CN110221313B - Laser radar installation position correction method of AGV (automatic guided vehicle) and AGV - Google Patents
Laser radar installation position correction method of AGV (automatic guided vehicle) and AGV Download PDFInfo
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- CN110221313B CN110221313B CN201910526891.7A CN201910526891A CN110221313B CN 110221313 B CN110221313 B CN 110221313B CN 201910526891 A CN201910526891 A CN 201910526891A CN 110221313 B CN110221313 B CN 110221313B
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The embodiment of the invention discloses a laser radar installation position correction method of an AGV (automatic guided vehicle) and the AGV, wherein after a corner of a steering wheel of the AGV is set to be a first preset corner, a first initial pose of the laser radar of the AGV at a first initial point is recorded; the AGV trolley is stopped after rotating to a first preset angle from a first initial point, a first final pose of the laser radar at a first parking point is recorded, and a first rotating radius of the laser radar is calculated; after the turning angle of the steering wheel is set to be a second preset turning angle, recording a second initial pose of the laser radar at a second initial point; stopping the AGV trolley after rotating from the second starting point to a second preset angle, recording a second final pose of the laser radar at a second stopping point, and calculating a second rotating radius of the laser radar; and obtaining the corrected actual installation position of the laser radar according to the first rotating radius, the second rotating radius, the first preset corner, the second preset corner and the actual installation position of the steering wheel according to a preset installation position correction rule.
Description
Technical Field
The invention relates to the technical field of automatic guided vehicles, in particular to a laser radar installation position correction method of an AGV and the AGV.
Background
Laser navigation based on two-dimensional laser radar is a navigation mode widely adopted by current trucks (Automated Guided vehicles) trolleys on the market. When system parameters are set, the forklift type AGV based on laser navigation needs to input the installation position of a laser radar under a vehicle body coordinate system. In the conventional technology, the installation position of the laser radar is usually a design value when the structure design is directly adopted, and the value of the AGVs of the same vehicle type is the same. However, due to deformation of the workpiece, assembly error, and the like, the actual position and the design position of the laser radar have a certain error after installation. In fact, even though the AGV dollies of the same type, the laser radar mounting positions of each AGV dolly are different. When a plurality of AGV dollies of the same type operate in the same scene, the parking positions of the AGV dollies in the same stack point in the same map are not consistent, the failure of taking and placing goods by the AGV dollies can be caused to a certain extent, and the application requirement of high consistency can not be met. In view of this, it is necessary to correct the laser radar installation position of each AGV, and in the conventional technology, direct measurement is usually performed manually, but because the laser radar is installed at the top end of the vehicle and is not in the same horizontal plane with the origin of the vehicle body coordinate system, the manual measurement method has the problems of low efficiency and large error. Even in the conventional technology, there is still a method for automatically correcting the installation position of the laser radar of the AGV, but a large amount of iterative operations are required, the procedure is complicated, and the correction accuracy is not high.
Disclosure of Invention
The invention aims to provide a laser radar installation position correction method of an AGV and the AGV, aiming at the defects of the traditional technology.
In one embodiment, the invention provides a laser radar mounting position correction method for an AGV, comprising the following steps:
after the corner of the steering wheel of the AGV trolley is set to be a first preset corner, recording a first initial pose of a laser radar of the AGV trolley at a first initial point;
enabling the AGV to travel from a first initial point to rotate to a first preset angle and then stop, recording a first final pose of the laser radar at a first parking point, and calculating according to the first initial pose and the first final pose to obtain a first rotating radius of the laser radar;
after the turning angle of the steering wheel is set to be a second preset turning angle, recording a second initial pose of the laser radar at a second initial point;
enabling the AGV to travel from a second starting point to rotate to a second preset angle and then stop, recording a second final pose of the laser radar at a second parking point, and calculating according to the second initial pose and the second final pose to obtain a second rotation radius of the laser radar;
and acquiring the actual installation position of the steering wheel, and obtaining the corrected actual installation position of the laser radar according to the first rotating radius, the second rotating radius, the first preset corner, the second preset corner and the actual installation position of the steering wheel according to a preset installation position correction rule.
