CN112034422B - AGV-based laser positioning system and method - Google Patents

AGV-based laser positioning system and method Download PDF

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Publication number
CN112034422B
CN112034422B CN202010921500.4A CN202010921500A CN112034422B CN 112034422 B CN112034422 B CN 112034422B CN 202010921500 A CN202010921500 A CN 202010921500A CN 112034422 B CN112034422 B CN 112034422B
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agv
marker
reflective
coordinates
retroreflective
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CN112034422A (en
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陈文源
李雨祥
钟润吉
王得丞
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Suzhou HYC Technology Co Ltd
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Suzhou HYC Technology Co Ltd
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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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The embodiment of the invention discloses a laser positioning system and a laser positioning method based on an AGV. The laser positioning system includes: a scene map comprising a first preset position point, a second preset position point and a third preset position point with known coordinates; the first preset position point is a starting preset position point of AGV scanning; the first reflective marker is fixed at the first preset position point; the second reflective marker is fixed at the second preset position point; a third reflective marker fixed at the third predetermined location point; wherein the shape characteristic of the first retroreflective marker is different from the shape characteristic of the second retroreflective marker and the shape characteristic of the first retroreflective marker is different from the shape characteristic of the third retroreflective marker. Compared with the prior art, the embodiment of the invention improves the accuracy of AGV laser positioning.

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 a laser positioning system and method based on an AGV.
Background
An automatic guided vehicle (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. AGVs have the advantages of high automation degree, automatic charging and the like, and are increasingly widely applied to industries such as storage, logistics, manufacturing and the like.
In the prior art, there are various ways of guiding the AGV, including electromagnetic induction guiding, laser guiding, visual guiding, and the like. The laser guided AGV is provided with a laser scanner, the distance between the detected object can be obtained by calculating the time difference between laser emission and laser receiving, and reflected waves are received later to indicate that the object is far. The laser scanner can detect the distance of the angle at regular intervals. For example, the distance to the object is 1.1 meters when the laser is deflected by 1 degree, the distance to the object is 1.2 meters when the laser is deflected by 2 degrees, and the distance to the object is 1.3 meters when the laser is deflected by 3 degrees. The relative position between the AGV and the object can be determined by linking the points of the objects; if the coordinates of the object in the scene map are known, the coordinates of the AGV in the scene map can be extrapolated back.
However, the scene map often includes a plurality of target points, and the corresponding relation between the plurality of target points and the known coordinate points cannot be accurately judged in the prior art, so that the problem of inaccurate laser positioning of the AGV exists.
Disclosure of Invention
The embodiment of the invention provides a laser positioning system and a laser positioning method based on an AGV (automatic guided vehicle) so as to improve the accuracy of laser positioning of the AGV.
In a first aspect, an embodiment of the present invention provides an AGV-based laser positioning system, including:
a scene map comprising a first preset position point, a second preset position point and a third preset position point with known coordinates; the first preset position point is a starting preset position point of AGV scanning;
the first reflective marker is fixed at the first preset position point;
the second reflective marker is fixed at the second preset position point;
a third reflective marker fixed at the third predetermined location point;
wherein the shape characteristic of the first retroreflective marker is different from the shape characteristic of the second retroreflective marker and the shape characteristic of the first retroreflective marker is different from the shape characteristic of the third retroreflective marker.
Optionally, the first retroreflective marker, the second retroreflective marker, and the third retroreflective marker each comprise at least one retroreflective sheeting.
Optionally, the first retroreflective marker, the second retroreflective marker, and the third retroreflective marker each comprise a retroreflective sheeting; the shape feature includes a width of the retroreflective sheeting.
Optionally, defining the width of the reflective sheet corresponding to the first reflective marker as W1, defining the width of the reflective sheet corresponding to the second reflective marker as W2, and defining the width of the reflective sheet corresponding to the third reflective marker as W3;
wherein W1 is greater than or equal to 2X W2, and W1 is greater than or equal to 2X W3.
