CN115371683A

CN115371683A - Magnetic navigation positioning method and device and AGV system

Info

Publication number: CN115371683A
Application number: CN202211139872.7A
Authority: CN
Inventors: 程子健; 崔华坤; 马天添
Original assignee: Sany Robot Technology Co Ltd
Current assignee: Sany Robot Technology Co Ltd
Priority date: 2022-09-19
Filing date: 2022-09-19
Publication date: 2022-11-22

Abstract

The invention relates to the technical field of magnetic navigation, and provides a magnetic navigation positioning method, a magnetic navigation positioning device and an AGV (automatic guided vehicle) system, wherein the magnetic navigation positioning method comprises the following steps: when the AGV reaches the starting point of the navigation magnetic stripe, acquiring a pre-constructed magnetic navigation map, wherein the magnetic navigation map comprises a calibration pose of the AGV at the starting point of the navigation magnetic stripe and a calibration pose at the end point of the navigation magnetic stripe under a global coordinate system; and determining the real-time pose of the AGV in the running process along the navigation magnetic stripe under a global coordinate system based on the external reference of the magnetic navigation map, the AGV body coordinate system and the induction result of each magnetic stripe sensor to the navigation magnetic stripe, wherein the external reference of the AGV body coordinate system is obtained based on the calibration pose of each magnetic stripe sensor under the AGV body coordinate system. The method and the device are used for overcoming the defect that the position and the attitude information of the global positioning cannot be output in the prior art, realize the output of the position and the attitude information of the global positioning and are beneficial to the global positioning and the control of the AGV.

Description

Magnetic navigation positioning method and device and AGV system

Technical Field

The invention relates to the technical field of magnetic navigation, in particular to a magnetic navigation positioning method and device and an AGV system.

Background

An Automatic Guided Vehicle (AGV) is a transport Vehicle that is powered by a battery, equipped with an electromagnetic or optical Automatic guide device, and capable of traveling along a predetermined guide path, and having safety protection and various transfer functions. AGVs have become important devices of automatic production lines, automatic assembly lines, and warehouse logistics automation systems.

In the automation line workshop, can utilize the AGV that has navigation function to transport the material usually, generally adopt magnetic stripe tracking + to detect magnetic landmark signal parking mode as AGV's station butt joint mode at present, lay the magnetic stripe along the way, and be equipped with a plurality of station websites on the assembly line, AGV arrives target station website along the magnetic stripe route and stops. The magnetic stripe tracking and magnetic landmark signal detection parking mode can only determine the displacement of the AGV deviating from a magnetic stripe line according to a magnetic stripe sensor signal, can not output position and posture information of global positioning, is not beneficial to global positioning and control of the AGV, and causes certain trouble to tasks issued by application software such as AGV dispatching software of an intelligent factory.

Disclosure of Invention

The invention provides a magnetic navigation positioning method, a magnetic navigation positioning device and an AGV system, which are used for overcoming the defects that the position and attitude information of global positioning cannot be output and the global positioning and control of the AGV cannot be facilitated in the prior art, realizing the real-time output of the position and attitude information of the global positioning and facilitating the global positioning and control of the AGV.

The invention provides a magnetic navigation positioning method, which comprises the following steps:

when an AGV reaches a starting point of a navigation magnetic stripe, acquiring a pre-constructed magnetic navigation map, wherein the magnetic navigation map is constructed on the basis of a cross magnetic stripe structure of the starting point of the navigation magnetic stripe, a cross magnetic stripe structure of the end point of the navigation magnetic stripe and a plurality of magnetic stripe sensors corresponding to the cross magnetic stripe structure on the AGV, and the magnetic navigation map comprises a calibration pose of the AGV at the starting point of the navigation magnetic stripe and a calibration pose at the end point of the navigation magnetic stripe under a global coordinate system;

based on the magnetic navigation map, the external reference of the AGV body coordinate system and each magnetic stripe sensor are right the induction result of the navigation magnetic stripe determines the AGV follows the navigation magnetic stripe traveling process is in real-time position and posture under the global coordinate system, wherein the external reference of the AGV body coordinate system is based on each magnetic stripe sensor is in the calibration position and posture under the AGV body coordinate system is obtained.

According to the magnetic navigation positioning method provided by the invention, the construction method of the magnetic navigation map comprises the following steps:

acquiring a first initial pose of the AGV under a global coordinate system based on a preset global navigation mode under the condition that the AGV is at the starting point of the navigation magnetic stripe, and acquiring external parameters of a vehicle body coordinate system and induction results of the magnetic stripe sensors on the crossed magnetic stripe structure of the starting point of the navigation magnetic stripe;

and determining the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system based on the first initial pose of the AGV under the global coordinate system, the external parameters of the vehicle body coordinate system and the induction results of the crossed magnetic stripe structures of the starting points of the navigation magnetic stripe by the magnetic stripe sensors.

According to the magnetic navigation positioning method provided by the invention, the determining of the calibration pose of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system based on the first initial pose of the AGV in the global coordinate system, the external reference of the vehicle body coordinate system and the induction result of each magnetic stripe sensor to the cross magnetic stripe structure of the starting point of the navigation magnetic stripe comprises the following steps:

determining a first pose value based on a first initial pose of the AGV in the global coordinate system;

determining a second position and attitude value based on the external parameters of the vehicle body coordinate system;

determining a third posture value based on the induction result of the magnetic stripe sensors to the crossed magnetic stripe structure of the starting point of the navigation magnetic stripe;

and determining a first product result obtained by multiplying the first pose value, the second pose value and the third pose value, and taking the first product result as the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system.