In one embodiment, after calculating the first radius of rotation of the lidar, the method includes:
keeping the corner of the steering wheel unchanged to a first preset corner, and repeating the step of obtaining a first rotating radius at least once;
the average of all the first turning radii is calculated and taken as the first turning radius for calculating the corrected actual mounting position.
In one embodiment, after calculating the second turning radius "of the lidar includes:
keeping the corner of the steering wheel unchanged as a second preset corner, and repeating the step of obtaining a second turning radius at least once;
the average of all the second turning radii is calculated and taken as the second turning radius for calculating the corrected actual mounting position.
In one embodiment, the preset installation position correction rule is the following formula:
In one embodiment, the first radius of rotation or the second radius of rotation is derived based on the following equation:
wherein R issThe turning radius of the laser radar is the turning radius when the turning angle of the steering wheel is a preset turning angle; the abscissa of the final pose of the laser radar at the parking spot is x2Ordinate is y2Final azimuth angle θ2(ii) a The abscissa of the initial pose of the laser radar at the starting point is x1Ordinate is y1Initial azimuth angle of theta1。
In one embodiment, the first predetermined angle and the second predetermined angle range from 30 ° to 180 °.
In one embodiment, the method further comprises the following steps: the first stopping point is taken as a second starting point.
In one embodiment, the first stopping point of the last AGV car is used as the first starting point for the next iteration of the step of obtaining the first radius of rotation.
In one embodiment, the second stopping point of the last AGV car is used as the second starting point for the next iteration of the step of obtaining the second turning radius.
In another aspect, in an embodiment, the present invention further provides an AGV cart including a memory and a processor, where the memory stores a computer program, and the processor implements a laser radar installation position correction method for the AGV cart when executing the computer program.
One of the above technical solutions has the following advantages and beneficial effects:
according to the laser radar installation position correction method of the AGV and the AGV, the first preset rotating angle and the second preset rotating angle of the steering wheel are set, so that the AGV is controlled to rotate by a certain preset angle based on the first preset rotating angle and the second preset rotating angle respectively, and the rotating radius of the laser radar when the AGV turns each time is obtained according to the known preset rotating angle and turning angle of the steering wheel respectively. Further, according to the known actual installation position, the first preset rotation angle and the second preset rotation angle of the steering wheel, the first rotation radius and the second rotation radius of the laser radar obtained by controlling the AGV to rotate twice, the corrected actual installation position of the laser radar can be obtained according to the preset installation position correction rule. The correction calculation parameters of the embodiments of the invention are less, the algorithm is simpler, the practicability is strong, and the operation is convenient. Meanwhile, the efficiency of laser radar installation position correction is improved, the program redundancy is reduced, the automation degree and the intelligence degree are high, manual work can be reduced or manual participation is not needed, and the manual debugging period is further shortened.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
FIG. 1 is a schematic flow chart illustrating a laser radar mounting position correction method for an AGV according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a laser radar turning radius solving method in the laser radar mounting position correction method for an AGV according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a vehicle coordinate system in the method for correcting the laser radar installation position of the AGV according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Referring to fig. 1, in one embodiment, the present invention provides a laser radar installation position correction method for an AGV, including:
step S110: after the corner of the AGV trolley steering wheel is set to be a first preset corner, recording a first initial pose of a laser radar of the AGV trolley at a first initial point.
The first initial pose is a coordinate of the laser radar in a world coordinate system when the rotating angle of the AGV trolley steering wheel is a first preset rotating angle.
Step S120: the AGV trolley is enabled to travel from a first initial point to rotate to a first preset angle and then stops, a first final pose of the laser radar at a first parking point is recorded, and a first rotating radius of the laser radar is obtained through calculation according to the first initial pose and the first final pose.
