CN113758480B - Surface type laser positioning system, AGV positioning calibration system and AGV positioning method - Google Patents
Surface type laser positioning system, AGV positioning calibration system and AGV positioning method Download PDFInfo
- Publication number
- CN113758480B CN113758480B CN202110987605.4A CN202110987605A CN113758480B CN 113758480 B CN113758480 B CN 113758480B CN 202110987605 A CN202110987605 A CN 202110987605A CN 113758480 B CN113758480 B CN 113758480B
- Authority
- CN
- China
- Prior art keywords
- positioning
- agv
- laser
- base station
- positioning base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The invention relates to a surface type laser positioning system, an AGV positioning calibration system and an AGV positioning method, wherein a scheduling instruction comprising position and path information is sent to an AGV navigation control system through an operation and maintenance scheduling system; guiding a traveling path of an AGV motion control system through an AGV navigation control system; and receiving a working instruction sent by the operation and maintenance scheduling system through a surface type laser positioning system, and sending synchronous light and surface type scanning laser. The positioning base station firstly emits synchronous light, then sequentially emits surface type laser rotating around a horizontal shaft and a vertical shaft, the corresponding photosensitive sensors can receive the synchronous light and the fan-shaped laser, and position and attitude data of the positioning module are obtained through calculation according to parameters such as receiving time difference, laser scanning angular speed and relative distance of the photosensitive sensors. Based on the method, the AGV station can be automatically and finely calibrated without manual adjustment, and the efficiency of accurately calibrating the AGV station is improved.
Description
Technical Field
The invention relates to the field of stopping and positioning of mobile robots, in particular to a surface type laser positioning system, an AGV positioning calibration system and an AGV positioning method.
Background
The main positioning navigation modes of the existing AGV comprise inertial navigation, magnetic stripe navigation, slam laser navigation, two-dimensional code navigation and visual navigation. Two-dimensional code navigation and slam laser navigation are used as mainstream navigation modes in the conventional mobile AGV. Two-dimensional code navigation needs to paste two-dimensional code on ground, but two-dimensional code is easy to wear and tear and needs regular maintenance and aesthetic property is not high. The Slam laser navigation realizes positioning navigation by scanning external environment and taking some obvious buildings as positioning reference objects, and compared with two-dimensional code navigation, the laser Slam navigation has higher flexibility.
However, both the two-dimensional code navigation and the Slam laser navigation need to establish a station as a path planning point or a stopping operation point of the AGV. If the requirement on the precision of the sites is high, the positions and postures of the pasting points need to be ensured to be accurate when the two-dimensional code identifiers are pasted, and when the number of the sites is too large, much time is needed, and the efficiency is greatly reduced.
The existing laser navigation: the AGV has the advantages that the accurate reflecting plate is installed on the driving path of the AGV, and the AGV emits laser beams and collects the laser beams reflected by the reflecting plate at the same time so as to determine the current position and direction of the AGV. Calculating the initial position of the AGV: the AGV trolley stops moving, the laser scanner can measure at least 4 light beams, at least 4 reflecting plates are seen, the AGV can continuously calculate the current position of the trolley at the accurate positions (X and Y) of the known reflecting plates, the reflecting plates are related according to the estimated new position, the position of the AGV is corrected, and therefore the next action is corrected; or the reflector-free laser navigation, namely the laser slam application is adopted, the 2D navigation radar is mainly used in the AGV industry at present, and the 3D navigation radar can be used in some special application scenes or the application of outdoor heavy-load AGV. The SLAM system takes a laser scanner as an observation sensor, takes a trunk as an environmental characteristic point, returns the relative vehicle distance and the line-of-sight angle of the characteristic point through scanning at an angle of 180 degrees in the horizontal direction, and has the measurement precision of 1m/s and 1.5 degrees respectively, and the output frequency of 5 Hz. The precision of the GPS output position information is 3m, and the frequency is 1 Hz. SLAM adopts a branch boundary joint compatible data correlation method and a compression Kalman filtering method. The addition of new map elements is mainly three-dimensional map points and key frames.
Slam laser navigation has two modes of establishing a station, namely directly establishing the station on a scanned map, and moving the AGV to a target position through an actual environment to establish a station position, wherein the station position can be displayed on the map.
The first mode is used for building the site, the scanning map is different from the actual environment, so the accuracy of building the site on the map is low, the second mode is used for building the site, artificial fine calibration of point positions and postures is also needed, and once the number of the point positions is large, the efficiency is low.
Disclosure of Invention
The invention aims to: according to the invention, a set of laser positioning device is adopted to automatically and finely calibrate the AGV station, especially the double adjustment and calibration of the position and the angle, manual adjustment is not needed, and the precision calibration efficiency of the AGV station is improved, so that the problems in the prior art are effectively solved. There is a great need for a low cost AGV positioning system for widespread use in a variety of production warehouses, logistics, and storage systems. The present invention also aims to solve this problem.
The technical scheme is as follows: the system comprises a positioning base station, a positioning module, a data processing module, an information sending module and a photosensitive sensor, wherein the positioning module comprises the data computing module, the information sending module and the photosensitive sensor; the positioning module receives fan-shaped laser emitted by the positioning base station, and position and posture information of the positioning module body and the positioning base station is obtained according to the laser angle received by the photosensitive sensor and the distance between the photosensitive sensors;
the positioning base station is fixed on the AGV and emits synchronous light and two sector laser outwards, the synchronous light is scattered forwards, and the surface laser respectively rotates around a horizontal shaft and a vertical shaft of the base station to form periodically scanned surface laser;
the positioning module is embedded in a preset position of the container, the data calculation module is embedded in the positioning module and used for calculating the position and the posture of the positioning module, the photosensitive sensors receive the synchronous light and the fan-shaped laser light emitted by the positioning base station, the data calculation module calculates the angle of each photosensitive sensor relative to the positioning base station according to the time difference of the synchronous light and the fan-shaped laser light received by the plurality of photosensitive sensors arranged on the upper surface of the positioning module, and the coordinate of each photosensitive sensor relative to the positioning base station can be calculated by combining the actual distance between the photosensitive sensors; and the data calculation module calculates the position and posture information of the positioning module body relative to the positioning base station according to the position of each photosensitive sensor above the positioning module.
