Fusion positioning method and device based on two-dimensional code and laser, vehicle and medium

Abstract

The invention relates to the technical field of navigation positioning, and discloses a fusion positioning method and device based on a two-dimensional code and laser, a vehicle and a medium, and the method comprises the steps: determining a driving route of a target vehicle, and controlling the target vehicle to run along the driving route in a laser navigation mode; judging whether a preset two-dimensional code route exists in the driving route or not, wherein the preset two-dimensional code route comprises a plurality of two-dimensional codes which are linearly arranged; when a preset two-dimensional code route exists in the driving route, the target vehicle is controlled to be navigated to a preset positioning area, the preset positioning area is recognized, and at least one switching two-dimensional code distributed at intervals is built in the same straight line in the preset positioning area; if any switching two-dimensional code is recognized, switching the target vehicle into a fusion positioning mode, performing positioning based on the fusion positioning mode to obtain positioning data, and controlling the target vehicle to continue to run along the driving route based on the positioning data until the target vehicle reaches the end point of the driving route, so that the positioning precision and efficient running of the vehicle can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and in particular to a fusion positioning method, device, vehicle and medium based on two-dimensional code and laser. Background Art

[0002] At present, for automatic guided robots, they are deployed in industrial scenes with complex environments, especially in high-dynamic scenes of human-machine collaborative operations. When the automatic guided vehicle (AGV) performs large-scale handling tasks in the factory, because its radar is installed at a relatively low height, the scene often presents high dynamics (that is, there are a lot of dynamic changes in the scene, such as a real environment with a large number of moving objects, pedestrians, vehicles, etc.); at the same time, when installing reflective columns, it is also easy to be blocked by passers-by, and when installing reflective columns in specific areas, it is likely to hinder the passage of pedestrians or other vehicles, but the project site expects high-precision tooling docking. For this scenario, the QR code can be used in the local area for the last 1-2m of the workstation docking. In addition, if the site allows, the QR code solution can be used entirely, but it is difficult to lay the QR code manually with great precision, and there is a code sticking error, which leads to positioning offset.

[0003] In summary, for the traditional laser navigation AGV in the flat warehouse area, due to the large number of mobile storage locations around it, it forms a highly dynamic environmental feature, so that the existing laser point cloud matching degree and feature degree are only maintained at about 30%, and positioning loss or positioning offset is very likely to occur; in addition, QR code positioning alone also has the problems of high cost and low efficiency; therefore, there is an urgent need for a positioning solution that can effectively improve the vehicle positioning accuracy and reduce the occurrence rate of trajectory offset failures, so as to improve the accuracy and stability of vehicle operation, and thus ensure the efficient operation of the vehicle. Summary of the invention

[0004] In view of this, the present invention provides a fusion positioning method, device, vehicle and medium based on QR code and laser to solve the problem that existing vehicles are prone to positioning loss or positioning deviation, resulting in low positioning accuracy and frequent trajectory deviation failures, which in turn affects the operating efficiency of the vehicle and makes it difficult to achieve the requirements of accurate, efficient and stable operation of the vehicle.

[0005] In a first aspect, the present invention provides a fusion positioning method based on a two-dimensional code and a laser, the method comprising:

[0006] Determine the driving route of the target vehicle and control the target vehicle to run along the driving route in a laser navigation mode;

[0007] Determine whether there is a preset QR code route in the driving route, the preset QR code route contains multiple QR codes arranged in a straight line;

[0008] When there is a preset QR code route in the driving route, the target vehicle is controlled to navigate to a preset positioning area and the preset positioning area is identified, wherein at least one switching QR code distributed at intervals is built-in on the same straight line in the preset positioning area;

[0009] If any switching QR code is recognized, the target vehicle is switched to the fusion positioning mode, positioning is performed based on the fusion positioning mode to obtain positioning data, and the target vehicle is controlled to continue running along the driving route based on the positioning data until it reaches the end of the driving route.

[0010] The fusion positioning method based on QR code and laser provided by the present invention controls the target vehicle to navigate to the preset positioning area and recognize its built-in switching QR code when there is a preset QR code route in the driving route of the target vehicle; if any switching QR code is recognized, the target vehicle is controlled to switch the laser navigation mode to the fusion positioning mode, and perform fusion positioning to obtain corresponding positioning data, which is used to control the operation of the target vehicle along the driving route, and can avoid the occurrence of vehicle positioning loss or positioning deviation, thereby improving the vehicle positioning accuracy, reducing the failure rate of trajectory deviation, greatly improving the accuracy and stability of vehicle operation, and meeting the vehicle's accurate, efficient and stable operation requirements.

[0011] In an optional implementation, performing positioning based on the fusion positioning mode to obtain positioning data, and controlling the target vehicle to continue to run along the driving route based on the positioning data, includes:

[0012] When the target vehicle scans any QR code in the preset QR code route, the recorded positioning data of the QR code is read, and the current laser data of the target vehicle is obtained at the same time; the current positioning deviation is calculated based on the recorded positioning data and the current laser data, and the current laser data is corrected based on the current positioning deviation to obtain the current positioning data, and the target vehicle is controlled to continue to run along the driving route based on the current positioning data;

[0013] When the target vehicle does not scan any of the QR codes in the preset QR code route, the current laser data and current mileage of the target vehicle are obtained, and the mileage is corrected based on the current laser data to obtain optimized mileage data; the current positioning data is determined based on the current laser data and the optimized mileage data, and the target vehicle is controlled to continue to run along the route based on the current positioning data.

