CN110837257A - AGV composite positioning navigation system based on iGPS and vision - Google Patents
AGV composite positioning navigation system based on iGPS and vision Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
An AGV composite positioning navigation system based on iGPS and vision belongs to the technical field of navigation positioning, and comprises an iGPS space positioning subsystem, an AGV vision identification subsystem, an AGV information perception processor and an AGV movement control subsystem; the iGPS space positioning subsystem is used for acquiring space coordinates at a processing station; the AGV vision identification subsystem is used for acquiring AGV path guidance and AGV postures outside a machining station; the AGV information perception processor outputs a control instruction to the AGV motion control system according to the space coordinate of the processing station, the AGV path guidance inside and outside the plant and the AGV posture; and the AGV movement control system controls the AGV to move according to the control instruction output by the AGV information perception processor. The invention ensures the continuous transfer capability of the AGV in a large space range and also ensures the high-precision assembly capability of the AGV.
Description
Technical Field
The invention relates to an iGPS and vision-based AGV composite positioning navigation system and method, and belongs to the technical field of navigation positioning.
Background
The navigation mode that current AGV (all-round intelligent mobile platform) producer adopted includes: laser navigation, magnetic navigation, inertial navigation, and the like. The main advantages of magnetic navigation are hidden lead wire, not easy to be polluted and damaged, simple and reliable guiding principle, convenient control and communication, no interference to sound and light and low manufacturing cost. The defects are that the path is difficult to change and expand, and the limitation on the complex path is large.
The inertial navigation, install the gyroscope on AGV, at the regional ground installation locating piece of traveling, the AGV accessible confirms self position and direction to the collection of gyroscope deviation signal and computer ground locating piece signal to realize the navigation. The navigation mode is generally used for combined application and has a wide application field, but the precision and the reliability of the guidance are closely related to the manufacturing precision and the service life of the gyroscope.
The laser navigation AGV is flexible in positioning, and other auxiliary positioning facilities are not needed on the ground; the driving path can be flexible and changeable, can be suitable for various field environments, is an advanced navigation mode preferentially adopted by many foreign AGV manufacturers at present, has the defects that reflectors need to be arranged along the way, the positioning accuracy is low and is generally not higher than +/-10 mm, and the method is mainly applied to continuous transfer scenes in a large range.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the system and the method have the advantages that the continuous transfer of the AGV in a large space range can be guaranteed by adopting a specific path planning and motion control model and algorithm, meanwhile, the high-precision space positioning of the AGV is realized through the iGPS system at the station, and the positioning precision is better than +/-0.5 mm, so that the online and offline functions of the AGV on high-precision materials or products at the station are realized.
The purpose of the invention is realized by the following technical scheme:
an AGV composite positioning navigation system based on iGPS and vision comprises an iGPS space positioning subsystem, an AGV vision identification subsystem, an AGV information perception processor and an AGV movement control subsystem;
the iGPS space positioning subsystem is used for acquiring space coordinates at a processing station;
the AGV vision identification subsystem is used for acquiring AGV path guidance and AGV postures outside a machining station;
the AGV information perception processor outputs a control instruction to the AGV motion control system according to the space coordinate of the processing station, the AGV path guidance inside and outside the plant and the AGV posture;
and the AGV movement control system controls the AGV to move according to the control instruction output by the AGV information perception processor.
Preferably, the AGV employs a motion based on mecanum wheels.
Preferably, the AGV can move in any one or a combination of straight, horizontal, diagonal and rotational movement.
Preferably, a plurality of iGPS receivers are provided on the AGV for calculating the position and attitude of the AGV.
Preferably, the iGPS space positioning subsystem is arranged at a processing station; the AGV is provided with an iGPS receiver.
Preferably, the AGV path guidance includes a two-dimensional code strip and a two-dimensional matrix code.
