WO2019166027A1 - 用于搬运设备的定位方法、装置、搬运设备及存储介质 - Google Patents

用于搬运设备的定位方法、装置、搬运设备及存储介质 Download PDF

Info

Publication number
WO2019166027A1
WO2019166027A1 PCT/CN2019/081600 CN2019081600W WO2019166027A1 WO 2019166027 A1 WO2019166027 A1 WO 2019166027A1 CN 2019081600 W CN2019081600 W CN 2019081600W WO 2019166027 A1 WO2019166027 A1 WO 2019166027A1
Authority
WO
WIPO (PCT)
Prior art keywords
ground information
handling device
preset
current actual
determining
Prior art date
Application number
PCT/CN2019/081600
Other languages
English (en)
French (fr)
Inventor
段炼
Original Assignee
AIrobot株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by AIrobot株式会社 filed Critical AIrobot株式会社
Publication of WO2019166027A1 publication Critical patent/WO2019166027A1/zh

Links

Images

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Definitions

  • the present disclosure relates to the field of automation technology, and in particular to a positioning method, device, handling device and storage medium for a handling device.
  • Magnetic navigation positioning method A magnetic strip is laid on the ground, and the magnetic signal generated by the magnetic strip is continuously sensed by the magnetic navigation sensor to achieve positioning.
  • this method is inflexible, and after changing the path of the handling equipment, the magnetic strip needs to be re-laid to position the handling equipment, the path cannot be changed in real time through the control system, and the magnetic strip is easily damaged, and the maintenance cost is high in the later stage.
  • a positionally accurate laser reflector is mounted at the corresponding location, and the handling device determines its current position by emitting a laser beam and collecting the laser beam reflected by the reflector.
  • this method is costly and the control algorithm is complicated.
  • a positioning method for a handling apparatus comprising:
  • the moving instruction is executed by the carrying device, collecting ground information of a location where the carrying device is currently located, wherein the moving instruction is used to instruct the moving device to move to a target position;
  • the current actual position of the handling device is determined.
  • the method before the step of matching the collected ground information with the preset ground information in the target area, the method further includes:
  • the target area is determined with the travel distance as a radius and the target position as a center.
  • the determining, according to the matching result, the current actual location of the handling device including:
  • the target area is reduced, and the ground information to be collected and the preset ground information in the target area are returned.
  • the travel instruction is used to instruct the moving device to move the preset distance according to a preset direction, and after the carrying device performs the After the travel instruction, the step of collecting the ground information of the current location of the transport device is returned.
  • the method further includes:
  • the current actual position of the transport device is corrected according to the target position.
  • the method further includes:
  • the traveling angle of the conveying device is corrected.
  • a positioning device for a handling device comprising:
  • An acquisition module configured to collect ground information of a current location of the transportation device after the movement instruction is executed by the transportation device, where the movement instruction is used to instruct the transportation device to move to a target position;
  • a matching module configured to match the collected ground information with preset ground information in a target area, where the target area is part or all of a working area in which the handling device is located;
  • the first determining module is configured to determine a current actual location of the handling device according to the matching result.
  • the device further includes:
  • a second determining module configured to determine a travel distance of the transport device from a previous location to a current location before the matching module matches the collected ground information with preset ground information in the target area
  • a third determining module configured to determine the target area by using the traveling distance as a radius and the target position as a center.
  • the first determining module includes:
  • a first determining submodule configured to determine a current actual location of the handling device according to the successfully matched preset ground information when the matching result indicates that the number of the preset ground information successfully matched is one;
  • a second determining submodule configured to reduce the target area when the matching result indicates that the number of the preset ground information that is successfully matched is multiple, and trigger the collected ground information to be collected by the matching module Matching preset ground information in the target area;
  • a third determining submodule configured to: when the matching result indicates that the preset ground information is not successfully matched, output a running instruction, where the running instruction is used to instruct the carrying device to move the preset distance according to a preset direction, and After the carrying device executes the travel instruction, the collecting module is triggered to collect ground information of the current location of the handling device.
  • the device further includes:
  • a fourth determining module configured to determine a position deviation between a current actual position of the handling device and the target position after determining a current actual position of the handling device
  • the first correcting module is configured to correct the current actual position of the handling device according to the target position when the position deviation exceeds a preset position deviation range.
  • the device further includes:
  • a fifth determining module configured to determine, according to the ground information corresponding to the current actual location and the ground information corresponding to the target location, the traveling direction of the handling device after determining the current actual location of the handling device Angle deviation
  • a second correcting module configured to correct a traveling angle of the carrying device when the traveling direction angular deviation exceeds a preset angular deviation range.
  • a handling apparatus comprising:
  • a camera is disposed at the bottom of the handling device for collecting ground information.
  • a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to implement the steps of any of the methods described above.
  • a computer program product comprising a computer program executable by a programmable device, the computer program having when executed by the programmable device The code portion of any of the methods described above in the first aspect.
  • the ground information of the current location of the transporting device is collected, and the collected ground information is matched with the preset ground information in the target area, so as to match the matching result.
  • FIG. 1 is a flow chart of a positioning method for a handling device provided in accordance with an embodiment of the present disclosure
  • Figure 2 is a schematic view of a target area of the handling device
  • FIG. 3 is a flow chart of a positioning method for a handling device provided in accordance with another embodiment of the present disclosure.
  • FIG. 4 is a block diagram of a positioning device for a handling device provided in accordance with an embodiment of the present disclosure
  • FIG. 5 is a block diagram of a positioning device for a handling device provided in accordance with another embodiment of the present disclosure.
  • FIG. 6 is a block diagram of a positioning device for a handling device provided in accordance with another embodiment of the present disclosure.
  • FIG. 1 is a flow chart of a positioning method for a handling apparatus provided in accordance with an embodiment of the present disclosure. As shown in FIG. 1, the method includes:
