CN113654530B - Terminal positioning method based on laser sensor - Google Patents
Terminal positioning method based on laser sensor Download PDFInfo
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- CN113654530B CN113654530B CN202110738175.2A CN202110738175A CN113654530B CN 113654530 B CN113654530 B CN 113654530B CN 202110738175 A CN202110738175 A CN 202110738175A CN 113654530 B CN113654530 B CN 113654530B
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- 238000009434 installation Methods 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 5
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
Abstract
The invention discloses a terminal positioning method based on a laser sensor, which comprises the following steps: step 1, detecting a target type; the object types include: the linear contour of the target, the reflector plate or the standing plate fixed on the target; and 2, calibrating the installation angle of the laser scanner, calibrating the coordinates of the laser sensor, and calculating the position and attitude angle of the vehicle body relative to the target characteristics so as to realize the positioning of the target. The laser sensor is used for positioning the tail end, so that the installation angle of the laser scanner and the coordinates of the laser sensor are calibrated, and the positioning accuracy is improved.
Description
Technical Field
The invention belongs to the field of mobile robot navigation, and relates to a terminal positioning method based on a laser sensor.
Background
The navigation/guidance techniques currently available for AGVs are mainly several: electromagnetic guidance, tape guidance, optical guidance, GPS navigation, inertial navigation, laser navigation, visual navigation. The conventional laser navigation is to install a laser reflecting plate with accurate position around the traveling path of the AGV, the AGV emits a laser beam through a laser scanner, and collect the laser beam reflected by the reflecting plate to determine the current position and heading of the AGV, and realize the guidance of the AGV through continuous triangle geometry operation. In recent years, the reflection plate-free laser autonomous navigation technology gradually replaces the traditional laser navigation technology, namely, an AGV does not need to lay a reflection plate in the running process, autonomous navigation is realized through the SLAM technology, the method is less affected by a field, the cost is saved, and the method becomes the main stream technology of factory transportation.
However, the positioning accuracy of the reflection-plate-free laser autonomous navigation technology is relatively low, and the requirement of high-accuracy positioning in a specific environment cannot be met, and the positioning accuracy is improved through terminal positioning (secondary positioning) at the moment. The common terminal positioning method comprises visual terminal positioning and laser terminal positioning, wherein the visual terminal positioning is mostly used in cleaner occasions, is more limited, and is widely applied, but if the installation errors of the position and the angle of the laser sensor are larger, certain influence can be generated on the positioning precision.
Disclosure of Invention
The invention aims at: the end positioning method based on the laser sensor is provided, and positioning accuracy is improved.
The technical scheme of the invention is as follows: a laser sensor-based end positioning method, comprising:
step 1, detecting a target type; the object types include: the linear contour of the target, the reflector plate or the standing plate fixed on the target;
and 2, calibrating the installation angle of the laser scanner, calibrating the coordinates of the laser sensor, and calculating the position and attitude angle of the vehicle body relative to the target characteristics so as to realize the positioning of the target.
The further technical scheme is as follows: for contour detection of a target, linear characteristics of the target need to be extracted, and the target is required to have a plane or cross beam structure in front of the fork teeth;
for detecting the reflectors, two reflectors are required to be arranged on each target, the distance between the reflectors is the same, and the detection result of the reflectors is to determine the coordinates of the mass centers of the two reflectors and the azimuth angle of the straight line connecting the reflectors in a vehicle body coordinate system;
for the detection of the standing board, it is required to set one standing board on each target and record the posture of the standing board relative to the target position, or it is required to set two standing boards on each target and the spacing of the standing boards is the same.
The further technical scheme is as follows: the calibration laser scanner mounting angle comprises:
s11, the default installation angle is 270 degrees, and the installation radian isRecorded as angle_low;
s12, pushing the vehicle to the front of a plane target, and enabling the fork teeth to face the target, so as to confirm that the laser scanner can scan the target; measuring the distance a between the left fixed wheel and the plane target, the distance b between the right fixed wheel and the plane target and the distance d between the measuring points of the left fixed wheel and the right fixed wheel;
s13, calculating the azimuth angle of the straight line of the target plane under the vehicle body coordinate system as follows:
s14, calculating an radian value of a straight azimuth according to the self system of the AGV, and calculating a difference dθ with the calculated azimuth;
s15, adding or subtracting a difference dθ from the default installation radian value angle_low, and updating the value as a new angle_low;
s16, repeating the steps S14 and S15, and ending the calibration when the difference dθ of the radians is smaller than 0.01;
s17, replacing the vehicle body, repeating S12 to S14, verifying whether the difference dθ meets the requirement, and if not, finely adjusting the value of the angle_low parameter.
