | 广州高新兴机器人有限公司 | Localization method, storage medium and electronic equipment of the gallery environment based on laser radar |
| CN109959937B (en) * | 2019-03-12 | 2021-07-27 | 广州高新兴机器人有限公司 | Laser radar-based positioning method for corridor environment, storage medium and electronic equipment |
| CN110262474A (en) * | 2019-05-06 | 2019-09-20 | 盐城品迅智能科技服务有限公司 | A kind of automatic control system and method for las er-guidance trolley travel line |
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| CN111062540A (en) * | 2019-12-25 | 2020-04-24 | 武汉万集信息技术有限公司 | Reflector layout checking method, device, equipment and storage medium |
| CN111062540B (en) * | 2019-12-25 | 2023-10-20 | 武汉万集信息技术有限公司 | Method, device, equipment and storage medium for inspecting layout of reflecting plate |
| CN111381244A (en) * | 2020-03-05 | 2020-07-07 | 三一机器人科技有限公司 | Positioning enhancement method and device for vehicle, vehicle and readable storage medium |
| CN111538035A (en) * | 2020-05-29 | 2020-08-14 | 三一机器人科技有限公司 | Positioning method, device and system |
| CN112818715A (en) * | 2020-12-31 | 2021-05-18 | 北京云迹科技有限公司 | Pose identification method and device, electronic equipment and storage medium |
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