CN106249736A - A kind of automatic guided vehicle based on magnetic nail digital map navigation - Google Patents
A kind of automatic guided vehicle based on magnetic nail digital map navigation Download PDFInfo
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- CN106249736A CN106249736A CN201610550634.3A CN201610550634A CN106249736A CN 106249736 A CN106249736 A CN 106249736A CN 201610550634 A CN201610550634 A CN 201610550634A CN 106249736 A CN106249736 A CN 106249736A
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- 238000005183 dynamical system Methods 0.000 claims abstract description 7
- 230000004927 fusion Effects 0.000 claims abstract description 3
- 238000005259 measurement Methods 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000011156 evaluation Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 8
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000002372 labelling Methods 0.000 description 2
- 208000026721 nail disease Diseases 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
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- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The present invention relates to a kind of automatic guided vehicle based on magnetic nail digital map navigation, including onboard sensor, executor, controller, onboard sensor includes magnetic scale, inertial navigation module, speedometer, rfid interrogator, and executor includes steering, brakes and dynamical system；Described guiding car travels on the track being embedded with magnetic nail, and the coordinate of the magnetic nail on road is known and is stored in controller, and the magnetic nail that controller is measured on track by magnetic scale realizes the hi-Fix to vehicle with the relative position of vehicle body；Utilizing inertial navigation module and speedometer, carry out data fusion in conjunction with magnetic nail coordinate information, controller can calculate the absolute position of vehicle accurately, continuously, realizes hi-Fix by executor and travels with autonomous.The present invention is be applicable to various automated workshops with logistics warehouse, and this device can effectively reduce manpower, improves workshop operation efficiency, has the advantage that positioning precision is high, control performance is good, cost is relatively low, reliability is high, maintenance cost is low.
Description
Technical field
The present invention relates to unmanned technical field, in particular it relates to a kind of homing guidance based on magnetic nail digital map navigation
Car.
Background technology
The most unmanned technology develops rapidly.GPS, radar, laser radar, shooting first-class various sensor technologies
The environment sensing developing into unmanned vehicle provides numerous approach.And various electric actuator (e.g., servo steering system, EPS
Deng) be used widely on automobile already, it is powerful that these automatically controlled execution systems replace the mankind to drive offer for following unmanned vehicle
Support.Due to the complexity of actual driving environment, and the integrity of traffic law, unmanned vehicle truly is in a short time also
Can not apply and popularize.But unmanned vehicle technology can first be applied in environment simple local traffic scene.
Automatic guided vehicle is a kind of autonomous land vehicle at fixing circuit, by the line dispose can be used for location or
The labelling measuring course and Path error realizes the navigation of vehicle.Automatic guided vehicle is at manufacturing industry, logistics and automated warehousing
In have wide practical use.Use automatic guided vehicle can effectively reduce human cost, improve efficiency, it is simple to manage and unite
One scheduling.
Through retrieval, Chinese patent application CN201410538378.7, this patent discloses a kind of based on road curvature map
Magnetic navigation unmanned vehicle and the method for building up of map thereof, including car body, magnetic nail detection sensor, dead reckoning sensors, steering wheel
Angular transducer, power-driven system, driving and steering system, storage have the control computer of road curvature map and for fixed
The magnetic nail of justice expectation driving trace.……
But, magnetic navigation method based on curvature map has certain limitation, although the method optimizes builds figure effect
Rate, but reduce the accuracy of map, and be only applicable in single track travel, application scenarios is simple.Curvature map is beyond expression
Magnetic nail relation between multilane, so the actions such as lane-change of more changing trains can not be completed.And do not have the navigation of absolute fix to be unfavorable for can
Depending on changing, also it is unfavorable for United Dispatching and the management of many cars system.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of homing guidance based on magnetic nail digital map navigation
Car, this automatic guided vehicle has the advantages that positioning precision is high, control performance is good, maintenance cost is low.
