Cooperative positioning system, method and device for automated guided vehicle, and storage medium

Abstract

The invention discloses an automated guided vehicle cooperative positioning system, method and device and a storage medium. Comprising at least one light pulse transmitter and at least one vehicle body receiver, the optical pulse transmitter is used for generating and transmitting a scanning optical signal and an optical pulse signal according to the synchronous optical signal; the vehicle body receiving module is used for obtaining the mixed signals, conducting signal separation on the mixed signals to generate separation signals and determining the vehicle body position posture of the automatic guiding vehicle based on the separation signals, and the mixed signals comprise the synchronous optical signals, the scanning optical signals and the optical pulse signals. A global optical synchronization mechanism is introduced, a fixed-period synchronous optical signal covered by a whole space is realized by designing an optical pulse transmitter, a pulse period is introduced to carry out signal separation, and cooperative positioning of multiple guide vehicles is finally realized by determining the position and attitude of a vehicle body, so that the positioning precision and reliability are improved, and more efficient and accurate cooperative transportation is realized. And the logistics efficiency and the production automation level are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cooperative transportation technology, and in particular to an automated guided vehicle cooperative positioning system, method, device and storage medium. BACKGROUND

[0002] With the continuous development of industrial automation and logistics technology, automated guided vehicles have been widely used in various fields. Automated guided vehicles can autonomously travel according to a preset path, complete tasks such as cargo handling, loading and unloading, and improve logistics efficiency and production automation level.

[0003] In some complex logistics scenarios, a single automated guided vehicle may not be able to meet the transportation needs, and multiple automated guided vehicles need to work cooperatively. For example, in a large warehouse, multiple automated guided vehicles need to cooperatively transport goods to improve transportation efficiency and reduce transportation time. In this case, the cooperative transportation positioning of automated guided vehicles becomes one of the key technologies.

[0004] Although the existing indoor GPS system already has excellent on-site static measurement capability and can meet the high-precision measurement needs of most quasi-static conditions in manufacturing sites, when facing the dynamic measurement needs of continuous tracking and high-precision real-time acquisition in the process of multiple automated guided vehicle transfer, the distributed measurement system of multiple stations and multiple observation fusion of the measurement network will introduce significant dynamic synchronization error in the measurement process, and thus the synchronization accuracy is low. SUMMARY

[0005] The present application provides an automated guided vehicle cooperative positioning system, method, device and storage medium to improve signal synchronization accuracy based on a global light synchronization mechanism and realize cooperative transportation of multiple automated guided vehicles.

[0006] According to an aspect of the present application, an automated guided vehicle cooperative positioning system is provided, which comprises at least one light pulse transmitter and at least one vehicle body receiver.

[0007] The light pulse transmitter is configured to generate and emit a scanning light signal and a light pulse signal according to a synchronization light signal.

[0008] The vehicle body receiving module is configured to acquire a mixed signal, perform signal separation on the mixed signal to generate each separated signal, and determine the position and attitude of the vehicle body of the automated guided vehicle based on the separated signal, wherein the mixed signal comprises the synchronization light signal, the scanning light signal and the light pulse signal.

[0009] Optionally, the light pulse transmitter specifically comprises: a signal transmitting unit and a signal scanning unit; the signal transmitting unit is configured to obtain pulse parameters according to the synchronization light signal, generate a light pulse signal according to the pulse parameters, and transmit the light pulse signal to a specified range, wherein the pulse parameters comprise pulse brightness and pulse width; the signal scanning unit is configured to trigger a photoelectric sensor integrated therein according to the synchronization light signal, and generate and transmit a scanning light signal based on the photoelectric sensor.

[0010] Optionally, the system further comprises: a global clock; the global clock is configured to obtain a preset frequency, generate an electrical pulse sequence according to the preset frequency, generate the synchronization light signal according to the electrical pulse sequence, and send the synchronization light signal to the light pulse transmitter.

[0011] Optionally, the vehicle body receiving module comprises: a signal receiver and a signal processor; the signal receiver is configured to obtain the mixed signal and send the mixed signal to the signal processor; the signal processor is configured to perform photoelectric conversion and signal processing analysis on the received mixed signal to generate a separated signal according to the pulse period, and generate a scanning angle according to the separated signal.

