CN104793619B - Based on the warehouse tunnel automatic guide vehicle guider for swinging single line laser radar - Google Patents
Based on the warehouse tunnel automatic guide vehicle guider for swinging single line laser radar Download PDFInfo
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Abstract
The present invention provides a kind of warehouse tunnel automatic guide vehicle guider based on swing single line laser radar, including laser radar weave control module, three dimensional point cloud acquisition module and automobile navigation control module, wherein：Three dimensional point cloud acquisition module includes single line laser radar, motor and rotating mechanism, single line laser radar is the collecting device of cloud data, motor and rotating mechanism provide power for the swing of single line laser radar, to realize the function by planar point cloud into three dimensions point cloud；Laser radar weave control module is responsible for receiving the control instruction of automobile navigation control module and the control task of motor；Automobile navigation control module sends weave control order and reception processing cloud data according to current working condition to laser radar weave control module, obtains the position of automatic guide vehicle according to present viewing field point cloud computing, realization is automatically positioned.The present invention realizes that simple, cost-effective, practicality is good, adapts to the automatic guiding in all kinds warehouse tunnel.
Description
Technical field
The present invention relates to a kind of automatic guide vehicle automobile navigation technology, and specifically, design is a kind of single based on swinging
The warehouse tunnel automatic guide vehicle guider of line laser radar.
Background technology
Under information age, with the fast development of warehouse logisticses, automatic guide vehicle (AGV) is in the logistics production of factory
Play more and more important effect.Under the background that factory automation degree improves constantly, AGV extensive use has become
Current development trend.Production efficiency can be not only improved using AGV in unattended production operation, can also effectively be saved
Production cost.And why AGV can realize unmanned, self-navigation serves to it vital most to be used.
Through retrieval, it was found that many is related to the patents of AGV navigation, in current patent and practical application example, automatically
Guider is generally basede on electromagnetic path, or application sensing tape, the mode of camera scanning label tape, also or by solid
The single line laser scanning for beacon of scanning plane is determined to carry out AGV navigation procedure.In electromagnetic path scheme, electromagnetic path is pasted
On floor or in embedded ground groove, AGV is advanced by the information of electromagnetic path and positioning, this usual construction volume of scheme compare
Greatly, and it is not easy to change route；In the scheme of sensor sensing tape and camera identification label tape, tape and label tape stick in
Ground, under the long term frequent use condition in warehouse, it is easy to which abrasion is, it is necessary to frequent maintenance and inspection；Existing scanning constant
The scheme that the single line laser in face scans reflective beacon to be navigated generally is required on the path of AGV walkings or warehouse ring
A number of reflective light label is set to be navigated in border, cost and higher, in addition, setting the mark of differentiation in warehouse environment
There is also set the problems such as route inconvenience is changed in difficult, great in constructing amount, extension for label.By the access to existing literature, find
Also there is the scheme of the dynamic location navigation based on multi-line laser radar, efficiency, the precision of navigation are all higher, but due to this more
The real price cost of line laser sensor is higher, and this scheme is applied in common factory warehouse without pratical and feasible
Property.
The content of the invention
Based on the analysis to above technical problem, it is an object of the invention to provide a kind of low cost, flexibility is good, is easy to move
Plant, the warehouse tunnel automatic guide vehicle guider based on swing single line laser radar of accurate positioning, utilize the single line of swing
Laser radar establishes the three-dimensional point cloud map of AGV vehicle traveling directions, so as to be matched with warehouse global map, realizes AGV
Positioning and navigation feature.
To achieve the above objectives, concrete technical scheme of the invention is as follows：
The present invention provides a kind of based on the warehouse tunnel AGV guiders for swinging single line laser radar, including three-dimensional point cloud
Data acquisition module, laser radar weave control module and automobile navigation control module, wherein：
The three dimensional point cloud acquisition module, sent as the collecting device of cloud data, and by the data collected
Give automobile navigation control module；The module includes single line laser radar, motor and rotating mechanism, and the single line laser radar is used for
The cloud data in the range of AGV field of front vision, i.e., object coordinates data within the vision are gathered, and the data collected are sent out
Give automobile navigation control module；The motor and rotating mechanism, for carrying single line laser radar, and drive single line laser thunder
Swung up to moving back and forth, the rotary shaft of the swing is vertical with the rotary shaft of the generating laser of single line laser radar
Axis；
The laser radar weave control module, the swing state for receiving the transmission of automobile navigation control module control letter
Number, and drive the motor in three dimensional point cloud acquisition module to be rotated accordingly；The module includes single-chip microcomputer and motor drives
Dynamic component, the single-chip microcomputer receives the rotation control instruction (including rotating forward, reverse signal) of automobile navigation control module, to vehicle
Navigation control module, which is sent, is properly received the signal of instruction, and send pulse-width modulation PWM signal to the motor driving part part with
The motor in three dimensional point cloud module is driven to rotate；
The automobile navigation control module, sent and swung to laser radar weave control module according to current working condition
STATUS control commands, receive, the cloud data of processing three dimensional point cloud acquisition module collection, and according to present viewing field point cloud meter
Calculation obtains the position of automatic guide vehicle, and realization is automatically positioned.
