CN105388899B - A kind of AGV navigation control methods based on image in 2 D code label - Google Patents
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Abstract
The invention discloses a kind of AGV navigation control methods based on image in 2 D code label, are to carry out as follows：1st, the range size of each pixel in the scan image of two-dimension code label scanner is obtained；2nd, the pose of corresponding ID number and image in 2 D code label in image local Coordinate System is obtained according to the scan image of two-dimension code label scanner；3rd, AGV dollies receive the guidance path instruction that control centre is sent；4th, AGV dollies establish Local Navigation coordinate system successively according to guidance path instruction, and calculate initial pose of the AGV dollies in Local Navigation coordinate system；5th, arc track of the AGV dollies between two image in 2 D code labels is planned successively；6th, the controlled quentity controlled variable of AGV dollies is calculated according to the arc radius of planning so that AGV dollies travel each image in 2 D code label into guidance path command sequence successively, to complete guidance path instruction.The present invention can reduce production cost, reduce field conduct difficulty and improve guiding flexible.
Description
Technical Field
The invention belongs to the field of automatic guided vehicle navigation control, and relates to an AGV navigation control method based on two-dimensional code image tags, which can run along a given path and realize autonomous positioning.
Background
An Automatic Guided Vehicle (AGV) is an unmanned automatic vehicle which takes a rechargeable battery as power and is automatically guided, and can accurately walk and stop to a specified place according to path planning and operation requirements under the monitoring of a computer to complete a series of operation tasks such as picking, delivering, charging and the like. With the increasing degree of industrial automation and the rapid development of computer technology, AGVs are increasingly used as a transfer tool between assembly lines or work equipment.
Chinese patent application publication No. CN201410767757 proposes an AGV visual navigation control method. The visual navigation method comprises the following steps: the AGV comprises a road identification module, a positioning module, a motion control module and a path planning module. The AGV road identification module obtains the position deviation and the direction deviation of the AGV and the road sign line through image acquisition, image preprocessing and information extraction; the positioning module is mainly used for positioning the AGV in a working environment through the RFID electronic tags arranged on the periphery of the path; the motion control module is used for carrying out fuzzy control on the position information and the direction deviation obtained by the road identification module so as to control the walking of the trolley; the path planning module plans a path between the AGV and the target.
According to the scheme, color tapes are laid indoors to serve as road sign lines, and deviation and direction information of the color tapes are used as input of a control module to control the AGV to advance; RFID tags are used to detect where the AGV is located. The method can enable the AGV to run along the road marking line and monitor the state of the AGV in real time, but the method firstly needs to lay a color tape and install the RFID, and the field construction is complex; secondly, the color band is easy to be polluted, and the identification precision is influenced; and the AGV dolly can only travel along fixed typewriter ribbon, and the inconvenient route that becomes in the warehouse that the goods shelves are densely covered, and flexibility is relatively poor.
Disclosure of Invention
The invention provides an AGV navigation control method based on two-dimension code image tags to overcome the defects in the prior art, so that the navigation control of the AGV can be realized by identifying the information of the two-dimension code image tags in a warehouse through the AGV, the task instruction issued by a dispatching center is completed, and the purposes of reducing the production cost, reducing the field implementation difficulty and improving the guidance flexibility are achieved.
