CN111413989A - AGV-based laser positioning system and method - Google Patents

AGV-based laser positioning system and method Download PDF

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Publication number
CN111413989A
CN111413989A CN202010286195.6A CN202010286195A CN111413989A CN 111413989 A CN111413989 A CN 111413989A CN 202010286195 A CN202010286195 A CN 202010286195A CN 111413989 A CN111413989 A CN 111413989A
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agv
reflective
markers
laser
preset position
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CN111413989B (en
Inventor
陈文源
黄亚生
钟润吉
王得丞
李雨祥
张宪政
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Suzhou HYC Technology Co Ltd
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Suzhou HYC Technology Co Ltd
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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
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • 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
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • 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

Abstract

The embodiment of the invention discloses an AGV-based laser positioning system and method. This laser positioning system based on AGV includes: the scene map comprises at least two preset position points; at least two reflective marker groups respectively fixed at the at least two preset position points; each reflective marker group comprises at least two reflective markers, and the reflective markers in different reflective marker groups are different; one of the reflective marker groups comprises preset position point information; the reflective marker group is used for acquiring the information of the preset position point after being scanned by a laser scanner of the AGV. Compared with the prior art, the embodiment of the invention distinguishes different position points in the scene map on the basis of lower cost, thereby positioning the position of the AGV or positioning the position of the target point.

Description

AGV-based laser positioning system and method
Technical Field
The embodiment of the invention relates to the technical field of laser navigation, in particular to an AGV-based laser positioning system and method.
Background
An Automated Guided Vehicle (AGV) is equipped with an electromagnetic or optical automatic guide device, can travel along a predetermined guide path, and has safety protection and various transfer functions. The AGV has the advantages of high automation degree, charging automation and the like, and is widely applied to industries such as storage, logistics and manufacturing industry.
In the prior art, there are various AGV guiding methods, including an electromagnetic induction guiding type, a laser guiding type, a visual guiding type, and the like. The laser guided AGV is provided with the laser scanner, the distance of a detected object can be obtained by calculating the time difference between laser emission and receiving, and the reflected wave is received later, so that the object is far away. The laser scanner can detect the distance of the angle at regular intervals. For example, the distance to detect an object when the laser is deflected by 1 degree is 1.1 meters, the distance to detect an object when the laser is deflected by 2 degrees is 1.2 meters, and the distance to detect an object when the laser is deflected by 3 degrees is 1.3 meters. The points of the objects are connected to draw the appearance of the surrounding scene, and the scene map such as a walkway, a wall or a charging station with a special shape can be distinguished by comparing the appearance.
However, the scene map often includes a plurality of target points, and in the charging station scene, the target points are charging stations, and if different charging stations are found through appearance comparison, each charging station needs to be made into a different outline, which undoubtedly increases the system cost. However, if the first charging station and the second charging station have the same contour, the AGV cannot distinguish between the two charging stations.
Disclosure of Invention
The embodiment of the invention provides an AGV-based laser positioning system and method, which are used for distinguishing different position points in a scene map on the basis of lower cost so as to position the position of an AGV or position the position of a target point.
In a first aspect, an embodiment of the present invention provides an AGV-based laser positioning system, including:
the scene map comprises at least two preset position points;
at least two reflective marker groups respectively fixed at the at least two preset position points; each reflective marker group comprises at least two reflective markers, and the reflective markers in different reflective marker groups are different; one of the reflective marker groups comprises preset position point information; the reflective marker group is used for acquiring the information of the preset position point after being scanned by a laser scanner of the AGV.
Optionally, the retroreflective markers include retroreflective sheeting.
Optionally, the differences in retroreflective markers in different populations of retroreflective markers include:
the distance between the at least two retroreflective markers is different or the width of the at least two retroreflective markers is different.
Optionally, at least two of the retroreflective markers in the population of retroreflective markers are arranged in a row.
Optionally, a distance between two adjacent reflective markers in the reflective marker cluster is greater than a minimum resolution of a laser scanner of the AGV.
Optionally, one of the reflective markers corresponds to at least one scan point of a laser scanner of the AGV.
Optionally, the preset location point includes a wall or a machine in the scene map.
Optionally, the scene map comprises a charging station scene.
