CN113543309B - AGV positioning information acquisition method and AGV - Google Patents
AGV positioning information acquisition method and AGV Download PDFInfo
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- CN113543309B CN113543309B CN202110706030.4A CN202110706030A CN113543309B CN 113543309 B CN113543309 B CN 113543309B CN 202110706030 A CN202110706030 A CN 202110706030A CN 113543309 B CN113543309 B CN 113543309B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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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
- G01S5/0009—Transmission of position information to remote stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The invention discloses an AGV and a method for acquiring positioning information of the AGV. The method comprises the following steps: detecting a communication base station by an AGV; if two communication base stations are detected, executing the predetermined operation: the method comprises the steps of obtaining signal strength and position information of a communication base station, controlling the communication base station with stronger signal strength to traverse the nine-square grid and simultaneously measuring the signal strength of the communication base station, obtaining the position information of a peripheral square grid with the strongest signal strength except a central square grid, obtaining the position information of the communication base station based on an RSSI (received signal strength indicator) positioning algorithm and the height of a logistics warehouse according to the obtained signal strength and position information of the communication base station and the signal strength and position information of the peripheral square grid, and uploading the position information to the communication base station. The AGV trolley is provided with positioning information acquisition equipment capable of realizing the method. According to the invention, the AGV trolley can be accurately positioned.
Description
Technical Field
The invention belongs to the field of AGV trolley positioning, and particularly relates to an AGV trolley positioning information acquisition method and an AGV trolley.
Background
An Automated Guided Vehicle (AGV), also commonly referred to as an AGV cart, is a transportation Vehicle equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transportation Vehicle in industrial applications, and using a rechargeable lithium battery as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the AGV moves and moves according to the information brought by the electromagnetic track.
With the development of logistics industry, the storage logistics of each industry can not leave the help of the AGV, the AGV is more and more favored by enterprises, and the attention degree is higher. It is well known that accurate control of an AGV is not required to perform a variety of tasks by the AGV, and accurate positioning of the AGV is a prerequisite for accurate control of the AGV. In recent years, the positioning mode of the AGV trolley is gradually developed from the traditional sensor-based positioning to the positioning based on the wireless communication technology. However, for positioning based on wireless communication technology, a considerable number of communication base stations are required to be arranged on the ground of the logistics warehouse in advance, and a large number of signal shelters, such as columns, shelves, goods and the like, are usually distributed in the logistics warehouse, so that signal blind areas exist in the logistics warehouse, and the AGV trolley cannot be positioned. Besides, the communication base station arranged on the ground of the logistics warehouse can also influence the traveling of the AGV car, and the communication base station needs to be avoided when the AGV car travels so as to avoid collision.
Disclosure of Invention
The invention aims to solve the problem that the AGV cannot be accurately positioned due to the fact that signal blind areas easily exist in logistics warehouse contents in the existing AGV positioning method based on the wireless communication technology.
In order to achieve the purpose, the invention provides an AGV and a positioning information acquisition method thereof.
According to a first aspect of the invention, a method for acquiring positioning information of an AGV trolley is provided, wherein the method for acquiring the positioning information is realized on the basis of a plurality of communication base stations arranged on the inner top surface of a logistics warehouse;
the inner top surface is divided into a plurality of nine-palace lattices, the plurality of communication base stations are respectively positioned in the plurality of nine-palace lattices, the communication base stations can move in the corresponding nine-palace lattices, and in one complete movement of the communication base stations, the starting points and the end points of the communication base stations are both central lattices in the corresponding nine-palace lattices;
the positioning information acquisition method comprises the following steps:
responding to a positioning information acquisition instruction, and detecting a communication base station by the AGV;
if the detected number of the communication base stations is two, the AGV executes the following operations:
acquiring the signal strength and the position information of the two detected communication base stations,
taking the communication base station with stronger signal strength as a target communication base station, controlling the target communication base station to perform one-time complete movement in the corresponding nine-square grid so as to traverse each of the nine-square grids, measuring the signal strength of the target communication base station in the moving process,
acquiring the position information of the peripheral grids with the strongest corresponding signal intensity except the central grid,
acquiring self position information based on a preset RSSI positioning algorithm and the known height of the logistics warehouse according to the acquired signal strength and position information of the communication base station and the signal strength and position information of the corresponding surrounding grid with the strongest signal strength, and uploading the position information to a target communication base station;
and the communication base station receiving the AGV trolley position information and other communication base stations form a wireless communication network, and the AGV trolley position information is sent to the positioning information acquisition device through the wireless communication network.
