CN115615425B - AGV vehicle zoning high-precision indoor positioning control system according to needs - Google Patents
AGV vehicle zoning high-precision indoor positioning control system according to needs Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses an AGV vehicle zoning high-precision indoor positioning control system according to requirements. In the working process, the control center determines the positioning mode of the AGV according to the positioning requirement of the area where the AGV is located, and transmits positioning scheme information to the AGV through a wireless communication network; and the AGV vehicle performs autonomous positioning based on the digital map and the local sensing equipment according to the positioning scheme, and transmits positioning data to the control center in real time through a wireless communication network. The invention is based on the global visual angle capability of the control center, can fully utilize the positioning performance of different sensing devices, provides an instant and efficient positioning scheme for the AGV, and meets the positioning requirements of the AGV for navigation in different areas and different environments.
Description
Technical Field
The invention belongs to the technical field of autonomous positioning of AGV vehicles, and particularly relates to an Automatic Guided Vehicle (AGV) regional on-demand high-precision indoor positioning control system.
Background
AGVs are abbreviations of Automated Guided Vehicle, namely "automated guided vehicles," which are transport vehicles equipped with electromagnetic or optical automated guides, etc., capable of traveling along a prescribed guide path, and having safety protection and various transfer functions. AGVs are one of the key devices in modern industrial automation logistics systems, are devices which are powered by batteries, are provided with electromagnetic or optical automatic navigation devices and can be independently and automatically addressed and controlled by a computer system to finish unmanned carrying operation. Navigation and positioning are one of the key technologies for AGV vehicles.
Although indoor positioning technology is rapidly developed at present, a plurality of alternative positioning technologies such as fingerprint positioning, inertial navigation positioning, laser-based map matching positioning, vision-based map matching positioning, laser reflector-based positioning and the like are available. But these positioning techniques exhibit large differences in performance. Besides the difference in positioning precision, the positioning system deployment and maintenance modes, the use modes, the system capacity, the positioning deployment cost and the like which can be provided by positioning are different. Various positioning technologies currently have respective problems, and different positioning technologies are suitable for different application occasions in consideration of deployment cost, positioning precision and other factors.
For some complex scenarios, the overall operation of an AGV vehicle tends to span different areas where the AGV vehicle's actions and behaviors are different, resulting in different positioning accuracy requirements. Taking a warehouse of large equipment as an example (an AGV vehicle is used for transportation of large equipment in the warehouse), the positioning accuracy required by the AGV vehicle when traveling in a corridor area is low, and the positioning accuracy required by an access door and an equipment loading and unloading area is high. In addition, even in the same area, the requirements for positioning accuracy are different at different times due to the dynamics of the environment. For example, when two vehicles meet in the corridor area, the AGV needs to have high positioning accuracy in order to avoid collision.
To meet the positioning requirements of the above-mentioned scenario, a simple way is to use a high-precision positioning technology in all areas, but the problem of this way is to greatly increase the deployment cost and the use cost of the positioning facility. Another way is to enhance the ability of the AGV vehicle to sense the dynamics of the environment and adjust the corresponding positioning scheme, but this has the disadvantage of greatly increasing the difficulty of development of the AGV vehicle and thus the cost of the AGV vehicle.
Disclosure of Invention
The invention aims to provide an AGV vehicle regional high-precision indoor positioning control system according to requirements, which is based on the global visual angle capability of a control center, can fully utilize the positioning performance of different sensing devices, provides an instant and efficient positioning scheme for the AGV vehicle, and meets the positioning requirements of the AGV vehicle for navigation in different regions and different environments.
The technical solution for realizing the purpose of the invention is as follows: an AGV vehicle zoning high-precision indoor positioning control system according to needs comprises a control center, a positioning auxiliary device and an AGV vehicle; the control center and the AGV carry out data interaction through a wireless communication network, the control center and the AGV carry digital maps of the working area where the control center and the AGV are located, the AGV is provided with positioning sensing equipment, and the positioning auxiliary device comprises a correction target and a laser reflector and is used for positioning and correcting the AGV;
the control center determines the positioning mode of the AGV according to the positioning requirement of the area where the AGV is located, and transmits positioning scheme information to the AGV through a wireless communication network;
The AGV vehicle performs autonomous positioning based on the digital map and the local sensing equipment according to the positioning scheme, and transmits positioning information to the control center in real time through a wireless communication network.
