CN111829517A - AGV navigation positioning system and method - Google Patents
AGV navigation positioning system and method Download PDFInfo
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- CN111829517A CN111829517A CN202010840047.4A CN202010840047A CN111829517A CN 111829517 A CN111829517 A CN 111829517A CN 202010840047 A CN202010840047 A CN 202010840047A CN 111829517 A CN111829517 A CN 111829517A
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- 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
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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
- G05D1/0219—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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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Navigation (AREA)
Abstract
The invention provides an AGV navigation positioning system and method, comprising the following steps: the method comprises the following steps that a laser radar emits a single laser beam to reflective columns arranged on the periphery of an indoor wall surface, and data information of the reflective columns is collected; when the AGV is outdoors, the GPS acquires the pose of the AGV under the geocentric coordinate system; a wheel speed sensor acquires the wheel speed of the AGV; the inertia measurement unit acquires inertia data of the AGV; the CPU obtains the indoor pose of the AGV according to the data information of the reflective column and the position of the prestored reflective column relative to the navigation coordinate system; according to the indoor position and pose of the AGV, converting the position and pose of the AGV under the geocentric coordinate system into the position and pose of the AGV in the navigation coordinate system; obtaining the outdoor position and posture of the AGV through an extended Kalman filtering algorithm; the AGV positioning device can realize accurate positioning of the AGV indoors or outdoors, realize positioning switching of the AGV from the indoor to the outdoor or from the outdoor to the indoor, and improve the operation efficiency and robustness of the AGV.
Description
Technical Field
The invention relates to the technical field of navigation positioning, in particular to an AGV navigation positioning system and an AGV navigation positioning method.
Background
In the automatic operation of an AGV (Automated Guided Vehicle), the positioning module plays a very important role. AGVs can be operated not only indoors but also outdoors, for example, for inter-plant transport and transport of open-air warehouses to indoor production lines.
When the AGV runs indoors, the AGV is positioned by using methods such as two-dimensional code navigation, magnetic stripe navigation, or laser SLAM (synchronized positioning And map building). When two-dimensional code navigation and magnetic stripe navigation are adopted, the two-dimensional code and the magnetic stripe are easy to be polluted or damaged, so that inaccurate positioning is caused; when the laser SLAM is used for positioning, the method can perform positioning only by extracting the characteristic information, and because the environment in a factory building is complex and changeable and the characteristic information is changed, the positioning is easily lost in changeable areas, and the robustness is poor.
When the AGV runs outdoors, the AGV is positioned by using a laser SLAM, a visual SLAM, or a GPS (Global positioning system) method. Due to the fact that outdoor environment is complex and more information is collected, the method can cause inaccurate positioning and poor robustness.
In conclusion, when the AGV runs indoors or outdoors, the positioning method adopted leads to inaccurate positioning and poor robustness. In addition, when the AGV runs from indoor to outdoor or from outdoor to indoor, switching between the indoor positioning method and the outdoor positioning method cannot be realized, thereby affecting the AGV operation.
Disclosure of Invention
In view of this, the present invention provides an AGV navigation positioning system and method, which can realize accurate positioning of AGVs indoors or outdoors, and realize positioning switching of AGVs from indoors to outdoors or from outdoors to indoors, thereby improving operating efficiency and robustness of AGVs.
In a first aspect, an embodiment of the present invention provides an AGV navigation and positioning system, where the system includes a laser radar, a central processing unit CPU, a global positioning system GPS, a wheel speed sensor, and an inertial measurement unit;
the laser radar and the GPS are arranged at the top of an Automatic Guided Vehicle (AGV), and the laser radar, the GPS, the wheel speed sensor and the inertia measurement unit are respectively connected with the CPU;
the laser radar is used for emitting single laser beams to the reflective columns arranged on the periphery of the indoor wall surface and acquiring data information of the reflective columns;
the GPS is used for collecting the pose of the AGV under the geocentric coordinate system when the AGV is outdoors;
the wheel speed sensor is used for acquiring the wheel speed of the AGV;
the inertia measurement unit is used for acquiring inertia data of the AGV;
the CPU is used for obtaining the indoor pose of the AGV according to the data information of the reflective column and the pre-stored position of the reflective column relative to a navigation coordinate system; according to the position and posture of the AGV in the room, converting the position and posture of the AGV under the geocentric coordinate system into the position and posture of the AGV in the navigation coordinate system; and obtaining the position and posture of the AGV outdoors through an extended Kalman filtering algorithm according to the position and posture of the AGV in the navigation coordinate system, the wheel speed of the AGV and the inertia data of the AGV.
