CN110133593B - Unmanned cab vehicle - Google Patents
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- CN110133593B CN110133593BCN201910436948.4ACN201910436948ACN110133593BCN 110133593 BCN110133593 BCN 110133593BCN 201910436948 ACN201910436948 ACN 201910436948ACN 110133593 BCN110133593 BCN 110133593B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
Description
Technical Field
The invention relates to an unmanned vehicle, in particular to a vehicle in an unmanned cab.
Background
The existing unmanned vehicle needs to acquire the position of the vehicle in running by a satellite positioning system, but for the vehicle in a production workshop (hereinafter referred to as an indoor vehicle), because some plants are shielded, satellite wireless signals cannot enter, so that the position of the vehicle cannot be acquired, and the indoor vehicle cannot realize unmanned driving.
Disclosure of Invention
The invention aims to provide an unmanned indoor vehicle which does not need a wireless system for positioning, and solves the problem that the existing unmanned vehicle needs to be positioned by a satellite positioning system, so that the indoor vehicle in a shielded space cannot be unmanned.
The technical problem is solved by the following technical scheme: the utility model provides a vehicle in unmanned aerial vehicle, includes automobile body, the wheel that supports the automobile body, the driving system, the central control system of drive wheel and the indoor on-vehicle laser positioning system based on reflector panel, the indoor on-vehicle laser positioning system based on reflector panel includes data acquisition module, data processing module, position acquisition module and coordinate acquisition module: the data acquisition module is used for acquiring laser data of the vehicle-mounted laser device in the driving process of the indoor vehicle, wherein the laser data comprises distance point cloud data from the surface of each object to the surface of the reflector; the data processing module is used for extracting point cloud data according to the reflection intensity of the reflector and filtering the extracted point cloud data to filter out point cloud data with high reflection intensity and low reflection intensity of the reflector; the position acquisition module is used for acquiring the central position of the reflector based on the point cloud with high reflection intensity, and acquiring the position of the reflector and the position of the vehicle-mounted laser device based on the central position of the reflector; and the coordinate acquisition module is used for acquiring the coordinate position of the kinematic center of the indoor vehicle in the vehicle running process based on the position of the reflector and the position of the vehicle-mounted laser device. The invention carries out positioning through the indoor vehicle-mounted laser positioning system based on the reflector, thereby completing positioning without a satellite system, and leading the unmanned driving to be carried out in a shielded indoor space.
Preferably, the acquiring of the laser data of the vehicle-mounted laser device during the driving process of the indoor vehicle depends on the acquisition of a reflector system, and specifically includes:
the reflector comprises a plurality of cylindrical reflectors with the diameter of 5cm-10cm and a reverse plate with the length of not less than 40cm, and a reflective film is adhered to the outer surface of the cylinder of the reflector;
the arrangement of the plurality of reflectors is based on a vehicle running route, so that at least 3 reflectors can be arranged in the range of the vehicle-mounted laser device during the running of the vehicle.
Preferably, the center position of the reflector is obtained based on the point cloud with high reflection intensity, and specifically:
by coordinate location (x) of a point cloud with high reflection intensityi,yi) Calculating the center position
The formula is as follows:
based on the coordinate position of the point cloud with high reflection intensity, the central position of the reflector is obtained, and the formula is as follows:
d2d2 is the distance from the center of the point cloud data with high reflection intensity to the center of the reflector, and R is the radius of the reflector;
d1the distance between the center of the point cloud data with high reflection intensity and the vehicle-mounted laser device is obtained;
d＝d1+d2and d is the distance between the center of the reflector and the vehicle-mounted laser device.
