CN106325270A - Intelligent vehicle navigation system and method based on perception and autonomous calculation positioning navigation - Google Patents
Intelligent vehicle navigation system and method based on perception and autonomous calculation positioning navigation Download PDFInfo
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- 230000008447 perception Effects 0.000 title claims abstract description 67
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- 230000007935 neutral effect Effects 0.000 claims description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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Abstract
The invention discloses an intelligent vehicle navigation system based on perception and autonomous calculation positioning navigation, and the system comprises an information storage module, a motor drive module, a positioning module, a perception module and an interaction communication module, wherein the information storage module, the motor drive module, the positioning module, the perception module and the interaction communication module are respectively connected with a central processor. The central processor, the drive module and the positioning module are used for achieving the positioning navigation and movement of an intelligent vehicle, and the perception module is used for achieving the stable control of the intelligent vehicle. The interaction communication module is used for achieving man-machine interaction. The navigation process comprises the steps: obtaining a generalized electronic map; obtaining initial position information of the vehicle and carrying out the positioning correction; obtaining the current position coordinates of the vehicle and target coordinates; and dynamically planning a driving path. According to the invention, the independent perception and feedback control of wheels are employed for the path of a local region and the control optimization, and the overall path planning and navigation are still implemented through a path planning algorithm. The system can monitor and distribute tasks in real time through a cellphone or tablet PC and a wireless network, and achieves the visualization and the real-time control.
Description
Technical field
The present invention relates to a kind of autonomous location and automatic guided vehicles ystem.
Background technology
Automatic guided vehicle (AGV, Automatic Guided Vehicle) refers to have electromagnetism or optical navigation device, energy
Enough according to projected route walking, there is operation and lugs, safety guard and the travelling bogie of various transfer function.
Automatic guided vehicle, according to the difference of guide mode, can be divided into fixed_path guided and free path to guide.Fixing road
Footpath guides and refers to arrange the information media thing guided on fixing route, and homing guidance mover is by detecting its letter
Ceasing and obtain the mode guided, such as electromagnetic guide, optical guidance, tape guide.And free path guides and refers to homing guidance
Mover the most arbitrarily changes travel route.This guide mode is to have stored working environment letter on automatic guided vehicle
Breath, the position current by identifying car body, compare with environmental information, the autonomous guide mode determining path.As calculate guiding,
Inertial guide, environment reflection method guide, las er-guidance [1].But the method route is fixed, it is impossible to realize the shifting outside predetermined paths
Move and active path planning.In the present invention, the operating path of intelligent vehicle obtains according to the position calculation of beginning and end, is not required to pre-
If route, active path planning can be realized.
At present, the application of automatic guided vehicle field comparative maturity is the Kiva robot [2] of Amazon, and Amazon Company will
It is used for transporting goods, it is achieved warehouse automation.Kiva robot by scheduling of resource module, path planning module, processor, deposit
Reservoir, interactive interface and motor driving etc..Working region is divided into suitable shape, fritter slightly larger than robot by it.
Kiva robot realizes the location of self by scanning ground bar code, and course of action and speed etc. are by central computer control
System.This robot further provided with up-to-date visual system, utilizes bar code to the commodity following the trail of on shelf.This is a kind of based on Quick Response Code
The Passive Location of scanning, and whole robot is positioned as an entirety, and four wheels are entered by the present invention respectively
Row location and control.
[list of references]
[1] Chen Guoren, Wang Xiumei, Yang Shuping. it is applied to the running optimizatin design of the automatic guided vehicle (AGV) of tiered warehouse facility
[C] // advanced manufacturing technology forum and the 3rd automated manufacturing and informationization technology exchanging meeting collection of thesis .2004.
[2]Wurman P R,D'Andrea R,Barbehenn M T,et al.KIVA Transporting
Inventory Items#3:Springer Berlin Heidelberg,US20140100690[P].2014.
