CN110596716B - AGV laser radar positioning system and method - Google Patents
AGV laser radar positioning system and method Download PDFInfo
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- CN110596716B CN110596716B CN201910975460.9A CN201910975460A CN110596716B CN 110596716 B CN110596716 B CN 110596716B CN 201910975460 A CN201910975460 A CN 201910975460A CN 110596716 B CN110596716 B CN 110596716B
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The invention provides an AGV laser radar positioning system which comprises a reflecting film group and an AGV. The invention also provides an AGV laser radar positioning method, which is applied to the AGV laser radar positioning device and receives a reflection signal of the reflection film through the laser radar; performing linear fitting based on the signal intensity value of the reflection signal, and calculating the direction coordinate of the reflection film under a laser radar coordinate system according to the fitting result of the linear fitting; and confirming the coordinate of the AGV under the reflective film coordinate system according to the calculated direction coordinate. According to the invention, the reflecting film groups are arranged in a mode of increasing/decreasing the reflecting intensity, the arranged reflecting film groups are arranged on the AGV platform to work, the position coordinates of the AGV are calculated by using the intensity of the reflecting signal reflected by the reflecting film groups received by the laser radar, a high-cost auxiliary positioning device is not required to be arranged, and the beneficial effect of improving the positioning accuracy of the AGV is realized.
Description
Technical Field
The invention relates to the technical field of AGV positioning, in particular to an AGV laser radar positioning system and method.
Background
At present, an industrial/service automatic transport vehicle (AGV) using laser natural navigation is widely used, and an autonomous mobile robot in the prior art is generally positioned by a laser radar or a positioning device, but the positioning accuracy is generally not high. If when the autonomous mobile robot is applied to an area requiring high-precision positioning, some auxiliary devices may need to be installed to improve the positioning precision, so that the application cost of the autonomous mobile robot is increased, the use experience of a user may be reduced, and the popularization of the autonomous mobile robot is reduced to a certain extent.
Disclosure of Invention
The invention mainly aims to provide an AGV laser radar positioning system and method, and aims to solve the technical problems that in the prior art, the positioning accuracy of an AGV self positioning device is not high, and the AGV application in a high-accuracy positioning area cannot be met.
In order to achieve the purpose, the AGV laser radar positioning system comprises a reflecting film group and an AGV, wherein the reflecting film group comprises a plurality of reflecting films which are arranged at intervals on stations of an AGV platform, and the plurality of reflecting films are sequentially arranged in an increasing/decreasing mode according to reflecting intensity;
the installation height of the reflective film group is parallel to the setting height of the AGV laser radar.
Optionally, the laser radar positioning system comprises two reflecting film sets, and the two reflecting film sets are symmetrically arranged on the AGV platform station.
In order to achieve the above object, the present invention further provides an AGV laser radar positioning method, which is applied to an AGV laser radar positioning apparatus, and includes:
receiving a reflection signal of the reflection film through a laser radar;
performing linear fitting based on the signal intensity value of the reflection signal, and calculating the direction coordinate of the reflection film under a laser radar coordinate system according to the fitting result of the linear fitting;
and confirming the coordinate of the AGV under the reflective film coordinate system according to the calculated direction coordinate.
Optionally, the step of receiving a reflection signal of the reflective film by the laser radar further includes:
determining the initial coordinate of the reflective film, and dividing a reflective signal search range according to the initial coordinate of the reflective film;
and receiving the reflection signal of the reflection film in the reflection signal search range through a laser radar.
Optionally, before the step of determining the initial coordinates of the light reflecting film and dividing the search range of the light reflecting signal according to the initial coordinates of the light reflecting film, the method further includes:
determining a target docking station of the AGV, and acquiring global coordinates of auxiliary stations corresponding to the target docking station;
and substituting the global coordinate into a preset laser map to calculate the initial coordinate of the reflective film.
