CN111060105B - AGV navigation positioning method for container loading - Google Patents
AGV navigation positioning method for container loading Download PDFInfo
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- CN111060105B CN111060105B CN201911383254.5A CN201911383254A CN111060105B CN 111060105 B CN111060105 B CN 111060105B CN 201911383254 A CN201911383254 A CN 201911383254A CN 111060105 B CN111060105 B CN 111060105B
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 239000003550 marker Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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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
- G05D1/0223—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, 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses an AGV navigation positioning method for container loading, which belongs to the technical field of intelligent logistics and comprises the following steps: installing a laser radar on the AGV; the automatic guided transport vehicle walks along the central axis in the container, and the laser radar collects point cloud data in the container during the walking process; the method comprises the steps of autonomously extracting linear characteristics of two sides of a container from original point cloud data, calculating the distance between a laser mine and the left side surface and the right side surface of the container, obtaining the distance deviation of an automatic guided vehicle from the central axis of the container, and obtaining the angle deviation of the course angle of the automatic guided vehicle and the central axis of the container through the slope of the two linear characteristics; and according to the distance deviation and the angle deviation, the AGV can track the preset route. The vehicle body navigation positioning can be realized by only one 2D laser radar without adding an additional auxiliary navigation sensor and a landmark, and the cost of automatic loading of the AGV in the container is greatly saved.
Description
Technical Field
The invention relates to the technical field of intelligent logistics, in particular to an AGV navigation positioning method for container loading.
Background
Along with the development of science and technology, the logistics industry has gradually advanced to the intelligent era, in the intelligent logistics industry, AGVs, i.e., "automatic guided vehicles" have wide application, AGVs refer to vehicles equipped with automatic guiding devices such as electromagnetic or optical devices, which can travel along a specified guiding path, and have safety protection and various transfer functions, and in industrial application, the vehicles do not need drivers, and rechargeable batteries are used as power sources. Generally, the computer can control the traveling route and behavior, or the electromagnetic track is used to set the traveling route, the electromagnetic track is adhered to the floor, the unmanned transport vehicle moves and moves according to the information brought by the electromagnetic track, the AGV moves with wheels, and compared with walking, crawling or other non-wheeled mobile robots, the AGV has the advantages of fast movement, high working efficiency, simple structure, strong controllability, good safety, etc. Compared with other equipment commonly used in material conveying, the AGV has the advantages that fixing devices such as rails and supporting frames do not need to be laid in the moving area of the AGV, and the AGV is not limited by sites, roads and spaces. Therefore, in the automatic logistics system, the automation and the flexibility can be fully embodied, and the efficient, economical and flexible unmanned production is realized.
The logistics storage industry develops rapidly, automatic loading and unloading are generally carried out by using an AGV when a container is loaded and unloaded, a stable and reliable scheme is difficult to select by the navigation technology of the AGV, a traditional navigation mode needs to add a positioning marker in a scene and is not suitable for a container loading case, and the laser/visual SLAM navigation technology is not suitable for factors such as unfixed scene, unstable or sudden change of environmental characteristics, high cost and the like.
Disclosure of Invention
The invention aims to provide an AGV navigation and positioning method for container loading, which aims to solve the problems of high cost, inconvenience in adding positioning markers and easiness in being influenced by the environment in the navigation and positioning method for the AGV for container loading.
The invention realizes the aim through the following technical scheme, and an AGV navigation and positioning method for loading containers comprises the following steps:
a laser radar is arranged right above the AGV, wherein the X axis of a physical coordinate system of the laser radar is superposed with the central symmetry axis of the vehicle body;
the automatic guided transport vehicle walks along the central axis in the container, and the laser radar collects point cloud data in the container during the walking process;
the method comprises the steps of autonomously extracting linear characteristics of two sides of a container from original point cloud data, calculating the distance between a laser mine and the left side surface and the right side surface of the container, obtaining the distance deviation of an automatic guided vehicle from the central axis of the container, and obtaining the angle deviation of the course angle of the automatic guided vehicle and the central axis of the container through the slope of the two linear characteristics;
and according to the distance deviation and the angle deviation, the AGV can track the preset route.
Preferably, the installation height of the laser radar is lower than the height of the container.