Summary of the invention
It is contemplated that complete a set of based on perception with the intelligent vehicle navigation system from host computer location navigation, this system can
Article or the occasion of personnel's automatic conveying is realized, such as environment such as factory, office building, families needing to apply.By GPS or
After the modes such as RFID give initial position and the direction of vehicle, utilize the number of multiple multiple sensors such as motion, range finding, image
According to, compare with the information such as architecture structure drawing or electronic chart and calculate, thus complete dynamic calibration and determine that car body is on ground
Position on figure.Coordinate the functional modules such as motor driving, radio communication, image recognition, motion-sensing simultaneously, complete each wheel
Location respectively and control, and then realize the location of intelligent vehicle, path planning, move freely, intelligent barrier avoiding, be in communication with each other
Function.Native system can be monitored by intelligent terminal such as mobile phone, panel computer, desktop computers in real time by cordless communication network and be distributed
Task, it is achieved the visualization of intelligent vehicle system and in real time control.
In order to solve above-mentioned technical problem, it is a kind of based on perception with the intelligence from host computer location navigation that the present invention proposes
Car navigation system, stores module, motor drive module, locating module, sense including the information being connected with central processing unit respectively
Knowing module and interactive communication module, described central processing unit, driving module and locating module are for realizing the location of intelligent vehicle
Navigating and mobile, described sensing module is for realizing the steady control of intelligent vehicle, and described interactive communication module is used for realizing people
Machine is mutual；Described intelligent vehicle turn to employing differential steering, the motion of each wheel of intelligent vehicle is respectively by independent electricity
Machine controls, and described motor is motor or direct current generator, and the driving of each motor all uses motor drive module control；Described
Locating module includes at least by motion sensor means, range finding sensing device, image sensing device, RFID device and GPS system；Often
Being provided with described motion sensor means and range finding sensing device at individual wheel respectively, the data acquisition of each wheel is relatively independent；
Described RFID device includes RFID reception module and multiple RFID transmitter module, and described RFID reception module is arranged on vehicle,
The diverse location that multiple RFID transmitter modules are arranged in building；Described sensing module be used for realizing intelligence speed perception,
Face perception and height change perception, wherein: described speed perception uses coding disk or velometer motion-sensing element to realize, and is used for
The velocity of rotation of perception wheel, in order to realize control and the speed feedback control of intact stability；The perception of described ground uses figure
As sensor or infrared sensor realize, for material and the flatness of perceiving ground；Described height change perception uses to be accelerated
Degree meter motion sensor realizes, thus judges the evenness of road surface situation of intelligent vehicle each wheel region, thus is wheel
Control realization data support；Described interactive communication module includes communicator module and man-machine interaction submodule, wherein, communicator
Module, for the communication between remote control terminal and central processing unit, is responsible for transformation task data and operating state data, is also used
In swapping status data between multiple intelligent vehicle systems, to prevent route from clashing；Described man-machine interaction is from module
Including I/O unit, for manual site, intelligent vehicle system is controlled and the setting of parameter；Described central processing unit
For collecting the data that other all modules are gathered, send corresponding control to motor drive module, interactive communication module simultaneously
Information processed, and export information by man-machine interaction submodule to user.
