CN118655893A - A positioning method and system thereof - Google Patents
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- CN118655893A CN118655893A CN202410681743.3A CN202410681743A CN118655893A CN 118655893 A CN118655893 A CN 118655893A CN 202410681743 A CN202410681743 A CN 202410681743A CN 118655893 A CN118655893 A CN 118655893A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions [2D]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/242—Means based on the reflection of waves generated by the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/65—Following a desired speed profile
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/20—Specific applications of the controlled vehicles for transportation
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本申请涉及一种定位方法及其系统，其包括：基于第一角度、第二角度、第一参考线段的长度、第二参考线段的长度和第三参考线段的长度，获取车体目标转弯半径，第一角度为第一反光柱相对于车体的第一方位角，第二角度为第二反光柱相对于车体的第二方位角，第一参考线段为第一反光柱与第二反光柱的连线，第二参考线段为第一反光柱与车体连线，第三参考线段为第二反光柱与车体连线；基于车体与目标停靠点的垂直距离，获取车体目标线速度，目标停靠点位于第一反光柱和第二反光柱之间；基于车体目标转弯半径和车体目标线速度，获取车体目标角速度；驱使车体根据车体目标转弯半径、车体目标线速度和车体目标角速度调整姿态并移动至目标停靠点。
The present application relates to a positioning method and a system thereof, which include: obtaining a target turning radius of a vehicle body based on a first angle, a second angle, a length of a first reference line segment, a length of a second reference line segment, and a length of a third reference line segment, wherein the first angle is a first azimuth angle of a first reflective column relative to the vehicle body, the second angle is a second azimuth angle of a second reflective column relative to the vehicle body, the first reference line segment is a line connecting the first reflective column and the second reflective column, the second reference line segment is a line connecting the first reflective column and the vehicle body, and the third reference line segment is a line connecting the second reflective column and the vehicle body; obtaining a target linear velocity of the vehicle body based on a vertical distance between the vehicle body and a target stop point, wherein the target stop point is located between the first reflective column and the second reflective column; obtaining a target angular velocity of the vehicle body based on the target turning radius of the vehicle body and the target linear velocity of the vehicle body; and driving the vehicle body to adjust its posture according to the target turning radius of the vehicle body, the target linear velocity of the vehicle body, and the target angular velocity of the vehicle body and move to the target stop point.
Description
Technical Field
The application relates to the field of logistics vehicle positioning, in particular to a positioning method and a positioning system.
Background
The current logistics car navigation modes comprise magnetic navigation, two-dimensional code navigation, laser navigation and visual navigation. The magnetic navigation is divided into magnetic navigation and electromagnetic navigation, and the two methods are similar, the magnetic navigation is easier than the electromagnetic navigation path change, but the magnetic tape is easy to be polluted, and the reliability is poor. The application is that a two-dimensional code and inertial navigation mode is adopted, the positioning and stopping precision is high, and the flexibility is insufficient. The laser navigation is also applied more, and the flexibility is higher, but is influenced by the characteristics of surrounding objects, the laser ranging precision and the illumination noise, so that the positioning precision is limited to the centimeter level (2-5 cm), and the millimeter-level fine operation cannot be satisfied.
At present, in order to meet the high-precision requirement of a parking task, the positioning method in the parking system adopts positioning based on artificial road signs. Although the two-dimensional code assisted laser navigation can realize high-precision positioning, the two-dimensional code is stuck on the ground as the magnetic stripe, and the problems of easy abrasion, cracking, falling off, pollution and the like are also existed.
Disclosure of Invention
The application provides a positioning method and a positioning system, which can solve the problems that a logistics vehicle cannot be accurately positioned and is inconvenient to position in the related art.
In a first aspect, an embodiment of the present application provides a positioning method, including:
Acquiring a target turning radius of the vehicle body based on a first angle, a second angle, a length of a first reference line segment, a length of a second reference line segment and a length of a third reference line segment, wherein the first angle is a first azimuth angle of a first reflecting column relative to the vehicle body, the second angle is a second azimuth angle of a second reflecting column relative to the vehicle body, the first reference line segment is a connection line of the first reflecting column and the second reflecting column, the second reference line segment is a connection line of the first reflecting column and the vehicle body, and the third reference line segment is a connection line of the second reflecting column and the vehicle body;
Acquiring a vehicle body target line speed based on a vertical distance between a vehicle body and a target stop point, wherein the target stop point is positioned between a first reflecting column and a second reflecting column;
Acquiring a vehicle body target angular velocity based on a vehicle body target turning radius and a vehicle body target line velocity;
the vehicle body is driven to adjust the gesture according to the vehicle body target turning radius, the vehicle body target line speed and the vehicle body target angular speed and move to the target stopping point.