An AGV composite positioning navigation method based on iGPS and vision comprises the following steps:
1) installing three iGPS receivers on an AGV upper platform, wherein the three iGPS receivers are respectively a first receiver, a first receiver and a first receiver; an iGPS system is arranged at a processing station; installing a visual navigation sensor on the AGV;
2) arranging AGV path guidance outside a processing station;
3) the AGV information perception processor receives the position and posture information sent by the AGV vision recognition subsystem, calculates the yaw angle and the rotation angle at the next moment, and sends the yaw angle and the rotation angle to the AGV movement control subsystem, and the AGV movement control subsystem controls the AGV to realize the path deviation rectifying operation until the AGV moves to a processing station;
4) the AGV information perception processor calculates coordinates and postures of the AGV according to the position information of the three iGPS receivers, then calculates a yaw angle and an angular speed of the AGV according to the target position, finally sends the yaw angle and the angular speed of the AGV to the AGV motion control subsystem, and the AGV motion control subsystem controls the AGV to reach the target position.
Preferably, the AGV path guide includes a two-dimensional code strip and a two-dimensional matrix code; the two-dimensional matrix code is arranged at the processing station, and the two-dimensional code band is arranged outside the processing station.
Preferably, the AGV can move in any one or a combination of straight, horizontal, diagonal and rotational movement.
Preferably, the AGV employs a motion based on mecanum wheels.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention adopts a double guidance mode based on iGPS and image processing, realizes the continuous navigation operation of the AGV in a large-scale direction by laying a guidance line and processing the image, and has flexible change of a guidance path and low deployment cost. Through deploying the iGPS measuring field at the processing station to realize the high-precision positioning of the AGV, the measuring field can acquire the spatial position and the attitude information of the AGV, and the measuring precision is high so as to realize the auxiliary assembly of the AGV. The combination of the two modes not only ensures the continuous transfer capability of the AGV in a large space range, but also ensures the high-precision assembly capability of the AGV;
(2) according to the method, the omnidirectional motion and high-precision motion characteristics of the AGV with the Mecanum wheels are combined with iGPS navigation and image guidance, and a specific path planning and motion control model and algorithm are adopted, so that the processing positioning precision of the AGV is better than +/-0.5 mm, the positioning precision of a transfer path is better than +/-2 mm, conditions are created for unmanned autonomous transfer and auxiliary assembly of the AGV, and the added value of a product is increased;
(3) according to the method, the position posture information of the AGV is acquired based on image guidance, the running parameters of the system are automatically and reasonably calculated according to the difference value between the AGV and the target path through a specific algorithm, the real-time deviation correction of the AGV is realized, and the robustness of the system is good.
Drawings
FIG. 1 is a block diagram of a control system according to the present invention;
FIG. 2 is a flowchart illustrating the operation of an AGV according to the present invention based on iGPS and visual recognition;
FIG. 3 is a schematic illustration of an iGPS receiver location installation according to the present invention;
FIG. 4 is a schematic view of an AGV vision recognition sensor mounting location according to the present invention;
FIG. 5 is a schematic diagram of four poses of the AGV visual identification according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1:
an AGV composite positioning navigation system based on iGPS and vision comprises an iGPS space positioning subsystem, an AGV vision identification subsystem, an AGV information perception processor and an AGV movement control subsystem;
the iGPS space positioning subsystem is used for acquiring space coordinates at a processing station;
the AGV vision identification subsystem is used for acquiring AGV path guidance and AGV postures outside a machining station;
the AGV information perception processor outputs a control instruction to the AGV motion control system according to the space coordinate of the processing station, the AGV path guidance inside and outside the plant and the AGV posture;
and the AGV movement control system controls the AGV to move according to the control instruction output by the AGV information perception processor.
The AGV uses a motion based on Mecanum wheels. The AGV can move in any one or two combined modes of straight running, transverse running, oblique running and rotation.
And a plurality of iGPS receivers are arranged on the AGV and used for calculating the position and the posture of the AGV.
The iGPS space positioning subsystem is arranged at a processing station; the AGV is provided with an iGPS receiver.