Utilize the above-mentioned process realizing navigation based on perception and the intelligent vehicle navigation system from host computer location navigation, including
Following steps:
Step one, the acquisition of broad sense electronic chart: broad sense electronic chart refer to electronically to store for intelligent vehicle
System indoor scenarios realize autonomous location and the architecture structure drawing of navigation and intelligent vehicle outdoor occasion realize autonomous location and
The electronic chart of navigation；Barrier, mark, movement limit, pavement behavior and calibration point has been also stated that on described electronic chart；
Before navigation work, the information that broad sense electronic chart imports intelligent vehicle system stores in module, and according to broad sense electronically
The corresponding relation of figure and physical location sets up absolute coordinate system, in order to reads during operation and utilizes；
Step 2, the acquisition of vehicle initial position message use GPS or RFID with location calibration, vehicle initial position message
Method obtains, and all the sensors in described locating module carries out positioning from host computer, calculates vehicle within a certain period of time
Displacement and the direction of motion, and separated in time or distance use GPS or RFID approach and come by outside positioning datum
Revise the current location of vehicle, thus carry out dynamic calibration；Meanwhile, the complaint message on architecture structure drawing and passage are utilized
Information, limits the direction of motion possible for intelligent vehicle and scope within the specific limits, and the history road passed by according to intelligent vehicle
Footpath information carries out continuous processing to the real time position of vehicle, obtains intelligent vehicle possible model of position within a unit interval
Enclose；
Step 3, the current position coordinates obtaining vehicle and coordinates of targets: the current position coordinates of vehicle passes through initial bit
Confidence breath and the result from host computer location and dynamic calibration obtain, and coordinates of targets is given by top level control system according to actual needs
Fixed；
Step 4, dynamic programming travel route: after obtaining initial position and target location, to architecture structure drawing or electricity
After sub-map carries out corresponding standardization, two-way A* algorithm, genetic algorithm and neutral net is used to carry out route planning, when
When vehicle location and preset travel route deviate more than 2-10m, again plan according to current position coordinates and target location coordinate
Route, it is achieved the dynamic programming of route；The policy selection distance minimal path of route planning, the most steady route and fastest road
One in line；What dynamic programming travel route realized vehicle totally travels control, wherein, coordinates wheel perception to realize vehicle and exists
In regional area, travel route controls.
Further, the present invention is based on perception with in the intelligent vehicle navigation procedure of host computer location navigation, in step 4
Involved wheel perception includes the perception of wheel velocity, the perception on ground and the perception of height change, wherein:
The perception of wheel velocity is that the difference according to actual rotation speed Yu pre-set velocity adjusts driving signal in time, makes reality
Border velocity of rotation lifts a ban preset value as far as possible, thus realizes the closed loop control of speed；
The perception on ground is made by the image of imageing sensor Real-time Collection vehicle front, gives central processing unit according to figure
As Processing Algorithm processes, identify that vehicle runs ground, front the most smooth, what material of ground, in order to control this system in advance
Take corresponding control measure；For irregular ground, vehicle determines according to area and the degree of roughness in out-of-flatness region
Whether detour；The coefficient of friction of wheel and ground is estimated in identification according to material, thus takes different strategy of speed controls；
The perception of the height change i.e. perception of wheel pitch amplitude, is to arrange when vehicle travels to roughness pavement
The output of the accelerometer at wheel there will be violent fluctuation, and system takes deceleration to process accordingly, to reduce pitch
On vehicle impact, if only pitch occurs in piece wheel, then judge road over there according to the distribution of wheel of jolting
Road is the most smooth, and then guides vehicle to smooth direction running.
Compared with prior art, the invention has the beneficial effects as follows:
Compared to existing AGV system, the present invention has a following points advantage:
First, the present invention uses the localization method calculated based on architecture structure drawing or electronic chart.This location mode is not
Rely on electromagnetic wave, will not be by electromagnetic interference.The calculating of displacement etc. is only completed by sensing devices such as the motions of self, and according to
The information of dynamic calibration Data Comparison building mechanism map or the electronic charts etc. such as RFID completes the calculating of position, accomplishes based on calculating
Independent positioning.It is all existing information due to architecture structure drawing and electronic chart etc., is therefore also required to survey and draw in advance
Deng work.Have portable strong, apply simple and quick feature.
Second, the present invention has intelligent Path selection and planning function.Most intelligent vehicles are all to use in advance
First it is laid on ground route pattern, then utilizes the mode identification routes such as image procossing tracking to travel.If meeting pre-
If there being the situation that obstacle etc. can not move on route, can only quit work.And the present invention only need to be pre-loaded into interior architecture
Structure chart or electronic chart, and it is equipped with avoidance and obstruction warning system, autonomous route planning and the navigation of vehicle can be realized, no
It is limited by pre-determined route, works together more intelligent and efficient.
3rd, it is achieved that the independent perception of wheel and control.Traditional intelligent vehicle system is by the limit of route, routing algorithm etc.
System, has tended to task but road pavement situation is without adaptibility to response, easily causes fortune in the case of there is non-smooth-riding surface
Send the damage of article.The present invention carries out perception to wheel and travel condition of vehicle in several ways, it is achieved that regional area
Route optimization and control optimize, thus more steady, safe transport personnel and goods.
