A laser radar-based AGV positioning method and system

Abstract

The present invention provides an AGV positioning method and system based on laser radar, which obtains polar coordinate data at each moment obtained by a laser radar scanning circle; obtains the AGV coordinates at each moment according to each moment and the AGV speed at each moment; obtains the coordinates of the laser radar in the Cartesian coordinate system corresponding to each moment according to the polar coordinate data at each moment, converts the coordinates in the Cartesian coordinate system corresponding to each moment into the coordinates of the last moment, and obtains the laser radar data after motion distortion compensation; uses the laser radar data with the vehicle body coordinates as the reference coordinate system after motion distortion compensation to convert it into coordinate values ​​in the world coordinate system, matches it with a preset map, and obtains the positioning result of the AGV; the present invention uses the laser radar data with the vehicle body coordinates as the reference coordinate system after distortion compensation to match it with a pre-established map, so as to achieve more accurate AGV positioning.

Description

Technical Field

[0001] The present invention relates to the field of AGV positioning technology, and in particular to an AGV positioning method and system based on laser radar. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] As a production and handling equipment, the final positioning accuracy of AGV (Automated Guided Vehicle) will directly affect its operating results. If the final positioning accuracy cannot meet the actual production needs, it will greatly reduce its operating efficiency and even cause accidents.

[0004] The positioning accuracy of AGV is generally divided into walking positioning accuracy and final positioning accuracy. Walking positioning is generally achieved by directly relying on laser radar to detect the surrounding environment or reflectors. For relatively wide lanes, the requirements are not high and are usually controlled within ±5cm. In order to improve positioning accuracy, in addition to direct positioning through laser radar, auxiliary equipment is often required. The most common method is to use cameras for assistance, using cameras to identify the contour of the fork position or to post QR codes on the periphery to achieve positioning. However, the cost of industrial cameras is relatively high, especially when contour recognition is used, which requires algorithm customization and is costly. Summary of the invention

[0005] In order to solve the deficiencies of the prior art, the present invention provides an AGV positioning method and system based on laser radar, which improves the positioning accuracy of the AGV.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides an AGV positioning method based on laser radar.

[0008] An AGV positioning method based on laser radar includes the following processes:

[0009] During the movement of the AGV, the polar coordinate data at each moment obtained by scanning a circle by the laser radar is obtained, and the polar coordinate data uses the vehicle body coordinate system as the reference coordinate system;

[0010] According to each time and the AGV speed at each time, the AGV coordinates at each time are obtained;

[0011] According to the polar coordinate data at each moment, the coordinates of the laser radar in the Cartesian coordinate system corresponding to each moment are obtained, and the coordinates in the Cartesian coordinate system corresponding to each moment are converted to the coordinates of the last moment to obtain the laser radar data after motion distortion compensation;

[0012] The laser radar data with the vehicle body coordinates as the reference coordinate system after motion distortion compensation is converted into coordinate values ​​in the world coordinate system, matched with the preset map, and the positioning result of the AGV is obtained.

[0013] As an optional implementation method, the laser radar is at t1, t2...t n-1 The corresponding coordinates in the Cartesian coordinate system are:

[0014] (x laser_1 ,y laser_1 ,t1),(x laser_2 ,y laser_2 ,t2)......(x laser_n ,y laser_n ,t n )

[0015] Set t1, t2...t n-1 The lidar measurements at time t are converted into n Coordinates of the moment:

[0016] x laser_in =x laser_i cos(θ AGV_n -θ AGV_i )+y laser_i sin(θ AGV_n -θ AGV_i )+x n -x i

[0017] y laser_in =y laser_i cos(θ AGV_n -θ AGV_i )-x laser_i sin(θ AGV_n -θ AGV_i )+y n -y i .

[0018] As an optional implementation, during the movement of the AGV, the reflective plate used for positioning is locked.

[0019] As an optional implementation method, the coordinate values ​​at each previous moment are converted to the coordinate values ​​of the AGV position at the current moment;

[0020] According to the speed of the AGV and each coordinate data, the coordinate data of each previous moment is converted into the coordinate data of the AGV's position at the current moment, and then the final coordinate value is obtained by averaging through multiple scans.

[0021] As an optional implementation method, when the AGV tracks a specific trajectory, the pickup location is used as the trajectory reference point.