The AGV path guidance comprises a two-dimensional code strip and a two-dimensional matrix code.
Example 2:
an AGV composite positioning navigation method based on iGPS and vision, which adopts the positioning navigation system described in embodiment 1, includes the following steps:
1) installing three iGPS receivers on an AGV upper platform, wherein the three iGPS receivers are respectively a first receiver, a first receiver and a first receiver; an iGPS system is arranged at a processing station; installing a visual navigation sensor on the AGV;
2) arranging AGV path guidance outside a processing station;
3) the AGV information perception processor receives the position and posture information sent by the AGV vision recognition subsystem, calculates the yaw angle and the rotation angle at the next moment, and sends the yaw angle and the rotation angle to the AGV movement control subsystem, and the AGV movement control subsystem controls the AGV to realize the path deviation rectifying operation until the AGV moves to a processing station;
4) the AGV information perception processor calculates coordinates and postures of the AGV according to the position information of the three iGPS receivers, then calculates a yaw angle and an angular speed of the AGV according to the target position, finally sends the yaw angle and the angular speed of the AGV to the AGV motion control subsystem, and the AGV motion control subsystem controls the AGV to reach the target position.
The AGV path guidance comprises a two-dimensional code strip and a two-dimensional matrix code; the two-dimensional matrix code is arranged at the processing station, and the two-dimensional code band is arranged outside the processing station.
The AGV can move in any one or two combined modes of straight running, transverse running, oblique running and rotation. The AGV uses a motion based on Mecanum wheels.
Example 3:
an AGV composite positioning navigation system based on iGPS and vision, as shown in fig. 1, includes an iGPS spatial positioning subsystem, an AGV vision recognition subsystem, an AGV information perception processor, an AGV motion control subsystem;
the iGPS space positioning subsystem: the method is used for measuring the spatial coordinates of the AGV materials and products at the processing station.
AGV vision identification subsystem: the method is used for path guidance and attitude measurement of the AGV in a workshop range.
AGV information perception treater: receiving position information of 3 receivers of an iGPS space positioning subsystem at a machining station, and resolving AGV coordinate information and attitude information; the system comprises a visual navigation controller, a display and a display controller, wherein the visual navigation controller is used for receiving the position and attitude information of the AGV relative to a guide path, which is fed back by the visual navigation controller; establishing a space model; outputting an AGV navigation control instruction;
and the AGV motion control subsystem realizes the AGV motion control.
Example 4:
an AGV combined positioning and navigation system based on iGPS and vision in embodiment 1 or 3 provides an AGV positioning and navigation method based on iGPS and vision identification, as shown in fig. 2, the steps are as follows:
1) three iGPS receivers, namely a first receiver, a second receiver and a third receiver are installed on an upper platform of the AGV, and a specific installation schematic diagram is shown in FIG. 3.
2) And deploying the iGPS system at the processing station.
3) And establishing an iGPS measurement field in the xoy plane rectangular coordinate system.
4) A visual navigation sensor is installed in the center of the AGV body, calibration and compensation of assembly errors between the AGV visual sensor and the center of the AGV body are completed, configuration and storage are carried out in the sensor, and a specific installation schematic diagram is shown in FIG. 4.
5) In the factory building range, an AGV running path deploys a two-dimensional code strip for guidance, and a processing station deploys a two-dimensional matrix code.
6) The AGV information perception processor receives the position and attitude information sent by the vision sensor, wherein the position information (x)v,yv) Attitude information of phiv。
7) According to (x)v,yv)、ΦvAnd calculating the yaw angle gamma of the AGV at the next momentvAnd AGV rotation angle omegavAnd the deviation is sent to an AGV operation control system to control the AGV to realize the path deviation rectifying operation. With a schematic view as shown in FIG. 5
The specific contents are as follows:
and defining an AGV yaw direction adjusting parameter distratio and an AGV rotating direction adjusting parameter aglratio. And setting the distration and the aglratio when the AGV leaves the factory, wherein when the deviation between the AGV distance and the planned path is the distration, the speed of the advancing direction of the AGV is the same as the adjusted deviation speed. The Aglratio represents a proportional parameter when the AGV angle deviation is controlled to be adjusted.