Further, the data information of the reflective column comprises the distance of the reflective column relative to the laser radar, the angle of the reflective column relative to the laser radar and the reflective rate;
the CPU is used for obtaining the position of the reflective column relative to the AGV body through a reflective column extraction algorithm according to the data information of the reflective column; obtaining the indoor pose of the AGV according to the position of the light reflecting column relative to the AGV body and the pre-stored position of the light reflecting column relative to the navigation coordinate system;
wherein, the AGV is in indoor position appearance includes the AGV is in indoor abscissa, ordinate and first course angle.
Further, the CPU is used for obtaining a coordinate origin according to the position of the AGV in the room and the position of the AGV in the geocentric coordinate system; obtaining the pose of the AGV in the navigation coordinate system according to the origin of coordinates of the position of the AGV in the geocentric coordinate system;
wherein, the AGV is in position appearance under the geocentric coordinate system includes the AGV is in longitude, latitude and second course angle under the geocentric coordinate system, the AGV is in position appearance of navigation coordinate system includes the AGV is in horizontal coordinate, vertical coordinate and third course angle of navigation coordinate system.
Further, the inertial measurement unit includes an accelerometer;
the accelerometer is used for acquiring the acceleration of the AGV.
Further, the inertial measurement unit further comprises a gyroscope;
and the gyroscope is used for acquiring the angular speed of the AGV.
Further, the CPU is configured to obtain the outdoor pose of the AGV through an extended kalman filter algorithm using the pose of the AGV in the navigation coordinate system, the wheel speed of the AGV, the acceleration of the AGV, and the angular velocity of the AGV;
wherein, the AGV is in outdoor position appearance includes the AGV is in outdoor abscissa, ordinate and fourth course angle.
Further, the geocentric coordinate system includes a WGS84 coordinate system.
In a second aspect, an embodiment of the present invention provides an AGV navigation and positioning method, which is applied to the AGV navigation and positioning system described above, where the AGV navigation and positioning system includes a laser radar, a central processing unit CPU, a global positioning system GPS, a wheel speed sensor, and an inertial measurement unit; the method comprises the following steps:
emitting a single laser beam to reflective columns arranged on the periphery of the indoor wall surface through the laser radar, and collecting data information of the reflective columns;
when the AGV is outdoors, the position and posture of the AGV under the geocentric coordinate system are collected through the GPS;
acquiring the wheel speed of the AGV through the wheel speed sensor;
acquiring inertia data of the AGV through the inertia measurement unit;
acquiring the indoor pose of the AGV through the CPU according to the data information of the reflective column and the pre-stored position of the reflective column relative to a navigation coordinate system;
according to the position and posture of the AGV in the room, converting the position and posture of the AGV under the geocentric coordinate system into the position and posture of the AGV in the navigation coordinate system;
and obtaining the position and posture of the AGV outdoors through an extended Kalman filtering algorithm according to the position and posture of the AGV in the navigation coordinate system, the wheel speed of the AGV and the inertia data of the AGV.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the method described above when executing the computer program.
In a fourth aspect, embodiments of the invention provide a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method as described above.