For realizing object above, the present invention provides a kind of automatic guided vehicle based on magnetic nail digital map navigation, including: car body and
The onboard sensor that is arranged on car body, executor, controller, and the magnetic nail track supporting with onboard sensor, wherein:
Described onboard sensor includes magnetic scale, inertial navigation module, speedometer and rfid interrogator；Described magnetic scale, used
Property navigation module, speedometer and rfid interrogator, and described executor is all connected with controller；
Described magnetic scale, is arranged on vehicle, for measuring the magnetic field intensity of magnetic nail track vertical direction, and feeds back to control
Device；
Described inertial navigation module, is perpendicular to the angular velocity on ground for measuring car body, and feeds back to controller；
Described speedometer, for measuring speed and the mileage of car body, and feeds back to controller；
Described rfid interrogator, is used for reading FRID label information, and feeds back to controller；
The magnetic that described controller is measured on magnetic nail track by magnetic scale is followed closely and the relative position of car body, by relative position,
A upper moment controller calculated car body pose calculates the coordinate of car body as Kalman's filter with the coordinate information of magnetic nail
The measured value of ripple device, utilizes inertial navigation module to be combined vehicle motion model with the data of speedometer and calculates Kalman filter
Estimated value, then gone out coordinate and the posture information of car body by measured value and estimated value fusion calculation, real eventually through executor
The now Navigation Control to car body.
Preferably, described RFID label tag stores adjacent magnetic nail information, for first location and the school of described automatic guided vehicle
Test.
Preferably, described magnetic scale is made up of the magnetic field sensing chip of multiple linear array, and magnetic scale is above magnetic nail track
Time, magnetic nail is by magnetic scale identification, and each magnetic field sensing chip on magnetic scale feeds back different magnetic field intensities, the size of magnetic field intensity
Reflect the distance of magnetic field sensing chip distance magnetic nail；Distribution of Magnetic Field is followed closely with magnetic by the result that multiple magnetic sensing chips are measured
Physical model be fitted, accurately to judge that magnetic follows closely the lateral attitude relative to magnetic scale, and pole orientation.
Preferably, described magnetic scale is installed on the front end of car body symmetrical with the axis of car body.
Preferably, described magnetic nail track is formed by being spaced equidistant magnetic nail, the coordinate of each of which magnetic nail and magnetic pole court
Known to (N pole upwards or S pole upwards) and constitute magnetic nail map and be stored in controller.
It is highly preferred that described magnetic nail track on magnetic nail magnetic pole on straight way towards with bend towards contrary, magnetic pole
Change for described automatic guided vehicle entering curved to verify with when going out curved, it is to avoid magnetic follows closely missing inspection.
It is highly preferred that described magnetic nail track is not limited to the linear road of single-row magnetic nail composition, also include being made up of magnetic nail
Latticed plane space.
Preferably, described executor includes steering, brakes and dynamical system, wherein:
The analogue signal that controller exports is converted into corresponding steering wheel angle with brakes by described steering
With brake force, thus realize controller to the direction controlling of car body and control for brake；Described controller output analogue signal is given dynamic
Force system controls the power of car body output, and the rate signal combining speedometer return realizes velocity close-loop control.
Preferably, the magnetic that described controller is measured according to magnetic scale follows closely lateral deviation information and the car body resolved by controller
Pose, it is judged that the relative position that car body is followed closely with magnetic, further according to the anti-coordinate releasing car body of coordinate information of magnetic nail, it is achieved location
Update.
It is highly preferred that described controller is according to the car body coordinate calculated and pose, it is judged that car body and the horizontal stroke of lane center
To deviation and course deviation, and it is modified making car body operate in track with course deviation control steering according to lateral deviation
Center；When controller detects that magnetic nail polarity changes, then controller carries out the verification of magnetic nail counting, it is to avoid under small probability
Flase drop magnetic nail and the position error that causes.
It is highly preferred that described controller is not when receiving the magnetic nail testing result that magnetic scale provides, by inertial navigation mould
The mileage that the angular velocity that block is given and speedometer are given, carries out the dead reckoning of car body pose in conjunction with vehicle kinematics model；When
When receiving the magnetic nail testing result that magnetic scale provides, in conjunction with car body pose and the car body position provided according to magnetic nail information of dead reckoning
Put measured value and carry out Kalman filtering, calculate car body coordinate and pose accurately.
Compared with prior art, the present invention has a following beneficial effect:
1. the invention belongs to magnetic navigation scheme, there is the advantage of magnetic navigation, i.e. relative to laser navigation, vision guided navigation and
Speech, the present invention has and is not readily susceptible to environmental disturbances, reliable and stable, the advantage of low cost.
2., compared with existing magnetic navigation scheme (tape navigation, electromagnetic navigation), the present invention has numerous advantage；Tape exists
Workshop content is easy to wear, and sensor must be relatively low apart from ground.And the magnetic scale of the present invention is permissible according to the size selecting magnetic nail
Reach the setting height(from bottom) of 5cm-30cm, and adjustable scope is bigger.Electromagnetic navigation track laying trouble, maintenance cost are high, line
Road changes difficulty.And the magnetic nail of the present invention is laid relatively easy, and with little need for maintenance.