Preferably, the linear features on both sides of the container are the left and right box features of the container respectively.
Preferably, the linear characteristics of the two sides of the container are fitted by a least square method to obtain two linear equations which are respectively:
AL*x+BL*y+CL＝0
AR*x+BR*y+CR＝0
wherein A isL,BL,CL,AR,BR,CRThe coefficients are linear equations respectively, L is the linear characteristic of the left side surface of the container identified by the automatic guided transport vehicle, and R is the linear characteristic of the right side surface of the container identified by the automatic guided transport vehicle;
calculating the distance deviation equation of the automated guided vehicle deviating from the central axis of the container as follows:
Distancebias＝DistanceL-DistanceR；
calculating the angle deviation equation of the course angle of the automatic guided vehicle and the central axis of the container as follows:
preferably, the angular deviation between the course angle of the AGV body and the central axis of the container is an arctangent value of the slope of a linear equation of the left or right container body in a laser radar coordinate system.
Preferably, the method for the AGV to track the predetermined route includes calculating the pose deviation of the AGV and the container by using the distance deviation and the angle deviation, and controlling the running direction and the running speed of the AGV body by using a PID control algorithm.
Compared with the prior art, the invention has the beneficial effects that:
1. the AGV navigation method is particularly suitable for application scenes of automatic container loading, is low in cost, can realize vehicle body navigation and positioning by only using the 2D laser radar, and does not need to add additional auxiliary navigation sensors and landmarks.
2. According to the AGV navigation method, the characteristic data are collected through the laser radar, the AGV navigation method can work normally under the condition that the light inside the container is dim, and the linear characteristics of two side surfaces of the container are stably identified.
3. According to the AGV navigation method, the position and posture deviation of the AGV is judged by collecting the internal characteristic data of the container in real time, the problem of accumulated errors does not exist, and the accurate navigation operation of the automatic guided transport vehicle is realized.
Drawings
FIG. 1 is a flowchart of AGV navigation positioning of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an AGV navigation positioning method for container loading includes the following steps:
a laser radar is arranged right above the AGV, wherein the X axis of a physical coordinate system of the laser radar is superposed with the central symmetry axis of the vehicle body;
the automatic guided transport vehicle walks along the central axis in the container, and the laser radar collects point cloud data in the container during the walking process;
the method comprises the steps of autonomously extracting linear characteristics of two sides of a container from original point cloud data, calculating the distance between a laser mine and the left side surface and the right side surface of the container, obtaining the distance deviation of an automatic guided vehicle from the central axis of the container, and obtaining the angle deviation of the course angle of the automatic guided vehicle and the central axis of the container through the slope of the two linear characteristics;
and according to the distance deviation and the angle deviation, the AGV can track the preset route.
The mounting height of laser radar is less than the container height, container both sides straight line characteristic is the left side and the right side box characteristic of container respectively, container both sides straight line characteristic obtains two linear equations through least square method fitting and is respectively:
AL*x+BL*y+CL＝0
AR*x+BR*y+CR＝0
wherein A isL,BL,CL,AR,BR,CRThe coefficients are linear equations respectively, L is the linear characteristic of the left side surface of the container identified by the automatic guided transport vehicle, and R is the linear characteristic of the right side surface of the container identified by the automatic guided transport vehicle;
calculating the distance deviation equation of the automated guided vehicle deviating from the central axis of the container as follows:
Dis tancebias＝DistanceL-DistanceR；
calculating the angle deviation equation of the course angle of the automatic guided vehicle and the central axis of the container as follows:
the angle deviation between the course angle of the AGV body and the central axis of the container is an arctangent value of the slope of a linear equation of the left container body or the right container body in a laser radar coordinate system, the AGV tracks the preset route by adopting the distance deviation and the angle deviation to calculate the pose deviation of the AGV and the container, and then the running direction and the running speed of the AGV body are controlled by using a PID control algorithm.