The embodiment of the invention provides an AGV navigation positioning system and method, which comprises a laser radar, a CPU, a GPS, a wheel speed sensor and an inertia measurement unit; the laser radar, the GPS, the wheel speed sensor and the inertia measuring unit are respectively connected with the CPU; the laser radar is used for emitting a single laser beam to the reflective columns arranged on the periphery of the indoor wall surface and acquiring data information of the reflective columns; the GPS is used for collecting the pose of the AGV under the geocentric coordinate system when the AGV is outdoors; the wheel speed sensor is used for acquiring the wheel speed of the AGV; the inertia measurement unit is used for acquiring inertia data of the AGV; the CPU is used for obtaining the indoor pose of the AGV according to the data information of the reflective column and the pre-stored position of the reflective column relative to the navigation coordinate system; according to the position of the AGV in the room, converting the position of the AGV under the geocentric coordinate system into the position of the AGV in the navigation coordinate system; obtaining the outdoor position of the AGV through an extended Kalman filtering algorithm according to the position of the AGV in a navigation coordinate system, the wheel speed of the AGV and the inertia data of the AGV; the AGV positioning device can realize accurate positioning of the AGV indoors or outdoors, realize positioning switching of the AGV from the indoor to the outdoor or from the outdoor to the indoor, and improve the operation efficiency and robustness of the AGV.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an AGV navigation positioning system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an exemplary switching process between indoor and outdoor AGV navigation positioning systems according to an embodiment of the present invention;
FIG. 3 is a schematic view of an inertial measurement unit according to an embodiment of the present invention;
FIG. 4 is a flowchart of an AGV navigation positioning method according to a second embodiment of the present invention.
Icon:
1-laser radar; 2-a CPU; 3-GPS; 4-wheel speed sensor; 5-an inertial measurement unit; 51-an accelerometer; 52-gyroscope.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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.
For the understanding of the present embodiment, the following detailed description will be given of the embodiment of the present invention.
The first embodiment is as follows:
FIG. 1 is a schematic diagram of an AGV navigation positioning system according to an embodiment of the present invention.
Referring to fig. 1, the system includes: a laser radar 1, a CPU (Central processing Unit) 2, a GPS3, a wheel speed sensor 4, and an Inertial Measurement Unit (IMU) 5;
the laser radar 1 and the GPS3 are both arranged at the top of the AGV, and the laser radar 1, the GPS3, the wheel speed sensor 4 and the inertial measurement unit 5 are respectively connected with the CPU 2; the CPU2 and the inertia measurement unit 5 are provided in the AGV, and the wheel speed sensor 4 is provided on the wheel of the AGV.
The laser radar 1 is used for emitting a single laser beam to reflective columns arranged on the periphery of an indoor wall surface and acquiring data information of the reflective columns;
the GPS3 is used for collecting the pose of the AGV under the geocentric coordinate system when the AGV is outdoors;
the wheel speed sensor 4 is used for acquiring the wheel speed of the AGV;
the inertia measurement unit 5 is used for acquiring inertia data of the AGV;
the CPU2 is used for obtaining the indoor position of the AGV according to the data information of the reflective column and the position of the prestored reflective column relative to the navigation coordinate system; according to the indoor position and pose of the AGV, converting the position and pose of the AGV under the geocentric coordinate system into the position and pose of the AGV in the navigation coordinate system; and obtaining the outdoor position of the AGV by the aid of the position of the AGV in the navigation coordinate system, the wheel speed of the AGV and the inertia data of the AGV through an extended Kalman filtering algorithm.
In the embodiment, the position and posture of the AGV in the room are determined by adopting a method of combining the laser radar 1 and the reflective columns indoors. A plurality of reflecting columns are arranged on the periphery of the indoor wall surface, and the positions of the reflecting columns relative to the navigation coordinate system are stored in a map file in advance. The top of AGV is provided with laser radar 1, and laser radar 1 transmission single laser beam carries out 360 degrees scannings, when scanning reflection of light post, gathers reflection of light post's data message to send the data message of reflection of light post for CPU 2. In general, the laser radar 1 collects data information of at least three reflective columns, so that the accuracy of the data can be ensured. And the CPU2 obtains the indoor position of the AGV according to the data information of the reflective column and the pre-stored position of the reflective column relative to the navigation coordinate system. By the method of combining the laser radar 1 and the reflecting column, quick positioning can be realized, and robustness is improved. Wherein the navigation coordinate system is a coordinate system predefined on the map.