When the AGV is located at the right side of the guidance path and the forward direction is the positive direction of the y-axis, the yaw angle gammavIs composed of
γv＝arctan(|xv|/disratio)
When the AGV is located at the left side of the guidance path and the forward direction is the positive direction of the y-axis, the yaw angle gammavIs composed of
γv＝360-arctan(|xv|/disratio)
When the AGV is located at the right side of the guiding path and the advancing direction is the positive direction of the x axis, the yaw angle gammavIs composed of
γv＝arctan(|yv|/disratio)
When the AGV is located at the left side of the guiding path and the advancing direction is the positive direction of the x axis, the yaw angle gammavIs composed of
γv＝360-arctan(|yv|/disratio)
When the advancing direction is the positive y-axis direction, when phivWhen the value is greater than 0, the AGV rotates by an angle omegavIs composed of
ωv＝Φv*aglratio
When the advancing direction is the positive y-axis direction, when phivWhen the value is less than 0, the AGV rotating angle omega is
ωv＝-Φv*aglratio
When the forward direction is the positive direction of the x-axis, when phivWhen the AGV rotation angle is larger than 90 degrees, the AGV rotation angle omega is
ωv＝Φv*aglratio
When the forward direction is the positive direction of the x axis and phi v is less than 90, the AGV rotating angle omega is
ωv＝-Φv*aglratio
8) And controlling the AGV to run to a processing station for deploying the iGPS measuring field through a visual guidance and deviation correction algorithm.
9) To processingBehind the station AGV can acquire the controller and receive 3 iGPS receiver's positional information: wherein the position coordinate of the first receiver is (x)1，y1) The position coordinate of the second receiver is (x)2，y2) The position coordinate of the third receiver is (x)3，y3)。
10) Calculate center point O (x) of AGVo，yo) Coordinates and attitude information.
11) And calculating the attitude angle of the AGV in the iGPS field.
Setting the pose angle of the platform to phiiI.e. counterclockwise with respect to the positive Y-axis by an angle phii. Is provided withAttitude angle phi of AGV at four different posesiThe calculation method (2) is shown in FIG. 5, and the specific contents are as follows, when x is1-x3≥0，y1-y3When the value is less than or equal to 0, phii＝180-α；
When x is1-x3≥0，y1-y3>When 0, phi i is α;
when x is1-x3<0，y1-y3When not less than 0, phii＝360-α；
When x is1-x3<0，y1-y3<At 0 time phii＝180+α；
12) And calculating the yaw angle and the angular speed of the AGV according to the central coordinate, the attitude angle and the target position of the AGV. Setting the coordinates of the final positioning target point to be Baim(xaim,yaim) The target angle is epsilon, the set angle
Gamma isTarget position BaimAnd has an anticlockwise included angle with the positive direction of the Y axis.
When x is0-xaim≥0，y0-yaimWhen the value is less than or equal to 0, gamma is equal to theta;
when x is0-xaim≥0，y0-yaim>When 0, gamma is 180-theta;
when x is0-xaim<0，y0-yaimWhen the angle is more than or equal to 0, gamma is 180 degrees + theta;
when x is0-xaim<0，y0-yaim<When 0, gamma is 360-theta;
calculating to obtain that the AGV runs from point A to point BaimYaw angle gamma ofiShould be that
γi＝360-γ
Angle of rotation omegaiIs composed of
ωi＝ε-Φi
13) And sending the yaw angle and the rotation angle to an AGV operation control system to realize the operation and high-precision positioning of the AGV.