In some embodiments, the obtaining the target turning radius of the vehicle body based on the first angle, the second angle, the length of the first reference line segment, the length of the second reference line segment, and the length of the third reference line segment specifically includes:
acquiring a third angle theta A and a fourth angle theta B based on the first angle theta 1, the second angle theta 2, the length of the first reference line segment, the length of the second reference line segment and the length of the third reference line segment, wherein the third angle theta A is an included angle between the first reference line segment and the second reference line segment, and the fourth angle theta B is an included angle between the first reference line segment and the third reference line segment;
acquiring a vehicle body attitude angle theta based on the first angle theta 1, the second angle theta 2, the third angle theta a and the fourth angle theta B;
the vehicle body target turning radius R is obtained based on the vehicle body attitude angle theta, the linear distance L between the vehicle body and the target stop point and the deviation YC between the vehicle body and the transverse direction of the target stop point.
In some embodiments of the present invention,
In some embodiments, the method further comprises the step of obtaining a deviation YC of the vehicle body in a lateral direction from the target stop point: and acquiring the deviation YC of the vehicle body in the transverse direction of the target parking point based on the length of the second reference line segment, the length of the third reference line segment, the third angle theta A and the fourth angle theta B.
In some embodiments, Y C＝(BC*cosθB-AC*cosθA)/2; wherein BC is the length of the third reference line segment, and AC is the length of the second reference line segment.
In some embodiments, the method further comprises the step of obtaining a vertical distance of the vehicle body from the target dock: based on the length of the second reference line segment, the length of the third reference line segment, the third angle theta A and the fourth angle theta B, the vertical distance XC between the vehicle body and the target parking point is obtained.
In some embodiments, X C＝(BC*sinθB+AC*sinθA)/2; wherein BC is the length of the third reference line segment, and AC is the length of the second reference line segment.
In some embodiments, the vehicle body is provided with a laser radar; the first angle and the second angle are acquired by the vehicle body in a set range, and the laser radar detects a first reflecting column and a second reflecting column when the vehicle body is in the set range.
In some embodiments, the first and second light reflecting columns each comprise a reflective film, the reflective film being cylindrical.
In a second aspect, embodiments of the present application provide a positioning system, comprising: the system comprises a first module, a second module, a third module and a fourth module, wherein the first module is used for acquiring a target turning radius of a vehicle body based on a first angle, a second angle, a length of a first reference line segment, a length of a second reference line segment and a length of a third reference line segment, the first angle is a first azimuth angle of a first reflecting column relative to the vehicle body, the second angle is a second azimuth angle of a second reflecting column relative to the vehicle body, the first reference line segment is a connecting line of the first reflecting column and the second reflecting column, the second reference line segment is a connecting line of the first reflecting column and the vehicle body, and the third reference line segment is a connecting line of the second reflecting column and the vehicle body; the second module is used for acquiring the target line speed of the vehicle body based on the vertical distance between the vehicle body and a target stopping point, and the target stopping point is positioned between the first reflecting column and the second reflecting column; the third module is used for acquiring a vehicle body target angular speed based on the vehicle body target turning radius and the vehicle body target line speed; the fourth module is used for driving the vehicle body to adjust the gesture according to the vehicle body target turning radius, the vehicle body target line speed and the vehicle body target angular speed and move to the target stop point.
The technical scheme provided by the embodiment of the application has the beneficial effects that:
The embodiment of the application provides a positioning method and a positioning system, which adopt a first reflecting column and a second reflecting column to assist in navigation to perform ground navigation, obtain a vehicle body target turning radius, a vehicle body target line speed and a vehicle body target angular speed which are required to be adjusted and controlled by a vehicle body through calculation, ensure the vehicle body to move along an expected point and a direction, avoid sticking two-dimensional codes on a parking place and the ground nearby, solve the problems of abrasion, breakage, falling, pollution and the like, ensure the vehicle body to accurately enter a narrow cargo space, and solve the problem that pure laser SLAM navigation cannot meet millimeter-level fine positioning.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a positioning method according to an embodiment of the present application;
Fig. 2 is a schematic diagram of a local positioning of a reflective column according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The embodiment of the application provides a positioning method and a positioning system, which can solve the problems that a logistics vehicle in the related art cannot be positioned accurately and is inconvenient to position when parked.