And determining the outdoor pose of the AGV by adopting a method of combining a GPS3, a wheel speed sensor 4 and an Inertial Measurement Unit (IMU)5 outdoors. The positions (latitude, longtude, heading, latitude, longitude, second heading angle) of the AGV in the geocentric coordinate system are collected by the GPS 3. Because the navigation coordinate system is adopted indoors, in order to ensure the smooth operation of the AGV, the pose of the AGV under the geocentric coordinate system needs to be converted into the pose of the AGV under the navigation coordinate system; the GPS3 is arranged at the top of the AGV, the number of the GPS3 is at least two, when the number of the GPS3 is two, the two GPS3 are oppositely arranged, and therefore the pose of the AGV under the geocentric coordinate system can be acquired through an antenna on the GPS 3; secondly, the wheel speed of the AGV is acquired through a wheel speed sensor 4, and inertia data of the AGV are acquired through an inertia measurement unit 5; and finally, obtaining the outdoor position of the AGV by the position of the AGV in the navigation coordinate system, the wheel speed of the AGV and the inertia data of the AGV through an extended Kalman filtering algorithm. By the method, the AGV can be accurately positioned indoors or outdoors, positioning switching of the AGV from the indoor to the outdoor or from the outdoor to the indoor is realized, and the operation efficiency and robustness of the AGV are improved.
Further, the data information of the reflective column comprises the distance of the reflective column relative to the laser radar, the angle of the reflective column relative to the laser radar and the reflective rate;
the CPU2 is used for obtaining the position of the reflective column relative to the AGV body through the reflective column extraction algorithm according to the data information of the reflective column; obtaining the indoor pose of the AGV according to the position of the light reflecting column relative to the AGV body and the pre-stored position of the light reflecting column relative to the navigation coordinate system;
the indoor pose of the AGV comprises an abscissa, an ordinate and a first course angle of the AGV in the room.
In particular, the light reflectivity is used to characterize the light reflection intensity of the light reflection column, thereby distinguishing the light reflection column from the wall body.
When the laser radar 1 collects data information of the reflective column in the 360-degree scanning process, the data information of the reflective column is sent to the CPU2, and the CPU2 inputs the data information of the reflective column into a reflective column extraction algorithm to obtain the position of the reflective column relative to the AGV body; at the moment, the sequence number of the corresponding reflection column in the map is found according to the position of the reflection column relative to the navigation coordinate system prestored in the map file. And obtaining the indoor pose of the AGV according to the position of the light reflecting column relative to the AGV body and the pre-stored position of the light reflecting column relative to the navigation coordinate system.
Further, the CPU2 is configured to obtain an origin of coordinates according to the indoor position and the geocentric coordinate system of the AGV; obtaining the pose of the AGV in the navigation coordinate system according to the origin of coordinates of the position of the AGV in the geocentric coordinate system;
the position and posture of the AGV in the navigation coordinate system comprise an abscissa, an ordinate and a third course angle of the AGV in the navigation coordinate system.
Referring to fig. 2, when the indoor positioning and the outdoor positioning are switched, coordinates need to be unified, and at this time, coordinate conversion needs to be performed on positioning data collected by the GPS3, that is, the position posture of the AGV in the geocentric coordinate system is converted into the position posture of the AGV in the navigation coordinate system. The geocentric coordinate system includes the WGS84 coordinate system.
In the indoor, the coordinate origin of navigation coordinate system is (0, 0, 0), also sets up the coordinate origin through the positioning data that gathers GPS3, can accomplish the coordinate and unify to the coordinate for the coordinate origin is transformed to the positioning data that gathers GPS 3. Besides the plurality of light reflecting columns arranged on the indoor wall surface, the plurality of light reflecting columns are arranged in the indoor transition area through the outdoor wall surface, so that the position and posture of the AGV in the indoor wall surface can be ensured in the transition area, and positioning data collected by the GPS3 can also be obtained. By utilizing the transition area, the unification of the coordinate system is realized, and the switching between indoor and outdoor coordinates is completed.