Optionally, before the step of determining a target docking station of the AGV and acquiring global coordinates of a corresponding station auxiliary bit based on the target docking station, the method further includes:
confirming a docking station of the AGV, and marking a station auxiliary position corresponding to the docking station;
and registering the global coordinates of the station auxiliary bits.
Optionally, before the step of calculating the initial coordinate of the light reflecting film by substituting the global coordinate into a preset laser map, the method further includes:
and constructing the preset laser map in a preset format according to the application of the laser radar of the AGV.
Optionally, the step of performing line fitting based on the signal intensity value of the reflection signal, and calculating the direction coordinate of the reflection film in the laser radar coordinate system according to the fitting result of the line fitting further includes:
confirming the signal intensity value of the reflective signal, and confirming the coordinate of the reflective film according to the signal intensity value;
and dividing the reflecting film group by the coordinates of the reflecting film, and fitting the reflecting film group in a straight line.
Optionally, the step of performing line fitting based on the signal intensity value of the reflection signal, and calculating the direction coordinate of the reflection film in the laser radar coordinate system according to the fitting result of the line fitting further includes:
determining a straight line intersection point of the straight line equation according to the fitting result;
and confirming the intersection point coordinates of the straight line intersection points, and calculating the direction coordinates of the reflective film under a laser radar coordinate system according to the intersection point coordinates.
Optionally, the step of confirming the coordinates of the AGV in the reflective film coordinate system according to the calculated direction coordinates further includes:
and inputting the direction coordinate into a preset conversion formula, and confirming the coordinate of the AGV under the reflective film coordinate system according to a conversion result.
The invention provides an AGV positioning system and an AGV laser radar positioning method, wherein a light reflecting film group is arranged in a mode of increasing/decreasing the light reflecting strength, the arranged light reflecting film group is arranged on an AGV platform to work, the position coordinate of the AGV is calculated according to the strength of a light reflecting signal reflected by the light reflecting film group received by the laser radar, a high-cost auxiliary positioning device is not required to be arranged, and the beneficial effect of improving the positioning accuracy of the AGV is realized.
Drawings
FIG. 1 is a schematic diagram of an AGV laser radar positioning system according to the present invention;
FIG. 2 is a schematic view of a reflective film set;
FIG. 3 is a flowchart illustrating a AGV laser radar positioning method according to a first embodiment of the present invention.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: receiving a reflection signal of the reflection film through a laser radar; performing linear fitting based on the signal intensity value of the reflection signal, and calculating the direction coordinate of the reflection film under a laser radar coordinate system according to the fitting result of the linear fitting; and confirming the coordinate of the AGV under the reflective film coordinate system according to the calculated direction coordinate.
The autonomous mobile robot in the prior art generally performs positioning through a laser radar or a positioning device, but the positioning accuracy is not high generally. If when the autonomous mobile robot is applied to an area requiring high-precision positioning, some auxiliary devices may need to be installed to improve the positioning precision, so that the application cost of the autonomous mobile robot is increased, the use experience of a user may be reduced, and the popularization of the autonomous mobile robot is reduced to a certain extent.
The invention provides a solution, which arranges the reflecting film group in a mode of increasing/decreasing the reflecting intensity, arranges the arranged reflecting film group on an AGV platform to work, calculates the position coordinate of the AGV by the intensity of a reflecting signal reflected by the reflecting film group received by a laser radar, does not need to arrange a high-cost auxiliary positioning device, and realizes the beneficial effect of improving the positioning accuracy of the AGV.
As shown in fig. 1, fig. 1 is a schematic structural diagram of the disinfection robot of the present invention, the laser radar positioning system includes a reflective film set and an AGV, the reflective film set includes a plurality of reflective films disposed at intervals at stations of the AGV, and the plurality of reflective films are sequentially arranged in an increasing/decreasing manner according to reflective strength;
in addition, the installation height of the reflecting film group is parallel to the arrangement height of the AGV laser radar.