In a second aspect, an embodiment of the present invention further provides an AGV-based laser positioning method, which is applied to the AGV-based laser positioning system according to any embodiment of the present invention; the laser positioning method comprises the following steps:
scanning reflective markers in reflective marker groups with preset position points, and acquiring preset position point information contained in the reflective marker groups and distance information between at least two reflective marker groups and the AGV;
and calculating the position of the AGV or the position of the target point according to the distance information and the preset position point information.
Optionally, the acquiring the preset position point information included in the reflective marker group includes:
and determining preset position point information contained in the reflective marker group according to at least one of the distance between at least two reflective markers or the width of at least two reflective markers.
According to the embodiment of the invention, each reflective marker group comprises at least two reflective markers, the reflective markers in different reflective marker groups are different, and one reflective marker group comprises preset position point information; the at least two light-reflecting marker groups are respectively fixed at least two preset position points; the method and the device realize the effect of distinguishing different position points in the scene map so as to position the position of the AGV or the position of the target point. The cost for differentiating the one light-reflecting marker is high, but the embodiment of the invention creatively differentiates at least two light-reflecting markers as a light-reflecting marker group, thereby achieving unexpected technical effects. Specifically, the embodiment of the invention can achieve at least one of the following technical effects:
1. the cost is reduced, compared with the mode that the differentiation is realized by changing the shape of the sheet metal, the differentiated manufacturing cost and the erection cost are lower by arranging the light-reflecting marker group to comprise at least two light-reflecting markers, and therefore the embodiment of the invention is beneficial to reducing the cost and arranging in a large range.
2. In the prior art, the position point can be identified by reading the landmark two-dimensional code, but the landmark two-dimensional code needs to be identified visually, and the identification distance is short and the angle is small; the scanning distance and the scanning angle of the laser scanner are long, so that the scanning method and the scanning device are beneficial to enlarging the scanning visual field and improving the scanning accuracy.
3. The operation load is reduced, in the prior art, different objects can be distinguished by adopting visual identification, the higher the visual operation resolution is, the better the effect is, but a camera up to a megapixel level means high bandwidth and high operation amount. The laser scanner scans at a certain angle, if one degree of one point is one point, 360 points are at most in one circle, and only 720 points are needed for taking two points one time, so that the embodiment of the invention is beneficial to saving resources and reducing the operation load.
Drawings
FIG. 1 is a laser positioning system for an AGV according to an embodiment of the present invention;
FIG. 2 is another exemplary AGV laser positioning system according to the present invention;
FIG. 3 is a schematic diagram of yet another exemplary AGV laser positioning system according to an embodiment of the present invention;
FIG. 4 is a schematic flowchart illustrating a method for laser positioning an AGV according to an embodiment of the present invention;
fig. 5 is a diagram of a calculation and analysis of a laser positioning method based on AGVs according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
FIG. 1 illustrates a laser positioning system for an AGV according to an embodiment of the present invention. Referring to fig. 1, the laser positioning system includes: a scene map and at least two retro-reflective marker clusters 100 (two retro-reflective marker clusters 100 are exemplarily shown in fig. 1). The scene map comprises at least two preset position points 200; the at least two reflective marker groups 100 are respectively fixed at the at least two preset position points 200; each retroreflective marker cluster 100 includes at least two retroreflective markers 110 (each retroreflective marker cluster 100 includes two retroreflective markers 110 as exemplarily shown in fig. 1), with differences in retroreflective markers 110 among different retroreflective marker clusters 100; one reflective marker group 100 contains one piece of preset location point information; the reflective marker cluster 100 is used to acquire preset position point information after being scanned by the laser scanner of the AGV 300.
The preset position point 200 refers to a specific object or a specific coordinate set according to a scene requirement. For example, the scene map is a charging station scene, and at least two preset location points 200 are respectively provided with one charging station. The reflective marker cluster 100 may be attached to a wall or a machine in the scene map, and the position of the reflective marker cluster 100 is the position of the specific object or the position of the specific coordinate. The location point information includes at least one of a location coordinate or a machine number.
The reflective marker 110 has a reflective function, and the reflective marker 110 may be a reflective sheet, for example. The reflective markers 110 can enhance the ability of the markers to reflect light while ensuring that the time difference is the same, and for example, the intensity of the reflected wave received by the laser scanner after reflection by the reflective markers 110 is several times that of the markers without reflective function. The difference of the reflective markers 110 in the reflective marker cluster 100 means that the laser scanners of the AGVs 300 scan different reflective marker clusters 100 and then receive different pieces of preset position point information. Illustratively, the distance between the retroreflective markers 110 in different retroreflective marker clusters 100 is different or the width of the retroreflective markers 110 is different. That is, in the embodiment of the present invention, the differentiation of the reflective marker groups 100 is realized by differentiating the reflective markers 110, so that numbers and coordinates can be assigned to the reflective marker groups 100 to mark each preset position point 200.