[0012] Optionally, the vehicle body receiving module further comprises: a local clock connected to the signal receiver; the signal receiver is further configured to generate a trigger timing signal according to the mixed signal, and send the trigger timing signal to the local clock; the local clock is configured to start timing to generate timing information according to the trigger timing signal, determine the pulse period according to the timing information, and feed back the pulse period to the signal processor.

[0013] Optionally, the vehicle body receiving module further comprises: a memory connected to the signal receiver; the signal processor is further configured to send the scanning angle to the memory; and the memory is configured to receive and store the scanning angle.

[0014] Optionally, the system further comprises: an upper computer connected to the vehicle body receiving module; the vehicle body receiving module is further configured to extract the scanning angle in the memory according to a specified time interval to form a data packet, and send the data packet to the upper computer through Ethernet; and the upper computer is configured to obtain positioning related parameters, determine the vehicle body position and posture of the automatic guided vehicle according to the positioning related parameters, and feed back the vehicle body position and posture to the vehicle body receiving module, wherein the positioning related parameters comprise inherent parameters of the transmitting station, network orientation parameters of the measurement field, and target parameters.

[0015] According to another aspect of the present application, an automatic guided vehicle cooperative positioning method is provided, which comprises:

[0016] generating a scanning light signal and a light pulse signal according to the synchronization light signal by the light pulse transmitter;

[0017] The mixed signal is acquired by the vehicle body receiving module, the mixed signal is signal separated to generate each separated signal, and the vehicle body position and posture of the automatic guided vehicle is determined based on the separated signal, wherein the mixed signal includes a synchronous light signal, a scanning light signal and a light pulse signal.

[0018] According to another aspect of the present application, there is provided an electronic device, comprising:

[0019] at least one processor; and

[0020] a memory in communication with the at least one processor; wherein

[0021] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the automatic guided vehicle cooperative positioning method according to any one of the embodiments of the present application.

[0022] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to perform the automatic guided vehicle cooperative positioning method according to any one of the embodiments of the present application when executed.

[0023] The technical scheme of the embodiments of the present application introduces a global light synchronization mechanism, designs a light pulse transmitter to realize a fixed period synchronous light signal covering the whole space, and introduces a pulse period for signal separation, thereby realizing multi-guided vehicle cooperative positioning by determining the vehicle body position and posture, improving positioning accuracy and reliability, realizing more efficient and accurate cooperative transportation, and improving logistics efficiency and production automation level.

[0024] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0026] Figure 1 is a structural schematic diagram of an automatic guided vehicle cooperative positioning system according to the first embodiment of the present application;

[0027] Figure 2is a structural schematic diagram of another automatic guided vehicle cooperative positioning system according to an embodiment of the present application;

[0028] Figure 3 is a structural schematic diagram of another automatic guided vehicle cooperative positioning system according to an embodiment of the present application;

[0029] Figure 4 is a flow chart of an automatic guided vehicle cooperative positioning method according to an embodiment of the present application;

[0030] Figure 5 is a structural schematic diagram of an electronic device for implementing an automatic guided vehicle cooperative positioning method according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Embodiment one

[0034] Figure 1 A structural schematic diagram of an automatic guided vehicle cooperative positioning system is provided according to an embodiment of the present application, the system comprising: at least one light pulse emitter and at least one vehicle body receiver;

[0035] Optionally, the light pulse transmitter is configured to generate and emit the scanning light signal and the light pulse signal according to the synchronization light signal; and the vehicle body receiving module is configured to acquire the mixed signal, perform signal separation on the mixed signal to generate respective separated signals, and determine the position and posture of the automatic guided vehicle based on the separated signals, wherein the mixed signal comprises the synchronization light signal, the scanning light signal and the light pulse signal.

