Method for positioning and navigating an agv

Abstract

The application provides an AGV positioning and navigation method, which comprises the following steps: rotating a radar navigator to a position to start performing a detection operation, moving an AGV in a natural navigation mode, and adjusting the navigation mode according to detection data of a navigation device; if a navigation matching rate of a current position detected by the radar navigator when the radar navigator is located at the current position is lower than a trigger threshold, rotating the radar navigator transversely to a new detection position, and switching the AGV to move in an inertial navigation mode; otherwise, keeping the radar navigator at the current position, and keeping the AGV to move in the natural navigation mode; rotating the radar navigator transversely and detecting simultaneously to obtain a real-time navigation matching rate, stopping the radar navigator when the navigation matching rate is not lower than the trigger threshold, and switching the AGV to move in the natural navigation mode. The AGV positioning and navigation method provided by the application uses a radar navigator which can rotate 360 degrees around the AGV body, so that the navigation device can keep obtaining a higher navigation matching rate and the radar navigator can be prevented from being shielded.

Description

Technical Field

[0001] This invention relates to the field of AGV navigation technology, and in particular to an AGV positioning and navigation method. Background Technology

[0002] AGVs are divided into track-mounted AGVs and non-track-mounted AGVs. Track-mounted AGVs move along a preset track, while non-track-mounted AGVs are AGVs with autonomous navigation capabilities. Existing non-track-mounted AGVs commonly use a fixed LiDAR navigator to scan and analyze the environmental contours of their surroundings, generating environmental data. The AGV then navigates based on this data. However, in narrow spaces with few reference points, relying solely on a single LiDAR navigator to scan the environmental contours can lead to inaccurate environmental data, causing navigation failures. Furthermore, since the LiDAR navigator is fixed, if it is obstructed by high-level obstacles, it cannot scan the environmental contours, also preventing navigation. Using multiple LiDAR navigators to scan from multiple angles to overcome these technical problems increases production costs. Therefore, there is an urgent need for a low-cost, stable, and reliable positioning and navigation method for non-track-mounted AGVs. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an AGV positioning and navigation method, which sets up a radar navigator that can rotate 360° around the AGV body to ensure that the navigation device maintains a high navigation matching rate and avoids the radar navigator being blocked.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] AGV positioning and navigation methods include:

[0006] The AGV is equipped with a navigation device, which includes a gyroscope navigator and a radar navigator that can rotate laterally about an axis of a vertical horizontal plane.

[0007] Set the trigger threshold for the navigation matching rate of the radar navigator, where the navigation matching rate is the degree of matching between the radar navigator detects the contour of the AGV's surrounding environment and the contour of the environment already constructed in the map;

[0008] The radar navigator rotates to a position and begins to perform detection operations. The AGV moves in a natural navigation mode and adjusts its navigation mode according to the detection data from the navigation device.

[0009] If the radar navigator detects that the navigation matching rate of the current position is lower than the trigger threshold when it is in the current position, the radar navigator will rotate laterally to the new detection position and the AGV will switch to inertial navigation mode; otherwise, the radar navigator will remain in the current position and the AGV will continue to move in natural navigation mode.

[0010] The radar navigator rotates laterally while detecting to obtain the real-time navigation matching rate. When the navigation matching rate is not lower than the trigger threshold, the radar navigator stops moving; the AGV switches to moving in a natural navigation mode.

[0011] Compared with the prior art, the AGV positioning and navigation method of the present invention has the following advantages:

[0012] (1) The present invention sets up a radar navigator that can rotate 360° around the AGV body, so that the radar navigator can switch detection positions to ensure that a high navigation matching rate is always obtained and to avoid the radar navigator being blocked, so that the AGV can navigate according to a high navigation matching rate.

[0013] (2) By setting the trigger threshold of the navigation matching rate of the radar navigator, the present invention enables the radar navigator to automatically switch the detection position when there are few reference points on the road ahead (the matching degree between the environmental contour detected by the radar navigator and the environmental contour constructed in the map is low, and there is a risk of losing the location) and when the radar navigator is blocked, so as to ensure that the navigation device maintains a high navigation matching rate.