And in the process of controlling the AGV to travel from the first starting point to the first parking point, keeping the rotating angle of the steering wheel unchanged to a first preset rotating angle. The first final pose is a coordinate of the laser radar in a world coordinate system when the rotating angle of the AGV trolley steering wheel is a first preset rotating angle.
Step S130: and after the turning angle of the steering wheel is set to be a second preset turning angle, recording a second initial pose of the laser radar at a second initial point.
And the second initial pose is the coordinate of the laser radar in the world coordinate system when the rotation angle of the steering wheel is a second preset rotation angle.
Step S140: and the AGV trolley is enabled to stop after walking from the second starting point to rotate to a second preset angle, a second final pose of the laser radar at a second stopping point is recorded, and a second rotating radius of the laser radar is obtained through calculation according to the second initial pose and the second final pose.
And in the process of controlling the AGV to travel from the second starting point to the second parking point, keeping the rotating angle of the steering wheel unchanged to a second preset rotating angle. And the second final pose is the coordinate of the laser radar in the world coordinate system when the rotating angle of the AGV trolley steering wheel is a second preset rotating angle.
Step S150: and acquiring the actual installation position of the steering wheel, and obtaining the corrected actual installation position of the laser radar according to the first rotating radius, the second rotating radius, the first preset corner, the second preset corner and the actual installation position of the steering wheel according to a preset installation position correction rule.
The actual installation position of the steering wheel is the installation position of the steering wheel in the vehicle body coordinate system. The preset installation position correction rule is an algorithm obtained according to the actual installation position of the steering wheel, the geometric relation between the parameters of the laser radar of the AGV trolley, such as the rotating radius of the laser radar in the rotating process of two different preset rotating angles of the steering wheel and the actual installation position of the laser radar in the vehicle body coordinate system.
According to the laser radar installation position correction method for the AGV, provided by the embodiment of the invention, the AGV is controlled to rotate by a certain preset angle based on the first preset angle and the second preset angle by setting the first preset angle and the second preset angle of the steering wheel, so that the rotation radius of the laser radar when the AGV turns each time is respectively obtained according to the known preset angle and turning angle of the steering wheel. Further, according to the known actual installation position, the first preset rotation angle and the second preset rotation angle of the steering wheel, the first rotation radius and the second rotation radius of the laser radar obtained by controlling the AGV to rotate twice, the corrected actual installation position of the laser radar can be obtained according to the preset installation position correction rule. The embodiment of the invention has the advantages of less correction calculation parameters, simpler algorithm, strong practicability and convenient operation. Meanwhile, the efficiency of laser radar installation position correction is improved, the program redundancy is reduced, the automation degree and the intelligence degree are high, manual work can be reduced or manual participation is not needed, and the manual debugging period is further shortened.
In a specific embodiment, the method further comprises the following steps: the first stopping point is taken as a second starting point.
In an embodiment of the invention, in order to improve the consistency and automation of the correction process and to reduce the manual involvement as much as possible, the first stopping point may be used as a second starting point for obtaining a second turning radius by changing the turning angle of the steering wheel next time.
In a specific embodiment, the first predetermined angle and the second predetermined angle range from 30 ° to 180 °.
According to the laser radar installation position correction method for the AGV, provided by the embodiment of the invention, the first preset angle and the second preset angle which are rotated by the AGV each time can be any values, but in order to improve the reliability and stability of a calculation result, the angle which is rotated each time is not too small or too large, so that the large fluctuation of the rotation radius of the laser radar which is calculated each time is avoided. Therefore, 30 to 180 is preferable.
