阅读说明：本技术 一种基于激光雷达的工厂无人车定位系统 (Factory unmanned vehicle positioning system based on laser radar ) 是由 赵志国 毛康康 魏晓倩 王瑞 张磊 孙中 徐连高 于 2021-08-02 设计创作，主要内容包括：本发明公开了一种基于激光雷达的工厂无人车定位系统,包括工厂中用于无人车运行的车间,车间内设置有用于无人车运行的多条无人车通道,所述的无人车可在无人车通道上运行。在车间的顶部安装有多个高度不同的激光雷达,激光雷达通过无线通讯模块与单片机的定位计算模块连接；多个激光雷达分别安装在车间不同方位的四个角落及正中心的位置处；无人车通道的两端分别安装有激光反射镜一,无人车上安装有激光反射镜二；所述的激光雷达向周围发射激光,经激光反射镜一反射到无人车的激光反射镜二上,由无人车的激光反射镜二将激光原路反射回激光雷达上,激光雷达将信号传给定位计算模块,定位计算模块对光强信息进行阈值筛选并计算出小车坐标。(The invention discloses a laser radar-based factory unmanned vehicle positioning system which comprises a workshop for unmanned vehicle operation in a factory, wherein a plurality of unmanned vehicle channels for unmanned vehicle operation are arranged in the workshop, and unmanned vehicles can operate on the unmanned vehicle channels. A plurality of laser radars with different heights are installed at the top of the workshop and are connected with a positioning calculation module of the singlechip through a wireless communication module; the laser radars are respectively arranged at four corners of different directions of the workshop and the position of the center; two ends of the unmanned vehicle channel are respectively provided with a first laser reflector, and the unmanned vehicle is provided with a second laser reflector; the laser radar emits laser to the periphery, the laser is reflected to the laser reflector II of the unmanned vehicle through the laser reflector I, the laser reflector II of the unmanned vehicle reflects the laser original path back to the laser radar, the laser radar transmits signals to the positioning calculation module, and the positioning calculation module performs threshold value screening on light intensity information and calculates trolley coordinates.)

1. A factory unmanned vehicle positioning system based on laser radar comprises a workshop for unmanned vehicle operation in a factory, wherein a plurality of unmanned vehicle channels for unmanned vehicle operation are arranged in the workshop, and the unmanned vehicle can operate on the unmanned vehicle channels; the method is characterized in that: the top of the workshop is provided with a plurality of laser radars which are connected with a positioning calculation module of the singlechip through a wireless communication module; the laser radars are respectively arranged at four corners of different directions of the workshop and at the position of the center; two ends of the unmanned vehicle channel are respectively provided with a first laser reflector, and the unmanned vehicle is provided with a second laser reflector; the laser radar emits laser to the periphery, the laser is reflected to the laser reflector II of the unmanned vehicle through the laser reflector I, the laser reflector II of the unmanned vehicle reflects the laser original path back to the laser radar, the laser radar transmits signals to the positioning calculation module, and the positioning calculation module performs threshold value screening on light intensity information and calculates trolley coordinates.

2. The lidar based factory unmanned vehicle positioning system of claim 1, wherein: the angle of the first laser reflector is adjusted through a direct current motor, the direct current motor is connected with a single chip microcomputer through a wireless communication module, a direct current motor driving circuit is controlled through signals emitted by the single chip microcomputer, and then the direct current motor driving circuit controls the operation of the direct current motor.

3. The lidar based factory unmanned vehicle positioning system of claim 1, wherein: the single chip microcomputer is in signal connection with the unmanned vehicle through the wireless communication module.

4. The lidar based factory unmanned vehicle positioning system of claim 3, wherein: the singlechip pass through the bluetooth and be connected with unmanned car, carry out PWM speed governing by singlechip to DC motor according to unmanned car's speed of marcing, DC motor passes through reduction gear and adjusts the angle of laser mirror, guarantees that unmanned car can reflect the laser that laser radar sent.

5. The lidar based factory unmanned vehicle positioning system of claim 1, wherein: the unmanned vehicle is provided with a plurality of unmanned vehicles, and each unmanned vehicle has a number of the unmanned vehicle; the laser reflection intensities of the laser mirrors II arranged on the vehicles with different numbers are different; so that the light intensity information reflected to the laser radar is different; the laser radar can judge the serial number of the unmanned vehicle according to the laser of the received different light intensity information.