In addition, laser radar positioning system includes two reflection of light membrane group, two reflection of light membrane group symmetry sets up AGV platform station can look into figure 2, and figure 2 is the setting schematic diagram of reflection of light membrane group.
As described above, in the AGV laser radar positioning system, the laser radar positioning method formed by the reflective film set and the AGV further includes implanting a relevant AGV laser radar positioning program into the storage of the AGV, and when the AGV laser radar positioning program is executed by the processor, the following operations are implemented:
receiving a reflection signal of the reflection film through a laser radar;
performing linear fitting based on the signal intensity value of the reflection signal, and calculating the direction coordinate of the reflection film under a laser radar coordinate system according to the fitting result of the linear fitting;
and confirming the coordinate of the AGV under the reflective film coordinate system according to the calculated direction coordinate.
Further, the processor may invoke an AGV lidar positioning program stored in the memory and perform the following operations:
determining the initial coordinate of the reflective film, and dividing a reflective signal search range according to the initial coordinate of the reflective film;
and receiving the reflection signal of the reflection film in the reflection signal search range through a laser radar.
Further, the processor may invoke an AGV lidar positioning program stored in the memory and perform the following operations:
determining a target docking station of the AGV, and acquiring global coordinates of auxiliary stations corresponding to the target docking station;
and substituting the global coordinate into a preset laser map to calculate the initial coordinate of the reflective film.
Further, the processor may invoke an AGV lidar positioning program stored in the memory and perform the following operations:
confirming a docking station of the AGV, and marking a station auxiliary position corresponding to the docking station;
and registering the global coordinates of the station auxiliary bits.
Further, the processor may invoke an AGV lidar positioning program stored in the memory and perform the following operations:
and constructing the preset laser map in a preset format according to the application of the laser radar of the AGV.
Further, the processor may invoke an AGV lidar positioning program stored in the memory and perform the following operations:
confirming the signal intensity value of the reflective signal, and confirming the coordinate of the reflective film according to the signal intensity value;
and dividing the reflecting film group by the coordinates of the reflecting film, and fitting the reflecting film group in a straight line.
Further, the processor may invoke an AGV lidar positioning program stored in the memory and perform the following operations:
determining a straight line intersection point of the straight line equation according to the fitting result;
and confirming the intersection point coordinates of the straight line intersection points, and calculating the direction coordinates of the reflective film under a laser radar coordinate system according to the intersection point coordinates.
Further, the processor may invoke an AGV lidar positioning program stored in the memory and perform the following operations:
and inputting the direction coordinate into a preset conversion formula, and confirming the coordinate of the AGV under the reflective film coordinate system according to a conversion result.
According to the scheme, the reflecting film group is arranged in a mode of increasing/decreasing the reflecting intensity, the arranged reflecting film group is arranged on the AGV platform to work, the position coordinate of the AGV is calculated according to the reflecting signal intensity reflected by the reflecting film group received by the laser radar, a high-cost auxiliary positioning device is not required to be arranged, and the beneficial effect of improving the positioning accuracy of the AGV is achieved.
Based on the hardware architecture, the embodiment of the AGV laser radar positioning method is provided.
Referring to fig. 3, fig. 3 is a first embodiment of an AGV lidar positioning method according to the present invention, which includes the following steps:
step S10, receiving a reflection signal of the reflection film through a laser radar;
reflection of light membrane group mounting structure based on current laser radar positioning system receives through laser radar the reflection of light signal of reflection of light membrane in the reflection of light membrane group, reflection of light signal is the light signal that reflection of light membrane arrives based on current ambient light source in the reflection of light membrane group, perhaps does laser radar scans the reflection of light signal of reflection of light membrane group feedback. Because the reflective membrane is after receiving the light source, reflect light out based on the material particularity, and reflective membrane group is when arranging, and its mounting height is parallel with the height of AGV's laser radar position, consequently, the reflective membrane of all reflective membrane groups can be scanned to its laser radar. In addition, because current AGV usage space within range, probably include a plurality of AGV, for avoiding receiving the influence of the reflection of light membrane group that other AGV arranged, settling when the reflection of light membrane group, need be based on reflection of light signal search range is divided to the reflection of light membrane group, promptly the step of receiving the reflection of light signal of reflection of light membrane through laser radar still includes:
determining the initial coordinate of the reflective film, and dividing a reflective signal search range according to the initial coordinate of the reflective film;
and receiving the reflection signal of the reflection film in the reflection signal search range through a laser radar.
