CN104596533B - Automatic guided vehicle and its guidance method based on map match - Google Patents
Automatic guided vehicle and its guidance method based on map match Download PDFInfo
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- CN104596533B CN104596533B CN201510007304.5A CN201510007304A CN104596533B CN 104596533 B CN104596533 B CN 104596533B CN 201510007304 A CN201510007304 A CN 201510007304A CN 104596533 B CN104596533 B CN 104596533B
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- guided vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
Abstract
The invention provides a kind of automatic guided vehicle and its guidance method based on map match, automatic guided vehicle includes：Map building module, sets up environmental map；Locating module, automatic guided vehicle using self-contained locating module by Current observation to local environmental information matched with the global map set up in advance to obtain the posture information under the overall situation；Human-computer interaction module, shows information and working condition of the automatic guided vehicle in map in real time；Path planning module, passage path planning module cooks up a feasible optimal path in global map；Independent navigation module, automatic guided vehicle according to the path cooked up and carries out independent navigation by independent navigation module；System module is dispatched, an automatic guided vehicle nearest from calling place will go to work.The present invention without doing any change to environment, depends entirely on automatic guided vehicle self-ability, automatic guided vehicle is known nothing environment, in the absence of any prior information without other auxiliary positioning facilities.
Description
Technical field
The present invention relates to a kind of automatic guided vehicle and its guidance method, in particular it relates to it is a kind of based on map match from
Dynamic guiding car and its guidance method.
Background technology
With material flow industry flourishing in China, the market demand of various logistics high-end devices drastically expands.At present
Main guide mode has：Electromagnetism guide mode, the las er-guidance mode based on reflector, visual guidance mode, infrared seeker
Mode.There are many defects in existing airmanship, particular technique is as follows：
Publication No. 104102222A Chinese invention patent application discloses a kind of pinpoint methods of AGV.It is this
Method needs to dispose some reflectors with certain intervals in advance in workplace, and the coordinate of reflector is obtained ahead of time.This
The major defect of kind of method be it is with high costs, it is harsher to environmental requirement, reflecting plate and automatic guided vehicle laser sensor it
Between can not have barrier, be not suitable for the aerial occasion for thering is logistics to influence.
Publication No. 104122895A Chinese invention patent application discloses a kind of AGV navigation based on self-adaptive PID
Method.This method is magnetic navigation mode.The major defect of this method is that change or extended route are cumbersome, guide wire
Laying is relatively cumbersome, and magnetic stripe is layered on to be easily damaged on the ground, and the limitation to pahtfinder hard is big, and task is difficult to when there is pahtfinder hard
Complete.
Publication No. 104122895A Chinese invention patent application discloses a kind of AGV vision navigation systems, main to lack
Point is to need also exist for safeguarding path, and is influenceed larger by illumination.
Notification number discloses a kind of AGV dollies guiding sensing dress for 202711064U Chinese utility model patent application
Put, be that infrared sensor is navigated, major defect is that infrared sensor reconnaissance range is small, acquisition information is less, precision
Relatively low, the limitation of pahtfinder hard is equally very big, and task is difficult to complete when there is pahtfinder hard.
The content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of automatic guided vehicle based on map match and
Its guidance method, many disadvantages of guide mode before it has been broken, without doing any setting in the environment, without in the environment
The features such as extra increase reflector, terrestrial reference, without other auxiliary positioning facilities, without doing any change to environment, depend on completely
In automatic guided vehicle self-ability, automatic guided vehicle is known nothing environment, in the absence of any prior information.