In the transition region, the position and attitude of AGV in the room is (P)x,PyTheta), the pose of the AGV in the geocentric coordinate system is (latitude, longtude, heading), and the origin of coordinates is obtained according to the formula (1):
wherein home is the origin of coordinates, PxFor the transverse coordinate, P, of the AGV in the roomyThe longitude of the AGV is the longitudinal coordinate of the room, theta is the first heading angle, EARTH is the radius of the EARTH, latitude is the latitude of the AGV in the geocentric coordinate system, latitude is the longitude of the AGV in the geocentric coordinate system, and heading is the second heading angle.
By collecting multiple origin of coordinates in the transition region, the problem of inaccuracy of the origin of coordinates due to positioning fluctuations is avoided. For example, 10 coordinate origins are acquired, and the error is eliminated by averaging, according to equation (2):
home＝{home1+home2+...+home10}/10
wherein, home is the origin of coordinates, home1Is a coordinate origin 1, home2Is a coordinate origin of 2, home10Is the origin of coordinates 10.
Further, referring to fig. 3, the inertial measurement unit 5 includes an accelerometer 51 and a gyroscope 52;
and an accelerometer 51 for acquiring acceleration of the AGV.
And a gyroscope 52 for acquiring the angular velocity of the AGV.
Further, the CPU2 is configured to obtain the outdoor position of the AGV through an extended kalman filter algorithm based on the position of the AGV in the navigation coordinate system, the wheel speed of the AGV, the acceleration of the AGV, and the angular velocity of the AGV;
and the outdoor pose of the AGV comprises an abscissa, an ordinate and a fourth course angle of the AGV outdoors.
In particular, Kalman Filtering (KF) is a highly efficient recursive filter (autoregressive filter) that is capable of estimating the state of a dynamic system from a series of measurements that do not completely contain noise. The Kalman filtering comprises three parts: the first part is state estimation; the second part is state observation; the third part is to correct the estimated state by the observed state.
The Kalman Filtering (KF) is suitable for a linear system, and based on the KF, an EKF (Extended Kalman Filter) algorithm, an Unscented Kalman filtering (Unscented Kalman Filter) algorithm and the like appear, and the core of the EKF algorithm is to linearize a nonlinear system and then perform Kalman Filtering (KF) processing.
Whether the inertial data collected by the Inertial Measurement Unit (IMU)5 is updated is judged, and the judgment is made by the acceleration and angular velocity collected in unit time. For example, at 10ms acceleration and angular velocity are acquired, whereas at 20ms no acceleration and angular velocity are acquired, proving that the Inertial Measurement Unit (IMU)5 is not updated.
In the process of correcting the inertial data, the state quantity estimated by the EKF algorithm is [ px, py, pz, vx, vy, vz, q0, q1, q2, q3, acc _ bias and gyro _ bias ], and the correction quantity of the state is obtained through the calculation of a filter equation through the estimated quantity and the observed quantity error. Among these, relevant to the Inertial Measurement Unit (IMU)5 are inertial data, including acceleration and angular velocity. After the acceleration (acc _ bias) and the angular velocity (gyro _ bias) are corrected, the estimated quantity can estimate the state more accurately in the next period.
The embodiment of the invention provides an AGV navigation positioning system, which comprises a laser radar, a CPU, a GPS, a wheel speed sensor and an inertia measurement unit; the laser radar, the GPS, the wheel speed sensor and the inertia measuring unit are respectively connected with the CPU; the laser radar is used for emitting a single laser beam to the reflective columns arranged on the periphery of the indoor wall surface and acquiring data information of the reflective columns; the GPS is used for collecting the pose of the AGV under the geocentric coordinate system when the AGV is outdoors; the wheel speed sensor is used for acquiring the wheel speed of the AGV; the inertia measurement unit is used for acquiring inertia data of the AGV; the CPU is used for obtaining the indoor pose of the AGV according to the data information of the reflective column and the pre-stored position of the reflective column relative to the navigation coordinate system; according to the position of the AGV in the room, converting the position of the AGV under the geocentric coordinate system into the position of the AGV in the navigation coordinate system; obtaining the outdoor position of the AGV through an extended Kalman filtering algorithm according to the position of the AGV in a navigation coordinate system, the wheel speed of the AGV and the inertia data of the AGV; the AGV positioning device can realize accurate positioning of the AGV indoors or outdoors, realize positioning switching of the AGV from the indoor to the outdoor or from the outdoor to the indoor, and improve the operation efficiency and robustness of the AGV.