The Mecanum wheel-based omnibearing mobile platform is used as execution equipment, and the composite motion of straight motion, transverse motion, oblique motion, rotation and two motions is adopted, so that smooth and accurate navigation control of the platform is realized.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. An AGV composite positioning navigation system based on iGPS and vision is characterized by comprising an iGPS space positioning subsystem, an AGV vision identification subsystem, an AGV information perception processor and an AGV movement control subsystem;
the iGPS space positioning subsystem is used for acquiring space coordinates at a processing station;
the AGV vision identification subsystem is used for acquiring AGV path guidance and AGV postures outside a machining station;
the AGV information perception processor outputs a control instruction to the AGV motion control system according to the space coordinate of the processing station, the AGV path guidance inside and outside the plant and the AGV posture;
and the AGV movement control system controls the AGV to move according to the control instruction output by the AGV information perception processor.
2. The iGPS and vision based AGV composite positioning navigation system of claim 1, wherein the AGV uses Mecanum wheel based motion.
3. An iGPS and vision based AGV composite positioning guidance system according to claim 2, wherein said AGV can move in any one or combination of straight, horizontal, oblique and rotational ways.
4. The AGV integrated positioning and navigation system according to claim 2, wherein the AGV is provided with a plurality of iGPS receivers for calculating the AGV position and attitude.
5. The AGV composite positioning navigation system based on the iGPS and vision as claimed in any one of claims 1 to 4, wherein the iGPS space positioning subsystem is arranged at a processing station; the AGV is provided with an iGPS receiver.
6. The AGV positioning system based on iGPS and vision of any one of claims 1 to 4, wherein the AGV path guidance comprises two-dimensional code strips and two-dimensional matrix codes.
7. An AGV composite positioning navigation method based on iGPS and vision is characterized by comprising the following steps:
1) installing three iGPS receivers on an AGV upper platform, wherein the three iGPS receivers are respectively a first receiver, a first receiver and a first receiver; an iGPS system is arranged at a processing station; installing a visual navigation sensor on the AGV;
2) arranging AGV path guidance outside a processing station;
3) the AGV information perception processor receives the position and posture information sent by the AGV vision recognition subsystem, calculates the yaw angle and the rotation angle at the next moment, and sends the yaw angle and the rotation angle to the AGV movement control subsystem, and the AGV movement control subsystem controls the AGV to realize the path deviation rectifying operation until the AGV moves to a processing station;
4) the AGV information perception processor calculates coordinates and postures of the AGV according to the position information of the three iGPS receivers, then calculates a yaw angle and an angular speed of the AGV according to the target position, finally sends the yaw angle and the angular speed of the AGV to the AGV motion control subsystem, and the AGV motion control subsystem controls the AGV to reach the target position.
8. The AGV composite positioning navigation method based on iGPS and vision as claimed in claim 7, wherein the AGV path guidance comprises two-dimensional code strips and two-dimensional matrix codes; the two-dimensional matrix code is arranged at the processing station, and the two-dimensional code band is arranged outside the processing station.
9. The AGV positioning method based on iGPS and vision of claim 7, wherein the AGV can move in any one or two combination of straight, horizontal, oblique and rotary modes.
10. The AGV positioning and navigation method based on iGPS and vision as claimed in any one of claims 7 to 9, wherein the AGV uses Mecanum wheel based motion.
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| CN111687631A (en) * | 2020-06-23 | 2020-09-22 | 南京航空航天大学 | Automatic pre-alignment method for pose of aircraft structural part based on indoor GPS and laser ranging |
| CN113295156A (en) * | 2021-05-08 | 2021-08-24 | 西安达升科技股份有限公司 | AGV fusion navigation system and method |
| CN113295157A (en) * | 2021-05-08 | 2021-08-24 | 西安达升科技股份有限公司 | AGV visual navigation method |
| WO2022179179A1 (en) * | 2021-02-26 | 2022-09-01 | 北京卫星制造厂有限公司 | Multi-agent collaborative autonomous transfer system for large equipment having heterogeneous characteristic |
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