  • the ground information of the current location of the conveying device is collected, wherein the movement instruction is used to instruct the moving device to move to the target position.
  • the ground information may be an image of the ground or ground texture information extracted according to an image of the ground.
  • the transporting device may be a transport robot or an AGV (Automated Guided Vehicle).
  • the collected ground information is matched with preset ground information in the target area, wherein the target area is part or all of the working area in which the handling device is located.
  • the ground information in the working area of the handling equipment can be collected in advance, and each ground information is stored.
  • all the working areas where the handling equipment is located may be determined as the target area, and the collected ground information is matched with the ground information in the working area where the handling equipment is located.
  • the method further includes:
  • the travel distance of the transport device Determining the travel distance of the transport device from the previous position to the current position, wherein the travel distance can be determined by the laser sensor, and the travel distance can be determined according to the wheel radius and the number of revolutions of the transport device, which is not limited in the disclosure. .
  • the target area is determined with the travel distance as a radius and the target position as a center.
  • the travel distance of the transport device since the travel distance of the transport device is limited, the position at which the distance from the previous position is greater than the travel distance may exclude the possibility of being the current position. Therefore, the travel distance may be a radius and the target position may be a center of the circle.
  • the circular area is determined as the target area. As shown in FIG. 2, the rectangular area 1 indicates the working area of the handling device, and the circular area 2 indicates the target area. It can be seen that the above technical solution can effectively narrow the matching range. Improve positioning efficiency.
  • the above circular area is an exemplary implementation of the target area.
  • the target area may also be a sector-shaped area having a radius of the traveling distance and a target position as a center, which is not limited in the present disclosure.
  • an exemplary implementation manner of determining a current actual location of the handling device according to the matching result is as follows, including:
  • the current actual position of the handling device is determined according to the successfully matched preset ground information.
  • the center of gravity of the collected ground information may be determined, and the corresponding position of the center of gravity point in the preset ground information is determined as the current actual position of the handling device.
  • the center of gravity point can be determined by image processing technology.
  • the target area is reduced, and the ground information to be collected and the preset ground information in the target area are returned.
  • the steps to match wherein, when the number of returns reaches a preset number of times, the step of returning is stopped, and the current actual position of the handling device is marked as unmatched.
  • the circular area 2 is a target area.
  • the narrowing of the target area may be centered on the target position S, reducing the radius of the circular area.
  • the circular area 3 is a target area obtained on the basis of the circular area 2, where R2 ⁇ R1.
  • the ground information corresponding to the position T and the position A2 is successfully matched in the preset ground information of the circular area 2
  • the circular area 3 is obtained by narrowing the target area, and the preset ground information in the circular area 3 is obtained.
  • the ground information corresponding to the position A2 is successfully matched.
  • the current actual position of the handling device can be determined according to the ground information corresponding to the position A2, which can effectively narrow the matching range, improve the matching efficiency, and improve the matching accuracy.
  • the above manner is only an example implementation manner of narrowing the target area, and the disclosure is not limited.
  • the target area when the target area is a sector area, the target area may be narrowed by narrowing the central angle of the sector area, which is not limited in the present disclosure.
  • the travel instruction is used to instruct the moving device to move the preset distance according to a preset direction, and after the carrying device performs the After the travel instruction, the step of collecting the ground information of the current location of the transport device is returned.
  • the preset direction may be a current traveling direction of the handling device, or may be a preset direction determined according to multiple experimental data, and the preset distance may be a preset traveling distance.
  • a travel instruction is output, which is used to instruct the handling device to move 100 mm in the current traveling direction.
  • the ground information of the current location of the transport device is re-acquired. Then, according to the re-acquired ground information and the preset ground information in the target area, if the matching result indicates that the preset ground information is not successfully matched, the step of returning is stopped, and the current actual position of the handling device is marked. Is not matched.
  • the above embodiments are merely exemplary implementations, and the disclosure is not limited.
  • the number of times that the step of collecting the ground information of the current location of the handling device is set may be set to multiple times according to the actual situation, which is not limited in the disclosure.
  • an alarm may be issued in time to remind the user.
  • each preset ground information in the target area is different, and ground information corresponding to each location is unique.
  • the matching result can be quickly determined, and the matching efficiency is further improved.
  • the ground information of the current location of the transporting device is collected, and the collected ground information is matched with the preset ground information in the target area, so as to match the matching result.
  • the method further includes:
  • the positional deviation between the current actual position of the handling device and the target position can be determined by:
  • the current actual position of the handling device can be corrected in a preset ratio.
  • the preset ratio may be a golden ratio of 0.618.
  • the handling device can be controlled to move to the target position with a moving distance of 0.618D. Correcting the current actual position of the handling equipment according to the preset ratio can effectively reduce the deviation between the actual walking trajectory of the handling equipment and the preset trajectory, and can avoid the impact on the walking after the handling equipment due to excessive position correction. The normal walking and precise positioning of the handling equipment guarantees.
  • the current actual position of the handling device can be corrected based on the normal distribution curve for each target location.
  • the multiple walking data of the handling device at each target position may be recorded in advance, and the theoretical correction value and the actual correction value corresponding to each walking data may be counted, thereby forming a corresponding normal distribution curve at the target position.
  • a normal distribution curve corresponding to the target position may be determined, so that the actual correction value obeying the normal distribution curve may be obtained according to the position deviation between the current actual position of the handling device and the target position.
  • obeying the normal distribution curve may be that the calculated actual correction value satisfies the variance of the normal distribution curve.