Preferably, after the AGV detects the communication base station in response to the positioning information obtaining instruction, the method further includes:
if the number of the detected communication base stations is more than three, the AGV trolley measures the signal intensity of each detected communication base station, acquires the position information of the three communication base stations with the signal intensity ranking at the front, acquires the position information of the AGV trolley based on a preset RSSI positioning algorithm and the known height of the logistics warehouse, and uploads the position information to the communication base station with the strongest signal intensity.
Preferably, after the AGV detects the communication base station in response to the positioning information obtaining instruction, the method further includes:
if the number of the detected communication base stations is equal to three, the AGV trolley acquires the signal strength and the position information of the three detected communication base stations, acquires the position information of the AGV trolley based on a preset RSSI (received signal strength indication) positioning algorithm and the known height of the logistics warehouse, and uploads the position information to the communication base station with the strongest signal strength.
Preferably, after the AGV detects the communication base station in response to the positioning information obtaining instruction, the method further includes:
if the detected number of the communication base stations is one, the AGV executes the following operations:
acquiring the signal intensity and the position information of the detected communication base station;
taking the detected communication base station as a target communication base station, controlling the target communication base station to perform one-time complete movement in the corresponding nine-square grid so as to traverse each square grid in the nine-square grid, and measuring the signal intensity of the target communication base station in the moving process;
acquiring the position information of two peripheral lattices except the central lattice, wherein the corresponding signal intensities are ranked in front;
and acquiring the position information of the communication base station based on a preset RSSI positioning algorithm and the known height of the logistics warehouse according to the acquired signal strength and position information of the communication base station and the signal strength and position information of two surrounding grids with corresponding signal strengths ranked at the top, and uploading the position information to the target communication base station.
Preferably, after the AGV detects the communication base station in response to the positioning information obtaining instruction, the method further includes:
if the detected number of the communication base stations is zero, the AGV executes the following operations:
the AGV detects other AGV dollies;
if the number of the detected other AGV dollies is larger than three, the AGV dollies measure the broadcast signal strength of each detected AGV dolly, position information of three other AGV dollies with the broadcast signal strength ranking in front is obtained, the position information of the AGV dollies is obtained based on a preset RSSI positioning algorithm, and the position information is sent to the communication base station with the strongest signal strength among the communication base stations detected by the other AGV dollies through the other AGV dollies with the strongest broadcast signal strength.
Preferably, after the AGV detects another AGV, the method further includes:
if the number of the detected other AGV dollies is equal to three, the AGV dollies acquire the broadcast signal strength and the position information of the detected three other AGV dollies, acquire the position information of the AGV dollies based on a preset RSSI positioning algorithm and send the position information to the communication base station with the strongest signal strength among the communication base stations detected by the other AGV dollies through the other AGV dollies with the strongest broadcast signal strength.
Preferably, if at least one AGV in a moving state is included in the three other AGV that are used as the basis for acquiring the AGV location information, the AGV uses the product of the location information acquired by the RSSI positioning algorithm and the corresponding offset coefficient as its own corrected location information.
Preferably, after the AGV detects another AGV, the method further includes:
and if the detected number of other AGV dollies is less than three, the AGV dollies ignore the positioning information acquisition instruction and respond to the next positioning information acquisition instruction to perform corresponding operation according to the above mode.
Preferably, the target communication base station traverses all the peripheral cells of its corresponding nine cells in a clockwise or counterclockwise order.
According to a second aspect of the present invention, an AGV is provided, where the AGV is provided with a positioning information acquiring device, the positioning information acquiring device includes a processor and a memory, and the processor executes a computer program stored in the memory to implement any one of the above methods for acquiring positioning information of an AGV.
The invention has the beneficial effects that:
the method for acquiring the positioning information of the AGV comprises the following steps that firstly, the AGV detects a communication base station in response to a positioning information acquisition instruction; secondly, when the number of the detected communication base stations is two, the AGV car performs a predetermined operation: the method comprises the steps of obtaining the signal strength and the position information of two detected communication base stations, taking the communication base station with stronger signal strength as a target communication base station, controlling the target communication base station to completely move once in a corresponding nine-square grid so as to traverse each square grid in the nine-square grid, measuring the signal strength of the target communication base station in the moving process, obtaining the position information of a peripheral square grid with strongest signal strength except a central square grid, obtaining the position information of the target communication base station based on a preset RSSI (received signal strength indicator) positioning algorithm and the known height of a logistics warehouse according to the obtained signal strength and the position information of the communication base station and the signal strength and the position information of the peripheral square grid with the strongest signal strength, and uploading the position information to the target communication base station; and finally, the communication base station receiving the AGV trolley position information and other communication base stations form a wireless communication network, and the AGV trolley position information is sent to the positioning information acquisition device through the wireless communication network.