[0014] The fusion positioning mode of the present invention corresponds to the design of the positioning data correction processing flow when the vehicle scans the QR code and the mileage data correction processing flow when the vehicle is far away from the QR code, which can greatly ensure the accuracy of the positioning data, further improve the positioning accuracy of the vehicle, and meet the efficient operation requirements of the vehicle.

[0015] In an optional implementation, before determining the driving route of the target vehicle, the fusion positioning method based on the two-dimensional code and the laser further includes:

[0016] Laying a preset QR code route, wherein each linearly arranged QR code in the preset QR code route is laid out in correspondence with the straight driving channel laid out in the target plane library; each linearly arranged QR code corresponds to a straight driving channel; each linearly arranged QR code includes a first code, several middle codes and a last code, wherein the first code corresponds to the starting point of the straight driving channel, and the last code corresponds to the end point of the straight driving channel;

[0017] Enter the corresponding positioning data for the first code and the last code in each linearly arranged two-dimensional code to obtain the position coordinates corresponding to each first code and the last code;

[0018] For each linearly arranged two-dimensional code, the position coordinates of each intermediate code are calculated according to the position coordinates corresponding to the first code and the last code, and the measured spacing between each intermediate code;

[0019] For each linearly arranged QR code, the first distance between the first and last codes is calculated according to the position coordinates corresponding to the first and last codes, and the spacings of all the intermediate codes are summed to obtain the second distance; when the first distance and the second distance are not equal, return to the step of entering the corresponding positioning data for the first and last codes in each linearly arranged QR code until the first distance and the second distance are equal.

[0020] The present invention takes into account the actual layout of the target plane library, designs a corresponding QR code route and lays it in the straight driving channel of the target plane library, and enters the positioning data obtained by laser navigation only into each first code and last code, calculates each intermediate code based on the first code and last code, and verifies all QR codes. This can optimize the QR code positioning method, and can effectively prevent the situation where the data entered into the QR code is inconsistent with the data calculated in the intermediate QR code, which is helpful to ensure the positioning effect of the fusion of laser and QR code during subsequent vehicle operation.

[0021] In an optional embodiment, before controlling the target vehicle to run along the driving route in the laser navigation mode, the fusion positioning method based on the two-dimensional code and the laser further includes:

[0022] Get the current point cloud data of the target vehicle;

[0023] Calculate the matching degree between the current point cloud data and the electronic map, which is constructed based on the historical point cloud data of the target vehicle;

[0024] Determine whether the matching degree exceeds a preset matching threshold;

[0025] If the matching degree does not exceed the preset matching threshold, a preset reference object is placed in the target plane library based on the preset reference object placement requirements. The preset reference object has a QR code for providing auxiliary positioning information, so that the target vehicle optimizes the electronic map based on the auxiliary positioning information, until the matching degree between the point cloud data acquired in real time by the target vehicle and the optimized electronic map exceeds the preset matching threshold; wherein the preset reference object placement requirements include at least random placement, interval placement and fixed placement on the storage locations laid out in the target plane library, and prohibited placement on the straight driving channel laid out in the target plane library.

[0026] The present invention designs a position matching process between the current point cloud data of the target vehicle and the corresponding electronic map constructed by historical point cloud data when the vehicle is started, and when the matching degree between the two does not meet the set matching threshold, a preset reference object is placed in the target plane library to assist positioning to ensure that the matching degree can meet the matching requirements, that is, the positioning matching of the vehicle in the electronic map is successful, which helps to improve the accuracy of vehicle positioning, thereby ensuring the accuracy and efficiency of subsequent two-dimensional code and laser fusion positioning, and meeting the needs of efficient operation of the vehicle.

[0027] In an optional implementation, the fusion positioning method based on the two-dimensional code and the laser further includes:

[0028] If the matching degree exceeds a preset matching threshold, the step of controlling the target vehicle to run along the driving route in a laser navigation mode is executed.

[0029] When the matching degree between the current point cloud data of the target vehicle and its corresponding position in the electronic map exceeds the set matching threshold, the present invention confirms that the positioning match of the vehicle in the electronic map is successful, which can guarantee the positioning accuracy of the vehicle to a great extent, help to improve the accuracy and efficiency of subsequent QR code and laser fusion positioning, and greatly meet the requirements of efficient and stable operation of the vehicle.

[0030] In an optional implementation, the fusion positioning method based on the two-dimensional code and the laser further includes:

[0031] When there is no preset QR code route in the driving route, or if the switching QR code is not recognized, the target vehicle is controlled to maintain the laser navigation mode until it reaches the end of the driving route.

[0032] The present invention maintains the operation in the laser navigation mode when the vehicle does not meet the requirements of switching to the fusion positioning mode, thereby ensuring the stable operation of the vehicle.

[0033] In a second aspect, the present invention provides a fusion positioning device based on a two-dimensional code and a laser, the device comprising:

[0034] A vehicle driving module is used to determine the driving route of the target vehicle and control the target vehicle to run along the driving route in a laser navigation mode;

[0035] A mode determination module is used to determine whether there is a preset QR code route in the driving route, and the preset QR code route contains multiple QR codes arranged in a straight line;

[0036] A mode switching module, used to control the target vehicle to navigate to a preset positioning area and identify the preset positioning area when there is a preset QR code route in the driving route, wherein at least one switching QR code distributed at intervals is built in the preset positioning area on the same straight line;

[0037] The fusion positioning module is used to switch the target vehicle to the fusion positioning mode if any switching QR code is recognized, obtain positioning data based on the fusion positioning mode, and control the target vehicle to continue running along the driving route based on the positioning data until it reaches the end of the driving route.