Preferably, the motor is used to drive rotating mechanism, and single line laser radar is laid on the rotating mechanism.
Preferably, the output of the motor driving part part is connected with the drive signal line of motor；The motor driving part part
Input pwm signal control, direction control signal, the control signal of output motor.
Preferably, the laser radar weave control module controls according to the rotation control instruction of automobile navigation control module
The motor converting motion direction of three dimensional point cloud acquisition module, wherein during not commutating, controlled motor uniform rotation.
Preferably, the automobile navigation control module is sent by the single-chip microcomputer into laser radar weave control module and turned
Dynamic control instruction, is rotated backward with triggering the motor in MCU driving three dimensional point cloud acquisition module.
Preferably, the automobile navigation control module receives single-chip microcomputer and is successfully received instruction and motor turn
After dynamic feedback signal, the single line laser radar data frame obtained by USB serial ports is received, flat scanning data are attached
Form three dimensions point cloud map.
Preferably, the point cloud map currently obtained is filtered by the automobile navigation control module, and extracts tunnel goods
The grid search-engine of frame point cloud is matched with the factory position warehouse lane space map that it is stored, so as to obtain accurate self-position
Information.
Compared with prior art, the method have the advantages that：
1st, apparatus of the present invention are simple in construction, flexible for installation, cost-effective；
2nd, the present invention need not install the basic facilities of auxiliary positioning in factory position warehouse；
3rd, the present invention using spatial point cloud data and warehouse lane space map match because positioned, positioning precision
Height, position stability are good；
4th, navigator fix realizes automation.
Brief description of the drawings
The detailed description done by reading with reference to the following drawings to non-limiting example, other features of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structured flowchart of one embodiment of the invention；
Fig. 2 swings the principle of mode for single line laser radar in the three dimensional point cloud acquisition module of one embodiment of the invention
Figure；
Fig. 3 swings the principle of mode for single line laser radar in the three dimensional point cloud acquisition module of one embodiment of the invention
Figure；
Fig. 4 is the rotating mechanism schematic three dimensional views of one embodiment of the invention；
In figure：1 is automobile navigation control module, and 2 be single-chip microcomputer, and 3 be motor driving part part, and 4 be single line laser radar, 5
It is rotating mechanism rotary shaft for motor, 6,7 is install the rotation bracket of laser radar, and 8 be device fixed mount.
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 the ordinary skill to 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 present embodiment provides a kind of warehouse tunnel AGV guiders based on swing single line laser radar,
Including：Laser radar weave control module, three dimensional point cloud acquisition module and automobile navigation control module 1, wherein：Vehicle
Communicated between navigation control module 1 and laser radar weave control module by universal asynchronous receiving-transmitting transmitter (UART),
Laser radar weave control module includes single-chip microcomputer 2 (MC9S12XS128-MAL) and motor driving part part 3, three dimensional point cloud
Acquisition module includes single line laser radar 4 (UTM-30LX), motor 5 (42HS4813A4) and rotating mechanism.Number in the present embodiment
According to using a single line laser radar 4.
As a kind of preferred embodiment, the three dimensional point cloud acquisition module is arranged on AGV front end, single line laser radar
4 (selected in the present embodiment be Hokuyo UTM-30LX) the initial position scanning upper bound in fig. 2 or scanning lower bound.It is single
Unidirectionally swing is (from top to bottom or from the bottom to top) once a hunting period to line laser radar 4 between Lower and upper bounds are scanned, often
In individual hunting period, single line laser radar 4 sends each scanning element position data of its each plane of scanning motion by USB2.0
Carriage return navigation control module 1 is handled, and generates spatial point cloud.
