CN104793619A - Warehouse roadway automatic guided vehicle navigation device based on swing single-line laser radar - Google Patents
Warehouse roadway automatic guided vehicle navigation device based on swing single-line laser radar Download PDFInfo
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Abstract
The invention provides a warehouse roadway automatic guided vehicle navigation device based on swing single-line laser radar. The device comprises a laser radar swing control module, a three-dimensional point cloud data collection module and a vehicle navigation control module, the three-dimensional point cloud data collection module comprises the single-line laser radar, a motor and a rotating mechanism, the single-line laser radar serves as collection equipment for point cloud data, the motor and the rotating mechanism provide power for swinging of the single-line laser radar to realize a function of splicing planar point cloud to form three-dimensional space point cloud, the laser radar swing control module is responsible for receiving a control instruction of the vehicle navigation control module and a control task of the motor, and the vehicle navigation control module sends a swing control order to the laser radar swing control module according to current working state, receives and processes point cloud data and calculates according to current visual field point cloud to acquire position of an automatic guided vehicle so as to realize automatic positioning. The warehouse roadway automatic guided vehicle navigation device is simple in realization, high in performance-cost ratio, high in practicability and suitable for automatic guiding of warehouse roadways of various types.
Description
Technical field
The present invention relates to a kind of automatic guide vehicle automobile navigation technology, specifically, design be a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar.
Background technology
Under information age, along with the fast development of warehouse logistics, automatic guide vehicle (AGV) plays more and more important effect in the logistics of factory is produced.Under the background that factory automation degree improves constantly, the widespread use of AGV has become current development trend.Apply AGV in unattended production operation not only can enhance productivity, effectively can also save production cost.And why AGV can realize unmanned, self-navigation serves vital using most to it.
Through retrieval, many patents relating to AGV navigation are found, in current patent and practical application example, autopilot is generally based on electromagnetic path, or the mode of application induction tape, camera scanning label tape, also or rely on the single line laser scanning for beacon in scanning constant face to carry out the navigation procedure of AGV.In electromagnetic path scheme, electromagnetic path is pasted on floor or is embedded in the groove of ground, and AGV relies on the information of electromagnetic path to advance and location, and the usual construction volume of this scheme is larger, and not easily revises route; In the scheme of sensor sensing tape and camera identification label band, tape and label tape stick in ground, under the long term frequent service condition in warehouse, are easy to wearing and tearing, need frequent maintenance and inspection; The single line laser in existing scanning constant face scans reflective beacon to carry out the scheme of navigating generally all to be needed on the path of AGV walking or the reflective light label arranging some in warehouse environment navigates, cost and higher, in addition, also there is the problems such as setting is difficult, great in constructing amount, expansion change route is inconvenient in the label arranging differentiation in warehouse environment.Through consulting existing document, find the scheme also having the Kinematic Positioning based on multi-line laser radar to navigate, efficiency, the precision of navigation are all higher, but because the real price cost compare of this multi-thread laser sensor is high, this scheme is applied in common factory warehouse does not have practical feasibility.
Summary of the invention
Based on the analysis to above technical matters, the object of this invention is to provide a kind of low cost, dirigibility good, be easy to transplant, accurate positioning based on tunnel, the warehouse automatic guide vehicle guider swinging single line laser radar, the single line laser radar swung is utilized to set up the three-dimensional point cloud map of AGV vehicle direct of travel, thus mate with warehouse global map, realize location and the navigation feature of AGV.