According to the magnetic navigation positioning method provided by the invention, the construction method of the magnetic navigation map further comprises the following steps:

acquiring a second initial pose of the AGV under the global coordinate system based on a preset global navigation mode under the condition that the AGV is at the terminal point of the navigation magnetic stripe, and acquiring external parameters of the vehicle body coordinate system and induction results of the magnetic stripe sensors to the crossed magnetic stripe structure of the terminal point of the navigation magnetic stripe; determining a calibration pose of the AGV at the terminal point of the navigation magnetic stripe in the global coordinate system based on a second initial pose of the AGV under the global coordinate system, external parameters of the vehicle body coordinate system and induction results of the magnetic stripe sensors to the cross magnetic stripe structure of the terminal point of the navigation magnetic stripe;

or determining the calibration pose of the AGV at the end point of the navigation magnetic stripe under the global coordinate system based on the calibration pose of the AGV at the start point of the navigation magnetic stripe under the global coordinate system and the measured pose deviation of the AGV at the end point of the navigation magnetic stripe relative to the start point of the navigation magnetic stripe.

According to the magnetic navigation positioning method provided by the invention, the calibration pose of the AGV at the end point of the navigation magnetic stripe in the global coordinate system is determined based on the second initial pose of the AGV in the global coordinate system, the external reference of the vehicle body coordinate system and the induction result of each magnetic stripe sensor to the cross magnetic stripe structure of the end point of the navigation magnetic stripe, and the calibration pose of the AGV at the end point of the navigation magnetic stripe in the global coordinate system comprises the following steps:

determining a fourth pose value based on a second initial pose of the AGV under the global coordinate system;

determining a fifth pose value based on the external parameters of the vehicle body coordinate system;

determining a sixth pose value based on the sensing result of each magnetic stripe sensor to the crossed magnetic stripe structure of the end point of the navigation magnetic stripe;

and determining a second product result obtained by multiplying the fourth pose value, the fifth pose value and the sixth pose value, and taking the second product result as the calibration pose of the AGV at the terminal point of the navigation magnetic stripe under the global coordinate system.

According to the magnetic navigation positioning method provided by the invention, the real-time pose of the AGV in the running process along the navigation magnetic strip under the global coordinate system is determined based on the magnetic navigation map, the external reference of the body coordinate system of the AGV and the induction result of each magnetic strip sensor to the navigation magnetic strip, and the method comprises the following steps:

determining a third initial pose of the AGV under the global coordinate system based on the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system, the external parameters of the body coordinate system of the AGV and the induction results of the magnetic stripe sensors to the navigation magnetic stripe;

determining the running degradation direction of the AGV along the navigation magnetic stripe based on the sensing result of each magnetic stripe sensor to the navigation magnetic stripe and a preset degradation direction judgment condition, and obtaining the position of the AGV in the global coordinate system corresponding to the degradation direction through inertia recursion;

and obtaining the real-time pose of the AGV in the navigation magnetic stripe driving process under the global coordinate system based on the third initial pose of the AGV under the global coordinate system and the position of the AGV under the global coordinate system corresponding to the degradation direction.

According to the magnetic navigation positioning method provided by the invention, the third initial pose of the AGV under the global coordinate system is determined based on the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system, the external reference of the body coordinate system of the AGV and the induction result of each magnetic stripe sensor to the navigation magnetic stripe, and the method comprises the following steps:

determining a seventh pose value based on the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system;

determining an eighth attitude value based on external parameters of the AGV body coordinate system;

determining a ninth pose value based on the induction result of each magnetic stripe sensor to the navigation magnetic stripe;

and determining a third product result obtained by multiplying the eighth pose value and the ninth pose value, determining a ratio of the seventh pose value to the third product result, and taking the ratio as a third initial pose of the AGV in the global coordinate system.

According to the invention, the magnetic navigation positioning method further comprises the following steps:

when on the AGV each magnetic stripe sensor senses the terminal point of navigation magnetic stripe during the cross magnetic stripe structure, based on under the global coordinate system the AGV is in the demarcation position appearance guide of the terminal point of navigation magnetic stripe the AGV to the terminal point of navigation magnetic stripe is gone, works as the AGV follows the navigation magnetic stripe travel in-process is in real-time position appearance under the global coordinate system with under the global coordinate system the AGV is in when the demarcation position appearance of the terminal point of navigation magnetic stripe is unanimous, control the AGV parks.

The present invention also provides a magnetic navigation positioning device, comprising:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a pre-constructed magnetic navigation map when an AGV reaches a starting point of a navigation magnetic stripe, the magnetic navigation map is constructed on the basis of a cross magnetic stripe structure of the starting point of the navigation magnetic stripe, a cross magnetic stripe structure of an end point of the navigation magnetic stripe and a plurality of magnetic stripe sensors corresponding to the cross magnetic stripe structure on the AGV, and the magnetic navigation map comprises a calibration pose of the AGV at the starting point of the navigation magnetic stripe and a calibration pose at the end point of the navigation magnetic stripe under a global coordinate system;

the first determination module is used for determining the real-time pose of the AGV in the running process along the navigation magnetic strip under the global coordinate system based on the magnetic navigation map, the external parameters of the AGV body coordinate system and the induction results of the magnetic strip sensors to the navigation magnetic strip, wherein the external parameters of the AGV body coordinate system are obtained based on the calibration pose of the magnetic strip sensors under the body coordinate system.

