CN109189076B - Heavy guided vehicle positioning method based on visual sensor and heavy guided vehicle - Google Patents
Heavy guided vehicle positioning method based on visual sensor and heavy guided vehicle Download PDFInfo
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- CN109189076B CN109189076B CN201811245354.7A CN201811245354A CN109189076B CN 109189076 B CN109189076 B CN 109189076B CN 201811245354 A CN201811245354 A CN 201811245354A CN 109189076 B CN109189076 B CN 109189076B
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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Abstract
The invention discloses a heavy guide vehicle positioning method based on a vision sensor and a heavy guide vehicle.A set of vision sensor is respectively arranged in front of and behind the center line of a vehicle, and a two-dimensional code landmark on the ground is scanned and analyzed by the vision sensor; calculating the deviation of the real-time pose and the target pose of the vehicle according to the landmark information of the two-dimensional code acquired by the vision sensor, and automatically controlling the vehicle to act according to the calculated deviation of the real-time pose and the target pose of the vehicle; thereby realizing the automatic guiding function of the vehicle. The vision sensor is provided with an automatic zoom lens, the detection distance can be automatically focused according to the lifting condition of the vehicle, and the self-adaptive detection algorithm can meet the requirement of the automatic lifting operation of the vehicle; the vision sensor is provided with a microcontroller and integrates a calculation method, and can scan and analyze corresponding information carried by the two-dimensional code landmark in real time; the method can meet the application requirements of indoor environment and outdoor environment and meet the high-speed and low-speed running requirements of large vehicles.
Description
Technical Field
The invention relates to the technical field of heavy AGV (automatic Guided Vehicle), in particular to a heavy Guided Vehicle positioning method based on a visual sensor and a heavy Guided Vehicle.
Background
Along with the development of the intelligent industry, the demand of automatic guidance in the field of heavy-load transportation is increasing. For example, shipyards, transformer plants, steel mills, etc., especially in industries with higher automation degree of industrial manufacturing, the demand for automatic transportation of large components is more urgent. In the automatic guided vehicle industry, the guiding and positioning method is mostly suitable for small-sized AGVs. Such guiding and positioning methods are small in detection range and short in detection distance like common color bands and two-dimensional code sensors, and are not suitable for heavy guide vehicles with lifting functions. The most widely applied automatic wharf heavy-load AGV guiding system is a magnetic nail guiding mode at present, but the guiding mode is short in detection distance, needs to modify a road surface, is complex in process, high in cost, low in GPS guiding precision and not suitable for indoor transportation.
Disclosure of Invention
In view of the problems in the prior art, the present invention provides a method for positioning a heavy guide vehicle based on a visual sensor, which is suitable for a heavy guide vehicle with a lifting function and a multi-mode steering function, and comprises the following steps:
the position information and the preset information of the two-dimensional code landmarks in the front and rear visual field ranges of the heavy guide vehicle are scanned and analyzed in real time through two visual sensors respectively arranged at the head and the tail of the center line of the heavy guide vehicle; the preset information of the two-dimensional code landmark comprises the number of the two-dimensional code landmark, and the position information comprises pixel position information, deflection angle information and minimum unit pixel information of the two-dimensional code landmark;
the pixel position information of the two-dimensional code landmark is an X coordinate and a Y coordinate of a center point of the two-dimensional code landmark in a view field coordinate system corresponding to a current vision sensor scanning the two-dimensional code landmark, and the X coordinate and the Y coordinate are expressed by pixels; the deflection angle information is the deflection angle of the two-dimensional code landmark relative to the visual field coordinate system; the minimum unit pixel information is the pixel value of the minimum unit of the two-dimensional code landmark in the visual field range of the current visual sensor;
calculating the size d of the visual field of the visual sensor (c b/a) according to the linear relation of the imaging of the visual sensor by using the minimum unit pixel a of the current two-dimensional code landmark acquired by the visual sensor, the minimum unit side length information b of the current two-dimensional code and the pixel resolution c of the visual sensor;
then according to the pixel position information of the current two-dimensional code landmark, calculating a coordinate P of the center point of the current two-dimensional code landmark in a view coordinate system corresponding to the vision sensor according to the pixel resolution and view size imaging proportional relation of the vision sensor;
calculating the coordinate of the center point of the current two-dimensional code landmark in the vehicle coordinate system according to the coordinate system translation and rotation formula by the installation position of the visual sensor and the coordinate P of the center point of the current two-dimensional code landmark in the visual field coordinate system corresponding to the visual sensorVP; and calculating the coordinate of the center point of the current two-dimensional code landmark in a geodetic coordinate system according to the preset information of the current two-dimensional code landmarkGP；
Coordinates corresponding to the center point of the current two-dimensional code landmarkVP, coordinateGP and the deviation between the vehicle coordinate system and the geodetic coordinate system, and solving the position deviation between the vehicle coordinate system and the geodetic coordinate system, namely the deviation between the real-time position of the vehicle and the target position according to a coordinate rotation and translation transformation method;
respectively calculating coordinates of center points of the front and rear two-dimensional code landmarks in corresponding view coordinate systems and coordinates of the center points of the front and rear two-dimensional code landmarks in a geodetic coordinate system by the position information and preset information of the front and rear two-dimensional code landmarks respectively analyzed by the front and rear vision sensors, and then obtaining coordinates of origin points of the view coordinate systems respectively corresponding to the front and rear vision sensors in the geodetic coordinate system according to a coordinate transformation method; then, the attitude deviation of the vehicle coordinate system and the geodetic coordinate system is obtained, namely the deviation of the real-time attitude of the vehicle and the target attitude is obtained;
and the vehicle-mounted controller calls a closed-loop control algorithm to control the heavy guide vehicle to automatically operate according to the calculated deviation between the real-time position and the target position of the vehicle and the calculated deviation between the real-time posture and the target posture of the vehicle.