[0022] A second aspect of the present invention provides an AGV positioning system based on laser radar.

[0023] An AGV positioning system based on laser radar, comprising:

[0024] The polar coordinate acquisition module is configured to: during the movement of the AGV, obtain polar coordinate data at each moment obtained by scanning a circle of the laser radar, wherein the polar coordinate data uses the vehicle body coordinate system as a reference coordinate system;

[0025] The AGV coordinate acquisition module is configured to: obtain the AGV coordinates at each moment according to each moment and the AGV speed at each moment;

[0026] The coordinate transformation module is configured to: obtain the coordinates of the laser radar in the Cartesian coordinate system corresponding to each moment according to the polar coordinate data at each moment, convert the coordinates in the Cartesian coordinate system corresponding to each moment into the coordinates of the last moment, and obtain the laser radar data after motion distortion compensation;

[0027] The AGV positioning module is configured to: use the laser radar data with the vehicle body coordinates as the reference coordinate system after motion distortion compensation, convert it into coordinate values ​​in the world coordinate system, match it with the preset map, and obtain the positioning result of the AGV.

[0028] As an optional implementation method, the laser radar is at t1, t2...t n-1 The corresponding coordinates in the Cartesian coordinate system are:

[0029] (x laser_1 ,y laser_1 ,t1),(x laser_2 ,y laser_2 ,t2)......(x laser_n ,y laser_n ,t n )

[0030] Set t1, t2...t n-1 The lidar measurements at time t are converted into n Coordinates of the moment:

[0031] x laser_in =x laser_i cos(θ AGV_n -θ AGV_i )+y laser_i sin(θ AGV_n -θ AGV_i )+x n -xi

[0032] y laser_in =y laser_i cos(θ AGV_n -θ AGV_i )-x laser_i sin(θ AGV_n -θ AGV_i )+y n -y i .

[0033] As an optional implementation, during the movement of the AGV, the reflective plate used for positioning is locked.

[0034] As an optional implementation method, the coordinate values ​​at each previous moment are converted to the coordinate values ​​of the AGV position at the current moment;

[0035] According to the speed of the AGV and each coordinate data, the coordinate data of each previous moment is converted into the coordinate data of the AGV's position at the current moment, and then the final coordinate value is obtained by averaging through multiple scans.

[0036] A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in the laser radar-based AGV positioning method as described in the first aspect of the present invention.

[0037] The fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the laser radar-based AGV positioning method as described in the first aspect of the present invention are implemented.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. The laser radar-based AGV positioning method and system described in the present invention utilizes the distortion-compensated laser radar data with the vehicle body coordinates as the reference coordinate system, converts it into coordinate values ​​in the world coordinate system, and matches it with a pre-established map to achieve more accurate AGV positioning.

[0040] 2. The laser radar-based AGV positioning method and system described in the present invention locks the reflective plate used for positioning during the process of inserting and removing goods. Even if a new reflective plate meets the screening requirements, it will not be used, thereby avoiding inaccurate positioning caused by jumps.

[0041] 3. The laser radar-based AGV positioning method and system described in the present invention selects a reflector with a measuring distance between 1.5m and 15m, thereby improving the accuracy of the final positioning of the AGV.

[0042] 4. The laser radar-based AGV positioning method and system described in the present invention uses an algorithm for averaging multiple measurement data, and it is necessary to convert the measurement values ​​at each previous moment into the measurement data at the current moment of the AGV position. That is, it is necessary to convert the previous measurement data into the measurement data of the AGV position at the current moment according to the speed of the AGV and the time of the measurement data, and then obtain the measurement value by averaging multiple scans, thereby further improving the AGV positioning accuracy.

[0043] 5. The laser radar-based AGV positioning method and system described in the present invention moves the trajectory reference point from the center of the vehicle body to the pickup position, ensuring the positioning accuracy of the pickup position, thereby improving the final positioning accuracy of the AGV.

[0044] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0046] Figure 1 A schematic flow chart of the laser radar-based AGV positioning method provided in Example 1 of the present invention.

[0047] Figure 2 A coordinate transformation diagram provided for Example 1 of the present invention.