[0038] The fusion positioning device based on QR code and laser provided by the present invention controls the target vehicle to run along the set driving route in laser navigation mode; if there is a preset QR code route in the driving route, the vehicle is controlled to navigate to the preset positioning area and identify its built-in switching QR code; when any switching QR code is identified, the vehicle is controlled to switch to the fusion positioning mode and perform fusion positioning, and the corresponding positioning data is obtained to control the target vehicle to continue to run along the driving route, which can effectively avoid the occurrence of vehicle positioning loss or positioning deviation, can improve the vehicle's positioning accuracy, and at the same time reduce the failure rate of track deviation, which is helpful to improve the accuracy and stability of vehicle operation and meet the vehicle's accurate, efficient and stable operation requirements.

[0039] In a third aspect, the present invention provides a vehicle, comprising a controller, the controller comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the two-dimensional code and laser-based fusion positioning method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the two-dimensional code and laser-based fusion positioning method of the above-mentioned first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 1 is a flow chart of a fusion positioning method based on a two-dimensional code and a laser according to an embodiment of the present invention;

[0043] Figure 2 is a flow chart of another fusion positioning method based on a two-dimensional code and a laser according to an embodiment of the present invention;

[0044] Figure 3 It is a QR code paving route diagram;

[0045] Figure 4 This is a schematic diagram of the planar library deployment;

[0046] Figure 5 It is a flowchart of AGV operation;

[0047] Figure 6 is a structural block diagram of a fusion positioning device based on a two-dimensional code and a laser according to an embodiment of the present invention;

[0048] Figure 7 Schematic diagram of the structure of a heating controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0050] According to an embodiment of the present invention, an embodiment of a fusion positioning method based on a QR code and a laser is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0051] In this embodiment, a fusion positioning method based on two-dimensional code and laser is provided. Figure 1 is a flow chart of a fusion positioning method based on a two-dimensional code and a laser according to an embodiment of the present invention, such as Figure 1 As shown, the process includes the following steps:

[0052] Step S101, determining the driving route of the target vehicle, and controlling the target vehicle to run along the driving route in a laser navigation mode.

[0053] It should be noted that the driving route of the target vehicle in this embodiment is obtained by responding to the user's transportation request for the target vehicle, and performing corresponding route planning according to the transportation starting point configured in the transportation request and the driving channel laid out in the target plane library. The specific route planning method can refer to the conventional path planning method in the field, and is not limited in detail here.

[0054] Step S102, determining whether there is a preset QR code route in the driving route, the preset QR code route containing a plurality of QR codes arranged in a straight line.

[0055] It should be noted that the preset QR code route in this embodiment is also designed according to the layout in the target plane library, such as adaptive setting considering the layout of the driving channel and storage location in the target plane library.

[0056] Step S103, when there is a preset QR code route in the driving route, control the target vehicle to navigate to a preset positioning area, and identify the preset positioning area, in which at least one switching QR code distributed at intervals is built in the same straight line.

[0057] In this embodiment, in order to ensure the code reading efficiency of the target vehicle, that is, the vehicle can successfully read the switching QR code, the specific number of switching QR codes set is not limited here and can be adaptively adjusted according to actual needs. For example, 5 switching QR codes are set for exemplary purposes only.

[0058] Step S104, if any switching QR code is recognized, the target vehicle is switched to the fusion positioning mode, positioning is performed based on the fusion positioning mode to obtain positioning data, and the target vehicle is controlled to continue to run along the driving route based on the positioning data until it reaches the end of the driving route.

[0059] It should be noted that the fusion positioning mode in this embodiment is a fusion positioning of QR code and laser, which specifically uses QR code to assist laser in performing precise positioning in a high dynamic environment of the target plane library to improve the overall positioning accuracy of the vehicle.

[0060] In the embodiment of the present invention, the target vehicle is controlled to run along the set driving route in laser navigation mode; if there is a preset QR code route in the driving route, the vehicle is controlled to navigate to the preset positioning area and identify its built-in switching QR code; when any switching QR code is identified, the vehicle is controlled to switch to the fusion positioning mode and perform fusion positioning, and the corresponding positioning data is obtained to control the target vehicle to continue running along the driving route, which can avoid the occurrence of vehicle positioning loss or positioning deviation, thereby improving the vehicle positioning accuracy, reducing the failure rate of trajectory deviation, greatly improving the accuracy and stability of vehicle operation, and meeting the vehicle's precise, efficient and stable operation requirements.

[0061] In this embodiment, a fusion positioning method based on two-dimensional code and laser is provided. Figure 2 FIG. 1 is a flow chart of another fusion positioning method based on a two-dimensional code and a laser according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0062] Step S201, determining the driving route of the target vehicle, and controlling the target vehicle to run along the driving route in a laser navigation mode.

[0063] It should be noted that the preset QR code route in this embodiment is laid out in the target plane library in advance according to project requirements and information is entered. Therefore, before determining the driving route of the target vehicle, the fusion positioning method based on QR code and laser in this embodiment also includes:

[0064] Step a1, laying out a preset QR code route, wherein each linearly arranged QR code in the preset QR code route is laid out in correspondence with the straight driving channel laid out in the target plane library; each linearly arranged QR code corresponds to a straight driving channel; each linearly arranged QR code includes a first code, several middle codes and a last code, wherein the first code corresponds to the starting point of the straight driving channel, and the last code corresponds to the end point of the straight driving channel.