The invention adopts the following technical scheme for solving the technical problems:
the invention relates to an AGV navigation control method based on two-dimension code image labels, which is applied to an automatic warehouse consisting of a dispatching center, a plurality of movable shelves and an AGV trolley and is characterized in that a plurality of two-dimension code image labels which are arranged in the same direction are pasted in a matrix form at equal intervals in a passing area of the automatic warehouse; each two-dimensional code image tag comprises an ID number of the tag and an adjacent ID number of the tag; the adjacent ID numbers are formed by the ID numbers of 8 adjacent two-dimensional code image labels which take the pasting direction as a starting point and are arranged in a counterclockwise sequence; installing a two-dimensional code label scanner with the resolution of M multiplied by N on the AGV trolley; the AGV navigation control method comprises the following steps:
step 1, determining the scanning range of the two-dimensional code label scanner to be Len multiplied by Wid according to the vertical distance d between the two-dimensional code label scanner and the ground; obtaining the range size delta d of each pixel point in the scanned image of the two-dimensional code label scanner by using the formula (1):
step 2, scanning a two-dimensional code image label by using the two-dimensional code label scanner to form a scanned image, and obtaining a corresponding self ID number and an adjacent ID number thereof, a position coordinate of a central point of the two-dimensional code image label in a self coordinate system of the scanned image, and an included angle delta alpha between a label pasting direction of the two-dimensional code image and any coordinate axis in the self coordinate system of the scanned image according to the scanned image; the AGV trolley sends the ID number obtained by scanning to the dispatching center, so that the dispatching center can acquire the position of the AGV trolley;
step 3, the AGV trolley receives a navigation path instruction sent by the dispatching center; the navigation path instruction comprises an ID number sequence of the two-dimensional code image label and a corresponding waypoint attribute sequence; the ID number sequence is marked as { ID 1 ,ID 2 ,…,ID i ,…,ID m }；ID i Represents the ith ID number in the ID number sequence; the waypointsThe attribute sequence is denoted as { LD 1 ,LD 2 ,…,LD i ,…,LD m }；LD i Representing the ith waypoint attribute in the waypoint attribute sequence; the initial ID number of the ID number sequence is the ID number of the two-dimensional code image label where the initial position of the AGV trolley is located; i is more than or equal to 1 and less than or equal to m;
step 4, initializing i =1;
step 5, according to the ID number ID of the ith two-dimensional code image label of the AGV trolley i And the adjacent ID numbers thereof, and obtaining the i +1 ID number ID in the ID number sequence i+1 Rank n in the adjacent ID number of the ith two-dimensional code image tag i ；1≤n i Less than or equal to 8; obtaining the i-th ID number ID using equation (2) i And the (i + 1) th ID number ID i+1 The included angle theta between the connecting line of the two-dimensional code image label and the pasting direction i+1 ：
θ i+1 ＝45°×(n i -1) (2)
Step 6, taking the central point of the ith two-dimensional code image label as an origin O i (ii) a With the i +1 th ID number ID i+1 Angle of (theta) i+1 Direction X i An axial direction; and with X i The axial direction is rotated anticlockwise by 90 degrees to be Y i Axial direction, establishing the ith local navigation coordinate system X i O i Y i ；
And 7, obtaining the local navigation coordinate system X of the AGV in the ith local navigation coordinate system by using the formulas (3) and (4) i O i Y i Initial position coordinates (A) of (1) i ,B i )：
A i ＝(Wid/2-y i )×Δd (3)
B i ＝(Len/2-x i )×Δd (4)
In the formulae (3) and (4), x i And y i Representing the position coordinates of the central point of the ith two-dimensional code image label in the self coordinate system of the scanning image;
and 8, obtaining the local navigation coordinate system X of the AGV at the ith local navigation coordinate system by using the formula (5) i O i Y i Initial course angle Δ θ in (1) i ：
Δθ i ＝Δα-θ i+1 (5)
Step 9, establishing a vehicle coordinate system XOY by taking the mass center of the AGV as an original point O, taking the direction pointed by the vehicle head as an X-axis direction and anticlockwise rotating by 90 degrees in the X-axis direction as a Y-axis direction; obtaining the position (a) of the center point of the (i + 1) th two-dimensional code image label in the vehicle coordinate system XOY by using the formula (6) i ,b i )：
In the formula (6), P i And Q i The central point of the (i + 1) th two-dimensional code image label is represented in the (i) th local navigation coordinate system X i O i Y i The position coordinates of (1);
step 10, obtaining the ith heading angle delta theta by using the formula (7) i Arc radius R of central point of tangent and (i + 1) th two-dimensional code image label i ：
Step 11, according to the structure and the arc radius R of the AGV trolley i Determining the ith control quantity of the AGV trolley; the AGV trolley is used for controlling the AGV according to the ith control quantity and the ith road point attribute LD i Driving to the (i + 1) th two-dimensional code image label;
step 12; assigning i +1 to i, judging whether i is greater than m, and if so, indicating that the AGV finishes a navigation path instruction; otherwise, returning to the step 5 for sequential execution.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the method, the local navigation coordinate system is sequentially established by scanning the information of the two-dimensional code image tags, the position of the AGV in the local navigation coordinate system is obtained, the positioning navigation of the AGV is completed, and the local path planning is performed, so that a navigation path instruction issued by a dispatching system is completed, the flexibility of the navigation path is improved, and the production cost is reduced.