Optionally, the first retroreflective marker includes at least two retroreflective sheeting; the shape features include the width of each of the reflectors, the spacing between two adjacent reflectors, and the number of reflectors.
Optionally, the shape feature of the second retroreflective marker is the same as the shape feature of the third retroreflective marker.
In a second aspect, an embodiment of the present invention further provides an AGV-based laser positioning method, where the AGV-based laser positioning system according to any embodiment of the present invention is used; the AGV comprises a laser scanner, wherein the laser scanner is positioned at the front end of the AGV; the laser positioning method comprises the following steps:
scanning the first, second and third reflective markers, and determining the first reflective marker according to shape features, and determining the lengths of the laser scanner from the first, second and third reflective markers;
and determining coordinates of the laser scanner in the scene map by adopting a triangulation method.
Optionally, after determining the coordinates of the laser scanner in the scene map, further comprising:
determining coordinates of the center of the AGV in the scene map according to the coordinates of the first reflective marker, the second reflective marker and the third reflective marker in the scene map, the coordinates of the laser scanner in the scene map and the length of the laser scanner from the center of the AGV;
and determining the direction of the AGV according to the coordinates of the laser scanner in the scene map and the coordinates of the center of the AGV in the scene map.
Optionally, determining coordinates of a center of the AGV in the scene map includes:
determining coordinates of the first, second, and third reflective markers relative to the laser scanner using Pythagorean theorem;
determining coordinates of the first reflective marker, the second reflective marker and the third reflective marker relative to the midpoint of the AGV by adopting a coordinate translation and conversion principle;
determining lengths of the center of the AGV from the first reflective marker, the second reflective marker and the third reflective marker respectively by using Pythagorean theorem;
and determining the coordinates of the center of the AGV in the scene map by adopting a triangulation method.
Optionally, determining coordinates of the laser scanner in the scene map includes:
constructing a first Pythagorean theorem equation according to the length of the laser scanner from the first reflective marker and the coordinates of the first reflective marker in the scene map;
constructing a second Pythagorean theorem equation according to the length of the laser scanner from the second reflective marker and the coordinates of the second reflective marker in the scene map;
constructing a third Pythagorean theorem equation according to the length of the laser scanner from the third reflective marker and the coordinates of the third reflective marker in the scene map;
and solving coordinates of the laser scanner in the scene map according to the first Pythagorean theorem equation, the second Pythagorean theorem equation and the third Pythagorean theorem equation.
The embodiment of the invention sets that the shape characteristics of the first reflective marker are different from those of the second reflective marker, and the shape characteristics of the first reflective marker are different from those of the third reflective marker. The first reflective markers are arranged differently, so that the first reflective markers can be accurately positioned from the scanned reflective markers, the second reflective markers and the third reflective markers can be accurately positioned, and the length of the laser scanner, and the length of the laser scanner. Thereby being beneficial to utilizing the triangle positioning method to reversely push the position of the AGV. In addition, the embodiment of the invention can also achieve at least one of the following technical effects:
1. compared with the method of changing the appearance of the sheet metal to realize differentiation, the method has the advantages that the manufacturing cost and the erection cost of the shape differentiation of the reflective markers are lower, so that the method is beneficial to reducing the cost and arranging in a large range.
2. In the prior art, the two-dimensional code can be read to identify the preset position point, however, the landmark two-dimensional code needs to be identified visually, and the identification distance is short and the angle is small; the scanning distance of the laser scanner is longer, and the scanning angle is larger, so that the embodiment of the invention is beneficial to enlarging the scanning field of view and improving the scanning accuracy.
3. The computational load is reduced, in the prior art, different shapes can be distinguished by adopting visual recognition, and the higher the visual computational resolution is, the better the effect is, but cameras up to the megapixel level mean high bandwidth and high computational load. The laser scanner scans at a certain angle, if one point is at a time, at most 360 points are obtained in a circle, and only 720 points are obtained at a time, so that the embodiment of the invention is beneficial to saving resources and reducing operation load.