[0065] It should be noted that the layout of the target plane library refers to the reasonable planning and arrangement of various components inside the warehouse, such as the cargo area, aisles, stack spacing, and delivery and receiving areas on the plane. This layout emphasizes the flat storage and operation of goods, and usually does not involve high-rise shelves, but adopts a natural stacking method. In this embodiment, the layout in the target plane library includes at least storage location information, mobile tooling racks, fixed reference objects, and driving channels, etc.; wherein the mobile tooling racks are correspondingly set at different storage locations, and corresponding QR codes can be laid on the mobile tooling racks, fixed reference objects, and driving channels to assist vehicle positioning.

[0066] Step a2, respectively inputting corresponding positioning data for the first code and the last code in each linearly arranged two-dimensional code to obtain the position coordinates corresponding to each first code and the last code.

[0067] In this embodiment, the entered positioning data is the positioning coordinates obtained according to the laser positioning mode of the vehicle.

[0068] Step a3, for each linearly arranged two-dimensional code, the position coordinates of each intermediate code are calculated according to the position coordinates corresponding to the first code and the last code, and the measured spacing between each intermediate code.

[0069] In this embodiment, the position coordinates of each intermediate code are solved based on the position coordinates corresponding to the first code and the last code and the spacing between the intermediate codes in combination with the set relationship of the two-dimensional codes arranged in a straight line.

[0070] Step a4, for each linearly arranged QR code, calculate the first distance between the first code and the last code according to the position coordinates corresponding to the first code and the last code, and sum the spacings of all the intermediate codes to obtain the second distance; when the first distance and the second distance are not equal, return to the step of entering the corresponding positioning data for the first code and the last code in each linearly arranged QR code, until the first distance and the second distance are equal.

[0071] In actual applications, errors in laser positioning may cause deviations in the data entered into the QR code or measurement errors in the spacing values ​​of the QR codes actually measured may make the positioning data contained in each QR code in the preset QR code route after laying inaccurate. Therefore, this embodiment has designed a verification process for the entered data and calculated data of each QR code to ensure the accuracy of the corresponding data in the QR code.

[0072] In the embodiment of the present invention, the actual layout of the target plane library is taken into consideration, and a corresponding QR code route is designed and laid in the straight driving channel of the target plane library. By entering the positioning data obtained by laser navigation only into each first code and last code, calculating each intermediate code based on the first code and last code, and verifying all QR codes, the QR code positioning method can be optimized, and the situation in which the data entered into the QR code and the data calculated in the intermediate QR code are inconsistent can be effectively prevented, which helps to ensure the positioning effect of the fusion of laser and QR code during subsequent vehicle operation.

[0073] It should be noted that the startup of the fusion positioning mode in this embodiment needs to ensure that the current position of the vehicle is consistent with the corresponding positioning information on the electronic map. That is, in actual applications, the vehicle may have moved after the last operation, so that the electronic map recorded by the vehicle does not match the current actual position of the vehicle. Therefore, before controlling the target vehicle to run along the driving route in the laser navigation mode, the fusion positioning method based on the QR code and the laser in this embodiment also includes:

[0074] Step b1, obtaining the current point cloud data of the target vehicle.

[0075] Step b2, calculating the matching degree between the current point cloud data and the electronic map, where the electronic map is constructed and generated based on the historical point cloud data of the target vehicle.

[0076] It should be noted that the specific calculation method of the matching degree in this embodiment is not limited here, and can be adaptively set according to the actual similarity calculation method, such as calculating the Euclidean distance between the two, which is only used as an exemplary description.

[0077] Step b3, determining whether the matching degree exceeds a preset matching threshold.

[0078] In this embodiment, the specific content of the preset matching threshold is adaptively adjusted according to the adopted similarity calculation method, for example, the preset matching threshold is a distance threshold.

[0079] Step b4: if the matching degree does not exceed the preset matching threshold, a preset reference object is placed in the target plane library based on the preset reference object placement requirements, and the preset reference object carries a QR code for providing auxiliary positioning information, so that the target vehicle optimizes the electronic map based on the auxiliary positioning information, until the matching degree between the point cloud data acquired in real time by the target vehicle and the optimized electronic map exceeds the preset matching threshold; wherein the preset reference object placement requirements include at least random placement, interval placement and fixed placement on the storage locations laid out in the target plane library, and prohibited placement on the straight driving channel laid out in the target plane library.

[0080] In this embodiment, the specific content of the preset reference object can be adaptively set according to actual needs. For example, the preset reference object is a static tooling board, which is only used as an exemplary description.

[0081] Step b5: If the matching degree exceeds the preset matching threshold, the step of controlling the target vehicle to run along the driving route in laser navigation mode is executed.

[0082] In the embodiment of the present invention, a position matching process is designed corresponding to the current point cloud data of the target vehicle and the corresponding electronic map constructed by historical point cloud data when the vehicle is started. When the matching degree between the two does not meet the set matching threshold, a preset reference object is placed in the target plane library to assist positioning to ensure that the matching degree can meet the matching requirements; and when the matching degree exceeds the set matching threshold, it is confirmed that the positioning match of the vehicle in the electronic map is successful, which can greatly ensure the positioning accuracy of the vehicle, help to improve the accuracy and efficiency of subsequent two-dimensional code and laser fusion positioning, and greatly meet the vehicle's efficient and stable operation needs.

