CN109491374A - The track adjusting method and device of automatic guided vehicle - Google Patents
The track adjusting method and device of automatic guided vehicle Download PDFInfo
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- CN109491374A CN109491374A CN201710815336.7A CN201710815336A CN109491374A CN 109491374 A CN109491374 A CN 109491374A CN 201710815336 A CN201710815336 A CN 201710815336A CN 109491374 A CN109491374 A CN 109491374A
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- 238000000034 method Methods 0.000 title claims abstract description 74
- 239000013256 coordination polymer Substances 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 13
- 239000011159 matrix material Substances 0.000 description 13
- 230000005674 electromagnetic induction Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
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Classifications
-
- 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
- G05D1/0253—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 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- 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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a kind of track adjusting method of automatic guided vehicle and devices, belong to automatic guided vehicle technical field.Automatic guided vehicle includes the first acquisition component and the second acquisition component, and the second acquisition component is located at the front of the first acquisition component on the direction of travel of automatic guided vehicle, this method comprises: obtaining the first location information of second acquisition component；The second location information of first acquisition component is determined according to the first location information；Updated running track is generated according to the second location information and the landmark locations, the automatic guided vehicle is controlled and advances according to the updated running track；Solve the first acquisition component identification less than be located at predetermined running track in terrestrial reference, automatic guided vehicle can not according to the terrestrial reference adjust running track the problem of；Improve the timeliness of automatic guided vehicle adjustment running track.
Description
Technical field
The present embodiments relate to automatic guided vehicle technical field, in particular to the track tune of a kind of automatic guided vehicle
Adjusting method and device.
Background technique
Automatic guided vehicle (Automated Guided Vehicle, AGV), which refers to, is equipped with homing guidance component, can
The vehicle advanced along predetermined running track.Schematically, homing guidance component can be acquisition component, such as: CCD camera assembly.
Terrestrial reference, automatic guided vehicle can be set on ground generally for preventing automatic guided vehicle from deviateing predetermined running track
The actual motion track of itself is adjusted to predetermined running track by the homing guidance component recognition terrestrial reference.Schematically,
When automatic guided vehicle component is image collection assembly, ground is designated as two dimensional code.
In a kind of typical track adjusting method, automatic guided vehicle is from starting point and according in travel zone
It advances predetermined running track；When acquisition component recognizes the terrestrial reference demarcated in travel zone, according to the position of the terrestrial reference recognized
Confidence breath, the actual motion track of automatic guided vehicle is adjusted to predetermined running track.
Wherein, automatic guided vehicle is realized by the operating parameter of the driving assembly inside control according to predetermined running rail
Mark is advanced, such as: automatic guided vehicle control revolver is identical with the revolving speed of right wheel, turnning circle is 6 circles to realize from starting
Point A marches to point of destination B along straight line.Terrestrial reference is arranged in the travel zone of automatic guided vehicle, and the location information of terrestrial reference is used for
Indicate the position in predetermined path of movement that the ground is marked in the travel zone.
Since predetermined fortune may be deviateed when automatic guided vehicle, which controls itself according to kinematic parameter, advances according to desired trajectory
Row track is advanced, such as: the left wheel slip of automatic guided vehicle leads to calculated practical travel angle inaccuracy, to deviate
Predetermined running track；When automatic guided vehicle deviates predetermined running track farther out, acquisition component may be identified less than positioned at this
Terrestrial reference in predetermined running track, at this point, automatic guided vehicle can not the actual operation rail of base area target location information adjustment
There is the problems such as wandering off, tilting in mark, automatic guided vehicle.
Summary of the invention
In order to solve acquisition component identification less than the terrestrial reference being located in predetermined running track, cause automatic guided vehicle can not
Base area target location information adjusts the problem of actual running track, and the embodiment of the invention provides a kind of automatic guided vehicles
Track adjusting method and device.The technical solution is as follows:
In a first aspect, provide a kind of track adjusting method of automatic guided vehicle, the automatic guided vehicle includes the
One acquisition component and the second acquisition component, second acquisition component are located at institute on the direction of travel of the automatic guided vehicle
State the front of the first acquisition component, which comprises
When second acquisition component collects terrestrial reference, the landmark locations of the terrestrial reference instruction, described ground mark are obtained
Set location in the travel zone for being used to indicate and being marked on the automatic guided vehicle describedly；
The first location information of second acquisition component is obtained, the first location information is used to indicate described second and adopts
Collect position of the component in the travel zone；
The second location information of first acquisition component, the second position are determined according to the first location information
Information is used to indicate position of first acquisition component in the travel zone；
Updated running track is generated according to the second location information and the landmark locations, control is described to be led automatically
Draw vehicle to advance according to the updated running track.