[0048] Figure 3 A schematic diagram of averaging multiple scans provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0050] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0052] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0053] Embodiment 1:

[0054] like Figure 1 As shown, Embodiment 1 of the present invention provides an AGV positioning method based on laser radar, including the following process:

[0055] During the movement of the AGV, the polar coordinate data at each moment obtained by scanning a circle by the laser radar is obtained, and the polar coordinate data uses the vehicle body coordinate system as the reference coordinate system;

[0056] According to each time and the AGV speed at each time, the AGV coordinates at each time are obtained;

[0057] According to the polar coordinate data at each moment, the coordinates of the laser radar in the Cartesian coordinate system corresponding to each moment are obtained, and the coordinates in the Cartesian coordinate system corresponding to each moment are converted to the coordinates of the last moment to obtain the laser radar data after motion distortion compensation;

[0058] The laser radar data with the vehicle body coordinates as the reference coordinate system after motion distortion compensation is converted into coordinate values ​​in the world coordinate system, matched with the preset map, and the positioning result of the AGV is obtained.

[0059] Specifically, they include:

[0060] The contents described in this embodiment are all about using laser radar to scan the reflector to achieve navigation or final positioning. In order to compensate for motion distortion, the horizontal coordinate x1, vertical coordinate y1 and body angle θ of the AGV within a program cycle t2-t1 must first be calculated. AGV_1 The change in L1 is the wheelbase between the front and rear wheels of the vehicle. Assume that the starting position of the AGV is x1, y1, θ AGV_1 , then the turning radius R of AGV is:

[0061]

[0062] The angle Δθ that the AGV body rotates AGV for:

[0063]

[0064] Then the displacement Δx and Δy of AGV in the x and y directions can be obtained as:

[0065]

[0066]

[0067] From this, the position of the AGV at time t2 can be calculated as x1+Δx, y1+Δy, θ1+Δθ AGV .

[0068] When the laser radar scans data, there are n data in one circle. Taking the vehicle body as the reference coordinate system, the polar coordinate data obtained is:

[0069] (t1,d1,θ1),(t2,d2,θ2)......(t n ,d n ,θ n )

[0070] Among them, t1, t2, t n is the timestamp, that is, the time corresponding to the current data is obtained, d1, d2...d n is the distance measured at the current moment, θ1, θ2, θ n is the angle measured by the laser radar at the current moment, t n The timestamp corresponding to the last data of a scan.

[0071] Because the AGV is moving, at time t1, the position of the AGV (x1, y1) is different from t n The position at the moment (x n ,y n ), so in order to obtain accurate data, it is necessary to convert the laser data into t according to the timestamp and the real-time speed of the current AGV feedback. n The measured value of the AGV's position at the moment. To do this, we must first perform a coordinate transformation to convert the laser radar at t1, t2, ... t n-1 The value measured at time t is converted to n The coordinate value at the time.

[0072] From equations (1), (2) and (3), we can calculate t1, t2, ... t n The position of the vehicle at this moment is:

[0073] (x1,y1,θ AGV_1 ),(x2,y2,θ AGV_2 )......(x n ,y n ,θ AGV_n )

[0074] where x1, x2···x n is the horizontal coordinate of the AGV body, y1, y2···y n is the ordinate of the AGV body, θ AGV_1 ,θ AGV_1 ···θ AGV_n is the angle of the AGV body.

[0075] like Figure 2 As shown, the XOY coordinate system is the original coordinate system. In order to map the point P(x, y) in the original coordinate system to another coordinate system X'-O'-Y', the corresponding coordinate conversion equation is:

[0076] x'=xcosθ+ysinθ+a (4)

[0077] y'=ycosθ-xsinθ+b (5)

[0078] According to the coordinate transformation equation, the coordinates at time t1 can be converted to n Before this, the laser data needs to be converted from polar coordinates to Cartesian coordinates, which can be achieved by the following conversion:

[0079] x laser_1 =d1sinθ1

[0080] y laser_1 =d1cosθ1

[0081] Then we can get the coordinates of the laser radar in the Cartesian coordinate system at each moment:

[0082] (x laser_1 ,y laser_1 ,t1),(x laser_2 ,y laser_2 ,t2)......(x laser_n ,y laser_n ,t n ) (6)

[0083] The coordinates at time t1 can be converted to t by equations (4), (5), and (6). n The coordinates of the moment are expressed as follows:

