CN112130166B - AGV positioning method and device based on reflector network - Google Patents
AGV positioning method and device based on reflector network Download PDFInfo
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- CN112130166B CN112130166B CN202010920562.3A CN202010920562A CN112130166B CN 112130166 B CN112130166 B CN 112130166B CN 202010920562 A CN202010920562 A CN 202010920562A CN 112130166 B CN112130166 B CN 112130166B
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000012216 screening Methods 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims description 15
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
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Classifications
-
- 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
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of 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
- 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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
Abstract
The invention discloses an AGV positioning method and device based on a reflector network, wherein the method comprises the steps of taking an AGV as an origin, scanning all reflectors by using a laser radar arranged on the AGV, and obtaining the measuring position of each reflector; forming a radar network based on the measured positions of the reflectors; the method comprises the steps that a plurality of first line segments are formed by measuring positions of reflecting plates in a radar network in pairs; forming a map network based on the real positions of the reflectors; forming a plurality of second line segments by utilizing the actual positions of the reflectors in the map network; and matching each first line segment in the radar network with each second line segment in the map network, screening out three reflector measuring positions with highest frequency, and finally solving the coordinates of the AGV in the map network by using a three-point method. The AGV positioning method and the AGV positioning device can effectively improve the positioning accuracy of the AGV.
Description
Technical Field
The invention belongs to the technical field of AGV positioning methods, and particularly relates to an AGV positioning method and device based on a reflector network.
Background
Current automated guided vehicles (Automated Guided Vehicle, AGV) technology is rapidly developing, navigation technology is the main core technology in the whole AGV, the current pose of the mobile robot is determined mainly through sensors, and lidar is the main sensor for current mobile robot navigation. In the prior art, when carrying out AGV position calculation, mainly scan the reflector panel through laser radar, rethread reflector panel position, the AGV position is calculated to the anti-calculation at last. However, the existing scheme has the problem that the laser radar navigation precision is low, and the requirement of the AGV on high precision is difficult to meet.
Disclosure of Invention
Aiming at the problems, the invention provides an AGV positioning method and device based on a reflector network, which can greatly improve the measurement accuracy of the AGV.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
in a first aspect, the present invention provides an AGV positioning method based on a reflector network, including:
using an AGV as an origin, and scanning each reflector by using a laser radar arranged on the AGV to obtain the measuring position of each reflector;
forming a radar network based on the measured positions of the reflectors;
the method comprises the steps that a plurality of first line segments are formed by measuring positions of reflecting plates in a radar network in pairs;
forming a map network based on the real positions of the reflectors;
forming a plurality of second line segments by utilizing the actual positions of the reflectors in the map network;
and matching each first line segment in the radar network with each second line segment in the map network, screening out three reflector measuring positions with highest frequency, and finally solving the coordinates of the AGV in the map network by using a three-point method.
Optionally, the forming process of the radar network specifically includes:
using an AGV as an origin, and scanning each reflector by using a laser radar arranged on the AGV to obtain the measuring position of each reflector;
and calculating the distance between every two reflecting plates to form a radar network.
Optionally, the forming process of the map network specifically includes:
determining an origin position and constructing a map coordinate system;
measuring the coordinates of all the reflectors in a map coordinate system;
and calculating the distance between every two reflecting plates to form a map network.
Optionally, the screening the three reflector measuring positions with highest frequency includes the following steps:
matching each first line segment in the radar network with each second line segment in the map network;
when the line segment error of matching a certain first line segment in the radar network with a certain second line segment in the map network is smaller than a set threshold value, recording a point corresponding to the second line segment once;
when the line segment error of a certain first line segment in the radar network and a certain second line segment in the map network is larger than a set threshold value, two points in the first line segment are error points, and two points in the second line segment are not recorded;
screening out three points with the largest recorded times in the map network, finding out corresponding three points in the radar network, and finally outputting the measurement positions of the three points, namely the three reflection plate measurement positions with the highest frequency.
In a second aspect, the present invention provides an AGV positioning apparatus based on a reflector network, including: laser radar, reflector network and positioning module;
the reflector network comprises a plurality of reflectors;
the laser radar is arranged on the AGV, and scans each reflector by taking the AGV as an origin to obtain the measuring position of each reflector; the positioning module forms a radar network based on the measuring positions of the reflectors, and a plurality of first line segments are formed by utilizing the measuring positions of the reflectors in the radar network; the positioning module forms a map network based on the actual positions of the reflectors, and a plurality of second line segments are formed by utilizing the actual positions of the reflectors in the map network; and then, matching each first line segment in the radar network with each second line segment in the map network, screening out three reflector measuring positions with highest frequency, and finally, solving the coordinates of the AGV in the map network by using a three-point method.