The further technical scheme is as follows: the calibration of the coordinates of the laser sensor comprises:
s21, preliminarily estimating coordinates x_low and y_low of the laser sensor;
s22, calculating prior information of the target position, and measuring coordinate values x and y of the point in the target under a vehicle body coordinate system;
s23, acquiring target information through a laser sensor, and calculating the coordinate of a target relative to a vehicle body according to the self system of the AGV;
s24, measuring coordinate values of the midpoint of the surface of the target under a vehicle body coordinate system, accurately calibrating the position of the central axis of the vehicle body through a cross cursor when measuring the midpoint of the front surface, and subtracting the position value of the midpoint of the target to obtain deviation values dx and dy of x and y coordinates;
s25, subtracting or adding the deviation values dx and dy by using the estimated coordinates x_low and y_low of the laser sensor, and updating the values as new coordinates x_low and y_low;
s26, repeating the steps S23 to S25 until the coordinate of the target calculated by the AGV trolley system is close to the measurement result, the difference is within a preset range, and ending the calibration;
and S27, when the calibration is finished, replacing the vehicle at the position, repeating the steps, verifying whether the end positioning result is consistent with the measured value, and determining whether the deviation meets the precision requirement.
The further technical scheme is as follows: further comprises: when the mounting angle of the laser scanner changes, the coordinates of the laser sensor are recalibrated.
The invention has the advantages that:
the laser sensor is used for positioning the tail end, so that the installation angle of the laser scanner and the coordinates of the laser sensor are calibrated, and the positioning accuracy is improved.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a flow chart of a laser sensor based end positioning method provided herein;
FIG. 2 is an azimuthal schematic of the straight line segment provided herein;
FIG. 3 is a schematic illustration of the relative attitude of a vehicle body and a target at the time of calibrating the mounting angle of a laser scanner provided in the present application;
fig. 4 is a schematic diagram of the relative posture of the vehicle body and the picking target when calibrating the coordinates of the laser sensor.
Detailed Description
Examples: the application provides a laser sensor-based end positioning method, which can include the following steps in combination with reference to fig. 1 to 4.
And step 1, detecting the target type.
The types of targets that can be detected by the laser tip positioning method include: a straight line profile of the object, a reflector plate or a standing plate fixed on the object.
For contour detection of a target, only linear features are detected at present, the linear features of the target need to be extracted, and the target is required to have a plane or cross beam structure in front of the fork teeth, so that the laser detection is convenient for extracting the linear. In addition, for contour detection of the case, it is required to detect straight line contours of both the front and side planes, and other target types generally only need to detect one straight line feature.
Generally, the size of the target is required to be uniform, the calculation result of the AGV self system is the midpoint coordinate of the straight line segment and the azimuth angle of the straight line in the vehicle body coordinate system, the azimuth angle of the straight line segment is shown in fig. 2, alpha in the figure is the azimuth angle, and the azimuth angle is the included angle between the normal (vertical line) of the straight line and the positive direction of the x axis, and the value range is [ -pi, pi ].
For the detection of the reflectors, two reflectors are required to be arranged on each target, the distance between the reflectors is the same, and the detection result of the reflectors is to determine the coordinates of the mass centers of the two reflectors and the azimuth angle of the straight line connecting the reflectors in the coordinate system of the vehicle body.
For the detection of the standing board, it is required to set one standing board on each target and record the posture of the standing board relative to the target position, or it is required to set two standing boards on each target and the spacing of the standing boards is the same.
And 2, calibrating the installation angle of the laser scanner, calibrating the coordinates of the laser sensor, and calculating the position and attitude angle of the vehicle body relative to the target characteristics so as to realize the positioning of the target.
Wherein, the installation angle of the laser is the angle between the x axis of the laser and the x axis of the vehicle body, and for obstacle avoidance laser, the angle value is generally 135 degrees, and because of misoperation, the accurate value of the angle needs to be found out through calibration, the error of the angle is generally required to be smaller than 0.5 degree, namelyThe more precise the arc, about 0.01 arc.