Further, the positioning sensing equipment comprises a laser radar, a panoramic camera and an IMU positioning sensing equipment, and time synchronization of information acquisition is supported.
Further, the digital map includes digital maps of at least two precision categories, and the positioning requirement includes at least two precision categories.
Further, the positioning modes comprise a basic positioning mode and a fusion positioning mode, and the basic positioning modes at least comprise inertial navigation positioning, laser-based map matching positioning, vision-based map matching positioning and laser-based reflector positioning; the fusion positioning mode is any combination of the basic positioning modes.
Further, the positioning scheme information comprises a positioning mode and parameters thereof;
a) When the positioning mode is inertial navigation positioning, the parameters are two groups of < T, V >, wherein T is the minimum time synchronization correction period of positioning, and V is the running speed of the AGV;
b) When the positioning mode is laser-based map matching positioning, the parameters are triples < F, P and V >, wherein F is the scanning frequency of a laser radar, P is the precision class of a vehicle-mounted digital map, and V is the running speed of an AGV;
c) When the positioning mode is vision-based map matching positioning, the parameters are quadruple < R, F, P and V >, wherein R is the resolution of a vision camera, F is the frame rate of the vision camera, P is the precision class of the vehicle-mounted digital map, and V is the running speed of an AGV vehicle;
d) When the positioning mode is based on the positioning of the laser reflectors, the parameters are three groups of < N, P and V >, wherein N is the number of the laser reflectors required by single positioning, P is the precision type of the vehicle-mounted map, and V is the running speed of the AGV;
e) When the positioning mode is fusion positioning, the parameters are a binary list [ < E, M >, … ], wherein E is the number of the basic positioning mode, and M is the corresponding parameter of the basic positioning mode.
Further, the AGV vehicle includes a receiving module, a positioning module, and a feedback module, wherein:
The receiving module is used for receiving the positioning scheme information issued by the control center;
the positioning module is used for automatically positioning the AGV according to the received positioning scheme information;
And the feedback module is used for feeding back the AGV vehicle position data in real time.
Further, the laser radar measures obstacle information in real time in the running process of the AGV, and transmits the obstacle information to the control center, and the control center adjusts the positioning scheme in real time and issues the positioning scheme to the AGV.
Compared with the prior art, the invention has the remarkable advantages that: the invention is based on the global visual angle capability of the control center, can fully utilize the positioning performance of different sensing devices, provides an instant and efficient positioning scheme for the AGV, and meets the positioning requirements of the AGV for navigation in different areas and different environments.
The invention is described in further detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of an AGV vehicle zoning on-demand high precision indoor positioning control system.
Fig. 2 is a tunnel driving scene locating flowchart.
Fig. 3 is a flow chart for locating a two-vehicle intersection scene.
Fig. 4 is a collision-free passing scene positioning flowchart.
FIG. 5 is a flow chart of accurate dock scene positioning.
FIG. 6 is a flow chart of the AGV vehicle interaction control with the control center.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
With reference to FIG. 1, the present invention provides an AGV vehicle zoning on-demand high precision indoor positioning control system, which comprises a control center, a positioning auxiliary device and an AGV vehicle; the control center and the AGV carry out data interaction through a wireless communication network, the control center and the AGV carry digital maps of the working area where the control center and the AGV are located, the AGV is provided with positioning sensing equipment, and the positioning auxiliary device comprises a correction target and a laser reflector and is used for positioning and correcting the AGV; here, the calibration target and the laser reflector are preset in the external space according to the high-precision map initialization. The correction target is a reference calibration point, is initialized during high-precision map construction, and assists in positioning and correcting of a running vehicle in a high-precision map matching mode. The laser reflector positioning mode is that the vehicle matches the reflector obtained by laser radar scanning with the reflector in the map, and the position information of the AGV vehicle is calculated through a triangular positioning method.