As a kind of preferred embodiment, the rotating mechanism schematic three dimensional views being illustrated in figure 4 in three dimensional point cloud module, institute
The rotating shaft for the motor 5 stated is connected with rotating mechanism rotary shaft 6 (rotary shaft that i.e. single line laser radar 4 is swung)；Bracket 7 is by motor
5 provide rotatory force, and single line laser radar 4 is installed on this bracket 7；Fixed mount 8 is to fix fixation bottom of the module to AGV
Seat.
As a kind of preferred embodiment, described three dimensional point cloud acquisition module can be used for the three-dimensional point cloud weight of environment
Build, can be rotary shaft reciprocating rotation around the axis vertical with the rotary shaft of its generating laser using single line laser radar 4
This characteristic is scanned, three-dimensional planar cloud data is connected into spatial point cloud data.
As a kind of preferred embodiment, the spatial point cloud that single line laser radar 4 can be swung to acquisition is spliced so as to be formed
Whole surrounding three-dimensional point cloud map.
As a kind of preferred embodiment, in described laser radar weave control module：Single-chip microcomputer 2 uses
Freescale MC9S12XS128MAL single-chip microcomputers, the pwm signal and direction control signal of motor driving part part 3 are by single-chip microcomputer 2
Produce, and communicated by UART with automobile navigation control module 1.Single-chip microcomputer 2 receives automobile navigation in the present embodiment
The cycle of the steering controling signal of control module 1 is 3 seconds, therefore the swing circle of single line laser radar 4 is 3 seconds, i.e., every 3 seconds motors
5 rotate commutation.
As a kind of preferred embodiment, the control program of described single-chip microcomputer 2 has been write using CodeWarrior programming platforms
Into.
As a kind of preferred embodiment, described automobile navigation control module 1 is to single-chip microcomputer 2 sends " rotating forward ", " reversion " is believed
Number, single-chip microcomputer 2 receive after to automobile navigation control module 1 send one be properly received signal and open PWM module, output turn
Dynamic direction control signal.
As a kind of preferred embodiment, the rotation step size settings of motor 5 are 360 °/3200 by described motor driving part part 3,
Rotational angle of the motor 5 within each hunting period is 120 °, i.e., the angle of the scanning 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 within this hunting period
To gather 120 frame cloud datas, wherein ground level divides angle of oscillation equally.
As shown in Fig. 2 as a kind of preferred embodiment, described rotating mechanism rotary shaft 6 is directly connected with the rotating shaft of motor 5；
As shown in figure 3, the sector region subtended angle of laser scanning plane is also in the present embodiment 120 °, i.e., single line laser radar 4 is every
Whole scanning ranges in hunting period are the regions in the range of 120 ° of 120 ° of pitching visual angle and left and right view field, are finally led in vehicle
The spatial point cloud map in the region is restored in boat control module 1.
As a kind of preferred embodiment, in the automobile navigation control module 1 with preserving factory position warehouse lane space in advance
Figure.In AGV traveling process, guider continuous acquisition cloud data, automobile navigation control module 1 is by continuous 120 frame point
Cloud data are spliced into three dimensions point cloud map；In scanning process, each frame data are all according to motor constant rotation angular speed
The frame data turning over relative to swing initial position (scan the upper bound or scan lower bound) is calculated with data receipt time
Angle, so as to which the accurate location of present frame in space be calculated, so as to restore the spatial point cloud of above-mentioned scanning area
Map.
After the automobile navigation control module 1 generates primary space point cloud map, denoising is filtered to the map datum,
And extract the laneway type shelf in point cloud with stochastical sampling consistency algorithm (RANdom SAmple Consensus, RANSAC)
Vertical plane point cloud, then the cloud and the factory position warehouse lane space point map cloud being previously stored are subjected to normal distribution transform
(Normal Distribution Transform, NDT) is matched, and the matching process obtains present viewing field dimensionally after terminating
Figure obtains current AGV particular location, realizes navigator fix in the relative position of factory position warehouse lane space point cloud map
Function.
As a kind of preferred embodiment, in laneway type shelf warehouse, single line laser radar 4 can be swung according to single and obtained
Spatial point cloud data, after carrying out feature extraction to it, obtain tunnel shelf gridding information；Calculate present viewing field data and ground
The relative position information of diagram data；Obtain installing the automatic guide vehicle of this guider in warehouse using the relative position information
Accurate location.
As a kind of preferred embodiment, described three dimensional point cloud acquisition module and laser radar weave control module by
12V batteries provide.