Optionally, the first location information is used to indicate projection of second acquisition component in the travel zone
Position, the second location information are used to indicate projected position of first acquisition component in the travel zone,
The second location information that first acquisition component is determined according to the first location information, comprising:
It, will according to the relative positional relationship between second acquisition component and first acquisition component obtained in advance
The first location information is converted to the second location information；
Wherein, the relative positional relationship is according to the phase between first acquisition component and second acquisition component
Adjust the distance and/or relative angle determine.
Optionally, it is described according to the first location information determine first acquisition component second location information it
Before, further includes:
It controls the automatic guided vehicle and marches to calibration region, pass through the first acquisition group in the calibration region
Part identifies the first terrestrial reference in the calibration region, pass through second acquisition component identify simultaneously in the calibration region the
Two terrestrial references；
Control the position and the first acquisition group that first ground is marked in the identification region of first acquisition component
Corresponding first reference position of part is overlapped, and obtains the calibration location information and second acquisition component of first acquisition component
Calibration location information；And/or control second ground is marked on position and institute in the identification region of second acquisition component
The second reference position for stating the identification region of the second acquisition component is overlapped, and obtains the calibration location information of first acquisition component
With the calibration location information of second acquisition component；
According to the calibration location information of the calibration location information and first acquisition component of second acquisition component, really
The relative positional relationship between fixed second acquisition component and first acquisition component；
Wherein, the calibration location information is used to indicate first acquisition component and/or second acquisition component exists
Projected position in the calibration region.
Optionally, the first location information is used to indicate projection of second acquisition component in the travel zone
The first offset between position and the landmark locations, the second location information are used to indicate first acquisition component and exist
The second offset between projected position and the landmark locations in the travel zone；
The second location information that first acquisition component is determined according to the first location information, comprising:
It, will according to the opposite offset relationship between second acquisition component and first acquisition component obtained in advance
The first location information is converted to the second location information；
Wherein, the opposite offset relationship is inclined according to the distance between first offset and second offset
Move what poor and/or angle offset difference determined.
Optionally, it is described according to the first location information determine first acquisition component second location information it
Before, further includes:
It controls the automatic guided vehicle and marches to calibration region, pass through the first acquisition group in the calibration region
Part identifies the first terrestrial reference in the calibration region, pass through second acquisition component identify simultaneously in the calibration region the
Two terrestrial references；
Control the position and the first acquisition group that first ground is marked in the identification region of first acquisition component
Corresponding first reference position of part is overlapped, the deviation post information of acquisition first acquisition component and second acquisition component
Deviation post information；And/or control second ground is marked on position and institute in the identification region of second acquisition component
The second reference position for stating the identification region of the second acquisition component is overlapped, and obtains the calibration offset information of first acquisition component
With the calibration offset information of second acquisition component；
According to the calibration offset information of the calibration offset information and first acquisition component of second acquisition component, really
The fixed opposite offset relationship；
Wherein, the calibration offset information be used to indicate first acquisition component and/or second acquisition component with
Offset in the calibration region between terrestrial reference.
Optionally, the first location information for obtaining second acquisition component, comprising:
Obtain the identification position being marked in the identification region of second acquisition component describedly；
When the identification position is not in corresponding second reference position of second acquisition component, according to the identification
Position and second reference position determine that the first offset of second acquisition component, first offset are used to indicate
Projected position of second acquisition component in the travel zone deviates the distance and/or angle of the terrestrial reference；
The first location information, the first location information are determined according to the landmark locations and first offset
It is used to indicate projected position of second acquisition component in the travel zone.
Optionally, the first location information for obtaining second acquisition component, comprising:
Obtain the identification position being marked in the identification region of second acquisition component describedly；
When the identification position is not in corresponding second reference position of second acquisition component, according to the identification
Position and second reference position determine that the first location information of second acquisition component, the first location information are used for
Indicate that projected position of second acquisition component in the travel zone deviates the distance and/or angle of the terrestrial reference.
Optionally, described when second acquisition component collects terrestrial reference, the landmark locations of the terrestrial reference instruction are obtained,
Include:
The terrestrial reference is acquired simultaneously by first acquisition component and second acquisition component；
When first acquisition component does not collect the terrestrial reference, and second acquisition component collects the terrestrial reference
When, obtain the landmark locations of the terrestrial reference instruction.
Optionally, described to generate updated running track, packet according to the second location information and the landmark locations
It includes:
According to the second location information, the landmark locations information and preset PATH GENERATION, generation is described more
Running track after new, the PATH GENERATION is used to generate track according to the beginning and end of track to be generated, described
PATH GENERATION is continuous path CP algorithm or point-to-point PTP algorithm.
Optionally, the quantity of second acquisition component is 4, and second acquisition component is respectively arranged in described the
Front, dead astern, front-left and the front-right of one acquisition component.