6. The lidar based factory unmanned vehicle positioning system of claim 1, wherein: the laser reflectors are arranged on the wall surface of a workshop and at the height positions corresponding to the laser emitted by the laser radars; and calculating the coordinate of the unmanned vehicle according to the difference of the distances from the laser to the laser radar by the laser reflector II on the unmanned vehicle, wherein the calculation formula is as follows:

wherein L is_iDistance of ith laser radar to the carriage, L_ixIs L_iProjection in a vertical plane, L_iyIs L_iProjection in a horizontal plane, L_i1Is the ithVertical distance L from laser reflector corresponding to laser radar to ground_i2The horizontal distance L from the laser reflector corresponding to the ith laser radar to the unmanned vehicle_i3The ith laser beam reaches the horizontal distance, L, of the corresponding laser reflector_i4The vertical distance L of the laser reflector corresponding to the ith laser radar_i0The distance from the ith laser radar to the unmanned vehicle through the laser reflector;

when a plurality of laser radars check the distance to the unmanned vehicle, the selection method comprises the following steps:

when A is larger than or equal to 10, removing the maximum value and recalculating the value of A, if the value of A is still larger than 10, removing the minimum value and recalculating the value of A, when A is smaller than 10, selecting a measuring result, taking a median as the distance from the laser radar to the unmanned vehicle, and using the laser radar to participate in the coordinate calculation of the unmanned vehicle;

then the positioning calculation module carries out threshold value screening on the light intensity signals of the laser radar so as to obtain the distance L from the laser radar distributed around to the unmanned vehicle_jDistance L from central laser radar to unmanned vehicle₅And solving the coordinates of the unmanned vehicle, wherein the formula is as follows:

wherein (x)_0,y₀) Is the coordinate of the unmanned vehicle, (x)_j,y_j) Coordinates of the lidar that are optimal for the light intensity signal, (x)_5,y₅) As a coordinate of the central lidar, L₅Distance from the central lidar to the unmanned vehicle, L_jFor laser radar distributed aroundUnmanned vehicle distance.

7. The lidar based factory unmanned vehicle positioning system of claim 1, wherein: the first laser reflector adopts a laser reflector capable of reflecting more than 99% of laser, the light intensity information i reflected by the laser reflector of the unmanned vehicle is far greater than that reflected by other objects, the image measured by the laser radar is input into MATLAB and processed, and the proper light intensity information i is determined₀Setting the value of i in the positioning calculation module when the light intensity information is greater than or equal to i₀While keeping the measurement result when the light intensity information is less than i₀The measurement results are ignored.

8. The lidar based factory unmanned vehicle positioning system of claim 1, wherein: the back of the first laser reflector is in transmission connection with a direct current motor through a transverse gear and a longitudinal gear, and a speed reducer is arranged between the motor and the transverse gear and between the motor and the longitudinal gear.

9. The lidar based factory unmanned vehicle positioning system of claim 1, wherein: the angle of the first laser reflector can be adjusted through the operation of the direct current motor, and the calculation formula of the adjustment angle of the first laser reflector is as follows:

the horizontal adjustment angle of the laser reflector corresponding to the ith laser radar is as follows:

the vertical angle of adjustment of the laser mirror that ith laser radar corresponds:

wherein alpha is_iyFor the horizontal adjustment of the angle, alpha, of the laser mirror corresponding to the ith laser radar_ixAnd vertically adjusting the angle of the laser reflector corresponding to the ith laser radar.

The rotating speed of the direct current motor can be determined by adjusting the angle of the laser mirror, and the formula is as follows:

n=i*α

wherein n is the rotating speed of the direct current motor, i is the transmission ratio of the reduction gear, and alpha is the adjusting angle required by the laser reflector.

Technical Field

The invention relates to the technical field of laser radar positioning, in particular to a factory unmanned vehicle positioning system based on a laser radar.

Background

Along with the development of unmanned technique, unmanned car can use in many mills, because the particularity of mill's environment, the wall body is thicker, and has many goods shelves to shelter from, therefore GPS signal location is inaccurate, if adopt camera discernment location, will bring huge data volume for unmanned car, reduces unmanned car's availability factor. The road in the workshop is relatively fixed, and does not have sleet, adopts laser positioning to have very big advantage.