The preferred embodiments of the present invention are described in detail 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 modifications, replacement or modification within the scope of the claims,
This has no effect on the substantive content of the present invention, and protection scope of the present invention should be as listed by claims.
Claims (5)
- It is 1. a kind of based on the warehouse tunnel automatic guide vehicle guider for swinging single line laser radar, it is characterised in that including three Cloud data acquisition module, laser radar weave control module and automobile navigation control module are tieed up, wherein：The three dimensional point cloud acquisition module, car is sent to as the collecting device of cloud data, and by the data collected Navigation control module；The module includes single line laser radar, motor and rotating mechanism, and the single line laser radar is used to gather Cloud data in the range 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；The motor and rotating mechanism, for carrying single line laser radar, and drive single line laser radar to enter Row, which moves back and forth, to be swung, and the rotary shaft of the swing is the axle vertical with the rotary shaft of the generating laser of single line laser radar Line；The laser radar weave control module, for receiving the swing state control signal of automobile navigation control module transmission, And the motor in three dimensional point cloud acquisition module is driven to be rotated accordingly；The module includes single-chip microcomputer and motor driving part Part, the single-chip microcomputer receive the rotation control instruction of automobile navigation control module, send to automobile navigation control module and successfully connect The signal of instruction is received, and sends pulse-width modulation PWM signal to the motor driving part part to drive in three dimensional point cloud module Motor rotate；The automobile navigation control module, swing state is sent to laser radar weave control module according to current working condition Control command, receive, the cloud data of processing three dimensional point cloud acquisition module collection, and obtained according to present viewing field point cloud computing To the position of automatic guide vehicle, realization is automatically positioned；The laser radar weave control module controls three-dimensional point cloud number according to the rotation control instruction of automobile navigation control module According to the motor converting motion direction of acquisition module, wherein during not commutating, controlled motor uniform rotation；The automobile navigation control module sends rotation control instruction by the single-chip microcomputer into laser radar weave control module, Rotated backward with triggering the motor in MCU driving three dimensional point cloud acquisition module；Preserve factory position warehouse lane space map in advance in the automobile navigation control module, in AGV traveling process, navigation Device continuous acquisition cloud data, automobile navigation control module is by continuous 120 frame Point-clouds Registration into three dimensions point cloud Map；In scanning process, each frame data all calculate this according to motor constant rotation angular speed and data receipt time Frame data scan the upper bound or scanning lower bound relative to the angle turned over for swinging initial position, the swing initial position, from And the accurate location of present frame in space is calculated, so as to restore the spatial point cloud map of above-mentioned scanning area；The automobile navigation control module（1）After generating primary space point cloud map, denoising is filtered to the map datum, and The laneway type shelf vertical plane point cloud in point cloud is extracted with stochastical sampling consistency algorithm, then by the cloud and is previously stored Factory position warehouse lane space point map cloud carries out normal distribution transform matching, and the matching process obtains the three of present viewing field after terminating Relative position of the map in factory position warehouse lane space point cloud map is tieed up, that is, obtains current AGV particular location, realizes that navigation is fixed The function of position.
- It is 2. according to claim 1 a kind of based on the warehouse tunnel automatic guide vehicle navigation dress for swinging single line laser radar Put, it is characterised in that the motor is used to drive rotating mechanism, and single line laser radar is laid on the rotating mechanism.
- It is 3. according to claim 1 a kind of based on the warehouse tunnel automatic guide vehicle navigation dress for swinging single line laser radar Put, it is characterised in that the output of the motor driving part part is connected with the drive signal line of motor；The motor driving part part is defeated Enter pwm signal control, direction control signal, the control signal of output motor.
- It is 4. a kind of based on the warehouse tunnel automatic guide vehicle for swinging single line laser radar according to claim any one of 1-3 Guider, it is characterised in that the automobile navigation control module, which receives single-chip microcomputer and is successfully received, to be instructed and drive After the feedback signal that motor rotates, the single line laser radar data frame obtained by USB serial ports is received, flat scanning data are entered Row connection forms three dimensions point cloud map.
- It is 5. according to claim 4 a kind of based on the warehouse tunnel automatic guide vehicle navigation dress for swinging single line laser radar Put, it is characterised in that the point cloud map currently obtained is filtered by the automobile navigation control module, and extracts tunnel shelf The grid search-engine of point cloud is matched with the factory position warehouse lane space map that it is stored, so as to obtain accurate self-position letter Breath.
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