Fusion positioning methods, devices, vehicles, and media based on QR codes and lasers

Abstract

This invention relates to the field of navigation and positioning technology, and discloses a fusion positioning method, device, vehicle, and medium based on QR codes and lasers. The method includes: determining the driving route of a target vehicle and controlling the target vehicle to run along the driving route in laser navigation mode; determining whether a preset QR code route exists in the driving route, the preset QR code route containing multiple QR codes arranged in a straight line; when a preset QR code route exists in the driving route, controlling the target vehicle to navigate to a preset positioning area and identifying the preset positioning area, the preset positioning area containing at least one intermittently distributed switching QR code on the same straight line; if any switching QR code is identified, switching the target vehicle to fusion positioning mode, obtaining positioning data based on the fusion positioning mode, and controlling the target vehicle to continue running along the driving route based on the positioning data until reaching the end of the driving route, thus ensuring the positioning accuracy and efficient operation of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of navigation and positioning technology, specifically to a fusion positioning method, device, vehicle, and medium based on QR codes and lasers. Background Technology

[0002] Currently, for automated guided vehicles (AGVs) deployed in complex industrial environments, especially in highly dynamic scenarios involving human-robot collaboration, the low mounting height of their radars in factories often results in highly dynamic environments (i.e., environments with numerous moving objects, pedestrians, and vehicles). Furthermore, reflective markers are easily obstructed by passing pedestrians, and their installation in specific areas can hinder pedestrian or vehicle traffic. However, high-precision tooling docking is required on-site. For this scenario, a solution is to use QR codes for the final 1-2 meters of workstation docking in localized areas. Alternatively, if site conditions permit, a full QR code solution can be used; however, manually applying QR codes is difficult to achieve with high precision, leading to labeling errors and subsequent positioning deviations.

[0003] In summary, for traditional laser-guided AGVs operating in planar warehouses, the highly dynamic environment created by numerous moving storage locations results in existing laser point cloud matching accuracy and feature accuracy remaining at only around 30%, making them highly susceptible to positioning loss or deviation. Furthermore, QR code positioning alone suffers from high cost and low efficiency. Therefore, there is an urgent need for a positioning solution that can effectively improve vehicle positioning accuracy and reduce the incidence of trajectory deviation failures, thereby enhancing the accuracy and stability of vehicle operation and ensuring efficient vehicle operation. 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 affect the vehicle's operating efficiency and make it difficult to achieve the requirements of accurate, efficient and stable vehicle operation.

[0005] In a first aspect, the present invention provides a fusion positioning method based on QR codes and lasers, the method comprising:

[0006] Determine the target vehicle's route and control the target vehicle to travel along the route using laser navigation mode;

[0007] Determine if a preset QR code route exists in the driving route. The preset QR code route contains multiple QR codes arranged in a straight line.

[0008] When a preset QR code route exists in the driving route, the target vehicle is controlled to navigate to the preset positioning area and the preset positioning area is identified. At least one switch QR code is embedded in the same straight line in the preset positioning area.

[0009] If any switching QR code is detected, the target vehicle will be switched to the fusion positioning mode. The positioning data will be obtained based on the fusion positioning mode, and the target vehicle will continue to run along the driving route based on the positioning data until it reaches the end of the driving route.

[0010] The present invention provides a fusion positioning method based on QR codes and lasers. When a preset QR code route exists in the target vehicle's driving route, the method controls the target vehicle to navigate to the preset positioning area and recognizes the built-in switching QR codes. If any switching QR code is recognized, the method controls the target vehicle to switch from laser navigation mode to fusion positioning mode and performs fusion positioning to obtain corresponding positioning data. This data is then used to control the target vehicle's movement along the driving route. This method avoids vehicle positioning loss or positioning deviation, thereby improving vehicle positioning accuracy, reducing the failure rate of trajectory deviation, and greatly enhancing the accuracy and stability of vehicle operation, thus meeting the requirements for precise, efficient, and stable vehicle operation.

[0011] In one optional implementation, positioning data is obtained by performing positioning based on a fusion positioning mode, and the target vehicle is controlled to continue running along the driving route based on the positioning data, including:

[0012] When the target vehicle scans any QR code in the preset QR code route, the system reads the recorded positioning data of the QR code and obtains the current laser data of the target vehicle. Based on the recorded positioning data and the current laser data, the system calculates the current positioning deviation, corrects the current laser data based on the current positioning deviation, obtains the current positioning data, and controls the target vehicle to continue running along the driving route based on the current positioning data.

