CN107228663A - The alignment system and method for a kind of automatical pilot transportation vehicle - Google Patents
The alignment system and method for a kind of automatical pilot transportation vehicle Download PDFInfo
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- CN107228663A CN107228663A CN201710611407.1A CN201710611407A CN107228663A CN 107228663 A CN107228663 A CN 107228663A CN 201710611407 A CN201710611407 A CN 201710611407A CN 107228663 A CN107228663 A CN 107228663A
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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
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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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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The alignment system and method for automatical pilot transportation vehicle provided in an embodiment of the present invention, wherein, the alignment system includes：Accelerometer, gyroscope, magnetometer, photoelectric encoder, ultrasonic probe, camera and microcontroller；The accelerometer, the gyroscope, the magnetometer, the photoelectric encoder, the ultrasonic probe and the camera are connected with the microcontroller respectively.By using accelerometer, gyroscope, magnetometer, photoelectric encoder, ultrasonic probe and camera, the related data such as current pose, position to automatical pilot transportation vehicle can be obtained comprehensive, multi-facetedly, overcome deficiency of the tradition using single-sensor method；The data got are handled simultaneously, so as to more be accurately obtained the information such as the current posture of automatical pilot transportation vehicle, position, the high accuracy positioning to automatical pilot transportation vehicle are realized, while also contributing to the precision navigation of automatical pilot transportation vehicle.
Description
Technical field
The present embodiments relate to be automatically positioned field of navigation technology, more particularly to a kind of positioning of automatical pilot transportation vehicle
System and method.
Background technology
In recent years, with the fast development of Intelligent logistics industry, automatical pilot transportation vehicle (Automated Guided
Vehicle, AGV) with its operating efficiency it is high, the advantages such as human cost, work circumstances safe can be reduced, obtained more and more extensive
Application.
Research AGV key is how it is accurately positioned and navigated, in this regard, the mode of tradition and low cost is to use
Magnetic stripe, equipped with information such as Quick Response Code, smallpox plate features, this method motion path is controllable, safe, but to the limitation in path
It is larger；Also part uses gyroscope and accelerometer, but this method can only provide course angle information, can only be used as assisting navigation work
Tool；In addition, also there is the method that part uses laser SLAM, although this method can provide high-precision location information, price is non-
Chang Anggui.
Therefore, with AGV extensive use, it is necessary to study one kind can meet be accurately positioned navigation and cost can be reduced
AGV Position Fixing Navigation Systems and method.
The content of the invention
The present invention provides a kind of alignment system and method for automatical pilot transportation vehicle, to realize to automatical pilot transportation vehicle
High accuracy positioning and navigation.
In a first aspect, the embodiments of the invention provide a kind of alignment system of automatical pilot transportation vehicle, including accelerometer,
Gyroscope, magnetometer, photoelectric encoder, ultrasonic probe, camera and microcontroller；The accelerometer, the gyroscope,
The magnetometer, the photoelectric encoder, the ultrasonic probe and the camera are connected with the microcontroller respectively；Its
In：
The accelerometer, the acceleration of motion of the car body for measuring the automatical pilot transportation vehicle；
The gyroscope, the angular velocity of satellite motion for measuring car body；
The magnetometer, the abundance for measuring car body surrounding magnetic field；
The photoelectric encoder, the rotation information for measuring car body drive device, and the rotation information is encoded into shape
Into corresponding photoelectric pulse signal；
The ultrasonic probe, the relative distance for measuring vehicle bottom and ground；
The camera, the ground image data for obtaining vehicle bottom；
The microcontroller, for handling the acceleration, the angular speed, the abundance in the magnetic field, the photoelectricity
Pulse signal, the relative distance and the ground image data obtain location data.
Further, the photoelectric encoder is on the rotating spindle of the driving wheel of the automatical pilot transportation vehicle；
The ultrasonic probe is located at the bottom of the car body, and towards ground；
The camera is located at the bottom of the car body, and towards ground.
Further, the accelerometer is 3 axis MEMS accelerometer；
The gyroscope is three axis MEMS gyro；
The magnetic force is calculated as 3 axis MEMS magnetometer；
The photoelectric encoder, including incremental encoder, absolute type encoder and hybrid absolute value encoder；
The camera is wide-angle camera.
Second aspect, the embodiment of the present invention additionally provides a kind of automatical pilot transportation vehicle, including determining described in first aspect
Position navigation system.
The third aspect, the embodiment of the present invention additionally provides a kind of localization method for automatical pilot transportation vehicle, this method
Performed by the microcontroller of the alignment system described in first aspect, including：
Receive initial data, the initial data include acceleration, angular speed, the abundance in magnetic field, photoelectric pulse signal,
Vehicle bottom and the relative distance and ground image data on ground；
Data scaling is carried out to the initial data, merge or mutually compensates for processing acquisition location data.
The alignment system and method for automatical pilot transportation vehicle provided in an embodiment of the present invention, by using accelerometer, top
Spiral shell instrument, magnetometer, photoelectric encoder, ultrasonic probe and camera, can comprehensive, multi-facetedly obtain and be transported with homing guidance
The related data such as current pose, position of defeated car, overcome deficiency of the tradition using single-sensor method；Simultaneously to obtaining
To data handled, it is real so as to more be accurately obtained the information such as the current posture of automatical pilot transportation vehicle, position
The high accuracy positioning to automatical pilot transportation vehicle is showed, while also contributing to the precision navigation of automatical pilot transportation vehicle.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the alignment system of automatical pilot transportation vehicle in the embodiment of the present invention one；
Fig. 2 is a kind of flow chart of localization method for automatical pilot transportation vehicle in the embodiment of the present invention two；
Fig. 3 is a kind of structural representation of automatical pilot transportation vehicle in the embodiment of the present invention three；
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is a kind of structural representation of the alignment system for automatical pilot transportation vehicle that the embodiment of the present invention one is provided.Such as
Shown in Fig. 1, the alignment system includes：Accelerometer 110, gyroscope 120, magnetometer 130, photoelectric encoder 140, ultrasonic wave are visited
First 150, camera 160 and microcontroller 170.It is accelerometer 110, gyroscope 120, magnetometer 130, photoelectric encoder 140, super
Sonic probe 150, camera 160 are connected with microcontroller 170 respectively.
In the present embodiment, accelerometer 110, gyroscope 120 and magnetometer 130 preferably can by SPI or I2C interfaces with
Microcontroller 170 is attached；Photoelectric encoder 140 can be preferably attached by I/O circuit with microcontroller 170；Ultrasound
Ripple probe 150 can be preferably attached by serial interface circuit with microcontroller 170；Camera 160 can preferably pass through
Usb circuit is attached with microcontroller 170.
Wherein, accelerometer 110, the acceleration of motion of the car body for measuring automatical pilot transportation vehicle；Gyroscope 120,
Angular velocity of satellite motion for measuring car body；Magnetometer 130, the abundance for measuring car body surrounding magnetic field；Photoelectric encoder
140, the rotation information for measuring car body drive device, and the rotation information is encoded to form corresponding photoimpact letter
Number；Ultrasonic probe 150, the relative distance for measuring vehicle bottom and ground；Camera 160, for obtaining vehicle bottom
Ground image data；Microcontroller 170, for handling acceleration, angular speed, the abundance in magnetic field, photoelectric pulse signal, institute
State relative distance and the ground image data obtain location data.
In the present embodiment, the installation site of accelerometer 110, gyroscope 120 and magnetometer 130 in car body is without spy
It is different to limit, as long as not influenceing its normal work, both car body can be installed on independently of microcontroller；Again can be with microcontroller
Device is installed on car body after being integrated into an entirety, now, can improve the integrated level of each part of alignment system, reduces alignment system
The difficulty of installation.Photoelectric encoder 140 obtains the rotation information relevant with wheel due to needing, to facilitate subsequent microcontroller
170 calculate movement velocity, travel distance and the steering angle of car body, should be installed in the drive device of car body, can preferably install
In on the rotating spindle of drive device intrinsic motivation or on the rotating spindle of driving wheel.Ultrasonic probe 150 and camera 160 are excellent
Choosing is mountable to the bottom of car body, and is set both facing to ground；Herein it should be noted that ultrasonic probe 150 and shooting
First 160 should be close proximity in the position of underbody, to ensure the intersection point of ultrasonic wave that ultrasonic probe 150 sends and ground, can be with
It is similar to the center of circle in the ground areas imaging of camera 160, facilitates follow-up data to handle.
In the present embodiment, by using accelerometer, gyroscope, magnetometer, photoelectric encoder, ultrasonic probe and take the photograph
As head, the related data such as current pose, position to automatical pilot transportation vehicle can be obtained comprehensive, multi-facetedly, are overcome
Tradition uses the deficiency of single-sensor method；The data got are handled simultaneously, so as to more accurately obtain
To information such as the current posture of automatical pilot transportation vehicle, positions, the high accuracy positioning to automatical pilot transportation vehicle is realized, simultaneously
Also contribute to the precision navigation of automatical pilot transportation vehicle.
On the basis of above-described embodiment, further, accelerometer 110 preferably can be 3 axis MEMS accelerometer；
Gyroscope 120 preferably can be three axis MEMS gyro；Magnetometer 130 preferably can be 3 axis MEMS magnetometer；Photoelectric coding
Device 140 preferably can be incremental encoder, absolute type encoder and hybrid absolute value encoder etc.；Camera 160 is preferred
It can be wide-angle camera.
In the present embodiment, 3 axis MEMS accelerometer, three axis MEMS gyro and the measurable X of 3 axis MEMS magnetometer,
The data of tri- axial directions of Y, Z, to ensure, survey data are comprehensively accurate；The image range that wide-angle camera can be collected is wide, can
Increase the validity of institute's altimetric image data, to improve the utilization rate of view data.
Exemplary, 3 axis MEMS accelerometer, three axis MEMS gyro in the alignment system of automatical pilot transportation vehicle
The abundance for measuring obtained body movement acceleration, angular speed and magnetic field is sent out by SPI interface with 3 axis MEMS magnetometer
Give the microcontroller of the system；The incremental encoder on car body left and right sidesing driving wheel main shaft is installed on, will be with car body driving wheel
Rotation information related photoelectric pulse signal microcontroller is sent to by I/O circuit；It is installed on underbody and surpassing towards ground
Sonic probe, microcontroller is sent to by the relative distance on the vehicle bottom measured and ground by serial line interface；It is installed on
The ground image data of vehicle bottom are sent to microcontroller by underbody and towards the camera on ground by usb circuit.
The microcontroller 170 is receiving acceleration, angular speed, the abundance in magnetic field, photoelectric pulse signal, relative distance and surface map
As after data, handling above-mentioned data, obtaining the location data of automatical pilot transportation vehicle.In addition, alignment system also includes
The data outputting module (not shown) being connected with microcontroller, microcontroller is obtained above-mentioned processing by data outputting module
Location data export master control system to automatical pilot transportation vehicle, for automatical pilot transportation vehicle master control system to leading automatically
Draw transport vehicle and carry out positioning in real time and navigation.Data outputting module can also be with accelerometer 110, gyroscope 120, magnetometer
130 and microcontroller 170 be integrated into the car body that automatical pilot transportation vehicle is installed on after an entirety, improve each portion of alignment system
The integrated level of part, the difficulty that reduction alignment system is installed.
Embodiment two
Fig. 2 is a kind of flow chart for localization method for automatical pilot transportation vehicle that the embodiment of the present invention two is provided, should
Method can be performed by the microcontroller of the alignment system in the various embodiments described above, including：
Step 210, reception initial data, initial data include acceleration, angular speed, the abundance in magnetic field, photoimpact
Signal, vehicle bottom and the relative distance on ground and ground image data.
In the present embodiment, microcontroller receives initial data, and the initial data is by the alignment system in the various embodiments described above
In accelerometer, gyroscope, magnetometer, photoelectric encoder, ultrasonic probe and camera obtain and send respectively.
Step 220, to initial data carry out data scaling, merge or mutually compensate for processing obtain location data.
In the present embodiment, received by microcontroller by accelerometer, gyroscope, magnetometer, photoelectric encoder, ultrasonic wave
The related numbers such as current pose comprehensive and multi-faceted, to automatical pilot transportation vehicle, the position that probe and camera are sent
According to, overcome tradition using single-sensor data deficiency；Data scaling, fusion or phase are carried out to the data got simultaneously
Mutual compensation deals, so as to more be accurately obtained the information such as the current posture of automatical pilot transportation vehicle, position, are realized pair
The high accuracy positioning of automatical pilot transportation vehicle, while also contributing to the precision navigation of automatical pilot transportation vehicle.
On the basis of above-described embodiment, further, step 220 specifically includes following steps：
(1) attitude data fusion is carried out to acceleration, angular speed and the abundance in magnetic field, obtains the attitude data of car body.
In the present embodiment, the motion state of car body can more accurately be judged using the attitude information of car body, therefore,
Attitude data can be carried out using attitude data blending algorithm to acceleration signal, angular velocity signal and magnetic field variation signal to melt
Close, to obtain attitude data, wherein, the attitude data includes the angle of pitch, yaw angle and the roll angle of car body.
In the present embodiment, attitude data blending algorithm is preferably but not limited to extended pattern Kalman filter.
(2) ground view data is demarcated using relative distance, obtains the location variation of car body in the horizontal plane.
In this example, its relative distance with ground that can be preferably measured according to ultrasonic probe, and combine camera
The angle of visual field, calculate the ultimate range on the ground that camera can be photographed.The ground got using the distance to camera
Face view data is demarcated, you can obtain the True Ground Range corresponding to each pixel in ground image data, so far,
Complete the demarcation to view data.
In the motion process of car body, camera can carry out IMAQ with sample frequency set in advance to ground, excellent
Choosing can utilize image characteristics extraction, in the view data for adjacent two frame that camera is got, select same feature
Point is as a reference point, and determines in adjacent two field pictures data, the pixel number that target point is moved relative to reference point, according to
Pixel number and the corresponding True Ground Range of pixel, you can determine the location variation of car body.
(3) photoelectric pulse signal is utilized, movement velocity, travel distance and the steering angle of car body is obtained.
Exemplary, photoelectric encoder is arranged on car body left and right sidesing driving wheel, in car body in motion process, installed in a left side
Photoelectric encoder in right driving wheel, gathers the rotation information of left and right sidesing driving wheel respectively, and by the information with photoelectric pulse signal
Form be sent to microcontroller.Microcontroller using the photoelectric pulse signal calculate the movement velocity of car body, travel distance and
Steering angle, wherein, steering angle refers to the corner of yaw angle, i.e. car body in the horizontal plane on left and right directions.
In the present embodiment, car body is in linear motion, and obtained data are calculated using photoelectric pulse signal to be included
The movement velocity and travel distance of car body；When in motion process angular deflection occurs for car body, calculated using photoelectric pulse signal
Obtained data include movement velocity, travel distance and the steering angle of car body.
(4) carry out car body skidding using location variation and photoelectric pulse signal to detect, obtain car body skidding and judge data.
In the present embodiment, the location variation obtained using ground image data, it may be determined that position of the car body with respect to ground
Move；Photoelectric pulse signal is utilized, it may be determined that the rotating speed of wheel, so that it is determined that distance of the wheel with respect to ground rotation.Car body is not
During generation skidding, using ground image data obtain location variation with using photoelectric pulse signal obtain traveling away from
From equal.Once skidding occurs for car body, the two is no longer equal.
In order to judge whether car body is in slipping state, it is necessary to utilize location variation and photoelectric pulse signal to carry out car body
Skid and detect, specifically, skidding detection includes：If detecting photoelectric pulse signal change, location variation is constant, it is determined that car
Body skids.
In the present embodiment, when skidding occurs for car body, in the ground image data that camera is collected, adjacent two frame
The pixel number between target point and reference point in image is constant, i.e., the position of the car body obtained by ground image data becomes
Change amount is 0；And driving wheel then can be constantly in rotary state due to the driving effect of drive device, photoelectric encoder is persistently sent out
Photoelectric pulse signal is sent, the travel distance of the car body obtained by photoelectric pulse signal is not 0, it is clear that in this case, photoelectricity
Pulse signal confidence level is relatively low.Therefore, by contrasting photoelectric pulse signal and location variation, you can judge whether car body is in
Slipping state, when detect photoelectric pulse signal change, and location variation it is constant when, determine car body be in slipping state；When
Photoelectric pulse signal change is detected, and location variation determines that car body is not in slipping state when also changing.
(5) skidded using car body and judge that data carry out mutually compensating for processing to photoelectric pulse signal and attitude data, obtained
Photoelectric pulse signal and attitude data after overcompensation.
In the present embodiment, it is preferred that skidded according to car body and judge data, phase is carried out to photoelectric pulse signal and attitude data
Mutually the method for compensation deals is：Respectively photoelectric pulse signal and attitude data, which set one and skidded by car body, judges data dynamic
The reliability coefficient of adjustment.Specifically, when it is determined that car body is not in slipping state, photoelectric pulse signal and attitude data can
Row degree coefficient is all higher, preferably can be set as the numerical value between 0.90-1.00；When it is determined that car body is in slipping state,
The reliability coefficient of photoelectric pulse signal is relatively low, preferably can be set as the numerical value between 0.00-0.10, attitude data it is credible
Spend coefficients comparison high, preferably can be set as the numerical value between 0.90-1.00.
(6) course angle fusion is carried out to the photoelectric pulse signal and attitude data after dynamically adjustment, obtains car body
Course angle.
In the present embodiment, the reliability coefficient of photoelectric pulse signal is the movement velocity of car body, travel distance and steering angle
Reliability coefficient, therefore, by the movement velocity of reliability coefficient and the car body that is obtained by photoelectric pulse signal, travel distance and
Steering angle matches, and obtains the movement velocity with reliability coefficient, travel distance and steering angle and matches.
In the present embodiment, course angle is equal to the steering angle of car body, yaw angle, by the steering angle with reliability coefficient with
Yaw angle with reliability coefficient carries out course angle fusion, obtains the course angle of car body, wherein, course angle blending algorithm is excellent
Select but be not limited to complementary type Kalman filter.
(7) Co-factor propagation is carried out to location variation and course angle, obtains the change in location data of car body.
In the present embodiment, Co-factor propagation is carried out to location variation and course angle combination gait of march, wherein, Co-factor propagation
Algorithm, preferably can be complementary type Kalman filter, wherein, complementary parameter combines for location variation and course angle to be had
The displacement that the gait of march of reliability coefficient is obtained.To location variation and course angle and combination gait of march progress Co-factor propagation
Afterwards, the change in location data of car body be can obtain.
By above-mentioned data scaling, merge or mutually compensate for processing after, be finally available from the positioning of dynamic guide transport lorry
Data, including：Acceleration, movement velocity, the car body of car body, which skid, judges data, course angle and change in location data, wherein, fortune
Dynamic speed is the movement velocity with reliability coefficient.
Embodiment three
Fig. 3 is a kind of structural representation for automatical pilot transportation vehicle that the embodiment of the present invention three is provided.As shown in figure 3, from
Dynamic guide transport lorry 300 includes the alignment system 310 in embodiment one.
In the present embodiment, alignment system 310 is connected by data outputting module with master control system, preferably can be using wireless
The mode of connection, master control system receives the location data that alignment system 310 is sent, and combines default navigation way, can be right
Car body is accurately positioned and assisting navigation.
In addition, the automatical pilot transportation vehicle also includes memory 320, obtained in the course of the work for storing alignment system
The Various types of data got.
Exemplary, automatical pilot transportation vehicle works in indoor environment, in motion process, the acceleration in its alignment system
Degree meter, gyroscope, magnetometer, photoelectric encoder, ultrasonic probe and camera obtain respectively the acceleration of car body, angular speed,
The abundance in magnetic field, the photoelectric pulse signal related to the rotating speed of driving wheel, relative distance and ground image data with ground,
And it is sent to microcontroller and memory.
Microcontroller is handled each data received using the localization method in the various embodiments described above, specifically：
The attitude data of car body is obtained by acceleration, angular speed and the abundance in magnetic field, includes the angle of pitch, the driftage of car body
Angle and roll angle, because car body is mainly used in loading and the transport of goods, typically will not pitch and turn on one's side, its correspondence
The angle of pitch and roll angle can be smaller, therefore, in acquired attitude data, the attitude angle played a leading role is yaw angle.
After the attitude data for obtaining car body, car body is accurately positioned in order to realize, in addition it is also necessary to which the position for obtaining car body becomes
Change data, the change in location data are determined jointly by the relative distance with ground and ground image data.Utilize the phase with ground
The angle of visual field adjusted the distance with camera itself, is demarcated to ground view data, obtains the ground corresponding to each pixel
Actual range, so, by contrasting the pixel number that target point is moved relative to reference point in adjacent two field pictures data, just
The location variation of car body can be obtained.
Typically, discounting for other factors, get the attitude data of above-mentioned car body and location variation data it
Afterwards, you can complete the positioning of car body.But, in car body traveling process, often because the phenomenon skidded occurs in a variety of causes,
Again because car body is in homing guidance state, when occurring skidding, it is impossible to so timely that all to handle.
Based on this, photoelectric encoder is set in alignment system, the photoelectric encoder is installed on the rotation of left and right sidesing driving wheel
On main shaft, the photoelectric pulse signal related to left and right sidesing driving wheel rotation information is obtained.And it is derived from the movement velocity, OK of car body
Enter distance and steering angle.
Car body is in normal motion, and location variation is also becoming while photoelectric pulse signal changes
Change, once car body skids, then location variation no longer changes, but in the process, photoelectric pulse signal still exists
Change, now, the Reliability ratio of the signal is relatively low.
When car body is in slipping state, it is necessary to which attitude data and change in location data to car body compensate correction,
To obtain more accurately location data.
Judge data according to skidding to when judging car body in slipping state, respectively photoelectric pulse signal and posture number
According to setting one by car body skid judge data dynamically adjustment reliability coefficient, when skidding when, photoelectric pulse signal it is credible
Spend coefficient ratio relatively low, 0.05 can be set to, the reliability coefficient of attitude data is higher, 0.95 can be set to, utilize complementary type card
Thalmann filter is carried out to the yaw angle in the steering angle and attitude data by being obtained with reliability coefficient photoelectric pulse signal
Course angle is merged, and obtains the relatively accurate course angular data after compensation correction.
Because photoelectric pulse signal has reliability coefficient, then thus obtained gait of march also has reliability coefficient.
Position is carried out using complementary type Kalman filter to the displacement obtained by location variation and course angle combination gait of march to melt
Close, obtain the relatively accurate change in location data after compensation correction.
Data after treatment are sent to the master control of automatical pilot transportation vehicle by microcontroller by data outputting module
System and memory, acceleration, movement velocity, the car body that transmitted location data includes car body skid and judge data, course
Angle and change in location data, wherein, movement velocity is the movement velocity with reliability coefficient.
Master control system can realize that being accurately positioned for car body is alarmed with sipping fault using location data, and in car body row
During entering, master control system can also be used location data and carry out assisting navigation to car body.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art it is various it is obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention is carried out by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (9)
1. a kind of alignment system of automatical pilot transportation vehicle, it is characterised in that including accelerometer, gyroscope, magnetometer, photoelectricity
Encoder, ultrasonic probe, camera and microcontroller；The accelerometer, the gyroscope, the magnetometer, the light
Photoelectric coder, the ultrasonic probe and the camera are connected with the microcontroller respectively；Wherein：
The accelerometer, the acceleration of motion of the car body for measuring the automatical pilot transportation vehicle；
The gyroscope, the angular velocity of satellite motion for measuring car body；
The magnetometer, the abundance for measuring car body surrounding magnetic field；
The photoelectric encoder, the rotation information for measuring car body drive device, and the rotation information encoded to be formed pair
The photoelectric pulse signal answered；
The ultrasonic probe, the relative distance for measuring vehicle bottom and ground；
The camera, the ground image data for obtaining vehicle bottom；
The microcontroller, for handling the acceleration, the angular speed, the abundance in the magnetic field, the photoimpact
Signal, the relative distance and the ground image data obtain location data.
2. system according to claim 1, it is characterised in that
The photoelectric encoder is on the rotating spindle of the driving wheel of the automatical pilot transportation vehicle；
The ultrasonic probe is located at the bottom of the car body, and towards ground；
The camera is located at the bottom of the car body, and towards ground.
3. system according to claim 1 or 2, it is characterised in that
The accelerometer is 3 axis MEMS accelerometer；
The gyroscope is three axis MEMS gyro；
The magnetic force is calculated as 3 axis MEMS magnetometer；
The photoelectric encoder, including incremental encoder, absolute type encoder and hybrid absolute value encoder；
The camera is wide-angle camera.
4. a kind of automatical pilot transportation vehicle, it is characterised in that including the Position Fixing Navigation System described in claim any one of 1-3.
5. a kind of localization method for automatical pilot transportation vehicle, it is characterised in that this method is by any one of claim 1-3 institutes
The microcontroller of the alignment system stated is performed, including：
Initial data is received, the initial data includes acceleration, angular speed, the abundance in magnetic field, photoelectric pulse signal, car body
Bottom and the relative distance and ground image data on ground；
Data scaling is carried out to the initial data, merge or mutually compensates for processing acquisition location data.
6. method according to claim 5, it is characterised in that data scaling, fusion or phase are carried out to the initial data
Mutual compensation deals, including：
Abundance to the acceleration, the angular speed and the magnetic field carries out attitude data fusion, obtains the posture of car body
Data；
The ground image data are demarcated using the relative distance, the change in location of car body in the horizontal plane is obtained
Amount；
Using the photoelectric pulse signal, movement velocity, travel distance and the steering angle of car body are obtained；
Car body skidding is carried out using the location variation and the photoelectric pulse signal to detect, is obtained car body skidding and is judged number
According to；
Skidded using the car body and judge that data carry out mutually compensating for processing to the photoelectric pulse signal and the attitude data,
Obtain the photoelectric pulse signal after overcompensation and attitude data；
Course angle fusion is carried out to the photoelectric pulse signal after dynamically adjustment and attitude data, the course of car body is obtained
Angle；
Co-factor propagation is carried out to the location variation and the course angle, the change in location data of car body are obtained.
7. method according to claim 6, it is characterised in that the attitude data includes the angle of pitch of car body, yaw angle
And roll angle.
8. the method according to any one of claim 6 or 7, it is characterised in that described to utilize the location variation and institute
State photoelectric pulse signal and carry out car body skidding detection, including：
If detecting the photoelectric pulse signal change, the location variation is constant, it is determined that car body skids.
9. the method according to claim 5 or 6, it is characterised in that the location data includes：
The acceleration, the movement velocity, the car body of car body, which skid, judges that data, the course angle and the position become
Change data.
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