According to the method for acquiring the positioning information of the AGV, the communication base station is arranged on the inner top surface of the logistics warehouse and is arranged to be movable, so that the influence of a signal blind area existing in the logistics warehouse on the wireless positioning of the AGV can be reduced to a certain extent, and the problem that the AGV cannot be accurately positioned due to the fact that the signal blind area easily exists in the contents of the logistics warehouse in the existing AGV positioning method based on the wireless communication technology is effectively solved.
The AGV trolley and the method for acquiring the positioning information of the AGV trolley belong to a general invention concept, so the method has the same beneficial effects as the method for acquiring the positioning information of the AGV trolley.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
FIG. 1 is a flow chart illustrating an implementation of a method for obtaining positioning information of an AGV according to an embodiment of the present invention;
fig. 2 shows a schematic partitioning diagram of the top surface inside the logistics warehouse according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Example (b): fig. 1 is a flowchart illustrating an implementation of a method for obtaining positioning information of an AGV according to an embodiment of the present invention, and fig. 2 is a schematic diagram illustrating a partition of an inner roof of a logistics warehouse according to an embodiment of the present invention. Referring to fig. 1 and 2, the method for acquiring positioning information of an AGV according to an embodiment of the present invention is implemented based on a plurality of communication base stations disposed on an inner ceiling surface of a logistics warehouse;
the inner top surface is divided into a plurality of nine-palace lattices, the plurality of communication base stations are respectively positioned in the plurality of nine-palace lattices, the communication base stations can move in the corresponding nine-palace lattices, and in one complete movement of the communication base stations, the starting points and the end points of the communication base stations are both central lattices in the corresponding nine-palace lattices;
the positioning information acquisition method comprises the following steps:
responding to a positioning information acquisition instruction, and detecting a communication base station by the AGV;
if the detected number of the communication base stations is two, the AGV executes the following operations:
acquiring the signal strength and the position information of the two detected communication base stations,
taking the communication base station with stronger signal strength as a target communication base station, controlling the target communication base station to perform one-time complete movement in the corresponding nine-square grid so as to traverse each of the nine-square grids, measuring the signal strength of the target communication base station in the moving process,
acquiring the position information of the peripheral grids with the strongest corresponding signal intensity except the central grid,
acquiring self position information based on a preset RSSI positioning algorithm and the known height of the logistics warehouse according to the acquired signal strength and position information of the communication base station and the signal strength and position information of the corresponding surrounding grid with the strongest signal strength, and uploading the position information to a target communication base station;
and the communication base station receiving the AGV trolley position information and other communication base stations form a wireless communication network, and the AGV trolley position information is sent to the positioning information acquisition device through the wireless communication network.
Specifically, in the embodiment of the present invention, the RSSI positioning algorithm is a three-point positioning algorithm. Although the known three points on the inner top surface of the logistics warehouse (namely, the two initially detected communication base stations and the subsequently detected target communication base station with the strongest signal strength in the surrounding grids) are not on the same plane as the AGV trolley to be positioned, the distance between the AGV trolley and the inner top surface of the logistics warehouse is known, so that the AGV trolley can be positioned only by acquiring the position information of the three points on the inner top surface of the logistics warehouse and the corresponding signal strength.
Specifically, in the embodiment of the present invention, the communication base station in the initial state and the communication base station in the movement end state are both located in the center grid of the nine grids corresponding thereto.
Further, in the embodiment of the present invention, after the responding to the positioning information obtaining instruction and the AGV detecting the communication base station, the method further includes:
if the number of the detected communication base stations is more than three, the AGV trolley measures the signal intensity of each detected communication base station, acquires the position information of the three communication base stations with the signal intensity ranking at the front, acquires the position information of the AGV trolley based on a preset RSSI positioning algorithm and the known height of the logistics warehouse, and uploads the position information to the communication base station with the strongest signal intensity.
Still further, in the embodiment of the present invention, after the detecting, by the AGV, the communication base station in response to the positioning information obtaining instruction, the method further includes:
if the number of the detected communication base stations is equal to three, the AGV trolley acquires the signal strength and the position information of the three detected communication base stations, acquires the position information of the AGV trolley based on a preset RSSI (received signal strength indication) positioning algorithm and the known height of the logistics warehouse, and uploads the position information to the communication base station with the strongest signal strength.