Furthermore, the two-dimension code landmarks are laid on the ground of a working area where the heavy guide vehicle is located in a grid shape at preset fixed intervals, and the two-dimension code landmarks are distributed in the same direction.
Furthermore, the visual field coordinate system takes a left front point of the visual field range of the visual sensor corresponding to the visual field coordinate system as a coordinate origin, takes the top edge of the visual field range of the visual sensor corresponding to the visual field coordinate system as an X axis, and takes the left side edge as a Y axis;
the vehicle coordinate system takes the geometric center of a vehicle as a coordinate origin, takes the longitudinal center line of the vehicle as a Y axis, and takes the advancing direction of the vehicle as the positive direction of the Y axis; the geodetic coordinates take the geometric center of the two-dimensional code landmark positioned at the lower left corner of the two-dimensional code landmark matrix as a coordinate origin, and the forward direction of the two-dimensional code landmark matrix is taken as the Y-axis forward direction.
Further, the coordinate P of the center point of the current two-dimensional code landmark in the vehicle coordinate system is calculated according to the coordinate system translation and rotation formula by the installation position of the visual sensor and the coordinate P of the center point of the current two-dimensional code landmark in the visual field coordinate system corresponding to the visual sensorVP is specifically as follows:
obtaining the rotation angle of a visual field coordinate system corresponding to the vision sensor relative to the vehicle coordinate system from the installation position of the vision sensor, wherein the rotation angle is 0;
obtaining a translation matrix of a visual field coordinate system corresponding to the visual sensor relative to a vehicle coordinate system according to the visual field size of the visual sensor, the mounting bracket size of the visual sensor and the size of the heavy-duty guided vehicle,
calculating the coordinate of the center point of the two-dimensional code landmark in the vehicle coordinate system according to the coordinate system translation and rotation formula by using the coordinate P of the center point of the two-dimensional code landmark in the visual field coordinate system corresponding to the vision sensor, the rotation matrix and the translation matrix of the visual field coordinate system relative to the vehicle coordinate systemVP。
Further, the coordinates corresponding to the center point of the current two-dimensional code landmarkVP, coordinateGP and the deviation of the vehicle coordinate system from the geodetic coordinate system, according to the coordinate rotationThe method for converting the vehicle coordinate system and the geodetic coordinate system comprises the following steps of obtaining the position deviation of the vehicle coordinate system and the geodetic coordinate system, namely the deviation of the real-time position of the vehicle and the target position, and specifically comprises the following steps:
taking the deflection angle information of the current two-dimensional code landmark as a rotation angle theta of a geodetic coordinate system relative to a vehicle coordinate system, and obtaining a rotation matrix of the geodetic coordinate system relative to the vehicle coordinate system according to the rotation angle theta;
and obtaining a translation matrix of the geodetic coordinate and the vehicle coordinate system, namely the deviation of the real-time position of the vehicle and the target position according to the rotation matrix of the geodetic coordinate system relative to the vehicle coordinate system, the coordinate of the central point of the current two-dimensional code landmark in the vehicle coordinate system and the coordinate of the central point of the current two-dimensional code landmark in the geodetic coordinate system.
Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a heavy guide vehicle using the above positioning method of a heavy guide vehicle, which includes a heavy vehicle body and an automatic guide system; the heavy vehicle body comprises a plurality of wheel sets, and each wheel set is respectively provided with a hydraulic suspension, an angle sensor, a lifting electromagnetic valve and a steering electromagnetic valve; and the hydraulic suspensions positioned at the four corners of the heavy vehicle body are respectively provided with a height sensor;
in addition, the heavy vehicle body also comprises a battery pack and a battery management system which are arranged on the power unit of the heavy vehicle body; the battery management system is electrically connected with the battery pack, and the battery pack is provided with an automatic charging device; a part of the wheel sets in the plurality of wheel sets are electric driving wheel sets; each electric driving wheel set is electrically connected with a driving motor controller respectively, and the driving motor controller is electrically connected with the battery pack;
the automatic guidance system comprises a communication conversion module, a vehicle-mounted controller and two sets of visual sensors for scanning and analyzing position information and preset information of the two-dimensional code landmark; the two sets of vision sensors are respectively arranged at the head and the tail of the center line of the heavy vehicle body through mounting brackets, and the detection surfaces of the vision sensors are parallel to the ground; the vision sensor is provided with an automatic zoom lens, the detection distance of the vision sensor can be automatically focused according to the lifting condition of the vehicle, and the self-adaptive detection algorithm meets the requirement of the automatic lifting operation of the vehicle; meanwhile, the vision sensor is also provided with a microcontroller and integrates a calculation method, so that the position information and the preset information of the two-dimensional code landmark can be scanned and analyzed in real time; the communication conversion module and the vehicle-mounted controller are both arranged in a control box of the heavy vehicle body;
the power line of the vision sensor is electrically connected with the battery pack, and the communication line of the vision sensor is electrically connected with the vehicle-mounted controller through the communication conversion module; the input port of the vehicle-mounted controller is electrically connected with each angle sensor and each height sensor respectively, and the output port of the vehicle-mounted controller is electrically connected with each steering electromagnetic valve and each lifting electromagnetic valve respectively; meanwhile, the vehicle-mounted controller is electrically connected with the driving motor controller and the battery management system respectively.