There is provided a kind of automatic guided vehicle based on map match according to an aspect of the present invention, it is characterised in that it is wrapped
Include：
Map building module, automatic guided vehicle utilizes the feature in self-contained map building module observing environment, builds
Vertical environmental map, the environmental map set up can represent the region that automatic guided vehicle can pass through and the area that can not pass through
Domain；
Human-computer interaction module, position and task status of the display automatic guided vehicle in map, pass through touch-call in real time
Guiding car and the task for changing guiding car；
Locating module, automatic guided vehicle utilizes the local environment that self-contained self-positioning creation module arrives Current observation
Information is matched with the global map set up in advance, and the pose of combination automatic guided vehicle last time determines automatic guided vehicle
The pose of current time in the environment, the positioning of automatic guided vehicle is realized by locating module, and lose when automatic guided vehicle
When losing oneself position in map, find position of the automatic guided vehicle in map to continue by Global localization searching algorithm
Work before completion；
Path planning module, automatic guided vehicle is after selected initial point and target point, according to different needs, passage path
Planning module cooks up a feasible optimal path in real time, or be manually set fixed driving path make automatic guided vehicle according to
Fixed route；
Independent navigation module, automatic guided vehicle generates optimal speed according to the path cooked up and navigated in real time, makes
The path for guiding car traveling is minimum with the error between the path of planning, is finally reached objective；
System module is dispatched, an automatic guided vehicle in a dormant state nearest from point in call is activated, and calls road
Footpath planning module, cooks up a most short path and reaches calling place in real time.
Preferably, the map building module is using the sensor for being capable of observing environment information, and sensor includes laser
Sensor or camera.
Preferably, the form of the environmental map has Two-dimensional Probabilistic grating map, three-dimensional Probabilistic Cell map, geometrically
Figure, visual signature map, semantic map.
Preferably, the locating module not only determines the position of automatic guided vehicle in the environment, also determines automatic guided vehicle
Posture.
Preferably, the locating module is when automation guiding car loses itself pose, and automatic search finds oneself on ground
Coordinate in figure.
Preferably, the human-computer interaction module shows pose and work of the autonomous guiding car in map by display screen in real time
Make state, and user can be checked by touch-screen, set automatic guide vehicle navigation target point position, posture.
Preferably, the path planning module is cooked up in real time according to the map established in advance and according to the environment at scene
One optimal path reaches objective.
Preferably, the driving path that the independent navigation module is generated according to path planning module, is generated optimal in real time
Speed is controlled with track path, it is ensured that the path travelled out is minimum with error between the path of setting.
Preferably, operation has optimal scheduling algorithm in the scheduling system module, according to position of the called person in map,
A real-time dynamic refresh guiding Chinese herbaceous peony in resting state nearest from calling place carrys out work.
The present invention also provides a kind of guidance method of the automatic guided vehicle based on map match, it is characterised in that it includes
Following steps：
Step one, automatic guided vehicle is run in the region for needing to run, and is seen using self-contained map building module
The feature surveyed in environment, sets up environmental map；
Step 2, automatic guided vehicle utilizes the local environmental information and thing that self-contained locating module arrives Current observation
The global map first set up is matched, and the pose of combination automatic guided vehicle last time determines automatic guided vehicle current time
Pose in the environment, realizes the positioning of automatic guided vehicle；
Step 3, operating personnel's automatic guided vehicle in a dormant state nearest by dispatching system calling；
Step 4, operating personnel give automatic guided vehicle sets target point by human-computer interaction module；
Step 5, automatic guided vehicle cooks up a current location to the optimal of target point automatically after sets target point
Path；
Step 6, automatic guided vehicle carries out independent navigation according to the path cooked up, and reaches target point, completes related appoint
Business.