The invention also provides an AGV system, which comprises an AGV, a navigation magnetic strip, a crossed magnetic strip structure of a starting point of the navigation magnetic strip, a crossed magnetic strip structure of an end point of the navigation magnetic strip, a plurality of magnetic strip sensors corresponding to the crossed magnetic strip structures on the AGV, and the magnetic navigation positioning device.

The magnetic navigation positioning method provided by the invention comprises the following steps that firstly, when an AGV reaches a starting point of a navigation magnetic stripe, a pre-constructed magnetic navigation map is obtained, wherein the magnetic navigation map comprises a calibration pose of the AGV at the starting point of the navigation magnetic stripe and a calibration pose at the end point of the navigation magnetic stripe under a global coordinate system, and can respectively provide an initial basis and a positioning parking basis for the accurate global positioning of the subsequent magnetic navigation, wherein the magnetic navigation map is constructed on the basis of a crossed magnetic stripe structure of the starting point and the end point of the navigation magnetic stripe and a plurality of magnetic stripe sensors, and the map positioning accuracy is high; secondly, based on the magnetic navigation map the AGV body coordinate system's outer reference and each magnetic stripe sensor to the response result of navigation magnetic stripe, confirm the AGV along the real-time position appearance under the global coordinate system of navigation magnetic stripe driving in-process, wherein, at the AGV driving in-process, the outer reference of magnetic navigation map and AGV body coordinate system is unchangeable, and each magnetic stripe sensor changes along with AGV's removal in real time to the response result of navigation magnetic stripe to obtain real-time global positioning's position and attitude information, realize accurate global positioning under the magnetic navigation, can provide global positioning information for work such as control, planning, dispatch.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic flow chart of a magnetic navigation positioning method provided by the present invention;

FIG. 2 is a schematic structural diagram of a magnetic navigation positioning apparatus provided by the present invention;

fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

It can be understood that in the existing magnetic stripe tracking + magnetic landmark signal detection parking mode, magnetic stripe tracking belongs to a magnetic navigation mode, and the principle of the magnetic navigation mode is as follows: the magnetic field signal of magnetic stripe sensor collection magnetic stripe to pass to the control unit and judge the deviation of magnetic stripe sensor for the magnetic stripe position, for example to the left or to the right, then according to relative position deviation, give drive unit and send control command, control AGV adjustment position, make AGV's center be located the magnetic stripe all the time directly over, AGV travels along the magnetic stripe. Therefore, the traditional magnetic navigation mode can only determine the magnetic strip line according to the deviation of the AGV relative to the position of the magnetic strip, and cannot output globally positioned position and attitude information.

Based on this, the embodiment of the invention provides a magnetic navigation positioning method, which can output position and attitude information of global positioning in real time in a magnetic stripe navigation mode, and is beneficial to global control and positioning of an AGV. The magnetic navigation positioning method provided by the embodiment of the invention can be executed by the AGV or software and/or hardware in the AGV, and can also be executed by a dispatching system of the AGV.

The magnetic navigation positioning method of the present invention is described below with reference to fig. 1.

Fig. 1 is a schematic flow chart of a magnetic navigation positioning method provided by the present invention.

As shown in fig. 1, the magnetic navigation positioning method provided in this embodiment at least includes the following steps:

s100, when an AGV reaches a starting point of a navigation magnetic stripe, acquiring a pre-constructed magnetic navigation map, wherein the magnetic navigation map is constructed on the basis of a cross magnetic stripe structure of the starting point of the navigation magnetic stripe, a cross magnetic stripe structure of an end point of the navigation magnetic stripe and a plurality of magnetic stripe sensors corresponding to the cross magnetic stripe structure on the AGV, and the magnetic navigation map comprises a calibration pose of the AGV at the starting point of the navigation magnetic stripe and a calibration pose at the end point of the navigation magnetic stripe under a global coordinate system;

s200, based on the magnetic navigation map, the external reference of the AGV body coordinate system and the magnetic stripe sensors are right to the induction result of the navigation magnetic stripe, the AGV is determined to follow in the running process of the navigation magnetic stripe real-time pose under the global coordinate system, wherein the external reference of the AGV body coordinate system is obtained based on the calibration pose of the magnetic stripe sensors under the body coordinate system.

Among them, it should be noted that: the pose referred to in the present invention refers to position and attitude information. The navigation magnetic strip can adopt a one-character magnetic strip. The crossed magnetic stripe structure can be a cross magnetic stripe structure, and the number of the corresponding magnetic stripe sensors is four.

The calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system refers to: and when the AGV is positioned at the starting point of the navigation magnetic stripe, the position and posture of the AGV under the global coordinate system are calibrated at the starting point of the navigation magnetic stripe and do not change in subsequent processing, so that an initial basis is provided for global positioning of subsequent magnetic navigation. Similarly, the calibration pose of the AGV at the end point of the navigation magnetic stripe in the global coordinate system refers to: and when the AGV is positioned at the terminal point of the navigation magnetic stripe, the position and posture of the AGV under the global coordinate system are calibrated on the terminal point of the navigation magnetic stripe and do not change in subsequent processing, so that a positioning parking basis is provided for the global positioning of the subsequent magnetic navigation.