[0013] When the target vehicle fails to scan any QR code in the preset QR code route, the current laser data and current mileage of the target vehicle are obtained. 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 optimized mileage data, and the target vehicle is controlled to continue running along the driving route based on the current positioning data.

[0014] The fusion positioning mode of this invention is designed with a positioning data correction process when the vehicle scans a QR code and a mileage data correction process when the vehicle moves away from the QR code. This can greatly ensure the accuracy of positioning data, further improve the positioning accuracy of the vehicle, and meet the needs of efficient vehicle operation.

[0015] In one alternative implementation, before determining the target vehicle's route, the QR code and laser-based fusion positioning method further includes:

[0016] A preset QR code route is laid out. The QR codes arranged in a straight line in the preset QR code route are laid out according to the straight driving lanes laid out in the target plane library. Each straight QR code corresponds to a straight driving lane. Each straight QR code contains a first code, several middle codes and a last code. The first code corresponds to the starting point of the straight driving lane and the last code corresponds to the ending point of the straight driving lane.

[0017] Enter the corresponding positioning data for the first and last codes of each linearly arranged QR code to obtain the position coordinates of each first and last code;

[0018] For each QR code arranged in a straight line, calculate the position coordinates of each middle code according to the position coordinates of the first and last codes, as well as the measured spacing between each middle code.

[0019] For each QR code arranged in a straight line, calculate the first distance between the first and last codes based on their corresponding position coordinates, and sum the spacing between all the intermediate codes to obtain the second distance. If 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 of each QR code arranged in a straight line, until the first distance and the second distance are equal.

[0020] This invention takes into account the actual layout of the target plane library, designs corresponding QR code routes and lays them in the straight driving channels of the target plane library. By recording the positioning data obtained by laser navigation only into each first and last code, calculating each intermediate code based on the first and last codes, and verifying all QR codes, the QR code positioning method can be optimized. This can effectively prevent the data recorded in the QR code from not matching the data calculated in the intermediate QR code, thereby helping to ensure the positioning effect of laser and QR code fusion during subsequent vehicle operation.

[0021] In an alternative implementation, before controlling the target vehicle to travel along the route in laser navigation mode, the QR code and laser-based fusion positioning method further includes:

[0022] Obtain 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 and generated based on the historical point cloud data of the target vehicle;

[0024] Determine if the matching degree exceeds the 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 to provide auxiliary positioning information so that the target vehicle can optimize 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 the preset matching threshold. The preset reference object placement requirements include at least random placement, interval placement and fixed placement in the storage locations laid out in the target plane library, as well as prohibited placement in the straight driving lanes laid out in the target plane library.

[0026] This invention designs a location matching process between the current point cloud data of the target vehicle and the corresponding electronic map constructed from historical point cloud data when the vehicle starts running. 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 in positioning to ensure that the matching degree meets the matching requirements. That is, the vehicle's positioning in the electronic map is successfully matched, which helps to improve the accuracy of vehicle positioning, thereby ensuring the accuracy and efficiency of subsequent QR code and laser fusion positioning, and meeting the needs of efficient vehicle operation.

[0027] In one optional implementation, the QR code and laser-based fusion positioning method further includes:

[0028] 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 will be executed.

[0029] When the matching degree between the current point cloud data of the target vehicle and its corresponding location in the electronic map exceeds a set matching threshold, the present invention confirms that the vehicle's location matching in the electronic map is successful. This can greatly ensure the accuracy of vehicle positioning, help improve the accuracy and efficiency of subsequent QR code and laser fusion positioning, and greatly meet the needs of efficient and stable vehicle operation.

[0030] In one optional implementation, the QR code and laser-based fusion positioning method further includes:

[0031] If there is no preset QR code route in the driving route, or if no switch QR code is recognized, the target vehicle will be controlled to keep running in laser navigation mode until the end of the driving route is reached.

[0032] This invention maintains laser navigation mode even when the vehicle does not switch to fusion positioning mode, thus ensuring stable vehicle operation.

[0033] Secondly, the present invention provides a fusion positioning device based on QR codes and lasers, the device comprising:

[0034] The 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 laser navigation mode;

[0035] The pattern determination module is used to 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.