Optionally, the forming process of the radar network specifically includes:
based on the measured position of each reflector;
and calculating the distance between every two reflecting plates to form a radar network.
Optionally, the forming process of the map network specifically includes:
determining an origin position and constructing a map coordinate system;
and calculating the distance between every two reflecting plates based on the coordinates of all the reflecting plates in the map coordinate system to form a map network.
Optionally, the screening the three reflector measuring positions with highest frequency includes the following steps:
matching each first line segment in the radar network with each second line segment in the map network;
when the line segment error of matching a certain first line segment in the radar network with a certain second line segment in the map network is smaller than a set threshold value, recording a point corresponding to the second line segment once;
when the line segment error of a certain first line segment in the radar network and a certain second line segment in the map network is larger than a set threshold value, two points in the first line segment are error points, and two points in the second line segment are not recorded;
screening out three points with the largest recorded times in the map network, finding out corresponding three points in the radar network, and finally outputting the measurement positions of the three points, namely the three reflection plate measurement positions with the highest frequency.
Compared with the prior art, the invention has the beneficial effects that:
the method comprises the steps of forming a radar network according to the measuring positions of the reflectors scanned by a radar, matching line segments formed by two reflector positions in the radar network with line segments formed by two reflectors in a map network, eliminating points with larger errors between the measured positions of the scanned reflectors and the actual positions, further eliminating noise points according to the matching frequency of the points (the measuring positions of the reflectors) in the radar network in the map network, obtaining the first three points (the measuring positions of the reflectors) with the highest frequency, and finally solving the coordinates of the AGVs in the map by using a three-point method, thereby improving the positioning accuracy of the AGVs.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings, in which:
FIG. 1 is a flow chart of an AGV positioning method based on a reflector network according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
The principle of application of the invention is described in detail below with reference to the accompanying drawings.
Example 1
The embodiment of the invention provides an AGV positioning method based on a reflector network, which specifically comprises the following steps as shown in fig. 1:
(1) Using an AGV as an origin, and scanning each reflector by using a laser radar arranged on the AGV to obtain the measuring position of each reflector;
(2) Forming a radar network based on the measured positions of the reflectors;
(3) The method comprises the steps that a plurality of first line segments are formed by measuring positions of reflecting plates in a radar network in pairs;
(4) Forming a map network based on the real positions of the reflectors;
(5) Forming a plurality of second line segments by utilizing the actual positions of the reflectors in the map network;
(6) And matching each first line segment in the radar network with each second line segment in the map network, screening out three reflector measuring positions with highest frequency, and finally solving the coordinates of the AGV in the map network by using a three-point method.
In a specific implementation manner of the embodiment of the present invention, the forming process of the radar network specifically includes:
using an AGV as an origin, and scanning each reflector by using a laser radar arranged on the AGV to obtain the measuring position of each reflector;
and calculating the distance between every two reflecting plates to form a radar network.
In a specific implementation manner of the embodiment of the present invention, the forming process of the map network specifically includes:
determining an origin position and constructing a map coordinate system;
measuring the coordinates of all the reflectors in a map coordinate system;
and calculating the distance between every two reflecting plates to form a map network.
In a specific implementation manner of the embodiment of the present invention, the screening out the three reflective plate measurement positions with the highest frequency includes the following steps:
matching each first line segment in the radar network with each second line segment in the map network;
when the line segment error of matching a certain first line segment in the radar network with a certain second line segment in the map network is smaller than a set threshold value, recording a point corresponding to the second line segment once;
when the line segment error of a certain first line segment in the radar network and a certain second line segment in the map network is larger than a set threshold value, two points in the first line segment are error points, and two points in the second line segment are not recorded;
screening out three points with the largest recorded times in the map network, finding out corresponding three points in the radar network, and finally outputting the measurement positions of the three points, namely the three reflection plate measurement positions with the highest frequency.
The following describes the AGV positioning method based on the reflector network in the embodiment of the invention in detail with reference to a specific implementation process.