Accompanying drawing explanation
Fig. 1 is based on perception and the intelligent vehicle navigation system block diagram from host computer location navigation.
Detailed description of the invention
Being described in further detail technical solution of the present invention with specific embodiment below in conjunction with the accompanying drawings, described is concrete
The present invention is only explained by embodiment, not in order to limit the present invention.
It is a kind of based on perception with the intelligent vehicle navigation system from host computer location navigation, including respectively that the present invention proposes
The information being connected with central processing unit stores module, motor drive module, locating module, sensing module and interactive communication module,
It is of course also possible to be added as needed on other functional modules.
Described central processing unit, motor drive module and locating module are basic function module, are used for realizing intelligent vehicle
Location navigation and movement.
The motion of each wheel of intelligent vehicle is controlled by independent motor respectively, and described motor is motor or direct current
Motor, the driving of each motor all uses motor drive module control.Consider stationarity and the steering characteristic of vehicle, car body
Employing four-wheel designs, and size determines by being actually needed.The power resources of vehicle use motor or the design of direct current generator, and
Do so environmental protection, does not cause exhaust emissions etc. to pollute.Each motor controls the motion of a wheel.The design of many motors can
To ensure that the even running of vehicle and the motion including turning to accurately control.Motor drives and uses motor drive module, as
L298N, has driving force strong, and caloric value is low, the feature that capacity of resisting disturbance is strong.As a example by using direct current generator, L298N motor
Drive module can simultaneously drive two direct current generators, i.e. L298N motor drive module can input PWM from IN1, IN2 respectively
Signal drives rotating speed and the direction of a motor, in like manner can drive another motor from IN3, IN4 input pwm signal respectively
Rotating speed and direction.The turn-around design of described intelligent vehicle uses the scheme of differential steering.So-called differential, refers to left and right two wheels
Speed difference, if left side wheel is faster than the right, then dolly can inclined right.Otherwise, the rotating speed of left wheel rotating ratio right wheel is slow,
So dolly can rotate to the left side.Therefore, respectively control on the left of right side motor rotate and reverse with identical speed, it is possible to
Realize vehicle to turn at any angle.
Described locating module includes at least by motion sensor means, range finding sensing device, image sensing device, RFID device
And GPS system；Especially it is emphasised that the sensing device used in locating module includes but not limited to motion sensor means (such as speed
Degree meter, accelerometer, gyroscope and various Novel sports sensors etc.), find range sensing device (such as infrared range-measurement system, laser
Diastimeter, ultrasonic distance measuring apparatus and various Novel distance measuring sensors etc.), image sensing device (such as imaging first-class) etc..Each car
Being provided with described motion sensor means and range finding sensing device at wheel respectively, the data acquisition of each wheel is relatively independent.Described
RFID device includes RFID reception module and multiple RFID transmitter module, uses the method for RFID to carry out vehicle initial position really
Fixed and location calibration is only applicable to indoor environment, and therefore, described RFID reception module is arranged on vehicle, and multiple RFID launch mould
Block is also installed only in building, in order to realize dynamic calibration function, needs the diverse location in building to install RFID and sends out
Penetrate module.The concrete installation site of RFID transmitter module is typically determined by the requirement of positioning precision and the building structure of reality.
From the point of view of from interval, the highest to positioning accuracy request, then the spacing between RFID transmitter module should be the least, in order to when unit
In reach higher calibration number of times.It addition, according to building structure, also should install at the gateway in passage, room etc.
RFID transmitter module, because the position that these positions can be personnel provides a scope.
