CN110837257B - 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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Classifications
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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
- G05D1/0231—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 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0276—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
- 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
- G05D1/0276—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
Abstract
An integrated AGV 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 recognition subsystem, an AGV information sensing processor and an AGV motion control subsystem; the iGPS space positioning subsystem is used for acquiring space coordinates at a processing station; the AGV vision recognition subsystem is used for acquiring AGV path guidance and AGV gestures outside the processing stations; the AGV information sensing processor outputs a control instruction to the AGV motion control system according to the space coordinates of the processing stations, the AGV path guidance and the AGV gestures inside and outside the factory building; and the AGV motion control system controls the AGV to move according to the control instruction output by the AGV information sensing 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 AGV composite positioning navigation system and method based on iGPS and vision, and belongs to the technical field of navigation positioning.
Background
The navigation mode adopted by the existing AGV (all-dimensional intelligent mobile platform) manufacturer comprises the following steps: laser navigation, magnetic navigation, inertial navigation, etc. The magnetic navigation has the main advantages of hidden lead wires, difficult pollution and damage, simple and reliable guiding principle, convenient control and communication, no interference to sound and light and lower manufacturing cost. The disadvantage is that the path is difficult to change and expand, and the limitation on the complex path is large.
Inertial navigation, installing a gyroscope on the AGV, installing a positioning block on the ground of a driving area, and determining the position and the direction of the AGV by acquiring a gyroscope deviation signal and a computer ground positioning block signal, thereby realizing navigation. The navigation mode is generally used for combined application, has wide application field, but the accuracy and reliability of guiding are closely related to the manufacturing accuracy and service life of the gyroscope.
The laser navigation AGV is flexible to position, and other auxiliary positioning facilities are not needed on the ground; the driving path is flexible and changeable, can be suitable for various field environments, is an advanced navigation mode which is adopted by many AGV manufacturers abroad at present, has the defects that the reflector needs to be arranged along the way, has lower positioning accuracy and is generally not higher than +/-10 mm, and is mainly applied to continuous transportation scenes in a large range.
Disclosure of Invention
The invention aims to solve the technical problems that: the defects of the prior art are overcome, and the AGV composite positioning navigation system and method based on the iGPS and vision are provided, and a specific path planning and motion control model and algorithm are adopted, so that continuous transfer of the AGV in a large space range can be ensured, meanwhile, high-precision space positioning of the AGV is realized through the iGPS at a station, and the positioning precision is better than +/-0.5 mm, so that the function of loading and unloading high-precision materials or products at the station by the AGV is realized.
The invention aims at realizing the following technical scheme:
an AGV composite positioning navigation system based on iGPS and vision comprises an iGPS space positioning subsystem, an AGV vision recognition subsystem, an AGV information sensing processor and an AGV motion control subsystem;
the iGPS space positioning subsystem is used for acquiring space coordinates at a processing station;
the AGV vision recognition subsystem is used for acquiring AGV path guidance and AGV gestures outside the processing stations;
the AGV information sensing processor outputs a control instruction to the AGV motion control system according to the space coordinates at the processing stations, the AGV path guidance inside and outside the factory building and the AGV gesture;
and the AGV motion control system controls the AGV to move according to the control instruction output by the AGV information sensing processor.
Preferably, the AGV uses Mecanum-based wheel movement.
Preferably, the AGV can adopt any one or two combination modes of straight line, horizontal line, inclined line and rotation.
Preferably, a plurality of iGPS receivers are arranged on the AGV and used for calculating the position and the posture of the AGV.
Preferably, the iGPS spatial positioning subsystem is arranged at a processing station; an iGPS receiver is arranged on the AGV.
Preferably, the AGV path guidance comprises a two-dimensional code band and a two-dimensional matrix code.