The positioning sensing equipment comprises a laser radar, a panoramic camera and an IMU positioning sensing equipment, and supports time synchronization of information acquisition; the digital map comprises digital maps of at least two precision categories, and the positioning requirements comprise at least two precision categories.
The control center determines the positioning mode of the AGV according to the positioning requirement of the area where the AGV is located, and transmits positioning scheme information to the AGV through a wireless communication network;
The AGV vehicle performs autonomous positioning based on the digital map and the local sensing equipment according to the positioning scheme, and transmits positioning information to the control center in real time through a wireless communication network.
The positioning mode comprises a basic positioning mode and a fusion positioning mode, wherein the basic positioning mode at least comprises inertial navigation positioning, laser-based map matching positioning, vision-based map matching positioning and laser-based reflector positioning; the fusion positioning mode is any combination of the basic positioning modes.
The positioning scheme information comprises a positioning mode and parameters thereof;
a) When the positioning mode is inertial navigation positioning, the parameters are two groups of < T, V >, wherein T is the minimum time synchronization correction period of positioning, and V is the running speed of the AGV;
b) When the positioning mode is laser-based map matching positioning, the parameters are triples < F, P and V >, wherein F is the scanning frequency of a laser radar, P is the precision class of a vehicle-mounted digital map, and V is the running speed of an AGV;
c) When the positioning mode is vision-based map matching positioning, the parameters are quadruple < R, F, P and V >, wherein R is the resolution of a vision camera, F is the frame rate of the vision camera, P is the precision class of the vehicle-mounted digital map, and V is the running speed of an AGV vehicle;
d) When the positioning mode is based on the positioning of the laser reflectors, the parameters are three groups of < N, P and V >, wherein N is the number of the laser reflectors required by single positioning, P is the precision type of the vehicle-mounted map, and V is the running speed of the AGV;
e) When the positioning mode is fusion positioning, the parameters are a binary list [ < E, M >, … ], wherein E is the number of the basic positioning mode, and M is the corresponding parameter of the basic positioning mode.
The AGV vehicle includes receiving module, positioning module and feedback module, wherein:
The receiving module is used for receiving the positioning scheme information issued by the control center;
the positioning module is used for automatically positioning the AGV according to the received positioning scheme information;
And the feedback module is used for feeding back the AGV vehicle position data in real time.
The laser radar measures obstacle information in real time in the running process of the AGV, transmits the obstacle information to the control center, and the control center adjusts the positioning scheme in real time and sends the positioning scheme to the AGV.
The invention is further illustrated below with reference to examples.
The AGV vehicle is required to complete the tasks of transportation, loading and unloading of large-scale equipment in a warehouse. Taking the example of transporting the equipment from outside the warehouse to the loading and unloading area (in addition, transporting the equipment from the loading and unloading area to outside the warehouse), the system can be divided into scenes such as passage driving, intersection of two vehicles, collision-free passing door, accurate stopping at the designated loading and unloading area and the like. The driving scenes all require the vehicle to have high-precision positioning capability in the driving process, namely the positioning precision of other areas such as a passage in a warehouse reaches +/-20 mm, and the positioning precision of core areas such as door passing, loading and unloading reaches +/-2 mm.
Embodiment 1a channel travel scenario
1. Target function
Vehicles provided with large equipment move from outside the warehouse to a passage area in the warehouse, and AGVs in the passage area meet the positioning precision of +/-20 mm.
2. Positioning control flow
As shown in fig. 2, the positioning control flow is as follows:
a) Locating device list and parameter initialization
IMU locating sensing device <1, < T, V > = <1, <0,0 >;
1 is the number of inertial navigation positioning; t is the minimum time synchronization correction period of positioning, and the initial value is 0ms; v is the running speed of the AGV, and the initial value is 0m/s.