The data calculation module is embedded in the positioning module and used for calculating the position coordinates of the photosensitive sensors relative to the base station according to the time difference of the synchronous light and the fan-shaped laser received by the photosensitive sensors and the scanning angular speed data of the fan-shaped laser of the positioning base station and calculating the arrival angle information of the positioning module body relative to the positioning base station according to the installation positions of the photosensitive sensors on the positioning module; and the data calculation module records the time difference and performs mathematical operation solution according to the parameters.
The number of the photosensitive sensors on the positioning module is 3 or more; 4-5 of the above-mentioned plants can be used.
The positioning base station comprises a rotating surface laser emission assembly and a synchronous light emission assembly, the rotating surface laser emission assembly comprises a surface laser rotating around a horizontal shaft and a surface laser rotating around a vertical shaft, the synchronous light emission assembly emits infrared light to the front of the positioning base station and faces the base station, the surface laser emitting laser rotating around the horizontal shaft sweeps the front of the positioning base station from bottom to top, and the surface laser emitting laser rotating around the vertical shaft sweeps the front of the positioning base station from left to right;
the positioning base station firstly emits synchronous light, a photosensitive sensor on the upper surface of the positioning module receives a synchronous light signal and then carries out time synchronization, the laser rotates around a horizontal shaft to emit surface laser to scan from bottom to top, after the photosensitive sensor receives the laser, a data calculation module calculates the time difference between the received synchronous light and the received laser rotating around the horizontal shaft, and the angle of the photosensitive sensor relative to the positioning base station around the horizontal shaft can be calculated according to the angular speed of the laser rotating around the horizontal shaft; after the laser rotating around the horizontal shaft is completed, the laser rotating around the vertical shaft emits surface type laser to scan from left to right, after the laser is received by the light surface sensor, the data calculation module calculates the time difference between the received synchronous light and the received laser rotating around the vertical shaft, the angle of the photosensitive sensor around the vertical shaft relative to the positioning base station can be calculated according to the angular speed of the laser rotating around the vertical shaft, and the angle information of each photosensitive sensor relative to the positioning base station can be calculated; the unique position is found in the space by using the cosine law through the known distance between all the photosensitive sensors on the positioning module to meet the space coordinate of all the photosensitive sensors at the moment, and the position and the posture of the positioning module can be calculated according to the placing positions of all the photosensitive sensors on the positioning module after the space coordinate of all the photosensitive sensors is obtained.
The positioning base station comprises a synchronous light emitting component and a fan-shaped laser emitting component;
the synchronous light emitting component emits infrared light to the right front of the positioning base station;
the laser emitting assembly comprises a surface type laser rotating around a horizontal shaft and a surface type laser rotating around a vertical shaft and is arranged inside the positioning base station.
The positioning module receives fan-shaped laser emitted by the positioning base station, and calculates the distance according to the time difference of the received laser and the actual distance of the photosensitive sensor and other parameters to obtain the position and posture information of the positioning module body relative to the positioning base station;
the surface type laser positioning system acquires the position and attitude coordinates of the current AGV and the container in a preset period; the AVG is provided with an operation and maintenance scheduling system, a motion control system and an AGV navigation control system, wherein the motion control system is electrically connected with the AGV and is used for driving the AGV to make a preset action;
the operation and maintenance scheduling system is in communication connection with the AVG motion control system and sends a position and path scheduling instruction to the AVG motion control system;
the AGV navigation control system receives an instruction of the operation and maintenance scheduling system to control the AGV to walk according to a specified route, also receives an offset instruction (offset between an actual position and a set position under the positioning system) sent by the surface type laser positioning system, converts the offset instruction into an offset under a navigation coordinate system, and then controls the AGV to move to eliminate the offset, so that the relative position of the AGV and the container reaches a set target value;
the surface laser positioning system is the surface laser positioning system of any one of claims 1 to 3.
Some embodiments of the first aspect are as described above; in a second aspect, an AGV positioning calibration system is provided, which includes an AVG motion control system, an operation and maintenance scheduling system, an AGV navigation control system, and the surface laser positioning system mentioned in the first aspect.
In some embodiments of the second aspect, the surface-type laser positioning system acquires the current cabinet position and attitude coordinates relative to the AGV at predetermined periods.
The AVG motion control system is electrically connected with the AGV and is used for driving the AGV to perform a preset action;
the operation and maintenance scheduling system is in communication connection with the AVG navigation control system and sends a position and path scheduling instruction to the AVG navigation control system;
after the AGV reaches the marking station, a positioning base station in the surface laser positioning system can scan a positioning module above the container, so that the position and the attitude coordinate of the container relative to the AGV are obtained, the positioning module calculates the position error and the attitude error as the position and the attitude of the container relative to the AGV are set, the error is sent to a navigation control system, the navigation control system converts a coordinate system of the positioning base station into the position and the attitude error under the navigation coordinate system according to the angle relationship between the coordinate system and the navigation coordinate system, the position and the attitude error under the coordinate system of the positioning base station are converted into the position and the attitude error under the navigation coordinate system, the AGV is controlled to move correspondingly, the AGV reaches an accurate station, the navigation system sends an instruction to a scheduling system after the AGV finishes confirming, and the scheduling system updates the station into the accurate station.