[0036] The mode switching module is used to control the target vehicle to navigate to the preset positioning area when there is a preset QR code route in the driving route, and to identify the preset positioning area. At least one switching QR code is embedded in the same straight line in the preset positioning area.

[0037] The fusion positioning module is used to switch the target vehicle to fusion positioning mode if any switching QR code is detected. The positioning data is obtained based on the fusion positioning mode, and the target vehicle is controlled to continue running along the driving route based on the positioning data until the end of the driving route is reached.

[0038] The present invention provides a fusion positioning device based on QR codes and lasers. It controls a target vehicle to operate along a predetermined route in laser navigation mode. If a preset QR code route exists on the route, the vehicle is guided to navigate to a preset positioning area and its built-in switching QR code is identified. When any switching QR code is identified, the vehicle is switched to fusion positioning mode and fusion positioning is performed to obtain corresponding positioning data for controlling the target vehicle to continue operating along the route. This effectively avoids vehicle positioning loss or positioning deviation, improves vehicle positioning accuracy, and reduces the failure rate of trajectory deviation. It helps improve the accuracy and stability of vehicle operation, meeting the requirements for precise, efficient, and stable vehicle operation.

[0039] Thirdly, the present invention provides a vehicle, the vehicle including a controller, the controller including a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the QR code and laser-based fusion positioning method described in the first aspect or any corresponding embodiment thereof.

[0040] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the QR code and laser-based fusion positioning method of the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0041] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating the fusion positioning method based on QR code and laser according to an embodiment of the present invention;

[0043] Figure 2 This is a flowchart illustrating another method for fusion positioning based on QR codes and lasers according to an embodiment of the present invention.

[0044] Figure 3 This is a schematic diagram of the QR code deployment route;

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

[0046] Figure 5 This is a flowchart illustrating the operation of an AGV.

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

[0048] Figure 7 This is a schematic diagram of the structure of the heating controller according to an embodiment of the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0051] This embodiment provides a fusion positioning method based on QR codes and lasers. Figure 1 This is a flowchart illustrating a fusion positioning method based on QR codes and lasers according to an embodiment of the present invention, as shown below. Figure 1 As shown, the process includes the following steps:

[0052] Step S101: Determine the driving route of the target vehicle and control the target vehicle to run along the driving route in laser navigation mode.

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

[0054] Step S102: 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.

[0055] It should be noted that the preset QR code route in this embodiment is also designed according to the layout of the target flat library, such as taking into account the layout of the driving channels and storage locations in the target flat library for adaptive settings.

[0056] Step S103: When there is a preset QR code route in the driving route, control the target vehicle to navigate to the preset positioning area and identify the preset positioning area. At least one switch QR code is embedded in the preset positioning area on the same straight line.

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

[0058] Step S104: If any switching QR code is detected, the target vehicle is switched to the fusion positioning mode, positioning data is obtained based on the fusion positioning mode, and the target vehicle is controlled to continue running along the driving route based on the positioning data until the end of the driving route is reached.

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

[0060] In this embodiment of the invention, the target vehicle is controlled to run along a set driving route in laser navigation mode. If a preset QR code route exists on the driving route, the vehicle is controlled to navigate to the preset positioning area and identify the built-in switching QR code. When any switching QR code is identified, the vehicle is controlled to switch to fusion positioning mode and perform fusion positioning to obtain the corresponding positioning data to control the target vehicle to continue running along the driving route. This can avoid the occurrence of vehicle positioning loss or positioning deviation, thereby improving vehicle positioning accuracy, reducing the failure rate of trajectory deviation, and greatly improving the accuracy and stability of vehicle operation, thus meeting the requirements for precise, efficient and stable vehicle operation.

[0061] This embodiment provides a fusion positioning method based on QR codes and lasers. Figure 2 This is a flowchart illustrating another fusion positioning method based on QR codes and lasers according to an embodiment of the present invention, as shown below. Figure 2 As shown, the process includes the following steps:

[0062] Step S201: Determine the driving route of the target vehicle and control the target vehicle to run along the driving route in laser navigation mode.

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

[0064] Step a1: Lay out the preset QR code route. The QR codes arranged in a straight line in the preset QR code route are laid out according to the straight driving channels laid out in the target plane library. Each straight QR code corresponds to a straight driving channel. Each straight QR code contains a first code, several middle codes and a last code. The first code corresponds to the starting point of the straight driving channel and the last code corresponds to the ending point of the straight driving channel.