Furthermore, the electric driving wheel set comprises two rubber wheels connected through an insertion bridge, a driving motor is mounted on the insertion bridge, and the driving motor is electrically connected with the driving motor controller; and a speed reducer and a differential mechanism which are connected with the two rubber wheels are arranged in the insertion bridge.
Furthermore, the heavy vehicle body is provided with twelve wheel sets, wherein four wheel sets are electric driving wheel sets.
Furthermore, the communication conversion module is an RS232 serial port-to-CAN communication module and is used for converting RS232 serial port signals output by the two vision sensors into a CAN bus signal; the vehicle-mounted controller is electrically connected with the communication conversion module, the driving motor controller and the battery management system through a CAN bus respectively.
Furthermore, the two-dimensional code landmark is formed by printing on a steel plate by adopting a laser printer and is fixed on the ground by a double-sided adhesive tape.
According to the invention, two sets of vision sensors respectively arranged at the head and the tail of the center line of the heavy-duty guided vehicle are used for automatically focusing and identifying the two-dimensional code landmark within a certain detection distance, and the position information and the preset information of the two-dimensional code landmark are scanned and analyzed in real time. The real-time position of the vehicle in the geodetic coordinate system is calculated through the position information of the two-dimensional code landmarks, and the real-time posture of the vehicle in the geodetic coordinate system is calculated through the position information of the two sets of vision sensors; and then according to the deviation between the actual pose and the target pose of the vehicle, combining with the path planning instruction of the upper computer to control the automatic operation of the vehicle. The detection distance of the used vision sensor can be automatically focused according to the lifting condition of the vehicle, and the application requirements of indoor environment and outdoor environment can be met; the method has the characteristics of flexible application, large detection range and high reading speed, and is suitable for the requirements of high-speed and low-speed running of large vehicles.
In addition, the heavy-duty guided vehicle is provided with a load-sensitive hydraulic steering system, and an all-wheel independent steering technology is applied. Each wheel set is respectively provided with a hydraulic suspension system, has good compensation capacity when the road surface is uneven, groups hydraulic suspensions, and can realize the functions of integral lifting and single-point lifting. And configuring a lithium battery and an automatic charging device, and adopting a distributed electric driving mode. The tonnage of single vehicle can reach dozens of tons, and the cooperative transportation of a plurality of vehicles can reach thousands of tons.
Drawings
Fig. 1 is a schematic layout diagram of a two-dimensional code landmark in the invention;
FIG. 2 is a schematic view of a field of view coordinate system, a vehicle coordinate system, and a geodetic coordinate system of the present invention;
FIG. 3 is a system block diagram of the automated guidance system of the present invention;
FIG. 4 is a system layout of a heavy duty guided vehicle according to the present invention;
FIG. 5 is another system layout of the heavy duty guided vehicle of the present invention;
fig. 6 is a schematic structural diagram of the hydraulic suspension and electric drive wheel set in the invention.
Description of reference numerals:
1: two-dimensional code landmark, 2: mounting bracket, 3: visual sensor, 4: a communication conversion module for converting the communication between the first and second communication modules,
5: vehicle-mounted controller, 6: battery management system, 7: drive motor controller, 8: a battery pack is provided with a battery pack,
9: electric drive wheel set, 10: hydraulic suspension, 11: height sensor, 12: an angle sensor is arranged on the base plate and is used for detecting the angle of the base plate,
13: automatic charging device, 9-1: plug-in bridge, 9-2: drive motor, 9-3: the rubber wheel is provided with a rubber wheel,
10-1: slewing bearing, 10-2: lift cylinder, 10-3: and the worm and gear steering mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
First embodiment
The embodiment provides a heavy-duty guided vehicle positioning method based on a vision sensor, which comprises the following steps:
s101, scanning and analyzing position information and preset information of two-dimensional code landmarks in front and rear visual field ranges of the heavy guide vehicle in real time through two visual sensors respectively arranged at the head and the tail of the center line of the heavy guide vehicle;
it should be noted that, a plurality of two-dimensional code landmarks are laid on the ground of a working area where the heavy-duty guided vehicle is located in a grid shape at preset fixed intervals, and the plurality of two-dimensional code landmarks are distributed in the same direction, as shown in fig. 1; specifically, the size of the two-dimensional code landmarks adopted in the implementation is 5mm × 5mm, and the transverse spacing and the longitudinal spacing of each two-dimensional code landmark are both 500mm during laying.
The two-dimensional code landmarks are numbered sequentially from bottom to top and from left to right. If the two-dimensional code landmark of the nth row from bottom to top and the mth row from left to right has the number anm. Wherein the preset information of the two-dimensional code landmark is the number of the two-dimensional code landmark, such as anmThe preset information of the two-dimensional code landmark of the number is NM. The position information comprises a two-dimensional codeTarget pixel position information, deflection angle information, and minimum unit pixel information;
furthermore, the pixel position information of the two-dimensional code landmark is an X coordinate and a Y coordinate of the center point of the two-dimensional code landmark in a view field coordinate system corresponding to a current vision sensor scanning the two-dimensional code landmark, and the X coordinate and the Y coordinate are expressed by pixels; the deflection angle information is the deflection angle of the two-dimensional code landmark relative to a visual field coordinate system; the minimum unit pixel information is the pixel value of the minimum unit of the two-dimensional code landmark in the visual field range of the current visual sensor; the visual field coordinate system is a coordinate system which takes a left front point of a visual field range of the visual sensor as a coordinate origin, takes the top edge of the visual field range as an X axis and takes the left side edge as a Y axis. Wherein the front vision sensor has a field of view coordinate system of OFThe visual field coordinate system of the rear vision sensor is ORAs shown in fig. 2.
