CN107422735A - A kind of trackless navigation AGV laser and visual signature hybrid navigation method - Google Patents
A kind of trackless navigation AGV laser and visual signature hybrid navigation method Download PDFInfo
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- CN107422735A CN107422735A CN201710633829.9A CN201710633829A CN107422735A CN 107422735 A CN107422735 A CN 107422735A CN 201710633829 A CN201710633829 A CN 201710633829A CN 107422735 A CN107422735 A CN 107422735A
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- 230000033001 locomotion Effects 0.000 claims description 9
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- 230000008901 benefit Effects 0.000 abstract description 8
- 206010003084 Areflexia Diseases 0.000 abstract description 7
- 238000004364 calculation method Methods 0.000 abstract description 6
- 230000004927 fusion Effects 0.000 abstract description 6
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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
- G05D1/0231—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 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The present invention provides a kind of trackless navigation AGV laser to be included with visual signature hybrid navigation method, methods described：AGV obtains the laser feature point data of environment by laser sensor in the process of running；AGV obtains the data of the visual signature by default vision sensor in the process of running；AGV carries out the position that information fusion calculation goes out AGV and be currently located by the environment laser feature point data that is obtained to laser sensor and the data of the visual signature；It combines the laser navigation of areflexia plate and visual signature（As Quick Response Code identifies）Advantage, solve the problems, such as route guidances of the AGV in corridor environment；Its construction is simple, maintenance cost is low, does not influence use environment.
Description
Technical field
The present invention relates to trackless navigation AGV fields, more particularly to a kind of trackless navigation AGV laser mixes with visual signature leads
Boat method.
Background technology
With the development of industrial automation, enterprise proposes higher requirement to factory automation.Domestic logistics are removed at present
In the usage scenario of fortune, the environment of corridor class often occurs, for this kind of scene, current scheme largely be using tape+
RFID card reader is navigated, but program requirement is in ground laying tape, its follow-up troublesome maintenance and to surrounding environment requirement
It is higher；And as domestic demographic dividend disappears, human cost greatly rises, the inconvenience of this scheme is more and more prominent.
Therefore, to solve the use range for expanding AGV in existing airmanship to the inadaptability of corridor class environment, with
It is easy to the daily material of enterprise to carry, improves logistics handling efficiency, reduces manpower with introducing cost.Therefore the present invention will propose a kind of nothing
Rail navigation AGV laser and visual signature hybrid navigation method.
Automatic navigation vehicle (Automated Guided Vehicles, AGV) is also known as automatic guided vehicle, comes across earliest
In the 1950s, being a kind of unpiloted intelligent haulage equipment of automation, belong to mobile robot system, can
It is the visual plant of modernization industry automatic Material Handling System along route set in advance.Moreover, military affairs with
And hazardous area, other detections and detaching equipment are inherited based on AGV automatic Pilot, is detectd available for the battlefield removal of mines, position
Look into and hazardous environment operation.
AGV guide mode determines the reliability when flexibility and system operation for the logistics system being made from it, with
The development of science and technology, AGV guide mode is also varied, according to the form of AGV guide lines, can be divided into fixed route and lead
Draw mode and free path guide mode.Its cost of fixed_path guided mode is relatively low, and positioning precision is higher, it is also more stable can
Lean on, but path is limited, and requires higher to site environment；Its path changeover of free path guide mode is flexible, flexible, to existing
The requirement of environment is relatively low, but its positioning precision is influenceed by device therefor and Navigation Control algorithm, cause with fixed route
The equal positioning precision of guide mode, its AGV cost are higher.
AGV mainly has oriented module, walking module, orientation sensor, microprocessor, communication device, shifting apparatus and storage
Battery forms.Wherein, orientation sensor is that path is perceived in AGV, controls the key modules of walking path, its sensitivity and spirit
Activity has been largely fixed the operating efficiency of AGV dollies.At present, conventional guiding sensing mode is generally laser navigation side
Formula, optical guidance mode, tape navigation mode, vision guided navigation mode and electromagnetic induction navigation mode.
Electromagnetic induction navigation mode is that guide wire is hidden, is not easy pollution and breakage, principle is simple and reliable, and cost is low；So
And the complexity of its guide path is limited, and expansion or change battle line are cumbersome, lack flexibility.
Optical guidance mode is by being painted on walking path or pasting colour band, adopted by optical sensor into colour bar pattern picture
Signal is easily recognized and handled to realize guiding；The setting of its guidance path is more flexible, but colour band is polluted with damaging very
Sensitivity, easily limited by site environment.