2. According to the method, the local navigation coordinate system is established through transformation, the global navigation task is decomposed into the local navigation tasks, the problem that the two-dimensional code image label is difficult to position in the global coordinate system is solved, and therefore the difficulty of field implementation is reduced.
3. According to the invention, the RFID label is replaced by the two-dimensional code image label, so that the position of the AGV is provided for the dispatching center, and the local position information is provided for the navigation control of the AGV, so that the positioning problem of the AGV is solved, the number of sensors is reduced, and the production cost is reduced.
4. According to the invention, the two-dimensional code image label is pasted in a matrix manner, so that the path is easy to change, the problem of difficult path planning in a dense distribution area of the goods shelf is solved, and the guiding flexibility is improved.
Drawings
FIG. 1 is a schematic diagram of two-dimensional image tags pasted in the same direction in a matrix form in a warehouse according to the present invention;
FIG. 2 is a local navigation coordinate system established by the ith two-dimensional code image label and the (i + 1) th two-dimensional code image label of the next path point, wherein the path point where the AGV is currently located is the ith two-dimensional code image label;
FIG. 3 is a schematic diagram of a single steerable wheel AGV in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a path formed by a navigation path sequence command issued by a dispatching center according to the present invention;
FIG. 5 is a schematic diagram illustrating lateral deviation of each two-dimensional code image tag detected during the traveling process of the AGV;
FIG. 6 is a schematic diagram illustrating an angle deviation of each two-dimensional code image tag detected by an AGV during navigation control along a route according to the present invention;
FIG. 7 is a graph showing the change of front wheel steering angle of an AGV according to the present invention.
Detailed Description
In this embodiment, taking a single-steering-wheel AGV as an example, the AGV navigation control based on the two-dimensional code image tag is implemented according to the following process: 1. obtaining the range size of each pixel point in a scanned image of a two-dimensional code label scanner; 2. obtaining a corresponding ID number and a pose of a two-dimensional code image label in an image coordinate system according to a scanning image of a two-dimensional code label scanner; 3. the AGV receives a navigation path instruction sent by a dispatching center; 4. sequentially establishing a local navigation coordinate system by the AGV according to the navigation path instruction, and calculating the initial pose of the AGV in the local navigation coordinate system; 5. sequentially planning an arc track of the AGV trolley between the two-dimensional code image tags; 6. and calculating the control quantity of the AGV according to the planned arc radius, so that the AGV sequentially runs to each two-dimensional code image tag in the navigation path instruction sequence to complete the navigation path instruction.