The two sets of vision sensors are respectively arranged in front of and behind the central line of the vehicle through mounting brackets, and the detection surface of each vision sensor is parallel to the ground. When the vehicle descends to the lowest position, the detection distance of the vision sensor is 1000m, and when the vehicle ascends to the highest position, the detection distance of the vision sensor is 1600 mm. The visual range of the visual sensor increases with increasing detection distance, with a minimum field of view range of 600mm 800 mm. Therefore, when the laying distance of the two-dimensional code landmarks is 500mm x 500mm, the vision sensor can be ensured to detect at least one two-dimensional code landmark at each moment, and the purpose of real-time control is achieved. Wherein the center point of the two-dimensional code landmark detected by the front visual sensor is P1, and the center point of the two-dimensional code landmark detected by the rear visual sensor is defined as P2.
S102, calculating the coordinate of the center point of the two-dimensional code landmark in a visual field coordinate system corresponding to the visual sensor according to the position information of the two-dimensional code landmark collected by the visual sensor;
it should be noted that as the vehicle moves up and down, the size of the field of view of the visual sensor changes, and the minimum unit pixel value of the two-dimensional code landmark changes accordingly. Therefore, the visual field size of the visual sensor can be calculated by combining the inherent pixel information of the visual sensor and the minimum unit side length information of the two-dimensional code landmark. And then, according to the pixel position information of the two-dimensional code landmark collected by the vision sensor, the coordinate of the central point of the two-dimensional code landmark in the visual field coordinate system corresponding to the vision sensor can be calculated.
The specific calculation process is as follows: calculating the size d of the visual field of the visual sensor (c b/a) according to the linear relation of the imaging of the visual sensor by using the minimum unit pixel a of the current two-dimensional code landmark acquired by the visual sensor, the minimum unit side length information b of the current two-dimensional code and the pixel resolution c of the visual sensor; then according to the pixel position information P' of the current two-dimensional code landmark, calculating the coordinate P of the center point of the current two-dimensional code landmark in a view coordinate system corresponding to the vision sensor according to the imaging proportional relation of the pixel resolution c and the view size d of the vision sensor; wherein the coordinate of the center point of the two-dimensional code landmark detected by the front vision sensor in the visual field coordinate system is recorded asFP1, the coordinate of the center point of the two-dimensional code landmark detected by the rear vision sensor in the visual field coordinate system is recorded asRP2。
S103, calculating the coordinate P of the center point of the current two-dimensional code landmark in the vehicle coordinate system according to the coordinate system translation and rotation formula by the installation position of the visual sensor and the coordinate P of the center point of the current two-dimensional code landmark in the visual field coordinate system corresponding to the visual sensorVP；
The vehicle coordinate system O is described aboveVA coordinate system with the geometric center of the vehicle as the origin of coordinates, the longitudinal centerline of the vehicle as the Y-axis, and the direction of the vehicle forward as the Y-axis is shown in fig. 2. According to the translation and rotation formula of the coordinate system, the following formula is known:
wherein
Is a rotation matrix of the B coordinate system relative to the A coordinate system,
is a translation matrix of the B coordinate system relative to a,Ap is the pose of the point P in the coordinate A,Band P is the pose of the point P in the coordinate B. Accordingly, the coordinates of the center point of the two-dimensional code landmark in the vehicle coordinate system are calculatedVThe process of P is specifically as follows:
obtaining the rotation angle of a visual field coordinate system corresponding to the vision sensor relative to the vehicle coordinate system from the installation position of the vision sensor, wherein the rotation angle is 0; obtaining a translation matrix of a visual field coordinate system corresponding to the visual sensor relative to a vehicle coordinate system according to the visual field size d of the visual sensor, the mounting bracket size of the visual sensor and the size of a heavy guide vehicle, obtaining a coordinate P of a center point of a two-dimensional code landmark in the visual field coordinate system corresponding to the visual sensor, a rotation matrix and a translation matrix of the visual field coordinate system relative to the vehicle coordinate system, and calculating a coordinate of the center point of the two-dimensional code landmark in the vehicle coordinate system according to a coordinate system translation and rotation formulaVP。
S104, calculating the coordinate of the center point of the two-dimensional code landmark in a geodetic coordinate system according to the preset information of the two-dimensional code landmarkGP；
The geodetic coordinate O is set forth aboveGIs a two-dimensional code landmark positioned at the lower left corner of the two-dimensional code landmark matrix, namely a11The geometric center of the number two-dimensional code landmark is the origin of coordinates, and the forward direction of the two-dimensional code landmark matrix is the coordinate system of the Y-axis forward direction, as shown in fig. 2. The two-dimension code landmarks are laid on the ground in a equidirectional grid shape at fixed intervals, the two-dimension code landmarks are numbered in sequence, and the numbers of the two-dimension code landmarks are used as preset information and input into the two-dimension code landmarks, so that the coordinates of the two-dimension code landmarks in a geodetic coordinate system can be obtained through calculation according to the numbers of the two-dimension code landmarks.