[0036] The light pulse transmitter is a device capable of generating and emitting light pulse signals. The light pulse transmitter can use specific optical elements and energy excitation mechanisms to convert electrical energy or other forms of energy into optical energy and emit it in the form of pulses. The vehicle body receiving module is a receiving device installed on the automatic guided vehicle for receiving light signals. In this embodiment, the vehicle body receiving module is mainly used to receive mixed signals from the outside, including synchronization light signals, scanning light signals and light pulse signals. By processing and analyzing the mixed signals, the vehicle body receiver can provide key data for determining the position, posture and other information of the automatic guided vehicle, thereby assisting the automatic guided vehicle to achieve precise positioning, navigation and related operation control functions. The automatic guided vehicle is a driverless transport vehicle equipped with an automatic guiding device, capable of traveling along a specified guiding path, with safety protection and various transfer functions, commonly used in industrial production, logistics and warehousing fields.

[0037] Specifically, the light pulse transmitter can convert the synchronization light signal into specific scanning light signals and light pulse signals and emit them. The vehicle body receiving module is used to receive mixed signals and decompose them into different separated signals through signal separation technology, and then calculate the position and posture information of the automatic guided vehicle, thereby helping the vehicle to achieve accurate positioning and navigation.

[0038] In summary, the light pulse transmitter is responsible for generating and emitting specific light signals, while the vehicle body receiving module is responsible for receiving and processing these signals to determine the position and posture of the automatic guided vehicle. The two modules work together to realize the perception and control functions of the automatic guided vehicle.

[0039] Figure 2 A structural diagram of an automatic guided vehicle cooperative positioning system is provided for the first embodiment of the present application, Figure 2 The system further comprises a global clock, the light pulse transmitter specifically comprises a signal emitting unit and a signal scanning unit, and the vehicle body receiving module specifically comprises a signal receiver, a signal processor, a memory and a local clock.

[0040] Optionally, the light pulse transmitter specifically comprises: a signal transmitting unit and a signal scanning unit; the signal transmitting unit is configured to obtain pulse parameters according to the synchronization light signal, generate a light pulse signal according to the pulse parameters, and transmit the light pulse signal to a specified range, wherein the pulse parameters include pulse brightness and pulse width; the signal scanning unit is configured to trigger a photoelectric sensor integrated therein according to the synchronization light signal, and generate and transmit a scanning light signal based on the photoelectric sensor.

[0041] Specifically, the light pulse transmitter comprises a signal transmitting unit and a signal scanning unit. The signal transmitting unit obtains corresponding pulse parameters according to the synchronization light signal, and the pulse parameters include pulse brightness and pulse width. Then, the signal transmitting unit generates a light pulse signal according to the pulse parameters, and transmits the light pulse signal to a specified range. For example, the signal transmitting unit can transmit a high-brightness narrow-pulse light signal to its coverage range. The signal scanning unit triggers a photoelectric sensor integrated therein according to the synchronization light signal, to generate a scanning light signal for detecting a trigger pulse of another light pulse receiver, thereby realizing wireless cascade triggering.

[0042] Optionally, the system further comprises: a global clock; the global clock is configured to obtain a preset frequency, generate an electrical pulse sequence according to the preset frequency, generate a synchronization light signal according to the electrical pulse sequence, and send the synchronization light signal to the light pulse transmitter.

[0043] The global clock refers to a clock source that provides a reference time signal, and is used to generate a stable and accurate periodic signal. The global clock generates an electrical pulse sequence according to the obtained preset frequency, and further generates a synchronization light signal. The global clock sends the generated synchronization light signal to the light pulse transmitter.

[0044] In a specific embodiment, the light pulse transmitter can be triggered by a global clock connected thereto by wire, to transmit a high-brightness narrow-pulse light signal to a space within its coverage range. Meanwhile, the light pulse transmitter can also detect a trigger pulse of another light pulse receiver through a photoelectric sensor integrated therein, thereby realizing wireless cascade triggering.

[0045] Optionally, the vehicle body receiving module comprises: a signal receiver and a signal processor; the signal receiver is configured to obtain a mixed signal and send the mixed signal to the signal processor; the signal processor is configured to perform photoelectric conversion and signal processing analysis on the received mixed signal according to a pulse period to generate a separated signal, and generate a scanning angle according to the separated signal.

[0046] The signal receiver is a component of the vehicle body receiving module that is specifically responsible for receiving various signals, and specifically includes a mixed signal composed of a synchronization light signal, a scanning light signal, a light pulse signal, and the like. The signal processor is a device that performs photoelectric conversion and signal processing analysis on the received mixed signal.