For reaching above object, concrete technical scheme of the present invention is as follows:
The invention provides a kind of tunnel, warehouse AGV guider based on swinging single line laser radar, comprising three dimensional point cloud acquisition module, laser radar weave control module and automobile navigation control module, wherein:
The data collected as the collecting device of cloud data, and are sent to automobile navigation control module by described three dimensional point cloud acquisition module; This module comprises single line laser radar, motor and rotating mechanism, described single line laser radar for gathering the cloud data within the scope of AGV field of front vision, i.e. object coordinates data within the vision, and the data collected are sent to automobile navigation control module; Described motor and rotating mechanism, for carrying single line laser radar, and drive single line laser radar to move back and forth namely to swing, the turning axle of this swing is the axis with the rotational axis vertical of the generating laser of single line laser radar;
Described laser radar weave control module, for receiving the swing state control signal that automobile navigation control module sends, and drives the motor in three dimensional point cloud acquisition module to rotate accordingly; This module comprises single-chip microcomputer and motor driving part part, described single-chip microcomputer receives the rotation control instruction (comprising rotating forward, reverse signal) of automobile navigation control module, send the signal successfully receiving instruction to automobile navigation control module, and send pulse-width modulation PWM signal to described motor driving part part to drive the electric machine rotation in three dimensional point cloud module;
Described automobile navigation control module, swing state control command is sent to laser radar weave control module according to current duty, receive, process the cloud data of three dimensional point cloud acquisition module collection, and the position of automatic guide vehicle is obtained according to the cloud computing of present viewing field point, realize automatically locating.
Preferably, described motor, for driving rotating mechanism, described rotating mechanism is laid single line laser radar.
Preferably, the described output of motor driving part part is connected with the drive signal line of motor; Described motor driving part part input pwm signal controls, direction control signal, the control signal of output motor.
Preferably, described laser radar weave control module controls the motor converting motion direction of three dimensional point cloud acquisition module according to the rotation control instruction of automobile navigation control module, wherein during not commutating, controls motor uniform rotation.
Preferably, described automobile navigation control module, by sending rotation control instruction to the single-chip microcomputer in laser radar weave control module, rotates backward with the motor triggered in Micro Controller Unit (MCU) driving three dimensional point cloud acquisition module.
Preferably, described automobile navigation control module receive single-chip microcomputer successfully received instruction and drive motor rotate feedback signal after, receive the single line laser radar data frame obtained by USB serial ports, three dimensions point cloud map is connected to form to flat scanning data.
Preferably, the some cloud map of current acquisition is carried out filtering by described automobile navigation control module, and the grid search-engine extracting tunnel shelf point cloud mates with the factory position warehouse lane space map of its storage, thus obtains accurate own location information.
Compared with prior art, the present invention has following beneficial effect:
1, apparatus of the present invention structure is simple, flexible for installation, and cost performance is high;
2, the present invention does not need the basic facility installing auxiliary positioning in factory position warehouse;
3, the present invention is because adopt spatial point cloud data and warehouse lane space map match to position, and positioning precision is high, position stability good;
4, navigator fix realizes robotization.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features of the present invention, object and advantage will become more obvious:
Fig. 1 is the structured flowchart of one embodiment of the invention;
Fig. 2 is the schematic diagram that in the three dimensional point cloud acquisition module of one embodiment of the invention, single line laser radar swings mode;
Fig. 3 is the schematic diagram that in the three dimensional point cloud acquisition module of one embodiment of the invention, single line laser radar swings mode;
Fig. 4 is the rotating mechanism schematic three dimensional views of one embodiment of the invention;
In figure: 1 is automobile navigation control module, 2 is single-chip microcomputer, and 3 is motor driving part part, and 4 is single line laser radar, and 5 is motor, and 6 is rotating mechanism turning axle, and 7 is the rotating bracket installing laser radar, and 8 is device fixed mount.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of tunnel, warehouse AGV guider based on swinging single line laser radar, comprise: laser radar weave control module, three dimensional point cloud acquisition module and automobile navigation control module 1, wherein: communicated by universal asynchronous receiving-transmitting transmitter (UART) between automobile navigation control module 1 with laser radar weave control module, laser radar weave control module comprises single-chip microcomputer 2 (MC9S12XS128-MAL) and motor driving part part 3, three dimensional point cloud acquisition module comprises single line laser radar 4 (UTM-30LX), motor 5 (42HS4813A4) and rotating mechanism.In the present embodiment, data acquisition adopts a single line laser radar 4.