As shown in fig. 3, the vehicle is first pushed to a wall or flat cargo surface with the tines facing the target, ensuring that the laser scanner can scan the target. Two points a and B in fig. 3 respectively represent the left and right fixed wheels of the forklift, a and B respectively represent the distance between the two fixed wheels and the wall, and d represents the distance between the measuring points of the left and right fixed wheels.
Calibrating an installation angle of a laser scanner, comprising:
s11, the default installation angle is 270 degrees, and the installation radian isRecorded as angle_low;
s12, pushing the vehicle to the front of a planar target, placing the vehicle according to the requirement, and enabling the fork teeth to face the target, so as to confirm that the laser scanner can scan the target; measuring the distance a between the left fixed wheel and the plane target, the distance b between the right fixed wheel and the plane target and the distance d between the measuring points of the left fixed wheel and the right fixed wheel; for part of AGV robots, the two sides of the portal are provided with ranging photoelectric sensors, and after the ranging photoelectric calibration is accurate, the numerical values of a, b and d can be directly obtained through the ranging photoelectric sensors;
s13, calculating the azimuth angle of a straight line (a wall straight line) of the target plane under a vehicle body coordinate system, and calculating the formula from the geometric relationship in the figure:
s14, calculating an radian value of a straight azimuth according to the self system of the AGV, and calculating a difference dθ between the radian value and the azimuth calculated in S13;
s15, adding or subtracting the difference dθ from the default installation radian value angle_low, and updating the value of the new angle_low, namely replacing the angle_low with the value obtained by adding or subtracting dθ;
s16, repeating the steps S14 and S15, and finishing marking when the difference dθ of radians is smaller than 0.01, namely the difference of mounting angles is smaller than 0.5 degrees; it is to be noted that, because of fluctuation of the laser measurement value, the radian value of the straight azimuth angle calculated by the AGV system is slightly different each time, so long as the fluctuation difference value is within the error requirement range;
s17, replacing the vehicle body, repeating S12 to S14, verifying whether the difference dθ meets the requirement, and if not, finely adjusting the value of the angle_low parameter.
For the calibration of the coordinates of the laser sensor, firstly, the vehicle body is placed, as shown in fig. 4, so that the central axis of the vehicle body is aligned with the midpoint position of the front surface of the goods taking object as much as possible, strict alignment is not required during placement, the deviation is measured later, and in order to ensure the measurement accuracy, the vehicle body is required to be close to the goods taking object and is smaller than 5 meters as much as possible.
Calibrating coordinates of a laser sensor, comprising:
s21, preliminarily estimating coordinates x_low and y_low of a laser sensor by a physical method (manual measurement), wherein the coordinates are measured in meters, the two values are coordinates from a laser center to a vehicle body center, and the values are different from different vehicle types and installation positions;
s22, calculating prior information of the target position, and roughly measuring coordinate values x and y of the midpoint of the box body or the goods taking target under a vehicle body coordinate system; it should be noted that if the values of x and y and the actual placement deviation are more, the final calculation result will fail;
s23, collecting box body or goods taking target information through a laser sensor, and calculating the coordinate of a target relative to a car body according to the system of the AGV car; if the central axis of the vehicle body is aligned with the midpoint of the picking target, the y coordinate value is very close to zero (less than 1 cm);
s24, measuring coordinate values of the midpoint of the surface of the pick-up target under a vehicle body coordinate system, accurately calibrating the position of the central axis of the vehicle body through a cross cursor when measuring the midpoint of the front surface, and subtracting the position values of the midpoint of the target to obtain deviation values dx and dy of x and y coordinates;
s25, subtracting or adding the offset values dx and dy by using the primarily estimated coordinates x_low and y_low of the laser sensor, and updating the values as new coordinates x_low and y_low, namely replacing the coordinates x_low and y_low with the values obtained by adding or subtracting the offset values dx and dy;
s26, repeating the steps S23 to S25 until the coordinate of the target calculated by the AGV trolley system is close to the measurement result, the difference is within a preset range (about plus or minus 1 cm), and ending the calibration; if the deviation is slightly larger, fine adjustment can be carried out on the parameter values of x_low and y_low, and the adjustment amplitude is in the order of millimeters;
and S27, when the calibration is finished, replacing the vehicle at the position, repeating the steps, verifying whether the end positioning result is consistent with the measured value, and determining whether the deviation meets the precision requirement.