3., compared with existing magnetic navigation technology, magnetic nail digital map navigation has the advantage that can provide more information: magnetic is followed closely
Navigation can to provide more location information to vehicle by the distance change between the magnetic nail change of polarity, adjacent magnetic nail；Also
The absolute position of vehicle can be corrected in real time, for stopping the offer such as website, branch road demarcation mark, and the location assisted without other
Or labelling measure.
4., compared with existing magnetic navigation technology, control performance based on magnetic nail digital map navigation is more excellent: owing to known magnetic is followed closely
Cartographic information and positioning result, the control of its automatic guided vehicle is no longer limited to the lateral deviation below based on Magnetic Sensor and comes real
Existing crosswise joint, but had prediction.The turning of automatic guided vehicle and the control performance of stopping a train at a target point can be greatly improved.
5, compared with magnetic navigation technology based on curvature map, cartographic information based on magnetic nail digital map navigation is more accurate, rich
Rich: what curvature map preserved is the position relationship of adjacent magnetic nail, the error of its map can be along with the magnetic nail number calculated forward
Cumulative.Due to the magnetic of the present invention follow closely that map preserves be all magnetic nail absolute position and polarity towards, so comparing curvature ground
Figure has higher precision.Due to be aware of each magnetic nail phase absolute location information, the use of its map have more motility with
Expansion, be more beneficial for bicycle vehicle controls the scheduling with many cars.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is the schematic diagram of one embodiment of the invention,
In figure: car body 1, controller 2, speedometer 3, inertial navigation module 4, steering 5, brakes 6, RFID read-write
Device 7, magnetic scale 8, magnetic nail 9, RFID label tag 10, dynamical system 11；
Fig. 2 is the control process flow diagram flow chart of one embodiment of the invention；
Fig. 3 is the schematic diagram of the latticed magnetic nail map of one embodiment of the invention,
In figure: automatic guided vehicle 100, magnetic nail 9, RFID label tag 10.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area
Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into the present invention
Protection domain.
As it is shown in figure 1, a kind of automatic guided vehicle based on magnetic nail digital map navigation, described automatic guided vehicle 100 includes: car body
1, onboard sensor, executor, controller 2, described onboard sensor includes speedometer 3, inertial navigation module 4, RFID read-write
Device 7, magnetic scale 8, described executor includes steering 5, brakes 6 and dynamical system.Controller 2 and onboard sensor and hold
Row device is connected；Magnetic nail track is formed by being spaced equidistant magnetic nail 9, is distinguish between straight way and bend with magnetic pole；Each magnetic nail 9
Coordinate is the most measured, and constitutes magnetic nail map and preserve in controller 2.Straight way two ends are provided with RFID label tag 10, RFID label tag
The numbering of adjacent magnetic nail 9 is stored in 10.
In the present embodiment, the steering 5 that described car body 1 is loaded and brakes 6 are for the mould exported by controller 2
Intend signal and be converted into corresponding steering wheel angle and brake force, thus realize controller 2 to the direction controlling of car body 1 and braking
Controlling, controller 2 exports analogue signal to dynamical system to control the power of car body 1 output.
In the present embodiment, described magnetic scale 8 is made up of the magnetic field sensing chip of multiple linear array, is used for measuring vertical direction
Magnetic field intensity, and feed back to controller 2；
Magnetic scale 8 can detect the magnetic nail 9 lateral attitude relative to car body 1 in magnetic nail track: magnetic scale 8 is on magnetic nail 9
Fang Shi, each magnetic field sensing chip on magnetic scale 8 feeds back different magnetic field intensities, and the size of magnetic field intensity reflects magnetic field and passes
The distance of sensor distance magnetic nail 9；The physical model of 9 Distribution of Magnetic Field is followed closely by the result that multiple magnetic field sensing chips are measured and magnetic
It is fitted, it is possible to accurately judge the magnetic nail 9 lateral attitude relative to magnetic scale 8, and pole orientation.
As one preferred embodiment, described magnetic scale 8 is installed on car body 1 front end the axis symmetry with car body 1, away from
The most about about 20cm.
In the present embodiment, described inertial navigation module 4 is perpendicular to the angular velocity on ground for measuring car body 1, and feeds back to
Controller 2.
In the present embodiment, described speedometer 3 is for measuring speed and the mileage of car body 1, and feeds back to controller 2.