[0084] x laser_1n =x laser_1 cos(θ AGV_n -θ AGV_1 )+y laser_1 sin(θ AGV_n -θ AGV_1 )+x n -x1

[0085] y laser_1n =y laser_1 cos(θ AGV_n -θ AGV_1 )-x laser_1 sin(θ AGV_n -θ AGV_1 )+y n -y1

[0086] And so on, t1, t2...t n-1 The lidar measurements at time t are converted into n Coordinates of the moment:

[0087] x laser_in =x laser_i cos(θ AGV_n -θ AGV_i )+y laser_i sin(θ AGV_n -θ AGV_i )+x n -x i (i=1,2...n-1) (7)

[0088] y laser_in =y laser_i cos(θ AGV_n -θ AGV_i )-x laser_i sin(θ AGV_n -θ AGV_i )+y n -y i (i=1,2...n-1) (8)

[0089] Taking the vehicle body coordinate system as the reference coordinate system, the Cartesian coordinate data obtained after motion distortion compensation is:

[0090] (x laser_1n ,y laser_1n ,t1),(x laser_2n ,y laser_2n ,t2)......(x laser_n ,y laser_n ,t n )

[0091] The compensated LiDAR data with the vehicle body coordinates as the reference coordinate system is converted into coordinate values ​​in the world coordinate system and matched with the pre-established map to achieve the positioning of the AGV.

[0092] AGVs based on laser reflector positioning usually select reflectors within a certain range for positioning as the AGV moves. During operation, the reflectors used for positioning will be switched according to specific rules. For example, the reflectors selected by the AGV for positioning at the current moment are No. 1, No. 2, and No. 3. As the AGV moves, the reflectors used for positioning will be switched to other reflectors that meet the screening conditions, such as No. 2, No. 3, and No. 4. During the switching of reflectors, the positioning data will usually jump. Therefore, when inserting and removing goods, the reflectors used for positioning must be locked. Even if there are new reflectors that meet the screening requirements, they will not be used to avoid inaccurate positioning caused by jumps.

[0093] Laser sensors based on the Tof principle have low measurement accuracy when measuring objects at close distances. When positioning, reflectors that are too close to the laser sensor should be ignored, and reflectors with a distance greater than 1.5m should usually be selected. For reflectors with a distance greater than 15m, it is difficult to locate the center of the reflector due to fewer sampling points, and its data is also subtracted. In summary, selecting reflectors with a measurement distance between 1.5m and 15m can increase the final positioning accuracy.

[0094] Due to the high speed of light, the accuracy of the light sensor cannot guarantee the accurate reception of data when measuring close objects. Therefore, when measuring close objects, its measurement accuracy will deteriorate. Therefore, we use a reflector with a measuring distance greater than 2m.

[0095] However, for reflectors at a distance of more than 15 m, the accuracy is not high enough due to energy attenuation in space and the existence of other interference factors. Therefore, when using laser data, this embodiment only uses data values ​​at a distance of less than 15 m.

[0096] Usually, a single measurement data of the laser radar will jump around ±2cm. If the average of 4 measurements is taken, the data jump range will be reduced to around ±1cm. If the average of 8 measurements is taken, the data jump range will be further reduced to around ±8mm. Therefore, in the final positioning process, the laser radar adopts the method of averaging multiple data in a certain direction.

[0097] This embodiment uses an algorithm for averaging multiple measurement data, and it is necessary to convert the measurement values ​​at each previous moment into the measurement data at the current moment of the AGV position. That is, it is necessary to convert the previous measurement data into the measurement data of the AGV position at the current moment according to the speed of the AGV and the time of the measurement data, and then obtain the measurement value by averaging multiple scans.

[0098] Using equations (7) and (8), it is very convenient to calculate the data value after coordinate conversion after each laser scan. However, during the movement of the AGV, the scanning points in the same direction corresponding to the laser radar may not correspond to the same point in space in the eight measurements. Figure 3 As shown, it is hoped that the data of point A will be measured 8 times and averaged. However, when the AGV is at position 1 and position 2, the angles between the laser data hitting point A and the direction of travel are θ1 and θ2 respectively. If the data of the laser along the direction of θ1 or θ2 are taken at these two moments, it is obvious that the desired result cannot be obtained.

[0099] Therefore, during the AGV movement, it is necessary to obtain the laser data θ values ​​corresponding to 8 data by calculation.

