CN114234853A - Shelf inclination angle measuring method, system, equipment and medium based on laser scanning - Google Patents
Shelf inclination angle measuring method, system, equipment and medium based on laser scanning Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a method, a system, equipment and a medium for measuring the inclination angle of a goods shelf based on laser scanning, wherein the method comprises the following steps: detecting the distance between the AGV and a target shelf in front, and sending a notification signal after the AGV enters an adjustment area so that a laser scanner carried on the AGV scans the direction of the target shelf; identifying the shelf leg contour and shelf leg coordinates of a target shelf in a laser scanning area; calculating the relative distance and the relative angle between a target shelf and the AGV according to the shelf support leg coordinates; and adjusting the travel route of the AGV according to the calculation result. According to the invention, on the basis of the basic obstacle avoidance and navigation functions of the AGV, the inclination angle of the target goods shelf is determined by identifying the position of the goods shelf support leg of the target goods shelf, and then the traveling route of the AGV is adjusted according to the inclination angle of the target goods shelf, so that the collision between the AGV and the goods shelf support leg when the target goods shelf is carried is avoided, and the carrying efficiency is improved.
Description
Technical Field
The invention relates to the technical field of AGV control, in particular to a method, a system, equipment and a medium for measuring a shelf inclination angle based on laser scanning.
Background
In recent years, with the rise of intelligent factories and unmanned warehouses and the transformation and upgrading of the traditional manufacturing industry, a laser forklift based on laser autonomous navigation has been widely applied to a plurality of automatic production lines as an important AGV device. Meanwhile, the latent two-dimensional code navigation AGV plays an important role in the automation industry. In practical application, a two-dimensional code navigation AGV generally uses a fixed station form to take and unload goods, the AGV firstly comes under a goods rack, then lifts the material rack through a lifting mechanism, and finally sends the material rack to a specified place. For simple applications, such handling is the most straightforward and efficient way. However, in a complex scenario, when the size of the car body and the clearance of the rack support are narrow, if the rack deviates from a position or an angle, there is a risk that the AGV directly enters the bottom of the rack to pick up the goods, and then the AGV collides with the support leg.
In order to solve the above technical problems, the existing technical solution is to perform recognition by an external camera, and further perform recognition of shelf legs by using a recognition algorithm of deep learning or point cloud matching, which undoubtedly increases the computation amount and material cost of the processor.
Disclosure of Invention
The present invention is directed to a method, system, device and medium for measuring shelf tilt angle based on laser scanning, so as to solve one or more of the problems of the prior art and provide at least one of the advantages of the method, system, device and medium.
In a first aspect, a shelf inclination angle measurement method based on laser scanning is provided, which includes:
detecting the distance between the AGV and a target shelf in front, and sending a notification signal after the AGV enters an adjustment area so that a laser scanner carried on the AGV scans the direction of the target shelf;
identifying the shelf leg contour and shelf leg coordinates of a target shelf in a laser scanning area;
calculating the relative distance and the relative angle between a target shelf and the AGV according to the shelf support leg coordinates;
and adjusting the travel route of the AGV according to the calculation result.
Further, detect the interval between AGV and the target goods shelves in front, send notice signal after AGV gets into the adjustment region, include:
acquiring the distance between the AGV and a front target shelf through a laser scanner, and judging whether the distance between the AGV and the target shelf reaches a preset detection threshold value or not;
if so, sending a scanning signal to the laser scanner and sending a parking signal to the AGV;
if not, the distance between the AGV and the front target shelf is maintained, wherein the distance is obtained from the laser scanner.
Further, the identifying the shelf leg profile and the shelf leg coordinates of the target shelf in the laser scanning area includes:
acquiring a dense characteristic data area matched with the characteristics of the support legs of the goods shelf in the scanning area according to the angular resolution of the laser scanner and the direction of the target goods shelf, and determining the position coordinates of the dense characteristic data area;
measuring the length of a shelf supporting leg of a target shelf, and screening out a dense characteristic data area matched with the length of the shelf supporting leg by using an exhaustion method;
and constraining the offset error and the offset angle of the target shelf, judging whether the offset error and the offset angle of the screened dense characteristic data area are within the error allowable range, and if so, confirming that the dense characteristic data area is the shelf supporting leg.