Tape navigation mode is that the laying of its tape is relatively easy, and change guide path is also easier, but easily contaminated,
Easily limited by external environment, suitable for the preferable condition of environment.
Laser navigation mode is it is advantageous that flexible, and without carrying out any processing to ground, path changeover is flexible,
Suitable for various site environments, kinematic parameter and driving path can be conveniently changed, but its control and navigation algorithm are most
For complexity, positioning precision depends on laser head and algorithm, causes AGV cost higher.
Its exemplary advantage of vision guided navigation mode is AGV low costs, and acquisition contains much information, and can build panorama dimensionally
Figure, full-automatic navigation can be achieved, but it is had a great influence by live light, information processing is big, and Current hardware equipment is difficult to meet
Its requirement of real-time, and image processing algorithm is not yet ripe.
Have the workflow of corridor class environment in link for carrying, it is above-mentioned in electromagnetic induction, optical guidance and tape
Navigation mode is available, but its transformation and requirement to environment is higher, and later maintenance bothers；Vision guided navigation is for using ring
Required by border, integrated hardware and algorithm have, it is used alone more inapplicable；And to be relatively specific for feature bright for simple laser navigation
Aobvious environment, for the environment of corridor class, because the data similarity that laser obtains is very strong so that laser scanning matching is difficult to send out
Averaging effect is waved, positioning is easily drifted about, thus is difficult to be accurately positioned AGV current locations, and is swashed for the pure of corridor environment
There has been no the appearance of the efficient algorithm of correlation for the difficult point of light-seeking.
Patent application (A of CN 105867389) describes a kind of AGV dollies hybrid laser air navigation aid, and its advantage exists
Flexible in adaptation end positioning accuracy request height and operating path, it is used (can be used for corridor in end high-precision requirement region
Class region) navigated using tape；And in way is run, because the requirement to precision is relatively low, use areflexia plate laser navigation；
Therefore it uses tape and areflexia plate laser hybrid navigation mode.
Patent application (A of CN 104729500) describes a kind of laser navigation AGV global localization method, including AGV
Direction and position in environmental map；Wherein, read first and be arranged on the diskette data on AGV bodies to determine that direction is believed
Breath；Secondly, the mark information measured using Airborne Lidar, positional information is determined using Markov methods；It is anti-based on laser
Plate feedback and the data of itself floppy disk are penetrated, confirm AGV pose, and then carry out route guidance.
Patent application (A of CN 104635735) describes a kind of new A GV vision navigation control methods, and it uses road
Road identification module identifies the markings such as turnout, bend, so as to obtain the parameter between AGV car bodies and route guidance line, including
Position deviation and the deviation of directivity；It includes motion module, wireless locating module, video monitoring module and path planning module pair
AGV operation is controlled.
For a kind of AGV dollies hybrid laser air navigation aid of patent application (A of CN 105867389) description, due to it
Using laser and tape hybrid navigation mode, for corridor class environment, transformation and requirement of this method to environment are higher, and the later stage
Troublesome maintenance, and cost is of a relatively high.
For a kind of laser navigation AGV of patent application (A of CN 104729500) description global localization method, it is led
If for determining global directions and position of the AGV in environmental map, the wherein placement of reflecting plate and follow-up maintenance trouble, and
Part use occasion is influenceed, its corresponding hardware cost cost is also of a relatively high.
A kind of new A GV vision navigation control methods are described for patent application (A of CN 104635735), it is adopted
With simple visual guidance, visual beacon line etc. need to be spread all on AGV operating paths, and its algorithm operation quantity is big, corresponding AGV
Hardware cost is higher, and the follow-up maintenance of another aspect operating path and requirement to environment are higher, or even influences the use of client
Scene.
The defects of for prior art, the present invention provide a kind of trackless navigation AGV laser and visual signature hybrid navigation side
Method, it combines the laser navigation of areflexia plate and the advantage of visual signature (such as Quick Response Code identification), solves AGV in corridor environment
Route guidance problem；Its construction is simple, maintenance cost is low, does not influence use environment.
The content of the invention
In order to solve the above problems, the embodiments of the invention provide a kind of trackless navigation AGV laser to mix with visual signature
Air navigation aid.