Illustratively, the laser positioning method comprises: scanning the reflective markers 110 in the reflective marker group 100 of the preset position point 200, and acquiring preset position point information included in the reflective marker group 100 and distance information between at least two reflective markers 110 and the AGV 300; the position of the AGV300 or the position of the target point is calculated according to the distance information and the preset position point information. That is, the position of the AGV300 is reversely deduced from the coordinates of the preset position point 200 and the distance between the AGV300 and the reflective marker 110, or whether it is the target point is determined from the coordinates of the preset position point 200, and the AGV300 is controlled to advance and stop in front of the target point according to the distance between the AGV300 and the reflective marker 110.
In the embodiment of the invention, each reflective marker group 100 comprises at least two reflective markers 110, the reflective markers 110 in different reflective marker groups 100 are different, and one reflective marker group 100 comprises a preset position point information; the at least two reflective marker groups 100 are respectively fixed at the at least two preset position points 200; an effect of distinguishing different location points in the scene map to locate the position of the AGV300 or to locate the position of a target point is achieved. In which, it is relatively costly to differentiate one reflective marker 110, but the embodiment of the present invention creatively differentiates at least two reflective markers 110 as one reflective marker group 100, which achieves unexpected technical effects. Specifically, the embodiment of the invention can achieve at least one of the following technical effects:
1. the cost is reduced, and compared with the method of changing the sheet metal appearance to realize differentiation, the method of setting the reflective marker group 100 to include at least two reflective markers 110 to realize differentiation has lower manufacturing cost and erection cost, so that the embodiment of the invention is beneficial to reducing the cost and arranging in a large range.
2. In the prior art, the position point can be identified by reading the landmark two-dimensional code, but the landmark two-dimensional code needs to be identified visually, and the identification distance is short and the angle is small; the scanning distance and the scanning angle of the laser scanner are long, so that the scanning method and the scanning device are beneficial to enlarging the scanning visual field and improving the scanning accuracy.
3. The operation load is reduced, in the prior art, different objects can be distinguished by adopting visual identification, the higher the visual operation resolution is, the better the effect is, but a camera up to a megapixel level means high bandwidth and high operation amount. The laser scanner scans at a certain angle, if one degree of one point is one point, 360 points are at most in one circle, and only 720 points are needed for taking two points one time, so that the embodiment of the invention is beneficial to saving resources and reducing the operation load.
The following describes how the retroreflective markers 110 in the retroreflective marker cluster 100 are disposed.
FIG. 2 is another exemplary AGV laser positioning system according to an embodiment of the present invention. Referring to fig. 2, in one embodiment of the present invention, optionally, the distance between at least two reflective markers 110 is different. Illustratively, the distance between two retroreflective markers 110 in the first population of retroreflective markers 100 is 10cm, and the distance between two retroreflective markers 110 in the second population of retroreflective markers 100 is 15 cm. When the laser scanner of the AGV300 scans two reflective markers 110, the distance between the two reflective markers 110 may be calculated, and if the distance between the two reflective markers 110 is 10cm, it may be determined that the two scanned reflective markers 110 belong to the first reflective marker group 100; if the distance between the two reflective markers 110 is calculated to be 15cm, it can be determined that the two reflective markers 110 being scanned belong to the second reflective marker cluster 100.
FIG. 3 is a schematic diagram of yet another exemplary laser positioning system for an AGV according to an embodiment of the present invention. Referring to fig. 3, in one embodiment of the present invention, optionally, at least two of the retroreflective markers 110 differ in width. Illustratively, the widths of the two retroreflective markers 110 in the first population of retroreflective markers 100 are 5cm and 8cm, respectively, and the widths of the two retroreflective markers 110 in the second population of retroreflective markers 100 are 4cm and 10cm, respectively. When the laser scanner of the AGV300 scans two reflective markers 110, the widths of the two reflective markers 110 may be calculated, and if the calculated widths of the two reflective markers 110 are respectively 5cm and 8cm, it may be determined that the scanned two reflective markers 110 belong to the first reflective marker group 100; if the widths of the two reflective markers 110 are calculated to be 4cm and 10cm, respectively, it can be determined that the two reflective markers 110 being scanned belong to the second reflective marker group 100.