[0014] (3) In this invention, when the radar navigator obtains a high navigation matching rate, the AGV uses natural navigation (navigation by the radar navigator sensing the surrounding environment) for navigation. When the radar navigator obtains a low navigation matching rate, the AGV uses inertial navigation (navigation by the gyroscope navigator sensing the positioning components on the ground, and then navigating by analyzing the gyroscope navigator deviation signal (angular rate) and the collected positioning component signal) for navigation. This avoids the AGV stopping and waiting during the radar navigator's switching detection position, which would lead to a decrease in work efficiency. It also avoids the AGV deviating from the correct movement path because the radar navigator has not yet obtained a high navigation matching rate when it moves laterally.

[0015] (4) The AGV equipment using the present invention only needs to be equipped with a radar navigator to enable the AGV to navigate in a variety of complex environments. It adopts a hybrid navigation switching method of natural navigation and inertial navigation, so it is low in cost and stable and reliable.

[0016] Furthermore, the navigation device also includes a circular track and a drive device, the radar navigator is slidably mounted on the circular track, and the drive device is used to drive the radar navigator to move on the circular track.

[0017] By setting up a circular track for the radar navigator to rotate 360° around the AGV body, the smoothness of the radar navigator's lateral movement is improved, the efficiency of the radar navigator in switching detection positions is increased, and the risk of the AGV deviating from the correct movement path is further reduced.

[0018] Furthermore, the circular track is in the shape of a racetrack, a circle, or an ellipse.

[0019] For AGVs of different specifications, the circular track can be set into different shapes according to the length of the AGV body, thereby ensuring that the radar navigator can rotate 360° around the vehicle body to completely scan the contours of the AGV's surrounding environment.

[0020] Furthermore, the radar navigator rotates laterally to the new detection position, the steps of which include:

[0021] Establish a rectangular coordinate system for the radar navigator on the plane where the navigation device is located, with the center of the navigation device as the origin;

[0022] The AGV's location information is derived from the navigation matching rate of the radar navigator in the previous cycle, combined with the map.

[0023] Based on the AGV location information and the map, a new reference area for the detection location is derived, wherein the environmental contour feature points in the reference area include at least two points.

[0024] Based on the reference area and the current position information of the radar navigator, and combined with the rectangular coordinate system of the radar navigator, calculate the position coordinates reached by the radar navigator when it moves laterally, and form a position set from several position coordinates.

[0025] The radar navigator moves according to the set of locations and obtains the navigation matching rate in real time;

[0026] When the navigation matching rate is not lower than the trigger threshold, the location of the radar navigator becomes the new detection location.

[0027] Since the purpose of the radar navigator's lateral movement is to find a detection position that can achieve a higher navigation matching rate, by combining the navigation matching rate of the previous cycle, AGV position information, and map, a new detection position that can achieve a higher navigation matching rate can be quickly determined, enabling the radar navigator to move quickly and shorten the time for switching detection positions.

[0028] Furthermore, when the radar navigator moves according to the location set, it first rotates from its current position to the location coordinate point that is relatively close to its current position between the first and last location coordinate points in the location set. Then, it moves sequentially to adjacent location coordinate points in the location set until the navigation matching rate obtained by the radar navigator is not lower than the trigger threshold.

[0029] Since the radar navigator can rotate clockwise or counterclockwise around a circular track to reach a new detection position, in order to enable the radar navigator to move quickly to a new detection position, the radar navigator first moves to a position coordinate point within the position set that is relatively close to the radar navigator's current position. If the navigation matching rate obtained by the radar navigator at this time is not lower than the trigger threshold, then this position is the new detection position. If the navigation matching rate is still lower than the trigger threshold, it moves to an adjacent position coordinate point within the position set until the navigation matching rate obtained by the radar navigator is not lower than the trigger threshold, and the corresponding position is the new detection position.

[0030] Furthermore, the radar navigator can rotate 360° around the central axis; after the radar navigator moves to a new detection position, it can rotate around the central axis to detect the outer environmental contour of the AGV.

[0031] Furthermore, the trigger threshold is set to 50-75%.

[0032] Furthermore, the radar navigator includes a lidar navigator.

[0033] Furthermore, the radar navigator also includes a visual recognition device.