Further, the calculating the relative distance and the relative angle between the target rack and the AGV according to the rack leg coordinates includes:
determining the area of a target shelf through two shelf supporting legs, calculating the inclination angle of the target shelf and the central point of the target shelf by using the coordinates of the two shelf supporting legs, and determining the coordinates of the target shelf;
and calculating the distance and the relative angle between the laser scanner and the central point of the target shelf, and converting the coordinates of the target shelf into the global coordinate system of the AGV for representation through matrix transformation.
Further, the calculating the inclination angle of the target shelf and the center point of the target shelf by using the coordinates of the two shelf legs to determine the coordinates of the target shelf comprises:
calculating coordinates of the middle points of the two shelf supporting legs, and determining the central position between the two shelf supporting legs and the inclination angle of the target shelf according to the height difference of the middle points of the two shelf supporting legs;
the method comprises the steps of obtaining the width of a target shelf, and determining the coordinate of the center position of the target shelf in a scanning area by using a shelf center calculation formula; the shelf center calculation formula is as follows:
wherein X represents the abscissa of the center position of the two shelf legs, Y represents the ordinate of the center position of the two shelf legs, W represents the width of the target shelf, and X represents the width of the target shelf0Abscissa, Y, representing the center point of the target shelf0The ordinate represents the center point of the target shelf, and θ represents the tilt angle of the target.
Further, the calculating the distance and the relative angle between the laser scanner and the central point of the target shelf, and converting the coordinates of the target shelf into the global coordinate system of the AGV for representation through matrix transformation includes:
acquiring a real coordinate of a reference point of the AGV in an AGV global coordinate system;
measuring the relative angle and distance between the laser scanner and a reference point, and calculating the real coordinate of the laser scanner in the global coordinate system of the AGV through rigid body transformation;
and carrying out rigid body transformation on the coordinates of the target goods shelf in the scanning area, and calculating the real coordinates of the target goods shelf in the global coordinate system of the AGV.
Further, the laser scanner is a nanoScan3 security laser scanner.
In a second aspect, a shelf inclination angle measuring system based on laser scanning is provided, which comprises:
the monitoring module is used for detecting the distance between the AGV and a target shelf in front of the AGV and sending a notification signal after the AGV enters an adjustment area so that a laser scanner carried on the AGV can scan the direction of the target shelf;
the identification module is used for identifying the shelf leg contour and the shelf leg coordinate of the target shelf in the laser scanning area;
the computing module is used for computing the relative distance and the relative angle between the target shelf and the AGV according to the shelf support leg coordinates;
and the adjusting module is used for adjusting the traveling route of the AGV according to the calculation result.
In a third aspect, a computer device is provided, comprising:
a memory storing a computer program;
a processor which, when executing the computer program, implements the laser scanning based shelf tilt measurement method according to the first aspect.
In a fourth aspect, a computer storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the method for laser scanning based shelf tilt measurement according to the first aspect.
The invention has the beneficial effects that: on the basis of the obstacle avoidance and navigation functions of the AGV, the inclination angle of the target goods shelf is determined by identifying the goods shelf supporting leg position of the target goods shelf, and then the traveling route of the AGV is adjusted according to the inclination angle of the target goods shelf, so that the collision between the AGV and the goods shelf supporting legs when the target goods shelf is carried is avoided, and the carrying efficiency is improved.
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FIG. 1 is a flow diagram illustrating a method for laser scanning based shelf tilt measurement according to one embodiment.
Fig. 2 is a flow diagram illustrating the method of step S100 according to one embodiment.
Fig. 3 is a flow diagram illustrating the method of step S200 according to one embodiment.
Fig. 4 is a flow diagram illustrating the method of step S300 according to one embodiment.
Fig. 5 is a block diagram illustrating a shelf tilt measurement system based on laser scanning according to an embodiment.
FIG. 6 is an internal block diagram of a computer device, shown in accordance with one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention will be further described with reference to the embodiments and the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
According to a first aspect of the invention, a method for measuring shelf inclination angle based on laser scanning is provided.
Referring to fig. 1, fig. 1 is a flowchart illustrating a shelf tilt angle measuring method based on laser scanning according to an embodiment. As shown in fig. 1, the method includes the following steps S100 to S400.