Referring to FIG. 2, in one particular embodiment, the first radius of rotation or the second radius of rotation is derived based on the following equation:
wherein R issThe turning radius of the laser radar is set when the turning angle of the steering wheel is the set turning angle; the abscissa of the final pose of the laser radar at the parking spot is x2Ordinate is y2Final azimuth angle θ2(ii) a The abscissa of the initial pose of the laser radar at the starting point is x1Ordinate is y1Initial azimuth angle of theta1。
In the process of the AGV trolley walking and rotating, the rotating angle of the steering wheel is kept unchanged, as shown in FIG. 2, the initial pose of the laser radar is assumed to be P at the first starting point or the second starting point1(x1,y1,θ1) When the vehicle walks and turns to the first parking point or the second parking point, the final pose of the laser radar is P2(x2，y2，θ2) If the angle of AGV car rotation is Δ θ, then P is the geometric relationship shown in FIG. 21And P2The straight-line distance between two points is d, and the following relation is given:
further, the laser radar has a radius of rotation RSThe following relationship is satisfied:
simultaneous (1) and (2) known laser radar turning radius RSThis can be found based on the following equation:
according to the method for correcting the installation position of the laser radar of the AGV trolley, the geometrical relation between the initial pose and the final pose generated in the rotating process of the AGV trolley under the world coordinate can be obtained, the rotating radius of the laser radar under the preset rotating angle corresponding to the steering wheel is obtained, the algorithm complexity is low, the calculation efficiency is high, extra calculation is omitted, and the method is beneficial to quickly correcting the actual installation position of the laser radar.
Referring to fig. 3, in a specific embodiment, the preset installation position correction rule is the following formula:
wherein, ysIs the ordinate of the corrected actual mounting position; x is the number ofsThe abscissa of the corrected actual mounting position; rs2A second radius of rotation; rs1Is a first radius of rotation; x is the number ofwThe abscissa of the actual mounting position of the steering wheel; y iswIs the ordinate of the actual mounting position of the steering wheel;
is a first preset corner;
a second predetermined rotation angle.
FIG. 3 is a schematic diagram of the body coordinate system of the AGV car, wherein the point O is the middle point of the axles of the two driven wheels 210 and 220, the y axis is directed to the left driven wheel 210 from the point O, the x axis is directed to the head from the point O, and the actual mounting position of the steering wheel 230, i.e. the mounting position of the steering wheel 230 in the body coordinate system is (x) shown in FIG. 3w，yw) The actual installation position of the laser radar 240 in the vehicle body coordinate system is (x)s，ys) I.e. the actual mounting position to be corrected. The point ICR is the instantaneous rotation center of the AGV trolley, the coordinates of the point ICR are (0, r), and the size of the r is along with the rotation angle of the steering wheel
And the following relation is satisfied:
the rotation radius of the laser radar is actually the rotation radius around the instantaneous rotation center ICR, the size of the rotation radius is related to r and the installation position of the laser radar, and the following relation is satisfied:
Rs 2＝(ys-r)2+xs 2 (5)
further, if the steering angle of the steering wheel is a first preset steering angle
The instantaneous center of rotation coordinate of the AGV trolley at the moment is obtained by the formula (4) and is (0, r)1)：
If the first radius of rotation of the laser radar is RS1Then R is known from the formulas (5) and (6)S1The following relationship is satisfied:
further, if the steering angle of the steering wheel is a second preset steering angle
The instantaneous center of rotation coordinate of the AGV at this time is obtained from the equation (4) as (0, r)2)：
If the second radius of rotation of the laser radar is RS2Then R is known from (5) and (8)S2The following relationship is satisfied:
the corrected actual installation position of the laser radar obtained by the united type (7) and (9) is obtained based on the following preset installation position correction rules:
according to the method for correcting the laser radar installation position of the AGV trolley, the actual installation position of the laser radar in the vehicle body coordinate system can be corrected according to the actual installation position of the steering wheel, the geometric relation between the parameters of the laser radar of the AGV trolley, such as the rotation radius and the like in the rotation process of the steering wheel at two different preset rotation angles and the actual installation position of the laser radar in the vehicle body coordinate system. The implemented correction algorithm is simple, strong in practicability and convenient to operate. Meanwhile, the efficiency of laser radar installation position correction is improved, the program redundancy is reduced, the automation and intelligence degree is high, manual work can be reduced, or manual parameters are not needed, and the manual debugging period is further shortened.