  • the current actual position of the handling device can be corrected by a PID (proportion-integral-derivative) control method.
  • the current actual position of the handling device can be corrected by the PID closed-loop control system to accurately control the walking trajectory of the handling device based on the target location and the current actual location.
  • the PID control algorithm is a prior art, and details are not described herein again.
  • the position deviation does not exceed the preset position deviation range, it indicates that the influence of the position deviation on the walking trajectory of the conveying device is within an acceptable range, and the traveling trajectory of the conveying device does not deviate from the preset trajectory. No need to perform position correction, you can control the handling equipment to continue the subsequent operations.
  • the current actual position of the handling device can be corrected in time when the handling device deviates from the preset trajectory, so that the walking trajectory of the handling device can be accurately controlled. , to meet the user's needs.
  • the method further includes:
  • the ground information corresponding to the current actual position is the ground information of the position where the handling equipment is corrected; otherwise, the current actual The ground information corresponding to the location is the ground information collected in step 11.
  • the reference traveling direction of the handling device at the target position may be determined according to the ground information corresponding to the target position
  • the actual traveling direction of the handling device may be determined according to the ground information corresponding to the current actual position of the handling device
  • the reference traveling direction is The angle between the actual traveling directions is the angular deviation of the traveling direction of the handling equipment.
  • the traveling angle of the conveying device is corrected.
  • the manner of correcting the traveling angle of the handling device is similar to the manner of correcting the current actual position of the handling device as described above, and details are not described herein again.
  • the deviation of the traveling direction angle does not exceed the preset angular deviation range, it indicates that the influence of the deviation of the traveling direction angle on the traveling trajectory of the carrying device is within an acceptable range, and does not cause the traveling trajectory of the carrying device to deviate from the preset trajectory. At this time, it is not necessary to adjust the traveling angle, and the handling device can be controlled to move in the current traveling direction.
  • the present disclosure also provides a positioning device for a handling device, as shown in FIG. 4, the device 10 includes:
  • the collecting module 100 is configured to collect ground information of a current location of the handling device after the moving instruction is executed by the carrying device, where the moving instruction is used to instruct the moving device to move to a target position;
  • the matching module 200 is configured to match the collected ground information with preset ground information in the target area, where the target area is part or all of the working area where the handling device is located;
  • the first determining module 300 is configured to determine a current actual location of the handling device according to the matching result.
  • the device 10 further includes:
  • a second determining module 400 configured to determine, before the matching module 200 matches the collected ground information with preset ground information in the target area, a travel distance of the handling device from a previous location to a current location ;
  • the third determining module 500 is configured to determine the target area by using the traveling distance as a radius and the target position as a center.
  • the first determining module includes:
  • a first determining submodule configured to determine, according to the successfully matched preset ground information, a current actual location of the handling device when the matching result indicates that the number of the preset ground information that is successfully matched is one;
  • a second determining submodule configured to reduce the target area when the matching result indicates that the number of preset ground information successfully matched is multiple, and trigger the matching module 200 to collect the collected ground The information is matched with preset ground information in the target area;
  • a third determining submodule configured to: when the matching result indicates that the preset ground information is not successfully matched, output a running instruction, where the running instruction is used to instruct the carrying device to move the preset distance according to a preset direction, and After the carrying device executes the travel instruction, the collecting module 100 is triggered to collect ground information of the current location of the handling device.
  • the device 10 further includes:
  • a fourth determining module 600 configured to determine a position deviation between a current actual position of the handling device and the target position after determining a current actual position of the handling device
  • the first correcting module 700 is configured to correct the current actual position of the handling device according to the target position when the position deviation exceeds a preset position deviation range.
  • the device 10 further includes:
  • a fifth determining module configured to determine, according to the ground information corresponding to the current actual location and the ground information corresponding to the target location, the traveling direction of the handling device after determining the current actual location of the handling device Angle deviation
  • a second correcting module configured to correct a traveling angle of the carrying device when the traveling direction angular deviation exceeds a preset angular deviation range.
  • the disclosure also provides a handling device, the handling device comprising:
  • a camera is disposed at the bottom of the handling device for collecting ground information.
  • the handling device may further include:
  • the light-filling device is disposed at the bottom of the conveying device, and is used for filling light when the camera collects ground information, so that clearer and more accurate ground information can be collected.
  • the light-filling device may be a flash lamp or a black light source, which is not limited in the present disclosure.
  • the present disclosure also provides a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of a positioning method for a handling device provided by any of the above embodiments.
  • a computer program product comprising a computer program executable by a programmable device, the computer program having when executed by the programmable device A code portion for performing the above-described positioning method for a handling device.
  • the positioning method, device and handling device for the handling device provided by the present disclosure can be applied to various item storage warehouses to effectively reduce the workload of the porter.
  • the positioning method, device, and handling device for the handling device provided by the present disclosure are more effective in an environment where the ground environment is clean and the air environment is dust-free, such as a semiconductor storage warehouse. In this environment, it is possible to effectively avoid the pollution of the camera and the ground information by dust in the air, thereby collecting high-resolution, high-quality ground information and providing accurate data support.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本公开涉及一种用于搬运设备的定位方法、装置、搬运设备及存储介质,所述方法包括:在所述搬运设备执行完移动指令后,采集所述搬运设备当前所处位置的地面信息;将采集到的所述地面信息与目标区域内的预置地面信息进行匹配,其中,所述目标区域为所述搬运设备所处的工作区域中的一部分或全部;根据匹配结果,确定所述搬运设备的当前实际位置。通过上述技术方案,一方面,通过现有的地面信息确定搬运设备的当前实际位置,不需要像现有技术中铺设或者安装辅助材料,节省资源且降低成本,方法简单且易于实现。另一方面,在更改搬运设备的移动路径时,不需要更改硬件或者外部设备,便于后期维护,提高该定位方法的灵活性和准确度。