In a third aspect, an AVG positioning method is provided on the basis of the first and second aspects, and includes the following steps:
And 2, the AGV reaches the designated position according to the designated path under the guidance of the AGV navigation control system, and feeds back a successful arrival signal to the operation and maintenance scheduling system.
And 3, the operation and maintenance scheduling system sends a working instruction to the surface laser positioning system, and after the working instruction is obtained, the positioning base station starts to emit synchronous light and emits surface laser.
Step 4, the positioning base station firstly emits synchronous light, a photosensitive sensor on the upper surface of the positioning module receives a synchronous light signal and then carries out time synchronization, the surface laser emitted by the laser rotating around the horizontal shaft scans from bottom to top, after the photosensitive sensor receives the laser, the data calculation module calculates the time difference between the received synchronous light and the received laser rotating around the horizontal shaft, and the angle of the photosensitive sensor around the horizontal shaft relative to the positioning base station can be calculated according to the angular speed of the laser rotating around the horizontal shaft; after the rotation of the laser is accomplished around the rotation of the horizontal axis, send out face type laser around vertical axis rotation laser by left right scanning, after plain noodles sensor received laser, data calculation module calculates received synchronization light and received the time difference around vertical axis rotation laser to by the angular velocity around vertical axis rotation laser can calculate photosensitive sensor around the angle of vertical axis for the location basic station, above can calculate the angular information of each photosensitive sensor for the location basic station.
And 5, finding a unique position in space by using a cosine law through knowing the distance between all the photosensitive sensors on the positioning sensor to meet the space coordinate of all the photosensitive sensors at the moment, wherein the number of the photosensitive sensors needs to be more than a certain value to ensure the unique authenticity of the position solution of the photosensitive sensors. After the space coordinates of each photosensitive sensor are obtained, the position and the posture of the positioning module can be calculated according to the placing position of each photosensitive sensor on the positioning module.
Because the positioning module is arranged above the container, and the positioning base station is arranged above the AGV, the position posture of the positioning module can be considered to be the same as the position posture data of the cabinet, and the position posture of the positioning base station is the same as the position posture data of the AGV. A coordinate system of the positioning system is established according to the positioning base station above the AGV, and the position and posture data acquired by the positioning system is the position and posture data of the positioning module relative to the positioning base station, namely the position and posture data of the container relative to the AGV.
And 6, firstly setting the position and attitude data of the positioning module relative to the positioning base station in the positioning system, wherein the position and attitude are accurate attitude data, when the positioning base station in the positioning system acquires the position and attitude data of the positioning module, the positioning system can compare the position and attitude data with the set position and attitude data to obtain deviation data, normally correcting the deviation data needs to move the positioning module for correction, but in actual situations, the container is a fixed object, the AGV is a moving object, and the AGV needs to move the AGV to correct the deviation data, so that the AGV needs to move reversely under a positioning base station coordinate system for correcting the deviation data, and the positioning module sends the deviation amount of the AGV needing to move under the positioning system to the navigation control module through the information sending module.
And 7, controlling and moving the AGV by a navigation control system, wherein the positioning system acquires deviation data which is under a positioning system coordinate system and needs to be converted into a coordinate system of the navigation system, the AGV is fixed with a positioning system base station, the angle of the AGV under the navigation system is the angle of the positioning base station under the navigation coordinate system and is the angle of the positioning system coordinate system and the navigation coordinate system, the position and attitude deviation under the positioning system can be converted into the position and attitude deviation under the navigation coordinate system through the coordinate system conversion, the positioning module sends the deviation amount of the AGV needing to be moved under the positioning system to the navigation control module through an information sending module, and the navigation control module carries out coordinate conversion on the deviation amount to obtain the deviation amount under the navigation coordinate system. The existing function of the AGV control system, AGV master control, can both realize the function- -control AGV and move.
And 8, the navigation control system controls the AGV to move to eliminate deviation, position posture data of the positioning system is repeatedly updated in the moving process of the AGV, until the relative position posture of the container and the AGV under the positioning system is the same as the set position posture, an information sending module of the positioning module sends a completion instruction to the navigation module, the navigation module uploads the current position posture data of the AGV to the operation and maintenance scheduling system, the operation and maintenance scheduling system updates the station of the AGV, and the updated coordinate point is the accurate coordinate after secondary calibration.
The application of the invention comprises the following steps:
step 4 further comprises: and 4-1, controlling the motor to rotate at a constant speed by a control system in the positioning base station, and emitting the surface laser.
Step 6 further comprises:
6-1, because the positioning base station is fixedly connected with the AGV, the offset of the positioning base station is equivalent to the offset of the AGV, and the navigation control system obtains the position coordinate of the positioning base station under the navigation coordinate system and is equivalent to obtain the position coordinate of the AGV under the navigation coordinate system;
and 6-2, the positioning system sends the offset data to the navigation system, the navigation system receives the offset data, then the coordinate system of the offset data is converted to obtain the offset in the navigation coordinate system, and then an instruction is sent to control the AGV to move to eliminate the offset.
The operation and maintenance scheduling system is in communication connection with the AVG navigation control system and sends a position and path scheduling instruction to the AVG navigation control system; after the AGV reaches the position near the station, a positioning base station in the surface type laser positioning system can scan a positioning module above the container, and further obtain the position and attitude coordinates of the container relative to the AGV, because the position and attitude of the container relative to the station of the AGV are set, the positioning module calculates the position error and the attitude error, and sends the error to a navigation control system, the navigation control system converts a coordinate system of the positioning base station according to the angle difference between the coordinate system and the navigation coordinate system, converts the position and attitude error under the coordinate system of the positioning base station into the position and attitude error under the navigation coordinate system and controls the AGV to move correspondingly, so that the AGV reaches an accurate station, and after confirming that the AGV finishes sending an instruction to a scheduling system, and the scheduling system establishes the station as the accurate station.