Specifically, the AGV navigation control method based on the two-dimensional code image tag is applied to an automatic warehouse which is composed of a dispatching center, a plurality of movable shelves and an AGV; as shown in fig. 1, in a passing area of an automated warehouse, a plurality of two-dimensional code image labels arranged in the same direction are pasted at equal distance L =1m in a matrix form; each two-dimensional code image tag comprises an ID number of the tag and an adjacent ID number of the tag; the adjacent ID numbers are formed by the ID numbers of 8 adjacent two-dimensional code image labels which take the pasting direction as a starting point and are arranged in a counterclockwise sequence; the method comprises the steps that a two-dimensional code label scanner with the product name of Matrix-210-213-100 and the resolution of 752 x 480 of Datalogic company is arranged on a single-steering wheel AGV trolley, so that information contained in a two-dimensional code label and the position and deviation angle of the center point of the two-dimensional code label in an image of the scanner can be obtained, the position precision is 0.2mm, and the angle precision is 1 degree; the two-dimensional code image tag adopts a DataMatrix code, and the size of the tag is 4cm multiplied by 4cm; the AGV navigation control method comprises the following steps:
step 1, determining that the scanning range of a two-dimensional code label scanner is 132mm multiplied by 86mm according to the vertical distance d =18cm between the two-dimensional code label scanner and the ground; obtaining the range size delta d of each pixel point in a scanned image of a two-dimensional code label scanner by using the formula (1):
step 2, scanning the two-dimension code image label by using the two-dimension code label scanner to form a scanned image, and obtaining a corresponding self ID number and an adjacent ID number thereof and a position coordinate x of the central point of the two-dimension code image label in a self coordinate system of the scanned image according to the scanned image i 、y i An included angle delta alpha between the label pasting direction of the two-dimensional code image and any coordinate axis in the coordinate system of the scanned image; the AGV sends the ID number obtained by scanning to a dispatching center, so that the dispatching center can acquire the position of the AGV;
3, the AGV receives a navigation path instruction sent by a dispatching center; the navigation path instruction comprises an ID number sequence of the two-dimensional code image label and a corresponding waypoint attribute sequence, and is described by using a 2 x n-dimensional array, wherein the first row represents the ID number of each waypoint on the path, and the second row represents the attribute corresponding to each waypoint; the ID number sequence is marked as { ID 1 ,ID 2 ,…,ID i ,…,ID m }；ID i Represents the ith ID number in the ID number sequence; the sequence of waypoint attributes is denoted as { LD 1 ,LD 2 ,…,LD i ,…,LD m }；LD i Representing the ith waypoint attribute in the waypoint attribute sequence; such as:in the second row, 0 indicates constant speed, 1 indicates deceleration, 2 indicates acceleration, 3 indicates parking and pickup, and 4 indicates parking and discharge. The initial ID number of the ID number sequence is the ID number of the two-dimensional code image label where the AGV trolley initial position is located; i is more than or equal to 1 and less than or equal to m;
step 4, initializing i =1;
step 5, according to the ID number ID of the ith two-dimensional code image label of the AGV i And its adjacent ID number, obtain the i +1 ID number ID in the ID number sequence i+1 Rank n in the adjacent ID number of the ith two-dimensional code image tag i ；1≤n i Less than or equal to 8; obtaining the i +1 th ID number ID by using the formula (2) i+1 And the ith ID number ID i The included angle theta between the connecting line of the two-dimensional code image label and the pasting direction i+1 ：
θ i+1 ＝45°×(n i -1) (2)
Step 6, as shown in fig. 2, taking the central point of the ith two-dimensional code image label as an origin O i (ii) a With the i +1 th ID number ID i+1 Angle of (theta) i+1 Is X i An axial direction; and with X i The axial direction is rotated anticlockwise by 90 degrees to be Y i Axial direction, establishing the ith local navigation coordinate system X i O i Y i ；
And 7, obtaining the local navigation coordinate system X of the AGV in the ith local navigation coordinate system by using the formulas (3) and (4) i O i Y i Initial position coordinates (A) of i ,B i )：
A i ＝(Wid/2-y i )×Δd (3)
B i ＝(Len/2-x i )×Δd (4)
Step 8, obtaining the local navigation coordinate system X of the AGV in the ith local navigation coordinate system by using the formula (5) i O i Y i Course angle Δ θ in i ：
Δθ i ＝Δα-θ i+1 (5)
Step 9, establishing a vehicle coordinate system XOY by taking the mass center of the AGV as an original point O, taking the direction pointed by the vehicle head as an X-axis direction and anticlockwise rotating by 90 degrees in the X-axis direction as a Y-axis direction; obtaining the position (a) of the center point of the (i + 1) th two-dimensional code image label in the vehicle coordinate system XOY by using the formula (6) i ,b i )：
In the formula (6), P i And Q i Represents the i +The central point of 1 two-dimensional code image label is in the ith local navigation coordinate system X i O i Y i The position coordinates of (1); when the AGV moves straight P i ＝L＝1m，Q i =0; when the AGV turnsQ i ＝0；
Step 10, obtaining the i-th heading angle delta theta by using the formula (7) i Arc radius R of central point of tangent and (i + 1) th two-dimensional code image label i ：
Step 11, as shown in FIG. 3, using equation (8) to obtain the planned arc radius R i Front wheel rotating angle beta for calculating AGV (automatic guided vehicle) with single steering wheel i And a running speed V i AGV between two-dimensional code image tags with fixed front wheel rotation angle beta i And a running speed V i And (4) advancing.