[0083] Step S202: determine whether there is a preset QR code route in the driving route, and the preset QR code route contains multiple QR codes arranged in a straight line. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0084] Step S203: When there is a preset QR code route in the driving route, the target vehicle is controlled to navigate to the preset positioning area and identify the preset positioning area. The preset positioning area has at least one switching QR code distributed at intervals built in the same straight line. For details, please refer to Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0085] Step S204: If any switching QR code is recognized, the target vehicle is switched to the fusion positioning mode, positioning is performed based on the fusion positioning mode to obtain positioning data, and the target vehicle is controlled to continue to run along the driving route based on the positioning data until it reaches the end of the driving route.

[0086] Specifically, in the above step S204, positioning is performed based on the fusion positioning mode to obtain positioning data, and the target vehicle is controlled to continue to run along the driving route based on the positioning data, including:

[0087] Step S2041, when the target vehicle scans any QR code in the preset QR code route, the recorded positioning data of the QR code is read, and the current laser data of the target vehicle is obtained at the same time; the current positioning deviation is calculated based on the recorded positioning data and the current laser data, and the current laser data is corrected based on the current positioning deviation to obtain the current positioning data, and the target vehicle is controlled to continue to run along the driving route based on the current positioning data.

[0088] In this embodiment, the target vehicle scans and identifies the QR code through a code reading device mounted on the vehicle body, such as a camera.

[0089] Step S2042, when the target vehicle does not scan any of the QR codes in the preset QR code route, obtain the current laser data and current mileage of the target vehicle, perform deviation correction processing on the mileage based on the current laser data to obtain optimized mileage data; determine the current positioning data based on the current laser data and the optimized mileage data, and control the target vehicle to continue running along the route based on the current positioning data.

[0090] In this embodiment, when the target vehicle does not scan any QR code in the preset QR code route, it indicates that the vehicle is currently traveling on a route between two QR codes in the QR code route, that is, the vehicle is traveling away from the QR code.

[0091] It should be noted that, in this embodiment, the current mileage of the target vehicle can be determined according to the conventional calculation method of the existing vehicle mileage, such as using a wheel odometer (a sensor installed on the wheel, such as a wheel speed encoder, to obtain information on the vehicle's speed and displacement, and this type of information is processed to achieve vehicle positioning), a laser odometer (a method of estimating mileage by means of a laser radar, that is, determining the position and orientation of the vehicle based on point cloud data, that is, the vehicle's posture) or a visual odometer (a method of obtaining image information through a camera sensor installed on the vehicle to estimate the movement of the vehicle).

[0092] The fusion positioning mode in the embodiment of the present invention corresponds to the design of the positioning data correction processing flow when the vehicle scans the QR code and the mileage data correction processing flow when the vehicle is far away from the QR code, which can greatly ensure the accuracy of the positioning data, further improve the positioning accuracy of the vehicle, and meet the efficient operation requirements of the vehicle.

[0093] Step S205, when there is no preset QR code route in the driving route, or if the switching QR code is not recognized, the target vehicle is controlled to maintain the laser navigation mode until it reaches the end of the driving route.

[0094] The embodiment of the present invention maintains the laser navigation mode when the vehicle does not meet the requirements for switching to the fusion positioning mode, thereby ensuring stable operation of the vehicle.

[0095] In a specific embodiment, the target vehicle is an AGV. In view of the many defects of using laser to locate the AGV in a flat warehouse scenario, a fusion positioning solution of QR code and laser is adopted to improve the accuracy and stability of AGV operation. Specifically, the specific contents of the fusion positioning solution include:

[0096] 1. Lay out QR code routes.

[0097] In this embodiment, Figure 3 This is a schematic diagram of the QR code laying route. Since there are few static reference objects in the plane library in actual applications, only the surrounding fences and a few structural columns are used as fixed reference objects, so the walking route (i.e. Figure 3 In each driving lane, corresponding QR codes are laid at intervals of 50cm to 100cm along the line to assist in positioning.

[0098] It should be noted that the QR code laying route in this embodiment is designed based on the storage location in the planned route. Compared with the traditional single QR code navigation method, this embodiment only needs to be pasted on any vehicle driving channel, so fewer QR codes are used and it is more flexible; at the same time, only information needs to be entered in each first code and last code, and the position information of the corresponding intermediate code is calculated based on the entered information and the actual measured distance between each intermediate code, which can greatly simplify the QR code positioning process; in addition, the setting position and number of each switching QR code in the positioning area can also be adaptively adjusted according to actual needs, which can greatly improve the flexibility of fusion positioning and provide users with a more satisfactory vehicle positioning experience.

[0099] 2. Place static reference objects.

[0100] In this embodiment, in view of the current situation that static reference objects are lacking in the plane warehouse, a static tooling board is placed in the middle of the warehouse to increase the number of fixed reference objects. The placement requirements of the static tooling board are as follows: (1) irregular placement, that is, it cannot be placed at the same distance on a straight line; (2) it is recommended to place 3 static reference objects with a length of 2m every 20 meters, and the placement requirements must not violate the principle of (1); (3) it must be fixed to the ground during placement and cannot be moved at will; (4) the AGV is required to achieve a positioning matching degree and characteristic degree of more than 75%; if not, continue to add reference objects until the requirements are met; (5) the location of the static tooling board must not affect the normal passage of vehicles.