[0100] Using equations (1), (2) and (3), the coordinate values ​​corresponding to the laser radar at eight consecutive positions can be calculated:

[0101] (x1,y1,θ AGV_1 ,t1),(x2,y2,θ AGV_2 ,t2)......(x8,y8,θ AGV_8 ,t8)

[0102] Assume that in the AGV coordinate system at position 1, the coordinates of point A are (x A1 ,y A1 ), then in the AGV body coordinate system at position 2, the coordinates of point A (x A2 ,y A2 )for:

[0103] x A2 =x A1 cos(θ AGV_2 -θ AGV_1 )+y A1 sin(θ AGV_2 -θ AGV_1 )+x2-x1

[0104] y A2 =y A1 cos(θ AGV_2 -θ AGV_1 )-x A1 sin(θ AGV_2 -θ AGV_1 )+y2-y1

[0105] Then θ2 can be calculated by the following formula:

[0106]

[0107] Assume that the 8 laser data obtained are:

[0108] (x A1 ,y A1 ,θ1),(x A2 ,y A2 ,θ2)......(x A8 ,y A8 ,θ8)

[0109] Through equations (7) and (8), the data of the first 7 times can all be converted into the coordinate values ​​of the AGV at position 8, and then the new coordinate values ​​obtained are added and averaged, that is, multiple measurements of a certain point in space are completed and averaged.

[0110] In this embodiment, when approaching the pickup location, if the AGV runs too fast and cannot slow down in time when approaching the stop point, it will be difficult for the AGV to accurately locate; if the AGV speed is too slow, the motor's low-speed characteristics are unstable, which will cause the AGV body to vibrate, thereby affecting the positioning accuracy; therefore, selecting a suitable AGV running speed is of great significance for improving positioning accuracy. For different AGV models and selected motors, the running speed of the AGV when picking up goods is based on slow speed and no body vibration.

[0111] Generally speaking, when AGV tracks a specific trajectory, it selects the center point of the vehicle body as the reference point for tracking the trajectory. However, during the final positioning, the location where the fork is inserted often requires higher positioning accuracy. If the center of the vehicle body is used as the reference point, the positioning error of the insertion location will be further enlarged due to the deflection of the vehicle body, resulting in poor final positioning accuracy. In this embodiment, the trajectory reference point is moved from the center of the vehicle body to the pickup location to ensure the positioning accuracy of the pickup location, thereby improving the final positioning accuracy of the AGV.

[0112] Embodiment 2:

[0113] Embodiment 2 of the present invention provides an AGV positioning system based on laser radar, including:

[0114] The polar coordinate acquisition module is configured to: during the movement of the AGV, obtain polar coordinate data at each moment obtained by scanning a circle of the laser radar, wherein the polar coordinate data uses the vehicle body coordinate system as a reference coordinate system;

[0115] The AGV coordinate acquisition module is configured to: obtain the AGV coordinates at each moment according to each moment and the AGV speed at each moment;

[0116] The coordinate transformation module is configured to: obtain the coordinates of the laser radar in the Cartesian coordinate system corresponding to each moment according to the polar coordinate data at each moment, convert the coordinates in the Cartesian coordinate system corresponding to each moment into the coordinates of the last moment, and obtain the laser radar data after motion distortion compensation;

[0117] The AGV positioning module is configured to: use the laser radar data with the vehicle body coordinates as the reference coordinate system after motion distortion compensation, convert it into coordinate values ​​in the world coordinate system, match it with the preset map, and obtain the positioning result of the AGV.

[0118] The working method of the system is the same as the laser radar-based AGV positioning method provided in Example 1, and will not be repeated here.

[0119] Embodiment 3:

[0120] Embodiment 3 of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the steps in the laser radar-based AGV positioning method as described in Embodiment 1 are implemented.

[0121] Embodiment 4:

[0122] Embodiment 4 of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the laser radar-based AGV positioning method as described in Embodiment 1 are implemented.