Description

用于搬运设备的定位方法、装置、搬运设备及存储介质 技术领域
本公开涉及自动化技术领域,具体地,涉及一种用于搬运设备的定位方法、装置、搬运设备及存储介质。
背景技术
随着工厂自动化、计算机集成的制造系统技术逐步发展和自动化立体仓库的广泛使用,各种搬运设备的使用范围和技术水平都得到了迅猛地发展。利用搬运设备进行物品的搬运,可以有效降低搬运工人的工作量。现有技术中,搬运设备的定位一般采用以下方式:
1.磁导航定位方式。在地面上铺设磁条,通过磁导航传感器不间断地感应磁条产生的磁信号实现定位。但该种方式灵活性差,并且在更改搬运设备的路径后,需重新铺设磁条才可以对搬运设备进行定位,无法通过控制系统实时更改路径,且磁条容易损坏,后期维护成本较高。
2.激光导航定位方式。在相应位置安装位置精确的激光反射板,搬运设备通过发射激光束、并采集由反射板反射的激光束来确定其当前位置。但该种方式成本较高,且控制算法复杂。
3.光学导航定位方式。在搬运设备的行驶路径上涂漆或粘贴色带,通过摄像头采集色带图像信号,并对色带图像信号进行处理而实现定位。但该种方法对色带的污染和机械磨损十分敏感,定位可靠性较差。
发明内容
本公开的目的是提供一种简单且准确的用于搬运设备的定位方法、装置、搬运设备及存储介质。
为了实现上述目的,根据本公开的第一方面,提供一种用于搬运设备的定位方法,所述方法包括:
在所述搬运设备执行完移动指令后,采集所述搬运设备当前所处位置的地面信息,其中,所述移动指令用于指示所述搬运设备移动到目标位置;
将采集到的所述地面信息与目标区域内的预置地面信息进行匹配,其中,所述目标区域为所述搬运设备所处的工作区域中的一部分或全部;
根据匹配结果,确定所述搬运设备的当前实际位置。
可选地,在所述将采集到的所述地面信息与目标区域内的预置地面信息进行匹配的步骤之前,所述方法还包括:
确定所述搬运设备从上一位置到当前位置的行进距离;
以所述行进距离为半径、所述目标位置为圆心,确定所述目标区域。
可选地,所述根据匹配结果,确定所述搬运设备的当前实际位置,包括:
在所述匹配结果表示成功匹配到的预置地面信息的个数为一个时,根据成功匹配到的预置地面信息,确定所述搬运设备的当前实际位置;以及
在所述匹配结果表示成功匹配到的预置地面信息的个数为多个时,缩小所述目标区域,并返回所述将采集到的所述地面信息与目标区域内的预置地面信息进行匹配的步骤;
在所述匹配结果表示未成功匹配到预置地面信息时,输出行进指令,所述行进指令用于指示所述搬运设备按照预设方向移动预设距离,并在所述搬运设备执行完所述行进指令后,返回所述采集所述搬运设备当前所处位置的地面信息的步骤。
可选地,所述方法还包括:
在确定出所述搬运设备的当前实际位置后,确定所述搬运设备的当前实际位置与所述目标位置的位置偏差;
若所述位置偏差超过预设的位置偏差范围,按照所述目标位置对所述搬 运设备的当前实际位置进行纠正。
可选地,所述方法还包括:
在确定出所述搬运设备的当前实际位置后,根据所述当前实际位置所对应的地面信息与所述目标位置所对应的地面信息,确定所述搬运设备的行进方向角度偏差;
若所述行进方向角度偏差超过预设的角度偏差范围,对所述搬运设备的行进角度进行纠正。
根据本公开的第二方面,提供一种用于搬运设备的定位装置,所述装置包括:
采集模块,用于在所述搬运设备执行完移动指令后,采集所述搬运设备当前所处位置的地面信息,其中,所述移动指令用于指示所述搬运设备移动到目标位置;
匹配模块,用于将采集到的所述地面信息与目标区域内的预置地面信息进行匹配,其中,所述目标区域为所述搬运设备所处的工作区域中的一部分或全部;
第一确定模块,用于根据匹配结果,确定所述搬运设备的当前实际位置。
可选地,所述装置还包括:
第二确定模块,用于在所述匹配模块将采集到的所述地面信息与目标区域内的预置地面信息进行匹配之前,确定所述搬运设备从上一位置到当前位置的行进距离;
第三确定模块,用于以所述行进距离为半径、所述目标位置为圆心,确定所述目标区域。
可选地,所述第一确定模块包括:
第一确定子模块,用于在所述匹配结果表示成功匹配到的预置地面信息的个数为一个时,根据成功匹配到的预置地面信息,确定所述搬运设备的当 前实际位置;
第二确定子模块,用于在所述匹配结果表示成功匹配到的预置地面信息的个数为多个时,缩小所述目标区域,并触发所述匹配模块将采集到的所述地面信息与目标区域内的预置地面信息进行匹配;
第三确定子模块,用于在所述匹配结果表示未成功匹配到预置地面信息时,输出行进指令,所述行进指令用于指示所述搬运设备按照预设方向移动预设距离,并在所述搬运设备执行完所述行进指令后,触发所述采集模块采集所述搬运设备当前所处位置的地面信息。
可选地,所述装置还包括:
第四确定模块,用于在确定出所述搬运设备的当前实际位置后,确定所述搬运设备的当前实际位置与所述目标位置的位置偏差;
第一纠正模块,用于在所述位置偏差超过预设的位置偏差范围时,按照所述目标位置对所述搬运设备的当前实际位置进行纠正。
可选地,所述装置还包括:
第五确定模块,用于在确定出所述搬运设备的当前实际位置后,根据所述当前实际位置所对应的地面信息与所述目标位置所对应的地面信息,确定所述搬运设备的行进方向角度偏差;
第二纠正模块,用于在所述行进方向角度偏差超过预设的角度偏差范围时,对所述搬运设备的行进角度进行纠正。
根据本公开的第三方面,提供一种搬运设备,所述搬运设备包括:
上述第二方面所述的任一用于搬运设备的定位装置;
摄像头,设置于所述搬运设备的底部,用于采集地面信息。
根据本公开的第四方面,提供一种计算机可读存储介质,其上存储有计算机程序,该程序被处理器执行时实现上述第一方面所述的任一方法的步骤。
根据本公开的第五方面,还提供一种计算机程序产品,所述计算机程序产品包含能够由可编程的装置执行的计算机程序,所述计算机程序具有当由所述可编程的装置执行时用于执行上述第一方面所述的任一方法的代码部分。
在上述技术方案中,在搬运设备执行完移动指令后,通过采集搬运设备当前所处位置的地面信息,并将该采集的地面信息与目标区域内的预置地面信息进行匹配,从而根据匹配结果确定搬运设备的当前实际位置。通过上述技术方案,一方面,可以利用现有的地面信息确定搬运设备的当前实际位置,不需要像现有技术中铺设或者安装辅助材料,节省资源且降低成本,方法简单且易于实现。另一方面,在更改搬运设备的移动路径时,不需要更改硬件或者外部设备,便于后期维护,提高该定位方法的灵活性和准确度。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本公开的进一步理解,并且构成说明书的一部分,与下面的具体实施方式一起用于解释本公开,但并不构成对本公开的限制。在附图中:
图1是根据本公开的一种实施方式提供的用于搬运设备的定位方法的流程图;
图2是搬运设备的目标区域的示意图;