S105, coordinates corresponding to the center point of the two-dimensional code landmarkVP, coordinateGP and the deviation between the vehicle coordinate system and the geodetic coordinate system, and according to a coordinate rotation and translation transformation method, the position deviation between the vehicle coordinate system and the geodetic coordinate system, namely the deviation between the real-time position of the vehicle and the target position is obtained；
Since the vision sensor is mounted on the front and rear center lines of the vehicle via the mounting bracket and the vision sensor has no deviation of the visual field with respect to the attitude of the vehicle, the deviation angle of the two-dimensional code landmark with respect to the visual field coordinate system is equivalent to the deviation of the two-dimensional code landmark with respect to the vehicle coordinate system. And setting the positive direction of the geodetic coordinate system as the positive direction of the two-dimensional code landmark, so that the deviation information fed back by the vision sensor in real time is the deviation between the vehicle coordinate system and the geodetic coordinate system. Therefore, the process of obtaining the deviation between the real-time position and the target position of the vehicle specifically comprises the following steps:
the deflection angle information of the current two-dimensional code landmark is used as a rotation angle theta of a geodetic coordinate system relative to a vehicle coordinate system, and a rotation matrix of the geodetic coordinate system relative to the vehicle coordinate system is obtained according to the rotation angle theta
According to a rotation matrix
Coordinates of center point of current two-dimensional code landmark in vehicle coordinate systemVP, coordinates of center point of current two-dimensional code landmark in geodetic coordinate systemGP, calculating a translation matrix of the geodetic coordinates and the vehicle coordinate system
I.e. the deviation of the real-time position of the vehicle from the target position.
S106, respectively calculating coordinates of center points of the front and rear two-dimensional code landmarks in corresponding view coordinate systems and coordinates of the center points of the front and rear two-dimensional code landmarks in a geodetic coordinate system by the position information and preset information of the front and rear two-dimensional code landmarks respectively analyzed by the front and rear vision sensors, and then obtaining coordinates of the origin points of the view coordinate systems respectively corresponding to the front and rear vision sensors in the geodetic coordinate system according to a coordinate transformation method; then, the attitude deviation of the vehicle coordinate system and the geodetic coordinate system is obtained, namely the deviation of the real-time attitude of the vehicle and the target attitude is obtained;
since the heavy-duty vehicle is long in size, the accuracy of the control for correcting the vehicle track error using the deviation information directly read by the vision sensor is not high. The present embodiment thus calculates deviation information of the vehicle in the geodetic coordinate system from the position information of the front and rear vision sensors to improve accuracy.
The position information of the two-dimensional code landmarks read by the front and rear sensors can calculate the coordinates of the central points of the front and rear two-dimensional code landmarks in the visual field coordinate systemFP1、RP2, the coordinates of the center points of the front and back two-dimensional code landmarks in the geodetic coordinate system can be obtained by the preset information of the two-dimensional code landmarks read by the front and back sensorsGP1、GP2, then obtaining the coordinates of the origin of the coordinate system of the front and rear sensor vision fields in the geodetic coordinates according to the coordinate transformation method
Because the original point connecting line of the vision coordinate systems of the front sensor and the rear sensor is parallel to the longitudinal central line of the vehicle, the attitude deviation of the vehicle coordinate system and the geodetic coordinate system, namely the deflection angle between the real-time attitude of the vehicle and the target attitude can be obtained.
And S107, the vehicle-mounted controller calls a closed-loop control algorithm to control the heavy guide vehicle to automatically operate according to the calculated deviation between the real-time position and the target position of the vehicle and the calculated deviation between the real-time posture and the target posture of the vehicle.
It should be noted that the above-mentioned controlling the automatic operation of the heavy duty guided vehicle specifically includes: the vision sensor sends the read minimum unit pixel information, pixel position information, deviation information and preset information of the two-dimensional code landmark to the communication conversion module through a serial port, the communication conversion module converts the information into CAN bus information and sends the CAN bus information to the vehicle-mounted controller, the vehicle-mounted controller obtains the deviation between the real-time pose and the target pose of the vehicle according to the calculation of the positioning calculation method, and the vehicle steering electromagnetic valve, the lifting electromagnetic valve and the motor controller are respectively controlled by calling a closed-loop control algorithm to act, so that the automatic operation function of the heavy vehicle is realized.
Meanwhile, when the heavy guide vehicle is automatically guided and positioned, the heavy guide vehicle can receive the scheduling information of the upper computer through the wireless communication system and simultaneously control a plurality of vehicles to work cooperatively, and can also preset operation tasks in a vehicle-mounted controller to finish single-machine automatic guide transportation.