For example, taking the example that the navigation magnetic stripe may be a word magnetic stripe, the sensing result of each magnetic stripe sensor to the navigation magnetic stripe is: the AGV follows the navigation magnetic stripe in-process of traveling can select two magnetic stripe sensors around to the average value of navigation magnetic stripe's response output is regarded as the response result.

The external reference of the vehicle body coordinate system is obtained based on the calibration pose of each magnetic stripe sensor in the vehicle body coordinate system. In the whole magnetic navigation positioning method, the AGV trolley is not changed, the calibration pose of each magnetic stripe sensor under the vehicle body coordinate system is not changed, and the external reference of the vehicle body coordinate system is not changed. Exemplarily, taking the cross magnetic stripe structure as a cross magnetic stripe structure as an example, the external reference of the vehicle body coordinate system is obtained based on the calibration pose of each magnetic stripe sensor in the vehicle body coordinate system, and includes: determining initial calibration parameters of each magnetic stripe sensor according to an AGV structure design drawing, measuring according to the final installation position of each magnetic stripe sensor to obtain final calibration coordinates, then placing the AGV on a cross magnetic stripe structure, moving the AGV, confirming the installation angle of each magnetic stripe sensor through the output of each magnetic stripe sensor, and obtaining the calibration pose of each magnetic stripe sensor under the automobile body coordinate system by combining the final calibration coordinates and the installation angle, namely projecting the output of each magnetic stripe sensor under the automobile body coordinate system; four magnetic stripe sensors all around set up on the AGV, then can be in with two magnetic stripe sensors all around the average value of the x axle coordinate of the demarcation position appearance under the automobile body coordinate system is regarded as the x axle coordinate of the external reference of automobile body coordinate system, and left and right sides magnetic stripe sensor is in the average value of the y axle coordinate of the demarcation position appearance under the automobile body coordinate system is regarded as the y axle coordinate of the external reference of automobile body coordinate system.

For example, in this embodiment, the starting point of the navigation magnetic stripe may represent a switching point of global navigation and magnetic navigation, and the ending point of the navigation magnetic stripe may represent a parking point in a work station. Before the AGV does not reach the starting point of the navigation magnetic stripe, the global navigation can be carried out based on the techniques of SLAM (synchronous positioning and mapping) or reflective columns and the like, but the global navigation belongs to a low-precision positioning mode and is not suitable for the requirements of high-precision station butt joint or positioning parking, therefore, the magnetic navigation is required to be carried out when the station is in butt joint or positioning parking, and when the AGV runs to the starting point of the navigation magnetic stripe, the AGV can enter the magnetic navigation along the navigation magnetic stripe. The real-time global positioning position and posture information of the AGV are obtained by determining the real-time pose of the AGV in the global coordinate system in the process of driving along the navigation magnetic stripe, and the defect that the magnetic stripe circuit can only be determined according to the deviation of the AGV relative to the position of the magnetic stripe in the traditional magnetic navigation mode can be overcome.

In summary, according to the magnetic navigation positioning method provided by the invention, firstly, when an AGV reaches a start point of a navigation magnetic stripe, a pre-constructed magnetic navigation map is obtained, wherein the magnetic navigation map comprises a calibration pose of the AGV at the start point of the navigation magnetic stripe and a calibration pose at an end point of the navigation magnetic stripe in a global coordinate system, and can respectively provide an initial basis and a positioning parking basis for realizing accurate global positioning for subsequent magnetic navigation, wherein the magnetic navigation map is constructed based on a crossed magnetic stripe structure of the start point and the end point of the navigation magnetic stripe and a plurality of magnetic stripe sensors, and the map positioning accuracy is high; secondly, based on the magnetic navigation map the AGV body coordinate system's outer reference and each magnetic stripe sensor to the response result of navigation magnetic stripe, confirm the AGV along the real-time position appearance under the global coordinate system of navigation magnetic stripe driving in-process, wherein, at the AGV driving in-process, the outer reference of magnetic navigation map and AGV body coordinate system is unchangeable, and each magnetic stripe sensor changes along with AGV's removal in real time to the response result of navigation magnetic stripe to obtain real-time global positioning's position and attitude information, realize accurate global positioning under the magnetic navigation, can provide global positioning information for work such as control, planning, dispatch.

By way of example, the magnetic navigation map construction method comprises:

(1) The AGV is in under the state of the starting point of the navigation magnetic stripe, based on the preset global navigation mode, the AGV is obtained at a first initial position and posture under a global coordinate system, and the external parameters of the vehicle body coordinate system and the induction results of the cross magnetic stripe structures of the starting point of the navigation magnetic stripe are obtained.

For example, the preset global navigation mode may be a global navigation mode such as a SLAM or a reflective column. And the first initial pose of the AGV under the global coordinate system is the pose of the AGV under the global coordinate system obtained in a global navigation mode.

For example, taking the cross magnetic stripe structure as a cross magnetic stripe structure as an example, the AGV may be provided with four magnetic stripe sensors, front, back, left and right, and the method for acquiring the external parameters of the vehicle body coordinate system: and taking the average value of the x-axis coordinates of the calibration poses of the front and rear magnetic stripe sensors in the vehicle body coordinate system as the x-axis coordinate of the external reference of the vehicle body coordinate system, and taking the average value of the y-axis coordinates of the calibration poses of the left and right magnetic stripe sensors in the vehicle body coordinate system as the y-axis coordinate of the external reference of the vehicle body coordinate system.

