铁路物流园内集装箱AGV的导航与精度研究

Research on navigation and precision of container AGV in railway logistics park

以国内某铁路物流园内AGV集装箱转运为工程背景,为解决AGV的定位导航问题,设计一种基于视觉ArUco标签与惯性导航系统组合的自主导航系统,通过分析惯性导航系统的位置方程和误差方程,研究误差的主要组成部分,按照实际工况,计算AGV惯性导航系统理论位置误差。根据前摄像头几何成像数学模型、ArUco标签特征点与图像特征点之间的投影变换关系,得出AGV在堆场的确切位置,该位置信息作为惯性导航系统的初始值,对惯性导航系统的累积误差进行修正,实现AGV的粗定位导航。使用AGV俯视摄像头进行装卸集装箱精确定位,计算相机测量误差方程。通过实际测量验证了位置误差理论计算的正确性。该方法为AGV定位导航方案设计、精度计算、传感器选型及布置提供一定的参考。

Taking the transport of AGV containers in a railway logistics park in China as the engineering background,to solve the positioning and navigation problem of AGV,we designed an autonomous navigation system based on the combination of visual ArUco tag and inertial navigation system.by analyzing the position equation and error equation of inertial navigation system,we studied the main components of the error,and calculated the theoretical position error of AGV inertial navigation system according to the actual working conditions.Based on the mathematical model of geometric imaging of the front camera and the projection transformation relationship between the ArUco label feature points and the image feature points,we obtained the exact position of AGV in the storage yard.Taking the position information as the initial value of the inertial navigation system,the accumulated error of the inertial navigation system was corrected to realize the rough positioning and navigation of AGV.We used the AGV overhead camera to accurately locate the loading and unloading containers,and calculated the measurement error equation of the camera.The correctness of theoretical calculation of position error was veri fied by actual measurement.This method provides a certain reference for AGV positioning and navigation scheme design,precision calculation,sensor selection and layout.