Second embodiment
Referring to fig. 3 to 6, the present embodiment provides a heavy-duty guided vehicle, which includes a heavy-duty vehicle body and an automatic guiding system; the heavy vehicle comprises a heavy vehicle body, a hydraulic suspension system, an electronic multi-mode load-sensitive hydraulic steering system and twelve wheel sets, wherein each wheel set is provided with a hydraulic suspension 10, an angle sensor 12, a lifting electromagnetic valve and a steering electromagnetic valve; each hydraulic suspension 10 comprises a lifting oil cylinder 10-2, a slewing bearing 10-1 and a worm and gear steering mechanism 10-3. The worm and gear steering mechanism 10-3 of the hydraulic suspension 10 can be controlled to freely steer through the vehicle-mounted controller 5, so that different steering modes of the whole vehicle are realized. The plurality of hydraulic suspensions 10 can be grouped by hydraulic pipelines and switching valves, and the lifting oil cylinder 10-2 can be controlled to stretch and retract by a lifting electromagnetic valve, so that the overall lifting and single-point lifting functions of the vehicle are realized. And the hydraulic suspensions 10 positioned at the four corners of the heavy-duty vehicle body are respectively provided with a height sensor 11; the lifting closed-loop synchronous control can be realized through the vehicle-mounted controller 5.
In addition, the heavy vehicle body also comprises a battery pack 8 and a battery management system 6 which are arranged on the power unit of the heavy vehicle body; the battery management system 6 is electrically connected with the battery pack 8, and the battery pack 8 is provided with an automatic charging device 13; four of the twelve wheel sets are electric driving wheel sets 9; the electric driving wheel set 9 comprises two rubber wheels 9-3 connected through an insertion bridge 9-1, a driving motor 9-2 is installed on the insertion bridge 9-1, and the driving motor 9-2 is electrically connected with a driving motor controller 7; and a speed reducer and a differential mechanism which are connected with the two rubber wheels 9-3 are arranged in the plug-in bridge 9-1. The drive motor controller 7 is electrically connected to the battery pack 8. The rotation speed and the torque of each electric driving wheel set 9 can be controlled in a closed loop mode through the driving motor controller 7.
The automatic guidance system comprises a communication conversion module 4, a vehicle-mounted controller 5 and two sets of visual sensors 3 for scanning and analyzing the position information and preset information of the two-dimensional code landmark 1; the two sets of vision sensors 3 are respectively installed at the head and the tail of the center line of the heavy vehicle body through the installation support 2, and the communication conversion module 4 and the vehicle-mounted controller 5 are both installed in a control box of the heavy vehicle body; the mounting bracket 2 is an adjustable bracket, which is welded on the frame and is parallel and level to the loading surface of the vehicle, so that the cargo loading and unloading of the vehicle are not affected. And extend out of the vehicle head and the vehicle tail to ensure that the detection surface of the vision sensor 3 is not shielded.
In addition, be provided with the strengthening rib on adjustable support in this embodiment, guarantee that the installation of vision sensor 3 is stable. Meanwhile, the small support used for mounting the vision sensor 3 can finely adjust the mounting angle of the vision sensor 3 in the horizontal direction, and the mounting angle of the vision sensor 3 and the vehicle attitude deviation are guaranteed to be zero.
The power line of the vision sensor 3 is electrically connected with the battery pack 8, and the communication line of the vision sensor 3 is electrically connected with the vehicle-mounted controller 5 through the communication conversion module 4; the input port of the vehicle-mounted controller 5 is electrically connected with each angle sensor 12 and each height sensor 11 respectively, and the output port of the vehicle-mounted controller 5 is electrically connected with each steering electromagnetic valve and each lifting electromagnetic valve respectively; meanwhile, the vehicle-mounted controller 5 is electrically connected with the driving motor controller 7 and the battery management system 6 respectively.
Further, the vision sensor 3 adopts a DM360 series product of the kansai corporation, has a small controller and integrates an algorithm, and can quickly scan landmark information of the two-dimensional code within a visible range. The automatic focusing device is provided with a liquid automatic zoom lens, the detection distance of the automatic zoom lens can be automatically focused according to the lifting condition of the vehicle, and the self-adaptive detection algorithm meets the requirement of automatic lifting operation of the vehicle; the detection distance is larger than 1000mm, and the detection requirement of distance change of more than 800mm can be met. The detection range is more than 500mm by 500 mm. And the vision sensor 3 is provided with a light source, can still quickly detect when the light is insufficient, and can meet the indoor and outdoor guiding requirements.
The communication conversion module 4 is an RS232 serial port to CAN communication module, and is configured to convert RS232 serial port signals output by the two vision sensors 3 into a path of CAN bus signals and transmit the signals to the onboard controller 5; this on-vehicle controller 5 chooses for use easy fortune door company CR0234 programmable controller, and the protectiveness is high, from taking IO, and it is connected with communication conversion module 4, driving motor controller 7 and battery management system 6 electricity respectively through the CAN bus. The automatic guidance program of the vehicle-mounted controller 5 comprises a signal processing module, a logic control module, a safety protection module, an obstacle avoidance module, a communication module, a monitoring and diagnosis module and the like.
The two-dimensional code landmark 1 is printed on the thin steel plate by adopting a laser printer, so that the strength is ensured. And the thin steel plate is subjected to surface treatment to change the light reflection characteristic of the thin steel plate, so that the visual sensor 3 can reliably and quickly read. After the two-dimensional code landmark 1 is manufactured, the two-dimensional code landmark 1 is fixed on the ground by using a double-faced adhesive tape, so that the original road surface is not damaged on the basis of ensuring the stability, and the method has flexible applicability.
The invention designs a positioning method suitable for a heavy guide vehicle with a lifting function and a multi-mode steering function and the heavy guide vehicle. The device can be suitable for the indoor and outdoor automatic guidance requirements of heavy vehicles, the positioning precision of the device reaches the millimeter level, the detection distance can be automatically adjusted, the device is suitable for the automatic operation requirements of the vehicles, the detection range is large, and the motion control requirements of large vehicles are met. The detection speed is high, the identification speed reaches 42 frames/second, and the requirement of high-speed running of the vehicle can be met. The detection information is rich, and the guidance control algorithm can be flexibly expanded.