Drawings
FIG. 1 is a schematic diagram of a laser positioning system based on an AGV according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another AGV-based laser positioning system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another AGV-based laser positioning system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another AGV-based laser positioning system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another AGV-based laser positioning system according to an embodiment of the present invention;
FIG. 6 is a flow chart of an AGV-based laser positioning method according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a laser positioning method based on an AGV according to an embodiment of the present invention;
FIG. 8 is a flow chart of another AGV-based laser positioning method according to an embodiment of the present invention;
fig. 9-12 are schematic diagrams of another laser positioning method based on an AGV according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The embodiment of the invention provides a laser positioning system based on an AGV. Fig. 1 is a schematic structural diagram of a laser positioning system based on an AGV according to an embodiment of the present invention. Referring to fig. 1, the AGV-based laser positioning system includes a scene map and first, second and third reflective markers 10, 20 and 30 disposed in the scene map. The scene map comprises a first preset position point, a second preset position point and a third preset position point with known coordinates; the first preset position point is the initial preset position point of AGV scanning. The first reflective marker 10 is fixed at a first preset position point; the second retroreflective markers 20 are fixed at a second predetermined location point; the third retroreflective marker 30 is fixed to a third predetermined location point.
Wherein the coordinate system of the scene map is an Xm-Om-Ym coordinate system, the shape characteristic of the first retroreflective marker 10 is different from the shape characteristic of the second retroreflective marker 20, and the shape characteristic of the first retroreflective marker 10 is different from the shape characteristic of the third retroreflective marker 30. The first retroreflective marker 10, the second retroreflective marker 20, and the third retroreflective marker 30 are collectively referred to as retroreflective markers. The reflective marker is a solid structure capable of reflecting laser, and the better the reflectivity of the reflective marker is, the higher the intensity of reflected waves received by the laser scanner is, so that the laser positioning is facilitated. Illustratively, the retroreflective markers include retroreflective sheeting.
The shape characteristics of the retroreflective markers mean that two different retroreflective markers can be distinguished under the scanning of the laser scanner. For example, the retroreflective marker includes a retroreflective sheeting, and the retroreflective marker is characterized by a width of the retroreflective sheeting. For another example, the retroreflective marker includes at least two retroreflective sheeting, and the shape features of the retroreflective marker include a width of each retroreflective sheeting, a spacing between two adjacent retroreflective sheeting, a number of retroreflective sheeting, and the like. And by scanning of the laser scanner, the width of the reflecting sheets, the distance between two adjacent reflecting sheets, the number of the reflecting sheets and the like can be measured, so that the shape characteristics of the reflecting marker can be determined.
The embodiment of the present invention sets that the shape characteristic of the first retroreflective marker 10 is different from the shape characteristic of the second retroreflective marker 20, and the shape characteristic of the first retroreflective marker 10 is different from the shape characteristic of the third retroreflective marker 30. That is, the first reflective marker 10 is differentially set, so that the first reflective marker 10 can be accurately positioned from the scanned reflective markers, and further the second reflective marker 20 and the third reflective marker 30 can be accurately positioned, and the length d of the laser scanner from the first reflective marker 10 can be obtained 1 Length d from the second retroreflective marker 20 2 And a length d from the third retroreflective marker 30 3 . Thereby being beneficial to utilizing the triangle positioning method to reversely push the position of the AGV. In addition, the embodiment of the invention can also achieve at least one of the following technical effects:
1. compared with the method of changing the appearance of the sheet metal to realize differentiation, the method has the advantages that the manufacturing cost and the erection cost of the shape differentiation of the reflective markers are lower, so that the method is beneficial to reducing the cost and arranging in a large range.
2. In the prior art, the two-dimensional code can be read to identify the preset position point, however, the landmark two-dimensional code needs to be identified visually, and the identification distance is short and the angle is small; the scanning distance of the laser scanner is longer, and the scanning angle is larger, so that the embodiment of the invention is beneficial to enlarging the scanning field of view and improving the scanning accuracy.
