AGV positioning method and device, electronic equipment and storage medium

Abstract

The invention relates to an AGV positioning method and apparatus, an electronic device and a storage medium. The method comprises the steps of obtaining a positioning map; wherein the positioning map comprises a plurality of map point clouds, the map point clouds comprise map feature point clouds, and the map feature point clouds are associated with the RFID information; acquiring environment point cloud and RFID information; the method comprises the following steps: scanning an environment through a laser radar to obtain an environment point cloud, and scanning an RFID tag arranged in the environment through an RFID reader-writer to obtain RFID information; and determining the geographic position of the AGV in the positioning map according to the environment point cloud and / or the RFID information. Through the technical scheme provided by the invention, the AGV is less affected by the environment during positioning, and the technical problem that positioning based on SLAM is easily affected by the environment in the prior art can be solved.

Description

Technical Field

[0001] The present application relates to the field of logistics, and in particular to a positioning method, device, electronic device and storage medium for an AGV. Background Art

[0002] AGV (Automated Guided Vehicle) is a transport vehicle that can drive autonomously, usually used for cargo handling and transportation in factories, warehouses, logistics centers and other places.

[0003] In the prior art, AGV can be positioned through SLAM (Simultaneous Localization And Mapping). In SLAM using lidar, the AGV is equipped with a lidar. The AGV uses the lidar to identify the environment in advance and build a SLAM map. Subsequently, when the AGV is actually working, the lidar identifies the feature points in the environment, matches the feature points in the environment with the feature points in the SLAM map, and positions the AGV based on the matching results.

[0004] However, when AGV uses SLAM to achieve positioning, there may be problems such as the laser radar being blocked and unable to identify feature points, similar environments causing the identified feature points to be similar, and environmental changes causing the identified feature points to be unable to match the feature points in the SLAM map. The existing SLAM-based positioning technology has the technical problem of being easily affected by the environment. Summary of the invention

[0005] The present application provides an AGV positioning method, device, electronic device and storage medium to solve the technical problem in the prior art that SLAM-based positioning is easily affected by the environment.

[0006] In a first aspect, the present application provides a positioning method for an AGV, the method comprising:

[0007] Acquire a positioning map; wherein the positioning map includes a plurality of map point clouds, the map point clouds include map feature point clouds, and the map feature point clouds are associated with RFID information;

[0008] Acquire environmental point cloud and RFID information; wherein the environmental point cloud is obtained by scanning the environment through a laser radar, and the RFID information is obtained by scanning an RFID tag set in the environment through an RFID reader;

[0009] The geographical location of the AGV is determined in the positioning map based on the environmental point cloud and / or the RFID information.

[0010] In a feasible embodiment of the present application, determining the geographical location of the AGV in the positioning map according to the environmental point cloud and / or the RFID information includes:

[0011] In response to a positioning instruction, acquiring the environmental point cloud and the RFID information;

[0012] When at least a first number of the environmental point clouds and at least a second number of the RFID information are obtained, determining the geographic location of the AGV in the positioning map according to the environmental point clouds and the RFID information;

[0013] In a case where at least the first number of the environmental point clouds are not obtained but at least the second number of the RFID information are obtained, determining the geographic location of the AGV in the positioning map according to the RFID information;

[0014] In a case where at least the first number of the environmental point clouds are acquired but at least the second number of the RFID information is not acquired, the geographical location of the AGV is determined in the positioning map according to the environmental point clouds.

[0015] In a feasible embodiment of the present application, when at least a first number of the environmental point clouds and at least a second number of the RFID information are obtained, determining the geographical location of the AGV in the positioning map according to the environmental point clouds and the RFID information includes:

[0016] Identifying an environmental feature point cloud from the environmental point cloud;

[0017] Determining first positioning information in the positioning map according to the environmental feature point cloud;

[0018] Determining second positioning information in the positioning map according to the RFID information;

[0019] The geographic location of the AGV is determined according to the first positioning information and the second positioning information.