And S100, detecting the distance between the AGV and a target shelf in front, and sending a notification signal after the AGV enters an adjustment area so that a laser scanner carried on the AGV scans the direction of the target shelf.
Among them, an Automated Guided Vehicle (AGV), also commonly referred to as an AGV cart, is a transport Vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. In industrial applications, a truck without a driver uses a rechargeable battery as a power source, and generally, a computer is used to control a traveling path and behavior thereof, or an electromagnetic track (electromagnetic path-following system) is used to set the traveling path, the electromagnetic track is adhered to a floor, and an unmanned truck moves and moves according to a message brought by the electromagnetic track.
In this embodiment, the laser scanner is a nanoScan3 security laser scanner.
The AGV executes a set instruction and carries a target goods shelf, and in the process of carrying the goods shelf, the AGV reciprocates according to a set travelling path. The detection operation in step S100 occurs in a process in which the AGV approaches the target rack and is about to transport the target rack, and when the AGV travels along the set travel path and is about to reach the position of the target rack, the distance between the AGV and the target rack in front is detected by the distance measurement means.
S200, identifying the shelf leg contour and the shelf leg coordinate of the target shelf in the laser scanning area.
The method comprises the steps that a laser scanner mounted on the AGV scans the direction of a target shelf to obtain a laser scanning area, the approximate outline of a scanned object is displayed in the laser scanning area, namely the outline of the target shelf and the outline of a shelf supporting leg are included, the position of the target shelf can be roughly determined based on a preset advancing instruction in the AGV, namely the position is in front of the AGV, the distance between the target shelf and the AGC is the length of an adjusting area, and coordinates are calculated in the laser scanning area to obtain coordinates of the shelf supporting leg.
And S300, calculating the relative distance and the relative angle between the target shelf and the AGV according to the shelf support leg coordinates.
When the relative angle between the target shelf and the AGC is calculated, a processor of the AGV or an upper computer connected with the AGV identifies the type of the target shelf through the target shelf outline, and determines actual parameters of the target shelf through the type identification result, such as the size of a shelf support leg, the width of the target shelf and other parameters. After the rack leg coordinates are obtained, the approximate location of the target rack within the laser scanning area may be determined, and the relative distance and relative angle between the target rack and the AGV may be calculated by representing the target rack coordinates with one reference point of the target rack.
When the approximate position of the target shelf is determined by the two shelf legs, whether the two shelf legs belong to the target shelf may be determined based on the object profile in the laser scanning area, for example, when the two shelf legs have a profile similar to the profile characteristic of the target shelf, it is determined that the two shelf legs belong to the target shelf, and then the target shelf corresponding to the two shelf legs is determined.
And S400, adjusting the traveling route of the AGV according to the calculation result.
So, keep away the barrier and navigation feature basis at AGV's basis, confirm the inclination of target goods shelves through the goods shelves landing leg position of discernment target goods shelves, and then adjust AGV's route of marcing according to target goods shelves's inclination, avoid AGV and goods shelves landing leg to bump when carrying target goods shelves, promote handling efficiency.
Referring to fig. 2, fig. 2 is a flow chart illustrating the method of step S100 according to an embodiment. As shown in fig. 2, the method includes the following steps S110 to S130.
And S110, acquiring the distance between the AGV and a front target shelf through a laser scanner, and judging whether the distance between the AGV and the target shelf reaches a preset detection threshold value. If yes, go to step S120; if not, go to step S130.
And S120, sending a scanning signal to the laser scanner and sending a parking signal to the AGV.
And S130, maintaining the distance between the AGV and the front target shelf acquired from the laser scanner.
In the embodiment, the AGV and the target shelf are subjected to distance measurement from the laser scanning area of the laser scanner, so that the laser scanner can obtain the laser scanning area and further provide a function of identifying the shelf legs on the basis of meeting the obstacle avoidance function.
Referring to fig. 3, fig. 3 is a flowchart illustrating the method of step S200 according to an embodiment. As shown in fig. 3, the method includes the following steps S210 to S230.
And S210, acquiring a dense feature data area matched with the features of the support legs of the shelf in the scanning area according to the angular resolution of the laser scanner and the direction of the target shelf, and determining the position coordinates of the dense feature data area.