Example two:
FIG. 4 is a flowchart of an AGV navigation positioning method according to a second embodiment of the present invention.
Referring to fig. 4, the AGV navigation and positioning system is applied to the AGV navigation and positioning system, and includes a laser radar, a CPU, a GPS, a wheel speed sensor and an inertial measurement unit; the method comprises the following steps:
step S101, emitting a single laser beam to reflective columns arranged on the periphery of an indoor wall surface through a laser radar, and collecting data information of the reflective columns;
step S102, when the AGV is outdoors, the position and posture of the AGV under the geocentric coordinate system are collected through a GPS;
step S103, acquiring the wheel speed of the AGV through a wheel speed sensor;
step S104, acquiring inertia data of the AGV through an inertia measurement unit;
s105, obtaining the indoor pose of the AGV through the CPU according to the data information of the reflective column and the position of the prestored reflective column relative to the navigation coordinate system;
step S106, according to the indoor position of the AGV, converting the position of the AGV in the geocentric coordinate system into the position of the AGV in the navigation coordinate system;
and S107, obtaining the outdoor position of the AGV through the position of the AGV in the navigation coordinate system, the wheel speed of the AGV and the inertia data of the AGV by using an extended Kalman filtering algorithm.
The embodiment of the invention provides an AGV navigation positioning method, which comprises the following steps: emitting a single laser beam to reflective columns arranged on the periphery of the indoor wall surface through a laser radar, and collecting data information of the reflective columns; when the AGV is outdoors, the position and posture of the AGV under the geocentric coordinate system are collected through a GPS; acquiring the wheel speed of the AGV through a wheel speed sensor; acquiring inertia data of the AGV through an inertia measurement unit; acquiring the indoor pose of the AGV through the CPU according to the data information of the reflective column and the position of the prestored reflective column relative to the navigation coordinate system; according to the indoor position and pose of the AGV, converting the position and pose of the AGV under the geocentric coordinate system into the position and pose of the AGV in the navigation coordinate system; the pose of the AGV in a navigation coordinate system, the wheel speed of the AGV and the inertia data of the AGV are processed through an extended Kalman filtering algorithm to obtain the pose of the AGV outdoors, so that the accurate positioning of the AGV indoors or outdoors can be realized, the positioning switching of the AGV from indoors to outdoors or from outdoors to indoors is realized, and the operation efficiency and the robustness of the AGV are improved.
The embodiment of the invention further provides electronic equipment, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the steps of the AGV navigation positioning method provided by the embodiment are realized when the processor executes the computer program.
The embodiment of the present invention further provides a computer readable medium having non-volatile program codes executable by a processor, where the computer readable medium stores a computer program, and the computer program is executed by the processor to perform the steps of the AGV navigation positioning method according to the above embodiment.
The computer program product provided in the embodiment of the present invention includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An AGV navigation positioning system is characterized by comprising a laser radar, a Central Processing Unit (CPU), a Global Positioning System (GPS), a wheel speed sensor and an inertia measurement unit;
the laser radar and the GPS are arranged at the top of an Automatic Guided Vehicle (AGV), and the laser radar, the GPS, the wheel speed sensor and the inertia measurement unit are respectively connected with the CPU;
the laser radar is used for emitting single laser beams to the reflective columns arranged on the periphery of the indoor wall surface and acquiring data information of the reflective columns;
the GPS is used for collecting the pose of the AGV under the geocentric coordinate system when the AGV is outdoors;
the wheel speed sensor is used for acquiring the wheel speed of the AGV;
the inertia measurement unit is used for acquiring inertia data of the AGV;
the CPU is used for obtaining the indoor pose of the AGV according to the data information of the reflective column and the pre-stored position of the reflective column relative to a navigation coordinate system; according to the position and posture of the AGV in the room, converting the position and posture of the AGV under the geocentric coordinate system into the position and posture of the AGV in the navigation coordinate system; and obtaining the position and posture of the AGV outdoors through an extended Kalman filtering algorithm according to the position and posture of the AGV in the navigation coordinate system, the wheel speed of the AGV and the inertia data of the AGV.