[0020] In a feasible embodiment of the present application, determining the first positioning information according to the environmental feature point cloud in the positioning map includes:

[0021] Determining a first matching feature point cloud in the map feature point cloud in the positioning map; wherein the first matching feature point cloud is the map feature point cloud that is consistent with the environment feature point cloud;

[0022] The first positioning information is determined according to the first matching feature point cloud.

[0023] In a feasible embodiment of the present application, determining the second positioning information according to the RFID information in the positioning map includes:

[0024] Searching the map feature point cloud in the positioning map for the map feature point cloud identical to the RFID information, and determining a second matching feature point cloud;

[0025] Determine the same map feature point cloud in the first matching feature point cloud and the second matching feature point cloud as a third matching feature point cloud;

[0026] The second positioning information is determined according to the third matching feature point cloud.

[0027] In a feasible embodiment of the present application, the RFID information includes RFID signal strength, and determining the second positioning information according to the RFID information in the positioning map further includes:

[0028] Calculate the distance between the AGV and the RFID tag corresponding to the RFID information according to the RFID signal strength;

[0029] The second positioning information is calibrated according to the distance between the AGV and the RFID tag corresponding to the RFID information.

[0030] In a feasible embodiment of the present application, when at least the first number of the environmental point clouds and at least the second number of the RFID information are not obtained, an alarm message is generated; wherein the alarm message is used to prompt errors in obtaining the environmental point clouds and the RFID information.

[0031] In a second aspect, the present application provides a positioning device for an AGV, the device comprising:

[0032] A first acquisition module is used to acquire a positioning map; wherein the positioning map includes a plurality of map point clouds, the map point clouds include map feature point clouds, and the map feature point clouds are associated with RFID information;

[0033] The second acquisition module is used to acquire the environmental point cloud and RFID information; wherein the environmental point cloud is obtained by scanning the environment through a laser radar, and the RFID information is obtained by scanning the RFID tags set in the environment through an RFID reader;

[0034] A determination module is used to determine the geographic location of the AGV in the positioning map according to the environmental point cloud and / or the RFID information.

[0035] In a third aspect, the present application provides an electronic device comprising: at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor connected to the at least one bus; and at least one memory connected to the at least one bus, wherein the processor is configured to execute an AGV positioning method described in the first aspect of the present application.

[0036] In a fourth aspect, the present application further provides a computer storage medium storing computer executable instructions, wherein the computer executable instructions are used to execute the AGV positioning method described in the first aspect of the present application.

[0037] The technical solution provided by the present application associates corresponding RFID information with the map feature point cloud in the positioning map, and uses the RFID information set in the environment as the positioning feature for AGV positioning. When the AGV is positioning, it is positioned in the positioning map based on the environmental point cloud and RFID information at the same time to determine the geographical location of the AGV. In the case where the AGV has difficulty in obtaining the environmental point cloud, it can also achieve positioning based on the RFID information. Through the technical solution provided by the present application, the AGV is less affected by the environment when positioning, and can solve the technical problem in the prior art that the positioning based on SLAM is easily affected by the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0040] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0041] Figure 1 A schematic diagram of a flow chart of a positioning method for an AGV provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of a flow chart of constructing a positioning map in a positioning method for an AGV provided in an embodiment of the present application;

[0043] Figure 3A schematic diagram of the structure of a positioning device for an AGV provided in an embodiment of the present application;

[0044] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0046] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0047] In order to solve the technical problem in the prior art that SLAM-based positioning is easily affected by the environment, the present application provides an AGV positioning method, device, electronic device and storage medium to reduce the degree of environmental influence on the AGV during positioning.