Illustratively, the angular resolution of the laser scanner is 0.17 °, the maximum scanning angle is 275 °, the data packet of the laser scanning area is transmitted to the processor of the AGV for recognition by a transmission method of TCP/IP, the data packet of the laser scanning area includes 6604 pieces of measurement data ((1651x4) including object distance and reflectivity information), the processor of the AGV determines in advance that the scanned object profile is within a detection range of 1000mm from the laser scanner according to the position and size of the rack leg, if the rack leg is 100mm, the dense data area of the scanning point can be found according to the angular resolution of α ═ arctan (100/1000) ═ 5.7 °, and then the angular resolution of 0.17 ° (5.7 ÷ 0.17 ≈ 33), thereby screening the position coordinates that can match with a single rack leg.
And S220, measuring the length of the shelf supporting leg of the target shelf, and screening out a dense characteristic data area matched with the length of the shelf supporting leg by using an exhaustion method.
In the dense feature data area matched with the shelf leg features, matching is performed on the data which may be the shelf legs,
the actual physical length of the shelf supporting legs is measured and converted into the corresponding length in the laser scanning area, then the length of each dense characteristic data area is calculated according to a two-point distance formula, two shelf supporting legs which are most consistent with the actual length are matched by using an exhaustion method, and then two needed shelf supports are determined.
And S230, constraining the offset error and the offset angle of the target shelf, judging whether the offset error and the offset angle of the screened dense characteristic data area are within an error allowable range, and if so, confirming that the dense characteristic data area is a shelf supporting leg.
After two needed shelf supports are preliminarily determined, the front, back, left and right offset errors and offset angles of a target shelf are restrained, secondary matching can be carried out on shelf supporting legs of the target shelf, and the shelf supporting legs can be determined within the range allowed by the position and angle errors.
Referring to fig. 4, fig. 4 is a flowchart illustrating the method of step S300 according to an embodiment. As shown in fig. 4, the method includes the following steps S310 to S320.
And S310, determining the area of the target shelf through the two shelf supporting legs, calculating the inclination angle of the target shelf and the central point of the target shelf by using the coordinates of the two shelf supporting legs, and determining the coordinates of the target shelf.
In step S310, the specific process of determining the target shelf coordinates is as follows:
and calculating the coordinates of the midpoints of the two shelf support legs, and determining the central position between the two shelf support legs and the inclination angle of the target shelf according to the height difference of the midpoints of the two shelf support legs.
When the target shelf has an inclination angle relative to the laser scanner, shelf legs in a laser scanning area have a height difference, the inclination angle of the target shelf is determined by the gradient of a connecting line of midpoints of the two shelf legs, the connecting line midpoint of the midpoints of the two shelf legs is the central position between the two shelf legs, and coordinates of the central position between the two shelf legs are expressed by (X, Y).
The method comprises the steps of obtaining the width of a target shelf, and determining the coordinate of the center position of the target shelf in a scanning area by using a shelf center calculation formula; the shelf center calculation formula is as follows:
wherein X represents the abscissa of the center position of the two shelf legs, Y represents the ordinate of the center position of the two shelf legs, W represents the width of the target shelf, and X represents the width of the target shelf0Abscissa, Y, representing the center point of the target shelf0The ordinate represents the center point of the target shelf, and θ represents the tilt angle of the target.
Thus, the center position of the target shelf is (x) in the scanning area0，y0，θ0)。
And S320, calculating the distance and the relative angle between the laser scanner and the central point of the target shelf, and converting the coordinates of the target shelf into an AGV global coordinate system for representation through matrix transformation.
In step S320, the specific process of converting the target rack coordinates into the AGV global coordinate system for representation is as follows:
and acquiring the real coordinates of a reference point of the AGV in the global coordinate system of the AGV. In this embodiment, parameters of the AGV are acquired by using a reflector positioning or profile positioning methodThe real coordinates of the examination point in the AGV coordinate system and the real coordinates of the reference point of the AGV are expressed as (X)1，Y1)。
And measuring the relative angle and distance between the laser scanner and a reference point, and calculating the real coordinate of the laser scanner in the global coordinate system of the AGV through rigid body transformation.