β i ＝arctan(b/R i ) (8)
In equation (8), b is the distance from the center point of the front wheel to the connecting line of the two rear wheels, and b =1.64m in this embodiment. AGV Car travel speed V in this embodiment i According to the attribute setting of the waypoints, wherein the constant speed is 0.5m/s in straight running, the deceleration is 0.2m/s, and the turning is 0.1m/s. The AGV according to the ith control quantity beta i 、V i And ith waypoint attribute LD i Driving to the (i + 1) th two-dimensional code image label;
step 12; assigning i +1 to i, judging whether i is greater than m, and if so, indicating that the AGV completes the navigation path instruction; otherwise, returning to the step 5 for sequential execution.
The method of the invention is used for navigation control of the AGV, the AGV travels along a path as shown in FIG. 4, A is a starting point, and the traveling direction is A- > B- > C- > D- > A, wherein AB and CD are straight lines, and BC and DA are circular arc lines. The uniform speed is 0.5m/s, the deceleration is 0.2m/s, and the turning is 0.1m/s. As shown in fig. 5 and 6, the maximum lateral deviation is 4cm, and the maximum angular deviation is 3 °, which means that the navigation control method of the present invention can reliably complete the navigation path command issued by the dispatch center. It can be seen from fig. 7 that the rotation angle of the front wheel is within ± 5 ° when the AGV is running in a straight line, and the rotation angle of the front wheel is within 40 ° ± 5 ° when the AGV is running in a curved line, so that the variation range of the rotation angle of the front wheel is small when the AGV is running, and the AGV runs smoothly. Therefore, the method for controlling the navigation of the AGV can ensure that the AGV can reliably and stably complete actions such as straight movement, turning and the like.