[0048] Figure 1 A schematic diagram of a flow chart of an AGV positioning method provided in an embodiment of the present application, referring to Figure 1 The present invention provides an AGV positioning method, which includes the following steps:

[0049] S1: Obtain a positioning map; wherein the positioning map includes a plurality of map point clouds, the map point clouds include map feature point clouds, and the map feature point clouds are associated with RFID information;

[0050] Specifically, the positioning map needs to be built in advance, and the technicians set up multiple RFID tags in the working environment of the AGV in advance. These RFID tags are mostly set at locations with special features in the working environment, such as corners, corridors, bends, etc.

[0051] Figure 2 A schematic diagram of a flow chart of constructing a positioning map in a positioning method of an AGV provided in an embodiment of the present application, referring to Figure 2 , the positioning map can be constructed by the following steps:

[0052] S201: The technician sets the RFID tag in the working environment of the AGV;

[0053] S202: Setting the AGV to a map building mode, and the AGV moves and operates in a working environment;

[0054] S203: During the movement of the AGV, the laser radar on the AGV obtains the environmental point cloud, and the RFID reader on the AGV obtains the RFID information of the RFID tag;

[0055] S204: Mapping the environment point cloud in the positioning map to determine the map point cloud on the positioning map;

[0056] S205: determining a map feature point cloud on the map point cloud on the positioning map;

[0057] S206: Associating corresponding RFID information with each map feature point cloud.

[0058] Specifically, after the technician sets the RFID tag in the working environment of the AGV, the AGV runs and obtains the environmental point cloud corresponding to the location at any location. The environmental point cloud is mapped in the positioning map, and the map point cloud on the positioning map is determined. The map point cloud on the positioning map actually represents a certain location in the working environment. At any location, the AGV obtains the RFID information and associates the RFID information with the map point cloud corresponding to the location on the positioning map.

[0059] It can be understood that since RFID tags are mostly set at locations with special features in the working environment, these locations with special features are determined as map feature point clouds on the positioning map. The RFID information of the RFID tags set at the locations with special features is associated with the map feature point clouds corresponding to the locations on the positioning map to complete the construction of the positioning map.

[0060] In a feasible embodiment of the present application, the RFID information includes an RFID identifier and an RFID signal strength, wherein the RFID identifier is a UID of the RFID tag.

[0061] Based on the above embodiments, it can be known that any RFID tag may have multiple different RFID information, which are distinguished by RFID signal strength. For example, the AGV reads RFID tag a at position A and can also read RFID tag a at position B, but since the RFID signal strength of RFID tag a read at position A is different from that read at position B, the RFID information corresponding to RFID tag a read at position A is different from that read at position B.

[0062] S2: Obtaining environmental point cloud and RFID information; wherein, the environment is scanned by a laser radar to obtain an environmental point cloud, and the RFID tag set in the environment is scanned by an RFID reader to obtain RFID information;

[0063] Specifically, the AGV is equipped with a controller, an RFID reader and a laser radar, and a pre-generated positioning map is stored in the storage area of ​​the controller. When the AGV is actually running, the laser radar scans the environment to obtain an environmental point cloud, and the RFID reader scans the RFID tags set in the environment to obtain RFID information.

[0064] S3: Determine the geographic location of the AGV in the positioning map based on the environmental point cloud and / or RFID information;

[0065] Specifically, after obtaining the environmental point cloud and RFID information, matching is performed in the positioning map according to the environmental point cloud and / or RFID information, so as to determine the geographical location of the AGV in the working environment in the positioning map.

[0066] In a feasible embodiment of the present application, determining the geographic location of the AGV according to the environmental point cloud and / or RFID information includes:

[0067] In response to the positioning instruction, acquiring the environmental point cloud and RFID information;

[0068] When at least a first number of environmental point clouds and at least a second number of RFID information are obtained, determining a geographic location of the AGV in a positioning map according to the environmental point clouds and the RFID information;

[0069] In a case where at least the first number of environmental point clouds is not obtained but at least the second number of RFID information is obtained, determining the geographic location of the AGV in the positioning map according to the RFID information;

[0070] When at least a first number of environmental point clouds are acquired but at least a second number of RFID information is not acquired, the geographical location of the AGV is determined in the positioning map according to the environmental point clouds.