[0101] In a specific embodiment, Figure 4 This is a schematic diagram of the flat library deployment. Figure 4 It can be seen that in this embodiment, a paper QR code for auxiliary positioning is posted under the mobile tooling rack in the storage location; a QR code route is laid on the corresponding driving channel, and static reference objects are added as needed to provide corresponding position information for the positioning of the AGV.

[0102] 3. Vehicle preparation before AGV operation.

[0103] In this embodiment, when starting the AGV, it is necessary to set an initial coordinate of the AGV to determine its position in the map; if it is necessary to manually input the initial coordinates of the AGV (i.e., the starting point of positioning), or push the AGV to the origin (0,0) coordinate point in the map and turn it on, the map will display the feature degree and matching degree. When both reach more than 70%, it means that the AGV is successfully positioned.

[0104] 4. QR code verification before AGV operation.

[0105] In this embodiment, when the characteristic degree and matching degree reach more than 70%, that is, when the positioning is successful, the AGV drives the vehicle body to the top of the QR code; then the coordinate parameters of the current laser positioning (including the coordinates corresponding to the X-axis and Y-axis, that is, the angle value relative to the rectangular coordinate system, quaternion, the data accuracy can reach 10 8 It should be noted that if the vehicle body is used to enter the QR code, the error value of laser positioning is between 1-2cm, which will cause the entered QR code to deviate by 1-2cm around the vehicle's driving route, thereby affecting the positioning accuracy. Therefore, this embodiment only enters the first code coordinate value (X 1 ,Y 1 ) and the coordinate value of the tail code (X 2 ,Y 2 ). By calculating the angle value of the first and last code and distance value Then measure the spacing value L between each QR code in the first and last codes. 1 ,L 2 ,L 3 ,L 4 ,L 5 ...,L i (where i is a positive number), and according to the calculation formula X of the coordinate value of the middle QR code i =X 1 +L i ×cosθ and Y i =Y 1 +L i × sinθ, calculate the coordinate value of the middle QR code in sequence (X i ,Y i ); Finally, the L value and L 1 +L 2 +L 3 +L 4 +L 5 +...+L i The value is compared to prevent the data entered into the QR code from being inconsistent with the data calculated in the intermediate QR code, so as to ensure the effect of laser and QR code fusion positioning.

[0106] It should be noted that if the data does not match, it means there are two situations: 1. The calculated QR code has errors, and the calculated data and the spacing value of the QR code need to be carefully checked; 2. When entering the QR code, the matching degree and characteristic degree of AGV positioning are less than 70%, making the entered QR code inaccurate. For special cases, such as the location code with clockwise corners of 90° or 270° on the left and right sides, the angle value θ can be used. 1 =θ+90°orθ 2 =θ+270° to calculate the QR code, the calculation method is the same as above.

[0107] 5. Positioning during AGV operation.

[0108] In this embodiment, during the operation of the vehicle body, a QR code route is pasted on the walking route, and three consecutively pasted QR codes are correspondingly set in the QR code route as switching QR codes. Figure 5 , in the AGV scheduling system, the triple code (i.e. the corresponding switching QR code) is synchronously set as the switching point, which is used to switch the laser mode to the laser and QR code fusion positioning mode; after the vehicle body successfully switches to the laser QR code fusion positioning mode, when the vehicle body is directly above the QR code and scans the QR code, the coordinate value data frame entered in the QR code and the coordinate value data frame measured by the current laser positioning are called for fusion correction positioning (i.e. the QR code and laser positioning deviation are calculated in the figure, and correction navigation is performed); when the vehicle body is away from the QR code, laser fusion odometer positioning will be performed (i.e. positioning according to the laser fusion odometer in the figure and correction according to the laser fusion odometer positioning) to ensure that the vehicle body can move to the next QR code smoothly, which can be in the warehouse area where static reference objects are lacking, greatly improving the accuracy of AGV positioning.

[0109] In summary, the embodiments of the present invention can effectively improve the positioning accuracy of the vehicle, reduce the occurrence rate of track deviation failures, and thus improve the accuracy and stability of the vehicle operation, greatly ensuring the efficient operation of the vehicle.

[0110] In this embodiment, a fusion positioning device based on a two-dimensional code and a laser is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions that have been made will not be repeated. As used below, the term "module" refers to a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0111] The present invention provides a fusion positioning device based on two-dimensional code and laser, such as Figure 6 As shown, the device comprises:

[0112] The vehicle driving module 601 is used to determine the driving route of the target vehicle and control the target vehicle to run along the driving route in a laser navigation mode.

[0113] The mode determination module 602 is used to determine whether there is a preset QR code route in the driving route, and the preset QR code route includes a plurality of QR codes arranged in a straight line.

[0114] The mode switching module 603 is used to control the target vehicle to navigate to a preset positioning area and identify the preset positioning area when there is a preset QR code route in the driving route. The preset positioning area has at least one switching QR code distributed at intervals built in on the same straight line.

[0115] The fusion positioning module 604 is used to switch the target vehicle to the fusion positioning mode if any switching QR code is recognized, obtain positioning data based on the fusion positioning mode, and control the target vehicle to continue to run along the driving route based on the positioning data until it reaches the end of the driving route.