It should be noted that: the calibration of the laser sensor coordinates is performed on the premise that the angle is calibrated accurately, and when the installation angle of the laser scanner is changed, namely, the parameter angle_low is changed, the laser sensor coordinates must be recalibrated, namely, the parameters x_low and y_low.
In summary, according to the laser sensor-based terminal positioning method provided by the application, terminal positioning is performed through the laser sensor, the mounting angle of the laser scanner and the coordinates of the laser sensor are calibrated, and the positioning accuracy is improved.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature of a "first" or "second" as defined may include one or more such feature, either explicitly or implicitly. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
Those of ordinary skill in the art will appreciate that all or a portion of the steps implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.
The foregoing description of the preferred embodiments of the present application is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (2)
1. A laser sensor-based tip positioning method, comprising:
step 1, detecting a target type; the object types include: the linear contour of the target, the reflector plate or the standing plate fixed on the target;
step 2, calibrating the installation angle of the laser scanner, calibrating the coordinates of the laser sensor, and calculating the position and attitude angle of the vehicle body relative to the target characteristics so as to realize the positioning of the target;
for linear contour detection of a target, linear characteristics of the target need to be extracted, and the target is required to have a plane or cross beam structure in front of the fork teeth;
for detecting the reflectors, two reflectors are required to be arranged on each target, the distance between the reflectors is the same, and the detection result of the reflectors is to determine the coordinates of the mass centers of the two reflectors and the azimuth angle of the straight line connecting the reflectors in a vehicle body coordinate system;
for the detection of the station boards, each target is required to be provided with one station board and the gesture of the station board relative to the target position is recorded, or each target is required to be provided with two station boards, and the spacing of the station boards is the same;
the calibration laser scanner mounting angle comprises:
s11, the default installation angle is 270 degrees, and the installation radian isRecorded as angle_low;
s12, pushing the vehicle to the front of a plane target, and enabling the fork teeth to face the target, so as to confirm that the laser scanner can scan the target; measuring the distance a between the left fixed wheel and the plane target, the distance b between the right fixed wheel and the plane target and the distance d between the measuring points of the left fixed wheel and the right fixed wheel;
s13, calculating the azimuth angle of the straight line of the target plane under the vehicle body coordinate system as follows:
s14, calculating an radian value of a straight azimuth according to the self system of the AGV, and calculating a difference dθ with the calculated azimuth;
s15, adding or subtracting a difference dθ from the default installation radian value angle_low, and updating the value as a new angle_low;
s16, repeating the steps S14 and S15, and ending the calibration when the difference dθ of the radians is smaller than 0.01;
s17, replacing the vehicle body, repeating S12 to S14, verifying whether the difference dθ meets the requirement, and if not, finely adjusting the value of the angle_low parameter;
the calibration of the coordinates of the laser sensor comprises:
s21, preliminarily estimating coordinates x_low and y_low of the laser sensor;
s22, calculating prior information of the target position, and measuring coordinate values x and y of the point in the target under a vehicle body coordinate system;
s23, acquiring target information through a laser sensor, and calculating the coordinate of a target relative to a vehicle body according to the self system of the AGV;
s24, measuring coordinate values of the midpoint of the surface of the target under a vehicle body coordinate system, accurately calibrating the position of the central axis of the vehicle body through a cross cursor when measuring the midpoint of the front surface, and subtracting the position value of the midpoint of the target to obtain deviation values dx and dy of x and y coordinates;
s25, subtracting or adding the deviation values dx and dy by using the estimated coordinates x_low and y_low of the laser sensor, and updating the values as new coordinates x_low and y_low;
s26, repeating the steps S23 to S25 until the coordinate of the target calculated by the AGV trolley system is close to the measurement result, the difference is within a preset range, and ending the calibration;
and S27, when the calibration is finished, replacing the vehicle at the position, repeating the steps, verifying whether the end positioning result is consistent with the measured value, and determining whether the deviation meets the precision requirement.
2. The laser sensor-based tip positioning method of claim 1, further comprising: when the mounting angle of the laser scanner changes, the coordinates of the laser sensor are recalibrated.
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