图3是根据本公开的另一种实施方式提供的用于搬运设备的定位方法的流程图;
图4是根据本公开的一种实施方式提供的用于搬运设备的定位装置的框图;
图5是根据本公开的另一种实施方式提供的用于搬运设备的定位装置的 框图;
图6是根据本公开的另一种实施方式提供的用于搬运设备的定位装置的框图。
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是,此处所描述的具体实施方式仅用于说明和解释本公开,并不用于限制本公开。
图1所示,为根据本公开的一种实施方式提供的用于搬运设备的定位方法的流程图。如图1所示,所述方法包括:
在S11中,在搬运设备执行完移动指令后,采集搬运设备当前所处位置的地面信息,其中,所述移动指令用于指示所述搬运设备移动到目标位置。示例地,所述地面信息可以是地面的图像,也可以是根据地面的图像提取的地面纹路信息。该搬运设备可以是搬运机器人,也可以是AGV(Automated Guided Vehicle,自动导引运输车)。
在S12中,将采集到的地面信息与目标区域内的预置地面信息进行匹配,其中,所述目标区域为所述搬运设备所处的工作区域中的一部分或全部。其中,可以预先采集搬运设备的工作区域内的地面信息,并存储各个地面信息。
可选地,可以将搬运设备所处的工作区域全部确定为目标区域,即将采集到的地面信息与该搬运设备所处的工作区域内的地面信息进行匹配。
可选地,在所述将采集到的所述地面信息与目标区域内的预置地面信息进行匹配的步骤12之前,所述方法还包括:
确定所述搬运设备从上一位置到当前位置的行进距离,其中,可以通过激光传感器确定该行进距离,也可以根据搬运设备的车轮半径及转动圈数确 定该行进距离,本公开对此不作限定。
以所述行进距离为半径、所述目标位置为圆心,确定所述目标区域。
示例地,由于该搬运设备的行进距离有限,与上一位置距离大于该行进距离的位置可以排除是当前位置的可能性,因此,可以将以该行进距离为半径、目标位置为圆心所形成的圆形区域确定为目标区域,如图2所示,矩形区域1表示该搬运设备的工作区域,圆形区域2表示该目标区域,由此可见,通过上述技术方案,可以有效缩小匹配的范围,提高定位效率。其中,上述圆形区域为该目标区域的一种示例实现方式。目标区域也可以是以行进距离为半径、目标位置为圆心的扇形区域,本公开中对此不作限定。
在S13中,根据匹配结果,确定搬运设备的当前实际位置。
可选地,根据匹配结果,确定搬运设备的当前实际位置的一种示例性实现方式如下,包括:
在所述匹配结果表示成功匹配到的预置地面信息的个数为一个时,根据成功匹配到的预置地面信息,确定所述搬运设备的当前实际位置。
在一实施例中,可以确定采集到的地面信息的重心点,并将该重心点在预置地面信息中对应的位置确定为搬运设备的当前实际位置。其中,可以通过图像处理技术进行确定该重心点。
在所述匹配结果表示成功匹配到的预置地面信息的个数为多个时,缩小所述目标区域,并返回所述将采集到的所述地面信息与目标区域内的预置地面信息进行匹配的步骤。其中,可以在返回次数达到预设次数时,停止重复该返回的步骤,并将搬运设备的当前实际位置标记为未匹配。
在一实施例中,如图2所示,圆形区域2为目标区域。示例地,缩小目标区域可以是以目标位置S为圆心,缩小圆形区域的半径。如,圆形区域3为在圆形区域2的基础上获得的目标区域,其中,R2<R1。在该实施例中,在圆形区域2的预置地面信息中成功匹配到位置T和位置A2对应的地面信 息,通过缩小目标区域获得圆形区域3,在圆形区域3的预置地面信息中成功匹配到位置A2对应的地面信息,此时可以根据位置A2对应的地面信息确定搬运设备的当前实际位置,既可以有效缩小匹配范围、提高匹配效率,又可以提高匹配的精确度。其中,上述方式仅为缩小目标区域的一种示例实现方式,不对本公开进行限制。在另一实施例中,当目标区域为扇形区域时,也可以通过缩小扇形区域的圆心角以缩小目标区域,本公开中对此不作限定。
在所述匹配结果表示未成功匹配到预置地面信息时,输出行进指令,所述行进指令用于指示所述搬运设备按照预设方向移动预设距离,并在所述搬运设备执行完所述行进指令后,返回所述采集所述搬运设备当前所处位置的地面信息的步骤。其中,该预设方向可以是搬运设备的当前行进方向,也可以是根据多次实验数据确定出的预置的方向,预设距离可以为预置的行进距离。示例地,在匹配结果表示未成功匹配到预置地面信息时,输出行进指令,该行进指令用于指示搬运设备按照当前行进方向移动100mm。在搬运设备执行完该行进指令后,重新采集搬运设备当前所处位置的地面信息。之后根据重新采集到的地面信息与目标区域内的预置地面信息进行匹配,若匹配结果表示未成功匹配到预置地面信息,则停止重复该返回的步骤,并将搬运设备的当前实际位置标记为未匹配。需要说明的是,上述实施例仅为一种示例性实现方式,不对本公开进行限定。示例地,该返回采集所述搬运设备当前所处位置的地面信息的步骤的次数也可以根据实际情况设置成多次,本公开对此不作限定。
可选地,在未能成功确定搬运设备的当前实际位置时,可以及时报警,以提醒用户。
在另一实施例中,所述目标区域内的各个预置地面信息不同,各个位置对应的地面信息唯一。在该实施例中,在将采集到的地面信息与目标区域内 的预置地面信息进行匹配时,可以快速确定出匹配结果,进一步提升匹配效率。
在上述技术方案中,在搬运设备执行完移动指令后,通过采集搬运设备当前所处位置的地面信息,并将该采集的地面信息与目标区域内的预置地面信息进行匹配,从而根据匹配结果确定搬运设备的当前实际位置。通过上述技术方案,一方面,可以利用现有的地面信息确定搬运设备的当前实际位置,不需要像现有技术中铺设或者安装辅助材料,节省资源且降低成本,方法简单且易于实现。另一方面,在更改搬运设备的移动路径时,不需要更改硬件或者外部设备,便于后期维护,提高该定位方法的灵活性和准确度。
可选地,如图3所示,所述方法还包括:
在S31中,在确定出搬运设备的当前实际位置后,确定搬运设备的当前实际位置与目标位置的位置偏差。
示例地,可以通过如下方式确定搬运设备的当前实际位置与目标位置的位置偏差:
确定目标位置所对应的预置地面信息的重心点,计算目标位置所对应的预置地面信息的重心点与当前实际位置在预置地面信息中对应的位置之间的距离,并将该距离确定为搬运设备的当前实际位置与目标位置的位置偏差。
在S32中,若位置偏差超过预设的位置偏差范围,按照目标位置对搬运设备的当前实际位置进行纠正。
在一实施例中,可以以预设比例对搬运设备的当前实际位置进行纠正。示例地,该预设比例可以是黄金比例0.618。当搬运设备的当前实际位置与目标位置的位置偏差为D时,可以控制搬运设备向目标位置移动,移动距离为0.618D。根据预设比例对搬运设备的当前实际位置进行纠正,既可以有效减小搬运设备的实际行走轨迹与预设轨迹的偏差,又可以避免由于位置纠正 过度而对搬运设备之后的行走造成影响,为搬运设备的正常行走和精准定位提供保证。