Input: the real coordinates (X (i), Y (i)) of the reflector, the radar collected coordinates (X (j), Y (j)) of the reflector with the AGV as the origin.
And (3) outputting: AGV position coordinates (x, y).
Step 1: and determining the original point position on the whole field, and constructing a map coordinate system. Coordinates of all the reflectors in the map coordinate system were measured.
The position of the reflector in the map is%and%
for i＝1:length(X)
A(i,1)＝X(i)；
A(i,2)＝Y(i)；
end
Step 2: the distance between each point (namely the actual position of the reflector, one point corresponds to one reflector) is calculated, and the index of each point is recorded to form the whole map network.
Step 3: collecting position data of reflector scanned by laser radar and taking AGV as origin
Step 4: calculating the distance between each point (namely the measuring position of the reflector scanned by the laser radar) to construct a laser radar scanning network
Step 5: a line segment network is formed between the reflectors scanned by the laser radar, and two points (reflectors) form a line segment. The map, i.e. the actual position of the reflector, then constitutes a network of line segments, and two points (actual position of the reflector) constitute a line segment.
Judging whether the line segments in the laser radar scanning network are in the map network, when the line segment error (namely, subtracting each line segment in the map line segment network from all line segments in the laser radar line segment network, circularly calculating to obtain the error between all line segments in the laser radar line segment network and each line segment in the map line segment network) is larger than 3cm, eliminating the line segments, wherein two points in the line segments are possible interference points, calculating the occurrence times of each point in the line segments by judging that each line segment has two points, and sequencing from large to small according to the times.
And 6, taking the first three points with highest frequency, further enhancing anti-interference performance, and outputting the real coordinates of the three points.
Step 7: and finally, reversely matching the distance between the three-point real coordinates (namely, according to the index of the distance between the three-point real coordinates, corresponding to the index of a line segment in the laser radar network to obtain three points in the laser radar network) to the laser radar scanning network, taking out the corresponding three points in the laser radar, and then using a three-point method to obtain the position coordinates of the AGV.
Three-point method: let the first point (a, b), the second point (c, d), the distances e, f, respectively.
Equation set: (x-a)/(2+ (y-b)/(2=e++2)
(x-c)^2+(y-d)^2＝f^2
The simultaneous solving of the binary quadratic equation, namely the coordinate value of the third point, comprises two solutions, and the simultaneous solving of the two solutions is carried out on the first point and the third point, and the same two solutions in the four solutions are AGV position coordinates.
The above is a specific embodiment of the present invention where the AGV position can be calculated using any two-dimensional lidar and reflectors using the methods described above.
Example 2
The embodiment of the invention provides an AGV positioning device based on a reflector network, which comprises: laser radar, reflector network and positioning module;
the reflector network comprises a plurality of reflectors;
the laser radar is arranged on the AGV, and scans each reflector by taking the AGV as an origin to obtain the measuring position of each reflector; the positioning module forms a radar network based on the measuring positions of the reflectors, and a plurality of first line segments are formed by utilizing the measuring positions of the reflectors in the radar network; the positioning module forms a map network based on the actual positions of the reflectors, and a plurality of second line segments are formed by utilizing the actual positions of the reflectors in the map network; and then, matching each first line segment in the radar network with each second line segment in the map network, screening out three reflector measuring positions with highest frequency, and finally, solving the coordinates of the AGV in the map network by using a three-point method.
In a specific implementation manner of the embodiment of the present invention, the forming process of the radar network specifically includes:
based on the measured position of each reflector;
and calculating the distance between every two reflecting plates to form a radar network.
In a specific implementation manner of the embodiment of the present invention, the forming process of the map network specifically includes:
determining an origin position and constructing a map coordinate system;
and calculating the distance between every two reflecting plates based on the coordinates of all the reflecting plates in the map coordinate system to form a map network.