Compared with prior art, the present invention has following beneficial effect：The present invention need not do any setting in the environment,
Without the feature such as extra increase reflector, terrestrial reference in the environment, without other auxiliary positioning facilities, without environment is done it is any more
Change.The present invention depends entirely on automatic guided vehicle self-ability, and automatic guided vehicle is known nothing environment, in the absence of any priori
Information.Automatic guided vehicle environmental suitability is strong in the present invention, and using flexible, target point can be easily changed according to the actual requirements
And track route, the path of traveling can be flexible and changeable.Positioning precision is high, highly reliable.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the theory diagram of the automatic guided vehicle of the invention based on map match.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in figure 1, the automatic guided vehicle of the invention based on map match includes：
Map building module, automatic guided vehicle utilizes the feature (ratio in self-contained map building module observing environment
Such as corner, metope, the feature such as pillar), environmental map is set up, the environmental map set up can represent that automatic guided vehicle can lead to
The region crossed and the region that can not pass through；Map building module can such as be swashed using the sensor for being capable of observing environment information
Optical sensor, ultrasonic sensor, infrared sensor, vision sensor, but it is not limited to these sensors.The lattice of environmental map
Formula has Two-dimensional Probabilistic grating map, three-dimensional Probabilistic Cell map, geometry map, visual signature map, semantic map etc., but does not limit
Due to these forms.The ground environment map established can be preserved in a computer.Map building module is used being capable of observing environment
The sensor of information, sensor, which includes laser sensor or imaged, first-class can perceive the sensor of environmental information.
Locating module, the local environmental information that automatic guided vehicle is arrived Current observation using self-contained locating module with
The global map set up in advance is matched, and when determining that automatic guided vehicle is current with reference to the pose of automatic guided vehicle last time
Pose in the environment is carved, the positioning of automatic guided vehicle is realized by locating module；Locating module not only determines automatic guided vehicle
Position in the environment, also determines the posture of automatic guided vehicle；Locating module can lose itself pose in automation guiding car
When, oneself coordinate in map is found in automatic search.
Human-computer interaction module, position and task status of the automatic guided vehicle in map can be shown in real time, by button,
Touch-screen can call guiding car and change the task of guiding car；Human-computer interaction module is shown certainly in real time by display screen
Dominate and draw pose and working condition of the car in map, and user is checked by touch-screen, sets automatic guide vehicle navigation mesh
The information such as punctuate position, posture.
Path planning module, automatic guided vehicle, can be according to different needs after selected initial point and target point, can be with
Passage path planning module cooks up a feasible optimal path in real time, and can also be manually set fixed driving path makes certainly
Dynamic guiding car is according to fixed route；Path planning module can be according to the map established in advance and according to the ring at scene
An optimal path is cooked up in real time and reaches objective in border.The path planning module especially complex situation of environment at the scene
Under, fixed route can be set guiding car is operated according to the path being previously set.
Independent navigation module, automatic guided vehicle generates optimal speed according to the path cooked up and navigated in real time, makes
The path for guiding car traveling is minimum with the error between the path of planning, is finally reached objective；Independent navigation module according to
The driving path of path planning module generation, generates optimal control speed with track path, it is ensured that the path travelled out in real time
It is minimum with error between the path of setting.
System module is dispatched, an automatic guided vehicle in a dormant state nearest from point in call is activated, and calls road
Footpath planning module, cooks up a most short path and reaches calling place in real time；Operation has optimal scheduling in scheduling system module
Algorithm, according to position of the called person in map, real-time dynamic refresh one nearest from calling place is in resting state
Guiding Chinese herbaceous peony carrys out work.