In a first aspect, an embodiment of the present application provides a positioning method, including:
101: acquiring a target turning radius of the vehicle body based on a first angle, a second angle, a length of a first reference line segment, a length of a second reference line segment and a length of a third reference line segment, wherein the first angle is a first azimuth angle of a first reflecting column relative to the vehicle body, the second angle is a second azimuth angle of a second reflecting column relative to the vehicle body, the first reference line segment is a connection line of the first reflecting column and the second reflecting column, the second reference line segment is a connection line of the first reflecting column and the vehicle body, and the third reference line segment is a connection line of the second reflecting column and the vehicle body;
102: acquiring a vehicle body target line speed based on the vertical distance between the vehicle body and a target stop point, wherein the target stop point is positioned between the first reflecting column and the second reflecting column;
103: acquiring a vehicle body target angular velocity based on a vehicle body target turning radius and a vehicle body target line velocity;
104: the vehicle body is driven to adjust the gesture according to the vehicle body target turning radius, the vehicle body target line speed and the vehicle body target angular speed and move to the target stopping point.
According to the application, ground navigation is performed by adopting a first reflecting column and a second reflecting column to assist navigation, and the vehicle body target turning radius, the vehicle body target line speed and the vehicle body target angular speed which are required to be adjusted and controlled by the vehicle body are obtained through calculation, so that the vehicle body is ensured to move along the expected point and direction, two-dimension codes are not required to be stuck on the ground at the stop position and nearby, the problems of abrasion, breakage, falling, pollution and the like are solved, the vehicle body is ensured to accurately enter a narrow cargo space, and the problem that the millimeter-level fine positioning cannot be satisfied by pure laser SLAM navigation is solved.
In the application, a reflecting column is arranged near a target stop point of the vehicle body and is used for assisting the positioning of the vehicle body. In this embodiment, the first reflecting column and the second reflecting column are provided, and the target stop is located between the first reflecting column and the second reflecting column.
A laser radar or a laser sensor is mounted on the vehicle body, and in this example, the laser radar is mounted at a center position of the vehicle body, and detects the first reflection column and the second reflection column when the vehicle body moves within a set range.
Referring to fig. 2, a point a represents a first reflection column, and a point B represents a second reflection column; the O point is a target stop point, and preferably, the target stop point can be arranged at the central position between the first reflecting column and the second reflecting column; point C represents a lidar; therefore, the first angle, the second angle, the length of the second reference line segment and the length of the third reference line segment can be acquired by the laser radar at this time.
The first reference line segment is a connecting line of the first reflecting column and the second reflecting column, namely the distance between the point A and the point B, and is known; the second reference line segment is the connection line between the first reflecting column and the vehicle body, namely the distance between the point A and the point C; the third reference line segment is the distance between the second reflecting column and the car body, namely the B point and the C point.
The first angle, the second angle, the length of the second reference line segment and the length of the third reference line segment are all acquired by the laser radar of the vehicle body within a set range. The laser radar receives data including the distance (length of the second reference line segment, length of the third reference line segment, and straight line distance between the vehicle body and the target stop point and perpendicular distance between the vehicle body and the target stop point) and the included angle (first angle, second angle, and third angle and fourth angle) of the laser beam, and the light intensity information of the laser beam reflected by the first reflecting column and the second reflecting column.
The surfaces of most objects in the working environment of the vehicle body are subjected to diffuse reflection, and the light intensity of laser reflected by the diffuse reflection is generally smaller; some objects with smoother surfaces are subject to specular reflection, and the intensity of the laser light reflected by the specular reflection is relatively high. Therefore, the application uses the diamond-grade reflective film (a material with strong light reflection performance) to be deployed in the environment, namely, the first light reflection column and the second light reflection column both comprise the reflective film, and the reflective film is wrapped on the peripheral surface of the column body to form the first light reflection column and the second light reflection column. The signal intensity obtained by irradiating the reflecting film with laser is far greater than that obtained by irradiating a general object, and the data related to the reflecting film can be identified from the laser radar data through the signal intensity. In order to ensure that the reflective film can be scanned over 360 deg., the reflective film is designed to be cylindrical.
On the basis of the above embodiment, in this embodiment, the vehicle body target turning radius is obtained based on the first angle, the second angle, the length of the first reference line segment, the length of the second reference line segment, and the length of the third reference line segment, and specifically includes steps 1011 to 1013:
Step 1011: third and fourth angles θ A and θ B are obtained based on the first, second, and third angles θ 1, θ 2, the length of the first, second, and third reference line segments.
Specifically, referring to fig. 2, the third angle θ A is an included angle between the first reference line segment and the second reference line segment, and the fourth angle θ B is an included angle between the first reference line segment and the third reference line segment.