The coordinates of the laser scanner relative to the AGV reference point are expressed as (x) using the position of the AGV reference point as a reference origin2，y2，θ2) And performing rigid body transformation on the coordinates of the laser scanner by using the conversion matrix to obtain the real coordinates of the laser scanner in the AGV global coordinate system, wherein the real coordinates of the laser scanner in the AGV global coordinate system are expressed as (X)2，Y2，θ2)。
Wherein the conversion matrix is
And carrying out rigid body transformation on the coordinates of the target goods shelf in the scanning area, and calculating the real coordinates of the target goods shelf in the global coordinate system of the AGV.
Coordinate (x) of the center position of the target shelf within the scanning area using the transformation matrix0，y0，θ0) Performing rigid body transformation the same as the steps to obtain the real coordinate of the center position of the target shelf in the global coordinate system of the AGV, wherein the real coordinate of the center position of the target shelf in the global coordinate system of the AGV is expressed as (X)0，Y0，θ0)。
Therefore, the accurate position of the target shelf in the global coordinate system of the AGV provides a basis for adjusting the traveling route of the AGV by determining the relative angle and the relative distance between the AGV and the target shelf in the global coordinate system of the AGV.
According to a second aspect of the invention, a laser scanning based shelf tilt measurement system is provided.
Referring to fig. 5, fig. 5 is a block diagram illustrating a shelf tilt angle measuring system based on laser scanning according to an embodiment. As shown in fig. 5, the system includes:
the monitoring module 510 is configured to detect a distance between the AGV and a target shelf in front of the AGV, and send a notification signal when the AGV enters an adjustment area, so that a laser scanner mounted on the AGV scans the direction of the target shelf;
the identification module 520 is used for identifying the shelf leg contour and the shelf leg coordinate of the target shelf in the laser scanning area;
the calculating module 530 is used for calculating the relative distance and the relative angle between the target shelf and the AGV according to the shelf support leg coordinates;
and the adjusting module 540 is configured to adjust the travel route of the AGV according to the calculation result.
The laser scanning-based shelf inclination angle measurement system executes the laser scanning-based shelf inclination angle measurement method in the first aspect, and for specific limitations of the laser scanning-based shelf inclination angle measurement system, reference may be made to the above limitations on the laser scanning-based shelf inclination angle measurement method, which are not described herein again.
The modules in the laser scanning-based shelf inclination angle measuring system can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
According to a third aspect of the invention, a computer device is provided.
Referring to fig. 6, fig. 6 is a diagram illustrating an internal structure of a computer apparatus according to an embodiment. As shown in fig. 6, the computer device includes a processor, a memory, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The computer program is executed by a processor to implement the laser scanning based shelf tilt angle measurement method of the first aspect.
The memory and processor elements are electrically connected to each other, directly or indirectly, to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor is used for controlling and calculating the shelf inclination angle and comprises at least one software functional module which can be stored in a memory in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the server. The processor is configured to execute the executable modules stored in the memory.
The Memory may be a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), or the like. The memory is used for storing programs and voice data, and the processor executes the programs after receiving the execution instructions.
The processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The processor couples various input/output devices to the processor as well as to the memory. In some embodiments, the processor and memory may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.
The peripheral interface couples various input/output devices to the processor as well as to the memory. In some embodiments, the peripheral interface, the processor, and the memory may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.
According to a fourth aspect of the present invention, there is also provided a computer storage medium having a computer program stored therein, the computer storage medium being a magnetic random access memory, a read only memory, a programmable read only memory, an erasable programmable read only memory, an electrically erasable programmable read only memory, a flash memory, a magnetic surface memory, an optical disc, a read only optical disc, or the like; or may be a variety of devices including one or any combination of the above memories, such as a mobile phone, computer, tablet device, personal digital assistant, etc. The computer program, when executed by a processor, implements the laser scanning based shelf tilt measurement method of the first aspect.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A shelf inclination angle measuring method based on laser scanning is characterized by comprising the following steps:
detecting the distance between the AGV and a target shelf in front, and sending a notification signal after the AGV enters an adjustment area so that a laser scanner carried on the AGV scans the direction of the target shelf;
identifying the shelf leg contour and shelf leg coordinates of a target shelf in a laser scanning area;
calculating the relative distance and the relative angle between a target shelf and the AGV according to the shelf support leg coordinates;
and adjusting the travel route of the AGV according to the calculation result.