According to the first aspect of the invention, there is provided a kind of trackless navigation AGV laser and visual signature hybrid navigation method,
Methods described includes：
Visual signature is set on AGV operating path, reference by location is provided for AGV motion；
AGV obtains the laser feature point data of environment by laser sensor in the process of running；
AGV obtains the data of the visual signature by default vision sensor in the process of running；
AGV carries out letter by the environment laser feature point data and the data of the visual signature obtained to laser sensor
Breath fusion calculation goes out the position that AGV is currently located.
Further, the operating path is gallery type path.
Further, the visual signature is Quick Response Code, and the default sensor is that Quick Response Code reads sensor.
The embodiment of the present invention provides a kind of trackless navigation AGV laser and visual signature hybrid navigation method, methods described bag
Include：Visual signature is set on AGV operating path, reference by location is provided for AGV motion；AGV passes through in the process of running
Laser sensor obtains the laser feature point data of environment；AGV obtains institute by default vision sensor in the process of running
State the data of visual signature；AGV passes through the environment laser feature point data that is obtained to laser sensor and the visual signature
Data carry out information fusion calculation and go out the position that AGV is currently located；It combines the laser navigation of areflexia plate and visual signature (such as two
Tie up code identification) advantage, solve the problems, such as route guidances of the AGV in corridor environment；Its construction is simple, maintenance cost is low, not shadow
Ring use environment.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of trackless navigation AGV laser provided in an embodiment of the present invention and visual signature hybrid navigation method flow
Figure；
Fig. 2 is corridor fork truck AGV laser scanning schematic diagrames provided in an embodiment of the present invention；
Fig. 3 is corridor Quick Response Code visual signature arrangement schematic diagram provided in an embodiment of the present invention；
Fig. 4 is fork truck AGV provided in an embodiment of the present invention pose Relation acquisition schematic diagrames between two adjacent Quick Response Codes；
Fig. 5 is that optimization laser SLAM in fork truck 2D corridors provided in an embodiment of the present invention builds drawing method graph model schematic diagram.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only this
Invention part of the embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art exist
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Embodiment one
The embodiments of the invention provide a kind of trackless navigation AGV laser and visual signature hybrid navigation method, such as Fig. 1 institutes
Show, methods described includes：
Step 101, visual signature is set on AGV operating path, reference by location is provided for AGV motion；
Step 102, AGV obtains the laser feature point data of environment by laser sensor in the process of running；
Step 103, AGV obtains the data of the visual signature by default vision sensor in the process of running；
Step 104, AGV passes through the environment laser feature point data obtained to laser sensor and the number of the visual signature
The position for going out AGV according to information fusion calculation is carried out and being currently located.
Further, the operating path is gallery type path.
Further, the visual signature is Quick Response Code, and the default sensor is that Quick Response Code reads sensor.
The embodiment of the present invention provides a kind of trackless navigation AGV laser and visual signature hybrid navigation method, methods described bag
Include：Visual signature is set on AGV operating path, reference by location is provided for AGV motion；AGV passes through in the process of running
Laser sensor obtains the laser feature point data of environment；AGV obtains institute by default vision sensor in the process of running
State the data of visual signature；AGV passes through the environment laser feature point data that is obtained to laser sensor and the visual signature
Data carry out information fusion calculation and go out the position that AGV is currently located；It combines the laser navigation of areflexia plate and visual signature (such as two
Tie up code identification) advantage, solve the problems, such as route guidances of the AGV in corridor environment；Its construction is simple, maintenance cost is low, not shadow
Ring use environment.
Embodiment two
The embodiments of the invention provide a kind of trackless navigation AGV laser and visual signature hybrid navigation method, such as Fig. 2 to figure
Shown in 5, it is described in detail by taking laser vision mixing conduction fork truck AGV as an example：
Built in the past in fork truck laser SLAM in figure, it is anti-often through combination fork truck itself odometer information and laser sensor
The data of feedback carry out the structure of 2D maps to working environment.SLAM laser based on optimization builds drawing method and treats as fork truck pose point
Node optimization amount, odometer information and laser observations data between pose point form the binding side of connecting node, form one
Graph structure optimizes solution.The position auto―control of fork truck is represented with X, the transformation matrix between representing fork truck pose with T, X and T here
All represented with 4 × 4 matrixes being made up of spin matrix R and translation vector t：
Fork truck pose point X can be respectively obtained by odometer information and laser scanning matchingiAnd XjBetween constraint conversionWithBy solving the Least Square Solution shown in following formula, you can the optimal solution of fork truck pose is obtained, so as to
Further constructing environment map.