Claims (1)
1. An AGV navigation control method based on two-dimension code image labels is applied to an automatic warehouse which is composed of a dispatching center, a plurality of movable goods shelves and an AGV trolley, and is characterized in that a plurality of two-dimension code image labels which are arranged in the same direction are pasted at equal intervals in a matrix form in a passing area of the automatic warehouse; each two-dimensional code image tag comprises an ID number of the tag and an adjacent ID number of the tag; the adjacent ID numbers are formed by the ID numbers of 8 adjacent two-dimensional code image labels which take the pasting direction as a starting point and are arranged in a counterclockwise sequence; installing a two-dimensional code label scanner with the resolution of M multiplied by N on the AGV trolley; the AGV navigation control method comprises the following steps:
step 1, determining the scanning range of the two-dimensional code label scanner to be Len multiplied by Wid according to the vertical distance d between the two-dimensional code label scanner and the ground; obtaining the range size delta d of each pixel point in the scanned image of the two-dimensional code label scanner by using the formula (1):
step 2, scanning a two-dimensional code image label by using the two-dimensional code label scanner to form a scanned image, and obtaining a corresponding self ID number and an adjacent ID number thereof, a position coordinate of a central point of the two-dimensional code image label in a self coordinate system of the scanned image, and an included angle delta alpha between a label pasting direction of the two-dimensional code image and any coordinate axis in the self coordinate system of the scanned image according to the scanned image; the AGV trolley sends the ID number obtained by scanning to the dispatching center, so that the dispatching center can know the position of the AGV trolley;
step 3, the AGV trolley receives a navigation path instruction sent by the dispatching center; the navigation path instruction comprises an ID number sequence of the two-dimensional code image label and a corresponding waypoint attribute sequence thereof; the ID number sequence is marked as { ID 1 ,ID 2 ,…,ID i ,…,ID m }；ID i Represents the ith ID number in the ID number sequence; the sequence of waypoint attributes is marked as { LD 1 ,LD 2 ,…,LD i ,…,LD m }；LD i Representing the ith waypoint attribute in the waypoint attribute sequence; the initial ID number of the ID number sequence is the ID number of the two-dimensional code image label where the initial position of the AGV trolley is located; i is more than or equal to 1 and less than or equal to m;
step 4, initializing i =1;
step 5, according to the ID number ID of the ith two-dimensional code image label of the AGV trolley i And its adjacent ID number, obtain the i +1 ID number ID in the ID number sequence i+1 Rank n in the adjacent ID number of the ith two-dimensional code image tag i ；1≤n i Less than or equal to 8; obtaining the i-th ID number ID using equation (2) i And the (i + 1) th ID number ID i+1 The included angle theta between the connecting line of the two-dimensional code image label and the pasting direction i+1 ：
θ i+1 ＝45°×(n i -1) (2)
Step 6, taking the central point of the ith two-dimensional code image label as an origin O i (ii) a At the angle theta i+1 Direction X i An axial direction; and with X i The axial direction is rotated anticlockwise by 90 degrees to be Y i Axial direction, establishing the ith local navigation coordinate system X i O i Y i ；
And 7, obtaining the local navigation coordinate system X of the AGV in the ith local navigation coordinate system by using the formulas (3) and (4) i O i Y i Initial position coordinates (A) of i ,B i )：
A i ＝(Wid/2-y i )×Δd (3)
B i ＝(Len/2-x i )×Δd (4)
In the formulae (3) and (4), x i And y i Representing the position coordinates of the central point of the ith two-dimensional code image label in the self coordinate system of the scanned image;
and 8, obtaining the local navigation coordinate system X of the AGV at the ith local navigation coordinate system by using the formula (5) i O i Y i Initial course angle Δ θ in (1) i ：
Δθ i ＝Δα-θ i+1 (5)
Step 9, establishing a vehicle coordinate system XOY by taking the mass center of the AGV as an original point O, taking the direction pointed by the vehicle head as an X-axis direction and anticlockwise rotating by 90 degrees in the X-axis direction as a Y-axis direction; obtaining the position (a) of the center point of the (i + 1) th two-dimensional code image label in the vehicle coordinate system XOY by using the formula (6) i ,b i )：
In the formula (6), P i And Q i The central point of the (i + 1) th two-dimensional code image label is represented in the (i) th local navigation coordinate system X i O i Y i The position coordinates in (1);
step 10, obtaining the initial heading angle delta theta with the ith heading angle by using the formula (7) i Arc radius R of central point of tangent and (i + 1) th two-dimensional code image label i ：
Step 11, according to the structure and the arc radius R of the AGV trolley i Determining the ith control quantity of the AGV trolley; the AGV trolley is used for controlling the AGV according to the ith control quantity and the ith road point attribute LD i Driving to the (i + 1) th two-dimensional code image label;
step 12; assigning i +1 to i, judging whether i is greater than m, and if so, indicating that the AGV finishes a navigation path instruction; otherwise, returning to the step 5 for sequential execution.
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