In an example, taking the cross magnetic stripe structure as a cross magnetic stripe structure, four front, rear, left and right magnetic stripe sensors are arranged on the AGV, and the method for acquiring the sensing result of the cross magnetic stripe structure from the starting point of the navigation magnetic stripe by each magnetic stripe sensor includes: respectively collecting the output (offset _ front) of the front magnetic stripe sensor and the output (offset _ rear) of the rear magnetic stripe sensor, and averaging the outputs as the output in the y direction in the sensing result: offset _ y =1/2 (offset _ front + offset _ rear); respectively collecting the output (offset _ left) of a left magnetic stripe sensor and the output (offset _ right) of a right magnetic stripe sensor, and averaging the outputs in the x direction in the sensing structure: offset _ x =1/2 (offset _ left + offset _ right), and the poses of the navigation magnetic stripe under the four magnetic stripe sensors are obtained by integrating the output in the x direction and the output in the y direction, that is, the sensing results of the magnetic stripe sensors on the cross magnetic stripe structure at the starting point of the navigation magnetic stripe.

(2) And determining the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system based on the first initial pose of the AGV under the global coordinate system, the external parameters of the vehicle body coordinate system and the induction result of each magnetic stripe sensor to the cross magnetic stripe structure of the starting point of the navigation magnetic stripe.

The AGV is in under the global coordinate system the characteristics of magnetic navigation need be considered in the demarcation position appearance of the starting point of navigation magnetic stripe, consequently, still need be in the AGV is in on the basis of the first initial position appearance under the global coordinate system, combine the external reference of automobile body coordinate system and each magnetic stripe sensor to the response result of crossing magnetic stripe structure at the starting point of navigation magnetic stripe confirms under the global coordinate system the AGV is in the demarcation position appearance of the starting point of navigation magnetic stripe can provide initial basis for magnetic navigation.

Further, the determining a calibration pose of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system based on the first initial pose of the AGV in the global coordinate system, the external reference of the vehicle body coordinate system, and the sensing result of the cross magnetic stripe structure of the starting point of the navigation magnetic stripe by each magnetic stripe sensor includes:

Specifically, the first pose value is represented by T _ world _ body, the second pose value is represented by T _ body _ mag _ sensor, the third pose value is represented by T _ sensor _ mag, and the calibration pose of the AGV at the start point of the navigation magnetic stripe in the global coordinate system is represented by T _ world _ mag, and then:

T_world_mag＝T_world_body*T_body_mag_sensor*T_sensor_mag。

according to the scheme, the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system can be determined through a simple product algorithm, and the method is simple and convenient.

For example, the method for constructing the magnetic navigation map further comprises:

acquiring a second initial pose of the AGV under a global coordinate system based on a preset global navigation mode under the condition that the AGV is at the terminal point of the navigation magnetic stripe, and acquiring external parameters of a vehicle body coordinate system and induction results of the magnetic stripe sensors on the crossed magnetic stripe structure of the terminal point of the navigation magnetic stripe; the sensing result of each magnetic stripe sensor on the crossed magnetic stripe structure of the end point of the navigation magnetic stripe can be obtained by adopting a method for acquiring the sensing result of each magnetic stripe sensor on the crossed magnetic stripe structure of the start point of the navigation magnetic stripe;

and determining the calibration pose of the AGV at the terminal point of the navigation magnetic stripe under the global coordinate system based on the second initial pose of the AGV under the global coordinate system, the external parameters of the vehicle body coordinate system and the induction results of the crossed magnetic stripe structures of the terminal points of the navigation magnetic stripe by the magnetic stripe sensors.

And the second initial pose of the AGV under the global coordinate system is the pose of the AGV under the global coordinate system obtained in a global navigation mode. The calibration pose of the AGV at the end point of the navigation magnetic stripe in the global coordinate system may be determined by the same method as the calibration pose of the AGV at the start point of the navigation magnetic stripe in the global coordinate system.

Further, determining the calibration pose of the AGV at the terminal point of the navigation magnetic stripe in the global coordinate system based on the second initial pose of the AGV in the global coordinate system, the external parameters of the vehicle body coordinate system, and the sensing result of the cross magnetic stripe structure of the terminal point of the navigation magnetic stripe by each magnetic stripe sensor, includes:

determining a fifth pose value based on the external parameters of the vehicle body coordinate system; the external reference of the vehicle body coordinate system is fixed and unchanged for the same AGV, so that the fifth pose value is equal to the second pose value;

Therefore, the calibration pose of the AGV at the end point of the navigation magnetic stripe and the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system can be simultaneously calculated through the same product algorithm, and the data processing efficiency is improved.

Or, in another embodiment, the method for constructing a magnetic navigation map further includes:

based on the calibration pose of the starting point of the navigation magnetic stripe of the AGV under the global coordinate system, and the measured pose deviation of the AGV at the starting point of the navigation magnetic stripe relative to the terminal point of the navigation magnetic stripe, the calibration pose of the AGV at the terminal point of the navigation magnetic stripe under the global coordinate system is determined.

In this embodiment, the navigation magnetic stripe is shorter, for example, the navigation magnetic stripe of the work-entering station road section, for this situation, the end point of the navigation magnetic stripe is very close to the start point of the navigation magnetic stripe, and a measurement scheme may be adopted, for example, direct measurement is performed by a tape measure, so that the calibration pose of the AGV at the end point of the navigation magnetic stripe in the global coordinate system is determined more quickly, and the construction efficiency of the magnetic navigation map is improved.