Second aspect, provides a kind of track adjusting device of automatic guided vehicle, and the automatic guided vehicle includes the
One acquisition component and the second acquisition component, second acquisition component are located at institute on the direction of travel of the automatic guided vehicle
The front of the first acquisition component is stated, described device includes:
First obtains module, for when second acquisition component collects terrestrial reference, obtaining the ground of the terrestrial reference instruction
Cursor position, the landmark locations are used to indicate location in the travel zone for being marked on the automatic guided vehicle describedly；
Second obtains module, for obtaining the first location information of second acquisition component, the first location information
It is used to indicate position of second acquisition component in the travel zone；
First determining module, for determining the second position of first acquisition component according to the first location information
Information, the second location information are used to indicate position of first acquisition component in the travel zone；
Track generation module, for generating updated operation rail according to the second location information and the landmark locations
Mark controls the automatic guided vehicle and advances according to the updated running track.
Optionally, the first location information is used to indicate projection of second acquisition component in the travel zone
Position, the second location information are used to indicate projected position of first acquisition component in the travel zone,
First determining module, is used for:
It, will according to the relative positional relationship between second acquisition component and first acquisition component obtained in advance
The first location information is converted to the second location information；
Wherein, the relative positional relationship is according to the phase between first acquisition component and second acquisition component
Adjust the distance and/or relative angle determine.
Optionally, described device further include:
Traveling control module marches to calibration region for controlling the automatic guided vehicle, in the calibration region
The first terrestrial reference in the calibration region is identified by first acquisition component, is identified simultaneously by second acquisition component
The second terrestrial reference in the calibration region；
Third obtains module, and the position in the identification region of first acquisition component is marked on for controlling first ground
Corresponding with first acquisition component the first reference position is overlapped, obtain first acquisition component calibration location information and
The calibration location information of second acquisition component；And/or control second ground is marked on the identification of second acquisition component
Position in region is overlapped with the second reference position of the identification region of second acquisition component, obtains the first acquisition group
The calibration location information of the calibration location information and second acquisition component of part；
Second determining module, for the calibration location information and first acquisition component according to second acquisition component
Calibration location information, determine the relative positional relationship between second acquisition component and first acquisition component；
Wherein, the calibration location information is used to indicate first acquisition component and/or second acquisition component exists
Projected position in the calibration region.
Optionally, the first location information is used to indicate projection of second acquisition component in the travel zone
The first offset between position and the landmark locations, the second location information are used to indicate first acquisition component and exist
The second offset between projected position and the landmark locations in the travel zone；First determining module, is used for:
It, will according to the opposite offset relationship between second acquisition component and first acquisition component obtained in advance
The first location information is converted to the second location information；
Wherein, the opposite offset relationship is inclined according to the distance between first offset and second offset
Move what poor and/or angle offset difference determined.
Optionally, the traveling control module is also used to control the automatic guided vehicle and marches to calibration region, in institute
It states in calibration region and the first terrestrial reference in the calibration region is identified by first acquisition component, acquired by described second
Component identifies the second terrestrial reference in the calibration region simultaneously；
Described device further include:
4th obtains module, and the position in the identification region of first acquisition component is marked on for controlling first ground
Corresponding with first acquisition component the first reference position is overlapped, obtain first acquisition component deviation post information and
The deviation post information of second acquisition component；And/or control second ground is marked on the identification of second acquisition component
Position in region is overlapped with the second reference position of the identification region of second acquisition component, obtains the first acquisition group
The calibration offset information of the calibration offset information and second acquisition component of part；
Third determining module, for the calibration offset information and first acquisition component according to second acquisition component
Calibration offset information, determine the opposite offset relationship；
Wherein, the calibration offset information be used to indicate first acquisition component and/or second acquisition component with
Offset in the calibration region between terrestrial reference.
Optionally, described second module is obtained, comprising:
First acquisition unit, for obtaining the identification position being marked in the identification region of second acquisition component describedly
It sets；
First determination unit, for being not in corresponding second reference bit of second acquisition component when the identification position
When setting, the first offset of second acquisition component is determined according to the identification position and second reference position, it is described
First offset be used to indicate projected position of second acquisition component in the travel zone deviate the terrestrial reference away from
From and/or angle；
Second determination unit, for determining that the first position is believed according to the landmark locations and first offset
Breath, the first location information are used to indicate projected position of second acquisition component in the travel zone.
Optionally, described second module is obtained, comprising:
Second acquisition unit, for obtaining the identification position being marked in the identification region of second acquisition component describedly
It sets；
Third determination unit, for being not in corresponding second reference bit of second acquisition component when the identification position
When setting, the first location information of second acquisition component, institute are determined according to the identification position and second reference position
It states first location information and is used to indicate the projected position deviation terrestrial reference of second acquisition component in the travel zone
Distance and/or angle.