Has the advantages that: the invention relates to a surface laser positioning system, an AGV positioning calibration system and an AGV positioning method.A scheduling instruction including position and path information is sent to an AVG motion control system through an operation and maintenance scheduling system; guiding a traveling path of the AVG motion control system through the AGV navigation control system; and receiving a working instruction sent by the operation and maintenance scheduling system through a surface type laser positioning system, and sending out surface type laser. The positioning base station emits synchronous light and surface type scanning laser outwards to form two scanning surfaces, the photosensitive sensor on the corresponding positioning module can receive the synchronous light and the fan-shaped laser, and position and attitude data of the positioning module relative to the positioning base station are obtained. Based on the method, the AGV can be automatically and finely calibrated without manual adjustment, and the efficiency of accurately calibrating the AGV is improved. In addition, the light source of the invention is a concave lens dodging system (diffuser), points are changed into planes, the positioning base station is placed on the AGV, the positioning module is placed at the appointed position of the container, the price of the positioning module is low, the positioning module is suitable for placing more, and the low-cost AGV positioning system can be satisfied.
Drawings
Fig. 1 is a schematic structural diagram of a positioning system according to the present invention.
FIG. 2 is a flow chart of a positioning method of the present invention.
Fig. 3 is a schematic structural diagram of a positioning base station in the present invention.
FIG. 4 is a schematic view of an angle of a photosensitive sensor according to the present invention.
Fig. 5 is a schematic diagram of the position solution of the photosensitive sensor in the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
The applicant believes that in the parking positioning operation of a mobile robot in a storage type large warehouse or a workshop or a data center, in some occasions where high-precision positioning parking is required, two-dimensional codes are usually pasted on the ground or on the wall due to insufficient positioning precision of positioning modes such as a laser SLAM, a magnetic strip or a strip, and then secondary precise positioning is carried out by using a visual camera to carry out photographing positioning.
The positioning method has the defect that the positioning precision is inevitably influenced when the two-dimensional code posted on the ground is polluted or worn. In addition, two-dimensional codes are not suitable to be posted in some occasions. In some application scenes, the requirement on position accuracy is extremely high, the requirement on the positioning accuracy of the angle posture is also extremely high, and in the application scenes, the two-dimensional code can only perform accurate positioning of the position, cannot perform angle positioning and cannot meet the requirement.
The Slam laser navigation realizes positioning navigation by scanning external environment and taking some obvious buildings as positioning reference objects, and compared with two-dimensional code navigation, the laser Slam navigation has higher flexibility.
However, both the two-dimensional code navigation and the Slam laser navigation need to establish a station as a path planning point or a stopping operation point of the AGV. If the requirement on the precision of the station is high, the position and the posture of the pasting point are required to be accurate when the two-dimensional code identifier is pasted, and when the number of the stations is too large, much time is required, and the efficiency is reduced. Slam laser navigation has two modes of establishing a station, namely directly establishing the station on a scanned map, and moving the AGV to a target position through an actual environment to establish a station position, wherein the station position can be displayed on the map. The first mode is used for building the site, the scanning map is different from the actual environment, so the accuracy of building the site on the map is low, the second mode is used for building the site, artificial fine calibration of point positions and postures is also needed, and once the number of the point positions is large, the efficiency is low.
So the condition of inefficiency can appear at present mainly in AGV's accurate calibration point position.
In order to solve the problem that multi-direction and multi-posture accurate positioning is difficult to achieve in secondary accurate positioning of a mobile robot, the applicant provides an AGV positioning and calibrating system which comprises an operation and maintenance scheduling system, an AGV navigation control system, a surface type laser positioning system and an AGV motion control system.
And the operation and maintenance scheduling system sends a scheduling instruction including position and path information to the AVG navigation control system.
The AGV navigation control system is used for guiding the traveling path of the AVG motion control system.
The surface type laser positioning system is used for receiving a working instruction sent by the operation and maintenance scheduling system and sending synchronous light and sector scanning laser. The surface type laser light source is point laser, laser is diffused to form surface type laser by irradiating a concave lens, and the surface type laser respectively rotates around a horizontal shaft and a vertical shaft to scan.