[0071] Specifically, in the actual working process of the AGV, if the working environment is ideal and a sufficient number of environmental point clouds and a sufficient number of RFID information can be obtained, the geographical location of the AGV is determined based on the environmental point clouds and the RFID information. The AGV responds to the positioning instruction and starts positioning. The positioning instruction can be sent by a technician to the AGV or automatically generated by a controller set on the AGV.

[0072] In a feasible embodiment of the present application, when at least a first number of environmental point clouds and at least a second number of RFID information are obtained, determining the geographical location of the AGV in the positioning map according to the environmental point clouds and the RFID information includes:

[0073] Identify environmental feature point clouds from environmental point clouds;

[0074] Determining first positioning information according to the environmental feature point cloud in the positioning map;

[0075] Determining second positioning information in the positioning map based on the RFID information;

[0076] The geographic location of the AGV is determined according to the first positioning information and the second positioning information.

[0077] In a feasible embodiment of the present application, determining the first positioning information according to the environmental feature point cloud in the positioning map includes:

[0078] Determine a first matching feature point cloud in the map feature point cloud in the positioning map; wherein the first matching feature point cloud is a map feature point cloud that is consistent with the environment feature point cloud;

[0079] The first positioning information is determined according to the first matching feature point cloud.

[0080] In a feasible embodiment of the present application, determining the second positioning information according to the RFID information in the positioning map includes:

[0081] Searching for a map feature point cloud identical to the RFID information in the map feature point cloud in the positioning map to determine a second matching feature point cloud;

[0082] Determine the same map feature point cloud in the first matching feature point cloud and the second matching feature point cloud as a third matching feature point cloud;

[0083] The second positioning information is determined according to the third matching feature point cloud.

[0084] In combination with the above embodiments, the AGV positioning process based on environmental point clouds and RFID information is described. Specifically, after the AGV obtains a sufficient number of environmental point clouds and a sufficient amount of RFID information, it first identifies the environmental feature point clouds in the environmental point clouds. The recognition of environmental feature point clouds can be implemented based on neural network algorithms, specifically, through neural network algorithms such as VFH, SVM, and CNN.

[0085] After identifying the environmental feature point cloud, the environmental feature point cloud is matched with multiple map feature point clouds in the positioning map to determine the first matching feature point cloud, which is a map feature point cloud in the positioning map that is consistent with the environmental feature point cloud. The relative position of the AGV in the positioning dynamic map can be described by the first matching feature point cloud. In the positioning map, the determined first matching feature point cloud is equivalent to the reference point of the AGV in the positioning map. The first matching feature point cloud is mapped to the working environment of the AGV, the first positioning information is determined, and the relative position of the AGV in the working environment is described.

[0086] Determining the first positioning information based on the first matching feature point cloud can be achieved through a positioning algorithm such as NDT registration, which is a prior art and will not be described in detail here.

[0087] After identifying the RFID information, a second matching feature point cloud is determined based on the RFID information. The second matching feature point cloud is the same map feature point cloud as the current RFID information. Screening is performed in the first matching feature point cloud and the second matching feature point cloud to determine a third matching feature point cloud. The third matching feature point cloud is the same map feature point cloud as the first matching feature point cloud and the second matching feature point cloud.

[0088] By screening out the third matching feature point cloud, a map feature point cloud that is consistent with the current RFID information and the current environment feature point cloud is actually found in the positioning map. The third matching feature point cloud can further describe the relative position of the AGV in the positioning dynamic map, and the first matching feature point cloud is mapped to the working environment of the AGV to determine the second positioning information and describe the relative position of the AGV in the working environment.

[0089] It can be understood that since the RFID information is obtained by the AGV from the RFID tags actually set up in the working environment, the AGV is actually positioned near the RFID tags in the working environment by searching in the map feature point cloud in the positioning map based on the RFID information and mapping it in the working environment.