[0065] It should be noted that the layout of the target flat warehouse refers to the rational planning and arrangement of various components within the warehouse, such as storage areas, aisles, stack spacing, and receiving and shipping areas, on a horizontal plane. This layout emphasizes the horizontal storage and handling of goods and typically does not involve high-rise shelving, instead employing a natural stacking method. In this embodiment, the layout of the target flat warehouse includes at least storage location information, mobile tool racks, fixed reference objects, and driving aisles; wherein, mobile tool racks are correspondingly set in different storage locations, and corresponding QR codes can be laid on the mobile tool racks, fixed reference objects, and driving aisles to assist in vehicle positioning.

[0066] Step a2: Enter the corresponding positioning data for the first and last codes of each linearly arranged QR code to obtain the position coordinates of each first and last code.

[0067] In this embodiment, the entered positioning data is the positioning coordinates obtained based on the vehicle's laser positioning mode.

[0068] Step a3: For each QR code arranged in a straight line, calculate the position coordinates of each intermediate code according to the position coordinates of the first and last codes, as well as the measured spacing of each intermediate code.

[0069] In this embodiment, the position coordinates of each intermediate code are calculated based on the position coordinates of the first and last codes and the spacing between each intermediate code, combined with the set relationship of each linearly arranged QR code.

[0070] Step a4: For each QR code arranged in a straight line, calculate the first distance between the first and last codes based on the position coordinates of the first and last codes, and sum the spacing of all the middle 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 and last codes of each QR code arranged in a straight line, until the first distance and the second distance are equal.

[0071] In practical applications, due to errors in laser positioning, the data entered into the QR code may be biased, or the actual measured spacing between the QR codes may be inaccurate, resulting in inaccurate positioning data contained in each QR code in the preset QR code route after laying. Therefore, this embodiment has designed a verification process for the entered and calculated data of each QR code to ensure the accuracy of the corresponding data in the QR code.

[0072] In this embodiment of the invention, considering the actual layout of the target plane library, a corresponding QR code route is designed and laid in the straight driving channel of the target plane library. By recording the positioning data obtained by laser navigation only into each first and last code, calculating each intermediate code based on the first and last codes, and verifying all QR codes, the QR code positioning method can be optimized. This can effectively prevent the data recorded in the QR code from not matching the data calculated in the intermediate QR code, thereby helping to ensure the positioning effect of laser and QR code fusion during subsequent vehicle operation.

[0073] It should be noted that the fusion positioning mode activation in this embodiment requires ensuring that the vehicle's current location matches the corresponding positioning information on the electronic map. In practical applications, the vehicle may have been moved after its last operation, causing a mismatch between the electronic map recorded by the vehicle and its current actual location. Therefore, before controlling the target vehicle to run along the driving route in laser navigation mode, the fusion positioning method based on QR codes and lasers in this embodiment further includes:

[0074] Step b1: Obtain the current point cloud data of the target vehicle.

[0075] Step b2: Calculate the matching degree between the current point cloud data and the electronic map, which 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. It can be adaptively set according to the actual similarity calculation method, such as calculating the Euclidean distance between the two. This is only an example.

[0077] Step b3: Determine whether the matching degree exceeds the preset matching threshold.

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

[0079] Step b4: If the matching degree does not exceed the preset matching threshold, then 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 to provide auxiliary positioning information so that the target vehicle can optimize 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 the preset matching threshold. The preset reference object placement requirements include at least random placement, interval placement and fixed placement in the storage locations laid out in the target plane library, as well as prohibited placement in the straight driving lanes 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 plate, which is only used as an example.

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

[0082] In this embodiment of the invention, a location matching process is designed between the current point cloud data of the target vehicle and the corresponding electronic map constructed from historical point cloud data when the vehicle starts running. 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 in positioning to ensure that the matching degree meets the matching requirements. When the matching degree exceeds the set matching threshold, the vehicle's positioning in the electronic map is confirmed to be successfully matched. This can greatly ensure the accuracy of vehicle positioning and help improve the accuracy and efficiency of subsequent QR code and laser fusion positioning, greatly meeting the needs of efficient and stable vehicle operation.

[0083] Step S202: Determine if a preset QR code route exists within the driving route. The preset QR code route contains multiple QR codes arranged in a straight line. For details, please refer to [link to details]. Figure 1 Step S102 of the illustrated embodiment will not be described again here.