The surface type laser positioning system comprises a positioning base station and a positioning module, wherein the positioning module comprises a block photosensitive sensor, a data calculation module and an information sending module. The positioning base station is installed on the AGV and emits synchronous light and sector scanning laser outwards, so that a sector laser surface is formed. The location base station further comprises a rotating surface laser emitting assembly and a synchronous light emitting assembly, wherein the rotating surface laser emitting assembly comprises a rotating surface laser around a horizontal shaft and a rotating surface laser around a vertical shaft, the synchronous light emitting assembly emits infrared light (synchronous light) to the front of the location base station and faces the base station, the rotating surface laser emitting surface laser around the horizontal shaft sweeps the front of the location base station from bottom to top, and the rotating surface laser emitting surface laser around the vertical shaft sweeps the front of the location base station from left to right. The positioning module is arranged on a tool, a goods shelf or a data center cabinet and the like, the positioning base station emits synchronous light, a photosensitive sensor on the upper surface of the positioning module receives a synchronous light signal and then carries out time synchronization, the laser is rotated around a horizontal shaft to emit surface type laser for scanning from bottom to top, after the photosensitive sensor receives the laser, the data calculation module calculates the time difference between the received synchronous light and the received laser rotated around the horizontal shaft, and the angle of the photosensitive sensor around the horizontal shaft relative to the positioning base station can be calculated according to the angular speed of the laser rotated around the horizontal shaft; after the laser rotating around the horizontal shaft is completed, the laser emitting surface type laser is rotated around the vertical shaft to scan from left to right, after the laser is received by the light surface sensor, the data calculation module calculates the time difference between the received synchronous light and the received laser rotating around the vertical shaft, the angle of the photosensitive sensor around the vertical shaft relative to the positioning base station can be calculated according to the angular speed of the laser rotating around the vertical shaft, and the angle information of each photosensitive sensor relative to the positioning base station can be calculated; the unique position is found in the space by using the cosine law through the known distance between all the photosensitive sensors on the positioning module to meet the space coordinate of all the photosensitive sensors at the moment, and the position and the posture of the positioning module can be calculated according to the placing positions of all the photosensitive sensors on the positioning module after the space coordinate of all the photosensitive sensors is obtained. It is preferable that the synchronization light is LED infrared light.
In an embodiment, the positioning base station comprises a rotating surface laser emitting assembly (the fan-shaped laser emitting assembly is formed by an LED laser and concave lens dodging system, and visible light or infrared light can be obtained), and a synchronous light emitting assembly, wherein the rotating surface laser emitting assembly comprises a rotating surface laser around a horizontal axis and a rotating surface laser around a vertical axis, the synchronous light emitting assembly emits infrared light to the front of the positioning base station and faces the base station, the rotating surface laser emitting surface laser around the horizontal axis sweeps the front of the positioning base station from bottom to top, and the rotating surface laser emitting surface laser around the vertical axis sweeps the front of the positioning base station from left to right.
Based on the AGV positioning system, the invention further provides a secondary high-precision AGV positioning method based on the surface type laser, which comprises the following steps:
And 2, the AGV reaches the designated position according to the designated path under the guidance of the AGV navigation control system, and feeds back a successful arrival signal to the operation and maintenance scheduling system.
And 3, the operation and maintenance scheduling system sends a working instruction to the surface laser positioning system, and after the working instruction is obtained, the positioning base station starts to emit synchronous light and emits surface laser.
And 4, the positioning base station firstly emits synchronous light, a light surface sensor on the upper surface of the positioning module receives a synchronous light signal and then performs time synchronization, the laser is rotated around the horizontal shaft to emit surface type laser to scan from bottom to top, after the photosensitive sensor receives the laser, the data calculation module calculates the time difference between the received synchronous light and the received laser rotated around the horizontal shaft, and the angle of the photosensitive sensor around the horizontal shaft relative to the positioning base station can be calculated according to the angular speed of the laser rotated around the horizontal shaft. After the rotation of the laser is completed around the horizontal axis, the laser is rotated around the vertical axis to emit surface type laser, the surface type laser is scanned from left to right, after the photosensitive sensor receives the laser, the data calculation module calculates the time difference between the received synchronous light and the received laser rotated around the vertical axis, the angle of the photosensitive sensor around the vertical axis relative to the positioning base station can be calculated by the angular speed of the laser rotated around the vertical axis, the angle information of each photosensitive sensor relative to the positioning base station can be calculated, and the reference figure 4 is used.
And 5, calculating the included angle between the photosensitive sensors through the angle of the photosensitive sensors relative to the positioning base station, wherein the distance between the photosensitive sensors on the known positioning sensor can be used for finding the unique position in the space by using the cosine law to meet the space coordinate of each photosensitive sensor at the moment, and referring to fig. 5. The distances (vectors) from the 3 photosensitive sensors on the positioning module to the laser source are respectively X 1 X 2 X 3 And X 1 X 2 X 3 The angles among the three are respectively 1, 2 and 3, and the space distance is L 1 、L 2 、L 3 。
The number of the photosensitive sensors needs to be larger than a certain value to ensure the unique authenticity of the space solution of the photosensitive sensors. After the space coordinates of the photosensitive sensors are obtained, the position and the posture of the positioning module can be calculated according to the placement positions of the photosensitive sensors on the positioning module.
Because the positioning module is arranged above the container and the positioning base station is arranged above the AGV, the position and the attitude of the positioning module can be considered to be the same as the position and the attitude data of the container, and the position and the attitude of the positioning base station are the same as the position and the attitude data of the AGV. The coordinate system of the positioning system is established according to the positioning base station above the AGV, and the position and attitude data acquired by the positioning system is the position and attitude data of the positioning module relative to the positioning base station, namely the position and attitude data of the container relative to the AGV.
And 6, firstly setting the position and attitude data of the positioning module relative to the positioning base station in the positioning system, wherein the position and attitude are accurate attitude data, when the positioning base station in the positioning system acquires the position and attitude data of the positioning module, the positioning system can compare the position and attitude data with the set position and attitude data to obtain deviation data, normally correcting the deviation data needs to move the positioning module for correction, but in actual situations, the container is a fixed object, the AGV is a moving object, and the AGV needs to move the AGV to correct the deviation data, so that the AGV needs to move reversely under a positioning base station coordinate system for correcting the deviation data, and the positioning module sends the deviation amount of the AGV needing to move under the positioning system to the navigation control module through the information sending module.