Optionally, described first module is obtained, comprising:
Acquisition unit, for acquiring the terrestrial reference simultaneously by first acquisition component and second acquisition component；
Acquiring unit, for not collecting the terrestrial reference when first acquisition component, and second acquisition component is adopted
When collecting the terrestrial reference, the landmark locations of the terrestrial reference instruction are obtained.
Optionally, the track generation module, is used for:
According to the second location information, the landmark locations information and preset PATH GENERATION, generation is described more
Running track after new, the PATH GENERATION is used to generate track according to the beginning and end of track to be generated, described
PATH GENERATION is continuous path CP algorithm or point-to-point PTP algorithm.
Optionally, the quantity of second acquisition component is 4, and second acquisition component is respectively arranged in described the
Front, dead astern, front-left and the front-right of one acquisition component.
The third aspect, provides a kind of automatic guided vehicle, and the automatic guided vehicle includes processor and the processing
The connected memory of device, and the program instruction being stored on the memory, when the processor executes described program instruction
Realize the track adjusting method for the automatic guided vehicle that first aspect provides.
Fourth aspect provides a kind of computer readable storage medium, is stored thereon with program instruction, described program instruction
The track adjusting method for the automatic guided vehicle that first aspect provides is realized when being executed by processor.
Technical solution provided in an embodiment of the present invention has the benefit that
By installing the second acquisition component before the first acquisition component, making on the direction of travel of automatic guided vehicle
Obtaining the second acquisition component can scan than the first acquisition component in advance to terrestrial reference, be led automatically according to the updating location information of the terrestrial reference
Draw the running track of vehicle；In certain deviation range, solves the identification of the first acquisition component less than positioned at predetermined running rail
The problem of terrestrial reference in mark, automatic guided vehicle can not adjust running track according to the terrestrial reference；Since the second acquisition component is installed
Before the first acquisition component, when the first acquisition component is identified less than terrestrial reference, the second acquisition component can be in the first acquisition group
The terrestrial reference is recognized before part, therefore, automatic guided vehicle can be believed according to the position for the terrestrial reference that the second acquisition component recognizes
Breath adjustment running track, improves the timeliness of automatic guided vehicle adjustment running track.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram of automatic guided vehicle provided by one embodiment of the present invention.
Fig. 2 is the schematic diagram that automatic guided vehicle provided by one embodiment of the present invention is advanced.
Fig. 3 is the schematic diagram that the automatic guided vehicle that another embodiment of the present invention provides is advanced.
Fig. 4 is the schematic diagram that the automatic guided vehicle that another embodiment of the present invention provides is advanced.
Fig. 5 is the flow chart of the track adjusting method of automatic guided vehicle provided by one embodiment of the present invention.
Fig. 6 is the schematic diagram that the ground that another embodiment of the present invention provides is marked in the camera lens of the second acquisition component.
Fig. 7 is the schematic diagram for the automatic guided vehicle adjustment track that another embodiment of the present invention provides.
Fig. 8 is the flow chart of the track adjusting method of automatic guided vehicle provided by one embodiment of the present invention.
Fig. 9 is the flow chart of the track adjusting method of automatic guided vehicle provided by one embodiment of the present invention.
Figure 10 A is the schematic diagram of automatic guided vehicle calibration provided by one embodiment of the present invention.
Figure 10 B is the flow chart of the track adjusting method for the automatic guided vehicle that another embodiment of the present invention provides.
Figure 11 is the flow chart of the track adjusting method for the automatic guided vehicle that another embodiment of the present invention provides.
Figure 12 is the structure chart of the track adjusting device of automatic guided vehicle provided by one embodiment of the present invention.
Figure 13 is the structural schematic diagram of the automatic guided vehicle shown in an illustrative embodiment of the invention.
Figure 14 is the structural schematic diagram of the automatic guided vehicle shown in another exemplary embodiment of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Automatic guided vehicle: referring to and be equipped with homing guidance component, the vehicle that can be advanced along predetermined running track.Automatically
Guiding vehicle can be realized the automatic running in the case where not needing manual guidance.
Optionally, it is fast to be applied to the automatic transporting of cargo, logistics distribution center in industrial production workshop for automatic guided vehicle
In the classification passed, library in the scenes such as the storage of books and outbound.
Optionally, automatic guided vehicle is referred to as automatic guided vehicle, intelligent vehicle, automatic guided vehicle etc..
Referring to FIG. 1, it illustrates the structural schematic diagrams of automatic guided vehicle provided by one embodiment of the present invention.Automatically
Guiding vehicle includes: car body 110, wheel 120, driving assembly 130, navigation arrangement 140 and control assembly 150.
Car body 110 is to lead automatically for installing wheel 120, driving assembly 130, navigation arrangement 140 and control assembly 150
Draw the foundation of vehicle.