Exemplarily, the determining a real-time pose of the AGV in the global coordinate system during the traveling along the navigation magnetic stripe based on the magnetic navigation map, the external reference of the AGV body coordinate system, and the sensing result of each magnetic stripe sensor to the navigation magnetic stripe includes:

determining a third initial pose of the AGV under the global coordinate system based on the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system, the external parameters of the body coordinate system of the AGV and the induction results of the magnetic stripe sensors to the navigation magnetic stripe; the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system and the external reference of the body coordinate system of the AGV can be obtained in the construction method of the magnetic navigation map, and the calibration pose and the external reference are fixed and invariable values, and the induction result of each magnetic stripe sensor to the navigation magnetic stripe changes along with the movement of the AGV; the navigation magnetic stripe can be a straight magnetic stripe, the front and rear magnetic stripe sensors of the AGV can sense magnetic field signals of the straight magnetic stripe, the sensing result of each magnetic stripe sensor to the navigation magnetic stripe is determined according to the average value of the sensing output of the front and rear magnetic stripe sensors, and the AGV updates the sensing result in real time according to the output of the magnetic stripe sensors in the process of running along the navigation magnetic stripe;

and obtaining the real-time pose of the AGV in the navigation magnetic stripe running process under the global coordinate system based on the third initial pose of the AGV under the global coordinate system and the position of the AGV under the global coordinate system corresponding to the degradation direction.

The determining the degradation direction of the AGV traveling along the navigation magnetic stripe based on the sensing result of each magnetic stripe sensor to the navigation magnetic stripe and a preset degradation direction determination condition includes:

acquiring angle information of a third initial pose of the AGV under a global coordinate system, and converting the angle information into a global attitude matrix:

Mat＝[cos(theta) -sin(theta) 0

sin(theta) cos(theta ) 0

0 0 1]

wherein theta is an included angle between the AGV and an x axis of the global coordinate system;

reading the output of each magnetic stripe sensor, obtaining the offset delta (delta _ x, delta _ y) of the navigation magnetic stripe under the magnetic stripe sensors, projecting the offset to the global coordinate system to obtain delta _ world, and expressing as follows:

delta_world＝Mat*delta

judging the degradation direction according to the components of the delta _ world in the directions of the x axis and the y axis, wherein the degradation direction judgment condition is as follows:

when the absolute value of delta _ world _ x is smaller than the absolute value of delta _ world _ y, the degradation direction is the y axis;

when the absolute value of delta _ world _ y is smaller than the absolute value of delta _ world _ x, the degradation direction is the x-axis.

Illustratively, the obtaining the position of the AGV in the global coordinate system corresponding to the direction of degradation by inertial recursion includes:

the inertia recursion adopts an inertia recursion algorithm in the prior art, the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system is used as an initial value, and the position change value of the AGV in the degradation direction in the running process along the navigation magnetic stripe can be obtained through the inertia recursion.

Illustratively, obtaining a real-time pose of the AGV in the global coordinate system during the travel of the AGV along the navigation magnetic stripe based on a third initial pose of the AGV in the global coordinate system and a position of the AGV in the global coordinate system corresponding to the degradation direction includes:

and defaulting the coordinate of the AGV in the degradation direction to be 0 in a third initial pose of the AGV in a global coordinate system, fusing the position of the AGV in the degradation direction under the corresponding global coordinate system into the third initial pose of the AGV in the global coordinate system through a multi-data fusion technology, and replacing 0 to obtain the position of the AGV in the degradation direction under the global coordinate system.

The navigation magnetic strip is taken as a word magnetic strip as an example, and in the traveling process of the AGV, the front magnetic strip sensor and the rear magnetic strip sensor on the AGV can accurately scan the word magnetic strip. The third initial pose of the AGV under the global coordinate system is a global positioning accurate value of one direction obtained by depending on magnetic stripe positioning, the global positioning value of the other direction (namely, the degradation direction) is obtained by depending on inertia recursion, and the third initial pose of the AGV under the global coordinate system can be further perfected through the degradation direction, so that a more accurate and comprehensive real-time pose under the global coordinate system is obtained, and the accuracy of global positioning is improved.

Further, based on the calibration pose of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system, the external reference of the body coordinate system of the AGV, and the sensing result of each magnetic stripe sensor to the navigation magnetic stripe, determining a third initial pose of the AGV in the global coordinate system, including:

determining a seventh pose value based on the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system; the seventh pose value is the first product result and is a known value;

determining an eighth attitude value based on external parameters of the AGV body coordinate system; the eighth pose value is equal to both the fifth pose value and the second pose value because the external parameters of the vehicle body coordinate system are unchanged;

Specifically, the seventh pose value may still be represented by T _ world _ mag, the eighth pose value may still be represented by T _ body _ mag _ sensor, the ninth pose value may be represented by T '_ sensor _ mag, and the third initial pose of the AGV in the global coordinate system may be represented by T' _ world _ body:

T'_world_body＝T_world_mag*(T_body_mag_sensor) ^-1 *(T'_sensor_mag) ^-1 。

the above formula algorithm is just opposite to the product algorithm of the calibration pose of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system, and since the sensing result of each magnetic stripe sensor to the navigation magnetic stripe is changed in real time, T' _ sensor _ mag and T _ sensor _ mag represent pose values in different states. Through the formula algorithm, the third initial pose of the AGV under the global coordinate system can be quickly obtained.