And 7, controlling and moving the AGV by the navigation control system, wherein the positioning system obtains deviation data which is under a positioning system coordinate system and needs to be converted into a coordinate system of the navigation system, the AGV is fixed with a positioning system base station, the angle of the AGV under the navigation system is the angle of the positioning base station under the navigation coordinate system and is the angle of the positioning system coordinate system under the navigation coordinate system, the position and attitude deviation under the positioning system can be converted into the position and attitude deviation under the navigation coordinate system through a conversion matrix, the positioning module sends the deviation amount of the AGV which needs to move under the positioning system to the navigation control module through an information sending module, and the navigation control module carries out coordinate conversion on the deviation amount to obtain the deviation amount under the navigation coordinate system.
And 8, the navigation control system controls the AGV to move to eliminate deviation, position posture data of the positioning system is repeatedly updated in the moving process of the AGV, until the relative position posture of the container and the AGV under the positioning system is the same as the set position posture, an information sending module of the positioning module sends a completion instruction to the navigation module, the navigation module uploads the current position posture data of the AGV to the operation and maintenance scheduling system, the operation and maintenance scheduling system updates the station of the AGV, and the updated coordinate point is the accurate coordinate after secondary calibration.
Fig. 3 and 4 show a synchronous light array 1, a surface laser 2 rotating around a vertical axis and a surface laser 3 rotating around a horizontal axis; alpha and beta are angles of the photosensitive sensor relative to the base station.
In conclusion, the high-precision positioning system is divided into a positioning base station and a positioning module, the positioning module is embedded in a proper position of the container, and the positioning base station is installed above the AGV body. When the AGV moves to the front of the container, the positioning module on the container enters the field of vision of the positioning base station, the position and attitude data between the container and the AGV can be obtained, the positioning module compares the obtained position and attitude data with the set position and attitude data to obtain an offset, the offset is inverted and then converted into the offset under a navigation coordinate system through coordinate conversion, the navigation control system controls the AGV to move to compensate the offset, until the position and attitude data obtained by the positioning system is the same as the set position and attitude data, the latest position is updated to be a station, so that the position between the AGV and the container is more accurate, and the AGV can be conveniently subjected to fine picking and placing operation before the container. The surrounding environment is first scanned with an AGV, a station before a container is established on a map obtained by the scanning (rough establishment), then controlling the AGV to automatically navigate to the front of each container station, when the AGV moves to the container station, the positioning base station acquires the relative position and attitude data of the positioning module, comparing with the set position and attitude data to obtain an offset error, sending to the navigation control system, receiving and converting the offset error by the navigation control system into an offset error under a navigation coordinate system, taking the offset error under the navigation positioning system as direct feedback to continuously adjust the position and attitude of the AGV to make the offset of the AGV be 0, when the offset of the laser positioning system is 0, the offset of the AGV under the navigation coordinate system is also 0, the AGV stores the coordinate and the attitude of the map scanning at the moment as accurate station data to replace the previous rough station, and the station moves to the next rough station after being established to repeat the operation.
In a word, in order to solve the problems of long-term use reliability, lack of angle positioning or lack of installation environment of two-dimensional code secondary positioning of the mobile robot, the scheme provides a secondary high-precision positioning scheme based on surface laser. Sending a scheduling instruction including position and path information to an AGV motion control system through an operation and maintenance scheduling system; guiding a traveling path of an AGV motion control system through an AGV navigation control system; and receiving a working instruction sent by the operation and maintenance scheduling system through a surface type laser positioning system, and sending out surface type laser. The positioning base station emits synchronous light and surface type scanning laser outwards to form two scanning surfaces, the photosensitive sensor on the corresponding positioning module can receive the synchronous light and the fan-shaped laser, and position and attitude data of the positioning module relative to the positioning base station are obtained. Compared with the traditional two-dimensional code scanning and positioning mode, the method has the advantages of high precision, high stability and difficulty in interference.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited to the invention itself. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. An AGV positioning calibration system for surface type laser positioning is characterized by comprising a positioning base station and a positioning module; the positioning module comprises a data calculation module, an information sending module and a photosensitive sensor; the positioning module receives fan-shaped laser emitted by the positioning base station, and position and posture information of the positioning module body and the positioning base station is obtained according to the laser angle received by the photosensitive sensor and the distance between the photosensitive sensors;
the positioning base station is fixed on the AGV and emits synchronous light and two sector laser outwards, the synchronous light is scattered forwards, and the surface laser respectively rotates around a horizontal shaft and a vertical shaft of the base station to form periodically scanned surface laser;
the positioning module is embedded at a preset position of a container, the data calculation module is embedded in the positioning module and is used for calculating the position and the posture of the positioning module, the photosensitive sensors receive synchronous light and fan-shaped laser light emitted by the positioning base station, the data calculation module calculates the angle of each photosensitive sensor relative to the positioning base station according to the time difference of the synchronous light and the fan-shaped laser light received by the plurality of photosensitive sensors arranged on the upper surface of the positioning module, and the actual distance between the photosensitive sensors is combined to calculate the coordinate of each photosensitive sensor relative to the positioning base station; the data calculation module calculates the position and attitude information of the positioning module body relative to the positioning base station according to the position of each photosensitive sensor above the positioning module;
the data calculation module is embedded in the positioning module and used for calculating the position coordinates of the photosensitive sensors relative to the base station according to the time difference of the synchronous light and the fan-shaped laser received by the photosensitive sensors and the scanning angular speed data of the fan-shaped laser of the positioning base station and calculating the arrival angle information of the positioning module body relative to the positioning base station according to the installation positions of the photosensitive sensors on the positioning module; the data calculation module records the time difference and carries out mathematical operation solution according to the parameters;
the number of the photosensitive sensors on the positioning module is 3 or more;
the positioning base station comprises a rotating surface laser emission assembly and a synchronous light emission assembly, the rotating surface laser emission assembly comprises a surface laser rotating around a horizontal shaft and a surface laser rotating around a vertical shaft, the synchronous light emission assembly emits infrared light to the front of the positioning base station and faces the base station, the surface laser emitting laser rotating around the horizontal shaft sweeps the front of the positioning base station from bottom to top, and the surface laser emitting laser rotating around the vertical shaft sweeps the front of the positioning base station from left to right;
the positioning base station firstly emits synchronous light, a photosensitive sensor on the upper surface of the positioning module receives a synchronous light signal and then carries out time synchronization, the surface laser emitted by the laser rotating around the horizontal shaft scans from bottom to top, after the photosensitive sensor receives the laser, the data calculation module calculates the time difference between the received synchronous light and the received laser rotating around the horizontal shaft, and the angle of the photosensitive sensor around the horizontal shaft relative to the positioning base station can be calculated according to the angular speed of the laser rotating around the horizontal shaft; after the laser rotating around the horizontal shaft is completed, the laser emitting surface type laser is rotated around the vertical shaft to scan from left to right, after the photosensitive sensor receives the laser, the data calculation module calculates the time difference between the received synchronous light and the received laser rotating around the vertical shaft, the angle of the photosensitive sensor around the vertical shaft relative to the positioning base station can be calculated according to the angular speed of the laser rotating around the vertical shaft, and the angle information of each photosensitive sensor relative to the positioning base station can be calculated; the unique position is found in the space by using the cosine law through the known distance between all the photosensitive sensors on the positioning module to meet the space coordinate of all the photosensitive sensors at the moment, and the position and the posture of the positioning module can be calculated according to the placing positions of all the photosensitive sensors on the positioning module after the space coordinate of all the photosensitive sensors is obtained.