An AGV composite positioning navigation method based on iGPS and vision comprises the following steps:
1) Three iGPS receivers are arranged on an AGV upper platform and 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) AGV path guidance is arranged outside the processing station;
3) The AGV information sensing processor receives position and posture information sent by the AGV visual recognition subsystem, calculates a yaw angle and a rotation angle at the next moment, and sends the yaw angle and the rotation angle to the AGV motion control subsystem, and the AGV motion control subsystem controls the AGV to realize path deviation rectifying operation until the AGV operates to a processing station;
4) The AGV information perception processor calculates the coordinates and the gestures of the AGV according to the position information of the three iGPS receivers, then calculates the yaw angle and the angular velocity of the AGV according to the target position, and finally sends the yaw angle and the angular velocity 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 comprises a two-dimensional code band and a two-dimensional matrix code; the two-dimensional matrix codes are distributed at the processing stations, and the two-dimensional code bands are distributed outside the processing stations.
Preferably, the AGV can adopt any one or two combination modes of straight line, horizontal line, inclined line and rotation.
Preferably, the AGV uses Mecanum-based wheel movement.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention adopts a double guiding mode based on the iGPS and the image processing, realizes continuous navigation operation of the AGV in a large-scale azimuth by laying the guiding wire and the image processing, has flexible guiding path change and low deployment cost. Through disposing iGPS measuring field at the processing station and realizing the high accuracy location of AGV, measuring field can acquire AGV space position and gesture information, and measurement accuracy is high to realize the supplementary assembly of AGV. The combination of the two modes ensures the continuous transfer capability of the AGV in a large space range and the high-precision assembly capability of the AGV;
(2) According to the invention, the omnidirectional movement and the high-precision movement characteristic of the Mecanum wheel AGV are combined with the iGPS navigation and the image guidance, and a specific path planning and movement 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 products is increased;
(3) The method adopts the image guidance to obtain the position and posture information of the AGV, automatically and reasonably calculates the system operation parameters according to the difference value between the AGV and the target path through a specific algorithm, realizes the real-time correction of the AGV, and has good system robustness.
Drawings
FIG. 1 is a block diagram of a control system according to the present invention;
FIG. 2 is a flowchart of an AGV workflow based on iGPS and visual recognition according to the present invention;
FIG. 3 is a schematic diagram of an iGPS receiver position installation according to the present invention;
FIG. 4 is a schematic view of the AGV vision recognition sensor mounting location in accordance with the present invention;
FIG. 5 is a schematic view of four poses of the AGV vision recognition of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below 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 recognition subsystem, an AGV information sensing processor and an AGV motion control subsystem;
the iGPS space positioning subsystem is used for acquiring space coordinates at a processing station;
the AGV vision recognition subsystem is used for acquiring AGV path guidance and AGV gestures outside the processing stations;
the AGV information sensing processor outputs a control instruction to the AGV motion control system according to the space coordinates at the processing stations, the AGV path guidance inside and outside the factory building and the AGV gesture;
and the AGV motion control system controls the AGV to move according to the control instruction output by the AGV information sensing processor.
The AGV employs a Mecanum-based wheel motion. The AGV can move in any one or two combination modes of straight line, horizontal line, inclined line and rotation.
And a plurality of iGPS receivers are arranged on the AGV and are used for calculating the position and the posture of the AGV.
The iGPS space positioning subsystem is arranged at a processing station; an iGPS receiver is arranged on the AGV.
The AGV path guide comprises a two-dimensional code band and a two-dimensional matrix code.