It should be noted that, in the above embodiments, the reflective marker group 100 is exemplarily shown to include two reflective markers 110, but the invention is not limited thereto, and in other embodiments, the reflective marker group 100 may further include three, four, five, or more reflective markers 110. The more the reflective marker groups 100 contain the reflective markers 110, the more the different reflective marker groups 100 are distinguished, so that the method is favorable for adapting to the situation that the scene map has more preset position points 200; the fewer the number of retroreflective markers 110 included in the population of retroreflective markers 100, the lower the cost.
Referring to fig. 2 and 3, in one embodiment of the present invention, optionally, at least two reflective markers 110 in the reflective marker cluster 100 are arranged in a row. In combination with the width of the reflective markers 110 and the distance between adjacent reflective markers 110, at least two reflective markers 110 may form a one-dimensional barcode, thereby facilitating identification and positioning of the AGV 300.
The reflective markers 110 are also required to be arranged to match the laser scanner of the AGV300, and the arrangement of the reflective markers 110 to match the laser scanner of the AGV300 will be described below.
With reference to fig. 1-3, in light of the above embodiments, the distance between two adjacent reflective markers 110 in the reflective marker cluster 100 is optionally greater than the minimum resolution of the laser scanner of the AGV 300. In this way, it is advantageous to avoid different retroreflective markers 110 being considered as the same point. For example, the laser scanner of the AGV300 takes one point at a time, then the distance between two adjacent reflective markers 110 is greater than one degree.
1-3, optionally, one reflective marker 110 corresponds to at least one scan point of the laser scanner of the AGV 300. This is advantageous to avoid that the width of the same retroreflective marker 110 cannot be measured. For example, the laser scanner of the AGV300 takes one point at a time, then the width of the reflective markers 110 is greater than one degree.
With reference to fig. 1 to 3, based on the above embodiments, the preset location point 200 optionally includes a wall 400 in the scene map, so that the reflective marker group 100 can be attached to the wall 400. Or the preset location point 200 includes a machine in the scene map, and the reflective marker group 100 may be attached to the machine.
The embodiment of the invention also provides an AGV-based laser positioning method, which is applied to the AGV laser positioning system provided by any embodiment of the invention. Fig. 4 is a schematic flowchart of a laser positioning method for an AGV according to an embodiment of the present invention. Referring to fig. 4, the laser positioning method includes the steps of:
s110, scanning the reflective markers in the reflective marker group with the preset position points, and acquiring the preset position point information contained in the reflective marker group and the distance information between at least two reflective markers and the AGV.
And S120, calculating the position of the AGV or the position of the target point according to the distance information and the preset position point information.
According to the embodiment of the invention, each reflective marker group comprises at least two reflective markers, the reflective markers in different reflective marker groups are different, and one reflective marker group comprises preset position point information; the at least two light-reflecting marker groups are respectively fixed at least two preset position points; the method and the device realize the effect of distinguishing different position points in the scene map so as to position the position of the AGV or the position of the target point. The cost for differentiating the one light-reflecting marker is high, but the embodiment of the invention creatively differentiates at least two light-reflecting markers as a light-reflecting marker group, thereby achieving unexpected technical effects. Specifically, the embodiment of the invention can achieve at least one of the following technical effects:
1. the cost is reduced, compared with the mode that the differentiation is realized by changing the shape of the sheet metal, the differentiated manufacturing cost and the erection cost are lower by arranging the light-reflecting marker group to comprise at least two light-reflecting markers, and therefore the embodiment of the invention is beneficial to reducing the cost and arranging in a large range.
2. In the prior art, the position point can be identified by reading the landmark two-dimensional code, but the landmark two-dimensional code needs to be identified visually, and the identification distance is short and the angle is small; the scanning distance and the scanning angle of the laser scanner are long, so that the scanning method and the scanning device are beneficial to enlarging the scanning visual field and improving the scanning accuracy.
3. The operation load is reduced, in the prior art, different objects can be distinguished by adopting visual identification, the higher the visual operation resolution is, the better the effect is, but a camera up to a megapixel level means high bandwidth and high operation amount. The laser scanner scans at a certain angle, if one degree of one point is one point, 360 points are at most in one circle, and only 720 points are needed for taking two points one time, so that the embodiment of the invention is beneficial to saving resources and reducing the operation load.