Lidar <2, < F, P, V > = <2, <0,1,0 >;
2 is a map matching positioning number based on laser; f is the scanning frequency of the laser scanner, and the initial value is 0Hz; p is the precision class of the vehicle map, the initial value is 0, and the map is not used; v is the running speed of the AGV, and the initial value is 0m/s.
Panoramic camera <3, < R, F, P, V > = <3, <0 x 0,0> >;
3 is a map matching positioning number based on vision; r is the resolution of the vision camera, and the initial value is 0*0; f is the frame rate of the vision camera, and the initial value is 0fps; p is the precision class of the vehicle map, the initial value is 0, and the map is not used; v is the running speed of the AGV, and the initial value is 0m/s.
B) AGV vehicle sends position data to control center
And the AGV sends the position data to a control center, and the control center matches the data with the high-precision map to judge the area where the AGV is located. If the AGV is in the aisle area, execution continues downward, and if the AGV is in another area, the process switches to another embodiment.
C) The control center sends a positioning scheme to the AGV vehicle
The control center configures a channel region positioning scheme to be map matching fusion positioning based on inertial navigation, laser and vision, and returns parameters < <1,5> >, <2, <50,1,5> >, <3, <4416 x 1242, 15,1,5> >.
The representative meaning of the parameters is that the minimum time synchronization correction period is 1ms, the scanning frequency of the laser scanner is 50Hz, the vehicle-mounted map is a map with the accuracy of +/-20 mm, the running speed of the AGV is 5m/s, the resolution ratio of the vision camera is 4416 x 1242, and the frame rate is 15fps.
The control center transmits the positioning scheme information to the AGV through a wireless communication network.
D) AGV vehicle traveling according to aisle area positioning scheme
According to the positioning scheme, the vehicle adopts a low-precision digital map with an error of +/-20 mm, performs fusion positioning based on the digital map, a laser scanner, a panoramic camera and an IMU, and adopts a calibration target to assist in positioning. And transmits the location data to the control center via the wireless communication network.
E) Abnormality detection
When the AGV uses the laser radar to measure that the obstacle exists on the set path, the AGV firstly calculates the position data of the obstacle and then sends the position data of the AGV and the position data of the obstacle to the control center. The control center adjusts the positioning scheme by comparing the distance between the vehicle and the obstacle, for example, the speed V of the vehicle is reduced to 0, so as to achieve the aim of emergency collision avoidance.
When the obstacle is cleaned or moved, the control center readjusts the speed V of the AGV to 5m/s.
F) AGV vehicle sends position data to control center
This step is identical to b). And the AGV sends the position data to a control center, and the control center matches the data with the high-precision map to judge the area where the AGV is located.
Embodiment 2 two-vehicle intersection scene
1. Target function
Two vehicles with large equipment can be crossed when running in a passage area at the same time, and collision is avoided when the vehicles are crossed.
2. Positioning control flow
As shown in fig. 3, the positioning control flow is as follows:
a) Locating device list and parameter initialization
As in a) of example 1.
B) AGV vehicle sends position data to control center
As in b) of example 1).
C) The control center sends a positioning scheme to the AGV vehicle
As in c) of example 1.
D) AGV runs according to the channel area positioning scheme
As in d) of example 1.
E) Intersection detection
The control center obtains the position data of two AGV vehicles to be intersected at the same time. When the data is smaller than a certain threshold value, the control center judges that two vehicles have collision risk, and the control center adjusts the positioning scheme by comparing the distance between the two vehicles, for example, reduces the running speeds V to 3m/s of the two vehicles, so that the AGV can automatically adjust the running direction when meeting, and the purpose of collision avoidance is achieved.
When the two vehicles meet, the control center readjusts the speed V of the AGV to 5m/s.
F) AGV vehicle sends position data to control center
This step is identical to b). And the AGV sends the position data to a control center, and the control center matches the data with the high-precision map to judge the area where the AGV is located.
Example 3 collision-free passing scene
1. Target function
When a vehicle provided with large equipment moves into a warehouse from a passage area, the vehicle needs to pass through a warehouse door, collision with the door in a passing area needs to be avoided, and the AGV in the passing area meets the positioning accuracy of +/-2 mm.