[0034] Furthermore, the radar navigator can rotate 360° around its central axis, allowing it to scan the environment outside a given location by rotating itself after moving to that position. Attached Figure Description

[0035] Figure 1 This is a schematic diagram showing the radar navigator switching detection positions when the AGV moves;

[0036] Figure 2 This is a schematic diagram of a radar navigator installed on an AGV;

[0037] Figure 3 This is a schematic diagram of a radar navigation system;

[0038] Figure 4 This is a flowchart of the present invention;

[0039] Figure 5 This is a flowchart of the radar navigator switching detection positions.

[0040] Label Explanation:

[0041] AGV 1, circular track 2, upper plate 21, base 22, radar navigator 3. Detailed Implementation

[0042] The embodiments of the present invention are described below with reference to the accompanying drawings:

[0043] See Figures 1 to 3 The AGV positioning and navigation method of this embodiment is applicable to the following AGV, which is equipped with a navigation device. The navigation device includes a gyroscope navigator (not shown in the figure), a circular track 2, a drive device (not shown in the figure), and a radar navigator 3 that can rotate laterally about an axis of a vertical horizontal plane. The radar navigator 3 includes a laser radar navigator 3, which is slidably mounted on the circular track 2. The drive device is used to drive the radar navigator 3 to move on the circular track 2.

[0044] Specifically, the circular track 2 is set below an upper plate 21, which is mounted on the upper end of the AGV1 via a base 22. A gap is left between the outer sides of the upper plate 21 and the base 22 to accommodate the movement of the radar navigator 3.

[0045] By setting up a circular track 2 for the radar navigator 3 to rotate 360° around the AGV1 body, the smoothness of the radar navigator 3's lateral movement is improved, the efficiency of the radar navigator 3 in switching detection positions is increased, and the risk of the AGV1 deviating from the correct movement path is further reduced.

[0046] The circular track 2 is shaped like a racetrack, a circle, or an ellipse.

[0047] For AGV1 of different specifications, the circular track 2 can be set into different shapes according to the length of the AGV1 body, so as to ensure that the radar navigator 3 can rotate 360° around the vehicle body to completely scan the contour of the surrounding environment of the AGV1.

[0048] The radar navigator 3 can rotate 360° around its central axis, so that after the radar navigator 3 moves to a position, it can scan the environment outside the position by rotating itself.

[0049] In one improved embodiment, the radar navigator 3 further includes a visual recognition device (not shown in the figure).

[0050] See Figure 4 The AGV positioning and navigation method of this embodiment includes:

[0051] Set the trigger threshold for the navigation matching rate of the radar navigator, where the navigation matching rate is the degree of matching between the radar navigator detects the contour of the AGV's surrounding environment and the contour of the environment already constructed in the map;

[0052] The radar navigator rotates to a position and begins to perform detection operations. The AGV moves in a natural navigation mode and adjusts its navigation mode according to the detection data from the navigation device.

[0053] If the radar navigator detects that the navigation matching rate of the current position is lower than the trigger threshold when it is in the current position, the radar navigator will rotate laterally to the new detection position and the AGV will switch to inertial navigation mode; otherwise, the radar navigator will remain in the current position and the AGV will continue to move in natural navigation mode.

[0054] The radar navigator rotates laterally while detecting to obtain the real-time navigation matching rate. When the navigation matching rate is not lower than the trigger threshold, the radar navigator stops moving; the AGV switches to moving in a natural navigation mode.

[0055] After the radar navigator moves to the new detection position, it can rotate around the central axis to detect the outline of the environment outside the AGV.

[0056] Specifically, the trigger threshold is set to 50-75%.

[0057] See Figure 5 The radar navigator rotates laterally to the new detection position, and the steps include:

[0058] Establish a rectangular coordinate system for the radar navigator on the plane where the navigation device is located, with the center of the navigation device as the origin;

[0059] The AGV's location information is derived from the navigation matching rate of the radar navigator in the previous cycle, combined with the map.

[0060] Based on the AGV location information and the map, a new reference area for the detection location is derived, wherein the environmental contour feature points (reference points) in the reference area include at least two locations.

[0061] Based on the reference area and the current position information of the radar navigator, and combined with the rectangular coordinate system of the radar navigator, calculate the position coordinates reached by the radar navigator when it moves laterally, and form a position set from several position coordinates.