[0116] In some optional embodiments, the vehicle driving module 601 includes: a first matching submodule, a second matching submodule, a third matching submodule, a fourth matching submodule and a fifth matching submodule; wherein the first matching submodule is used to obtain the current point cloud data of the target vehicle; the second matching submodule is used to calculate the matching degree between the current point cloud data and the electronic map, and the electronic map is generated based on the historical point cloud data of the target vehicle; the third matching submodule is used to determine whether the matching degree exceeds a preset matching threshold; the fourth matching submodule is used to, if the matching degree does not exceed the preset matching threshold, place the reference object in the target plane library based on the preset reference object placement requirement. A preset reference object is placed in the target plane library, and the preset reference object has a QR code for providing auxiliary positioning information, so that the target vehicle optimizes the electronic map based on the auxiliary positioning information, until the matching degree between the point cloud data acquired by the target vehicle in real time and the optimized electronic map exceeds a preset matching threshold; wherein the preset reference object placement requirements at least include random placement, interval placement and fixed placement on the storage locations laid out in the target plane library, and prohibited placement on the straight driving channel laid out in the target plane library; a fifth matching submodule is used to execute the step of controlling the target vehicle to run along the driving route in a laser navigation mode if the matching degree exceeds the preset matching threshold.

[0117] In some optional embodiments, the fusion positioning module 604 includes: a positioning correction submodule and a mileage correction submodule; wherein the positioning correction submodule is used to read the entered positioning data of the QR code and obtain the current laser data of the target vehicle when the target vehicle scans any QR code in the preset QR code route; calculate the current positioning deviation based on the entered positioning data and the current laser data, perform correction processing on the current laser data based on the current positioning deviation to obtain the current positioning data, and control the target vehicle to continue to run along the driving route based on the current positioning data; the mileage correction submodule is used to obtain the current laser data and the current mileage of the target vehicle when the target vehicle does not scan any QR code in the preset QR code route, perform correction processing on the mileage based on the current laser data to obtain the optimized mileage data; determine the current positioning data based on the current laser data and the optimized mileage data, and control the target vehicle to continue to run along the driving route based on the current positioning data.

[0118] In some optional embodiments, the device further includes: a QR code laying module, which is used to lay a preset QR code route, wherein each linearly arranged QR code in the preset QR code route is laid out in correspondence with the straight driving channel laid out in the target plane library; each linearly arranged QR code corresponds to a straight driving channel; each linearly arranged QR code includes a first code, several intermediate codes and a last code, wherein the first code corresponds to the starting point of the straight driving channel, and the last code corresponds to the end point of the straight driving channel; corresponding positioning data is entered into the first code and the last code in each linearly arranged QR code, respectively, to obtain each The method comprises the following steps: calculating the position coordinates corresponding to the first code and the last code of each linearly arranged QR code according to the position coordinates corresponding to the first code and the last code, and calculating the position coordinates of each intermediate code according to the measured spacing between the intermediate codes; calculating the first distance between the first code and the last code of each linearly arranged QR code according to the position coordinates corresponding to the first code and the last code, and summing up the spacing between all the intermediate codes to obtain the second distance; when the first distance and the second distance are not equal, returning to the step of entering the corresponding positioning data for the first code and the last code in each linearly arranged QR code until the first distance and the second distance are equal.

[0119] In some optional embodiments, the device also includes: a laser navigation module, which is used to control the target vehicle to maintain laser navigation mode operation when there is no preset QR code route in the driving route, or if the switching QR code is not recognized, until it reaches the end of the driving route.

[0120] The further functional description of each of the above modules is the same as that of the above corresponding embodiments and will not be repeated here.

[0121] The QR code and laser-based fusion positioning device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0122] The fusion positioning device based on QR code and laser in the embodiment of the present invention can effectively avoid the occurrence of vehicle positioning loss or positioning deviation, improve the vehicle positioning accuracy, reduce the failure rate of track deviation, improve the accuracy of vehicle operation, and meet the requirements of efficient and stable operation of the vehicle.

[0123] The present invention also provides a vehicle, which includes a controller. Figure 7 , Figure 7 is a schematic diagram of the structure of the controller provided in an optional embodiment of the present invention, such as Figure 7As shown, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the controller, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple controllers can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0124] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0125] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0126] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0127] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0128] The controller also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 7The example of connecting through bus is taken in the following.

[0129] The input device 30 can receive input digital or character information, and generate signal input related to the user settings and function control of the thermal power unit operation control unit, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device may be a touch screen.

[0130] In this embodiment, the vehicle is an AGV, which is adaptively adjusted according to actual needs. Specifically, integrating the above-mentioned fusion positioning method based on QR code and laser in this embodiment on the vehicle can make such vehicles have a very stable and reliable positioning effect, and can determine the appropriate positioning mode according to the layout of the actual plane library, thereby avoiding the occurrence of positioning loss or positioning offset, reducing the occurrence rate of track offset failure, ensuring the accuracy and stability of vehicle operation, and thus meeting the needs of efficient vehicle operation, and improving the user experience to a certain extent.

[0131] A computer-readable storage medium is also provided in an embodiment of the present invention. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium and downloaded through a network, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor main control chip or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0132] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A fusion positioning method based on two-dimensional code and laser, characterized in that: The method comprises: Determining a driving route of a target vehicle, and controlling the target vehicle to run along the driving route in a laser navigation mode; Determining whether there is a preset QR code route in the driving route, wherein the preset QR code route includes a plurality of QR codes arranged in a straight line; When there is a preset QR code route in the driving route, the target vehicle is controlled to navigate to a preset positioning area, and the preset positioning area is identified, wherein at least one switching QR code distributed at intervals is built-in on the same straight line in the preset positioning area; If any switching QR code is recognized, the target vehicle is switched to the fusion positioning mode, positioning is performed based on the fusion positioning mode to obtain positioning data, and based on the positioning data, the target vehicle is controlled to continue running along the driving route until it reaches the end of the driving route.