2. Positioning control flow
As shown in fig. 4, the positioning control flow is as follows:
Locating device list and parameter initialization
IMU locating sensing device <1, < T, V > = <1, <0,0 >;
1 is the number of inertial navigation positioning; t is the minimum time synchronization correction period of positioning, and the initial value is 0ms; v is the running speed of the AGV, and the initial value is 0m/s;
Lidar <2, < F, P, V > = <2, <0,1,0 >;
2 is a map matching positioning number based on laser; f is the scanning frequency of the laser scanner, and the initial value is 0Hz; p is the precision class of the vehicle map, the initial value is 0, and the map is not used; v is the running speed of the AGV, and the initial value is 0m/s;
Panoramic camera <3, < R, F, P, V > = <3, <0 x 0,0> >;
3 is a map matching positioning number based on vision; r is the resolution of the vision camera, and the initial value is 0*0; f is the frame rate of the vision camera, and the initial value is 0fps; p is the precision class of the vehicle map, the initial value is 0, and the map is not used; v is the running speed of the AGV, and the initial value is 0m/s.
A) AGV sends position data to the control center
And the AGV sends the position data to a control center, and the control center matches the data with the high-precision map to judge the area where the AGV is located. If the AGV is in the pass zone, execution continues downward, and if the AGV is in another zone, switching to another embodiment scheme.
B) The control center sends a positioning scheme to the AGV
The control center configures the channel region positioning scheme to be map matching fusion positioning based on inertial navigation, laser and vision, and returns parameters < <1, <0.5,3> >, <2, <100,2,3> >, <3, <2048 x 1024, 15,2,3> >.
The parameters represent the meaning that the minimum time synchronization correction period is 0.5ms, the scanning frequency of a laser scanner is 100Hz, the vehicle-mounted map is a map with the precision of +/-2 mm, the running speed of an AGV is 3m/s, the resolution ratio of a visual camera is 2048 x 1024, and the frame rate is 15fps.
The control center transmits the positioning scheme information to the AGV through a wireless communication network.
C) AGV vehicle runs according to the positioning scheme of passing gate area
According to the positioning scheme, the vehicle adopts a high-precision digital map with an error of + -2 mm. Based on the digital map, the laser scanner, the panoramic camera and the IMU, the laser reflector is adopted for auxiliary positioning, and the position data is transmitted to the control center through the wireless communication network.
D) Cross door detection
The vehicle matches the reflector obtained by laser radar scanning with the reflector in the map based on a triangle matching method, establishes the corresponding relation between the scanned reflector and the reflector in the map, and starts to detect when at least 3 reflectors are matched.
And 3 or more reflectors obtained by scanning the laser radar, calculating vehicle position state data based on a trilateral positioning algorithm, and sending the vehicle position state data to a positioning resolving module for fusion to obtain laser radar accurate position data.
The door frame is marked with a plurality of detection characteristic points, the AGV uses the laser radar to measure the distance between the laser radar and the door frame characteristic points, the AGV sends the position data of the AGV and the distance data between the AGV and the characteristic points to the control center, and the control center adjusts the positioning scheme, for example, reduces the running speeds V of two vehicles to 1m/s, so as to achieve the goal of passing the door.
When the vehicle passes through the door, the control center readjusts the speed V of the AGV to 3m/s.
E) AGV vehicle sends position data to control center
This step is identical to b). And the AGV sends the position data to a control center, and the control center matches the data with the high-precision map to judge the area where the AGV is located.
Embodiment 4 accurate parking scenario
1. Target function
After a vehicle provided with large equipment passes the door, the vehicle needs to accurately stop to a loading and unloading area, and the AGV vehicle in the loading and unloading area meets the positioning precision of +/-2 mm.