[0084] Step S203: When a preset QR code route exists within the driving route, the target vehicle is controlled to navigate to a preset positioning area, and the preset positioning area is identified. At least one intermittently distributed switching QR code is embedded in the preset positioning area along the same straight line. For details, please refer to... Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0085] Step S204: If any switching QR code is detected, the target vehicle is switched to the fusion positioning mode, positioning data is obtained based on the fusion positioning mode, and the target vehicle is controlled to continue running along the driving route based on the positioning data until the end of the driving route is reached.

[0086] Specifically, step S204 above, which involves obtaining positioning data based on a fusion positioning mode and controlling the target vehicle to continue along the driving route based on the positioning data, includes:

[0087] Step S2041: When the target vehicle scans any QR code in the preset QR code route, read the recorded positioning data of the QR code and obtain the current laser data of the target vehicle; calculate the current positioning deviation based on the recorded 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 running along the driving route based on the current positioning data.

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

[0089] Step S2042: When the target vehicle fails to scan any QR code in the preset QR code route, the current laser data and current mileage of the target vehicle are obtained. 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 running along the driving route based on the current positioning data.

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

[0091] It should be noted that the current mileage of the target vehicle in this embodiment can be determined according to the conventional calculation method of 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 then processing this information to achieve vehicle positioning), a laser odometer (a method of mileage estimation using lidar, that is, determining the vehicle's position and orientation based on point cloud data, i.e., the vehicle's pose), or a visual odometer (a method of obtaining image information through a camera sensor installed on the vehicle to estimate the vehicle's motion).

[0092] The fusion positioning mode in this embodiment of the invention is designed with a positioning data correction process when the vehicle scans a QR code and a mileage data correction process when the vehicle is far away from the QR code. This can greatly ensure the accuracy of the positioning data, further improve the positioning accuracy of the vehicle, and meet the needs of efficient vehicle operation.

[0093] Step S205: If there is no preset QR code route in the driving route, or if no switching QR code is recognized, control the target vehicle to keep running in laser navigation mode until the end of the driving route is reached.

[0094] This embodiment of the invention maintains laser navigation mode even when the vehicle does not switch to fusion positioning mode, thus ensuring stable vehicle operation.

[0095] In one specific embodiment, the target vehicle is an AGV (Automated Guided Vehicle). Addressing the numerous shortcomings of laser positioning for AGVs in a planar warehouse scenario, a fusion positioning scheme combining QR codes and lasers is adopted to improve the accuracy and stability of AGV operation. Specifically, the fusion positioning scheme includes:

[0096] 1. Lay out QR code routes.

[0097] In this embodiment, Figure 3 This is a schematic diagram of the QR code deployment route. Since static reference points are scarce in practical applications, with only the surrounding fence and a few structural columns serving as fixed reference points, the route (i.e., the walking route) is chosen as the reference point. Figure 3 In each driving lane, corresponding QR codes are laid at intervals of 50cm to 100cm along the route to assist in positioning.

[0098] It should be noted that the QR code laying route in this embodiment is designed based on the planned depot locations. Compared with the traditional single QR code navigation method, this embodiment only needs to be pasted on any vehicle driving lane, thus using fewer QR codes and making it more flexible. At the same time, only the information of each first and last code needs to be entered, 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 a static reference object.

[0100] In this embodiment, given the lack of static reference objects in the planar warehouse, a static tooling plate is placed in the middle of the warehouse location to increase the number of fixed reference objects. The placement requirements for the static tooling plate are as follows: (1) It cannot be placed in a regular manner, 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 cannot violate the principle of (1); (3) It must be fixed to the ground when placed and cannot be moved at will; (4) The AGV needs to achieve a positioning matching degree and feature degree of more than 75%; if it is not met, continue to add reference objects until the requirements are met; (5) The position of the static tooling plate should not affect the normal passage of vehicles.

[0101] In one specific embodiment, Figure 4 This is a schematic diagram of the planar library deployment. Figure 4 As can be seen, in this embodiment, a paper QR code for auxiliary positioning is affixed below the warehouse location moving tool rack; 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 AGV positioning.

[0102] 3. Vehicle preparation work before AGV operation.

[0103] In this embodiment, when starting the AGV, an initial coordinate of the AGV needs to be set to determine its position on the map. If the initial coordinate of the AGV (i.e. the starting point of positioning) needs to be manually entered, or the AGV is pushed to the origin (0,0) coordinate point on the map to start the machine, the feature degree and matching degree will be displayed on the map. When both reach more than 70%, it means that the AGV positioning is successful.