2. The fusion positioning method based on two-dimensional code and laser according to claim 1 is characterized in that: The method of obtaining positioning data by performing positioning based on the fusion positioning mode, and controlling the target vehicle to continue to run along the driving route based on the positioning data, includes: When the target vehicle scans any one of the two-dimensional codes in the preset two-dimensional code route, the recorded positioning data of the two-dimensional code is read, and the current laser data of the target vehicle is obtained at the same time; the current positioning deviation is calculated based on the recorded positioning data and the current laser data, and the current laser data is corrected based on the current positioning deviation to obtain the current positioning data, and the target vehicle is controlled to continue to run along the driving route based on the current positioning data; When the target vehicle does not scan any of the QR codes in the preset QR code route, the current laser data and the current mileage of the target vehicle are obtained, and the mileage is corrected based on the current laser data to obtain optimized mileage data; the current positioning data is determined based on the current laser data and the optimized mileage data, and the target vehicle is controlled to continue to run along the route based on the current positioning data.

3. The fusion positioning method based on two-dimensional code and laser according to claim 1 is characterized in that: Before determining the driving route of the target vehicle, the method further includes: Laying a preset QR code route, wherein each linearly arranged QR code in the preset QR code route is laid out corresponding to a straight driving channel laid out in the target plane library; each linearly arranged QR code corresponds to a straight driving channel; each linearly arranged QR code includes a first code, a plurality of middle codes and a last code, wherein the first code corresponds to a channel starting point of the straight driving channel, and the last code corresponds to a channel end point of the straight driving channel; Enter the corresponding positioning data for the first code and the last code in each linearly arranged two-dimensional code to obtain the position coordinates corresponding to each first code and the last code; For each linearly arranged two-dimensional code, the position coordinates of each intermediate code are calculated according to the position coordinates corresponding to the first code and the last code, and the measured spacing between each intermediate code; For each linearly arranged QR code, the first distance between the first code and the last code is calculated according to the position coordinates corresponding to the first code and the last code, and the spacings of all the intermediate codes are summed to obtain the second distance; when the first distance is not equal to the second distance, the step of entering the corresponding positioning data for the first code and the last code in each linearly arranged QR code is returned to until the first distance is equal to the second distance.

4. The fusion positioning method based on two-dimensional code and laser according to claim 3 is characterized in that: Before controlling the target vehicle to run along the driving route in the laser navigation mode, the method further includes: Get the current point cloud data of the target vehicle; Calculating a matching degree between the current point cloud data and an electronic map, wherein the electronic map is generated based on the historical point cloud data of the target vehicle; Determining whether the matching degree exceeds a preset matching threshold; If the matching degree does not exceed the preset matching threshold, a preset reference object is placed in the target plane library based on the preset reference object placement requirements, and the preset reference object carries a QR code for providing auxiliary positioning information, so that the target vehicle optimizes the electronic map based on the auxiliary positioning information, until the matching degree between the point cloud data acquired in real time by the target vehicle and the optimized electronic map exceeds the preset matching threshold; wherein the preset reference object placement requirements include at least random placement, interval placement and fixed placement on the storage locations laid out in the target plane library, and prohibited placement on the straight driving channel laid out in the target plane library.

5. The fusion positioning method based on two-dimensional code and laser according to claim 4 is characterized in that: The method further comprises: If the matching degree exceeds a preset matching threshold, the step of controlling the target vehicle to run along the driving route in a laser navigation mode is performed.

6. The fusion positioning method based on two-dimensional code and laser according to claim 1 is characterized in that: The method further comprises: When there is no preset QR code route in the driving route, or if the switching QR code is not recognized, the target vehicle is controlled to maintain the laser navigation mode until it reaches the end of the driving route.

7. A fusion positioning device based on two-dimensional code and laser, characterized in that: The device comprises: A vehicle driving module, used to determine a driving route of a target vehicle and control the target vehicle to run along the driving route in a laser navigation mode; A mode determination module, used to determine whether there is a preset QR code route in the driving route, wherein the preset QR code route includes a plurality of QR codes arranged in a straight line; A mode switching module, used for controlling the target vehicle to navigate to a preset positioning area and identifying the preset positioning area when there is a preset QR code route in the driving route, wherein at least one switching QR code distributed at intervals is built in the preset positioning area on the same straight line; The fusion positioning module is used to switch the target vehicle to the fusion positioning mode if any switching QR code is recognized, obtain positioning data based on the fusion positioning mode, and control the target vehicle to continue to run along the driving route based on the positioning data until it reaches the end of the driving route.

8. A vehicle, characterized in that: The vehicle includes a vehicle body and a fusion positioning method based on a two-dimensional code and a laser as described in any one of claims 1 to 6, which is arranged on the vehicle body.

9. The vehicle according to claim 8, characterized in that The vehicle is an AGV.

10. A computer medium, characterized in that The medium includes a vehicle body and a fusion positioning method based on a two-dimensional code and a laser as described in any one of claims 1 to 6, which is arranged on the vehicle body.

Images