[0047] Specifically, after the signal receiver obtains the mixed signal, it will send it to the signal processor. The signal processor will determine the pulse period of each mixed signal, then perform photoelectric conversion and signal processing analysis on the received mixed signal based on the pulse period, and decompose the mixed signal to generate a separated signal. The signal processor will generate a scan angle according to the separated signal. The scan angle refers to the maximum angle range that the laser beam can reach through the scanning device, also known as the field of view angle (FOV), indicating the angle range covered by the laser beam during scanning.

[0048] Optionally, the vehicle body receiving module further comprises: a local clock connected to the signal receiver; the signal receiver is further configured to generate a trigger timing signal based on the mixed signal, and send the trigger timing signal to the local clock; the local clock is configured to start timing to generate timing information based on the trigger timing signal, determine the pulse period based on the timing information, and feed back the pulse period to the signal processor.

[0049] Specifically, after receiving the mixed signal, the signal receiver will also generate a trigger timing signal. The trigger timing signal is an instruction for starting the timing of the local clock. The signal receiver will send the trigger timing signal to the local clock. The local clock starts timing work after receiving the trigger timing signal. It will accurately start timing based on this trigger timing signal and generate corresponding timing information. The local clock can determine the pulse period of the optical pulse signal based on the timing information and feed back the pulse period to the signal processor.

[0050] Optionally, the vehicle body receiving module further comprises: a memory connected to the signal receiver; the signal processor is further configured to send the scan angle to the memory; the memory is configured to receive and store the scan angle.

[0051] Specifically, the memory can receive, store and read various types of data, including the scan angle. The memory is usually composed of memory chips or other storage media, which can store the scan angle in a specific address space and read and write as needed. In this process, the memory plays a role in data caching and storage, so that the signal processor can access and use the stored scan angle at any time in subsequent processing.

[0052] In one specific embodiment, the vehicle body receiving module receives optical pulses mixed with scanning light and synchronization light emitted by the transmitting station, and uses the local clock to measure the timing of the electrical pulses generated by various optical pulses. The synchronization light signal is separated from the scanning light signal and the synchronization light signal by calculating the pulse period, and the synchronization light signal, the scanning light signal and the optical pulse signal are aligned, and the position and attitude of the automated guided vehicle are calculated, finally realizing the synchronization measurement of the position and attitude of multiple automated guided vehicles.

[0053] The technical scheme of the embodiment of the present application introduces a global light synchronization mechanism, realizes fixed-period synchronization light signals covering the whole space through design of a light pulse transmitter, introduces a pulse period for signal separation, and finally realizes cooperative positioning of multiple guided vehicles by determining the position and posture of the vehicle body, improves positioning accuracy and reliability, realizes more efficient and accurate cooperative transportation, and improves logistics efficiency and production automation level.

[0054] Embodiment two

[0055] Figure 3 A structural schematic diagram of the automatic guided vehicle cooperative positioning system is provided for the embodiment one of the present application, Figure 3 A host computer is added based on the embodiment one.

[0056] Optionally, the system further comprises a host computer connected with the vehicle body receiving module; the vehicle body receiving module is further configured to extract the scanning angle group data packet in the storage according to the specified time interval, and send the data packet to the host computer through Ethernet; the host computer is configured to acquire the positioning related parameters, determine the position and posture of the vehicle body of the automatic guided vehicle according to the positioning related parameters, and feed back the position and posture of the vehicle body to the vehicle body receiving module, wherein the positioning related parameters comprise inherent parameters of the emission station, network layout and directional information of the measurement field, and target parameters.

[0057] Specifically, the vehicle body receiving module extracts the previously stored scanning angle from the storage according to the pre-set specified time interval, and forms a data packet. Then the vehicle body receiving module sends the data packet to the host computer through Ethernet. For example, the signal processor can form a data packet by every 50ms of all the scanning angle measurement information cached in the storage, and send the data packet to the host computer through Ethernet.

