阅读说明：本技术 一种agv激光雷达定位系统及方法 (AGV laser radar positioning system and method ) 是由 陈文成 于 2019-10-11 设计创作，主要内容包括：本发明提供一种AGV激光雷达定位系统,所述激光雷达定位系统包括反光膜组及AGV。本发明还提供一种AGV激光雷达定位方法,所述AGV激光雷达定位方法应用于AGV激光雷达定位装置,所述AGV激光雷达定位方法通过激光雷达接收反光膜的反光信号；基于所述反光信号的信号强度值进行直线拟合,以所述直线拟合的拟合结果计算所述反光膜在激光雷达坐标系下的方向坐标；根据计算到的所述方向坐标确认AGV在反光膜坐标系下的坐标。本发明以反光强度递增/递减的形式布置反光膜组,并将已布置的反光膜组设置在AGV站台工作,以激光雷达接收反光膜组反射的反光信号强度计算AGV的位置坐标,无需设置高成本的辅助定位装置,并实现了提高AGV定位精确度的有益效果。(The invention provides an AGV laser radar positioning system which comprises a reflecting film group and an AGV. The invention also provides an AGV laser radar positioning method, which is applied to the AGV laser radar positioning device and receives a reflection signal of the reflection film through the laser radar; performing linear fitting based on the signal intensity value of the reflection signal, and calculating the direction coordinate of the reflection film under a laser radar coordinate system according to the fitting result of the linear fitting; and confirming the coordinate of the AGV under the reflective film coordinate system according to the calculated direction coordinate. According to the invention, the reflecting film groups are arranged in a mode of increasing/decreasing the reflecting intensity, the arranged reflecting film groups are arranged on the AGV platform to work, the position coordinates of the AGV are calculated by using the intensity of the reflecting signal reflected by the reflecting film groups received by the laser radar, a high-cost auxiliary positioning device is not required to be arranged, and the beneficial effect of improving the positioning accuracy of the AGV is realized.)

1. The AGV laser radar positioning system is characterized by comprising a reflecting film group and an AGV, wherein the reflecting film group comprises a plurality of reflecting films which are arranged at intervals on stations of the AGV platform, and the plurality of reflecting films are arranged in sequence in an increasing/decreasing mode according to reflecting intensity;

the installation height of the reflective film group is parallel to the setting height of the AGV laser radar.

2. The AGV laser radar positioning system of claim 1, wherein said laser radar positioning system includes two said reflective film sets, said reflective film sets are symmetrically disposed at said AGV station.

3. The AGV laser radar positioning method is characterized by being applied to an AGV laser radar positioning device and comprising the following steps:

receiving a reflection signal of the reflection film through a laser radar;

performing linear fitting based on the signal intensity value of the reflection signal, and calculating the direction coordinate of the reflection film under a laser radar coordinate system according to the fitting result of the linear fitting;

and confirming the coordinate of the AGV under the reflective film coordinate system according to the calculated direction coordinate.

4. The AGV lidar positioning method of claim 3 wherein the step of receiving a reflectance signal from the reflective membrane via the lidar further comprises:

determining the initial coordinate of the reflective film, and dividing a reflective signal search range according to the initial coordinate of the reflective film;

and receiving the reflection signal of the reflection film in the reflection signal search range through a laser radar.

5. The AGV lidar positioning method of claim 4 wherein, prior to the step of determining initial coordinates of the reflective film and dividing a search range for a reflected signal based on the initial coordinates of the reflective film, the method further comprises:

determining a target docking station of the AGV, and acquiring global coordinates of auxiliary stations corresponding to the target docking station;

and substituting the global coordinate into a preset laser map to calculate the initial coordinate of the reflective film.

6. The AGV lidar positioning method of claim 5, wherein prior to the steps of determining a target docking station of the AGV and obtaining global coordinates of a corresponding station assist bit based on the target docking station, further comprising:

confirming a docking station of the AGV, and marking a station auxiliary position corresponding to the docking station;

and registering the global coordinates of the station auxiliary bits.

7. The AGV lidar positioning method of claim 5, wherein prior to the step of calculating the initial coordinates of the reflective film by substituting the global coordinates into a predetermined laser map, the method further comprises:

and constructing the preset laser map in a preset format according to the application of the laser radar of the AGV.

8. The AGV lidar positioning method of claim 3 wherein said step of performing a line fit based on the signal strength values of the reflected light signals and calculating the directional coordinates of the reflective membrane in the lidar coordinate system based on the results of the line fit further comprises:

confirming the signal intensity value of the reflective signal, and confirming the coordinate of the reflective film according to the signal intensity value;

and dividing the reflecting film group by the coordinates of the reflecting film, and fitting the reflecting film group in a straight line.

9. The AGV lidar positioning method of claim 3 wherein said step of performing a line fit based on the signal strength values of the reflected light signals and calculating the directional coordinates of the reflective membrane in the lidar coordinate system based on the results of the line fit further comprises:

determining a straight line intersection point of the straight line equation according to the fitting result;

and confirming the intersection point coordinates of the straight line intersection points, and calculating the direction coordinates of the reflective film under a laser radar coordinate system according to the intersection point coordinates.

10. The AGV lidar positioning method of claim 3 wherein the step of determining the coordinates of the AGV in the reflective film coordinate system based on the calculated directional coordinates further comprises:

and inputting the direction coordinate into a preset conversion formula, and confirming the coordinate of the AGV under the reflective film coordinate system according to a conversion result.