3. The computational load is reduced, in the prior art, different shapes can be distinguished by adopting visual recognition, and the higher the visual computational resolution is, the better the effect is, but cameras up to the megapixel level mean high bandwidth and high computational load. The laser scanner scans at a certain angle, if one point is at a time, at most 360 points are obtained in a circle, and only 720 points are obtained at a time, so that the embodiment of the invention is beneficial to saving resources and reducing operation load.
With continued reference to fig. 1, the shape characteristics of the second retroreflective markers 20 are optionally identical to the shape characteristics of the third retroreflective markers 30, based on the embodiments described above. Because in the AGV laser positioning system, the second reflective marker 20 and the third reflective marker 30 can be correspondingly determined only by determining the first reflective marker 10, the embodiment of the invention only sets the first reflective marker 10 to have the difference, thereby being beneficial to reducing the manufacturing cost of the reflective markers and reducing the operation difficulty of the laser scanner.
With continued reference to fig. 1, in the foregoing embodiments, the first retroreflective marker 10, the second retroreflective marker 20, and the third retroreflective marker 30 may each include at least one retroreflective sheet, the width W1 of the retroreflective sheet in the first retroreflective marker 10 being different from the width W2 of the retroreflective sheet in the second retroreflective marker 20, and the width W1 of the retroreflective sheet in the first retroreflective marker 10 being different from the width W3 of the retroreflective sheet in the third retroreflective marker 30.
Optionally, W1 is greater than or equal to 2 x W2, and W1 is greater than or equal to 2 x W3. Illustratively, to avoid that the laser scanner does not scan the retroreflective sheeting, the retroreflective sheeting typically has a width that is greater than the minimum resolution of the laser scanner. For example, if the width of the retroreflective sheeting is between a minimum resolution of 2 times the minimum resolution, then one or both of the laser beams will impinge on the retroreflective sheeting; since W1 is greater than or equal to 2 W2 and W1 is greater than or equal to 2 W3, at least three laser beams will impinge on the retroreflective sheeting. In this way, the width of the retroreflective sheeting, and thus the first retroreflective marker 10, can be determined based on the number of laser beams reflected by the retroreflective sheeting. It can be seen that this arrangement of the embodiments of the present invention facilitates the ability of the laser scanner to accurately distinguish the first retroreflective markers 10.
It should be noted that, in the above embodiment, each reflective marker is exemplarily shown to include one reflective sheet, which is not a limitation of the present invention. In other embodiments, retroreflective markers may be provided that include two or more retroreflective sheeting, several of which are described below.
FIG. 2 is a schematic diagram of another AGV-based laser positioning system according to an embodiment of the present invention. Referring to fig. 2, in one embodiment, the first retroreflective marker 10 optionally includes at least two retroreflective sheeting. In the exemplary embodiment of fig. 2, the first retroreflective marker 10 includes two retroreflective sheeting, retroreflective sheeting 11 and retroreflective sheeting 12, respectively; the second retroreflective marker 20 includes a retroreflective sheet; the third retroreflective marker 30 includes a retroreflective sheeting. Then, when the laser scanner scans that one retroreflective marker includes two retroreflective sheeting, it can be determined that it is the first retroreflective marker 10. The shape characteristic of the reflective marker is the number of reflective sheets.
FIG. 3 is a schematic diagram of another AGV-based laser positioning system according to an embodiment of the present invention. Referring to fig. 3, in one embodiment, optionally, each retroreflective marker includes at least two retroreflective sheeting. In the exemplary embodiment of fig. 3, the first retroreflective marker 10 includes two retroreflective sheeting, retroreflective sheeting 11 and retroreflective sheeting 12, respectively, and the distance between retroreflective sheeting 11 and retroreflective sheeting 12 is V1; the second reflective marker 20 comprises two reflective sheets, namely a reflective sheet 21 and a reflective sheet 22, and the distance between the reflective sheet 21 and the reflective sheet 22 is V2; the third reflective marker 30 includes two reflective sheets, respectively a reflective sheet 31 and a reflective sheet 32, and the distance between the reflective sheet 31 and the reflective sheet 32 is V3. Wherein v2=v3, v1 is greater than or equal to 2×v2 (or v2 is greater than or equal to 2×v1). Then, the laser scanner can determine that it is the first retroreflective marker 10 when it scans to the maximum (or minimum) distance between two retroreflective sheeting in one retroreflective marker. The shape characteristic of the reflective marker is the distance between adjacent reflective sheets.