The length of the second reference line segment, the length of the third reference line segment, the first angle theta 1 and the second angle theta 2 can be obtained through the data acquired by the laser radar, and the length of the first reference line segment is known, so that the third angle theta A and the fourth angle theta B can be calculated by using the cosine theorem:
Wherein BC is the length of the third reference line segment, and AC is the length of the second reference line segment; AB is the length of the first reference line segment.
Step 1012: the vehicle body posture angle θ is obtained based on the first angle θ 1, the second angle θ 2, the third angle θ A, and the fourth angle θ B.
Specifically, the body attitude angle θ can be calculated by knowing the first angle θ 1, the second angle θ 2, the third angle θ A, and the fourth angle θ B:
θ＝(θ2-θB+θA-θ1)/2。
Step 1013: the vehicle body target turning radius R is obtained based on the vehicle body attitude angle theta, the linear distance L between the vehicle body and the target stop point and the deviation Y C between the vehicle body and the transverse direction of the target stop point.
Specifically, the stable and accurate stopping of the vehicle body from the point C to the point O at the center of the first reflecting column and the second reflecting column is realized by fusion of a reflecting column positioning method and a pure tracking algorithm. The turning radius formula in the pure tracking algorithm is as follows:
In the formula, L is a straight line distance from the point C to the point O, that is, a straight line distance L between the vehicle body and the target parking point, which may also be referred to as a forward looking distance, where in practical application, L may be set to a fixed value according to practical situations. θ is the vehicle body attitude angle. Y C is the deviation of the C point and the O point in the transverse direction, and can be obtained by the principle of the local positioning of a reflecting column.
Thus, the method further comprises the step of obtaining a deviation Y C in the lateral direction of the vehicle body from the target stop point: based on the length of the second reference line segment, the length of the third reference line segment, the third angle θ A, and the fourth angle θ B, a deviation Y C in the lateral direction of the vehicle body from the target stop point is obtained.
Using the formula: y C＝(BC*cosθB-AC*cosθA)/2; the deviation Y C of the vehicle body in the transverse direction of the target stop point can be obtained, and after the deviation Y C of the vehicle body in the transverse direction of the target stop point is obtained, the deviation Y C is substituted into a turning radius formula to obtain the target turning radius R of the vehicle body.
In the application, the line speed V is calculated according to the vertical distance between the vehicle body and the target parking point, namely the vertical distance between the C point and the O point, as the residual distance X C from the target position, and the direct relation between the vehicle body speed and the residual distance is adopted.
Therefore, on the basis of the above embodiment, in this embodiment, the method further includes the step of obtaining a vertical distance between the vehicle body and the target stop point:
Based on the length of the second reference line segment, the length of the third reference line segment, the third angle θ A, and the fourth angle θ B, a vertical distance X C of the vehicle body from the target stop point is obtained.
Specifically, the vertical distance X C between the vehicle body and the target stop point is obtained by the following formula:
XC＝(BC*sinθB+AC*sinθA)/2；
The vertical distance X C between the vehicle body and the target stop point is calculated by the length BC of the third reference line segment, the length AC of the second reference line segment, the third angle theta A and the fourth angle theta B.
After the vertical distance X C between the vehicle body and the target stop point is obtained, the vehicle body target line speed V is calculated by the formula v=k×x C. Wherein, K is a relation coefficient, which can be adjusted according to practical conditions.
On the basis of the above embodiment, in the present embodiment, based on the vehicle body target turning radius and the vehicle body target line speed, the vehicle body target angular speed is obtained from:
Specifically, the vehicle body target angular velocity ω is calculated from the vehicle body target turning radius R and the vehicle body target line velocity V: ω=v/R.
On the basis of the above embodiment, in this embodiment, the vehicle body is driven to adjust the posture according to the vehicle body target turning radius, the vehicle body target line speed, and the vehicle body target angular speed and move into the target stop point:
specifically, the vehicle body is also provided with a controller, the calculated vehicle body target turning radius, the calculated vehicle body target line speed and the calculated vehicle body target angular speed are used as instructions to the controller to control the vehicle body to complete corresponding movement and turning actions, and finally, the superposition of the C point and the O point is realized. In the experiment, the stopping precision of +/-5 mm and +/-1 degree can be achieved.