Described sensing module is for realizing the steady control of intelligent vehicle, and described sensing module is used for realizing intelligence sense of speed
Know, ground perception and height change perception etc. wherein: described speed perception is the velocity of rotation for perception wheel, in order to real
The control of existing intact stability and speed feedback control, this function can be real with the motion-sensing element such as coding disk or velometer
Existing.The perception of described ground is for the material etc. of the flatness of perceiving ground, it is possible to use imageing sensor or infrared sensor are real
Existing.Described height change perception refers to that the car body caused due to ground or other factors pitches, by being distributed in each wheel
The pavement roughness of height change induction element to draw be which (or which) wheel region, thus be the control of wheel
System realizes data support, and the perception of height change can be realized by motion sensors such as accelerometers.Except imageing sensor belongs to
Sharing with other system, other sensor all should be arranged at each wheel, and the collection of data is relatively independent.
Described interactive communication module is used for realizing man-machine interaction.Described interactive communication module includes communicator module and man-machine
Mutual submodule, wherein, communicator module, for the communication between remote control terminal and central processing unit, is responsible for transformation task number
According to and operating state data, be additionally operable between multiple intelligent vehicle systems, swap status data, to prevent route from rushing
Prominent；Described man-machine interaction includes I/O unit (keyboard, Mike, display screen, speaker etc.) from module, for artificial existing
Intelligent vehicle system is controlled and the setting of parameter by field.
Described central processing unit is for collecting the data that other all modules are gathered, simultaneously to motor drive module, friendship
Intercommunication module sends and controls information accordingly, and exports information by man-machine interaction submodule to user according to positioning result.
Utilize above-mentioned process based on perception and the intelligent vehicle navigation system realization navigation from host computer location navigation main
It is after completing the configuration of above-mentioned hardware system, central processing unit writes location navigation algorithm.Before system uses, need to make
With the corresponding architecture structure drawing in place or electronic map information import system, in order to the location of system and route planning operation.System
After system starts, owing to the design uses based on calculating and the location algorithm of autonomous reckoning positioning, so first having to by artificial or phase
The positioning datum answered gives the initial position message at intelligent vehicle place, as the benchmark positioned afterwards.Then, route planning calculate
Method utilizes architecture structure drawing or electronic map information and destination's coordinate to cook up the route of vehicle projected trip.Finally transfer to drive
Dynamic system performs this and moves route, and real-time calculating location information feeding back, until completing task in moving process.Concrete step
Rapid as follows:
Step one, the acquisition of broad sense electronic chart: broad sense electronic chart refer to electronically to store for intelligent vehicle
System indoor scenarios realize autonomous location and the architecture structure drawing of navigation and intelligent vehicle outdoor occasion realize autonomous location and
The electronic chart etc. of navigation；In computer wide variety of today, this type of information is easily obtained.Additionally, also can exist as required
The information such as barrier, mark, movement limit, pavement behavior and calibration point have been also stated that on described electronic chart；In navigation work
Before work, the information that broad sense electronic map information should import intelligent vehicle system stores in module, and according to broad sense electronic chart
Absolute coordinate system is set up, in order to read during operation and utilize with the corresponding relation of physical location.
Step 2, acquisition and the location calibration of vehicle initial position message, owing to native system takes a kind of based on calculating
The mode that independently positions, so initial position message must be obtained before system starts independently to be positioned navigation.Cumulated volume is invented
Range with use environment, native system can take following two mode to obtain initial position message.
A kind of is method based on satellite fix.The method makes full use of existing satellite positioning network, such as GPS
The big-dipper satellite location system of (Global Satellite Positioning, GPS), China's independent research
System etc..The method has the advantage that locating speed is fast, overlay area is wide, but cannot to the satellite-signal poor indoor environment of covering
Reach good effect, be mainly used in outdoor environment in this way.The method is used to need to install additional in intelligent vehicle system
Corresponding satellite positioning signal receiver module.
Another kind is the method utilizing RFID (Radio Frequency Identification, RF identification).Use
The method needs to lay a number of RFID transmitter module according to actual needs in the range of needs location in advance, and at electricity
Its position of labelling on sub-cartographic information, and corresponding receiver module is installed in intelligent vehicle system.So can be believed by radio frequency
Number the information such as intensity judge current location.
In the implementing of the present invention, one or more above modes should be at least used to enter according to practical service environment
Giving of line home position information.