2. Positioning control flow
As shown in fig. 5, the positioning control flow is as follows:
a) Locating device list and parameter initialization
IMU locating sensing device <1, < T, V > = <1, <0,0 >;
1 is the number of inertial navigation positioning; t is the minimum time synchronization correction period of positioning, and the initial value is 0ms; v is the running speed of the AGV, and the initial value is 0m/s;
Lidar <2, < F, P, V > = <2, <0,1,0 >;
2 is a map matching positioning number based on laser; f is the scanning frequency of the laser scanner, and the initial value is 0Hz; p is the precision class of the vehicle map, the initial value is 0, and the map is not used; v is the running speed of the AGV, and the initial value is 0m/s;
Panoramic camera <3, < R, F, P, V > = <3, <0 x 0,0> >;
3 is a map matching positioning number based on vision; r is the resolution of the vision camera, and the initial value is 0*0; f is the frame rate of the vision camera, and the initial value is 0fps; p is the precision class of the vehicle map, the initial value is 0, and the map is not used; v is the running speed of the AGV, and the initial value is 0m/s.
B) AGV sends data to control center
And the AGV sends the position data to a control center, and the control center matches the data with the high-precision map to judge the area where the AGV is located. If the AGV is in the loading bay, execution continues downward, and if the AGV is in another bay, switching to another embodiment scheme.
C) The control center sends a positioning scheme to the AGV
The control center configures the channel region positioning scheme to be map matching fusion positioning based on inertial navigation, laser and vision, and returns parameters < <1, <0.5,3> >, <2, <100,2,3> >, <3, <2048 x 1024, 15,2,3> >.
The parameters represent the meaning that the minimum time synchronization correction period is 0.5ms, the scanning frequency of a laser scanner is 100Hz, the vehicle-mounted map is a map with the precision of +/-2 mm, the running speed of an AGV is 3m/s, the resolution ratio of a visual camera is 2048 x 1024, and the frame rate is 15fps.
The control center transmits the positioning scheme information to the AGV through a wireless communication network.
D) AGV vehicle travels according to loading and unloading zone positioning scheme
According to the positioning scheme, the vehicle adopts a high-precision digital map with an error of + -2 mm. Based on the digital map, the laser scanner, the panoramic camera and the IMU, the laser reflector is adopted for auxiliary positioning, and positioning information is transmitted to the control center in real time through a wireless communication network.
E) Accurate positioning of loading and unloading area
The vehicle matches the reflector obtained by laser radar scanning with the reflector in the map based on a triangle matching method, establishes the corresponding relation between the scanned reflector and the reflector in the map, and starts to detect when 3 reflectors are matched.
And 3 or more reflectors obtained by scanning the laser radar, calculating vehicle position state data based on a trilateral positioning algorithm, and sending the vehicle position state data to a positioning resolving module for fusion to obtain laser radar accurate position data.
The loading and unloading area is provided with some characteristic points, the AGV uses the laser radar to measure and obtain the distance between the laser radar and the characteristic points, the AGV sends the position data of the AGV and the distance data between the AGV and the characteristic points to the control center, and the control center adjusts the positioning scheme, for example, reduces the running speeds V of two vehicles to 1m/s, so as to achieve the aim of accurately stopping the loading and unloading area.
F) Task end
After the vehicle accurately stops at the loading and unloading area, the control center adjusts the speed V of the AGV to be 0m/s.
As shown in fig. 6, in all the above embodiments, the control flow of interaction between the AGV vehicle and the control center is as follows:
a) In the normal interaction control task, an AGV sends data to a control center
B) The control center sends a positioning scheme to the AGV
C) AGV vehicle travels according to the positioning scheme
D) In the tasks of abnormality detection, intersection detection, passing detection or precise positioning of loading and unloading areas, the AGV sends position or distance data to a control center
E) The control center sends the adjusted positioning proposal to the AGV
F) Returning to a) or ending the task.
The invention is based on the global visual angle capability of the control center, can fully utilize the positioning performance of different sensing devices, provides an instant and efficient positioning scheme for the AGV, and meets the positioning requirements of the AGV for navigation in different areas and different environments.
The foregoing has outlined and described the basic principles, features, and advantages of the present invention. It will be understood by those skilled in the art that the foregoing embodiments are not intended to limit the invention, and the above embodiments and descriptions are meant to be illustrative only of the principles of the invention, and that various modifications, equivalent substitutions, improvements, etc. may be made within the spirit and scope of the invention without departing from the spirit and scope of the invention.