Example 2:
an AGV composite positioning navigation method based on iGPS and vision adopts the positioning navigation system of the embodiment 1, and comprises the following steps:
1) Three iGPS receivers are arranged on an AGV upper platform and 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) AGV path guidance is arranged outside the processing station;
3) The AGV information sensing processor receives position and posture information sent by the AGV visual recognition subsystem, calculates a yaw angle and a rotation angle at the next moment, and sends the yaw angle and the rotation angle to the AGV motion control subsystem, and the AGV motion control subsystem controls the AGV to realize path deviation rectifying operation until the AGV operates to a processing station;
4) The AGV information perception processor calculates the coordinates and the gestures of the AGV according to the position information of the three iGPS receivers, then calculates the yaw angle and the angular velocity of the AGV according to the target position, and finally sends the yaw angle and the angular velocity 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 guide comprises a two-dimensional code band and a two-dimensional matrix code; the two-dimensional matrix codes are distributed at the processing stations, and the two-dimensional code bands are distributed outside the processing stations.
The AGV can move in any one or two combination modes of straight line, horizontal line, inclined line and rotation. The AGV employs a Mecanum-based wheel motion.
Example 3:
an AGV composite positioning navigation system based on iGPS and vision, as shown in figure 1, comprises an iGPS space positioning subsystem, an AGV vision recognition subsystem, an AGV information sensing processor and an AGV motion control subsystem;
iGPS spatial positioning subsystem: the measuring device is used for measuring the space coordinates of AGV materials and products at the processing stations.
AGV vision discernment subsystem: the method is used for path guidance and attitude measurement of AGVs in the factory building.
AGV information perception processor: position information of 3 receivers of an iGPS space positioning subsystem at a processing station is received, and the coordinate information and the attitude information of the AGV are calculated; the AGV is used for receiving position and posture information of the AGV relative to the guide path, which is fed back by the visual navigation controller; establishing a space model; outputting an AGV navigation control instruction;
the AGV motion control subsystem implements AGV motion control.
Example 4:
an AGV composite positioning navigation system based on iGPS and vision according to embodiment 1 or 3 provides an AGV positioning navigation method based on iGPS and vision recognition, 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 the AGV upper platform, and a specific installation schematic diagram is shown in FIG. 3.
2) An iGPS system is deployed at the processing station.
3) And establishing an iGPS measurement field in the xoy plane rectangular coordinate system.
4) And a visual navigation sensor is arranged at 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, and the AGV visual sensor and the vehicle body are configured and stored in the sensor, wherein a specific installation schematic diagram is shown in fig. 4.
5) And arranging a two-dimensional code band for guiding in an AGV running path in a factory building range, and arranging a two-dimensional matrix code in a processing station.
6) The AGV information sensing processor receives position and posture information sent by the visual sensor, wherein the position information (x v ,y v ) The posture information is phi v 。
7) According to (x v ,y v )、Φ v Calculating the adjustment yaw angle gamma of the AGV at the next moment v AGV rotation angle omega v And the deviation correction operation is sent to an AGV operation control system to control the AGV to realize the deviation correction operation of the path. The schematic diagram is shown in FIG. 5
The specific contents are as follows:
an AGV yaw direction adjustment parameter distratio is defined, and an AGV rotational direction adjustment parameter aglratio is defined. The distratio and the aglratio are set when the AGV leaves the factory, and when the deviation between the distance of the AGV and the planned path is the distratio, the speed of the AGV in the advancing direction is the same as the speed of the deviation adjustment. Aglratio represents a proportional parameter that controls the adjustment of the AGV angle deviation.
When the AGV is positioned on the right side of the guide path and the forward direction is the positive y-axis direction, the yaw angle gamma v Is that
γ v ＝arctan(|x v |/disratio)
When the AGV is positioned on the left side of the guide path and the forward direction is the positive y-axis direction, the yaw angle gamma v Is that
γ v ＝360-arctan(|x v |/disratio)
When the AGV is positioned on the right side of the guide path and the forward direction is the positive x-axis direction, the yaw angle gamma v Is that
γ v ＝arctan(|y v |/disratio)
When the AGV is positioned on the left side of the guide path and the forward direction is the positive x-axis direction, the yaw angle gamma v Is that
γ v ＝360-arctan(|y v |/disratio)
When the advancing direction is positive y-axis, when phi v When the AGV rotation angle is greater than 0, the AGV rotation angle omega v Is that
ω v ＝Φ v *aglratio
When the advancing direction is positive y-axis, when phi v When the AGV rotation angle omega is smaller than 0, the AGV rotation angle omega is
ω v ＝-Φ v *aglratio
When the advancing direction is positive x-axis direction, when phi v When the AGV rotation angle is greater than 90, the AGV rotation angle omega is
ω v ＝Φv*aglratio
When the advancing direction is positive x-axis direction and phi v is smaller than 90, the AGV rotation angle omega is
ω v ＝-Φv*aglratio
8) And controlling the AGV to run to a processing station where the iGPS measuring field is deployed through a visual guidance and correction algorithm.