Two sets of visual sensor fusion algorithms are adopted, the posture detection precision of the heavy-duty vehicle is improved, and the heavy-duty vehicle track tracking control becomes possible. Compared with the complex infrastructure requirement of the magnetic nail, the two-dimensional code landmark of the special process has stability and can meet the application requirement of flexible expansion. Meanwhile, the heavy-duty guided vehicle is provided with a hydraulic suspension, and has good compensation capability. The hydraulic lifting system is configured, and the automatic lifting operation function is achieved. And a distributed electric drive wheel set is configured, so that the structure is compact and the control precision is high.
It should be noted that, in the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof are intended to cover a non-exclusive inclusion, so that a process, a method, an article, or a terminal device that comprises a series of elements includes not only those elements but also other elements not explicitly listed, or further includes elements inherent to such a process, a method, an article, or a terminal device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A heavy-duty guided vehicle positioning method based on a vision sensor is characterized by comprising the following steps:
the position information and the preset information of the two-dimensional code landmarks in the front and rear visual field ranges of the heavy guide vehicle are scanned and analyzed in real time through two visual sensors respectively arranged at the head and the tail of the center line of the heavy guide vehicle; the preset information of the two-dimensional code landmark comprises the number of the two-dimensional code landmark, and the position information comprises pixel position information, deflection angle information and minimum unit pixel information of the two-dimensional code landmark;
the pixel position information of the two-dimensional code landmark is an X coordinate and a Y coordinate of a center point of the two-dimensional code landmark in a view field coordinate system corresponding to a current vision sensor scanning the two-dimensional code landmark, and the X coordinate and the Y coordinate are expressed by pixels; the deflection angle information is the deflection angle of the two-dimensional code landmark relative to the visual field coordinate system; the minimum unit pixel information is the pixel value of the minimum unit of the two-dimensional code landmark in the visual field range of the current visual sensor;
calculating the size d of the visual field of the visual sensor (c b/a) according to the linear relation of the imaging of the visual sensor by using the minimum unit pixel a of the current two-dimensional code landmark acquired by the visual sensor, the minimum unit side length information b of the current two-dimensional code and the pixel resolution c of the visual sensor;
then according to the pixel position information of the current two-dimensional code landmark, calculating a coordinate P of the center point of the current two-dimensional code landmark in a view coordinate system corresponding to the vision sensor according to the pixel resolution and view size imaging proportional relation of the vision sensor;
calculating the coordinate of the center point of the current two-dimensional code landmark in the vehicle coordinate system according to the coordinate system translation and rotation formula by the installation position of the visual sensor and the coordinate P of the center point of the current two-dimensional code landmark in the visual field coordinate system corresponding to the visual sensorVP; and calculating the coordinate of the center point of the current two-dimensional code landmark in a geodetic coordinate system according to the preset information of the current two-dimensional code landmarkGP；
Coordinates corresponding to the center point of the current two-dimensional code landmarkVP, coordinateGP and the deviation between the vehicle coordinate system and the geodetic coordinate system, and solving the position deviation between the vehicle coordinate system and the geodetic coordinate system, namely the deviation between the real-time position of the vehicle and the target position according to a coordinate rotation and translation transformation method;
respectively calculating coordinates of center points of the front and rear two-dimensional code landmarks in corresponding view coordinate systems and coordinates of the center points of the front and rear two-dimensional code landmarks in a geodetic coordinate system by the position information and preset information of the front and rear two-dimensional code landmarks respectively analyzed by the front and rear vision sensors, and then obtaining coordinates of origin points of the view coordinate systems respectively corresponding to the front and rear vision sensors in the geodetic coordinate system according to a coordinate transformation method; then, the attitude deviation of the vehicle coordinate system and the geodetic coordinate system is obtained, namely the deviation of the real-time attitude of the vehicle and the target attitude is obtained;
and the vehicle-mounted controller calls a closed-loop control algorithm to control the heavy guide vehicle to automatically operate according to the calculated deviation between the real-time position and the target position of the vehicle and the calculated deviation between the real-time posture and the target posture of the vehicle.
2. The heavy-duty guided vehicle positioning method based on the vision sensor as claimed in claim 1, wherein a plurality of two-dimensional code landmarks are laid on the ground of a working area where the heavy-duty guided vehicle is located in a grid shape at preset fixed intervals, and the plurality of two-dimensional code landmarks are distributed in the same direction.
3. The method for positioning a heavy-duty guided vehicle based on a vision sensor as claimed in claim 2, wherein the visual field coordinate system uses the left front point of the visual field of the corresponding vision sensor as the coordinate origin, the top edge of the visual field of the corresponding vision sensor as the X-axis, and the left side edge as the Y-axis;
the vehicle coordinate system takes the geometric center of a vehicle as a coordinate origin, takes the longitudinal center line of the vehicle as a Y axis, and takes the advancing direction of the vehicle as the positive direction of the Y axis; the geodetic coordinates take the geometric center of the two-dimensional code landmark positioned at the lower left corner of the two-dimensional code landmark matrix as a coordinate origin, and the forward direction of the two-dimensional code landmark matrix is taken as the Y-axis forward direction.