In a specific embodiment, after calculating the first radius of rotation of the lidar, the method includes:
keeping the corner of the steering wheel unchanged to a first preset corner, and repeating the step of obtaining a first rotating radius at least once;
the average of all the first turning radii is calculated and taken as the first turning radius for calculating the corrected actual mounting position.
In order to further reduce the error and improve the precision, after the first rotation radius is obtained, the step of obtaining the first rotation radius can be repeated while keeping the rotation angle of the steering wheel unchanged to a first preset rotation angle. Alternatively, 1, 2, 3, or 4 repetitions, etc. In each repeating process, the AGV trolley can be controlled to travel from another initial point, or in order to improve the consistency and the automation degree of correction, the first stopping point of the AGV trolley at the last time can be used as the first initial point of the next repeating. Then, the first radius of rotation obtained at each time is averaged, and the average value is used as the first radius of rotation for calculating the corrected actual mounting position.
In one particular embodiment, the first stopping point of the last AGV car is taken as the first starting point for the next iteration of the step of obtaining the first radius of rotation.
During the repetition of the step of obtaining the first radius of rotation, the last first stopping point of the AGV car may be used as the first starting point for the next repetition of the step. Furthermore, the AGV trolley can be controlled to sequentially advance and rotate to a first preset angle and then stop, and the first rotating radius of the laser radar after each advancing and turning is obtained, so that the average value of each first rotating radius is obtained. Or the AGV trolley can be controlled to advance and turn for a plurality of times, such as 1 time, 2 times or 3 times, and the like, the first rotation radius of each advancing turning is obtained, then the AGV trolley is controlled to retreat and turn for the same times as the advancing turning, the first rotation radius of each retreating turning is obtained, and the first radius obtained each time is averaged.
The laser radar installation position correction method for the AGV trolley provided by the embodiment of the invention can ensure the continuity and automation in the correction process, reduce manual parameters, reduce interference caused by random errors and improve the correction precision.
In a specific embodiment, after calculating the second radius of rotation of the lidar, the method includes:
and keeping the corner of the steering wheel unchanged as a second preset corner, and repeating the step of obtaining a second turning radius at least once.
The average of all the second turning radii is calculated and taken as the second turning radius for calculating the corrected actual mounting position.
In order to further reduce the error and improve the precision, after the first second turning radius is obtained, the turning angle of the steering wheel is kept unchanged to a second preset turning angle, and the step of obtaining the second turning radius can be repeated once. Alternatively, 1, 2, 3, or 4 repetitions, etc. In each repeating process, the AGV trolley can be controlled to travel at another initial point, or in order to improve the consistency and the automation degree of correction, the second stopping point of the AGV trolley at the last time can be used as the second initial point of the next repeating. Then, the second turning radii obtained each time are averaged, and the average is used as the second turning radius for calculating the corrected actual mounting position.
In one particular embodiment, the second stopping point of the last AGV car is used as the second starting point for the next iteration of the step of obtaining the second turning radius.
During the step of repeating the step of obtaining the second turning radius, the second stopping point of the AGV car at the previous time can be used as the second starting point for repeating the step at the next time. Furthermore, the AGV trolley can be controlled to sequentially advance and rotate to a second preset angle and then stop, and the second rotating radius of the laser radar after each advancing and turning is obtained, so that the average value of the second rotating radii is obtained. Or the AGV trolley can be controlled to advance and turn for a plurality of times, such as 1 time, 2 times or 3 times, and the like, the second rotating radius of each advancing turning is obtained, then the AGV trolley is controlled to retreat and turn for the same times as the advancing turning, the second rotating radius of each retreating turning is obtained, and the second radius obtained each time is averaged.
The laser radar installation position correction method for the AGV trolley provided by the embodiment of the invention can ensure the continuity and automation in the correction process, reduce manual parameters, reduce interference caused by random errors and improve the correction precision.