In a specific implementation manner of the embodiment of the present invention, the screening out the three reflective plate measurement positions with the highest frequency includes the following steps:
matching each first line segment in the radar network with each second line segment in the map network;
when the line segment error of matching a certain first line segment in the radar network with a certain second line segment in the map network is smaller than a set threshold value, recording a point corresponding to the second line segment once;
when the line segment error of a certain first line segment in the radar network and a certain second line segment in the map network is larger than a set threshold value, two points in the first line segment are error points, and two points in the second line segment are not recorded;
screening out three points with the largest recorded times in the map network, finding out corresponding three points in the radar network, and finally outputting the measurement positions of the three points, namely the three reflection plate measurement positions with the highest frequency.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. An AGV positioning method based on a reflector network is characterized by comprising the following steps:
using an AGV as an origin, and scanning each reflector by using a laser radar arranged on the AGV to obtain the measuring position of each reflector;
forming a radar network based on the measured positions of the reflectors;
the method comprises the steps that a plurality of first line segments are formed by measuring positions of reflecting plates in a radar network in pairs;
forming a map network based on the real positions of the reflectors;
forming a plurality of second line segments by utilizing the actual positions of the reflectors in the map network;
matching each first line segment in the radar network with each second line segment in the map network, screening out three reflector measuring positions with highest frequency, and finally solving the coordinates of the AGV in the map network by using a three-point method;
the three reflector measuring positions with highest frequency are screened out, and the method comprises the following steps:
matching each first line segment in the radar network with each second line segment in the map network;
when the line segment error of matching a certain first line segment in the radar network with a certain second line segment in the map network is smaller than a set threshold value, recording a point corresponding to the second line segment once;
when the line segment error of a certain first line segment in the radar network and a certain second line segment in the map network is larger than a set threshold value, two points in the first line segment are error points, and two points in the second line segment are not recorded;
screening out three points with the largest recorded times in the map network, finding out corresponding three points in the radar network, and finally outputting the measurement positions of the three points, namely the three reflection plate measurement positions with the highest frequency.
2. The AGV positioning method based on the reflector network according to claim 1, wherein the radar network is formed by the following steps:
using an AGV as an origin, and scanning each reflector by using a laser radar arranged on the AGV to obtain the measuring position of each reflector;
and calculating the distance between every two reflecting plates to form a radar network.
3. The AGV positioning method based on the reflector network according to claim 1, wherein the map network is formed by the following steps:
determining an origin position and constructing a map coordinate system;
measuring the coordinates of all the reflectors in a map coordinate system;
and calculating the distance between every two reflecting plates to form a map network.
4. AGV positioner based on reflector panel network, its characterized in that includes: laser radar, reflector network and positioning module;
the reflector network comprises a plurality of reflectors;
the laser radar is arranged on the AGV, and scans each reflector by taking the AGV as an origin to obtain the measuring position of each reflector; the positioning module forms a radar network based on the measuring positions of the reflectors, and a plurality of first line segments are formed by utilizing the measuring positions of the reflectors in the radar network; the positioning module forms a map network based on the actual positions of the reflectors, and a plurality of second line segments are formed by utilizing the actual positions of the reflectors in the map network; then, matching each first line segment in the radar network with each second line segment in the map network, screening out three reflector measuring positions with highest frequency, and finally, solving the coordinates of the AGV in the map network by using a three-point method;
the three reflector measuring positions with highest frequency are screened out, and the method comprises the following steps:
matching each first line segment in the radar network with each second line segment in the map network;
when the line segment error of matching a certain first line segment in the radar network with a certain second line segment in the map network is smaller than a set threshold value, recording a point corresponding to the second line segment once;
when the line segment error of a certain first line segment in the radar network and a certain second line segment in the map network is larger than a set threshold value, two points in the first line segment are error points, and two points in the second line segment are not recorded;
screening out three points with the largest recorded times in the map network, finding out corresponding three points in the radar network, and finally outputting the measurement positions of the three points, namely the three reflection plate measurement positions with the highest frequency.
5. The AGV positioning device according to claim 4 wherein the AGV positioning device comprises: the formation process of the radar network specifically comprises the following steps:
based on the measured position of each reflector;
and calculating the distance between every two reflecting plates to form a radar network.
6. The AGV positioning device based on a reflector network according to claim 1 wherein: the map network forming process specifically comprises the following steps:
determining an origin position and constructing a map coordinate system;
and calculating the distance between every two reflecting plates based on the coordinates of all the reflecting plates in the map coordinate system to form a map network.
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| CN112629522B (en) * | 2020-12-31 | 2023-04-11 | 山东大学 | AGV positioning method and system with reflector and laser SLAM integrated |
| CN115220012A (en) * | 2022-09-20 | 2022-10-21 | 成都睿芯行科技有限公司 | Positioning method based on reflecting plate |
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