The least square method is a mathematical optimization technology, which can simply and conveniently obtain unknown data by minimizing the square sum of errors and finding the optimal function matching of the data, and can ensure that the square sum of the errors between the obtained data and actual data is minimum, and the least square method can also be used for curve fitting; the PID control algorithm is a PID automatic controller which controls according to the proportion (P), the integral (I) and the derivative (D) of the deviation, and belongs to the prior art.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (3)
1. An AGV navigation positioning method for container loading is characterized by comprising the following steps:
a laser radar is arranged right above an AGV (automatic guided vehicle), wherein the X axis of a physical coordinate system of the laser radar is superposed with the central symmetry axis of a vehicle body;
the automatic guided transport vehicle walks along the central axis in the container, and the laser radar collects point cloud data in the container during the walking process;
the method comprises the steps of autonomously extracting linear characteristics of two sides of a container from original point cloud data, calculating the distance between a laser mine and the left side surface and the right side surface of the container, obtaining the distance deviation of an automatic guided vehicle from the central axis of the container, and obtaining the angle deviation of the course angle of the automatic guided vehicle and the central axis of the container through the slope of the two linear characteristics;
according to the distance deviation and the angle deviation, the AGV can track a preset route;
the installation height of the laser radar is lower than the height of the container;
the straight line characteristics of the two sides of the container are respectively the characteristics of the left side and the right side of the container body;
the linear characteristics of the two sides of the container are fitted by a least square method to obtain two linear equations which are respectively:
AL*x+BL*y+CL＝0
AR*x+BR*y+CR＝0
wherein A isL,BL,CL,AR,BR,CRThe coefficients are linear equations respectively, L is the linear characteristic of the left side surface of the container identified by the automatic guided transport vehicle, and R is the linear characteristic of the right side surface of the container identified by the automatic guided transport vehicle;
calculating the distance deviation equation of the automated guided vehicle deviating from the central axis of the container as follows:
Dis tanc ebias＝Dis tanc eL-Dis tanc eR；
calculating the angle deviation equation of the course angle of the automatic guided vehicle and the central axis of the container as follows:
2. the AGV navigation and positioning method for loading the container according to claim 1, wherein the angular deviation between the course angle of the AGV body and the central axis of the container is an arctangent value of the slope of a linear equation of the left or right container body in a laser radar coordinate system.
3. The AGV navigation and positioning method for loading the container according to claim 1, wherein the AGV tracks the predetermined route by calculating the pose deviation between the AGV and the container by using the distance deviation and the angle deviation, and then controlling the running direction and the running speed of the AGV body by using a PID control algorithm.
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| CN112520433A (en) * | 2020-12-10 | 2021-03-19 | 上海克来机电自动化工程股份有限公司 | Intelligent navigation method and device, stacker crane and storage medium |
| CN114265375B (en) * | 2021-11-25 | 2024-06-04 | 云南昆船智能装备有限公司 | System and method for storing and taking goods of flat truck by AGV |
| CN115619300B (en) * | 2022-11-14 | 2023-03-28 | 昆船智能技术股份有限公司 | Automatic loading system and method for containers |
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| CN106249742A (en) * | 2016-09-28 | 2016-12-21 | 济南大学 | The method and system that robot ridge row identification guides are realized based on laser radar detection |
| CN106940183A (en) * | 2016-12-13 | 2017-07-11 | 北京卫星制造厂 | A kind of AGV accurate positioning methods based on PSD rangings |
| CN108957512A (en) * | 2017-05-26 | 2018-12-07 | 苏州宝时得电动工具有限公司 | Positioning device and method and automatic running device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249742A (en) * | 2016-09-28 | 2016-12-21 | 济南大学 | The method and system that robot ridge row identification guides are realized based on laser radar detection |
| CN106940183A (en) * | 2016-12-13 | 2017-07-11 | 北京卫星制造厂 | A kind of AGV accurate positioning methods based on PSD rangings |
| CN108957512A (en) * | 2017-05-26 | 2018-12-07 | 苏州宝时得电动工具有限公司 | Positioning device and method and automatic running device |
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Address after: Floor 15, building F4, phase II, innovation industrial park, 2800 innovation Avenue, high tech Zone, Hefei City, Anhui Province 230000 Patentee after: Anhui Ango robot Co.,Ltd. Address before: Floor 15, building F4, phase II, innovation industrial park, 2800 innovation Avenue, high tech Zone, Hefei City, Anhui Province 230000 Patentee before: Anhui Yiousi Logistics Robot Co.,Ltd. |
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