Optionally, car body 110 includes chassis, and chassis is used to support driving assembly 130, navigation arrangement 140 and control assembly
150。
Driving assembly 130 is used for the control according to control assembly 150, and driving automatic guided vehicle is advanced.Driving assembly 130
Including motor, retarder, driver, controlling and driving circuits etc..
Wheel 120 is mounted in automatic guided vehicle by the bracket of car body 110, and driving assembly 130 passes through driving wheel
120 rotations realize that automatic guided vehicle is advanced.
Wherein, the quantity of wheel 120 is usually 2, and certainly, the quantity of wheel 120 may be other values, such as: 3
A, 4,6 etc., the present embodiment is not construed as limiting this.
Optionally, driving assembly 130 obtains the rotational parameters for the wheel 120 that sensor monitors, and rotational parameters are for anti-
Reflect the rotation situation of wheel 120.Rotational parameters include but is not limited to: the angle speed that the circle number and wheel 120 that wheel 120 rotates rotate
Degree.Optionally, sensor is the position sensor being mounted on motor.
Optionally, rotational parameters are sent to control assembly 150 by driving assembly 130.Wherein, control assembly 150 is for controlling
Automatic guided vehicle processed is run according to predetermined running track.
Optionally, control assembly 150 according to rotational parameters and wheel parameter determine automatic guided vehicle travel distance and
Travel angle；It is run according to the travel distance and travel angle adjustment automatic guided vehicle according to predetermined running track.
Wherein, wheel parameter is used to indicate the physical state for the wheel 120 being mounted in automatic guided vehicle.Wheel parameter
Including but not limited to: the mounting distance between the radius of wheel 120 and two wheels 120 being installed on same bracket.
Optionally, wheel parameter and predetermined running track are stored in automatic guided vehicle.
Optionally, the radius for being installed on the different wheel 120 in same automatic guided vehicle is identical.
Due to wheel 120 machining accuracy the problem of, the radius of the different wheel 120 in same automatic guided vehicle is in reality
There may be small gap in the scene of border, such as: the radius phase of the radius of the wheel 1 stored in automatic guided vehicle and wheel 2
Deng, but due to machining accuracy problem, the real radius of wheel 1 is less than the real radius of wheel 2.In this case, it controls
The travel distance and/or travel angle that component 150 is determined according to rotational parameters and wheel parameter may be inaccurate, so as to cause
Automatic guided vehicle deviates predetermined running track and advances.At this time, it may be necessary to correct the fortune of automatic guided vehicle by navigation arrangement 140
Row track makes automatic guided vehicle restore to predetermined running track to advance.
Certainly, automatic guided vehicle, which deviates the traveling of predetermined running track, may also be due to wheel 120 in the process of moving
It skids, caused by travel distance and/or the travel angle inaccuracy for causing control assembly 150 to be determined；Alternatively, due to leading automatically
The mounting distance drawn between two wheels 120 on the same bracket of vehicle storage is different from actual mounting distance, causes to control
Caused by travel distance and/or the travel angle inaccuracy that component 150 processed is determined；Alternatively, since automatic guided vehicle passes through
Ground relief, the travel distance for causing control assembly 150 to be determined and/or travel angle inaccuracy caused by, this reality
Applying example will not enumerate.
The terrestrial reference in travel zone for identification of navigation arrangement 140.Navigation arrangement 140 believes the position of the terrestrial reference recognized
Breath is sent to control assembly 150, and control assembly 150 is also used to the operation of base area target location information adjustment automatic guided vehicle
Track.
Wherein, travel zone refers to the region advanced for automatic guided vehicle, the predetermined running track of automatic guided vehicle
In the travel zone.
At least one terrestrial reference is provided in travel zone, the predetermined running track stored in automatic guided vehicle includes wait pass through
The location information for the terrestrial reference crossed.Optionally, each terrestrial reference includes location information of the terrestrial reference in travel zone, navigation arrangement
140 by identifying that the terrestrial reference can get the location information.
Navigation arrangement 140 includes at least one acquisition component.
Optionally, acquisition component can be CCD camera assembly, or electromagnetic induction component.When acquisition component is camera shooting
When head assembly, ground is designated as the terrestrial reference of image format, such as: two dimensional code；When acquisition component is electromagnetic induction component, ground is designated as electricity
The terrestrial reference of magnetic form, such as: electromagnetic code.
Schematically, when navigation arrangement 140 includes an acquisition component, with reference to adjustment automatic guided vehicle shown in Fig. 2
Running track schematic diagram.Assuming that in travel zone 201 (in Fig. 2 coordinate system provide region), position (1m,
1m), position (2m, 1m), position (1m, 2m), position (2m, 2m), position (1m, 3m), be provided with ground at position (2m, 3m)
Mark.According to predetermined running track 202 (straight line that solid line indicates) operation, which passes through automatic guided vehicle
The terrestrial reference at the terrestrial reference and position (1m, 3m) at terrestrial reference, position (1m, 2m) at position (1m, 1m).Acquisition component 203 is arranged
In the center on the chassis of automatic guided vehicle 204.If automatic guided vehicle is travelled according to predetermined running track 202, from
Orthographic projection track of the acquisition component 203 in travel zone 201 in dynamic guiding vehicle is overlapped with predetermined running track 202.