[0090] In a feasible embodiment of the present application, in order to further improve the positioning accuracy, determining the second positioning information according to the RFID information in the positioning map further includes:

[0091] Calculate the distance between the AGV and the RFID tag corresponding to the RFID information based on the RFID signal strength;

[0092] The second positioning information is calibrated according to the distance between the AGV and the RFID tag corresponding to the RFID information.

[0093] In a feasible embodiment of the present application, corresponding weights can be set for the first positioning information and the second positioning information. For example, a first weight is set for the first positioning information, and a second weight is set for the second positioning information. When the geographical location of the AGV is determined according to the first positioning information and the second positioning information, the geographical location of the AGV is determined according to the first weight, the second weight, the first positioning information and the second positioning information.

[0094] Based on the above embodiments, in a feasible embodiment of the present application, the first weight may be determined based on the first quantity, and the second weight may be determined based on the second quantity.

[0095] In a possible practical scenario, the AGV obtains at least the first number of environmental point clouds but does not obtain at least the second number of RFID information, which means that there are not enough RFID tags set near the AGV. In order to improve the positioning accuracy, the first weight of the first positioning information should be increased, while the second weight of the second positioning information should be reduced, and the environmental point cloud should be used more as the positioning basis of the AGV.

[0096] In a possible actual scenario, the AGV does not obtain at least the first number of environmental point clouds but obtains at least the second number of RFID information. This indicates that the AGV is currently seriously blocked by the laser radar and it is difficult to obtain the environmental point cloud. In order to improve the positioning accuracy, the first weight of the first positioning information should be reduced, while the second weight of the second positioning information should be increased, and the RFID information should be used more as the positioning basis of the AGV.

[0097] In a possible actual scenario, the AGV only obtains the environmental point cloud, and the AGV is positioned through the first positioning information; similarly, in a possible actual scenario, the AGV only obtains the RFID information, and the AGV is positioned through the second positioning information.

[0098] In a feasible embodiment of the present application, when at least a first number of environmental point clouds and at least a second number of RFID information are not obtained, an alarm message is generated; wherein the alarm message is used to indicate errors in obtaining the environmental point clouds and RFID information.

[0099] Specifically, when the expected number of environmental point clouds and RFID information are not obtained, it means that the laser radar and RFID reader of the current AGV are faulty, and an alarm message is generated and sent to the technician in time to remind the technician that the AGV needs to be repaired.

[0100] The technical solution provided by the present application associates corresponding RFID information with the map feature point cloud in the positioning map, and uses the RFID information set in the environment as the positioning feature for AGV positioning. When the AGV is positioning, it is positioned in the positioning map based on the environmental point cloud and RFID information at the same time to determine the geographical location of the AGV. In the case where the AGV has difficulty in obtaining the environmental point cloud, it can also achieve positioning based on the RFID information. Through the technical solution provided by the present application, the AGV is less affected by the environment when positioning, and can solve the technical problem in the prior art that the positioning based on SLAM is easily affected by the environment.

[0101] Corresponding to the above method embodiment, the present application also provides a positioning device for an AGV, Figure 3 A schematic diagram of a positioning device for an AGV provided in an embodiment of the present application, referring to Figure 3 , an AGV positioning device provided in an embodiment of the present application includes:

[0102] The first acquisition module 301 is used to acquire a positioning map; wherein the positioning map includes a plurality of map point clouds, the map point clouds include map feature point clouds, and the map feature point clouds are associated with RFID information;

[0103] The second acquisition module 302 is used to acquire the environmental point cloud and RFID information; wherein the environmental point cloud is obtained by scanning the environment through a laser radar, and the RFID information is obtained by scanning the RFID tags set in the environment through an RFID reader;

[0104] The determination module 303 is used to determine the geographic location of the AGV in the positioning map according to the environmental point cloud and / or RFID information.