In the present embodiment, described rfid interrogator 7 is used for reading RFID label tag 10 information, and feeds back to controller 2；RFID
Label 10 stores adjacent magnetic and follows closely 9 information, for first location and the verification of described automatic guided vehicle 100.
In the present embodiment, described magnetic nail track is formed by being spaced equidistant magnetic nail 9, the coordinate of each of which magnetic nail 9 and
Magnetic pole is known towards (N pole upwards or S pole upwards) and constitutes magnetic nail map and is stored in controller 2.
As one preferred embodiment, described magnetic nail track is not limited to the linear road of single-row magnetic nail 9 composition (such as Fig. 1
Shown in), also include the latticed plane space (as shown in Figure 3) being made up of magnetic nail 9.
As in figure 2 it is shown, controller 2 described in the present embodiment to control process as follows:
When the controller 2 of automatic guided vehicle 100 starts first, the initial position of car body 1 is unknown；Controller 2 is assumed certainly
Dynamic guiding car 100 travels at a slow speed on the magnetic nail straight way an infinity；The magnetic nail 9 that controller 2 is returned by magnetic scale 8 is the most inclined
Difference, controls steering and makes automatic guided vehicle 100 travel in magnetic nail track；
When rfid interrogator 7 reads RFID label tag 10 for the first time, determined the volume of adjacent magnetic nail 9 by the information returned
Number, and it is loaded into corresponding coordinate according to numbering, initialize initial coordinate and the pose of automatic guided vehicle 100；
In each control cycle of controller 2, without receive the magnetic that magnetic scale 8 is given follow closely 9 measurement result time, control
The mileage that the angular velocity that device 2 is given by inertial navigation module 4 is given with speedometer 3, carries out car in conjunction with vehicle kinematics model
The dead reckoning of pose；When receiving the magnetic that magnetic scale 8 provides and following closely 9 measurement result, controller 2 is according to the coordinate of vehicle and pose
Calculate the coordinate of the magnetic nail 9 detected, and go out the most possible magnetic of this detection magnetic nail 9 with the Data Matching in magnetic nail map
Nail 9 numbering, controller 2 is loaded into corresponding magnetic and follows closely 9 information, and high-precision coordinate information is counter releases vehicle coordinate according to it；Control
Device 2 combines the vehicle pose of dead reckoning and carries out Kalman filtering with the vehicle coordinate value following closely 9 measurement results offers according to magnetic, meter
Calculate vehicle pose the most accurately；It is high-precision, changeless for following closely 9 measurement results due to magnetic, so controller 2 is to car
The calculating of pose gradually will not dissipate along with the error of each sensor, and remains higher precision, position error
Typically can reach below 1cm；
When controller 2 receive the magnetic that magnetic scale 8 returns follow closely 9 magnetic poles change time, controller 2 combines the magnetic nail 9 stored
Magnetic pole information carries out the rectification of magnetic nail numbering, to prevent the position error shone because magnetic follows closely 9 flase drops；
When controller 2 receives the signal that rfid interrogator 7 receives, controller 2 combines the magnetic pole information of the magnetic nail 9 stored
Carry out the rectification of magnetic nail 9 numbering, to prevent the position error shone because magnetic follows closely 9 flase drops；
Controller 2, according to positioning result, performs corresponding navigation task.
The present invention has and is not readily susceptible to environmental disturbances, reliable and stable, the advantage of low cost；The adjustable scope of magnetic scale is relatively
Greatly；Magnetic nail is laid relatively easy, and with little need for maintenance；Distance change between being followed closely by the magnetic nail change of polarity, adjacent magnetic
Change and to provide more location and check information to vehicle；Automatic guided vehicle can calculate exact position in real time, reliable owing to having
Prediction, for controlling to offer convenience and improve the performance turning to and pinpointing stop of automatic guided vehicle.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (10)
1. an automatic guided vehicle based on magnetic nail digital map navigation, it is characterised in that including: car body and the car being arranged on car body
Set sensor, executor, controller, and the magnetic nail track supporting with onboard sensor, wherein:
Described onboard sensor includes magnetic scale, inertial navigation module, speedometer and rfid interrogator；Described magnetic scale, inertia are led
Model plane block, speedometer and rfid interrogator, and described executor is all connected with controller；
Described magnetic scale, is arranged on vehicle, for measuring the magnetic field intensity of magnetic nail track vertical direction, and feeds back to controller；
Described inertial navigation module, is perpendicular to the angular velocity on ground for measuring car body, and feeds back to controller；
Described speedometer, for measuring speed and the mileage of car body, and feeds back to controller；
Described rfid interrogator, is used for reading FRID label information, and feeds back to controller；
The magnetic that described controller is measured on magnetic nail track by magnetic scale is followed closely and the relative position of car body, by relative position, upper one
Moment controller calculated car body pose calculates the coordinate of car body as Kalman filter with the coordinate information of magnetic nail
Measured value, utilize inertial navigation module to be combined vehicle motion model with the data of speedometer and calculate estimating of Kalman filter
Evaluation, then coordinate and the posture information of car body is gone out by measured value and estimated value fusion calculation, it is right to realize eventually through executor
The Navigation Control of car body.