Preferably, the method further includes a reflector matching step before obtaining the central position of the reflector based on the point cloud with high reflection intensity, specifically: when the vehicle initially enters the reflector environment, the matching steps are as follows:
scanning the information of the reflectors around to obtain the distance value between any two reflectors;
arranging according to the distance, selecting one side of the triangle with the longest side as the length mark L, selecting a third reflector based on two vertexes of the side to make the perimeter of the triangle formed based on the longest side longest, calculating the side length and the angle of the triangle as characteristic values, and recording the characteristic values with the longest side L as the characteristic values1The sum of the other two side lengths is L2Two included angles a of the longest side1And a2Inquiring the distance data of each reflector in the map data, and screening the distance data with the length L1The edges to be selected within the error range are used as a plurality of groups of data to be selected, which meet the conditions;
sorting data to be selectedRespectively calculating the distance between two vertexes of the longest side and another point and the sum of L2The edges within the error range are used as data to be selected, and the edges meet the conditions;
calculating two included angles of the longest side, if the included angle is a1、a2If the deviation of the vehicle-mounted laser device is +/-2 degrees, the vehicle-mounted laser device is used as the data to be selected, the data to be selected is finally judged, if the data to be selected is a group, the group is considered to be the environment position where the vehicle is located, and the vehicle position is obtained according to the coordinate position of each reflector and the position of the vehicle-mounted laser device away from each reflector; if the data to be selected is not unique, the matching is carried out again;
when the vehicle continuously runs and the reflector is matched, the matching steps are as follows:
estimating the position of the trolley at the current moment in the running process of the vehicle;
matching the position of the current moment with the positions of the reflectors in the reflector map to obtain the coordinate positions of the reflectors in the environment relative to the vehicle-mounted laser device;
and matching the actually measured angle and distance data of the reflector with the angle and distance data calculated in the map to obtain the corresponding relation between the measured value and the number of the reflector.
Preferably, when the number of the reflectors exceeds 3, the included angles between every two reflectors are respectively calculated, three reflectors with the sum of the included angles between every two reflectors being 180 degrees are screened to be used as a group, if a plurality of groups exist, the difference value between the maximum angle and the minimum angle in the group is calculated again, the group with the minimum difference value is selected, and then the coordinate value of the corresponding reflector is inquired according to the number of the selected reflector.
Preferably, the position establishing step of the on-vehicle laser device is as follows:
when the center coordinates (X) of 3 reflectors are obtained1,Y1)、(X2,Y2)、(X3,Y3) And the distance (d) of the vehicle-mounted laser device from each reflector1,d2,d3) When the vehicle-mounted laser device is used, the center of each reflector is taken as the center, the distance between each reflector and the laser is taken as the radius to respectively make a circle, and the vehicle-mounted laser device is judgedDistance sum (d) to two reflectors1+d2) The relation with the central distance D of the two reflectors;
when (d)1+d2)<D denotes that two circles are separated or tangent to each other, a point equidistant from the two circle edges is selected as a center point, and if the two circles are tangent to each other, a tangent point is selected1+d2)>And D, representing that the two circles are intersected, and selecting a point which is closest to the position distance from the third reflector to the vehicle-mounted laser device from the other reflector as a central point.
Preferably, the position based on the reflector and the position of the vehicle-mounted laser device specifically include:
Order to
Order to
The coordinates of the two intersection points are:
xa＝x0-Lsin(arctan(k)),ya＝y0+Lcos(arctan(k))；
xb＝x0+Lsin(arctan(k)),yb＝y0-Lcos(arctan(k))；
third circle center coordinate (x)3,y3) Radius R3Judging the distance between the two intersection points and the third circle center
Judgment | da-R3I and | db-R3The size of | is the point (x) with the smallest differencea,ya) Or (x)b,yb)；
Because the position of the vehicle-mounted laser device on the vehicle is fixed and the position relation relative to the vehicle kinematic center is clear, the coordinate position of the vehicle kinematic center is obtained according to coordinate translation and rotation after the central position of the vehicle-mounted laser device is based.