FIG. 4 is a schematic diagram of another AGV-based laser positioning system according to an embodiment of the present invention. Referring to fig. 4, in one embodiment, optionally, each retroreflective marker includes at least two retroreflective sheeting. In the exemplary embodiment of fig. 4, the first retroreflective marker 10 includes two retroreflective sheeting, retroreflective sheeting 11 and retroreflective sheeting 12, respectively, and the retroreflective sheeting 11 and retroreflective sheeting 12 each have a width W1; the second reflective marker 20 comprises two reflective sheets, namely a reflective sheet 21 and a reflective sheet 22, wherein the widths of the reflective sheet 21 and the reflective sheet 22 are W2; the third reflective marker 30 includes two reflective sheets, namely a reflective sheet 31 and a reflective sheet 32, and the reflective sheets 31 and 32 have widths W3. Wherein w2=w3, W1 is equal to or greater than 2×w2. Then, the laser scanner can determine that it is the first retroreflective marker 10 when it scans the width of two retroreflective sheeting in one retroreflective marker to the maximum. The shape characteristic of the reflective marker is the width of the reflective sheet.
FIG. 5 is a schematic diagram of another AGV-based laser positioning system according to an embodiment of the present invention. Referring to fig. 5, in one embodiment, optionally, each retroreflective marker includes at least two retroreflective sheeting. In fig. 5, the first retroreflective marker 10 includes two retroreflective sheeting, retroreflective sheeting 11 and retroreflective sheeting 12, respectively, and the retroreflective sheeting 11 and retroreflective sheeting 12 each have a width W1, and the distance between retroreflective sheeting 11 and retroreflective sheeting 12 is V1; the second reflective marker 20 comprises two reflective sheets, namely a reflective sheet 21 and a reflective sheet 22, wherein the widths of the reflective sheet 21 and the reflective sheet 22 are W2, and the distance between the reflective sheet 21 and the reflective sheet 22 is V2; the third reflective marker 30 includes two reflective sheets, namely a reflective sheet 31 and a reflective sheet 32, wherein the reflective sheet 31 and the reflective sheet 32 have a width W3, and the distance between the reflective sheet 31 and the reflective sheet 32 is V3. Wherein w2=w3, v2=v3, w1 is greater than or equal to 2×w2, v1 is greater than or equal to 2×v2. Then, the laser scanner can determine that it is the first retroreflective marker 10 when the width of two retroreflective sheeting scanned into one retroreflective marker is the largest and the distance between the two retroreflective sheeting is the largest. The shape characteristics of the reflective marker are the width of the reflective sheet and the distance between two adjacent reflective sheets. Compared with the previous embodiments, the embodiment of the present invention adopts two shape features to determine the first reflective marker 10, which is beneficial to further improving the positioning accuracy.
It should be noted that, in the above embodiments, only several arrangements of the reflective markers are shown by way of example, and in practical applications, the above embodiments may also be combined, for example, three shape features of a width of the reflective sheet in the reflective marker, a distance between two adjacent reflective sheets, and the number of reflective sheets are used to determine the first reflective marker 10.
The embodiment of the invention also provides a laser positioning method based on the AGV, which adopts any laser positioning system based on the AGV provided by the embodiment of the invention, and the technical principle and the effect are similar, and the description is omitted here. The following describes a laser positioning method provided by an embodiment of the present invention.