[0062] The radar navigator moves according to the set of locations and obtains the navigation matching rate in real time;

[0063] When the navigation matching rate is not lower than the trigger threshold, the location of the radar navigator becomes the new detection location.

[0064] Since the purpose of the radar navigator's lateral movement is to find a detection position that can achieve a higher navigation matching rate, by combining the navigation matching rate of the previous cycle, AGV position information, and map, a new detection position that can achieve a higher navigation matching rate can be quickly determined, enabling the radar navigator to move quickly and shorten the time for switching detection positions.

[0065] Furthermore, when the radar navigator moves according to the location set, it first rotates from its current position to the location coordinate point that is relatively close to its current position between the first and last location coordinate points in the location set. Then, it moves sequentially to adjacent location coordinate points in the location set until the navigation matching rate obtained by the radar navigator is not lower than the trigger threshold.

[0066] Since the radar navigator can rotate clockwise or counterclockwise around a circular track to reach a new detection position, in order to enable the radar navigator to move quickly to a new detection position, the radar navigator first moves to a position coordinate point within the position set that is relatively close to the radar navigator's current position. If the navigation matching rate obtained by the radar navigator at this time is not lower than the trigger threshold, then this position is the new detection position. If the navigation matching rate is still lower than the trigger threshold, it moves to an adjacent position coordinate point within the position set until the navigation matching rate obtained by the radar navigator is not lower than the trigger threshold, and the corresponding position is the new detection position.

[0067] The following combination Figures 1 to 3 The above AGV positioning and navigation method is illustrated with an example:

[0068] See Figure 1 The AGV needs to move from reference point 1 to reference point 6. When the AGV is near reference point 1, the radar navigator is located to the right of the AGV, and its scanning area covers reference points 1 to 3. At this time, the navigation matching rate is higher than the trigger threshold. Then the AGV will locate itself according to the navigation matching rate of the radar navigator and naturally navigate to the vicinity of reference point 6.

[0069] See Figure 1 When the AGV is near reference point 6, the radar navigator's scanning area covers reference point 6. At this time, the navigation matching rate is lower than the trigger threshold. The radar navigator rotates to find a detection position where the navigation matching rate is higher than the trigger threshold. At the same time, the AGV switches to inertial navigation to move.

[0070] See Figure 1 When the AGV is near reference point 6, the radar navigator rotates. When the radar navigator rotates to the left side of the AGV, it scans reference points 7 to 8. At this time, the navigation matching rate is higher than the trigger threshold, the radar navigator stops moving, and the AGV switches to natural navigation to move.

[0071] See Figure 1 and Figure 3When the radar navigator moves from the right side of the AGV to the left side, it moves from point N on the circular track to coordinate points M1, M2, M3, M4, and M5 in the position set. The radar navigator first moves to point M1, which is closest to point N. At this point, the radar navigator only scans reference point 8, and the navigation matching rate is lower than the trigger threshold. The radar navigator continues to move to point M2. At this point, the radar navigator still only scans reference point 8, and the navigation matching rate is still lower than the trigger threshold. The radar navigator continues to move to point M3. At this point, the radar navigator still scans reference points 7 and 8, and the navigation matching rate is still not lower than the trigger threshold. The radar navigator then stops moving and continues scanning.

[0072] Compared with the prior art, the AGV positioning and navigation method of the present invention has the following advantages:

[0073] (1) The present invention sets up a radar navigator that can rotate 360° around the AGV body, so that the radar navigator can switch detection positions to ensure that a high navigation matching rate is always obtained and to avoid the radar navigator being blocked, so that the AGV can navigate according to a high navigation matching rate.

[0074] (2) By setting the trigger threshold of the navigation matching rate of the radar navigator, the present invention enables the radar navigator to automatically switch the detection position when there are few reference points on the road ahead (the matching degree between the environmental contour detected by the radar navigator and the environmental contour constructed in the map is low, and there is a risk of losing the location) and when the radar navigator is blocked, so as to ensure that the navigation device maintains a high navigation matching rate.