Owing to the information of the various kinds of sensors in the described locating module that the present invention uses system itself to carry is carried out independently
Calculate location, calculate vehicle displacement within a certain period of time and the direction of motion, so position error or accumulation over time
And be stepped up.So needing separated in time or distance just location to be calibrated.Calibration method i.e. use GPS or
RFID approach is also made by the positioning datum of outside to revise the current location of vehicle, thus carries out dynamic calibration；Its method can
To use the method identical with initial position message acquisition.
The Data Source that real time position calculates various kinds of sensors in locating module, includes but not limited to motion sensor
(such as velometer, accelerometer, gyroscope and various Novel sports sensors etc.), range unit (such as infrared range-measurement system, swash
Optar, ultrasonic distance measuring apparatus and various Novel sports sensors etc.), image sensing device (imaging first-class) etc..By above-mentioned
The data of sensor, can calculate object displacement within a certain period of time by certain method.
Such as the definition according to acceleration it is recognised that speed is the accelerometer integration to the time, and displacement is speed pair
The integration of time.I.e. acceleration carries out the displacement that integration just can calculate object twice to the time.So, pass through accelerometer
Obtain real time acceleration value, be then passed through processor and it is done twice integration, the distance of displacement can be calculated.Meanwhile, according to
The directions such as gyroscope measure device, detect the angular velocity of object of which movement in real time, and calculate the direction of motion of object in real time.
Range finding sensing device can realize calculating the basis of position by the distance of identification object to fixed reference
Result of calculation carries out dynamic calibration.The object of fixed position, the position of these objects is had on so-called fixed reference, i.e. cartographic information
Put fixing, will not change easily, such as the door in building, window, the object such as wall.
Meanwhile, utilize the complaint message on architecture structure drawing and channel information and other necessary informations, by intelligence
The direction of motion that car is possible and scope limit within the specific limits, and the historical path information passed by according to intelligent vehicle is to vehicle
Real time position carry out continuous processing, obtain intelligent vehicle possible range of position within a unit interval；
So, utilize motion sensor to be appreciated that the displacement of intelligent vehicle relative initial position, utilize the distance measuring sensor can
Measure the intelligent vehicle distance to fixed reference (such as wall etc.), in conjunction with the letter obtained by architecture structure drawing and historical path
Breath, can determine the position of intelligent vehicle the most accurately.
Step 3, current position coordinates and coordinates of targets are the necessary informations for route planning Yu navigation.Current location
Coordinate information can pass through initial position message, from information acquisitioies such as host computer location and dynamic calibrations.Coordinates of targets then may be used
To be given by top level control system according to actual needs.
Step 4, dynamic programming travel route: after obtaining initial position and target location, route planning can be worked
Give location algorithm.After architecture structure drawing or electronic chart are carried out corresponding standardization, can use the most
The more two-way A* algorithm of maturation, genetic algorithm, neutral nets etc. carry out route planning, and the deviation bigger when vehicle location is (inclined
From during more than 2-10m) preset travel route time, according to current position coordinates and target location coordinate programme path again, it is achieved
The dynamic programming of route；The policy selection distance minimal path of route planning, the most steady route (avoid known road surface and the barrier of jolting
Hinder) and fastest route etc. in one.
In the present invention, what dynamic programming travel route realized vehicle totally travels control, and coordinates wheel perception to realize car
Travel route controls in regional area.In the multiple application mode (such as large cargo transport, personnel's transport etc.) of the present invention,
Car body size is relatively big, and therefore, the location navigation precision overall to intelligent vehicle system can not meet the needs to motor control.Cause
This, the present invention is possible not only to realize the location overall to intelligent vehicle system, it is also possible to realize in moving process each wheel
Difference perception and control.Therefore, the present invention is that each wheel uses independent motor drive module to control in design, so
Independence for wheel controls to provide possibility.It is pointed out that a kind of partial zones of control realized by wheel perception
The control in territory, the overall route travelled also should follow the data of path planning navigation module.
The data that perception is obtained can bundle with position data, joins architecture structure drawing or electronics after process
In the information of map, thus the process of path optimizing planning.