As a kind of optimal way, described three dimensional point cloud acquisition module is arranged on the front end of AGV, the initial position of single line laser radar 4 (that select in the present embodiment is the UTM-30LX of Hokuyo) the scanning upper bound in fig. 2 or scanning lower bound.Single line laser radar 4 unidirectional swing (from top to bottom or from the bottom to top) between scanning Lower and upper bounds is once a hunting period, in each hunting period, each analyzing spot position data of its each plane of scanning motion is sent it back automobile navigation control module 1 by USB2.0 and processes by single line laser radar 4, span point cloud.
As a kind of optimal way, be illustrated in figure 4 the rotating mechanism schematic three dimensional views in three dimensional point cloud module, the rotating shaft of described motor 5 and rotating mechanism rotation axis 6 (i.e. single line laser radar 4 swing turning axle) are connected; Bracket 7 provides rotating force by motor 5, and single line laser radar 4 is arranged on this bracket 7; Fixed mount 8 is for fixing this module to the firm banking on AGV.
As a kind of optimal way, the three-dimensional point cloud that described three dimensional point cloud acquisition module may be used for environment is rebuild, single line laser radar 4 can be utilized to scan this characteristic at the axis around the rotational axis vertical with its generating laser for turning axle reciprocating rotation, three-dimensional planar cloud data is connected into spatial point cloud data.
As a kind of optimal way, the spatial point cloud that single line laser radar 4 can be swung acquisition is carried out splicing thus forms whole surrounding three-dimensional point cloud map.
As a kind of optimal way, in described laser radar weave control module: single-chip microcomputer 2 uses the MC9S12XS128MAL single-chip microcomputer of Freescale, the pwm signal of motor driving part part 3 and direction control signal are produced by single-chip microcomputer 2, and are communicated with automobile navigation control module 1 by UART.Single-chip microcomputer 2 receives the cycle of the steering controling signal of automobile navigation control module 1 is in the present embodiment 3 seconds, therefore single line laser radar 4 swing circle is 3 seconds, namely every 3 seconds motor 5 Rotation With Changing to.
As a kind of optimal way, the control program of described single-chip microcomputer 2 uses CodeWarrior programming platform to write.
As a kind of optimal way, described automobile navigation control module 1 sends " rotating forward ", " reversion " signal to single-chip microcomputer 2, sends a successful Received signal strength and open PWM module, output rotation direction control signal after single-chip microcomputer 2 receives to automobile navigation control module 1.
As a kind of optimal way, the rotation step size settings of motor 5 is 360 °/3200 by described motor driving part part 3, and the rotational angle of motor 5 within each hunting period is 120 °, and the angle namely scanning the upper bound and scanning lower bound is as shown in Figure 2 120 °; The data frame per second of the single line laser radar 4 used in the present embodiment is that 40 frames are per second, so can gather 120 frame cloud datas within this hunting period, wherein ground level divides angle of oscillation equally.
As shown in Figure 2, as a kind of optimal way, described rotating mechanism turning axle 6 is directly connected with motor 5 rotating shaft; As shown in Figure 3, the sector region subtended angle of laser scanning plane is also 120 ° in the present embodiment, namely the whole sweep limits of single line laser radar 4 within per hunting period are 120 °, pitching visual angle and the region within the scope of left and right view field 120 °, in automobile navigation control module 1, finally restore the spatial point cloud map in this region.
As a kind of optimal way, in described automobile navigation control module 1, preserve factory position warehouse lane space map in advance.In AGV traveling process, guider continuous acquisition cloud data, continuous print 120 frame Point-clouds Registration is become three dimensions point cloud map by automobile navigation control module 1; In scanning process, each frame data all calculates the angle that turn over of these frame data relative to swing initial position (namely scanning the upper bound or scanning lower bound) according to motor constant rotation angular velocity and data receipt time, thus calculate present frame accurate location in space, thus restore the spatial point cloud map of above-mentioned scanning area.