Automatic guided vehicle 204 deviates during traveling in travel zone 201 according to rotational parameters and wheel parameter
Predetermined running track 202 is run, and actual running track is track 205 (being indicated in Fig. 2 with overstriking dotted line).Automatic guided vehicle
204 along in 205 traveling process of track, and acquisition component 203 recognizes the terrestrial reference at position (1m, 1m).
Since when automatic guided vehicle 204 is run without departing from predetermined running track 202, ground is marked on acquisition component 203
Position in camera lens is overlapped with the reference position of the camera lens, therefore, base area be marked on position in the camera lens of acquisition component 203 with
The distance between reference position of the camera lens can determine that automatic guided vehicle 204 deviates the offset of predetermined running track 202
Parameter (with reference to the schematic diagram of the camera lens of acquisition component 203 in Fig. 2).Automatic guided vehicle 204 determines itself according to offset parameter
Physical location in travel zone 201；Updated running track is generated according to the physical location and destination locations, according to this
Updated running track is advanced.
Optionally, the reference position of camera lens is the center of camera lens.The predetermined running stored in automatic guided vehicle 204
Track includes the destination locations of automatic guided vehicle 204, which can be the position of next terrestrial reference, such as: in Fig. 2
In, destination locations are the position (1m, 2m) of next terrestrial reference；Or, or the terminal location of predetermined running track, than
Such as: the position (1m, 3m) in Fig. 2.
Optionally, with reference to Fig. 3, when automatic guided vehicle 204 according to rotational parameters and wheel parameter in travel zone 201
Deviate predetermined running track 202 during traveling to run, actual running track is track 301 (with overstriking dotted line table in Fig. 3
Show) when；For automatic guided vehicle 204 along in 301 traveling process of track, the ground at position (1m, 1m) is marked on the knowledge of acquisition component 203
Except other range, at this point, the identification of acquisition component 203 is less than the terrestrial reference at position (1m, 1m), automatic guided vehicle 204 can not be given birth to
At updated running track, actual running track is adjusted, automatic guided vehicle 204, which will appear, can not correct operation
The case where track.
In order to solve the above-mentioned technical problem, in the present embodiment, navigation arrangement 140 includes at least two acquisition components.Signal
Property, the center on the chassis of automatic guided vehicle is arranged in the first acquisition component at least two acquisition components, at least
The front of the first acquisition component is arranged in the second acquisition component in two acquisition components in the direction of travel.
Since the second acquisition component is located at the front of the first acquisition component in the direction of travel, the first acquisition component
Terrestrial reference is first recognized than the second acquisition component, when the second acquisition component is identified less than terrestrial reference, the first acquisition component may be
Recognize terrestrial reference, thus guarantee automatic guided vehicle can base area target location information running track is modified.
Such as: Fig. 4 is referred to, when automatic guided vehicle 204 is gone in travel zone 201 according to rotational parameters and wheel parameter
Deviate predetermined running track 202 during to run, when actual running track is track 301；204 edge of automatic guided vehicle
In 301 traveling process of track, marching to (orthographic projection position of first acquisition component 203 in travel zone 201 of position 401
Set) when, the second acquisition component 402 recognizes the terrestrial reference at position (1m, 1m), at this point, automatic guided vehicle 204 is adopted according to second
The location information that collection component 402 recognizes generates updated running track, realizes and is adjusted to actual running track.
Optionally, since the direction of travel of automatic guided vehicle generally includes front, rear, left and right four direction,
The front of first acquisition component, rear, the left and right can be respectively arranged with second acquisition component, that is, the second acquisition
The quantity of component is 4.
Certainly, the quantity of the second acquisition component can also be more than 4 or less than 4, such as: the second acquisition component
Quantity is 6,3 etc., and the present embodiment is not construed as limiting this.
Optionally, the quantity of the second acquisition component is 4, and this 4 second acquisition components are separately positioned on the first acquisition
Front, dead astern, front-left and the front-right of component.
Such as: in Fig. 4, automatic guided vehicle 204 includes 4 the second acquisition components 402,403,404 and 405；Second
It is positive left that acquisition component 402 is located at 203 front of the first acquisition component, the second acquisition component 403 is located at the first acquisition component 203
Side, the second acquisition component 404 is located at 203 dead astern of the first acquisition component, the second acquisition component 405 is located at the first acquisition component
203 front-rights.