Illustratively, the magnetic navigation positioning method further comprises:

Taking the cross magnetic stripe structure as an example, the number of the magnetic stripe sensors is four, wherein the detection range of the magnetic stripe sensors is usually more than +/-8 cm, and therefore, when the distance is 8cm from the terminal point of the navigation magnetic stripe, the four magnetic stripe sensors can sense the cross magnetic stripe structure sensing the terminal point of the navigation magnetic stripe. The terminal point of navigation magnetic stripe sets up cross magnetic stripe structure for AGV has great adjustment space when parkking, guarantees the repeated parking precision, and the single car repeated precision is superior to 5mm.

Taking the navigation magnetic stripe as a linear magnetic stripe as an example, the navigation magnetic stripe is arranged on a station entering section, the end point of the navigation magnetic stripe is a stop point in a station, if the AGV enters the station along the x direction, the AGV travels along the linear magnetic stripe, the horizontal x direction is a degradation direction, and the vertical y direction is a constraint direction, so that the coordinate in the x direction is obtained by inertial recursion based on the calibration pose of the AGV at the start point of the navigation magnetic stripe under the global coordinate system, and the coordinate in the y direction calculates the real-time pose of the AGV under the global coordinate system during the traveling along the navigation magnetic stripe by using the magnetic stripe offset output by a real-time acquisition magnetic stripe sensor; when the distance from the terminal point of the navigation magnetic stripe is 8cm, when the four magnetic stripe sensors are all effective, the calibration pose of the AGV at the terminal point of the navigation magnetic stripe under the global coordinate system is used as the pose of a parking point in a station, and the current real-time pose of the AGV under the global coordinate system in the running process of the navigation magnetic stripe is solved in real time. When the AGV is along the navigation magnetic stripe travel in-process is in real-time position appearance under the global coordinate system with under the global coordinate system the AGV is in when the demarcation position appearance of the terminal point of navigation magnetic stripe is unanimous, control the AGV parks. When the AGV stops, the outputs of the four magnetic strip sensors are about 0 +/-2 mm.

In this embodiment, under the assistance of crossing magnetic stripe structure, when each magnetic stripe sensor senses on the AGV the terminal point of navigation magnetic stripe during the crossing magnetic stripe structure, can be based on under the global coordinate system the AGV is in the guidance of the demarcation position appearance of the terminal point of navigation magnetic stripe the AGV to the terminal point of navigation magnetic stripe is gone, thereby can accurately guide the AGV parks at the terminal point of navigation magnetic stripe, has improved the parking precision.

The following describes the magnetic navigation positioning device provided by the present invention, and the magnetic navigation positioning device described below and the magnetic navigation positioning method described above can be referred to correspondingly. As shown in fig. 2, the magnetic navigation positioning apparatus includes:

a first obtaining module 201, configured to obtain a pre-constructed magnetic navigation map when an AGV reaches a start point of a navigation magnetic stripe, where the magnetic navigation map is constructed based on a cross magnetic stripe structure of the start point of the navigation magnetic stripe, a cross magnetic stripe structure of an end point of the navigation magnetic stripe, and multiple magnetic stripe sensors on the AGV corresponding to the cross magnetic stripe structures, and the magnetic navigation map includes a calibration pose of the AGV at the start point of the navigation magnetic stripe and a calibration pose at the end point of the navigation magnetic stripe in a global coordinate system;

the first determination module 202 is configured to determine, based on the magnetic navigation map, external parameters of the body coordinate system of the AGV and sensing results of the magnetic stripe sensors to the navigation magnetic stripe, a real-time pose of the AGV along the navigation magnetic stripe in the running process under the global coordinate system, where the external parameters of the body coordinate system are obtained based on calibration poses of the magnetic stripe sensors under the body coordinate system.

Illustratively, the first obtaining module 201 is specifically configured to:

Illustratively, the first obtaining module 201 is further configured to:

determining a second attitude value based on the external parameters of the vehicle body coordinate system;

determining a third posture value based on the induction result of each magnetic stripe sensor to the crossed magnetic stripe structure of the starting point of the navigation magnetic stripe;

Illustratively, the first obtaining module 201 is further configured to:

acquiring a second initial pose of the AGV under a global coordinate system based on a preset global navigation mode under the condition that the AGV is at the terminal point of the navigation magnetic stripe, and acquiring external parameters of a vehicle body coordinate system and induction results of the magnetic stripe sensors on the crossed magnetic stripe structure of the terminal point of the navigation magnetic stripe;

determining a calibration pose of the AGV at the terminal point of the navigation magnetic stripe in the global coordinate system based on a second initial pose of the AGV under the global coordinate system, external parameters of the vehicle body coordinate system and induction results of the magnetic stripe sensors to the cross magnetic stripe structure of the terminal point of the navigation magnetic stripe;

Illustratively, the first obtaining module 201 is further configured to:

Illustratively, the first determining module 202 is specifically configured to:

determining the running degradation direction of the AGV along the navigation magnetic stripe based on the induction result of the magnetic stripe sensors to the navigation magnetic stripe and a preset degradation direction judgment condition, and obtaining the position of the AGV in the degradation direction under the corresponding global coordinate system through inertial recursion;

Illustratively, the first determining module 202 is further configured to:

For example, the navigation magnetic stripe may be a word magnetic stripe. The crossed magnetic strip structure can be a cross magnetic strip structure, and the number of the magnetic strip sensors is four. The four magnetic stripe sensors are used for identifying a linear magnetic stripe and a cross magnetic stripe structure. The four magnetic strip sensors are respectively positioned at the front, the back, the left and the right of the AGV.