[0075] (3) In this invention, when the radar navigator obtains a high navigation matching rate, the AGV uses natural navigation (navigation by the radar navigator sensing the surrounding environment) for navigation. When the radar navigator obtains a low navigation matching rate, the AGV uses inertial navigation (navigation by the gyroscope navigator sensing the positioning components on the ground, and then navigating by analyzing the gyroscope navigator deviation signal (angular rate) and the collected positioning component signal) for navigation. This avoids the AGV stopping and waiting during the radar navigator's switching detection position, which would lead to a decrease in work efficiency. It also avoids the AGV deviating from the correct movement path because the radar navigator has not yet obtained a high navigation matching rate when it moves laterally.

[0076] (4) The AGV equipment using the present invention only needs to be equipped with a radar navigator to enable the AGV to navigate in a variety of complex environments. It adopts a hybrid navigation switching method of natural navigation and inertial navigation, so it is low in cost and stable and reliable.

[0077] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. An AGV positioning and navigation method, characterized in that, include: The AGV is equipped with a navigation device, which includes a gyroscope navigator and a radar navigator that can rotate laterally about an axis of a vertical horizontal plane. Set the trigger threshold for the navigation matching rate of the radar navigator, where the navigation matching rate is the degree of matching between the radar navigator detects the contour of the AGV's surrounding environment and the contour of the environment already constructed in the map; The radar navigator rotates to a position and begins to perform detection operations. The AGV moves in a natural navigation mode and adjusts its navigation mode according to the detection data from the navigation device. If the radar navigator detects that the navigation matching rate of the current position is lower than the trigger threshold when it is in the current position, the radar navigator will rotate laterally to the new detection position and the AGV will switch to inertial navigation mode; otherwise, the radar navigator will remain in the current position and the AGV will continue to move in natural navigation mode. The radar navigator rotates laterally while detecting to obtain the real-time navigation matching rate. When the navigation matching rate is not lower than the trigger threshold, the radar navigator stops moving; the AGV switches to moving in a natural navigation mode.

2. The AGV positioning and navigation method according to claim 1, characterized in that, The navigation device also includes a circular track and a drive device. The radar navigator is slidably mounted on the circular track, and the drive device is used to drive the radar navigator to move on the circular track.

3. The AGV positioning and navigation method according to claim 2, characterized in that, The circular track is shaped like a racetrack, a circle, or an ellipse.

4. The AGV positioning and navigation method according to any one of claims 1 to 3, characterized in that, The radar navigator rotates laterally to the new detection position, and the steps include: Establish a rectangular coordinate system for the radar navigator on the plane where the navigation device is located, with the center of the navigation device as the origin; The AGV's location information is derived from the navigation matching rate of the radar navigator in the previous cycle, combined with the map. Based on the AGV location information and the map, a new reference area for the detection location is derived, wherein the environmental contour feature points in the reference area include at least two points. Based on the reference area and the current position information of the radar navigator, and combined with the rectangular coordinate system of the radar navigator, calculate the position coordinates reached by the radar navigator when it moves laterally, and form a position set from several position coordinates. The radar navigator moves according to the set of locations and obtains the navigation matching rate in real time; When the navigation matching rate is not lower than the trigger threshold, the location of the radar navigator becomes the new detection location.

5. The AGV positioning and navigation method according to claim 4, characterized in that, When the radar navigator moves according to the location set, it first rotates from its current position to the location coordinate point that is relatively close to its current position between the first and last location coordinate points in the location set. Then it moves to the adjacent location coordinate points in the location set in sequence until the navigation matching rate obtained by the radar navigator is not lower than the trigger threshold.

6. The AGV positioning and navigation method according to claim 1, characterized in that, The radar navigator can rotate 360° around its central axis; After the radar navigator moves to the new detection position, it can rotate around the central axis to detect the outline of the environment outside the AGV.

7. The AGV positioning and navigation method according to claim 1, characterized in that, The trigger threshold is set to 50-75%.

8. The AGV positioning and navigation method according to claim 1, characterized in that, The radar navigator includes a lidar navigator.

9. The AGV positioning and navigation method according to claim 8, characterized in that, The radar navigator also includes a visual recognition device.

10. The AGV positioning and navigation method according to claim 8, characterized in that, The radar navigator can rotate 360° around its central axis.

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