2. The AGV positioning calibration system of claim 1 wherein said positioning base includes a synchronizing light emitting assembly and a fan laser emitting assembly; the fan-shaped laser emission component is formed by an LED laser and concave lens dodging system;
the synchronous light emitting component emits infrared light to the right front of the positioning base station;
the laser emitting assembly comprises a surface type laser rotating around a horizontal shaft and a surface type laser rotating around a vertical shaft and is arranged inside the positioning base station.
3. The system of claim 1, wherein the positioning module receives a fan laser from the positioning base station, and calculates the distance between the positioning module and the positioning base station according to the time difference of the received laser and the actual distance between the photosensitive sensor.
4. The AGV positioning calibration system of claim 1 wherein the laser positioning system acquires current position and attitude coordinates of the AGV and the container at predetermined periods;
the AVG is provided with an operation and maintenance scheduling system, a motion control system and an AGV navigation control system, wherein the motion control system is electrically connected with the AGV and is used for driving the AGV to make a preset action;
the operation and maintenance scheduling system is in communication connection with the AVG motion control system and sends a position and path scheduling instruction to the AVG motion control system;
and the AGV navigation control system receives the instruction of the operation and maintenance scheduling system to control the AGV to travel according to the designated route, also receives the offset instruction sent by the surface type laser positioning system and the offset of the actual position and the set position under the offset designated positioning system, converts the offset instruction into the offset under the navigation coordinate system, and then controls the AGV to travel to eliminate the offset, so that the relative position of the AGV and the container reaches the set target value.
5. A method for using a surface laser positioning AGV positioning calibration system according to any of claims 1-4, including the steps of:
step 1, the operation and maintenance scheduling system sends a scheduling instruction including position and path information to an AGV;
step 2, the AGV reaches a specified position according to a specified path under the guidance of an AGV navigation control system, and feeds back a successful arrival signal to an operation and maintenance scheduling system;
step 3, the operation and maintenance scheduling system sends a working instruction to the surface type laser positioning system, after the working instruction is obtained, the positioning base station starts working, and sends synchronous light and surface type laser;
step 4, the positioning module receives the laser signal and calculates and obtains the arrival angle information by using an embedded system;
step 5, calculating the relative position relation between the positioning base station and the sensor by an embedded system of the laser positioning system according to the reaching angle information and the position relation information between the sensors;
step 6, the positioning system transmits the deviation data of the actual position and the set position to a navigation control system, the navigation control system coordinate system is converted into a navigation coordinate system to calculate the moving offset of the AGV, and the moving offset is issued to a motion control system of the AGV;
step 7, the AGV motion control system drives the AGV mechanism to do translation and rotation motion according to the offset data issued by the navigation control system, and secondary accurate positioning and stopping are achieved; the AGV control system realizes the function of controlling the movement of the AGV;
step 8, judging whether the AGV position and angle information meets the requirements or not by the sensor positioning module according to the calculated position information; if yes, the AGV feeds a success signal back to the operation and maintenance scheduling system; if not, returning to the step 4.
6. The application method according to claim 5, wherein in step 4:
and 4-1, controlling the motor to rotate at a constant speed by a control system in the positioning base station, and emitting surface laser.
7. The application method according to claim 5, wherein in step 6:
6-1, because the positioning base station is fixedly connected with the AGV, the offset of the positioning base station is equivalent to the offset of the AGV, and the navigation control system obtains the position coordinate of the positioning base station under the navigation coordinate system and is equivalent to obtain the position coordinate of the AGV under the navigation coordinate system;
and 6-2, the positioning system sends the offset data to the navigation system, the navigation system receives the offset data, then the coordinate system of the offset data is converted to obtain the offset in the navigation coordinate system, and then an instruction is sent to control the AGV to move to eliminate the offset.