After described automobile navigation control module 1 generates primary space point cloud map, filtering and noise reduction is carried out to this map datum, and with stochastic sampling consistency algorithm (RANdom SAmple Consensus, RANSAC) the laneway type shelf vertical plane point cloud in some cloud is extracted, again this cloud and the factory position warehouse lane space point map cloud stored in advance are carried out normal distribution transform (Normal Distribution Transform, NDT) mate, the relative position of three-dimensional map at factory position warehouse lane space point cloud map of present viewing field is obtained after this matching process terminates, namely the particular location of current AGV is obtained, realize the function of navigator fix.
As a kind of optimal way, in laneway type shelf warehouse, the spatial point cloud data of single line laser radar 4 acquisition can be swung according to single, after feature extraction is carried out to it, obtain the gridding information of tunnel shelf; Calculate the relative position information of present viewing field data and map datum; This relative position information is utilized to obtain installing the accurate location of automatic guide vehicle in warehouse of this guider.
As a kind of optimal way, described three dimensional point cloud acquisition module and laser radar weave control module provide by 12V battery.
Above the preferred embodiments of the present invention are described in detail.It will be appreciated that; the present invention is not limited to above-mentioned particular implementation; those skilled in the art can make various distortion within the scope of the claims, substitute or amendment, and this does not affect flesh and blood of the present invention, and protection scope of the present invention should listed by claims.
Claims (7)
1., based on tunnel, the warehouse automatic guide vehicle guider swinging single line laser radar, it is characterized in that, comprise three dimensional point cloud acquisition module, laser radar weave control module and automobile navigation control module, wherein:
The data collected as the collecting device of cloud data, and are sent to automobile navigation control module by described three dimensional point cloud acquisition module; This module comprises single line laser radar, motor and rotating mechanism, described single line laser radar for gathering the cloud data within the scope of AGV field of front vision, i.e. object coordinates data within the vision, and the data collected are sent to automobile navigation control module; Described motor and rotating mechanism, for carrying single line laser radar, and drive single line laser radar to move back and forth namely to swing, the turning axle of this swing is the axis with the rotational axis vertical of the generating laser of single line laser radar;
Described laser radar weave control module, for receiving the swing state control signal that automobile navigation control module sends, and drives the motor in three dimensional point cloud acquisition module to rotate accordingly; This module comprises single-chip microcomputer and motor driving part part, described single-chip microcomputer receives the rotation control instruction of automobile navigation control module, send the signal successfully receiving instruction to automobile navigation control module, and send pulse-width modulation PWM signal to described motor driving part part to drive the electric machine rotation in three dimensional point cloud module;
Described automobile navigation control module, swing state control command is sent to laser radar weave control module according to current duty, receive, process the cloud data of three dimensional point cloud acquisition module collection, and the position of automatic guide vehicle is obtained according to the cloud computing of present viewing field point, realize automatically locating.
2. a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar according to claim 1, it is characterized in that, described motor, for driving rotating mechanism, described rotating mechanism is laid single line laser radar.
3. a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar according to claim 1, it is characterized in that, the described output of motor driving part part is connected with the drive signal line of motor; Described motor driving part part input pwm signal controls, direction control signal, the control signal of output motor.
4. a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar according to claim 1, it is characterized in that, described laser radar weave control module controls the motor converting motion direction of three dimensional point cloud acquisition module according to the rotation control instruction of automobile navigation control module, wherein during not commutating, control motor uniform rotation.
5. a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar according to claim 1, it is characterized in that, described automobile navigation control module, by sending rotation control instruction to the single-chip microcomputer in laser radar weave control module, rotates backward with the motor triggered in Micro Controller Unit (MCU) driving three dimensional point cloud acquisition module.
6. a kind of tunnel, the warehouse automatic guide vehicle guider based on swinging single line laser radar according to any one of claim 1-5, it is characterized in that, described automobile navigation control module receive single-chip microcomputer successfully received instruction and drive motor rotate feedback signal after, receive the single line laser radar data frame obtained by USB serial ports, three dimensions point cloud map is connected to form to flat scanning data.
7. a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar according to claim 6, it is characterized in that, the point cloud map of current acquisition is carried out filtering by described automobile navigation control module, and the grid search-engine extracting tunnel shelf point cloud mates with the factory position warehouse lane space map of its storage, thus obtain accurate own location information.
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