As a preferred embodiment, a first preset rotation angle of the steering wheel is 45 °, and a second preset rotation angle is 90 ° when the first preset rotation angle of the steering wheel is used as an example for description
At 45 degrees, the r in the instantaneous rotation center coordinate of the AGV trolley at the moment is obtained by the formula (4)1Comprises the following steps: r is1＝xw+yw(11)
Further, when the first preset rotation angle of the steering wheel
At 90 degrees, the r in the instantaneous rotation center coordinate of the AGV trolley at the moment is obtained by the formula (4)2Comprises the following steps: r is2＝yw(13)
Further, substituting equations (11) and (13) into equation (10) yields the corrected mounting position of the laser radar:
the method for correcting the installation position of the laser radar of the AGV comprises the following steps:
step S4: setting the turning angle of a steering wheel to be 45 degrees for example, and recording a first initial pose P of the AGV at a first initial point1And keeping the turning angle of the steering wheel unchanged, enabling the AGV to slowly advance at a constant speed, stopping when the AGV rotates to a first preset angle such as 180 degrees, and recording a first final pose P of the laser radar at a first stopping point2The first radius of rotation of the first lidar is obtained as in equation (3) and recorded as Rs11。
Step S6: keeping the turning angle of the steering wheel to be 45 degrees unchanged, taking the first stopping point of the AGV trolley for the previous time as a first starting point, controlling the AGV trolley to advance and turn to a first preset angle, and repeating the calculation in the step S4Obtaining Rs12。
Step S8: keeping the turning angle of the steering wheel to be 45 degrees unchanged, controlling the AGV to retreat and turn to a first preset angle by taking a first stopping point of the AGV as a first starting point, and repeating the step of calculating the first rotating radius in the step S4 to obtain Rs13。
Step S10: keeping the turning angle of the steering wheel to be 45 degrees unchanged, controlling the AGV to retreat and turn to a first preset angle by taking a first stopping point of the AGV as a first starting point, and repeating the step of calculating the first rotating radius in the step S4 to obtain Rs14。
Step S12: taking the average value of the four calculation results to obtain the first rotating radius R of the laser radar when the rotating angle of the steering wheel is 45 degreess1：
Step S14: setting the rotation angle of the steering wheel to be 90 degrees for example, and recording a second initial pose P of the AGV trolley at a second initial point3And keeping the turning angle of the steering wheel unchanged, enabling the AGV to slowly advance at a constant speed, stopping when the AGV rotates to a second preset angle such as 180 degrees, and recording a second final pose P of the laser radar at a second stopping point4Obtaining a second rotation radius of the first laser radar according to the formula (3) and recording the second rotation radius as Rs21。
Step S16: keeping the rotation angle of the steering wheel unchanged at 90 degrees, taking a second stopping point of the AGV trolley for the last time as a second starting point, controlling the AGV trolley to advance and turn to a second preset angle, and repeating the step of calculating a second rotating radius in the step S14 to obtain Rs22。
Step S18: keeping the rotation angle of the steering wheel unchanged at 90 degrees, controlling the AGV to retreat and turn to a second preset angle by taking a second stopping point of the AGV at the previous time as a second starting point, and repeating the step of calculating a second rotating radius in the step S14 to obtain Rs23。
Step S20: maintaining steering of steering wheelsThe angle is not changed by 90 degrees, the second stopping point of the AGV car at the last time is used as a second starting point, the AGV car is controlled to retreat and is turned to a second preset angle, the step of calculating the second rotating radius in the step S14 is repeated, and R is obtaineds24。
Step S22: taking the average value of the four calculation results to obtain the second turning radius R of the laser radar when the turning angle of the steering wheel is 90 degreess2：
Step S24: the corrected actual mounting position x of the laser radar is calculated according to the formula (15)s，ysAnd x iss，ysAnd writing the control data into the AGV trolley, and finishing the correction.
According to the laser radar installation position correction method for the AGV, provided by the embodiment of the invention, the first preset rotation angle is 45 degrees, the second preset rotation angle is 90 degrees, the calculation is convenient, and the correction efficiency is improved.
In one embodiment, the invention further provides an AGV trolley, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements a laser radar installation position correction method for the AGV trolley when executing the computer program.