Optionally, second acquisition component in front and second acquisition component in dead astern are about the first acquisition component pair
Claim；Second acquisition component of front-left and the second acquisition component of front-right are symmetrical about the first acquisition component.
Updated operation is generated according to the location information that the second acquisition component recognizes to automatic guided vehicle 204 below
Track is introduced.
Referring to FIG. 5, it illustrates the track adjusting methods of automatic guided vehicle provided by one embodiment of the present invention
Flow chart.The present embodiment is applied to automatic guided vehicle shown in FIG. 1 with the track adjusting method of the automatic guided vehicle, should be certainly
Dynamic guiding vehicle includes the first acquisition component and the second acquisition component, direction of travel of second acquisition component in automatic guided vehicle
It is upper to be located in front of the first acquisition component to come for example, this method includes following steps.
Step 501, when the second acquisition component collects terrestrial reference, the landmark locations of terrestrial reference instruction are obtained.
Landmark locations are marked on location in the travel zone of automatic guided vehicle with being used to indicate.
Optionally, in the present embodiment, the first acquisition component and the second acquisition component acquire terrestrial reference；When the first acquisition component not
Terrestrial reference is collected, and when the second acquisition component collects terrestrial reference, obtains the landmark locations of terrestrial reference instruction.For being located at homing guidance
For a certain terrestrial reference before the direction of advance of vehicle, since the second acquisition component is upper in the direction of travel of automatic guided vehicle
In the front of the first acquisition component, therefore, the second acquisition component can recognize the terrestrial reference before the first acquisition component.
Optionally, the first acquisition component and the second acquisition component in real time or periodically synchronous acquisition terrestrial reference, such as: first adopts
Collect component and the second acquisition component and starts simultaneously at acquisition terrestrial reference every 0.1s.
Optionally, the first acquisition component and the second acquisition component in real time or periodically asynchronous collecting terrestrial reference, such as: first adopts
Collect component and acquires terrestrial reference every 0.1s since the first moment；Second acquisition component is since the second moment every 0.15s
Start to acquire terrestrial reference, wherein the first moment and the second moment difference.
Optionally, the landmark locations that the terrestrial reference is carried in terrestrial reference do not collect terrestrial reference in the first acquisition component, and second
When acquisition component collects terrestrial reference, the second acquisition component obtains landmark locations by carrying out identification to the terrestrial reference.
Optionally, control assembly landmark locations are reported to when the second acquisition component recognizes terrestrial reference；Alternatively, automatic guided vehicle
Control assembly timing in obtains landmark locations from the second acquisition component.
Landmark locations can be indicated by coordinate of the terrestrial reference in travel zone.Such as: landmark locations are (1m, 1m).
Optionally, landmark locations further include the rotation angle of terrestrial reference.Such as: landmark locations are (1m, 1m, 0 °).
Step 502, the first location information of the second acquisition component is obtained.
First location information is used to indicate position of second acquisition component in travel zone.
Optionally, first location information is projected position of second acquisition component in travel zone；Alternatively, first position
Information is the second acquisition component in the projected position in travel zone and the first offset between landmark locations.
Wherein, the first offset be used to indicate projected position of second acquisition component in travel zone deviate terrestrial reference away from
From and/or angle.
Step 503, the second location information of the first acquisition component is determined according to first location information.
Second location information is used to indicate position of first acquisition component in travel zone.
Optionally, when first location information is projected position of second acquisition component in travel zone, the second position
Information is used to indicate projected position of first acquisition component in travel zone.
Optionally, when first location information be projected position of second acquisition component in travel zone and landmark locations it
Between the first offset when, second location information be projected position of first acquisition component in travel zone and landmark locations it
Between the second offset.
Optionally, projected position of second acquisition component in travel zone refers to the second acquisition component orthographic projection to traveling
When in region, it is projected in the position in the travel zone.
Step 504, updated running track is generated according to second location information and landmark locations, controls automatic guided vehicle
According to updated running track advance.
Optionally, according to second location information, landmark locations and preset PATH GENERATION, updated operation is generated
Track, PATH GENERATION are used to generate track according to the beginning and end of track to be generated, and PATH GENERATION is continuous
Track (Continuous Path, CP) algorithm and point-to-point (or fixed point) (Point To Point PTP) algorithm.
Wherein, CP algorithm is used for the straight-line trajectory based on automatic guided vehicle, raw according to the beginning and end of track
Be in line track, which is updated running track.
PTP algorithm is to be generated for the oint motion trajectory based on automatic guided vehicle according to the beginning and end of track
Curvilinear path, the curvilinear path are updated running track.
Optionally, automatic guided vehicle is advanced according to updated first running track, comprising: control motor adjusts wheel
Rotational parameters, rotational parameters adjusted meet the requirement advanced according to updated first running track.