在另一实施例中,可以根据各个目标位置的正态分布曲线对搬运设备的当前实际位置进行纠正。示例地,可以预先记录搬运设备在每个目标位置的多次行走数据,统计每次行走数据对应的理论纠正值和实际纠正值,从而在该目标位置形成对应的正态分布曲线。当确定目标位置后,则可以确定出与该目标位置对应的正态分布曲线,从而可以根据搬运设备的当前实际位置与目标位置之间的位置偏差,获取服从该正态分布曲线的实际纠正值,以根据该实际纠正值对搬运设备的当前实际位置进行纠正。其中,服从正态分布曲线可以是计算出的实际纠正值满足正态分布曲线的方差不变。
在另一实施例中,可以通过PID(proportion-integral-derivative)控制方法对搬运设备的当前实际位置进行纠正。示例地,可以通过PID闭环控制系统对搬运设备的当前实际位置进行纠正,以根据目标位置和当前实际位置准确控制搬运设备的行走轨迹。其中,PID控制算法为现有技术,在此不再赘述。
若所述位置偏差未超过预设的位置偏差范围,表示此时位置偏差对搬运设备的行走轨迹的影响在可接受范围内,不会使得搬运设备的行走轨迹偏离出预设轨迹,此时,不需要进行位置纠正,可以控制搬运设备继续后续的操作。
在上述技术方案中,通过对搬运设备的当前实际位置进行定位及纠正,可以在搬运设备偏离预设轨迹时,及时对搬运设备的当前实际位置进行纠正,从而可以精准地控制搬运设备的行走轨迹,贴合用户的使用需求。
可选地,所述方法还包括:
在确定出所述搬运设备的当前实际位置后,根据所述当前实际位置所对应的地面信息与所述目标位置所对应的地面信息,确定所述搬运设备的行进 方向角度偏差。其中,在确定出搬运设备的当前实际位置后,若对搬运设备的当前实际位置进行来了纠正,当前实际位置所对应的地面信息为纠正后搬运设备所处位置的地面信息;否则,当前实际位置所对应的地面信息即为在步骤11中采集到的地面信息。
示例地,根据目标位置对应的地面信息可以确定出搬运设备在目标位置的基准行进方向,根据搬运设备的当前实际位置所对应的地面信息可以确定出搬运设备的实际行进方向,该基准行进方向与实际行进方向之间的夹角即为搬运设备的行进方向角度偏差。
若所述行进方向角度偏差超过预设的角度偏差范围,对所述搬运设备的行进角度进行纠正。
其中,对搬运设备的行进角度进行纠正的方式与上文所述对搬运设备的当前实际位置进行纠正的方式类似,在此不再赘述。
若所述行进方向角度偏差未超过预设的角度偏差范围,表示此时行进方向角度偏差对搬运设备的行走轨迹的影响在可接受范围内,不会使得搬运设备的行走轨迹偏离出预设轨迹,此时,不需要对行进角度进行调整,可以控制搬运设备按照当前的行进方向移动。
在上述技术方案中,通过对搬运设备的行进方向进行监测及纠正,可以有效降低搬运设备偏离预设轨迹的风险,保证搬运设备后续行走的准确度,便于用户使用。
本公开还提供一种用于搬运设备的定位装置,如图4所示,该装置10包括:
采集模块100,用于在所述搬运设备执行完移动指令后,采集所述搬运设备当前所处位置的地面信息,其中,所述移动指令用于指示所述搬运设备移动到目标位置;
匹配模块200,用于将采集到的所述地面信息与目标区域内的预置地面 信息进行匹配,其中,所述目标区域为所述搬运设备所处的工作区域中的一部分或全部;
第一确定模块300,用于根据匹配结果,确定所述搬运设备的当前实际位置。
可选地,如图5所示,所述装置10还包括:
第二确定模块400,用于在所述匹配模块200将采集到的所述地面信息与目标区域内的预置地面信息进行匹配之前,确定所述搬运设备从上一位置到当前位置的行进距离;
第三确定模块500,用于以所述行进距离为半径、所述目标位置为圆心,确定所述目标区域。
可选地,所述第一确定模块包括:
第一确定子模块,用于在所述匹配结果表示成功匹配到的预置地面信息的个数为一个时,根据成功匹配到的预置地面信息,确定所述搬运设备的当前实际位置;
第二确定子模块,用于在所述匹配结果表示成功匹配到的预置地面信息的个数为多个时,缩小所述目标区域,并触发所述匹配模块200将采集到的所述地面信息与目标区域内的预置地面信息进行匹配;
第三确定子模块,用于在所述匹配结果表示未成功匹配到预置地面信息时,输出行进指令,所述行进指令用于指示所述搬运设备按照预设方向移动预设距离,并在所述搬运设备执行完所述行进指令后,触发所述采集模块100采集所述搬运设备当前所处位置的地面信息。
可选地,如图6所示,所述装置10还包括:
第四确定模块600,用于在确定出所述搬运设备的当前实际位置后,确定所述搬运设备的当前实际位置与所述目标位置的位置偏差;
第一纠正模块700,用于在所述位置偏差超过预设的位置偏差范围时, 按照所述目标位置对所述搬运设备的当前实际位置进行纠正。
可选地,所述装置10还包括:
第五确定模块,用于在确定出所述搬运设备的当前实际位置后,根据所述当前实际位置所对应的地面信息与所述目标位置所对应的地面信息,确定所述搬运设备的行进方向角度偏差;
第二纠正模块,用于在所述行进方向角度偏差超过预设的角度偏差范围时,对所述搬运设备的行进角度进行纠正。
本公开还提供一种搬运设备,所述搬运设备包括:
上述的任一用于搬运设备的定位装置;
摄像头,设置于所述搬运设备的底部,用于采集地面信息。
可选地,所述搬运设备还可以包括:
补光装置,设置于所述搬运设备的底部,用于在所述摄像头采集地面信息时进行补光,从而可以采集更加清晰、准确的地面信息。示例地,所述补光装置可以是闪光灯或者黑光光源,本公开对此不作限定。
本公开还提供一种计算机可读存储介质,其上存储有计算机程序,该程序被处理器执行时实现上述任一实施例提供的用于搬运设备的定位方法的步骤。
在另一示例性实施例中,还提供了一种计算机程序产品,所述计算机程序产品包含能够由可编程的装置执行的计算机程序,所述计算机程序具有当由所述可编程的装置执行时用于执行上述的用于搬运设备的定位方法的代码部分。
其中,本公开所提供的用于搬运设备的定位方法、装置、搬运设备可以适用于多种物品存储仓库中,以有效降低搬运工人的工作量。示例地,本公开提供的用于搬运设备的定位方法、装置、搬运设备在地面环境整洁、空气环境无尘度高的环境中使用效果更佳,如半导体的存储仓库。在该环境中, 可以有效避免空气中的尘埃等对摄像头以及地面信息的污染,从而可以采集到高清晰度、高质量的地面信息,提供准确的数据支持。
以上结合附图详细描述了本公开的优选实施方式,但是,本公开并不限于上述实施方式中的具体细节,在本公开的技术构思范围内,可以对本公开的技术方案进行多种简单变型,这些简单变型均属于本公开的保护范围。另外需要说明的是,在上述具体实施方式中所描述的各个具体技术特征,在不矛盾的情况下,可以通过任何合适的方式进行组合。为了避免不必要的重复,本公开对各种可能的组合方式不再另行说明。
此外,本公开的各种不同的实施方式之间也可以进行任意组合,只要其不违背本公开的思想,其同样应当视为本公开所公开的内容。