A kind of automatic guided vehicle based on magnetic nail digital map navigation the most according to claim 1, it is characterised in that described magnetic scale
Being made up of the magnetic field sensing chip of multiple linear array, when magnetic scale is above magnetic nail track, magnetic is followed closely by magnetic scale identification, on magnetic scale
Each magnetic field sensing chip feed back different magnetic field intensities, the size of magnetic field intensity reflect magnetic field sensing chip distance magnetic
The distance of nail；It is fitted by the physical model of result that multiple magnetic sensing chips are measured with magnetic nail Distribution of Magnetic Field, with essence
Really judge that magnetic follows closely the lateral deviation relative to magnetic scale and pole orientation.
A kind of automatic guided vehicle based on magnetic nail digital map navigation the most according to claim 2, it is characterised in that described magnetic scale
It is installed on the front end of car body symmetrical with the axis of car body.
A kind of automatic guided vehicle based on magnetic nail digital map navigation the most according to claim 1, it is characterised in that described RFID
Read write line read be arranged on magnetic nail track straight way FRID label information, for first location and the school of automatic guided vehicle
Test；Described RFID label tag stores adjacent magnetic nail information.
A kind of automatic guided vehicle based on magnetic nail digital map navigation the most according to claim 1, it is characterised in that described magnetic is followed closely
Track is formed by being spaced equidistant magnetic nail, and the coordinate of each of which magnetic nail and magnetic pole are towards known and constitute magnetic nail map and store
In controller.
A kind of automatic guided vehicle based on magnetic nail digital map navigation the most according to claim 5, it is characterised in that described magnetic is followed closely
Track is the linear road of single-row magnetic nail composition, or is followed closely the latticed plane space formed by magnetic.
A kind of automatic guided vehicle based on magnetic nail digital map navigation the most according to claim 1, it is characterised in that described execution
Device includes steering, brakes and dynamical system, wherein:
The analogue signal that controller exports is converted into corresponding steering wheel angle and system with brakes by described steering
Power, thus realize controller to the direction controlling of vehicle and control for brake；Described controller output analogue signal is to dynamical system
System controls the power of car body output, and the rate signal combining speedometer return realizes velocity close-loop control.
8. according to a kind of based on magnetic nail digital map navigation the automatic guided vehicle described in any one of claim 1-7, it is characterised in that
The magnetic nail lateral deviation information that described controller is measured according to magnetic scale and the car body pose resolved by controller, it is judged that car body and
The relative position of magnetic nail, further according to the anti-coordinate releasing car body of coordinate information of magnetic nail, it is achieved the renewal of location.
A kind of automatic guided vehicle based on magnetic nail digital map navigation the most according to claim 8, it is characterised in that described control
Device is according to the car body coordinate calculated and pose, it is judged that car body and the lateral deviation of lane center and course deviation, and according to horizontal stroke
Control steering to deviation and course deviation to be modified making car body operate in lane center；When controller detects that magnetic follows closely pole
Property when changing, then controller carries out the verification of magnetic nail counting, it is to avoid flase drop magnetic nail under small probability and the location that causes are by mistake
Difference.
A kind of automatic guided vehicle based on magnetic nail digital map navigation the most according to claim 8, it is characterised in that described control
Device processed is not when receiving the magnetic nail information that magnetic scale provides, and the angular velocity be given by inertial navigation module and speedometer are given
Mileage, carries out the dead reckoning of car body pose in conjunction with vehicle kinematics model；When receiving the magnetic nail information that magnetic scale provides, in conjunction with
The car body pose of dead reckoning carries out Kalman filtering with the car body position measurements provided according to magnetic nail information, calculates accurately
Car body coordinate and pose.
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