2. The method for measuring the shelf inclination angle based on the laser scanning as claimed in claim 1, wherein the detecting the distance between the AGV and the target shelf in front and sending out the notification signal after the AGV enters the adjustment area comprises:
acquiring the distance between the AGV and a front target shelf through a laser scanner, and judging whether the distance between the AGV and the target shelf reaches a preset detection threshold value or not;
if so, sending a scanning signal to the laser scanner and sending a parking signal to the AGV;
if not, the distance between the AGV and the front target shelf is maintained, wherein the distance is obtained from the laser scanner.
3. The laser scanning based shelf inclination measurement method of claim 1, wherein the identifying of the shelf leg profile and shelf leg coordinates of the target shelf within the laser scanning area comprises:
acquiring a dense characteristic data area matched with the characteristics of the support legs of the goods shelf in the scanning area according to the angular resolution of the laser scanner and the direction of the target goods shelf, and determining the position coordinates of the dense characteristic data area;
measuring the length of a shelf supporting leg of a target shelf, and screening out a dense characteristic data area matched with the length of the shelf supporting leg by using an exhaustion method;
and constraining the offset error and the offset angle of the target shelf, judging whether the offset error and the offset angle of the screened dense characteristic data area are within the error allowable range, and if so, confirming that the dense characteristic data area is the shelf supporting leg.
4. The method of claim 1, wherein the calculating the relative distance and the relative angle between the target rack and the AGV according to the rack leg coordinates comprises:
determining the area of a target shelf through two shelf supporting legs, calculating the inclination angle of the target shelf and the central point of the target shelf by using the coordinates of the two shelf supporting legs, and determining the coordinates of the target shelf;
and calculating the distance and the relative angle between the laser scanner and the central point of the target shelf, and converting the coordinates of the target shelf into the global coordinate system of the AGV for representation through matrix transformation.
5. The method for measuring the shelf inclination angle based on laser scanning according to claim 4, wherein the calculating the target shelf inclination angle and the target shelf center point by using the two shelf leg coordinates to determine the target shelf coordinates comprises:
calculating coordinates of the middle points of the two shelf supporting legs, and determining the central position between the two shelf supporting legs and the inclination angle of the target shelf according to the height difference of the middle points of the two shelf supporting legs;
the method comprises the steps of obtaining the width of a target shelf, and determining the coordinate of the center position of the target shelf in a scanning area by using a shelf center calculation formula; the shelf center calculation formula is as follows:
wherein X represents the abscissa of the center position of the two shelf legs, Y represents the ordinate of the center position of the two shelf legs, W represents the width of the target shelf, and X represents the width of the target shelf0Abscissa, Y, representing the center point of the target shelf0The ordinate represents the center point of the target shelf, and θ represents the tilt angle of the target.
6. The method for measuring the shelf inclination angle based on laser scanning as claimed in claim 4, wherein the calculating the distance and the relative angle between the laser scanner and the central point of the target shelf, and the converting the coordinates of the target shelf into the AGV global coordinate system for representation by matrix transformation comprises:
acquiring a real coordinate of a reference point of the AGV in an AGV global coordinate system;
measuring the relative angle and distance between the laser scanner and a reference point, and calculating the real coordinate of the laser scanner in the global coordinate system of the AGV through rigid body transformation;
and carrying out rigid body transformation on the coordinates of the target goods shelf in the scanning area, and calculating the real coordinates of the target goods shelf in the global coordinate system of the AGV.
7. The laser scanning based shelf inclination measurement method according to any of the claims 1-6, characterized in that said laser scanner is a nanoScan3 security laser scanner.
8. A shelf inclination angle measuring system based on laser scanning is characterized by comprising:
the monitoring module is used for detecting the distance between the AGV and a target shelf in front of the AGV and sending a notification signal after the AGV enters an adjustment area so that a laser scanner carried on the AGV can scan the direction of the target shelf;
the identification module is used for identifying the shelf leg contour and the shelf leg coordinate of the target shelf in the laser scanning area;
the computing module is used for computing the relative distance and the relative angle between the target shelf and the AGV according to the shelf support leg coordinates;
and the adjusting module is used for adjusting the traveling route of the AGV according to the calculation result.
9. A computer device, comprising:
a memory storing a computer program;
a processor which, when executing the computer program, implements the laser scanning based shelf tilt measurement method of any of claims 1-7.
10. A computer storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a laser scanning based shelf tilt measurement method according to any one of claims 1-7.
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