Disclosure of Invention

Aiming at the technical problems, the technical scheme provides a factory unmanned vehicle positioning system based on laser radar, and the system can accurately position an unmanned vehicle under the condition of poor GPS condition; the problems can be effectively solved.

The invention is realized by the following technical scheme:

a factory unmanned vehicle positioning system based on laser radar comprises a workshop for unmanned vehicle operation in a factory, wherein a plurality of unmanned vehicle channels for unmanned vehicle operation are arranged in the workshop, and the unmanned vehicle can operate on the unmanned vehicle channels; the method is characterized in that: the top of the workshop is provided with a plurality of laser radars which are connected with a positioning calculation module of the singlechip through a wireless communication module; the laser radars are respectively arranged at four corners of different directions of the workshop and at the position of the center; two ends of the unmanned vehicle channel are respectively provided with a first laser reflector, and the unmanned vehicle is provided with a second laser reflector; the laser radar emits laser to the periphery, the laser is reflected to the laser reflector II of the unmanned vehicle through the laser reflector I, the laser reflector II of the unmanned vehicle reflects the laser original path back to the laser radar, the laser radar transmits signals to the positioning calculation module, and the positioning calculation module performs threshold value screening on light intensity information and calculates trolley coordinates.

Furthermore, the angle of the first laser reflector is adjusted through a direct current motor, the direct current motor is connected with the single chip microcomputer through a wireless communication module, a direct current motor driving circuit is controlled through signals emitted by the single chip microcomputer, and then the direct current motor driving circuit controls the operation of the direct current motor.

Furthermore, the single chip microcomputer is in signal connection with the unmanned vehicle through the wireless communication module.

Furthermore, the singlechip pass through the bluetooth and be connected with unmanned car, carry out PWM speed governing by the singlechip to DC motor according to the speed of advancing of unmanned car, DC motor passes through reduction gear and adjusts the angle of laser mirror, guarantees that unmanned car can reflect the laser that laser radar sent.

Furthermore, the unmanned vehicle is provided with a plurality of unmanned vehicles, and each unmanned vehicle has a number of the unmanned vehicle; the laser reflection intensities of the laser mirrors II arranged on the vehicles with different numbers are different; so that the light intensity information reflected to the laser radar is different; the laser radar can judge the serial number of the unmanned vehicle according to the laser of the received different light intensity information.

Furthermore, the plurality of laser radars can be arranged on horizontal planes with different heights or the same height, and the first laser reflector is arranged on the wall surface of a workshop and at a height position corresponding to the laser emitted by the laser radars; and calculating the coordinate of the unmanned vehicle according to the difference of the distances from the laser to the laser radar by the laser reflector II on the unmanned vehicle, wherein the calculation formula is as follows:

wherein L is_iDistance of ith laser radar to the carriage, L_ixIs L_iProjection in a vertical plane, L_iyIs L_iProjection in a horizontal plane, L_i1Vertical distance L from laser reflector corresponding to ith laser radar to ground_i2The horizontal distance L from the laser reflector corresponding to the ith laser radar to the unmanned vehicle_i3The ith laser beam reaches the horizontal distance, L, of the corresponding laser reflector_i4The vertical distance L of the laser reflector corresponding to the ith laser radar_i0The distance from the ith laser radar to the unmanned vehicle through the laser reflector;

when a plurality of laser radars check the distance to the unmanned vehicle, the selection method comprises the following steps:

when A is larger than or equal to 10, removing the maximum value and recalculating the value of A, if the value of A is still larger than 10, removing the minimum value and recalculating the value of A, when A is smaller than 10, selecting a measuring result, taking a median as the distance from the laser radar to the unmanned vehicle, and using the laser radar to participate in the coordinate calculation of the unmanned vehicle;

then the positioning calculation module carries out threshold value screening on the light intensity signals of the laser radar so as to obtain the distance L from the laser radar distributed around to the unmanned vehicle_jDistance L from central laser radar to unmanned vehicle₅And solving the coordinates of the unmanned vehicle, wherein the formula is as follows:

wherein (x)_0,y₀) Is the coordinate of the unmanned vehicle, (x)_j,y_j) Coordinates of the lidar that are optimal for the light intensity signal, (x)_5,y₅) As a coordinate of the central lidar, L₅Distance from the central lidar to the unmanned vehicle, L_jThe distance from the laser radar distributed around to the unmanned vehicle.