Optionally, the acquiring the preset position point information included in the reflective marker group includes:
and determining preset position point information contained in the reflective marker group according to at least one of the distance between the at least two reflective markers or the width of the at least two reflective markers.
Fig. 5 is a diagram of a calculation and analysis of a laser positioning method based on AGVs according to an embodiment of the present invention. Referring to fig. 5, the retroreflective marker clusters are affixed to walls in the scene map. In a two-dimensional scenario, three-point positioning is most commonly used, where the third point is used to determine which side of the line connecting these two other points the AGV is on. The scene used by the embodiment of the invention is to stick the reflective marker group on the wall, only one surface of the reflective marker group needs to be considered, and if the AGV is on the other surface of the wall, the reflective marker cannot be scanned, so that two-point positioning can be adopted. That is, the two reflective markers are sufficient to distinguish which reflective marker group belongs to, thereby acquiring the position point information. The two reflective markers are also sufficient for calculating the relative position between the AGV and the target, thereby realizing two functions of the AGV, namely being used for parking and reversely pushing the coordinates of the AGV.
Specifically, the calculation of the absolute coordinates of the AGV is as follows:
suppose the coordinates of the two reflective markers are (x) respectively1,y1)＝(R1*cos(θ1),R1*sin(θ1) And (x)2,y2)＝(R2*cos(θ2),R2*sin(θ2) The relative coordinates of the centers of the two points can be calculated as (x)1+x2)/2,(y1+y2) 2) two-point spacing of √ (x)1-x2)2+(y1-y2)2)。
Assuming that the AGV is oriented in the x-direction, R1＝R2，θ1＝θ2And the absolute coordinates of the centers of the two points are (x, y), the absolute coordinates of the AGV are [ (x, y) + relative coordinates]＝(x-R1*cos(θ1),y)。
Therefore, the two-point positioning is adopted to sufficiently calculate the relative position between the AGV and the target, so that two functions of the AGV are realized, namely the AGV can be used for parking and can reversely push the coordinates of the AGV.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A laser positioning system based on AGV, comprising:
the scene map comprises at least two preset position points;
at least two reflective marker groups respectively fixed at the at least two preset position points; each reflective marker group comprises at least two reflective markers, and the reflective markers in different reflective marker groups are different; one of the reflective marker groups comprises preset position point information; the reflective marker group is used for acquiring the information of the preset position point after being scanned by a laser scanner of the AGV.
2. An AGV laser based positioning system according to claim 1 wherein said reflective markers comprise reflective flakes.
3. An AGV-based laser positioning system according to claim 1 or 2, wherein the differences in reflective markers in different clusters of reflective markers include:
the distance between the at least two retroreflective markers is different or the width of the at least two retroreflective markers is different.
4. An AGV laser based positioning system according to claim 3 wherein at least two of said plurality of reflective markers are arranged in a row.
5. The AGV laser based positioning system of claim 3 wherein the distance between adjacent ones of the plurality of reflective markers is greater than the minimum resolution of the laser scanner of the AGV.
6. An AGV laser based positioning system according to claim 3 wherein one of said reflective markers corresponds to at least one scanning point of a laser scanner of the AGV.
7. An AGV-based laser positioning system according to claim 1 wherein said predetermined location points include walls or platforms in said scene map.
8. The AGV-based laser positioning system of claim 1 wherein the scene map includes a charging station scene.
9. An AGV based laser positioning method, applied to an AGV based laser positioning system according to any one of claims 1 to 8; the laser positioning method comprises the following steps:
scanning reflective markers in reflective marker groups with preset position points, and acquiring preset position point information contained in the reflective marker groups and distance information between at least two reflective marker groups and the AGV;
and calculating the position of the AGV or the position of the target point according to the distance information and the preset position point information.
10. The AGV-based laser positioning method of claim 9, wherein obtaining the predetermined location point information included in the group of reflective markers comprises:
and determining preset position point information contained in the reflective marker group according to at least one of the distance between at least two reflective markers or the width of at least two reflective markers.
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN107817803A (en) * 2017-11-14 2018-03-20 上海诺力智能科技有限公司 The control system and its control method of a kind of secondary accurate positioning suitable for AGV
CN110595354A (en) * 2019-08-13 2019-12-20 南京钢铁股份有限公司 Driving positioning method
CN112034422A (en) * 2020-09-04 2020-12-04 苏州华兴源创科技股份有限公司 AGV-based laser positioning system and method

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