The invention has the following advantages: the unmanned driving can be carried out in a shielded room; the invention adopts the vehicle-mounted laser device, the positioning and navigation precision reaches centimeter level or higher, and the invention has the characteristics of reliable calculation mode, high response speed, strong anti-interference capability, low cost and the like.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
Referring to fig. 1, the unmanned cab vehicle comprises avehicle body 1,wheels 2 for supporting the vehicle body, a power system for driving the wheels, acentral control system 3 and a reflector-based indoor vehicle-mountedlaser positioning system 4. The indoor vehicle-mounted laser positioning system based on the reflector comprises a data acquisition module, a data processing module, a position acquisition module and a coordinate acquisition module. The data acquisition module is used for acquiring laser data of the vehicle-mountedlaser device 5 of the indoor vehicle in the driving process, and the vehicle-mounted laser device is installed at the top of the vehicle body through the vertical rotating shaft so as to emit laser to the periphery. The laser data comprises distance point cloud data from the surface of each object to the surface of the reflector; the data processing module is used for extracting point cloud data according to the reflection intensity of the reflector and filtering the extracted point cloud data to filter out point cloud data with high reflection intensity and low reflection intensity of the reflector; the position acquisition module is used for acquiring the central position of the reflector based on the point cloud with high reflection intensity, and acquiring the position of the reflector and the position of the vehicle-mounted laser device based on the central position of the reflector; the coordinate acquisition module is used for acquiring the coordinate position of a kinematic center of an indoor vehicle in the vehicle running process based on the position of the reflector and the position of the vehicle-mounted laser device; the central control system is used for determining whether the driving direction of the vehicle is on a preset route or not according to the coordinate data obtained by the coordinate obtaining module, and changing the driving direction of the vehicle to be on the preset route if the driving direction is deviated from the preset route.
The laser data of the vehicle-mounted laser device of the indoor vehicle in the driving process is acquired by the reflector system, and the method specifically comprises the following steps:
the reflector comprises a plurality of cylindrical reflectors with the diameter of 5cm-10cm and a reverse plate with the length of not less than 40cm, and a reflective film is adhered to the outer surface of the cylinder of the reflector;
the arrangement of the plurality of reflectors is based on a vehicle running route, so that at least 3 reflectors can be arranged in the range of the vehicle-mounted laser device during the running of the vehicle.
The center position of the reflector is obtained based on the point cloud with high reflection intensity, and the method specifically comprises the following steps:
by coordinate location (x) of a point cloud with high reflection intensityi,yi) Calculating the center position
The formula is as follows:
based on the coordinate position of the point cloud with high reflection intensity, the central position of the reflector is obtained, and the formula is as follows:
d2d2 is the distance from the center of the point cloud data with high reflection intensity to the center of the reflector, and R is the radius of the reflector;
d1as intensity of light reflectionThe distance between the center of the high point cloud data and the vehicle-mounted laser device.
The method comprises the following steps of obtaining the central position of the reflector based on the point cloud with high reflection intensity, and specifically comprises the following steps: when the vehicle initially enters the reflector environment, the matching steps are as follows:
scanning the information of the reflectors around to obtain the distance value between any two reflectors;
arranging according to the distance, selecting one side of which the longest side is a triangle, marking the length as L, selecting a third reflector based on two vertexes of the side, so that the perimeter of the triangle formed based on the longest side is the longest, calculating the side length and the angle of the triangle as characteristic values to record, wherein the characteristic value is the longest side L1, the sum of the other two sides is L2, two included angles a1 and a2 of the longest side are searched, searching the distance data of each reflector in the map data, screening the sides to be selected with the length within the error range of L1, and using the sides meeting the conditions as a plurality of groups of data to be selected;
respectively calculating the distance between two vertexes of the longest side and another point in the data to be selected and the side in the error range of L2, and taking the data which meets the conditions as the data to be selected;
calculating two included angles of the longest side, taking the included angles as data to be selected if the included angles deviate from a1 and a2 by +/-2 degrees, finally judging, if the data to be selected is a group, considering the group as the environment position of the vehicle, and obtaining the position of the vehicle according to the coordinate position of each reflector and the position of the vehicle-mounted laser device away from each reflector; if the data to be selected is not unique, the matching is carried out again;
when the vehicle continuously runs and the reflector is matched, the matching steps are as follows:
estimating the position of the trolley at the current moment in the running process of the vehicle;
matching the position of the current moment with the positions of the reflectors in the reflector map to obtain the coordinate positions of the reflectors in the environment relative to the vehicle-mounted laser device;
and matching the actually measured angle and distance data of the reflector with the angle and distance data calculated in the map to obtain the corresponding relation between the measured value and the number of the reflector.
When the number of the reflectors exceeds 3, the included angles between every two reflectors are respectively calculated, three reflectors with the sum of the included angles between every two reflectors being 180 degrees are screened to be used as one group, if a plurality of groups exist, the difference value between the maximum angle and the minimum angle in the group is calculated again, the group with the minimum difference value is selected, and then the coordinate value of the corresponding reflector is inquired according to the number of the selected reflector.