The laser positioning method may be performed by a laser scanner in a laser positioning system, where the laser scanner is located at the front end of the AGV. Fig. 6 is a schematic flow chart of a laser positioning method based on an AGV according to an embodiment of the present invention, and fig. 7 is a schematic diagram of a laser positioning method based on an AGV according to an embodiment of the present invention. Referring to fig. 6 and 7, the laser positioning method includes the steps of:
s110, scanning the first retroreflective marker 10, the second retroreflective marker 20 and the third retroreflective marker 30, and determining the first retroreflective marker 10 according to the shape characteristics, and determining the lengths of the laser scanner from the first retroreflective marker 10, the second retroreflective marker 20 and the third retroreflective marker 30.
Wherein, the laser scanner can obtain the shape characteristics of each scanning marker while scanning each reflecting marker. Since the shape characteristics of the first retroreflective marker 10 are different from the second retroreflective marker 20 and the shape characteristics of the first retroreflective marker 10 are different from the third retroreflective marker 30, the laser scanner is able to determine the first retroreflective marker 10 from the shape characteristics. Also, since the coordinates of the first, second and third reflective markers 10, 20 and 30 in the scene map are known, in the case of determining the first reflective marker 10, the laser scanner can determine the coordinates of the first, second and third reflective markers 10, 20 and 30 corresponding in sequence.
For example, in the scene map, the coordinates of the first retroreflective marker 10 are (X1 m, Y1 m), the coordinates of the second retroreflective marker 20 are (X2 m, Y2 m), and the coordinates of the third retroreflective marker 30 are (X3 m, Y3 m). And, at a scanning angle θ of the laser scanner 1 At this time, the length of the laser scanner from the first retroreflective marker 10 is d 1 The method comprises the steps of carrying out a first treatment on the surface of the At a scanning angle theta of the laser scanner 2 At this time, the laser scanner is a distance d from the second retroreflective marker 20 2 The method comprises the steps of carrying out a first treatment on the surface of the At a scanning angle theta of the laser scanner 3 At this time, the length of the laser scanner from the third reflective marker 30 is d 3 。
And S120, determining coordinates of the laser scanner in the scene map by adopting a triangulation method.
The principle of the triangular positioning method is that the first reflective marker 10 is used as a center and the length d is used as a length d 1 For the radius, a circle C1 can be determined; with the second reflective marker 20 as the center and the length d 2 A circle C2 can be defined for the radius; with the third reflective marker 30 as the center and the length d 3 A circle C3 may be determined for the radius. The intersection of the three circles is the position of the laser scanner, assuming the coordinates of the laser scanner in the scene map are (Xm, ym).
Then the specific steps of the triangulation method include:
according to the length d of the laser scanner from the first retroreflective marker 10 1 And the coordinates (X1 m, Y1 m) of the first retroreflective marker 10 in the scene map, a first pythagorean theorem equation is constructed: (Xm-X1 m) 2 +(Ym-Y1m) 2 ＝d 1 2 。
According to the length d of the laser scanner from the second reflective marker 20 2 And coordinates (X2 m, Y2 m) of the second retroreflective marker 20 in the scene map, a second pythagorean theorem equation is constructed: (Xm-X2 m) 2 +(Ym-Y2m) 2 ＝d 2 2 。
According to the distance of the laser scanner from the thirdLength d of retroreflective marker 30 3 And coordinates (X3 m, Y3 m) of the third retroreflective marker 30 in the scene map, a third pythagorean theorem equation is constructed: (Xm-X3 m) 2 +(Ym-Y3m) 2 ＝d 3 2 。
According to the first Pythagorean theorem equation, the second Pythagorean theorem equation and the third Pythagorean theorem equation, an equation set is established:
(Xm-X1m) 2 +(Ym-Y1m) 2 ＝d 1 2
(Xm-X2m) 2 +(Ym-Y2m) 2 ＝d 2 2
(Xm-X3m) 2 +(Ym-Y3m) 2 ＝d 3 2
solving the system of equations results in coordinates (Xm, ym) of the laser scanner in the scene map.
It follows that the coordinates of the laser scanner in the scene map can be obtained by triangulation. On the basis of the embodiment, the embodiment of the invention also provides a laser positioning method capable of determining the direction of the AGV.