In formula,
By fork truck pose estimatorWithObtained conversion estimator：
eijRepresent the difference of observed quantity and estimator；
Qodom -1For the inverse matrix of odometer information model, the reliability for expressing odometer information matches calculating pose is big
It is small；
Qsm -1For the inverse matrix of the calculating covariance matrix of laser scanning Matching Model, laser scanning matching is expressed
Calculate the reliability size of pose.
But built in the fork truck 2D of reality among figure, the environment often occurred in this class factory of the straight corridor of length, above-mentioned side
Method often runs into the problems such as derailing.Because corridor length is many often beyond laser sensor maximum measure distance, and now fork truck
The laser data feature obtained in moving ahead is single, closely similar, as shown in fork truck laser scanning data at A, B two in Fig. 2, though
Right fork truck has moved a segment distance from A to B, but its laser scanning point set obtained is about the same so that scan matching can miss with
For A and B point close proximities so that laser scanning matching result drifts about in corridor direction, and final result causes structure to obtain
Corridor map it is shorter than actual corridor length a lot, finally cause map do not reach requirement.
Build that figure feature is more similar single, and this programme passes through in corridor to solve the problems, such as to grow straight corridor laser SLAM
Quick Response Code visual signature is pasted on fork truck AGV operating path to be used for increasing corridor internal feature, is motions of the AGV in corridor
Reference by location is provided, as shown in Figure 3.
As shown in figure 4, because spacing distance and the directional information of two-dimentional intersymbol are, it is known that thus may determine that two-dimentional intersymbol phase
To the transformation relation of coordinate system.Sensor is read by the Quick Response Code installed on fork truck AGV so that fork truck AGV is by two dimension
During code, the data fed back by Quick Response Code vision positioning, to obtain the relative position relation of fork truck and two-dimentional intersymbol, synthesis can obtain
Pose transformation relations of the fork truck AGV between two pose points by adjacent Quick Response CodeSo as to be built in laser SLAM
In figure Optimized model, the stronger side of a relative pose restraining force is added between corresponding pose node, make up laser scanning match it is past
The problem of returning drift, obtains the accurate pose of AGV in corridor environment.
By described above and detailed operation, the 2D corridors laser SLAM of this method builds drawing method and combines odometer letter
Breath, laser scanning data and Quick Response Code vision landmark information, so as to add corresponding three types for optimization structure chart
Binding side, form as shown in Figure 5 more stable and react the optimization structure chart of true fork truck AGV tracks position orientation relation.
After the binding side for combining the offer of Quick Response Code vision terrestrial reference is established, optimization aim is shown below：
Above formula is solved by Optimization Solution device can obtain building it is a series of on fork truck movement locus during figure
Pose optimized amount (T0, T1..., Tn), laser data is then loaded into corresponding points on track and can obtain 2D maps.
The embodiment of the present invention provides a kind of trackless navigation AGV laser and visual signature hybrid navigation method, methods described bag
Include：Visual signature is set on AGV operating path, reference by location is provided for AGV motion；AGV passes through in the process of running
Laser sensor obtains the laser feature point data of environment；AGV obtains institute by default vision sensor in the process of running
State the data of visual signature；AGV passes through the environment laser feature point data that is obtained to laser sensor and the visual signature
Data carry out information fusion calculation and go out the position that AGV is currently located；It combines the laser navigation of areflexia plate and visual signature (such as two
Tie up code identification) advantage, solve the problems, such as route guidances of the AGV in corridor environment；Its construction is simple, maintenance cost is low, not shadow
Ring use environment.
Claims (3)
1. a kind of trackless navigation AGV laser and visual signature hybrid navigation method, it is characterised in that methods described includes：
Visual signature is set on AGV operating path, reference by location is provided for AGV motion；
AGV obtains the laser feature point data of environment by laser sensor in the process of running；
AGV obtains the data of the visual signature by default vision sensor in the process of running；
AGV enters row information by the environment laser feature point data and the data of the visual signature that are obtained to laser sensor and melted
It is total to calculate the position that AGV is currently located.
2. according to the method for claim 1, it is characterised in that the operating path is gallery type path.
3. according to the method for claim 1, it is characterised in that the visual signature is Quick Response Code, the default sensing
Device is that Quick Response Code reads sensor.
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Application publication date: 20171201 |