[0058] Specifically, after receiving the data packet, the host computer acquires the positioning related parameters, including the inherent parameters of the emission station, the network layout and directional information of the measurement field, and the target parameters. The host computer calculates and analyzes according to specific algorithms and logic according to the positioning related parameters, and can determine the position and posture of the vehicle body of the automatic guided vehicle. Finally, the host computer feeds back the determined position and posture of the vehicle body to the vehicle body receiving module, so as to realize cooperative positioning of the vehicle body receiving modules.

[0059] In one specific embodiment, to reduce the data processing burden, the global synchronization light pulse recognition data timestamp extraction can be implemented by the FPGA internal logic at the channel entrance of each vehicle body receiving module. Since the optical pulse transmitter works simultaneously with the laser emission station, the signal received by the vehicle body receiving module is a mixture of global synchronization photoelectric pulse signals with a preset period T and photoelectric pulses from each emission station. After mixing into the processing system, the signal processor records the photoelectric pulse times t1, t2, …, tn by using the FPGA internal counter for timing. To realize the selection of global synchronization light, the FPGA can take T+δt as the search interval (δt is a positive offset threshold value, which ensures that T+δt>T), and perform a limited search on the pulse sequence t1, t2, …, tn starting from the last received pulse tn, and calculate the time intervals dtn-1, dtn-2, dtn-3, … from tn to tn-1, tn-2, tn-3, …, respectively. If dtn-3=T when tn-m is searched, it can be determined that tn is the global synchronization trigger pulse, and the time at this moment is recorded.

[0060] Specific application scenarios: Six vehicle body receiving modules can be distributed circumferentially on the trolley, and the vehicle body receiving modules are placed back to the center of the trolley with an angle of about 60° between the connecting lines of adjacent vehicle body receiving modules and the center of the trolley. During the movement of the trolley, in the worst case, if two vehicle body receiving modules are directly opposite and receive environmental strong light interference, they cannot work normally, and the other vehicle body receiving modules can calculate the three-dimensional coordinates by the plane intersection method, and then solve the pose information of the trolley by using the rigid body transformation principle. The measurement system can realize real-time six-degree-of-freedom measurement of the trolley at any position and attitude in the test site by selecting the optimal algorithm. On the one hand, the layout scheme increases the anti-interference and applicability of the measurement system; on the other hand, the six vehicle body receiving modules also have a certain redundancy of measurement information, which improves the measurement accuracy of the system.

[0061] Specifically, based on the principles of rigid-body kinematics, measuring the six degrees of freedom (DOF) of an automated navigation device like a vehicle requires the installation of three or more vehicle-based receiver modules on the vehicle's surface. Each receiver module is secured using a fixture bracket designed integrally with the vehicle. During the navigation process, each receiver module is guaranteed to receive information from at least two stations, thereby obtaining the coordinates of each point and calculating the pose. To address the difficulty of intersection within large spaces, indoor GPS systems offer a six-DOF measurement method based on non-intersection. This means that when a receiver module receives information from only one transmitting station, the coordinates of the receiver module cannot theoretically be calculated, and the information from this receiver module cannot be used for rigid-body coordinate transformation. This non-intersection pose measurement algorithm does not rely on coordinate calculations. Instead, it directly transforms each light plane received by the receiver module into a global coordinate system. The vehicle's six-DOF information can then be directly calculated using a resection algorithm. Each receiver module only needs to receive light signals from at least one transmitting station to meet the calculation requirements.

[0062] Furthermore, after the measurement field is established, the transformation from the indoor GPS coordinate system to the tooling coordinate system is achieved through the reference points with known coordinates on the tooling. Before installing the vehicle receiving module, the three-dimensional coordinates of each vehicle receiving module in the AGV coordinate system are calibrated as standard values ​​through measurement. When the AGV navigates, the measured values ​​of the vehicle receiving module coordinates and the standard values ​​are used as corresponding points to achieve the transformation from the AGV coordinate system to the indoor GPS coordinate system. During the coordinate system transformation process, the attitude registration relationship of the rigid body is calculated, that is, the three-dimensional coordinates (x, y, z) of the vehicle yaw angle and the center of the vehicle in the tooling coordinate system to achieve navigation.