Further, the first laser reflector adopts a laser reflector capable of reflecting more than 99% of laser, the light intensity information i reflected by the laser reflector of the unmanned vehicle is far greater than that reflected by other objects, an image measured by the laser radar is input into MATLAB and processed, and appropriate light intensity information i is determined₀Setting the value of i in the positioning calculation module when the light intensity information is greater than or equal to i₀While keeping the measurement result when the light intensity information is less than i₀The measurement results are ignored.

Furthermore, the back surface of the first laser reflector is in transmission connection with a direct current motor through a transverse gear and a longitudinal gear, and a speed reducer is arranged between the motor and the transverse gear and between the motor and the longitudinal gear.

Furthermore, the angle of the first laser reflector can be adjusted by the operation of the direct current motor, and the calculation formula of the adjustment angle of the first laser reflector is as follows:

the horizontal adjustment angle of the laser reflector corresponding to the ith laser radar is as follows:

the vertical angle of adjustment of the laser mirror that ith laser radar corresponds:

wherein alpha is_iyFor the ith laser radarThe corresponding horizontal adjustment angle, alpha, of the laser reflector_ixAnd vertically adjusting the angle of the laser reflector corresponding to the ith laser radar.

The rotating speed of the direct current motor can be determined by adjusting the angle of the laser mirror, and the formula is as follows:

n=i*α

wherein n is the rotating speed of the direct current motor, i is the transmission ratio of the reduction gear, and alpha is the adjusting angle required by the laser reflector.

Advantageous effects

Compared with the prior art, the factory unmanned vehicle positioning system based on the laser radar has the following beneficial effects:

(1) according to the technical scheme, the unmanned vehicle is identified from the environment through the light intensity information of the laser radar, and the coordinates of the unmanned vehicle are determined through the route distance of the laser radar reflected to the unmanned vehicle through the laser reflector. The industrial shelter with many walls and the like is not beneficial to the erection of the base station, the GPS positioning effect is poor, the laser radar positioning has small dependence on external networks, the millimeter-level positioning can be provided according to the distance and light intensity information of laser, the reliability is high, the system is stable, the cost is low, and the mass production is facilitated; therefore, the system can accurately position the unmanned vehicle under the condition of poor GPS condition.

Drawings

FIG. 1 is a schematic view of a plant layout of example 1 of the present invention.

Fig. 2 is a schematic block diagram of the connection of the apparatus of the present invention.

Fig. 3 is a schematic system flow diagram of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are only some embodiments of the invention, not all embodiments. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and all of them should fall into the protection scope of the present invention.

Example 1:

as shown in fig. 1-3, a laser radar-based factory unmanned vehicle positioning system comprises a workshop for unmanned vehicle operation in a factory, wherein a plurality of unmanned vehicle channels for unmanned vehicle operation are arranged in the workshop, and the unmanned vehicle can operate on the unmanned vehicle channels.

5 laser radars are arranged at the top of the workshop, and the 5 laser radars are respectively arranged at four corners of the workshop in different directions and at the position of the center; five lidar heads as shown in figure 1 at a.b.c.d.e. The 5 laser radars are arranged on horizontal planes with different heights so as to avoid mutual influence.

The 5 laser radars are respectively connected with a positioning calculation module of the singlechip through respective wireless communication modules; and the front end of the positioning calculation module is provided with a signal receiver for receiving signals transmitted by the laser radar.

The two ends of the unmanned vehicle channel are respectively provided with a first laser reflector, and the first laser reflectors are all arranged on the wall surface of a workshop. And a second laser reflector is arranged on the unmanned vehicle.

The laser radar emits laser to the periphery, the laser is reflected to the laser reflector II of the unmanned vehicle through the laser reflector I, the laser reflector II of the unmanned vehicle reflects the laser original path back to the laser radar, the laser radar transmits signals to the positioning calculation module, and the positioning calculation module performs threshold value screening on light intensity information and calculates trolley coordinates.

After the lidar is mounted, the lidar can be rotated so that each lidar is responsible for only one wall, as shown in fig. 1, for example, lidar a scans between laser reflector a1 and laser reflector a3, when the lidar a scans the trolley at a1, the lidar is fixed to a1, and then the trolley is followed by the laser reflector a1 adjusting the angle.