8. The application method of claim 5, wherein an operation and maintenance scheduling system is in communication connection with the AVG navigation control system and sends a position and path scheduling instruction to the AVG navigation control system;
when the AGV reaches a position nearby a station, a positioning base station in the surface type laser positioning system can scan a positioning module above a container, so that the position and the attitude coordinate of the container relative to the AGV are obtained, the positioning module calculates the position error and the attitude error as the position and the attitude of the container relative to the station of the AGV are set, the error is sent to a navigation control system, the navigation control system converts a coordinate system according to the angle difference between the coordinate system of the positioning base station and the navigation coordinate system, the position and the attitude error under the coordinate system of the positioning base station are converted into the position and the attitude error under the navigation coordinate system, the AGV is controlled to move correspondingly, the AGV reaches an accurate station, the navigation system sends an instruction to a scheduling system after confirming that the AGV finishes sending the instruction, and the scheduling system establishes the station as the accurate station.
9. The method of claim 5, wherein the distances from the laser source to the 3 photosensitive sensors on the positioning module are X 1 X 2 X 3 And X 1 X 2 X 3 The angles among the three are respectively 1, 2 and 3, and the space distance is L 1 、L 2 、L 3 ；
The positioning module is arranged above the container, the positioning base station is arranged above the AGV, the position posture of the positioning module is the same as the position posture data of the cabinet, and the position posture of the positioning base station is the same as the position posture data of the AGV; a coordinate system of the positioning system is established according to the positioning base station above the AGV, and the position and posture data acquired by the positioning system is the position and posture data of the positioning module relative to the positioning base station, namely the position and posture data of the container relative to the AGV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110987605.4A CN113758480B (en) | 2021-08-26 | 2021-08-26 | Surface type laser positioning system, AGV positioning calibration system and AGV positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110987605.4A CN113758480B (en) | 2021-08-26 | 2021-08-26 | Surface type laser positioning system, AGV positioning calibration system and AGV positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113758480A CN113758480A (en) | 2021-12-07 |
| CN113758480B true CN113758480B (en) | 2022-07-26 |
Family
ID=78791247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110987605.4A Active CN113758480B (en) | 2021-08-26 | 2021-08-26 | Surface type laser positioning system, AGV positioning calibration system and AGV positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113758480B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115909794A (en) * | 2023-02-24 | 2023-04-04 | 华砺智行(武汉)科技有限公司 | Intelligent platform vehicle guiding method and device, electronic equipment and storage medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104777452B (en) * | 2015-04-09 | 2017-05-17 | 北京科技大学 | Positioning system and positioning method of mobile equipment |
| CN105157697B (en) * | 2015-07-31 | 2017-05-17 | 天津大学 | Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning |
| CN106093863B (en) * | 2016-05-31 | 2018-08-14 | 上海乐相科技有限公司 | A kind of object localization method and laser receiver using laser scanning |
| CN106646365B (en) * | 2016-11-25 | 2024-02-20 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| CN113795773A (en) * | 2019-03-08 | 2021-12-14 | 欧司朗股份有限公司 | Component for a LIDAR sensor system, LIDAR sensor device, method for a LIDAR sensor system and method for a LIDAR sensor device |
| CN210605471U (en) * | 2019-09-24 | 2020-05-22 | 南京英尼格玛工业自动化技术有限公司 | Local high accuracy location navigation head of AGV |
| CN110471430A (en) * | 2019-09-24 | 2019-11-19 | 李宏达 | A kind of AGV partial high-precision positioning navigation device |
-
2021
- 2021-08-26 CN CN202110987605.4A patent/CN113758480B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113758480A (en) | 2021-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108571971B (en) | AGV visual positioning system and method | |
| CN108287544B (en) | Method and system for intelligent robot route planning and returning along original path | |
| CN110487213B (en) | Full-view-angle line laser scanning three-dimensional imaging device and method based on spatial dislocation | |
| US9197810B2 (en) | Systems and methods for tracking location of movable target object | |
| US10175360B2 (en) | Mobile three-dimensional measuring instrument | |
| CN108958250A (en) | Multisensor mobile platform and navigation and barrier-avoiding method based on known map | |
| CN105547305B (en) | A kind of pose calculation method based on wireless location and laser map match | |
| CN109323696A (en) | A kind of unmanned fork lift indoor positioning navigation system and air navigation aid | |
| EP3168704A1 (en) | 3d surveying of a surface by mobile vehicles | |
| US20140267703A1 (en) | Method and Apparatus of Mapping Landmark Position and Orientation | |
| CN103477185A (en) | Measuring system for determining 3D coordinates of an object surface | |
| CN106597470B (en) | A kind of three dimensional point cloud coordinate transformation method based on three dimensional point cloud acquisition device | |
| US11378693B2 (en) | Floor surveying system | |
| CN109751992B (en) | Indoor three-dimensional space-oriented positioning correction method, positioning method and equipment thereof | |
| CN101750012A (en) | Device for measuring six-dimensional position poses of object | |
| CN110211228A (en) | For building the data processing method and device of figure | |
| CN109144068A (en) | The automatically controlled mode and control device of three-dimensional shift-forward type navigation switching AGV fork truck | |
| WO2008059279A1 (en) | Distance measuring device and method | |
| JP2017009574A (en) | Radar axis deviation-amount calculation device and radar axis deviation-amount calculation method | |
| CN110926479B (en) | Method and system for automatically generating indoor three-dimensional navigation map model | |
| CN109238247A (en) | A kind of six degree of freedom measurement method towards the complicated scene of large space | |
| CN113758480B (en) | Surface type laser positioning system, AGV positioning calibration system and AGV positioning method | |
| CN115014338A (en) | Mobile robot positioning system and method based on two-dimensional code vision and laser SLAM | |
| CN109900272B (en) | Visual positioning and mapping method and device and electronic equipment | |
| CN215881648U (en) | Mobile brick laying robot system for building construction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |