CN110133593A - Unmanned indoor vehicle - Google Patents
Unmanned indoor vehicle Download PDFInfo
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- CN110133593A CN110133593A CN201910436948.4A CN201910436948A CN110133593A CN 110133593 A CN110133593 A CN 110133593A CN 201910436948 A CN201910436948 A CN 201910436948A CN 110133593 A CN110133593 A CN 110133593A
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- G—PHYSICS
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Radar, Positioning & Navigation (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of unmanned indoor vehicles, including vehicle body, the wheel that supports vehicle body, the dynamical system of wheel, central control system and the vehicle-mounted laser orientation system in interior based on reflector are driven, the vehicle-mounted laser orientation system in interior based on reflector includes data acquisition module, data processing module, position acquisition module and coordinate obtaining module；The central control system is used to determine whether vehicle heading is to change the driving direction of vehicle if driving direction is detached from default route to travel in default route in default route according to coordinate obtaining module coordinate data obtained.The present invention is intended to provide one kind do not need wireless system carry out positioning can carry out unpiloted unmanned indoor vehicle, it is unmanned to solve the problems, such as that existing automatic driving vehicle needs the indoor vehicle completed by global position system cause in shielded space that can not realize.
Description
Technical field
The present invention relates to automatic driving vehicle more particularly to a kind of unmanned indoor vehicles.
Background technique
Existing automatic driving vehicle needs to obtain the position in vehicle driving by global position system, but right
In using the indoor vehicle of workshop (hereinafter referred to as indoor vehicle), since the workshop having is to carry out shielding processing, satellite
Wireless signal can not enter, so that the position of vehicle can not be obtained, cannot achieve so as to cause indoor vehicle unmanned.
Summary of the invention
The present invention is intended to provide a kind of unmanned indoor vehicle for not needing wireless system and being positioned, solves existing
Automatic driving vehicle need to lead to indoor vehicle in shielded space not come position location by global position system
It is able to carry out unmanned problem.
The above technical problem is solved through the following technical scheme: a kind of unmanned indoor vehicle, including vehicle body, branch
Support the wheel of vehicle body, the dynamical system for driving wheel, central control system and the vehicle-mounted laser positioning system in interior based on reflector
System, the vehicle-mounted laser orientation system in interior based on reflector includes data acquisition module, data processing module, position acquisition
Module and coordinate obtaining module, the vehicle-mounted laser orientation system in interior based on reflector includes data acquisition module, data
Processing module, position acquisition module and coordinate obtaining module: the data acquisition module was being exercised for obtaining indoor vehicle
The laser data of vehicle-mounted laser device in journey, the laser data include range points cloud number of each body surface to reflective plate surface
According to；The data processing module extracts point cloud data and for the intensity of light reflection according to reflector to the point after extraction
Cloud data are filtered processing, filter out the intensity of light reflection height of reflector and the point cloud data that intensity of light reflection is low；It obtains the position
Modulus block obtains the center of reflector, the center based on reflector obtains for the point cloud high based on intensity of light reflection
The position of reflector and the position of vehicle-mounted laser device；The coordinate obtaining module, for based on reflector position and vehicle
The position of laser aid is carried, the coordinate position at kinematics center of the indoor vehicle in vehicle travel process is obtained.The present invention is logical
The vehicle-mounted laser orientation system in interior based on reflector is crossed to be positioned, completes to position without satellite system, thus
Make it possible to carry out in the shielded interior space unmanned.
Preferably, the laser data for obtaining indoor vehicle vehicle-mounted laser device during enforcement is dependent on reflective
What plate system obtained, specifically:
The reflector includes the cylindrical body reflector that several diameters are 5cm-10cm, and length is not less than the negative side of 40cm
Plate, the reflector cylindrical outer surface paste reflective membrane；
Several reflectors are arranged based on vehicle running route, so that the model of vehicle vehicle-mounted laser device in operation
It can at least 3 reflectors in enclosing.
Preferably, the point cloud high based on intensity of light reflection, obtains the center of reflector, specifically:
Pass through the coordinate position (x of the high point cloud of intensity of light reflectioni,yi), calculate centerFormula is as follows:
Based on the coordinate position of the high point cloud of intensity of light reflection, the center of reflector is obtained, formula is as follows:
d2=π R/4, d2 are the distance at the centre distance reflector center of the high point cloud data of intensity of light reflection, and R is reflector
Radius；
d1For the distance of the centre distance vehicle-mounted laser device of the high point cloud data of intensity of light reflection；
D=d1+d2, d is the distance of reflector centre distance vehicle-mounted laser device.
Preferably, the point cloud high based on intensity of light reflection, the center for obtaining reflector further includes before reflective
Plate matching step, specifically: when vehicle initially enters reflector environment, matching step is as follows:
The information for scanning surrounding reflector, obtains the distance value between any two reflector；
It is arranged according to apart from length, selects longest edge for a side of triangle, length mark L is based on the side
Two vertex select third reflector so that based on the longest edge form triangle perimeter longest, calculate the triangle
Side length and angle recorded as characteristic value, characteristic value be longest edge L1, another two side length and be L2, two of longest edge
Angle a1And a2, each reflector range data in map datum is inquired, screens length in L1It is to be selected in affiliated error range
Side, by the conduct several groups data to be selected for the condition that meets；
Calculated separately in data to be selected longest edge two vertex distances another point distance and in L2The error model
Interior side is enclosed, by the conduct for the condition that meets data to be selected；
Two angles for calculating longest edge, if angle and a1、a2Conduct to be selected data of the deviation at ± 2 °, it is final to carry out
Judgement, if data to be selected are one group, then it is assumed that the group is exactly the environment position where vehicle, the coordinate position according to each reflector
And position of the vehicle-mounted laser device apart from each reflector, obtain vehicle location；If data to be selected are not unique, re-start
Match；
When vehicle continuous operation, reflector is matched, matching step is as follows:
In vehicle operation, trolley is estimated out in the position at current time；
It is matched, is obtained each in environment with reflective Board position each in reflector map based on the position at current time
Coordinate position of the reflector with respect to vehicle-mounted laser device；
According to calculated in actually measured angle of reflector, range data, with map angle, range data carry out
Match, obtains the corresponding relationship between measured value and reflector number.
Preferably, calculating separately the angle between every two reflector when reflector is more than 3, screening three is reflective
Plate two-by-two between the sum of angle be 180 ° of three reflectors as one group, if there is multiple groups, calculate maximum angular in the group again
It with the difference between minimum angle, selects difference one group the smallest, then according to the number of selected reflector, it is reflective to inquire correspondence
The coordinate value of plate.
Preferably, the position estblishing step of the vehicle-mounted laser device is as follows:
As the centre coordinate (X for getting 3 reflectors1,Y1)、(X2,Y2)、(X3,Y3) and vehicle-mounted laser device away from
(the d with a distance from each reflector1,d2,d3) when, the distance centered on each reflector center, with each reflector apart from laser
Do circle respectively for radius, judge vehicle-mounted laser device to two reflectors distance and (d1+d2) with the centers of two reflectors away from
Relationship from D；
As (d1+d2)≤D, indicate two circles mutually from or it is tangent, select point centered on the equidistant point of two round edges of distance,
Point of contact is selected if tangent, as (d1+d2When) > D, indicate that two circle intersections, selection are reflective closest to third apart from another reflector
Point centered on plate to the point of the positional distance of vehicle-mounted laser device.
Preferably, the position of the position and vehicle-mounted laser device based on reflector, specifically:
Known 1 coordinate (x of the center of circle1,y1), radius R1,2 coordinate (x of the center of circle2,y2) radius R2, two circles are there are two intersection points
In the case of, intersecting point coordinate is (xa,ya),(xb,yb):
It enables
It enables
Then two intersecting point coordinates are respectively as follows:
xa=x0-Lsin(arctan(k)),ya=y0+Lcos(arctan(k))；
xb=x0+Lsin(arctan(k)),yb=y0-Lcos(arctan(k))；
Third central coordinate of circle (x3,y3) radius R3, judge two intersection points at a distance from the third center of circle
Judgement | da-R3| with | db-R3| size, take the smallest point (x of differencea,ya) or (xb,yb)；
Since position of the vehicle-mounted laser device on vehicle is fixed, and the positional relationship at relative vehicle kinematics center is bright
Really, behind the center based on vehicle-mounted laser device, according to coordinate translation and rotation, the coordinate bit at vehicle kinematics center is obtained
It sets.
The present invention has an advantage that can be unmanned in the carry out of the interior of shielding；The present invention is filled using vehicle-mounted laser
It sets, location navigation precision reaches Centimeter Level or higher, and calculation is reliable, fast response time, strong antijamming capability, at low cost etc.
Feature.
Detailed description of the invention
Fig. 1 is schematic diagram of the invention.
Specific embodiment
The present invention will be further described below with reference to the accompanying drawings and embodiments.
Referring to Fig. 1, a kind of unmanned indoor vehicle, including vehicle body 1, support vehicle body wheel 2, drive wheel power
System, central control system 3 and the vehicle-mounted laser orientation system 4 in interior based on reflector.Interior based on reflector is vehicle-mounted to swash
Light-seeking system includes data acquisition module, data processing module, position acquisition module and coordinate obtaining module, described based on anti-
The vehicle-mounted laser orientation system in interior of tabula rasa includes that data acquisition module, data processing module, position acquisition module and coordinate obtain
Modulus block.The data acquisition module, for obtaining the laser data of indoor vehicle vehicle-mounted laser device 5 during enforcement,
Vehicle-mounted laser device is mounted on the top of vehicle body so as to emit laser around by vertical transfer axis.The laser data includes
Each body surface is to reflective plate surface apart from point cloud data；The data processing module, for according to the reflective strong of reflector
Degree, extracts point cloud data and is filtered processing to the point cloud data after extraction, filter out the intensity of light reflection of reflector
The high point cloud data low with intensity of light reflection；The position acquisition module obtains reflector for the point cloud high based on intensity of light reflection
Center, the center based on reflector obtains the position of reflector and the position of vehicle-mounted laser device；The seat
Mark obtains module, for the position of position and vehicle-mounted laser device based on reflector, obtains indoor vehicle in vehicle driving mistake
The coordinate position at the kinematics center in journey；The central control system is used for according to coordinate obtaining module seat obtained
Mark data determine whether vehicle heading is to change vehicle if driving direction is detached from default route in default route
Driving direction in default route to travel.
Acquisition indoor vehicle laser data of vehicle-mounted laser device during enforcement is obtained dependent on reflector system
It takes, specifically:
The reflector includes the cylindrical body reflector that several diameters are 5cm-10cm, and length is not less than the negative side of 40cm
Plate, the reflector cylindrical outer surface paste reflective membrane；
Several reflectors are arranged based on vehicle running route, so that the model of vehicle vehicle-mounted laser device in operation
It can at least 3 reflectors in enclosing.
The point cloud high based on intensity of light reflection, obtains the center of reflector, specifically:
Pass through the coordinate position (x of the high point cloud of intensity of light reflectioni,yi), calculate centerFormula is as follows:
Based on the coordinate position of the high point cloud of intensity of light reflection, the center of reflector is obtained, formula is as follows:
d2=π R/4, d2 are the distance at the centre distance reflector center of the high point cloud data of intensity of light reflection, and R is reflector
Radius；
d1For the distance of the centre distance vehicle-mounted laser device of the high point cloud data of intensity of light reflection.
The point cloud high based on intensity of light reflection obtains further including reflector matching step before the center of reflector
Suddenly, specifically: when vehicle initially enters reflector environment, matching step is as follows:
The information for scanning surrounding reflector, obtains the distance value between any two reflector；
It is arranged according to apart from length, selects longest edge for a side of triangle, length mark L is based on the side
Two vertex select third reflector so that based on the longest edge form triangle perimeter longest, calculate the triangle
Side length and angle recorded as characteristic value, characteristic value be longest edge L1, another two side length and be L2, two of longest edge
Angle a1 and a2, inquire each reflector range data in map datum, and screening length is to be selected in the affiliated error range of L1
Side, by the conduct several groups data to be selected for the condition that meets；
Calculated separately in data to be selected longest edge two vertex distances another point distance and the error model described in L2
Interior side is enclosed, by the conduct for the condition that meets data to be selected；
Two angles of longest edge are calculated, if the deviation of angle and a1, a2 are in ± 2 ° of conduct data to be selected, final progress
Judgement, if data to be selected are one group, then it is assumed that the group is exactly the environment position where vehicle, the coordinate position according to each reflector
And position of the vehicle-mounted laser device apart from each reflector, obtain vehicle location；If data to be selected are not unique, re-start
Match；
When vehicle continuous operation, reflector is matched, matching step is as follows:
In vehicle operation, trolley is estimated out in the position at current time；
It is matched, is obtained each in environment with reflective Board position each in reflector map based on the position at current time
Coordinate position of the reflector with respect to vehicle-mounted laser device；
According to calculated in actually measured angle of reflector, range data, with map angle, range data carry out
Match, obtains the corresponding relationship between measured value and reflector number.
When reflector is more than 3, the angle between every two reflector is calculated separately, is pressed from both sides between screening three reflectors two-by-two
The sum at angle is 180 ° of three reflectors as one group, if there is multiple groups, is calculated in the group again between maximum angular and minimum angle
Difference, select difference it is one group the smallest, then according to the number of selected reflector, inquire the coordinate of corresponding reflector
Value.
The position estblishing step of the vehicle-mounted laser device is as follows:
When get centre coordinate (X1, Y1), (X2, Y2), (X3, Y3) and the vehicle-mounted laser device of 3 reflectors away from
With a distance from each reflector when (d1, d2, d3), centered on each reflector center, with each reflector apart from laser away from
Circle is done respectively from for radius, judges vehicle-mounted laser device into the distance and (d1+d2) and two reflectors of two reflectors
The relationship of heart distance D；
As (d1+d2)≤D, indicate two circles mutually from or it is tangent, centered on the point for selecting two round edges of distance equidistant
Point, selects point of contact if tangent, as (d1+d2) > D, indicates that two circle intersections, selection are a closest to third apart from another reflector
Point centered on reflector to the point of the positional distance of vehicle-mounted laser device.
The position of the position and vehicle-mounted laser device based on reflector, specifically:
Known 1 coordinate (x of the center of circle1,y1), radius R1,2 coordinate (x of the center of circle2,y2) radius R2, two circles are there are two intersection points
In the case of, intersecting point coordinate is (xa,ya),(xb,yb):
It enables
It enables
Then two intersecting point coordinates are respectively as follows:
xa=x0-Lsin(arctan(k)),ya=y0+Lcos(arctan(k))；
xb=x0+Lsin(arctan(k)),yb=y0-Lcos(arctan(k))；
Third central coordinate of circle (x3,y3) radius R3, judge two intersection points at a distance from the third center of circle
Judgement | da-R3| with | db-R3| size, take the smallest point (x of differencea,ya) or (xb,yb)；
Since position of the vehicle-mounted laser device on vehicle is fixed, and the positional relationship at relative vehicle kinematics center is bright
Really, behind the center based on vehicle-mounted laser device, according to coordinate translation and rotation, the coordinate bit at vehicle kinematics center is obtained
It sets.
Claims (7)
1. a kind of unmanned indoor vehicle, including vehicle body, the wheel of support vehicle body, the dynamical system for driving wheel, center control
System processed, which is characterized in that further include the vehicle-mounted laser orientation system in interior based on reflector, the interior based on reflector
Vehicle-mounted laser positioning system includes data acquisition module, data processing module, position acquisition module and coordinate obtaining module；It is described
Data acquisition module, for obtaining the laser data of indoor vehicle vehicle-mounted laser device during enforcement, the laser data
Including each body surface in vehicle present position periphery to reflective plate surface apart from point cloud data；The data processing module is used
In the intensity of light reflection according to reflector, point cloud data is extracted and processing, mistake are filtered to the point cloud data after extraction
Filter out the intensity of light reflection height of reflector and the point cloud data that intensity of light reflection is low；The position acquisition module, for based on reflective strong
High point cloud is spent, the center of reflector is obtained, the center based on reflector obtains the position of reflector and vehicle-mounted
The position of laser aid；The coordinate obtaining module is obtained for the position of position and vehicle-mounted laser device based on reflector
The coordinate position at kinematics center of the indoor vehicle in vehicle travel process.
2. unmanned indoor vehicle according to claim 1, which is characterized in that the acquisition indoor vehicle was being exercised
The laser data of vehicle-mounted laser device is obtained dependent on reflector system in journey, specifically:
The reflector includes the cylindrical body reflector that several diameters are 5cm-10cm, and length is not less than negative side's plate of 40cm,
The reflector cylindrical outer surface pastes reflective membrane；
Several reflectors are arranged based on vehicle running route, so that vehicle is in operation in the range of vehicle-mounted laser device
It can at least 3 reflectors.
3. unmanned indoor vehicle according to claim 1, which is characterized in that the point high based on intensity of light reflection
Cloud obtains the center of reflector, specifically:
Pass through the coordinate position (x of the high point cloud of intensity of light reflectioni,yi), calculate centerFormula is as follows:
Based on the coordinate position of the high point cloud of intensity of light reflection, the center of reflector is obtained, formula is as follows:
d2=π R/4, d2 are the distance at the centre distance reflector center of the high point cloud data of intensity of light reflection, and R is the half of reflector
Diameter；
d1For the distance of the centre distance vehicle-mounted laser device of the high point cloud data of intensity of light reflection；
D=d1+d2, d is the distance of reflector centre distance vehicle-mounted laser device.
4. unmanned indoor vehicle according to claim 2, which is characterized in that the point high based on intensity of light reflection
Cloud, the center for obtaining reflector further includes before reflector matching step, specifically: when vehicle initially enters reflector ring
Border, matching step are as follows:
The information for scanning surrounding reflector, obtains the distance value between any two reflector；
It is arranged according to apart from length, selects longest edge for a side of triangle, length mark L, two based on the side
A vertex selects third reflector, so that the triangle perimeter longest based on longest edge composition, calculates the side of the triangle
Long and angle is recorded as characteristic value, and characteristic value is longest edge L1, another two side length and be L2, two angles of longest edge
a1And a2, each reflector range data in map datum is inquired, screens length in L1Side to be selected in affiliated error range, will
Meet the conduct several groups data to be selected of condition；
Calculated separately in data to be selected longest edge two vertex distances another point distance and in L2In the error range
Side, by the conduct for the condition that meets data to be selected；
Two angles for calculating longest edge, if angle and a1、a2Deviation in ± 2 ° of conduct data to be selected, finally judged,
If data to be selected are one group, then it is assumed that the group is exactly the environment position where vehicle, the coordinate position and vehicle according to each reflector
Position of the laser aid apart from each reflector is carried, vehicle location is obtained；If data to be selected are not unique, matching is re-started；
When vehicle continuous operation, reflector is matched, matching step is as follows:
In vehicle operation, trolley is estimated out in the position at current time；
It is matched, is obtained each reflective in environment with reflective Board position each in reflector map based on the position at current time
Coordinate position of the plate with respect to vehicle-mounted laser device；
According to actually measured angle of reflector, range data, is matched, obtained with angle, the range data calculated in map
Corresponding relationship between measured value and reflector number out.
5. unmanned indoor vehicle according to claim 2, which is characterized in that when reflector is more than 3, count respectively
The angle between every two reflector is calculated, the sum of angle is 180 ° of three reflectors as one between screening three reflectors two-by-two
Group calculates the difference in the group between maximum angular and minimum angle again, selects difference one group the smallest, then if there is multiple groups
According to the number of selected reflector, the coordinate value of corresponding reflector is inquired.
6. unmanned indoor vehicle according to claim 5, which is characterized in that the position of the vehicle-mounted laser device is true
It is vertical that steps are as follows:
As the centre coordinate (X for getting 3 reflectors1,Y1)、(X2,Y2)、(X3,Y3) and vehicle-mounted laser device apart from each anti-
Distance (the d of tabula rasa1,d2,d3) when, centered on each reflector center, the distance using each reflector apart from laser is radius
Do circle respectively, judge vehicle-mounted laser device to two reflectors distance and (d1+d2) with the centre distance D's of two reflectors
Relationship；
As (d1+d2)≤D, indicate two circles mutually from or it is tangent, point centered on the equidistant point of two round edges of distance is selected, if phase
It cuts, selects point of contact, as (d1+d2When) > D, indicate that two circle intersections, selection are arrived apart from another reflector closest to third reflector
Point centered on the point of the positional distance of vehicle-mounted laser device.
7. unmanned indoor vehicle according to claim 6, which is characterized in that the position and vehicle based on reflector
The position of laser aid is carried, specifically:
Known 1 coordinate (x of the center of circle1,y1), radius R1,2 coordinate (x of the center of circle2,y2) radius R2, two circles are there are two intersection point the case where
Under, intersecting point coordinate is (xa,ya),(xb,yb):
It enables
y0=y1+k(x0-x1)；
It enablesThen two intersecting point coordinates are respectively as follows:
xa=x0-Lsin(arctan(k)),ya=y0+Lcos(arctan(k))；
xb=x0+Lsin(arctan(k)),yb=y0-Lcos(arctan(k))；
Third central coordinate of circle (x3,y3) radius R3, judge two intersection points at a distance from the third center of circle
Judgement | da-R3| with | db-R3| size, take the smallest point (x of differencea,ya) or (xb,yb)；
Since position of the vehicle-mounted laser device on vehicle is fixed, and the positional relationship at relative vehicle kinematics center is clear, base
Behind the center of vehicle-mounted laser device, according to coordinate translation and rotation, the coordinate position at vehicle kinematics center is obtained.
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