The angle of the first laser reflector is adjusted through a direct current motor, the back of the first laser reflector is in transmission connection with the direct current motor through a transverse gear and a longitudinal gear, and a speed reducer is arranged between the motor and the transverse gear and between the motor and the longitudinal gear. The direct current motor is connected with the single chip microcomputer through the wireless communication module, the direct current motor driving circuit is controlled through signals emitted by the single chip microcomputer, and then the direct current motor driving circuit controls the operation of the direct current motor.

The unmanned vehicle is provided with a plurality of unmanned vehicles, and each unmanned vehicle has a number of the unmanned vehicle; the laser reflection intensities of the laser mirrors II arranged on the vehicles with different numbers are different; so that the light intensity information reflected to the laser radar is different; the laser radar can judge the serial number of the unmanned vehicle according to the laser of the received different light intensity information.

The single chip microcomputer is in signal connection with the unmanned vehicle through the wireless communication module. The singlechip passes through the bluetooth and is connected with unmanned car, and the singlechip carries out PWM speed governing to DC motor by the singlechip according to the speed of advancing of unmanned car, and DC motor passes through reduction gear and adjusts the angle of laser mirror, guarantees that unmanned car can reflect the laser that laser radar sent.

The first laser reflector is arranged on the wall surface of a workshop and at a height position corresponding to laser emitted by the laser radar; and calculating the coordinate of the unmanned vehicle according to the difference of the distances from the laser to the laser radar by the laser reflector II on the unmanned vehicle, wherein the calculation formula is as follows:

wherein L is_iDistance of ith laser radar to the carriage, L_ixIs L_iProjection in a vertical plane, L_iyIs L_iProjection in a horizontal plane, L_i1Vertical distance L from laser reflector corresponding to ith laser radar to ground_i2The horizontal distance L from the laser reflector corresponding to the ith laser radar to the unmanned vehicle_i3The ith laser beam reaches the horizontal distance, L, of the corresponding laser reflector_i4The vertical distance L of the laser reflector corresponding to the ith laser radar_i0The distance from the ith laser radar to the unmanned vehicle through the laser reflector;

when a plurality of laser radars check the distance to the unmanned vehicle, the selection method comprises the following steps:

when A is larger than or equal to 10, removing the maximum value and recalculating the value of A, if the value of A is still larger than 10, removing the minimum value and recalculating the value of A, when A is smaller than 10, selecting a measuring result, taking a median as the distance from the laser radar to the unmanned vehicle, and using the laser radar to participate in the coordinate calculation of the unmanned vehicle;

then the positioning calculation module carries out threshold value screening on the light intensity signals of the laser radar so as to obtain the distance L from the laser radar distributed around to the unmanned vehicle_jDistance L from central laser radar to unmanned vehicle₅And solving the coordinates of the unmanned vehicle, wherein the formula is as follows:

wherein (x)_0,y₀) Is the coordinate of the unmanned vehicle, (x)_j,y_j) Coordinates of the lidar that are optimal for the light intensity signal, (x)_5,y₅) As a coordinate of the central lidar, L₅Distance from the central lidar to the unmanned vehicle, L_jThe distance from the laser radar distributed around to the unmanned vehicle.

The first laser reflector adopts a laser reflector capable of reflecting more than 99% of laser, the light intensity information i reflected by the laser reflector of the unmanned vehicle is far greater than that reflected by other objects, the image measured by the laser radar is input into MATLAB and processed, and the proper light intensity information i is determined₀Setting the value of i in the positioning calculation module when the light intensity information is greater than or equal to i₀While keeping the measurement result when the light intensity information is less than i₀The measurement results are ignored.

The angle of the first laser reflector can be adjusted by the operation of the direct current motor, and the calculation formula of the adjustment angle of the first laser reflector is as follows:

the horizontal adjustment angle of the laser reflector corresponding to the ith laser radar is as follows:

the vertical angle of adjustment of the laser mirror that ith laser radar corresponds:

wherein alpha is_iyFor the horizontal adjustment of the angle, alpha, of the laser mirror corresponding to the ith laser radar_ixAnd vertically adjusting the angle of the laser reflector corresponding to the ith laser radar.

The rotating speed of the direct current motor can be determined by adjusting the angle of the laser mirror, and the formula is as follows:

n=i*α

wherein n is the rotating speed of the direct current motor, i is the transmission ratio of the reduction gear, and alpha is the adjusting angle required by the laser reflector.