Claims (5)
1. An AGV vehicle zoning high-precision indoor positioning control system is characterized by comprising a control center, a positioning auxiliary device and an AGV vehicle; the control center and the AGV carry out data interaction through a wireless communication network, the control center and the AGV carry digital maps of the working area where the control center and the AGV are located, the AGV is provided with positioning sensing equipment, and the positioning auxiliary device comprises a correction target and a laser reflector and is used for positioning and correcting the AGV;
the control center determines the positioning mode of the AGV according to the positioning requirement of the area where the AGV is located, and transmits positioning scheme information to the AGV through a wireless communication network;
The AGV carries out autonomous positioning based on the digital map and the local sensing equipment according to a positioning scheme, and transmits positioning information to a control center in real time through a wireless communication network;
The positioning mode comprises a basic positioning mode and a fusion positioning mode, wherein the basic positioning mode at least comprises inertial navigation positioning, laser-based map matching positioning, vision-based map matching positioning and laser-based reflector positioning; the fusion positioning mode is any combination of the basic positioning modes;
the positioning scheme information comprises a positioning mode and parameters thereof;
a) When the positioning mode is inertial navigation positioning, the parameters are two groups of < T, V >, wherein T is the minimum time synchronization correction period of positioning, and V is the running speed of the AGV;
b) When the positioning mode is laser-based map matching positioning, the parameters are triples < F, P and V >, wherein F is the scanning frequency of a laser radar, P is the precision class of a vehicle-mounted digital map, and V is the running speed of an AGV;
c) When the positioning mode is vision-based map matching positioning, the parameters are quadruple < R, F, P and V >, wherein R is the resolution of a vision camera, F is the frame rate of the vision camera, P is the precision class of the vehicle-mounted digital map, and V is the running speed of an AGV vehicle;
d) When the positioning mode is based on the positioning of the laser reflectors, the parameters are three groups of < N, P and V >, wherein N is the number of the laser reflectors required by single positioning, P is the precision type of the vehicle-mounted map, and V is the running speed of the AGV;
e) When the positioning mode is fusion positioning, the parameters are a binary list [ < E, M >, … ], wherein E is the number of the basic positioning mode, and M is the corresponding parameter of the basic positioning mode.
2. The AGV vehicle-zoning on-demand high-precision indoor positioning control system of claim 1, wherein the positioning sensing device comprises a lidar, a panoramic camera and an IMU positioning sensing device, supporting time synchronization of information acquisition.
3. The AGV vehicle zoning on-demand high precision indoor positioning control system of claim 1, wherein the digital map comprises at least two precision categories of digital maps, and the positioning requirements comprise at least two precision categories.
4. The AGV vehicle zoning on-demand high precision indoor positioning control system of claim 1, wherein the AGV vehicle comprises a receiving module, a positioning module, and a feedback module, wherein:
The receiving module is used for receiving the positioning scheme information issued by the control center;
the positioning module is used for automatically positioning the AGV according to the received positioning scheme information;
And the feedback module is used for feeding back the AGV vehicle position data in real time.
5. The system of claim 2, wherein the laser radar measures obstacle information in real time during traveling of the AGV and transmits the obstacle information to the control center, and the control center adjusts the positioning scheme in real time and issues the obstacle information to the AGV.
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| CN113758482A (en) * | 2020-06-05 | 2021-12-07 | 深圳澳谷智能科技有限公司 | Vehicle navigation positioning method, device, base station, system and readable storage medium |
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| CN110986956A (en) * | 2019-12-23 | 2020-04-10 | 苏州寻迹智行机器人技术有限公司 | Autonomous learning global positioning method based on improved Monte Carlo algorithm |
| CN113758482A (en) * | 2020-06-05 | 2021-12-07 | 深圳澳谷智能科技有限公司 | Vehicle navigation positioning method, device, base station, system and readable storage medium |
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