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

[0105] In this embodiment, when the feature accuracy and matching accuracy reach 70% or higher, i.e., the positioning is successful, the AGV drives itself directly above the QR code; then it uses the coordinate parameters of the current laser positioning (including the coordinates corresponding to the X and Y axes, i.e., the angle values ​​relative to the Cartesian coordinate system, quaternions, and data accuracy up to 10) to determine the positioning accuracy. 8 The coordinates of the first and last codes are entered into the QR code. It should be noted that if all QR codes are entered from the vehicle body, the error value of laser positioning (between 1-2cm) will cause the entered QR code to deviate by 1-2cm around the vehicle's driving route, thus affecting positioning accuracy. Therefore, in this embodiment, only the coordinates of the first and last codes (X1, Y1) and (X2, Y2) are entered during data entry. The angle values ​​of the first and last codes are calculated. and distance value Then measure the spacing values ​​L1, L2, L3, L4, L5..., L between each QR code in the middle of the first and last codes. i (where i is a positive number), and according to the formula for calculating the coordinates of the middle QR code X i =X1+L i ×cosθ and Y i =Y1+L i ×sinθ, calculate the coordinates (X) of the middle QR code sequentially. i ,Y i Finally, the value of L is compared with L1+L2+L3+L4+L5+...+L i The values ​​are compared to prevent discrepancies between the entered QR code data and the calculated intermediate QR code data, thus ensuring the effectiveness of laser and QR code fusion positioning.

[0106] It should be noted that if the data does not match, there are two possibilities: 1. The calculated QR code has an error, requiring careful checking of the distance between the calculated data and the QR code; 2. When entering the QR code, the matching degree and feature degree of the AGV positioning are less than 70%, resulting in an inaccurate QR code. For special cases, such as storage location codes extending at 90° or 270° clockwise on both sides, the QR code can be calculated using angle values ​​θ1 = θ + 90° or θ2 = θ + 270°, with the calculation method being the same as above.

[0107] 5. Positioning during AGV operation.

[0108] In this embodiment, during vehicle operation, a QR code route is affixed along the travel path. Three consecutively affixed QR codes are positioned along this route as switching QR codes. For details, please refer to... Figure 5In the AGV scheduling system, the triple code (i.e., the corresponding switching QR code) is synchronously set as the switching point for switching from laser mode to laser and QR code fusion positioning mode. After the vehicle successfully switches to laser QR code fusion positioning mode, when the vehicle is directly above the QR code and scans the QR code, the coordinate value data frame recorded in the QR code is called and the coordinate value data frame measured by the current laser positioning is fused and corrected for positioning (i.e., the deviation between QR code and laser positioning is calculated in the figure, and correction navigation is performed). When the vehicle moves away from the QR code, laser fusion odometer positioning is performed (i.e., positioning based on laser fusion odometer and correction based on laser fusion odometer positioning in the figure) to ensure that the vehicle can smoothly move to the next QR code. In the warehouse area where there are few static references, the positioning accuracy of AGV is greatly improved.

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

[0110] This embodiment also provides a fusion positioning device based on QR codes and lasers, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, a "module" can be a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0111] This invention provides a fusion positioning device based on QR codes and lasers, such as... Figure 6 As shown, the device includes:

[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 laser navigation mode.

[0113] The pattern judgment module 602 is used to 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.

[0114] The mode switching module 603 is used to control the target vehicle to navigate to the preset positioning area when there is a preset QR code route in the driving route, and to identify the preset positioning area. At least one switching QR code is embedded in the preset positioning area along the same straight line.

[0115] The fusion positioning module 604 is used to switch the target vehicle to fusion positioning mode if any switching QR code is detected, 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 the end of the driving route is reached.

[0116] In some optional implementations, 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 acquire 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, the electronic map being constructed and 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 vehicle in the target plane library based on preset reference object placement requirements. A preset reference object with a QR code is placed in the center to provide auxiliary positioning information, so that the target vehicle can optimize 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. The placement requirements of the preset reference object include at least random placement, interval placement and fixed placement in the storage positions laid out in the target plane library, as well as prohibited placement in the straight driving lanes laid out in the target plane library. The fifth matching submodule is used to execute the step of controlling the target vehicle to run along the driving route in laser navigation mode if the matching degree exceeds the preset matching threshold.