The guidance method of automatic guided vehicle of the invention based on map match comprises the following steps：
Step one, automatic guided vehicle is run in the region for needing to run, and is seen using self-contained map building module
The feature (such as corner, metope, the feature such as pillar) surveyed in environment, sets up environmental map, and the form of environmental map has two-dimentional general
Rate grating map, three-dimensional Probabilistic Cell map, geometry map, visual signature map etc., but it is not limited to these forms.Set up
Environmental map can represent the region that automatic guided vehicle can pass through and the region that can not pass through.The map built up is preserved
In a computer；
Step 2, automatic guided vehicle using self-contained sensor Current observation to local environmental information with building in advance
Vertical global map is matched, and the pose of combination automatic guided vehicle last time determines automatic guided vehicle current time in ring
Pose in border, realizes the positioning of automatic guided vehicle.Positioning not only determines the position of automatic guided vehicle in the environment, also determines certainly
The posture of dynamic guiding car；
Step 3, operating personnel's automatic guided vehicle in a dormant state nearest by dispatching system calling；
Step 4, operating personnel give automatic guided vehicle sets target point by human-computer interaction module；
Step 5, automatic guided vehicle cooks up a current location to the optimal of target point automatically after sets target point
Path；
Step 6, automatic guided vehicle carries out independent navigation according to the path cooked up, and reaches target point, completes related appoint
Business.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (2)
1. a kind of automatic guided vehicle based on map match, it is characterised in that it includes map building module, automatic guided vehicle profit
With the feature in self-contained map building module observing environment, environmental map is set up, the environmental map set up being capable of table
Show the region that automatic guided vehicle can pass through and the region that can not pass through；Human-computer interaction module, shows automatic guided vehicle in real time
Position and task status in map, guide car by touch-call and change the task of guiding car；Locating module,
Automatic guided vehicle using self-contained self-positioning creation module by Current observation to local environmental information and set up in advance
Global map is matched, and the pose of combination automatic guided vehicle last time determines automatic guided vehicle current time in the environment
Pose, the positioning of automatic guided vehicle is realized by locating module, and oneself is being lost in map when automatic guided vehicle
During position, position of the automatic guided vehicle in map is found with the work before continuing to complete by Global localization searching algorithm；
Path planning module, automatic guided vehicle is after selected initial point and target point, according to different needs, passage path planning module
Cooking up a feasible optimal path in real time, or be manually set fixed driving path makes automatic guided vehicle according to fixed road
Footpath is travelled；Independent navigation module, automatic guided vehicle generates optimal speed according to the path cooked up and navigated in real time, makes to lead
The path for drawing car traveling is minimum with the error between the path of planning, is finally reached objective；System module is dispatched, from calling
A nearest automatic guided vehicle in a dormant state of point is activated, and calls path planning module, one is cooked up in real time most
Short path reaches calling place, map building module using the sensor for being capable of observing environment information, sensor include but
It is not limited to laser range sensor, infrared distance sensor, sonar ranging sensor or imaging sensor, the lattice of environmental map
Formula includes but is not limited to Two-dimensional Probabilistic grating map, three-dimensional Probabilistic Cell map, geometry map, visual signature map, language
Free burial ground for the destitute figure, locating module not only determines the position of automatic guided vehicle in the environment, also to determine the posture of automatic guided vehicle, positioning mould
Block is when automation guiding car loses itself pose, and oneself coordinate in map, the man-machine interaction mould are found in automatic search
Block shows pose and working condition of the autonomous guiding car in map by display screen in real time, and user is looked into by touch-screen
See, automatic guide vehicle navigation target point position, posture are set, path planning module is according to the map established in advance and according to existing
The environment of field cooks up an optimal path and reaches objective in real time, and independent navigation module is generated according to path planning module
Driving path, optimal control speed is generated in real time with track path, it is ensured that the path travelled out is between the path of setting
Error is minimum, and operation has optimal scheduling algorithm in scheduling system module, according to position of the called person in map, in real time dynamic brush
A new guiding Chinese herbaceous peony in resting state nearest from calling place carrys out work.
2. a kind of guidance method of the automatic guided vehicle based on map match, it is characterised in that it comprises the following steps：
Step one, automatic guided vehicle is run in the region for needing to run, and ring is observed using self-contained map building module
Feature in border, sets up environmental map；
Step 2, automatic guided vehicle using self-contained locating module by Current observation to local environmental information with building in advance
Vertical global map is matched, and the pose of combination automatic guided vehicle last time determines automatic guided vehicle current time in ring
Pose in border, realizes the positioning of automatic guided vehicle；
Step 3, operating personnel's automatic guided vehicle in a dormant state nearest by dispatching system calling；
Step 4, operating personnel give automatic guided vehicle sets target point by human-computer interaction module；
Step 5, automatic guided vehicle cooks up a current location to the optimal path of target point automatically after sets target point；
Step 6, automatic guided vehicle carries out independent navigation according to the path cooked up, and reaches target point, completes inter-related task.
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