4. The method as claimed in claim 1, wherein the coordinate P of the center point of the current two-dimensional code landmark in the vehicle coordinate system is calculated according to the coordinate system translation and rotation formula by the installation position of the vision sensor and the coordinate P of the center point of the current two-dimensional code landmark in the visual field coordinate system corresponding to the vision sensorVP is specifically as follows:
obtaining the rotation angle of a visual field coordinate system corresponding to the vision sensor relative to the vehicle coordinate system from the installation position of the vision sensor, wherein the rotation angle is 0;
obtaining a translation matrix of a visual field coordinate system corresponding to the visual sensor relative to a vehicle coordinate system according to the visual field size of the visual sensor, the mounting bracket size of the visual sensor and the size of the heavy-duty guided vehicle,
calculating the coordinate of the center point of the two-dimensional code landmark in the vehicle coordinate system according to the coordinate system translation and rotation formula by using the coordinate P of the center point of the two-dimensional code landmark in the visual field coordinate system corresponding to the vision sensor, the rotation matrix and the translation matrix of the visual field coordinate system relative to the vehicle coordinate systemVP。
5. The vision sensor-based heavy-duty guided vehicle positioning method of claim 4, wherein the coordinates corresponding to the center point of the current two-dimensional code landmark are the coordinatesVP, coordinateGAnd P, calculating the position deviation of the vehicle coordinate system and the geodetic coordinate system, namely the deviation of the real-time position and the target position of the vehicle according to the coordinate rotation and translation transformation method, and specifically comprising the following steps:
taking the deflection angle information of the current two-dimensional code landmark as a rotation angle theta of a geodetic coordinate system relative to a vehicle coordinate system, and obtaining a rotation matrix of the geodetic coordinate system relative to the vehicle coordinate system according to the rotation angle theta;
and obtaining a translation matrix of the geodetic coordinate and the vehicle coordinate system, namely the deviation of the real-time position of the vehicle and the target position according to the rotation matrix of the geodetic coordinate system relative to the vehicle coordinate system, the coordinate of the central point of the current two-dimensional code landmark in the vehicle coordinate system and the coordinate of the central point of the current two-dimensional code landmark in the geodetic coordinate system.
6. A heavy guide vehicle employing the heavy guide vehicle positioning method according to any one of claims 1 to 5, wherein the heavy guide vehicle comprises a heavy vehicle body and an automated guidance system;
the heavy vehicle body comprises a plurality of wheel sets, and each wheel set is respectively provided with a hydraulic suspension, an angle sensor, a lifting electromagnetic valve and a steering electromagnetic valve; and the hydraulic suspensions positioned at the four corners of the heavy vehicle body are respectively provided with a height sensor;
in addition, the heavy vehicle body also comprises a battery pack and a battery management system which are arranged on the power unit of the heavy vehicle body; the battery management system is electrically connected with the battery pack, and the battery pack is provided with an automatic charging device; a part of the wheel sets in the plurality of wheel sets are electric driving wheel sets; each electric driving wheel set is electrically connected with a driving motor controller respectively, and the driving motor controller is electrically connected with the battery pack;
the automatic guidance system comprises a communication conversion module, a vehicle-mounted controller and two sets of visual sensors for scanning and analyzing position information and preset information of the two-dimensional code landmark; the two sets of vision sensors are respectively arranged at the head and the tail of the center line of the heavy vehicle body through mounting brackets, and the detection surfaces of the vision sensors are parallel to the ground; the vision sensor is provided with an automatic zoom lens, the detection distance of the vision sensor can be automatically focused according to the lifting condition of the vehicle, and the self-adaptive detection algorithm can meet the requirement of the automatic lifting operation of the vehicle; meanwhile, the vision sensor is also provided with a microcontroller and integrates a calculation method, so that the position information and the preset information of the two-dimensional code landmark can be scanned and analyzed in real time; the communication conversion module and the vehicle-mounted controller are both arranged in a control box of the heavy vehicle body;
the power line of the vision sensor is electrically connected with the battery pack, and the communication line of the vision sensor is electrically connected with the vehicle-mounted controller through the communication conversion module; the input port of the vehicle-mounted controller is electrically connected with each angle sensor and each height sensor respectively, and the output port of the vehicle-mounted controller is electrically connected with each steering electromagnetic valve and each lifting electromagnetic valve respectively; meanwhile, the vehicle-mounted controller is electrically connected with the driving motor controller and the battery management system respectively.
7. The heavy duty guided vehicle of claim 6 wherein said electric drive wheel set comprises two rubber wheels connected by a cartridge bridge, said cartridge bridge having a drive motor mounted thereon, said drive motor being electrically connected to said drive motor controller; and a speed reducer and a differential mechanism which are connected with the two rubber wheels are arranged in the insertion bridge.
8. The heavy duty vehicle as claimed in claim 6, wherein said heavy duty vehicle body is provided with twelve wheel sets, four of which are electrically driven wheel sets.
9. The heavy duty guided vehicle of claim 6, wherein the communication conversion module is an RS232 serial to CAN communication module for converting RS232 serial signals output by the two vision sensors into a CAN bus signal; the vehicle-mounted controller is electrically connected with the communication conversion module, the driving motor controller and the battery management system through a CAN bus respectively.
10. The heavy duty guided vehicle of claim 6, wherein the two-dimensional code landmark is printed on a steel plate using a laser printer and is fixed on the ground by a double-sided tape.
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