Claims (13)

  1. 一种用于搬运设备的定位方法,其特征在于,所述方法包括:
    在所述搬运设备执行完移动指令后,采集所述搬运设备当前所处位置的地面信息,其中,所述移动指令用于指示所述搬运设备移动到目标位置;
    将采集到的所述地面信息与目标区域内的预置地面信息进行匹配,其中,所述目标区域为所述搬运设备所处的工作区域中的一部分或全部;
    根据匹配结果,确定所述搬运设备的当前实际位置。
  2. 根据权利要求1所述的方法,其特征在于,在所述将采集到的所述地面信息与目标区域内的预置地面信息进行匹配的步骤之前,所述方法还包括:
    确定所述搬运设备从上一位置到当前位置的行进距离;
    以所述行进距离为半径、所述目标位置为圆心,确定所述目标区域。
  3. 根据权利要求1或2所述的方法,其特征在于,所述根据匹配结果,确定所述搬运设备的当前实际位置,包括:
    在所述匹配结果表示成功匹配到的预置地面信息的个数为一个时,根据成功匹配到的预置地面信息,确定所述搬运设备的当前实际位置;以及
    在所述匹配结果表示成功匹配到的预置地面信息的个数为多个时,缩小所述目标区域,并返回所述将采集到的所述地面信息与目标区域内的预置地面信息进行匹配的步骤;
    在所述匹配结果表示未成功匹配到预置地面信息时,输出行进指令,所述行进指令用于指示所述搬运设备按照预设方向移动预设距离,并在所述搬运设备执行完所述行进指令后,返回所述采集所述搬运设备当前所处位置的地面信息的步骤。
  4. 根据权利要求1所述的方法,其特征在于,所述方法还包括:
    在确定出所述搬运设备的当前实际位置后,确定所述搬运设备的当前实际位置与所述目标位置的位置偏差;
    若所述位置偏差超过预设的位置偏差范围,按照所述目标位置对所述搬运设备的当前实际位置进行纠正。
  5. 根据权利要求1或4所述的方法,其特征在于,所述方法还包括:
    在确定出所述搬运设备的当前实际位置后,根据所述当前实际位置所对应的地面信息与所述目标位置所对应的地面信息,确定所述搬运设备的行进方向角度偏差;
    若所述行进方向角度偏差超过预设的角度偏差范围,对所述搬运设备的行进角度进行纠正。
  6. 一种用于搬运设备的定位装置,其特征在于,所述装置包括:
    采集模块,用于在所述搬运设备执行完移动指令后,采集所述搬运设备当前所处位置的地面信息,其中,所述移动指令用于指示所述搬运设备移动到目标位置;
    匹配模块,用于将采集到的所述地面信息与目标区域内的预置地面信息进行匹配,其中,所述目标区域为所述搬运设备所处的工作区域中的一部分或全部;
    第一确定模块,用于根据匹配结果,确定所述搬运设备的当前实际位置。
  7. 根据权利要求6所述的装置,其特征在于,所述装置还包括:
    第二确定模块,用于在所述匹配模块将采集到的所述地面信息与目标区 域内的预置地面信息进行匹配之前,确定所述搬运设备从上一位置到当前位置的行进距离;
    第三确定模块,用于以所述行进距离为半径、所述目标位置为圆心,确定所述目标区域。
  8. 根据权利要求6或7所述的装置,其特征在于,所述第一确定模块包括:
    第一确定子模块,用于在所述匹配结果表示成功匹配到的预置地面信息的个数为一个时,根据成功匹配到的预置地面信息,确定所述搬运设备的当前实际位置;
    第二确定子模块,用于在所述匹配结果表示成功匹配到的预置地面信息的个数为多个时,缩小所述目标区域,并触发所述匹配模块将采集到的所述地面信息与目标区域内的预置地面信息进行匹配;
    第三确定子模块,用于在所述匹配结果表示未成功匹配到预置地面信息时,输出行进指令,所述行进指令用于指示所述搬运设备按照预设方向移动预设距离,并在所述搬运设备执行完所述行进指令后,触发所述采集模块采集所述搬运设备当前所处位置的地面信息。
  9. 根据权利要求6所述的装置,其特征在于,所述装置还包括:
    第四确定模块,用于在确定出所述搬运设备的当前实际位置后,确定所述搬运设备的当前实际位置与所述目标位置的位置偏差;
    第一纠正模块,用于在所述位置偏差超过预设的位置偏差范围时,按照所述目标位置对所述搬运设备的当前实际位置进行纠正。
  10. 根据权利要求6或9所述的装置,其特征在于,所述装置还包括:
    第五确定模块,用于在确定出所述搬运设备的当前实际位置后,根据所述当前实际位置所对应的地面信息与所述目标位置所对应的地面信息,确定所述搬运设备的行进方向角度偏差;
    第二纠正模块,用于在所述行进方向角度偏差超过预设的角度偏差范围时,对所述搬运设备的行进角度进行纠正。
  11. 一种搬运设备,其特征在于,所述搬运设备包括:
    权利要求6-10中任一项所述的用于搬运设备的定位装置;
    摄像头,设置于所述搬运设备的底部,用于采集地面信息。
  12. 一种计算机可读存储介质,其上存储有计算机程序,其特征在于,该程序被处理器执行时实现权利要求1-5中任一项所述方法的步骤。
  13. 一种计算机程序产品,其特征在于,所述计算机程序产品包含能够由可编程的装置执行的计算机程序,所述计算机程序具有当由所述可编程的装置执行时用于执行权利要求1-5中任一项所述的方法的代码部分。
PCT/CN2019/081600 2018-03-01 2019-04-04 用于搬运设备的定位方法、装置、搬运设备及存储介质 WO2019166027A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810173096.XA CN108519771B (zh) 2018-03-01 2018-03-01 用于搬运设备的定位方法、装置、搬运设备及存储介质
CN201810173096.X 2018-03-01