The purpose that the independence of wheel controls is when ensureing that intelligent vehicle system is steady, safe, the most quickly
Complete task.
First being the control to speed, what vehicle was run by speed steadily has important impact with safety.First it is each
The precision that individual wheel velocity controls.Driven signal to the control of motor likely because extraneous factor by drive that module sends
Affecting and produce difference, cause the speed difference between each wheel, thus it is unstable to cause vehicle to run, direction is deviateed, car
The consequences such as foot wheel abrasion.The perception of speed is contemplated to the closed loop control of speed, thus according to actual rotation speed and pre-set velocity
Difference adjust driving signal in time, make actual rotation speed lift a ban preset value as far as possible, thus realize the closed loop control of speed.
The perception on ground is made by the image of imageing sensor Real-time Collection vehicle front, gives central processing unit according to figure
As Processing Algorithm processes, identify that vehicle runs ground, front the most smooth, be what material etc., in order to control this system in advance
Take corresponding control measure；For irregular ground, vehicle determines according to area and the degree of roughness in out-of-flatness region
Whether detour；The coefficient of friction of wheel and ground is estimated in identification according to material, thus takes different strategy of speed controls；
The method using image procossing does not identifies out all roughness pavements, so be accomplished by wheel have height simultaneously
The function of degree change (wheel pitch amplitude) perception.It is to be arranged on the biography at wheel to roughness pavement when vehicle travels
The output of sensor (such as accelerometer etc.) there will be violent fluctuation, and accordingly, central controller can take corresponding measure.As,
Deceleration processes, to reduce pitch to transport goods or the impact of personnel.And for example, if only jolting occurs in piece wheel, then
Can judge that road over there is the most smooth according to the distribution of the wheel that jolts, and then guide vehicle to smooth direction running.
Above-mentioned wheel perception with control be only intended to regional area route and control optimize, entirety route planning with lead
Boat still realizes with path planning algorithm.
Although above in conjunction with accompanying drawing, invention has been described, but the invention is not limited in above-mentioned being embodied as
Mode, above-mentioned detailed description of the invention is only schematic rather than restrictive, and those of ordinary skill in the art is at this
Under the enlightenment of invention, without deviating from the spirit of the invention, it is also possible to make many variations, these belong to the present invention's
Within protection.
Claims (3)
1. one kind based on perception and the intelligent vehicle navigation system from host computer location navigation, it is characterised in that: include respectively with
The information that central processing unit is connected stores module, motor drive module, locating module, sensing module and interactive communication module, institute
State central processing unit, drive module and locating module for realizing location navigation and the movement of intelligent vehicle, described sensing module
For realizing the steady control of intelligent vehicle, described interactive communication module is used for realizing man-machine interaction；
Described intelligent vehicle turn to employing differential steering, the motion of each wheel of intelligent vehicle is respectively by independent motor control
System, described motor is motor or direct current generator, and the driving of each motor all uses motor drive module control；
Described locating module include at least by motion sensor means, range finding sensing device, image sensing device, RFID device and
GPS system；Described motion sensor means and range finding sensing device, the data acquisition of each wheel are installed at each wheel respectively
Relatively independent；Described RFID device includes RFID reception module and multiple RFID transmitter module, and described RFID reception module is arranged
On vehicle, the diverse location that multiple RFID transmitter modules are arranged in building；
Described sensing module is used for realizing intelligence speed perception, ground perception and height change perception, wherein: described speed perception is adopted
Realize, for the velocity of rotation of perception wheel, in order to realize intact stability with coding disk or velometer motion-sensing element
Control and speed feedback control；The perception of described ground uses imageing sensor or infrared sensor to realize, for perceiving ground
Material and flatness；Described height change perception uses accelerometer motion sensor to realize, thus judges that intelligent vehicle is each
The evenness of road surface situation of wheel region, thus be the control realization data support of wheel；
Described interactive communication module includes communicator module and man-machine interaction submodule, and wherein, communicator module is for remotely control
Communication between end processed and central processing unit, is responsible for transformation task data and operating state data, is additionally operable at multiple intelligent vehicles
Status data is swapped, to prevent route from clashing between system；Described man-machine interaction includes input/output list from module
Unit, is controlled and the setting of parameter intelligent vehicle system for manual site；
Described central processing unit is for collecting the data that other all modules are gathered, simultaneously to motor drive module, lead to alternately
Letter module sends and controls information accordingly, and exports information by man-machine interaction submodule to user.