The following is a description of specific examples:
Two reflecting columns, namely a first reflecting column and a second reflecting column, are erected beside the target stop point, and the distance between the first reflecting column and the second reflecting column is 6cm longer than the whole length of the car body. The experimental target is to accurately park the vehicle body at the central position between the first reflecting column and the second reflecting column, namely a target parking point, by utilizing a reflecting column local positioning technology based on a pure tracking algorithm. The vehicle body can use pure laser SLAM (Simultaneous localization AND MAPPING synchronous positioning and map building) navigation in the process of moving from the starting point to the setting range, and in the embodiment, the setting range is within 1 m+/-0.1 m in front of the target stop point, so that the laser radar can detect the first reflecting column and the second reflecting column. And then switching the navigation mode of the vehicle body to a pure tracking algorithm mode: acquiring a target turning radius of the vehicle body based on the first angle, the second angle, the length of the first reference line segment, the length of the second reference line segment and the length of the third reference line segment; then, based on the vertical distance between the vehicle body and the target stop point, acquiring the target line speed of the vehicle body; and then, based on the vehicle body target turning radius and the vehicle body target line speed, acquiring the vehicle body target angular speed, and finally, accurately stopping the vehicle body at a target stopping point. In addition, the vehicle body target turning radius, the vehicle body target line speed and the vehicle body target angular speed are changed at any time during the running of the vehicle body, so that the vehicle body target turning radius, the vehicle body target line speed and the vehicle body target angular speed need to be calculated in real time.
Because the repeated positioning accuracy of the laser SLAM navigation can be satisfied within +/-5 cm, the vehicle body can be basically ensured to stop in a set range, and then the vehicle body can smoothly and accurately enter a cargo space after the pose is corrected by local positioning.
In practical application, a special goods place with high parking precision requirement can be used, a reflection column local positioning technology is utilized based on a pure tracking algorithm, a reflection material, namely a reflection film, is attached to an upright post near the parked goods place, the edge of a goods shelf is identified by using equipment such as a laser sensor, a laser radar and the like, and the pose of a vehicle body relative to a target parking point is accurately calculated through the reflection column local positioning.
Therefore, the diamond-grade reflecting film (a material with strong light reflecting performance) is deployed in the environment, so that the original data related to the first light reflecting column and the second light reflecting column can be conveniently screened out from the measurement data of the laser radar, and then the original data are processed by utilizing median filtering, so that the jump abnormal data are prevented from affecting the running of a vehicle body; combining a reflection column local positioning method with a pure tracking algorithm to realize stable stop positioning; the ground picking and placing goods adopts the reflective column to assist the laser navigation, and the precision of parking positioning and the flexibility of navigation are considered.
In a second aspect, embodiments of the present application provide a positioning system, comprising: a first module, a second module, a third module, and a fourth module; the first module is used for acquiring a target turning radius of the vehicle body based on a first angle, a second angle, a length of a first reference line segment, a length of a second reference line segment and a length of a third reference line segment, wherein the first angle is a first azimuth angle of a first reflecting column relative to the vehicle body, the second angle is a second azimuth angle of a second reflecting column relative to the vehicle body, the first reference line segment is a connection line of the first reflecting column and the second reflecting column, the second reference line segment is a connection line of the first reflecting column and the vehicle body, and the third reference line segment is a connection line of the second reflecting column and the vehicle body; the second module is used for acquiring the target line speed of the vehicle body based on the vertical distance between the vehicle body and a target stopping point, and the target stopping point is positioned between the first reflecting column and the second reflecting column; the third module is used for acquiring a vehicle body target angular speed based on the vehicle body target turning radius and the vehicle body target line speed; the fourth module is used for driving the vehicle body to adjust the gesture according to the vehicle body target turning radius, the vehicle body target line speed and the vehicle body target angular speed and move to the target stop point.
According to the application, ground navigation is performed by adopting a first reflecting column and a second reflecting column to assist navigation, and the vehicle body target turning radius, the vehicle body target line speed and the vehicle body target angular speed which are required to be adjusted and controlled by the vehicle body are obtained through calculation, so that the vehicle body is ensured to move along the expected point and direction, two-dimension codes are not required to be stuck on the ground at the stop position and nearby, the problems of abrasion, breakage, falling, pollution and the like are solved, the vehicle body is ensured to accurately enter a narrow cargo space, and the problem that the millimeter-level fine positioning cannot be satisfied by pure laser SLAM navigation is solved.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that in the present application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
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| CN202410681743.3A Pending CN118655893A (en) | 2024-05-29 | 2024-05-29 | A positioning method and system thereof |
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| US20230116869A1 (en) * | 2021-10-08 | 2023-04-13 | Institute Of Intelligent Manufacturing, Gdas | Multi-sensor-fusion-based autonomous mobile robot indoor and outdoor navigation method and robot |
| CN116148868A (en) * | 2022-12-30 | 2023-05-23 | 苏州寻迹智行机器人技术有限公司 | A secondary positioning method of laser radar based on reflective parts |
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Application publication date: 20240917 |