Through above-mentioned scheme, can adopt four magnetic stripe sensors to discern cross magnetic stripe structure, when fixing a position and parking, through four magnetic stripe sensor senses the terminal point of navigation magnetic stripe the cross magnetic stripe structure obtains under the global coordinate system AGV is in the demarcation position appearance of the terminal point of navigation magnetic stripe to the guide AGV to the terminal point of navigation magnetic stripe is gone, consequently, need not additionally to increase other type sensors on the AGV and provide parking signal, the structure is simpler.

Fig. 3 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 3: a processor (processor) 301, a communication Interface (communication Interface) 302, a memory (memory) 303 and a communication bus 304, wherein the processor 301, the communication Interface 302 and the memory 303 complete communication with each other through the communication bus 304. The processor 301 may invoke logic instructions in the memory 303 to perform a magnetic navigation positioning method, the method comprising:

In addition, the logic instructions in the memory 303 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to perform the magnetic navigation positioning method provided by the above methods, the method comprising:

and determining the real-time pose of the AGV along the navigation magnetic strip in the running process of the AGV based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV and the induction result of the navigation magnetic strip of each magnetic strip sensor, wherein the external parameters of the body coordinate system are obtained based on the calibration pose of each magnetic strip sensor under the body coordinate system.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the magnetic navigation positioning method provided above, the method comprising:

when an AGV reaches a starting point of a navigation magnetic stripe, acquiring a pre-constructed magnetic navigation map, wherein the magnetic navigation map is constructed on the basis of a cross magnetic stripe structure of the starting point of the navigation magnetic stripe, the cross magnetic stripe structure of the end point of the navigation magnetic stripe and a plurality of magnetic stripe sensors corresponding to the cross magnetic stripe structure on the AGV, and the magnetic navigation map comprises a calibration pose of the AGV at the starting point of the navigation magnetic stripe and a calibration pose at the end point of the navigation magnetic stripe under a global coordinate system;

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A magnetic navigation positioning method, comprising:

2. The magnetic navigation positioning method according to claim 1, characterized in that the construction method of the magnetic navigation map comprises:

and determining the calibration pose of the AGV at the starting point of the navigation magnetic stripe under the global coordinate system based on the first initial pose of the AGV under the global coordinate system, the external parameters of the vehicle body coordinate system and the induction result of each magnetic stripe sensor to the crossed magnetic stripe structure of the starting point of the navigation magnetic stripe.

3. A magnetic navigation positioning method according to claim 2, wherein said determining a calibration pose of the AGV at the start point of the navigation magnetic stripe in the global coordinate system based on the first initial pose of the AGV in the global coordinate system, the external reference of the vehicle body coordinate system, and the sensing result of the magnetic stripe sensors to the cross magnetic stripe structure of the start point of the navigation magnetic stripe comprises:

4. The magnetic navigation positioning method according to claim 1, characterized in that the construction method of the magnetic navigation map further comprises:

acquiring a second initial pose of the AGV under a global coordinate system based on a preset global navigation mode under the condition that the AGV is at the terminal point of the navigation magnetic stripe, and acquiring external parameters of a vehicle body coordinate system and induction results of the magnetic stripe sensors on the crossed magnetic stripe structure of the terminal point of the navigation magnetic stripe; determining a calibration pose of the AGV at the terminal point of the navigation magnetic stripe in the global coordinate system based on a second initial pose of the AGV under the global coordinate system, external parameters of the vehicle body coordinate system and induction results of the magnetic stripe sensors to the cross magnetic stripe structure of the terminal point of the navigation magnetic stripe;

5. A magnetic navigation positioning method according to claim 4, wherein said determining a calibration pose of the AGV at the end point of the navigation magnetic stripe in the global coordinate system based on a second initial pose of the AGV at the global coordinate system, an external reference of the vehicle coordinate system, and a result of sensing of the cross magnetic stripe structure of the end point of the navigation magnetic stripe by each of the magnetic stripe sensors comprises:

6. A magnetic navigation positioning method according to any of claims 1 to 5, wherein said determining a real-time pose of the AGV in the global coordinate system during its travel along the navigation magnetic stripe based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV and the sensing results of the magnetic stripe sensors on the navigation magnetic stripe comprises:

7. The magnetic navigation positioning method of claim 6, wherein the determining a third initial pose of the AGV in the global coordinate system based on the calibration pose of the AGV in the global coordinate system at the start point of the navigation magnetic stripe, the external reference of the body coordinate system of the AGV, and the sensing result of each magnetic stripe sensor on the navigation magnetic stripe comprises:

8. A magnetic navigation positioning method according to any of claims 1 to 5, further comprising:

9. A magnetic navigational positioning device, comprising:

10. An AGV system comprising an AGV, a navigation magnetic stripe, a cross magnetic stripe structure of a start point of the navigation magnetic stripe, a cross magnetic stripe structure of an end point of the navigation magnetic stripe, a plurality of magnetic stripe sensors on the AGV corresponding to the cross magnetic stripe structures, and the magnetic navigation positioning apparatus according to claim 9.