[0117] In some optional implementations, 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 recorded positioning data of the QR code when the target vehicle scans any QR code in the preset QR code route, and simultaneously acquire the current laser data of the target vehicle; calculate the current positioning deviation based on the recorded 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 running along the driving route based on the current positioning data; the mileage correction submodule is used to acquire 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 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 driving route based on the current positioning data.

[0118] In some optional embodiments, the device further includes: a QR code laying module for laying a preset QR code route, wherein each linearly arranged QR code in the preset QR code route is laid according to a straight-line driving channel laid out in the target plane library; each linearly arranged QR code corresponds to a straight-line driving channel; each linearly arranged QR code contains a first code, several intermediate codes, and a last code, wherein the first code corresponds to the starting point of the straight-line driving channel, and the last code corresponds to the ending point of the straight-line driving channel; corresponding positioning data is entered into the first code and the last code of each linearly arranged QR code to obtain each The position coordinates corresponding to the first and last codes are calculated; for each QR code arranged in a straight line, the position coordinates of each middle code are calculated according to the position coordinates corresponding to the first and last codes and the measured spacing of each middle code; for each QR code arranged in a straight line, 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 second distance is obtained by summing the spacing of all middle codes; when the first distance and the second distance are not equal, the process returns to the step of entering the corresponding positioning data for the first and last codes of each QR code arranged in a straight line until the first distance and the second distance are equal.

[0119] In some optional embodiments, the device further includes a laser navigation module, which controls the target vehicle to maintain laser navigation mode until the end of the driving route is reached when there is no preset QR code route in the driving route, or when no switching QR code is recognized.

[0120] Further functional descriptions of the above modules are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0121] In this embodiment, the fusion positioning device based on QR code and laser is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute 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 this invention can effectively avoid vehicle positioning loss or positioning deviation, improve vehicle positioning accuracy while reducing the failure rate of trajectory deviation, improve the accuracy of vehicle operation, and meet the needs of efficient and stable vehicle operation.

[0123] This invention also provides a vehicle, which includes a controller; please refer to [link to relevant documentation]. Figure 7 , Figure 7 This is a schematic diagram of the structure of the controller provided in an optional embodiment of the present invention, as shown below. Figure 7As shown, the controller includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the controller, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple controllers can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 7 Take a processor 10 as an example.

[0124] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0125] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0126] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the controller. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0127] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or 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, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 7Taking the example of a connection between China and Israel via a bus.

[0129] Input device 30 can receive input digital or character information, and generate signal inputs related to user settings and function control of the thermal power unit's operation control unit, such as a touch screen, keypad, mouse, trackpad, touchpad, indicator, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative 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 aforementioned fusion positioning method based on QR codes and lasers into the vehicle enables it to achieve a very stable and reliable positioning effect. The appropriate positioning mode can be determined based on the layout of the actual planar library, thereby avoiding positioning loss or offset, reducing the incidence of trajectory deviation failures, ensuring the accuracy and stability of vehicle operation, and ultimately meeting the requirements for efficient vehicle operation, thus improving the user experience to a certain extent.

[0131] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor main control chips, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

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

Claims

1. A fusion positioning method based on QR codes and lasers, characterized in that, The method includes: A preset QR code route is laid out, wherein each QR code arranged in a straight line in the preset QR code route is laid out according to the straight driving channel laid out in the target plane library; each straight QR code corresponds to a straight driving channel; each straight QR code contains 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 ending point of the straight driving channel. Enter the corresponding positioning data for the first and last codes of each linearly arranged QR code to obtain the position coordinates of each first and last code; For each QR code arranged in a straight line, calculate the position coordinates of each middle code according to the position coordinates of the first and last codes, as well as the measured spacing between each middle code. For each QR code arranged in a straight line, calculate the first distance between the first and last codes based on their corresponding position coordinates, and sum the spacing between all the middle 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 and last codes of each QR code arranged in a straight line, until the first distance and the second distance are equal. Determine the driving route of the target vehicle, and control the target vehicle to run along the driving route in laser navigation mode; Determine whether a preset QR code route exists in the driving route, wherein the preset QR code route contains multiple QR codes arranged in a straight line; When a preset QR code route exists in the driving route, the target vehicle is controlled to navigate to the preset positioning area and the preset positioning area is identified. At least one switch QR code is embedded in the same straight line in the preset positioning area. If any switching QR code is detected, the target vehicle is switched to fusion positioning mode, positioning data is obtained based on the fusion positioning mode, and the target vehicle is controlled to continue running along the driving route based on the positioning data until the end of the driving route is reached.