The position establishing step of the vehicle-mounted laser device is as follows:
when central coordinates (X1, Y1), (X2, Y2), (X3, Y3) of 3 reflectors and distances (D1, D2, D3) of the vehicle-mounted laser device from the reflectors are obtained, circles are respectively made by taking the centers of the reflectors as the centers and the distances of the reflectors from the laser as the radii, and the relation between the distances from the vehicle-mounted laser device to the two reflectors and the distance between (D1+ D2) and the center distances D of the two reflectors is judged;
when the distance between the two circles is (D1+ D2) < ═ D, the two circles are separated or tangent, a point equidistant from the edges of the two circles is selected as a center point, and if the two circles are tangent, a tangent point is selected, and when the distance between the two circles is (D1+ D2) > D, the two circles are intersected, and a point closest to the position distance between the third reflector and the vehicle-mounted laser device is selected as a center point.
The position based on the reflector and the position of the vehicle-mounted laser device are specifically as follows:
Order to
Order to
The coordinates of the two intersection points are:
xa＝x0-Lsin(arctan(k)),ya＝y0+Lcos(arctan(k))；
xb＝x0+Lsin(arctan(k)),yb＝y0-Lcos(arctan(k))；
third circle center coordinate (x)3,y3) Radius R3Judging the distance between the two intersection points and the third circle center
Judgment | da-R3I and | db-R3The size of | is the point (x) with the smallest differencea,ya) Or (x)b,yb)；
Because the position of the vehicle-mounted laser device on the vehicle is fixed and the position relation relative to the vehicle kinematic center is clear, the coordinate position of the vehicle kinematic center is obtained according to coordinate translation and rotation after the central position of the vehicle-mounted laser device is based.
Claims (6)
1. An unmanned cab vehicle comprises a vehicle body, wheels for supporting the vehicle body, a power system for driving the wheels, a central control system and an indoor vehicle-mounted laser positioning system based on a reflector, wherein the indoor vehicle-mounted laser positioning system based on the reflector comprises a data acquisition module, a data processing module, a position acquisition module and a coordinate acquisition module; the data acquisition module is used for acquiring laser data of a vehicle-mounted laser device of an indoor vehicle in the driving process, wherein the laser data comprises distance point cloud data from the surface of each object around the position of the vehicle to the surface of the reflector; the data processing module is used for extracting point cloud data according to the reflection intensity of the reflector and filtering the extracted point cloud data to filter out point cloud data with high reflection intensity and low reflection intensity of the reflector; the position acquisition module is used for acquiring the central position of the reflector based on the point cloud with high reflection intensity, and acquiring the position of the reflector and the position of the vehicle-mounted laser device based on the central position of the reflector; the coordinate acquisition module is used for acquiring the coordinate position of a kinematic center of an indoor vehicle in the vehicle running process based on the position of the reflector and the position of the vehicle-mounted laser device; the reflector panel is the cylinder, based on the point cloud that reflection intensity is high, obtain the central point of reflector panel and put, specifically do:
by coordinate location (x) of a point cloud with high reflection intensityi,yi) Calculating the center position
The formula is as follows:
based on the coordinate position of the point cloud with high reflection intensity, the central position of the reflector is obtained, and the formula is as follows:
d2d2 is the distance from the center of the point cloud data with high reflection intensity to the center of the reflector, and R is the radius of the reflector;
d1the distance between the center of the point cloud data with high reflection intensity and the vehicle-mounted laser device is obtained;
d＝d1+d2and d is the distance between the center of the reflector and the vehicle-mounted laser device.
2. The unmanned cab vehicle of claim 1, wherein the obtaining of the laser data of the vehicle-mounted laser device during driving of the cab vehicle is obtained by a reflector system, specifically:
the reflecting plate is an inverse square plate with the diameter of 5cm-10cm and the length of not less than 40cm, and a reflecting film is adhered to the outer surface of the reflecting plate;
the arrangement of the plurality of reflectors is based on a vehicle running route, so that at least 3 reflectors can be arranged in the range of the vehicle-mounted laser device during the running of the vehicle.