2. The AGV navigation positioning system of claim 1, wherein the data information for the reflective posts includes a distance of the reflective posts from the lidar, an angle of the reflective posts from the lidar, and a reflectivity;
the CPU is used for obtaining the position of the reflective column relative to the AGV body through a reflective column extraction algorithm according to the data information of the reflective column; obtaining the indoor pose of the AGV according to the position of the light reflecting column relative to the AGV body and the pre-stored position of the light reflecting column relative to the navigation coordinate system;
wherein, the AGV is in indoor position appearance includes the AGV is in indoor abscissa, ordinate and first course angle.
3. The AGV navigation positioning system of claim 1, wherein the CPU is configured to obtain an origin of coordinates according to the position of the AGV in the room and the position of the AGV in the geocentric coordinate system; obtaining the pose of the AGV in the navigation coordinate system according to the origin of coordinates of the position of the AGV in the geocentric coordinate system;
wherein, the AGV is in position appearance under the geocentric coordinate system includes the AGV is in longitude, latitude and second course angle under the geocentric coordinate system, the AGV is in position appearance of navigation coordinate system includes the AGV is in horizontal coordinate, vertical coordinate and third course angle of navigation coordinate system.
4. The AGV navigation positioning system of claim 1, wherein said inertial measurement unit includes an accelerometer;
the accelerometer is used for acquiring the acceleration of the AGV.
5. The AGV navigation positioning system of claim 4 wherein the inertial measurement unit further includes a gyroscope;
and the gyroscope is used for acquiring the angular speed of the AGV.
6. The AGV navigation positioning system of claim 5, wherein the CPU is configured to obtain the outdoor position of the AGV by using an extended Kalman filter algorithm according to the position of the AGV in the navigation coordinate system, the wheel speed of the AGV, the acceleration of the AGV, and the angular velocity of the AGV;
wherein, the AGV is in outdoor position appearance includes the AGV is in outdoor abscissa, ordinate and fourth course angle.
7. An AGV navigation positioning system according to claim 1 wherein said geocentric coordinate system includes the WGS84 coordinate system.
8. An AGV navigation and positioning method is characterized by being applied to the AGV navigation and positioning system of any one of claims 1 to 7, wherein the AGV navigation and positioning system comprises a laser radar, a central processing unit CPU, a global positioning system GPS, a wheel speed sensor and an inertia measurement unit; the method comprises the following steps:
emitting a single laser beam to reflective columns arranged on the periphery of the indoor wall surface through the laser radar, and collecting data information of the reflective columns;
when the AGV is outdoors, the position and posture of the AGV under the geocentric coordinate system are collected through the GPS;
acquiring the wheel speed of the AGV through the wheel speed sensor;
acquiring inertia data of the AGV through the inertia measurement unit;
acquiring the indoor pose of the AGV through the CPU according to the data information of the reflective column and the pre-stored position of the reflective column relative to a navigation coordinate system;
according to the position and posture of the AGV in the room, converting the position and posture of the AGV under the geocentric coordinate system into the position and posture of the AGV in the navigation coordinate system;
and obtaining the position and posture of the AGV outdoors through an extended Kalman filtering algorithm according to the position and posture of the AGV in the navigation coordinate system, the wheel speed of the AGV and the inertia data of the AGV.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, wherein the processor implements the method of claim 8 when executing the computer program.
10. A computer-readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method of claim 8.
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