Fig. 8 is a schematic flow chart of another laser positioning method based on an AGV according to an embodiment of the present invention, and fig. 9 to fig. 12 are schematic diagrams of another laser positioning method based on an AGV according to an embodiment of the present invention. Referring to fig. 8-12, the laser positioning method includes the steps of:
s210, scanning the first retroreflective marker 10, the second retroreflective marker 20 and the third retroreflective marker 30, and determining the first retroreflective marker 10 according to the shape characteristics, and determining the lengths of the laser scanner from the first retroreflective marker 10, the second retroreflective marker 20 and the third retroreflective marker 30.
S220, determining coordinates of the laser scanner in the scene map by adopting a triangulation method.
And S230, determining the coordinates of the center of the AGV in the scene map according to the coordinates of the first reflective marker 10, the second reflective marker 20 and the third reflective marker 30 in the scene map, the coordinates of the laser scanner in the scene map and the length of the laser scanner from the center of the AGV.
Referring to FIG. 9, the length L1 of the laser scanner from the center of the AGV is related to the specific design of the AGV and the mounting position of the laser scanner. Illustratively, the laser scanner is mounted in the center of the front end of the AGV, and then the length L1 of the laser scanner from the center of the AGV is half the length of the AGV. For example, the phasor of the laser scanner relative to the center of the AGV is T (a, b).
The coordinates of the center of the AGV in the scene map can be obtained through coordinate translation and conversion principles and coordinate transformation calculation among different coordinate systems. Illustratively, the coordinates of the center of the AGV in the scene map may be obtained by:
referring to fig. 10, coordinates of the first, second, and third reflective markers 10, 20, and 30 with respect to the laser scanner are determined using the pythagorean theorem. Wherein the coordinates of the first retroreflective marker 10 relative to the laser scanner are (X1 l, Y1 l) = (d) 1 *cos(θ 1 ),d 1 *sin(θ 1 ) The coordinates of the second reflective marker 20 with respect to the laser scanner are (X2 l, Y2 l) = (d) 2 *cos(θ 2 ),d 2 *sin(θ 2 ) The coordinates of the third reflective marker 30 with respect to the laser scanner are (X3 l, Y3 l) = (d) 3 *cos(θ 3 ),d 3 *sin(θ 3 ))。
Referring to fig. 11, the coordinates of the first 10, second 20, and third 30 reflective markers are determined relative to the mid-point of the AGV using the principle of coordinate translation and conversion. Wherein, the angle of rotation is calculated by the neutral point coordinate system of the AGV through translation phasors T (a, b)Illustratively, the coordinates of the first reflective marker 10 relative to the center of the AGV Similarly, the second reflective marker 20 is relative to the AGVThe coordinates of the center areThe third reflective marker 30 has a coordinate of +.>
Referring to fig. 12, the Pythagorean theorem is used to determine the length of the center of the AGV from the first, second and third reflective markers 10, 20 and 30, respectively. Wherein the length d1=sqrt (X1 a 2 +Y1a 2 ) The center of the AGV is a distance d' 2=sqrt (X2 a 2 +Y2a 2 ) The center of the AGV is a distance d' 3=sqrt (X3 a 2 +Y3a 2 ) The method comprises the steps of carrying out a first treatment on the surface of the sqrt represents square root.
And determining the coordinates of the center of the AGV in the scene map by adopting a triangulation method. Here, this step is similar to S120, and will not be described here again.
S240, determining the direction of the AGV according to the coordinates of the laser scanner in the scene map and the coordinates of the center of the AGV in the scene map.
The phasors of the laser scanner and the center of the AGV in the scene map can be calculated according to the coordinates of the laser scanner in the scene map and the coordinates of the center of the AGV in the scene map, namely, the direction of the AGV is determined.