3. The unmanned cab vehicle according to claim 2, further comprising a reflector matching step before obtaining the center position of the reflector based on the point cloud having high reflection intensity, specifically: when the vehicle initially enters the reflector environment, the matching steps are as follows:
scanning the information of the reflectors around to obtain the distance value between any two reflectors;
arranging according to the distance, selecting one side of the triangle with the longest side as the length mark L, selecting a third reflector based on two vertexes of the side to make the perimeter of the triangle formed based on the longest side longest, calculating the side length and the angle of the triangle as characteristic values, and recording the characteristic values with the longest side L as the characteristic values1The sum of the other two side lengths is L2Two included angles a of the longest side1And a2Inquiring the distance data of each reflector in the map data, and screening the distance data with the length L1The edges to be selected within the error range are used as a plurality of groups of data to be selected, which meet the conditions;
respectively calculating the distance between two vertexes of the longest edge and another point in the candidate data and the distance between the two vertexes of the longest edge and the other point in the candidate data2The edges within the error range are used as data to be selected, and the edges meet the conditions;
calculating two included angles of the longest side, if the included angle is a1、a2If the deviation of the vehicle-mounted laser device is +/-2 degrees, the vehicle-mounted laser device is used as the data to be selected, the data to be selected is finally judged, if the data to be selected is a group, the group is considered to be the environment position where the vehicle is located, and the vehicle position is obtained according to the coordinate position of each reflector and the position of the vehicle-mounted laser device away from each reflector; if the data to be selected is not unique, the matching is carried out again;
when the vehicle continuously runs and the reflector is matched, the matching steps are as follows:
estimating the position of the trolley at the current moment in the running process of the vehicle;
matching the position of the current moment with the positions of the reflectors in the reflector map to obtain the coordinate positions of the reflectors in the environment relative to the vehicle-mounted laser device;
and matching the actually measured angle and distance data of the reflector with the angle and distance data calculated in the map to obtain the corresponding relation between the measured value and the number of the reflector.
4. The unmanned cab vehicle according to claim 2, wherein when the number of the reflectors exceeds 3, the included angles between every two reflectors are calculated, three reflectors whose sum of the included angles between two reflectors is 180 ° are selected as one group, if there are a plurality of groups, the difference between the maximum angle and the minimum angle in the group is calculated again, the group with the minimum difference is selected, and then the coordinate value of the corresponding reflector is searched for according to the number of the selected reflector.
5. The unmanned indoor vehicle according to claim 4, wherein the position establishing step of the on-vehicle laser device is as follows:
when the center coordinates (X) of 3 reflectors are obtained1,Y1)、(X2,Y2)、(X3,Y3) And the distance (d) of the on-board laser device from each reflector1,d2,d3) When the vehicle-mounted laser device is used, the centers of the light reflecting plates are taken as centers, the distances between the light reflecting plates and the laser are taken as radiuses to be respectively made into circles, and the sum (d) of the distances between the vehicle-mounted laser device and the two light reflecting plates is judged1+d2) The relation with the central distance D of the two reflectors;
when (d)1+d2)<D denotes that two circles are separated or tangent to each other, a point equidistant from the two circle edges is selected as a center point, and if the two circles are tangent to each other, a tangent point is selected1+d2)>And D, representing that the two circles are intersected, and selecting a point which is closest to the position distance from the third reflector to the vehicle-mounted laser device from the other reflector as a central point.
6. The unmanned cab vehicle of claim 5, wherein the position based on the reflector and the position of the on-board laser device is specifically:
center 1 coordinate (x) is known1,y1) Radius R1, circle center 2 coordinate (x)2,y2) Radius R2, where two circles have two intersection points, the intersection point coordinate is (x)a,ya),(xb,yb)：
Order to
Order to
The coordinates of the two intersection points are:
xa＝x0-Lsin(arctan(k)),ya＝y0+Lcos(arctan(k))；
xb＝x0+Lsin(arctan(k)),yb＝y0-Lcos(arctan(k))；
third circle center coordinate (x)3,y3) Radius R3Judging the distance between the two intersection points and the third circle center
Judgment | da-R3I and | db-R3The size of | is the point (x) with the smallest differencea,ya) Or (x)b,yb)；
Because the position of the vehicle-mounted laser device on the vehicle is fixed and the position relation relative to the vehicle kinematic center is clear, the coordinate position of the vehicle kinematic center is obtained according to coordinate translation and rotation after the central position of the vehicle-mounted laser device is based.
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