Still further, in the embodiment of the present invention, after the detecting, by the AGV, the communication base station in response to the positioning information obtaining instruction, the method further includes:
if the detected number of the communication base stations is one, the AGV executes the following operations:
acquiring the signal intensity and the position information of the detected communication base station;
taking the detected communication base station as a target communication base station, controlling the target communication base station to perform one-time complete movement in the corresponding nine-square grid so as to traverse each square grid in the nine-square grid, and measuring the signal intensity of the target communication base station in the moving process;
acquiring the position information of two peripheral lattices except the central lattice, wherein the corresponding signal intensities are ranked in front;
and acquiring the position information of the communication base station based on a preset RSSI positioning algorithm and the known height of the logistics warehouse according to the acquired signal strength and position information of the communication base station and the signal strength and position information of two surrounding grids with corresponding signal strengths ranked at the top, and uploading the position information to the target communication base station.
Still further, in the embodiment of the present invention, after the detecting, by the AGV, the communication base station in response to the positioning information obtaining instruction, the method further includes:
if the detected number of the communication base stations is zero, the AGV executes the following operations:
the AGV detects other AGV dollies;
if the number of the detected other AGV dollies is larger than three, the AGV dollies measure the broadcast signal strength of each detected AGV dolly, position information of three other AGV dollies with the broadcast signal strength ranking in front is obtained, the position information of the AGV dollies is obtained based on a preset RSSI positioning algorithm, and the position information is sent to the communication base station with the strongest signal strength among the communication base stations detected by the other AGV dollies through the other AGV dollies with the strongest broadcast signal strength.
Still further, in the embodiment of the present invention, after the AGV detects another AGV, the method further includes:
if the number of the detected other AGV dollies is equal to three, the AGV dollies acquire the broadcast signal strength and the position information of the detected three other AGV dollies, acquire the position information of the AGV dollies based on a preset RSSI positioning algorithm and send the position information to the communication base station with the strongest signal strength among the communication base stations detected by the other AGV dollies through the other AGV dollies with the strongest broadcast signal strength.
Furthermore, in the embodiment of the present invention, if at least one AGV in a moving state is included in the three other AGV that are used as the basis for acquiring the AGV location information, the AGV uses the product of the location information acquired by the RSSI positioning algorithm and the corresponding offset coefficient as its own corrected location information.
Still further, in the embodiment of the present invention, after the AGV detects another AGV, the method further includes:
and if the detected number of other AGV dollies is less than three, the AGV dollies ignore the positioning information acquisition instruction and respond to the next positioning information acquisition instruction to perform corresponding operation according to the above mode.
Still further, in the embodiment of the present invention, the target communication base station traverses all peripheral cells of the nine cells corresponding thereto in a clockwise or counterclockwise order.
Specifically, in the embodiment of the present invention, when a movement instruction is received, the target communication base station randomly moves from the central cell to one peripheral cell (initial peripheral cell), and moves clockwise or counterclockwise from the initial peripheral cell to traverse all the peripheral cells once, and finally returns to the initial peripheral cell and returns to the central cell.
Specifically, in the embodiment of the present invention, the position information of the communication base station is coordinate information of a center point of a grid in which the communication base station is located, and the position information of the grid is coordinate information of the center point of the grid.
Correspondingly, the embodiment of the invention also provides an AGV, wherein the AGV is provided with positioning information acquisition equipment, the positioning information acquisition equipment comprises a processor and a memory, and the positioning information acquisition method of the AGV provided by the embodiment of the invention is realized when the processor executes a computer program stored in the memory.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. The method for acquiring the positioning information of the AGV trolley is characterized by being realized on the basis of a plurality of communication base stations arranged on the inner top surface of a logistics warehouse;
the inner top surface is divided into a plurality of nine-palace lattices, the plurality of communication base stations are respectively positioned in the plurality of nine-palace lattices, the communication base stations can move in the corresponding nine-palace lattices, and in one complete movement of the communication base stations, the starting points and the end points of the communication base stations are both central lattices in the corresponding nine-palace lattices;
the positioning information acquisition method comprises the following steps:
responding to a positioning information acquisition instruction, and detecting a communication base station by the AGV;
if the detected number of the communication base stations is two, the AGV executes the following operations:
acquiring the signal strength and the position information of the two detected communication base stations,
taking the communication base station with stronger signal strength as a target communication base station, controlling the target communication base station to perform one-time complete movement in the corresponding nine-square grid so as to traverse each of the nine-square grids, measuring the signal strength of the target communication base station in the moving process,
acquiring the position information of the peripheral grids with the strongest corresponding signal intensity except the central grid,
acquiring self position information based on a preset RSSI positioning algorithm and the known height of the logistics warehouse according to the acquired signal strength and position information of the communication base station and the signal strength and position information of the corresponding surrounding grid with the strongest signal strength, and uploading the position information to a target communication base station;
and the communication base station receiving the AGV trolley position information and other communication base stations form a wireless communication network, and the AGV trolley position information is sent to the positioning information acquisition device through the wireless communication network.