In summary, the embodiment of the invention not only can accurately position the first reflective marker 10, the second reflective marker 20 and the third reflective marker 30, but also can accurately position the coordinates of the laser scanner in the scene map; the coordinates of the AGVs in the scene map can also be located, thereby determining the direction of the AGVs. Therefore, the embodiment of the invention improves the accuracy of laser positioning and perfects the function of laser positioning on the basis of low cost.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (9)

1. An AGV-based laser positioning system comprising:
a scene map comprising a first preset position point, a second preset position point and a third preset position point with known coordinates; the first preset position point is a starting preset position point of AGV scanning;
the first reflective marker is fixed at the first preset position point;
the second reflective marker is fixed at the second preset position point;
a third reflective marker fixed at the third predetermined location point;
wherein the shape characteristic of the first retroreflective marker is different from the shape characteristic of the second retroreflective marker and the shape characteristic of the first retroreflective marker is different from the shape characteristic of the third retroreflective marker; the shape characteristic of the second reflective marker is the same as the shape characteristic of the third reflective marker;
the light reflecting markers scanned by the AGV in one scanning process comprise the first light reflecting markers, the second light reflecting markers and the third light reflecting markers.
2. The AGV-based laser positioning system of claim 1, wherein the first, second, and third reflective markers each comprise at least one reflective sheet.
3. The AGV-based laser positioning system of claim 2 wherein the first, second and third reflective markers each comprise a reflective sheet; the shape feature includes a width of the retroreflective sheeting.
4. The AGV-based laser positioning system according to claim 3 wherein the width of the reflector corresponding to the first reflective marker is defined as W1, the width of the reflector corresponding to the second reflective marker is defined as W2, and the width of the reflector corresponding to the third reflective marker is defined as W3;
wherein W1 is greater than or equal to 2X W2, and W1 is greater than or equal to 2X W3.
5. The AGV-based laser positioning system of claim 2 wherein the first reflective marker comprises at least two reflective sheets; the shape features include the width of each of the reflectors, the spacing between two adjacent reflectors, and the number of reflectors.
6. An AGV-based laser positioning method, wherein the AGV-based laser positioning system according to any one of claims 1 to 5 is used; the AGV comprises a laser scanner, wherein the laser scanner is positioned at the front end of the AGV; the laser positioning method comprises the following steps:
scanning the first, second and third reflective markers, and determining the first reflective marker according to shape features, and determining the lengths of the laser scanner from the first, second and third reflective markers;
and determining coordinates of the laser scanner in the scene map by adopting a triangulation method.
7. The AGV-based laser positioning method according to claim 6, further comprising, after determining the coordinates of the laser scanner in the scene map:
determining coordinates of the center of the AGV in the scene map according to the coordinates of the first reflective marker, the second reflective marker and the third reflective marker in the scene map, the coordinates of the laser scanner in the scene map and the length of the laser scanner from the center of the AGV;
and determining the direction of the AGV according to the coordinates of the laser scanner in the scene map and the coordinates of the center of the AGV in the scene map.
8. The AGV-based laser positioning method according to claim 7, wherein determining the coordinates of the center of the AGV in the scene map comprises:
determining coordinates of the first, second, and third reflective markers relative to the laser scanner using Pythagorean theorem;
determining coordinates of the first reflective marker, the second reflective marker and the third reflective marker relative to the midpoint of the AGV by adopting a coordinate translation and conversion principle;
determining lengths of the center of the AGV from the first reflective marker, the second reflective marker and the third reflective marker respectively by using Pythagorean theorem;
and determining the coordinates of the center of the AGV in the scene map by adopting a triangulation method.
9. The AGV-based laser positioning method according to claim 6, wherein determining the coordinates of the laser scanner in the scene map comprises:
constructing a first Pythagorean theorem equation according to the length of the laser scanner from the first reflective marker and the coordinates of the first reflective marker in the scene map;
constructing a second Pythagorean theorem equation according to the length of the laser scanner from the second reflective marker and the coordinates of the second reflective marker in the scene map;
constructing a third Pythagorean theorem equation according to the length of the laser scanner from the third reflective marker and the coordinates of the third reflective marker in the scene map;
and solving coordinates of the laser scanner in the scene map according to the first Pythagorean theorem equation, the second Pythagorean theorem equation and the third Pythagorean theorem equation.
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