According to the reflective membrane group that has settled at present, confirm the initial coordinate of reflective membrane in the reflective membrane group, further, based on the initial coordinate of reflective membrane uses to predetermine numerical value and divides the search range as the radius, wherein, predetermine numerical value and be based on the search radius of the vehicle interval definition of adjacent AGV vehicle under the current AGV usage space. In this way, according to the divided reflective signal search range, the reflective signal is searched in the reflective signal search range, that is, the reflective signal of the reflective film is received in the reflective signal search range.
In addition, when dividing the signal search range based on the initial coordinate of the reflective film, the initial coordinate of the reflective film needs to be determined in advance, and the initial coordinate is set based on the docking station, so that before the step of determining the initial coordinate of the reflective film and dividing the signal search range according to the initial coordinate of the reflective film, the method further comprises the following steps of:
determining a target docking station of the AGV, and acquiring global coordinates of auxiliary stations corresponding to the target docking station;
and substituting the global coordinate into a preset laser map to calculate the initial coordinate of the reflective film.
And confirming a target docking station of the AGV based on the current target AGV, wherein the target docking station is a working position of the AGV executing the docking operation based on the current running track. Thus, when confirming the target docking station based on the current AGV, the method further includes, before the step of obtaining the global coordinate of the corresponding station auxiliary position based on the target docking station, the station auxiliary position is a manually set position based on the target docking station and is used as a reference object for current positioning, the step of determining the target docking station of the AGV and obtaining the global coordinate of the corresponding station auxiliary position based on the target docking station:
confirming a docking station of the AGV, and marking a station auxiliary position corresponding to the docking station;
and registering the global coordinates of the station auxiliary bits.
The AGV based on there is the demand at present to the position is confirmed, with AGV's orbit confirms AGV's butt joint station, and is based on the butt joint station mark the station auxiliary position that the butt joint station corresponds, at the mark during the station auxiliary position, can confirm based on artifical form the position of station auxiliary position, or based on the position coordinate calculation of butt joint station corresponds the position of station auxiliary position, so, the position of its station auxiliary position possesses known position parameter, consequently, according to the global coordinate of station auxiliary position, will global coordinate substitutes to predetermined laser map, with predetermined laser map calculates the initial coordinate of reflective membrane. Further, predetermined laser map, for the laser radar device based on current AGV position detection demand installation, perhaps laser radar is functional module or functional device that AGV itself possessed, so, based on laser radar's setting is established with predetermined laser radar setting format predetermined laser map, promptly will global coordinate substitutes predetermined laser map calculation before the step of the initial coordinate of reflective membrane, still include:
and constructing the preset laser map in a preset format according to the application of the laser radar of the AGV.
As described above, the laser map is a laser application map constructed based on the laser radar device of the current AGV. In practical application, the preset laser map can be constructed by applying a laser SLAM composition mode in the prior art, for example, composition methods such as gmaping, Karto, Cartographer and the like, and the preset laser map is based on the application range of the current laser radar, so that the preset laser map is defined as an initialization laser map.