2. The AGV cart positioning information acquiring method according to claim 1, wherein after the AGV cart detects the communication base station in response to the positioning information acquiring instruction, the method further comprises:
if the number of the detected communication base stations is more than three, the AGV trolley measures the signal intensity of each detected communication base station, acquires the position information of the three communication base stations with the signal intensity ranking at the front, acquires the position information of the AGV trolley based on a preset RSSI positioning algorithm and the known height of the logistics warehouse, and uploads the position information to the communication base station with the strongest signal intensity.
3. The AGV cart positioning information acquiring method according to claim 2, wherein after the AGV cart detects the communication base station in response to the positioning information acquiring instruction, the method further comprises:
if the number of the detected communication base stations is equal to three, the AGV trolley acquires the signal strength and the position information of the three detected communication base stations, acquires the position information of the AGV trolley based on a preset RSSI (received signal strength indication) positioning algorithm and the known height of the logistics warehouse, and uploads the position information to the communication base station with the strongest signal strength.
4. The AGV positioning information acquiring method according to claim 3, wherein after said AGV detects the communication base station in response to the positioning information acquiring instruction, further comprising:
if the detected number of the communication base stations is one, the AGV executes the following operations:
acquiring the signal intensity and the position information of the detected communication base station;
taking the detected communication base station as a target communication base station, controlling the target communication base station to perform one-time complete movement in the corresponding nine-square grid so as to traverse each square grid in the nine-square grid, and measuring the signal intensity of the target communication base station in the moving process;
acquiring the position information of two peripheral lattices except the central lattice, wherein the corresponding signal intensities are ranked in front;
and acquiring the position information of the communication base station based on a preset RSSI positioning algorithm and the known height of the logistics warehouse according to the acquired signal strength and position information of the communication base station and the signal strength and position information of two surrounding grids with corresponding signal strengths ranked at the top, and uploading the position information to the target communication base station.
5. The AGV positioning information acquiring method according to claim 4, wherein after said AGV detects the communication base station in response to the positioning information acquiring instruction, further comprising:
if the detected number of the communication base stations is zero, the AGV executes the following operations:
the AGV detects other AGV dollies;
if the number of the detected other AGV dollies is larger than three, the AGV dollies measure the broadcast signal strength of each detected AGV dolly, position information of three other AGV dollies with the broadcast signal strength ranking in front is obtained, the position information of the AGV dollies is obtained based on a preset RSSI positioning algorithm, and the position information is sent to the communication base station with the strongest signal strength among the communication base stations detected by the other AGV dollies through the other AGV dollies with the strongest broadcast signal strength.
6. The AGV positioning information acquiring method according to claim 5, further comprising, after the AGV detects another AGV:
if the number of the detected other AGV dollies is equal to three, the AGV dollies acquire the broadcast signal strength and the position information of the detected three other AGV dollies, acquire the position information of the AGV dollies based on a preset RSSI positioning algorithm and send the position information to the communication base station with the strongest signal strength among the communication base stations detected by the other AGV dollies through the other AGV dollies with the strongest broadcast signal strength.
7. The method of claim 6, wherein if at least one AGV in a moving state is included in the three other AGV based on which the AGV position information is obtained, the AGV uses the product of the position information obtained by the RSSI positioning algorithm and the corresponding offset coefficient as its corrected position information.
8. The AGV cart positioning information acquiring method according to claim 7, further comprising, after the AGV cart detects another AGV cart:
and if the detected number of other AGV dollies is less than three, the AGV dollies ignore the positioning information acquisition instruction and respond to the next positioning information acquisition instruction to perform corresponding operation according to the above mode.
9. The AGV positioning information acquiring method according to claim 8, wherein the target communication base station traverses all the peripheral cells of the nine cells corresponding thereto in a clockwise or counterclockwise order.
10. An AGV cart, characterized in that a positioning information acquisition device is provided on the AGV cart, the positioning information acquisition device comprises a processor and a memory, and the processor implements the positioning information acquisition method of an AGV cart according to any one of claims 1 to 9 when executing a computer program stored in the memory.
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