[0123] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0124] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0127] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0128] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An AGV positioning method based on laser radar, characterized in that: The process includes: During the movement of the AGV, the polar coordinate data at each moment obtained by scanning a circle by the laser radar is obtained, and the polar coordinate data uses the vehicle body coordinate system as the reference coordinate system; According to each time and the AGV speed at each time, the AGV coordinates at each time are obtained; According to the polar coordinate data at each moment, the coordinates of the laser radar in the Cartesian coordinate system corresponding to each moment are obtained, and the coordinates in the Cartesian coordinate system corresponding to each moment are converted to the coordinates of the last moment to obtain the laser radar data after motion distortion compensation; The laser radar data with the vehicle body coordinates as the reference coordinate system after motion distortion compensation is converted into coordinate values ​​in the world coordinate system, matched with the preset map, and the positioning result of the AGV is obtained.

2. The AGV positioning method based on laser radar as claimed in claim 1, characterized in that: The laser radar is at t1, t2...t n-1 The corresponding coordinates in the Cartesian coordinate system are: (x laser_1 ,and laser_1 ,t1),(x laser_2 ,and laser_2 ,t2)......(x laser_n ,and laser_n ,t n ) Set t1, t2...t n-1 The lidar measurements at time t are converted into n Coordinates of the moment: x laser_in =x laser_i cos(θ AGV_n -θ AGV_i )+y laser_i sin(θ AGV_n -θ AGV_i )+x n -x i y laser_in =y laser_i cos(θ AGV_n -θ AGV_i )-x laser_i sin(θ AGV_n -θ AGV_i )+y n -y i 。 3. The AGV positioning method based on laser radar as claimed in claim 1, characterized in that: During the AGV movement, the reflector used for locking and positioning.

4. The AGV positioning method based on laser radar as claimed in claim 1, characterized in that: Convert the coordinate values ​​at each previous moment into the coordinate values ​​of the AGV position at the current moment; According to the speed of the AGV and each coordinate data, the coordinate data of each previous moment is converted into the coordinate data of the AGV's position at the current moment, and then the final coordinate value is obtained by averaging through multiple scans.

5. The AGV positioning method based on laser radar as claimed in claim 1, characterized in that: When the AGV tracks a specific trajectory, the pickup location is used as the trajectory reference point.

6. An AGV positioning system based on laser radar, characterized in that: include: The polar coordinate acquisition module is configured to: during the movement of the AGV, obtain polar coordinate data at each moment obtained by scanning a circle of the laser radar, wherein the polar coordinate data uses the vehicle body coordinate system as a reference coordinate system; The AGV coordinate acquisition module is configured to: obtain the AGV coordinates at each moment according to each moment and the AGV speed at each moment; The coordinate transformation module is configured to: obtain the coordinates of the laser radar in the Cartesian coordinate system corresponding to each moment according to the polar coordinate data at each moment, convert the coordinates in the Cartesian coordinate system corresponding to each moment into the coordinates of the last moment, and obtain the laser radar data after motion distortion compensation; The AGV positioning module is configured to: use the laser radar data with the vehicle body coordinates as the reference coordinate system after motion distortion compensation, convert it into coordinate values ​​in the world coordinate system, match it with the preset map, and obtain the positioning result of the AGV.

7. The AGV positioning system based on laser radar as claimed in claim 6, characterized in that: The laser radar is at t1, t2...t n-1 The corresponding coordinates in the Cartesian coordinate system are: (x laser_1 ,and laser_1 ,t1),(x laser_2 ,and laser_2 ,t2)......(x laser_n ,and laser_n ,t n ) Set t1, t2...t n-1 The lidar measurements at time t are converted into n Coordinates of the moment: x laser_in =x laser_i cos(θ AGV_n -θ AGV_i )+y laser_i sin(θ AGV_n -θ AGV_i )+x n -x i y laser_in =y laser_i cos(θ AGV_n -θ AGV_i )-x laser_i sin(θ AGV_n -θ AGV_i )+y n -y i 。 8. The AGV positioning method based on laser radar as claimed in claim 1, characterized in that: During the AGV movement, the reflector used for locking and positioning; or, Convert the coordinate values ​​at each previous moment into the coordinate values ​​of the AGV position at the current moment; According to the speed of the AGV and each coordinate data, the coordinate data of each previous moment is converted into the coordinate data of the AGV's position at the current moment, and then the final coordinate value is obtained by averaging through multiple scans.

9. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps in the laser radar-based AGV positioning method as described in any one of claims 1 to 5 are implemented.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the laser radar-based AGV positioning method as described in any one of claims 1 to 5 are implemented.

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