[0105] In a feasible embodiment of the present application, the determination module 303 includes:

[0106] An acquisition unit, used for acquiring an environmental point cloud and RFID information in response to a positioning instruction;

[0107] A first determination unit is used to determine the geographic location of the AGV in the positioning map according to the environmental point cloud and the RFID information when at least a first number of environmental point clouds and at least a second number of RFID information are obtained;

[0108] a second determination unit, configured to determine the geographic location of the AGV in the positioning map according to the RFID information when at least the first number of environmental point clouds is not obtained but at least the second number of RFID information is obtained;

[0109] The third determination unit is configured to determine the geographic location of the AGV according to the environmental point cloud in the positioning map when at least the first number of environmental point clouds are obtained but at least the second number of RFID information is not obtained.

[0110] In a feasible embodiment of the present application, the first determining unit includes:

[0111] The recognition subunit is used to recognize the environmental feature point cloud from the environmental point cloud;

[0112] A first determining subunit, configured to determine first positioning information in a positioning map according to an environmental feature point cloud;

[0113] A second determining subunit, configured to determine second positioning information in the positioning map according to the RFID information;

[0114] The third determining subunit is used to determine the geographical location of the AGV according to the first positioning information and the second positioning information.

[0115] In a feasible embodiment of the present application, the first determining subunit includes:

[0116] A first determination subunit is used to determine a first matching feature point cloud in the map feature point cloud in the positioning map; wherein the first matching feature point cloud is a map feature point cloud that is consistent with the environment feature point cloud;

[0117] The second determination unit is used to determine the first positioning information according to the first matching feature point cloud.

[0118] In a feasible embodiment of the present application, the second determining subunit includes:

[0119] The third determination subunit is used to search for a map feature point cloud identical to the RFID information in the map feature point cloud in the positioning map, and determine a second matching feature point cloud;

[0120] The fourth determination subunit is used to determine the same map feature point cloud in the first matching feature point cloud and the second matching feature point cloud as a third matching feature point cloud;

[0121] The fifth determination unit is used to determine the second positioning information according to the third matching feature point cloud.

[0122] In a feasible embodiment of the present application, the second determining subunit further includes:

[0123] A calculation unit, used to calculate the distance between the AGV and the RFID tag corresponding to the RFID information according to the RFID signal strength;

[0124] The calibration unit is used to calibrate the second positioning information according to the distance between the AGV and the RFID tag corresponding to the RFID information.

[0125] In a feasible embodiment of the present application, the device further includes:

[0126] The alarm module is used to generate an alarm message when at least a first number of environmental point clouds and at least a second number of RFID information are not obtained; wherein the alarm message is used to prompt errors in obtaining the environmental point clouds and RFID information.

[0127] like Figure 4 As shown, an embodiment of the present application provides an electronic device, including a processor 401, a communication interface 402, a memory 403 and a communication bus 404, wherein the processor 401, the communication interface 402, and the memory 403 communicate with each other through the communication bus 404.

[0128] Memory 403, used for storing computer programs;

[0129] In one embodiment of the present application, the processor 401 is used to execute the program stored in the memory 403 to implement an AGV positioning method provided by any of the above method embodiments, including:

[0130] Acquire a positioning map; wherein the positioning map includes a plurality of map point clouds, the map point clouds include map feature point clouds, and the map feature point clouds are associated with RFID information;

[0131] Obtaining environmental point cloud and RFID information; wherein, the environment is scanned by a laser radar to obtain an environmental point cloud, and the RFID tag set in the environment is scanned by an RFID reader to obtain RFID information;

[0132] The geographic location of the AGV is determined in the positioning map based on the environmental point cloud and / or RFID information.

[0133] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of a positioning method for an AGV provided in any of the aforementioned method embodiments are implemented.