[0063] It is known that, based on the operating principle of indoor GPS, when synchronization is not available, the measurement times of different scan angles within a 50ms interval are uncertain. In extreme cases, the time synchronization error between different scan angles within a single data packet of each AGV can reach up to 40ms. When the vehicle receiving module moves at a speed of 100mm / s, the position error introduced by the different scan angle observation times within the same data packet can reach 4mm. The introduction of synchronization pulses eliminates the packet-based pose calculation model, improving the dynamic measurement accuracy of indoor GPS. Instead, a global calculation model is adopted: all scan angle information and synchronization times within different data packets are sorted on the timeline in chronological order. Scan angle observations with close synchronization times are prioritized, and pose calculation is performed when the pose calculation conditions are determined to be met. Unused scan angle observations within a data packet are used to construct the scan angle information for the next pose calculation when the next data packet arrives. This method can reduce the time synchronization error between different scan angles in pose calculation, suppress dynamic pose errors, improve dynamic accuracy, and achieve synchronized pose calculations for multiple AGVs within a factory workshop.

[0064] The technical scheme of the embodiment of the present application introduces a global light synchronization mechanism, realizes fixed-period synchronization light signals covering the whole space through the design of a light pulse transmitter, introduces a pulse period for signal separation, and finally realizes cooperative positioning of multiple guided vehicles by determining the position and attitude of the vehicle body, thereby improving positioning accuracy and reliability, realizing more efficient and accurate cooperative transportation, and improving logistics efficiency and production automation level.

[0065] Embodiment three

[0066] Figure 4 A flowchart of an automatic guided vehicle cooperative positioning method is provided for the third embodiment of the present application. The present embodiment can be applied to the scene of hardware-in-the-loop fault injection testing of hybrid motors. As shown in the figure, the method comprises the following steps: Figure 4

[0067] S310, generating scanning light signals and light pulse signals from the synchronization light signals through the light pulse transmitter.

[0068] The light pulse transmitter refers to a device capable of generating and emitting light pulse signals. The light pulse transmitter can use specific optical elements and energy excitation mechanisms to convert electrical energy or other forms of energy into optical energy and emit it in the form of pulses. The vehicle body receiving module refers to a receiving device installed on the automatic guided vehicle for receiving light signals. In the present embodiment, the vehicle body receiving module is mainly used to receive mixed signals from the outside, including synchronization light signals, scanning light signals and light pulse signals. By processing and analyzing the mixed signals, the vehicle body receiver can provide key data for determining the position, attitude and other information of the automatic guided vehicle, thereby assisting the automatic guided vehicle to realize accurate positioning, navigation and related operation control functions. The automatic guided vehicle is a driverless transport vehicle equipped with an automatic guiding device, capable of traveling along a specified guiding path, with safety protection and various transfer functions, commonly used in industrial production, logistics and warehousing fields.

[0069] S320, obtaining the mixed signals through the vehicle body receiving module, performing signal separation on the mixed signals to generate each separated signal, and determining the position and attitude of the vehicle body of the automatic guided vehicle based on the separated signals, wherein the mixed signals include synchronization light signals, scanning light signals and light pulse signals.

[0070] Specifically, the light pulse transmitter can convert the synchronization light signals into specific scanning light signals and light pulse signals and emit them. The vehicle body receiving module is used to receive mixed signals and decompose them into different separated signals through signal separation technology, and then calculate the position and attitude information of the automatic guided vehicle, thereby helping the vehicle to realize accurate positioning and navigation.

[0071] ​In summary, the light pulse transmitter is responsible for generating and transmitting specific light signals, and the vehicle body receiving module is responsible for receiving and processing these signals to determine the position and posture of the automatic guided vehicle. The two modules work together to achieve the perception and control functions of the automatic guided vehicle.

[0072] The technical scheme of the embodiment of the application introduces a global light synchronization mechanism, designs a light pulse transmitter to realize a fixed period synchronization light signal covering the whole space, and introduces a pulse period for signal separation. Through determining the position and posture of the vehicle body, the multi-guided vehicle cooperative positioning is finally realized, the positioning accuracy and reliability are improved, more efficient and accurate cooperative transportation is realized, and the logistics efficiency and production automation level are improved.

[0073] Embodiment four

[0074] Figure 5 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the application described and / or claimed in this document.