The AGV trolley provided by the embodiment of the invention automatically corrects the installation position of the laser radar, has fewer correction calculation parameters, is simpler in algorithm, is strong in practicability and is convenient to operate. Meanwhile, the efficiency of laser radar installation position correction is improved, the program redundancy is reduced, the automation degree and the intelligence degree are high, manual work can be reduced or manual participation is not needed, and the manual debugging period is further shortened.
In the embodiments provided in the present application, it should be understood that the disclosed method can be implemented in other ways. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can 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 smart phone, a personal computer, a server, or a network device, etc.) 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 other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (9)
1. A laser radar installation position correction method for an AGV is characterized by comprising the following steps:
after the corner of the steering wheel of the AGV trolley is set to be a first preset corner, recording a first initial pose of a laser radar of the AGV trolley at a first initial point;
enabling the AGV to travel from the first initial point to rotate to a first preset angle and then stop, recording a first final pose of the laser radar at a first parking point, and calculating according to the first initial pose and the first final pose to obtain a first rotating radius of the laser radar;
after the turning angle of the steering wheel is set to be a second preset turning angle, recording a second initial pose of the laser radar at a second initial point;
enabling the AGV to travel from a second starting point to rotate to a second preset angle and then stop, recording a second final pose of the laser radar at a second parking point, and calculating according to the second initial pose and the second final pose to obtain a second rotation radius of the laser radar;
acquiring the actual installation position of the steering wheel, and obtaining the corrected actual installation position of the laser radar according to the first rotating radius, the second rotating radius, the first preset corner, the second preset corner and the actual installation position of the steering wheel according to a preset installation position correction rule;
the preset installation position correction rule is the following formula:
wherein, ysIs the ordinate of the corrected actual mounting position; x is the number ofsThe abscissa of the corrected actual mounting position; rs2The second radius of rotation; rs1Is the first radius of rotation; x is the number ofwThe abscissa is the actual mounting position of the steering wheel; y iswIs the ordinate of the actual mounting position of the steering wheel;
the first preset turning angle is set;
and the second preset rotation angle is set.
2. The method of claim 1, further comprising, after calculating the first radius of rotation of the lidar:
keeping the corner of the steering wheel unchanged from the first preset corner, and repeating the step of obtaining a first rotating radius at least once;
calculating the average value of all the first turning radii and taking the average value as the first turning radius for calculating the corrected actual mounting position.
3. The method of claim 1, further comprising, after calculating a second radius of rotation of the lidar:
keeping the corner of the steering wheel unchanged as the second preset corner, and repeating the step of obtaining a second rotating radius at least once;
and calculating the average value of all the second turning radii, and taking the average value as the second turning radius for calculating the corrected actual mounting position.
4. The method of claim 1, wherein said first radius of rotation or said second radius of rotation is derived based on the following formula:
wherein R issThe turning radius of the laser radar is the turning radius of the laser radar when the turning angle of the steering wheel is a preset turning angle; the above-mentionedThe abscissa of the final pose of the laser radar at the parking spot is x2Ordinate is y2Final azimuth angle θ2(ii) a The abscissa of the initial pose of the laser radar at the starting point is x1Ordinate is y1Initial azimuth angle of theta1。
5. The method of claim 1, wherein said first predetermined angle and said second predetermined angle range from 30 ° to 180 °.
6. The method of claim 1, further comprising: taking the first parking point as the second starting point.
7. The method of claim 2, further comprising the step of repeating the step of obtaining the first radius of rotation for the next time using the first stopping point of the AGV as a first starting point.
8. The method of claim 3, wherein the second stopping point of the AGV is used as a second starting point for repeating the step of obtaining the second turning radius.
9. An AGV trolley comprising a memory storing a computer program and a processor implementing the method of any one of claims 1 to 8 when the computer program is executed.
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| CN112406970B (en) * | 2020-11-27 | 2022-09-30 | 华晟（青岛）智能装备科技有限公司 | Annular rail guided vehicle anti-collision system and method |
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