9) After arriving at the processing station, the AGV acquires position information of 3 iGPS receivers received by the controller: wherein the position coordinates of the first receiver are (x 1 ，y 1 ) The position coordinates of the second receiver are (x 2 ，y 2 ) The position coordinates of the third receiver are (x 3 ，y 3 )。
10 Calculating the center point O (x) of the AGV o ，y o ) Coordinates and pose information.
11 Calculating the attitude angle of the AGV in the iGPS field.
Setting the pose angle phi of the platform i I.e. anticlockwise included angle phi with positive Y-axis direction i . Is provided withThen the AGV has four different pose angles phi i The calculation method of (a) is shown in FIG. 5, and is specifically described as follows, when x is 1 -x 3 ≥0，y 1 -y 3 When less than or equal to 0, phi i ＝180-α；
When x is 1 -x 3 ≥0，y 1 -y 3 >At 0, Φi=α;
when x is 1 -x 3 <0，y 1 -y 3 When not less than 0, phi i ＝360-α；
When x is 1 -x 3 <0，y 1 -y 3 <At 0, phi i ＝180+α；
12 According to the central coordinate, attitude angle and target position of the AGV, the yaw angle and angular speed of the AGV are calculated. Setting the final positioning target point coordinate as B aim (x aim ,y aim ) The target angle is epsilon and the angle is setGamma is the target position B aim And an anticlockwise included angle with the positive direction of the Y axis.
When x is 0 -x aim ≥0，y 0 -y aim Gamma=θ when less than or equal to 0;
when x is 0 -x aim ≥0，y 0 -y aim >At 0, γ=180 ° - θ;
when x is 0 -x aim <0，y 0 -y aim Gamma=180° +θ at 0;
when x is 0 -x aim <0，y 0 -y aim <At 0, γ=360 ° - θ;
calculating to obtain that the AGV runs from point A to point B aim Is not equal to the yaw angle gamma of (2) i Should be as follows
γ i ＝360-γ
Rotation angleDegree omega i Is that
ω i ＝ε-Φ i
13 The yaw angle and the rotation angle are sent to an AGV operation control system, and the operation and high-precision positioning of the AGV are realized.