Publications (1)

Publication Number Publication Date
WO2019166027A1 true WO2019166027A1 (zh) 2019-09-06

Family

ID=63433418

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/081600 WO2019166027A1 (zh) 2018-03-01 2019-04-04 用于搬运设备的定位方法、装置、搬运设备及存储介质

Country Status (2)

Country Link
CN (1) CN108519771B (zh)
WO (1) WO2019166027A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112815235A (zh) * 2019-11-15 2021-05-18 中国石油天然气集团有限公司 管道标注方法、装置及存储介质

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108519771B (zh) * 2018-03-01 2022-03-11 Ai机器人株式会社 用于搬运设备的定位方法、装置、搬运设备及存储介质
CN108519772B (zh) * 2018-03-01 2022-06-03 Ai机器人株式会社 用于搬运设备的定位方法、装置、搬运设备及存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101008566A (zh) * 2007-01-18 2007-08-01 上海交通大学 基于地面纹理的智能车视觉装置及其全局定位方法
CN105806331A (zh) * 2014-12-30 2016-07-27 Tcl集团股份有限公司 一种应用于室内机器人的定位方法和室内机器人
CN106950972A (zh) * 2017-05-15 2017-07-14 上海音锋机器人股份有限公司 一种无人搬运车agv及其路线纠偏方法
CN108519772A (zh) * 2018-03-01 2018-09-11 Ai机器人株式会社 用于搬运设备的定位方法、装置、搬运设备及存储介质
CN108519771A (zh) * 2018-03-01 2018-09-11 Ai机器人株式会社 用于搬运设备的定位方法、装置、搬运设备及存储介质

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2715389B1 (en) * 2011-05-23 2017-07-12 Wise-sec Ltd. Positioning systems and methods and location based modification of computing device applications
JP6020265B2 (ja) * 2012-04-11 2016-11-02 株式会社ダイフク 物品搬送設備
JP2014058398A (ja) * 2012-09-19 2014-04-03 Yokohama Rubber Co Ltd:The コンベヤベルト搬送用保持具
CN105094130B (zh) * 2015-07-29 2018-01-23 广东省自动化研究所 激光制导地图构建的agv搬运机器人导航方法和装置
CN105953798B (zh) * 2016-04-19 2018-09-18 深圳市神州云海智能科技有限公司 移动机器人的位姿确定方法和设备
CN106204540B (zh) * 2016-06-29 2018-12-11 上海晨兴希姆通电子科技有限公司 视觉检测方法
CN106064717A (zh) * 2016-07-20 2016-11-02 苏州小喇叭信息科技有限公司 一种分拣搬运agv车

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101008566A (zh) * 2007-01-18 2007-08-01 上海交通大学 基于地面纹理的智能车视觉装置及其全局定位方法
CN105806331A (zh) * 2014-12-30 2016-07-27 Tcl集团股份有限公司 一种应用于室内机器人的定位方法和室内机器人
CN106950972A (zh) * 2017-05-15 2017-07-14 上海音锋机器人股份有限公司 一种无人搬运车agv及其路线纠偏方法
CN108519772A (zh) * 2018-03-01 2018-09-11 Ai机器人株式会社 用于搬运设备的定位方法、装置、搬运设备及存储介质
CN108519771A (zh) * 2018-03-01 2018-09-11 Ai机器人株式会社 用于搬运设备的定位方法、装置、搬运设备及存储介质

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112815235A (zh) * 2019-11-15 2021-05-18 中国石油天然气集团有限公司 管道标注方法、装置及存储介质
CN112815235B (zh) * 2019-11-15 2022-07-05 中国石油天然气集团有限公司 管道标注方法、装置及存储介质

Also Published As

Publication number Publication date
CN108519771B (zh) 2022-03-11
CN108519771A (zh) 2018-09-11

Similar Documents

Publication Publication Date Title
CN106643805B (zh) 激光定位传感器在agv小车中位置标定方法
WO2019166027A1 (zh) 用于搬运设备的定位方法、装置、搬运设备及存储介质
US7963736B2 (en) Wafer processing apparatus with wafer alignment device
CN106940183A (zh) 一种基于psd测距的agv精确定位方法
CN111452047B (zh) 机器人工具偏差的修正方法、机器人控制装置及系统
US11513525B2 (en) Server and method for controlling laser irradiation of movement path of robot, and robot that moves based thereon
WO2019166026A1 (zh) 用于搬运设备的定位方法、装置、搬运设备及存储介质
US11551953B2 (en) Substrate transfer apparatus and method for calculating positional relationship between substrate transfer robot and substrate placement portion
CN107817803A (zh) 一种适用于agv的二次精确定位的控制系统及其控制方法
US7596425B2 (en) Substrate detecting apparatus and method, substrate transporting apparatus and method, and substrate processing apparatus and method
WO2019042018A1 (zh) 机器人的行驶控制方法、装置、存储介质及机器人
CN112703369B (zh) 自动引导车的运动控制
TW202034104A (zh) 導引載具控制系統與方法
JP3378843B2 (ja) 無人搬送車の位置および方位の補正装置
CN110108274B (zh) 一种融合直线追踪的混合导航agv系统的导航定位方法
JP2019056987A (ja) ロボット用台車及びロボットの走行制御方法
US11749547B2 (en) Substrate transfer apparatus and substrate placement portion rotation axis searching method
Ngo et al. Circular-line trajectory tracking controller for mobile robot using multi-pixy2 sensors
US20230413712A1 (en) Path finding method and system for weeding robot
US20230137329A1 (en) Attachment orientation sensing device, attachment orientation sensing method, and attachment orientation sensing program
US11662208B2 (en) Dead reckoning correction utilizing patterned light projection
US20220332554A1 (en) Control method for mobile object, mobile object, and computer-readable storage medium
CN116148868A (zh) 一种基于反光件的激光雷达二次定位方法
CN118081762A (zh) 机器人控制方法、系统、装置、电子设备及存储介质
JP2660534B2 (ja) 移動体の誘導走行制御装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19760916

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19760916

Country of ref document: EP

Kind code of ref document: A1