Step S20, performing straight line fitting based on the signal intensity value of the reflective signal, and calculating the direction coordinate of the reflective film under a laser radar coordinate system according to the fitting result of the straight line fitting;
the method comprises the steps of receiving a reflection signal according to a currently installed reflection film, and confirming the signal intensity value of the reflection signal, wherein the installed reflection film has different reflection intensities, so that the received reflection signal based on the reflection film has different intensities. Therefore, based on the installation form of the reflective film, a reflective film straight line is formed by taking the signal intensity value of the reflective signal as a reference, the straight line is subjected to straight line fitting, and the direction coordinate of the reflective film under the laser radar coordinate system is calculated according to the fitting result of the straight line fitting. During the period, when the reflective film is based on the reflective signal straight line, the coordinate of the reflective film needs to be confirmed, the coordinate is used for dividing the reflective film group, then the reflective film group is used as a straight line unit to perform straight line fitting operation of two reflective film straight lines, namely, the step of performing straight line fitting on the signal intensity value based on the reflective signal, and the step of calculating the direction coordinate of the reflective film under the laser radar coordinate system according to the fitting result of the straight line fitting further comprises the following steps:
confirming the signal intensity value of the reflective signal, and confirming the coordinate of the reflective film according to the signal intensity value;
and dividing the reflecting film group by the coordinates of the reflecting film, and fitting the reflecting film group in a straight line.
After receiving the reflective signals based on the reflective film, confirming the signal intensity values of the reflective signals, and confirming the coordinates of the reflective film based on the signal intensity values, wherein the reflective film has known reflective intensity and installation position, so that the coordinates of the reflective film can be correspondingly confirmed by determining the signal intensity values according to the received reflective signals, and further, the reflective film groups are divided based on the confirmed coordinates of the reflective film, and the reflective film groups are connected into a reflective film position straight line by taking the reflective film groups as a unit. In the method, two reflecting film groups are provided, so that two straight lines of the positions of the connected reflecting films connected based on the reflecting film coordinates are obtained, the two straight lines are fitted, and the direction coordinates of the reflecting films in a laser radar coordinate system are confirmed according to the fitting result. Further, when the straight line of the position of the reflective film is fitted, the fitting operation is a preset operation step, so that the step of fitting the straight line based on the signal intensity value of the reflective signal and calculating the direction coordinate of the reflective film under the laser radar coordinate system according to the fitting result of the straight line fitting further comprises:
determining a straight line intersection point of the straight line equation according to the fitting result;
and confirming the intersection point coordinates of the straight line intersection points, and calculating the direction coordinates of the reflective film under a laser radar coordinate system according to the intersection point coordinates.
And according to a reflective film position straight line formed by connecting the reflective film coordinates, extending the position straight line to obtain the straight line intersection point, calculating the intersection point coordinate of the straight line intersection point based on the position straight line according to the position coordinate of the position straight line, and further calculating the direction coordinate of the reflective film under a laser radar coordinate system according to the intersection point coordinate. The position coordinate calculation mode of calculating the intersection point of the straight lines by using the straight line positions can apply the existing straight line coordinate calculation formula, and is not described herein any more. Further, when the position coordinate of the straight line intersection point is calculated according to the straight line position, the Y-direction coordinate and the angle value of the reflective film under a laser radar coordinate system are determined according to the intersection point coordinate; finding the distance and the angle value of the laser point corresponding to the intersection point of the two intensity straight lines, determining the X-direction coordinate of the reflective film under the laser radar coordinate system, and confirming the direction coordinate of the reflective film under the laser radar coordinate system according to the X-direction coordinate and the Y-direction coordinate.
And step S30, confirming the coordinate of the AGV in the reflective film coordinate system according to the calculated direction coordinate.
Converting the direction coordinate to confirm the coordinate of the AGV under the reflective film coordinate system according to the currently confirmed direction coordinate of the reflective film under the laser radar coordinate system, so that the step of confirming the coordinate of the AGV under the reflective film coordinate system according to the calculated direction coordinate further comprises:
and inputting the direction coordinate into a preset conversion formula, and confirming the coordinate of the AGV under the reflective film coordinate system according to a conversion result.