The method adopts an omnibearing mobile platform based on Mecanum wheels as execution equipment, and adopts compound motions of straight running, transverse running, oblique running, rotation and two motions, thereby realizing smooth and accurate navigation control of the platform.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (3)
1. The AGV composite positioning navigation system based on the iGPS and vision is characterized by comprising an iGPS space positioning subsystem, an AGV vision recognition subsystem, an AGV information sensing processor and an AGV motion control subsystem;
the iGPS space positioning subsystem is used for acquiring space coordinates at a processing station;
the AGV vision recognition subsystem is used for acquiring AGV path guidance and AGV gestures outside the processing stations;
the AGV information sensing processor outputs a control instruction to the AGV motion control system according to the space coordinates at the processing stations, the AGV path guidance inside and outside the factory building and the AGV gesture;
the AGV motion control system controls the AGV to move according to the control instruction output by the AGV information sensing processor;
the AGV composite positioning navigation system adopts the following positioning navigation modes:
1) Three iGPS receivers are arranged on the AGV upper platform and are respectively a first receiver, a second receiver and a third receiver;
2) Deploying an iGPS space positioning subsystem at a processing station;
3) Establishing an iGPS measuring field in an xoy plane rectangular coordinate system;
4) Installing a visual navigation sensor at the center of the AGV body, completing calibration and compensation of assembly errors between the AGV visual sensor and the center of the AGV body, and performing configuration and storage in the sensor;
5) The AGV running path is deployed with a two-dimensional code band for guiding in the factory building range, and the processing station is deployed with a two-dimensional matrix code;
6) The AGV information sensing processor receives position and posture information sent by the visual sensor, wherein the position information (x v ,y v ) The posture information is phi v ；
7) According to (x v ,y v )、Φ v Calculating the adjustment yaw angle gamma of the AGV at the next moment v AGV rotation angle omega v The deviation correcting operation is carried out by controlling the AGV;
defining an AGV yaw direction adjustment parameter distratio and an AGV rotation direction adjustment parameter aglratio; when the deviation between the AGV distance and the planned path is the disratio, the speed of the AGV in the advancing direction is the same as the speed of the adjustment deviation; aglratio represents a proportional parameter for controlling the adjustment of the angular deviation of the AGV;
when the AGV is positioned on the right side of the guide path and the forward direction is the positive y-axis direction, the yaw angle gamma v Is that
γ v ＝arctan(|x v |/disratio)
When the AGV is positioned on the left side of the guide path and the forward direction is the positive y-axis direction, the yaw angle gamma v Is that
γ v ＝360-arctan(|x v |/disratio)
When the AGV is positioned on the right side of the guide path and the forward direction is the positive x-axis direction, the yaw angle gamma v Is that
γ v ＝arctan(|y v |/disratio)
When the AGV is positioned on the left side of the guide path and the forward direction is the positive x-axis direction, the yaw angle gamma v Is that
γ v ＝360-arctan(|y v |/disratio)
When the advancing direction is positive y-axis, when phi v When the AGV rotation angle is greater than 0, the AGV rotation angle omega v Is that
ω v ＝Φ v *aglratio
When the advancing direction is positive y-axis, when phi v When the AGV rotation angle is smaller than 0, the AGV rotation angle omega v Is that
ω v ＝-Φ v *aglratio
When the advancing direction is positive x-axis direction, when phi v When the AGV rotation angle is greater than 90 degrees, the AGV rotation angle omega v Is that
ω v ＝Φv*aglratio
When the advancing direction is positive x-axis direction, when phiv is smaller than 90, the AGV rotates by an angle omega v Is that
ω v ＝-Φv*aglratio
The method for calculating the yaw angle and the rotation angle of the AGV according to the center coordinates, the attitude angle and the target position of the AGV comprises the following steps:
setting the final positioning target point coordinate as B aim (x aim ,y aim ) The target angle is epsilon and the angle is setGamma is the target position B aim An anticlockwise included angle with the positive direction of the Y axis;
when x is 0 -x aim ≥0，y 0 -y aim Gamma=θ when less than or equal to 0;
when x is 0 -x aim ≥0，y 0 -y aim >At 0, γ=180 ° - θ;
when x is 0 -x aim <0，y 0 -y aim Gamma=180° +θ at 0;
when x is 0 -x aim <0，y 0 -y aim <At 0, γ=360 ° - θ;
calculating to obtain that the AGV runs from point A to point B aim Is not equal to the yaw angle gamma of (2) i Should be as follows
γ i ＝360-γ
Rotation angle omega i Is that
ω i ＝ε-Φ i
Phi is the pose angle of the platform.
2. The iGPS and vision based AGV composite positioning navigation system of claim 1, wherein the AGV employs a mecanum wheel based motion.
3. The iGPS and vision based composite positioning navigation system of an AGV of claim 2, wherein the AGV is capable of moving in any one or a combination of two of straight, lateral, diagonal and rotational modes.
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