2. one kind based on perception and the intelligent vehicle air navigation aid from host computer location navigation, it is characterised in that utilize the right such as will
Ask based on perception and the intelligent vehicle navigation system from host computer location navigation described in 1, and comprise the following steps:
Step one, the acquisition of broad sense electronic chart: broad sense electronic chart refer to electronically to store for intelligent vehicle system
Realize autonomous location and the architecture structure drawing of navigation and intelligent vehicle in indoor scenarios and realize autonomous location and navigation in outdoor occasion
Electronic chart；Barrier, mark, movement limit, pavement behavior and calibration point has been also stated that on described electronic chart；Leading
Before boat work, the information that broad sense electronic chart imports intelligent vehicle system stores in module, and according to broad sense electronic chart with
The corresponding relation of physical location sets up absolute coordinate system, in order to reads during operation and utilizes；
Step 2, the acquisition of vehicle initial position message use GPS or RFID approach with location calibration, vehicle initial position message
Obtaining, all the sensors in described locating module carries out positioning from host computer, calculates vehicle displacement within a certain period of time
And the direction of motion, and separated in time or distance use GPS or RFID approach and revise by outside positioning datum
The current location of vehicle, thus carry out dynamic calibration；Meanwhile, the complaint message on architecture structure drawing and passage letter are utilized
Breath, limits the direction of motion possible for intelligent vehicle and scope within the specific limits, and the historical path passed by according to intelligent vehicle
Information carries out continuous processing to the real time position of vehicle, obtains intelligent vehicle possible model of position within a unit interval
Enclose；
Step 3, the current position coordinates obtaining vehicle and coordinates of targets: the current position coordinates of vehicle passes through initial bit confidence
Breath and the result from host computer location and dynamic calibration obtain, and coordinates of targets is given by top level control system according to actual needs；
Step 4, dynamic programming travel route: after obtaining initial position and target location, to architecture structure drawing or electronically
After figure carries out corresponding standardization, use two-way A* algorithm, genetic algorithm and neutral net to carry out route planning, work as vehicle
When position and preset travel route deviate more than 2-10m, according to current position coordinates and target location coordinate programme path again,
Realize the dynamic programming of route；In the policy selection distance minimal path of route planning, the most steady route and fastest route
One；What dynamic programming travel route realized vehicle totally travels control, wherein, coordinates wheel perception to realize vehicle in local
In region, travel route controls.
The most according to claim 2 based on perception and the intelligent vehicle air navigation aid from host computer location navigation, it is characterised in that
In step 4, wheel perception includes the perception of wheel velocity, the perception on ground and the perception of height change, wherein:
The perception of wheel velocity is that the difference according to actual rotation speed Yu pre-set velocity adjusts driving signal in time, makes actual turning
Dynamic speed lifts a ban preset value as far as possible, thus realizes the closed loop control of speed；
The perception on ground is made by the image of imageing sensor Real-time Collection vehicle front, give central processing unit according to image at
Adjustment method processes, and identifies that vehicle runs ground, front the most smooth, what material of ground, in order to control this system and take in advance
Corresponding control measure；For irregular ground, vehicle decides whether according to area and the degree of roughness in out-of-flatness region
Detour；The coefficient of friction of wheel and ground is estimated in identification according to material, thus takes different strategy of speed controls；
The perception of the height change i.e. perception of wheel pitch amplitude, is to be arranged on car when vehicle travels to roughness pavement
The output of the accelerometer at wheel there will be violent fluctuation, and system takes deceleration to process accordingly, to reduce pitch to car
Impact, if only pitch occurs in piece wheel, then judge road over there relatively according to the distribution of wheel of jolting
For smooth, and then guide vehicle to smooth direction running.
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