And inputting the direction coordinate into a preset conversion formula according to the confirmed direction coordinate of the reflective film in the laser radar coordinate system, and confirming the coordinate of the AGV in the reflective film coordinate system according to the conversion result of the conversion formula. The conversion formula is as follows:
in this embodiment, arrange reflection of light membrane group with reflection of light intensity increase progressively/mode that descends to set up the reflection of light membrane group that has arranged and work at the AGV platform, receive the reflection of light signal intensity that reflection of light membrane group reflects with laser radar and calculate AGV's position coordinate, need not to set up costly assistance-localization real-time device, and realized improving AGV positioning accuracy's beneficial effect.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. The utility model provides a AGV laser radar positioning method, a serial communication port, AGV laser radar positioning method is applied to AGV laser radar positioner, AGV laser radar positioner includes that two symmetries set up the reflective membrane group at AGV platform station, reflective membrane group includes that a plurality of bases increase progressively/decrease progressively the reflective membrane that is the interval and sets gradually according to reflection of light intensity, reflective membrane group mounting height is highly parallel with AGV laser radar, AGV laser radar positioning method includes:
receiving a reflection signal of the reflection film through a laser radar;
performing linear fitting based on the signal intensity value of the reflection signal, and calculating the direction coordinate of the reflection film under a laser radar coordinate system according to the fitting result of the linear fitting;
and confirming the coordinate of the AGV under the reflective film coordinate system according to the calculated direction coordinate.
2. The AGV lidar positioning method of claim 1, wherein the step of receiving a reflective signal from the reflective membrane via the lidar comprises:
determining the initial coordinate of the reflective film, and dividing a reflective signal search range according to the initial coordinate of the reflective film;
and receiving the reflection signal of the reflection film in the reflection signal search range through a laser radar.
3. The AGV lidar positioning method of claim 2 wherein, prior to the step of determining initial coordinates of the reflective film and dividing a search range for a reflected signal based on the initial coordinates of the reflective film, the method further comprises:
determining a target docking station of the AGV, and acquiring global coordinates of auxiliary stations corresponding to the target docking station;
and substituting the global coordinate into a preset laser map to calculate the initial coordinate of the reflective film.
4. The AGV lidar positioning method of claim 3, wherein prior to the steps of determining a target docking station of the AGV and obtaining global coordinates of a corresponding station assist bit based on the target docking station, further comprising:
confirming a docking station of the AGV, and marking a station auxiliary position corresponding to the docking station;
and registering the global coordinates of the station auxiliary bits.
5. The AGV lidar positioning method of claim 3 wherein, prior to the step of calculating the initial coordinates of the reflective film by substituting the global coordinates into a predetermined laser map, the method further comprises:
and constructing the preset laser map in a preset format according to the application of the laser radar of the AGV.
6. The AGV lidar positioning method of claim 1, wherein said step of line fitting based on signal strength values of the reflected light signals comprises:
confirming the signal intensity value of the reflective signal, and confirming the coordinate of the reflective film according to the signal intensity value;
and dividing the reflecting film groups according to the coordinates of the reflecting film, and performing linear fitting according to the signal intensity values of the divided reflecting film groups.
7. The AGV lidar positioning method of claim 1 wherein the step of calculating the directional coordinates of the reflective film in the lidar coordinate system based on the fitting of the line fit further comprises:
determining a reflecting film position straight line according to the reflecting film coordinates of the reflecting film group, and determining a straight line intersection point by using an extension line of the reflecting film position straight line;
and confirming the intersection point coordinates of the straight line intersection points, and calculating the direction coordinates of the reflective film under a laser radar coordinate system according to the intersection point coordinates.
8. The AGV lidar positioning method of claim 1, wherein said step of determining AGV coordinates in a reflective film coordinate system based on said calculated directional coordinates comprises:
and inputting the direction coordinate into a preset conversion formula, and confirming the coordinate of the AGV under the reflective film coordinate system according to a conversion result.
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