[0075] As shown in Figure 5 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0076] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0077] The processor 11 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as an automated guided vehicle cooperative positioning method.

[0078] In some embodiments, an automated guided vehicle cooperative positioning method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of an automated guided vehicle cooperative positioning method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform an automated guided vehicle cooperative positioning method by any other appropriate means, such as by means of firmware.

[0079] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0080] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, enables the functions / acts specified in the flowcharts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package and partially on a remote machine or entirely on a remote machine or server.

[0081] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of electrical connections, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0082] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0083] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0084] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0085] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in series, or executed in different orders, as long as the desired results of the technical solutions of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0086] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An automated guided vehicle collaborative positioning system, characterized in that: include: at least one light pulse transmitter and at least one vehicle body receiver; The optical pulse transmitter is used to generate and transmit a scanning optical signal and an optical pulse signal according to the synchronization optical signal; The vehicle body receiving module is used to obtain a mixed signal, perform signal separation on the mixed signal to generate separate signals, and determine the vehicle body position and posture of the automatic guided vehicle based on the separate signals, wherein the mixed signal includes a synchronous light signal, a scanning light signal and an optical pulse signal.

2. The system according to claim 1, wherein: The optical pulse transmitter specifically includes: a signal transmitting unit and a signal scanning unit; The signal transmitting unit is configured to obtain pulse parameters according to the synchronous optical signal, generate an optical pulse signal according to the pulse parameters, and transmit the optical pulse signal within a specified range, wherein the pulse parameters include pulse brightness and pulse width; The signal scanning unit is used to trigger the photoelectric sensor integrated in the unit according to the synchronization light signal, and generate and transmit a scanning light signal based on the photoelectric sensor.

3. The system according to claim 1, wherein: The system further includes: a global clock; The global clock is used to obtain a preset frequency, generate an electrical pulse sequence according to the preset frequency, generate a synchronous optical signal according to the electrical pulse sequence, and transmit the synchronous optical signal to the optical pulse transmitter.

4. The system according to claim 1, wherein: The vehicle body receiving module includes: a signal receiver and a signal processor; The signal receiver is used to obtain a mixed signal and send the mixed signal to the signal processor; The signal processor is used to perform photoelectric conversion and signal processing analysis on the received mixed signal according to the pulse period to generate a separation signal, and generate a scanning angle according to the separation signal.

5. The system according to claim 4, characterized in that The vehicle body receiving module further includes: a local clock connected to the signal receiver; The signal receiver is further configured to generate a trigger timing signal according to the mixed signal, and send the trigger timing signal to the local clock; The local clock is used to start timing according to the trigger timing signal to generate timing information, determine a pulse period according to the timing information, and feed the pulse period back to the signal processor.

6. The system according to claim 4, characterized in that The vehicle body receiving module further includes: a memory connected to the signal receiver; The signal processor is further configured to send the scanning angle to the memory; The memory is used to receive and store the scanning angle.

7. The system according to claim 6, characterized in that The system further comprises: a host computer connected to the vehicle body receiving module; The vehicle body receiving module is further configured to extract the scan angle data packets from the memory according to a specified time interval and send the data packets to the host computer via Ethernet; The host computer is used to obtain positioning-related parameters, determine the body position and posture of the automatic guided vehicle based on the positioning-related parameters, and feed back the body position and posture to the body receiving module, wherein the positioning-related parameters include the inherent parameters of the transmitting station, the measurement field network orientation parameters and the target parameters.

8. A collaborative positioning method for an automated guided vehicle, characterized in that: An automated guided vehicle collaborative positioning system as claimed in any one of claims 1 to 7, comprising: generating a scanning optical signal and an optical pulse signal according to the synchronous optical signal by an optical pulse transmitter; A mixed signal is acquired through a vehicle body receiving module, the mixed signal is separated to generate separate signals, and the vehicle body position and posture of the automatic guided vehicle is determined based on the separate signals, wherein the mixed signal includes a synchronous light signal, a scanning light signal and an optical pulse signal.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, wherein the computer program is executed by the at least one processor to enable the at least one processor to perform the method of claim 8 .

10. A computer storage medium, characterized in that The computer storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the method described in claim 8 when the instructions are executed.

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