[0134] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0136] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0137] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A positioning method for AGV, characterized in that: The method comprises: Acquire a positioning map; wherein the positioning map includes a plurality of map point clouds, the map point clouds include map feature point clouds, and the map feature point clouds are associated with RFID information; Acquire environmental point cloud and RFID information; wherein the environmental point cloud is obtained by scanning the environment through a laser radar, and the RFID information is obtained by scanning an RFID tag set in the environment through an RFID reader; The geographical location of the AGV is determined in the positioning map based on the environmental point cloud and / or the RFID information.

2. The method according to claim 1, characterized in that Determining the geographic location of the AGV in the positioning map according to the environmental point cloud and / or the RFID information includes: In response to a positioning instruction, acquiring the environmental point cloud and the RFID information; When at least a first number of the environmental point clouds and at least a second number of the RFID information are obtained, determining the geographic location of the AGV in the positioning map according to the environmental point clouds and the RFID information; In a case where at least the first number of the environmental point clouds are not obtained but at least the second number of the RFID information are obtained, determining the geographic location of the AGV in the positioning map according to the RFID information; In a case where at least the first number of the environmental point clouds are acquired but at least the second number of the RFID information is not acquired, the geographical location of the AGV is determined in the positioning map according to the environmental point clouds.

3. The method according to claim 2, characterized in that When at least a first number of the environmental point clouds and at least a second number of the RFID information are obtained, determining the geographical location of the AGV in the positioning map according to the environmental point clouds and the RFID information includes: Identifying an environmental feature point cloud from the environmental point cloud; Determining first positioning information in the positioning map according to the environmental feature point cloud; Determining second positioning information in the positioning map according to the RFID information; The geographic location of the AGV is determined according to the first positioning information and the second positioning information.

4. The method according to claim 3, characterized in that Determining first positioning information in the positioning map according to the environmental feature point cloud includes: Determining a first matching feature point cloud in the map feature point cloud in the positioning map; wherein the first matching feature point cloud is the map feature point cloud that is consistent with the environment feature point cloud; The first positioning information is determined according to the first matching feature point cloud.

5. The method according to claim 4, characterized in that Determining second positioning information in the positioning map according to the RFID information includes: Searching the map feature point cloud in the positioning map for the map feature point cloud identical to the RFID information, and determining a second matching feature point cloud; Determine the same map feature point cloud in the first matching feature point cloud and the second matching feature point cloud as a third matching feature point cloud; The second positioning information is determined according to the third matching feature point cloud.

6. The method according to claim 5, characterized in that The RFID information includes RFID signal strength, and second positioning information is determined in the positioning map according to the RFID information, further comprising: Calculate the distance between the AGV and the RFID tag corresponding to the RFID information according to the RFID signal strength; The second positioning information is calibrated according to the distance between the AGV and the RFID tag corresponding to the RFID information.

7. The method according to claim 3, characterized in that The method further comprises: When at least the first number of the environmental point clouds and at least the second number of the RFID information are not obtained, an alarm message is generated; wherein the alarm message is used to prompt that the environmental point clouds and the RFID information are obtained incorrectly.

8. A positioning device for AGV, characterized in that: The device comprises: A first acquisition module is used to acquire a positioning map; wherein the positioning map includes a plurality of map point clouds, the map point clouds include map feature point clouds, and the map feature point clouds are associated with RFID information; The second acquisition module is used to acquire the environmental point cloud and RFID information; wherein the environmental point cloud is obtained by scanning the environment through a laser radar, and the RFID information is obtained by scanning the RFID tags set in the environment through an RFID reader; A determination module is used to determine the geographic location of the AGV in the positioning map according to the environmental point cloud and / or the RFID information.

9. An electronic device, characterized in that: include: at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor coupled to the at least one bus; At least one memory connected to the at least one bus, wherein the processor is configured to implement the method according to any one of claims 1-7.

10. A computer storage medium, characterized in that: Computer executable instructions are stored, and the computer executable instructions are used to execute the method according to any one of claims 1-7.

Images