2. The fusion positioning method based on QR code and laser as described in claim 1, characterized in that, The step of obtaining positioning data based on the fusion positioning mode and controlling the target vehicle to continue running along the driving route based on the positioning data includes: When the target vehicle scans any QR code in the preset QR code route, the system reads the recorded positioning data of the QR code and simultaneously obtains the current laser data of the target vehicle; the system calculates the current positioning deviation based on the recorded positioning data and the current laser data, performs correction processing on the current laser data based on the current positioning deviation to obtain the current positioning data, and controls the target vehicle to continue running along the driving route based on the current positioning data. When the target vehicle fails to scan any QR code in the preset QR code route, the current laser data and current mileage of the target vehicle are obtained. 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 running along the driving route based on the current positioning data.

3. The fusion positioning method based on QR code and laser as described in claim 1, characterized in that, Before controlling the target vehicle to travel along the driving route in laser navigation mode, the method further includes: Obtain the current point cloud data of the target vehicle; Calculate the matching degree between the current point cloud data and the electronic map, which is constructed and generated based on the historical point cloud data of the target vehicle; Determine whether the matching degree exceeds a preset matching threshold; If the matching degree does not exceed a 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 to provide auxiliary positioning information so that the target vehicle can optimize 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 the preset matching threshold. The preset reference object placement requirements include at least random placement, spaced placement, and fixed placement in the storage locations laid out in the target plane library, as well as prohibited placement in the straight driving lanes laid out in the target plane library.

4. The fusion positioning method based on QR code and laser as described in claim 3, characterized in that, The method further includes: If the matching degree exceeds a preset matching threshold, then the step of controlling the target vehicle to run along the driving route in laser navigation mode is executed.

5. The fusion positioning method based on QR code and laser as described in claim 1, characterized in that, The method further includes: If there is no preset QR code route in the driving route, or if no switching QR code is recognized, the target vehicle is controlled to keep running in laser navigation mode until the end of the driving route is reached.

6. A fusion positioning device based on QR codes and lasers, characterized in that, The device includes: A QR code laying module is used to lay a preset QR code route. The QR codes arranged in a straight line along this route correspond to straight driving lanes laid out in a target plane library. Each straight-line arrangement of QR codes corresponds to a straight driving lane. Each straight-line arrangement of QR codes contains a first code, several intermediate codes, and a last code. The first code corresponds to the starting point of the straight driving lane, and the last code corresponds to the ending point of the straight driving lane. Corresponding positioning data is entered for the first and last codes of each straight-line arrangement of QR codes to obtain the position corresponding to each first and last code. Coordinates; For each QR code arranged in a straight line, calculate the position coordinates of each middle code based on the position coordinates corresponding to the first and last codes, as well as the measured spacing between each middle code; For each QR code arranged in a straight line, calculate the first distance between the first and last codes based on the position coordinates corresponding to the first and last codes, and sum the spacing between all middle 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 and last codes of each QR code arranged in a straight line, until the first distance and the second distance are equal; The 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 laser navigation mode; The pattern determination module is used to determine whether there is a preset QR code route in the driving route, wherein the preset QR code route contains multiple QR codes arranged in a straight line; The mode switching module is used to control the target vehicle to navigate to a preset positioning area when there is a preset QR code route in the driving route, and to identify the preset positioning area, wherein at least one switching QR code is embedded in the same straight line in the preset positioning area. The fusion positioning module is used to switch the target vehicle to fusion positioning mode if any switching QR code is detected, perform positioning based on the fusion positioning mode to obtain positioning data, and control the target vehicle to continue running along the driving route based on the positioning data until the end of the driving route is reached.

7. A vehicle, characterized in that, The vehicle includes a vehicle body and a fusion positioning method based on QR code and laser as described in any one of claims 1 to 5, which is disposed on the vehicle body.

8. The vehicle according to claim 7, characterized in that, The vehicle in question is an AGV (Automated Guided Vehicle).

9. A computer medium, characterized in that, The medium includes the vehicle body and the fusion positioning method based on QR code and laser as described in any one of claims 1 to 5, which is disposed on the vehicle body.

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