In conclusion the track adjusting method of automatic guided vehicle provided in this embodiment, by automatic guided vehicle
Direction of travel on, the second acquisition component is installed before the first acquisition component, the second acquisition component is adopted than first
Collection component is scanned in advance to terrestrial reference, according to the running track of the updating location information automatic guided vehicle of the terrestrial reference；Certain
In deviation range, solve the first acquisition component identification less than be located at predetermined running track in terrestrial reference, automatic guided vehicle without
The problem of method adjusts running track according to the terrestrial reference；Before being mounted on the first acquisition component due to the second acquisition component, first
When acquisition component identification is less than terrestrial reference, the second acquisition component can recognize the terrestrial reference before the first acquisition component, therefore, from
Dynamic guiding vehicle can adjust running track according to the location information for the terrestrial reference that the second acquisition component recognizes, and improve and lead automatically
Draw the timeliness of vehicle adjustment running track.
Optionally, it is based on embodiment shown in fig. 5, first location information can indicate the second acquisition component in travel zone
In projected position；Alternatively, first location information also can indicate that projected position of second acquisition component in travel zone with
The first offset between landmark locations.The effect of first location information is different, and corresponding track adjusting method is also different.
It is introduced respectively below for the corresponding track adjusting method of different types of first location information.
The first, first location information indicates projected position of second acquisition component in travel zone.Correspondingly, second
Projected position of confidence breath the first acquisition component of instruction in travel zone.
At this point, in step 502, the first location information for obtaining the second acquisition component includes: to be marked on second with obtaining to adopt
Collect the identification position in the identification region of component；When identification position is not in corresponding second reference position of the second acquisition component
When, determine that the first offset of the second acquisition component, the first offset are used to indicate according to identification position and the second reference position
Projected position of second acquisition component in travel zone deviates the distance and/or angle of terrestrial reference；According to landmark locations and first
Offset determines first location information.
Optionally, when the second acquisition component is camera, corresponding second reference position of the second acquisition component is second
The central point of the camera lens of acquisition component；Alternatively, the second acquisition component is corresponding when the second acquisition component is electromagnetic induction component
First reference position is the center of the identification region of electromagnetic induction component.
The identification region of second acquisition component refers to the region that the second acquisition component recognizes in acquisition range.
Such as: when the second acquisition component is camera, identification region is image acquisition region；Second acquisition component is electromagnetism
When inductive component, identification region is electromagnetic induction region.
Since when automatic guided vehicle is advanced without departing from predetermined running track, ground is marked on the identification position in identification region
It is overlapped with the second reference position of the second acquisition component, therefore, when local target identification position is not in the second reference position, says
Bright automatic guided vehicle deviates predetermined running track and advances, at this time, it may be necessary to which the running track to automatic guided vehicle is adjusted.
Automatic guided vehicle determines the first offset of the second acquisition component, packet according to identification position and the second reference position
It includes: according to the positional relationship between the second reference position and identification position, determining throwing of second acquisition component in travel zone
Positional relationship between shadow position and terrestrial reference；And/or it according to the angular relationship between the second reference position and identification position, determines
Second acquisition component is in the projection in travel zone and the angular relationship between terrestrial reference.
Such as: Fig. 6 is referred to, it is (- 0.2m, 0.1m, -15 °), the reference position of camera lens that ground, which is marked on the position 601 in camera lens,
602 be (0,0,0 °), then reference position 602 is located at 601 right distance 0.2m of position in the horizontal direction of camera lens, according to this
Positional relationship determines that projected position of second acquisition component in travel zone is located at ground in the horizontal direction of travel zone
It marks at right distance 0.2m；Reference position 602 is located at below position 601 at distance 0.1m in the vertical direction of camera lens, according to
The positional relationship determines that projected position of second acquisition component in travel zone is located in the vertical direction of travel zone
Below terrestrial reference at distance 0.1m；It is -15 ° that ground, which is marked on the angle relative to position 602 in camera lens, is determined according to the angular relationship
Rotation angle of second acquisition component in travel zone is 15 ° out.
Second location information can be indicated by coordinate of the projected position of the first acquisition component in travel zone.Than
Such as: second location information is (1m, 1m).
Optionally, second location information further includes the rotation angle of the first acquisition component.Such as: second location information is
(1m, 1m, 15 °).
At this point, in step 503, automatic guided vehicle determines second location information according to first location information, comprising:
According to the relative positional relationship between the second acquisition component and the first acquisition component obtained in advance, first location information is converted
For second location information；Wherein, relative positional relationship be according between the first acquisition component and the second acquisition component it is opposite away from
From and/or relative angle determine.
Optionally, the relative positional relationship between the second acquisition component and the first acquisition component by translation matrix [T] and/
Or spin matrix [R] indicates.
Schematically, according to the relative positional relationship between the second acquisition component and the first acquisition component obtained in advance,
First location information is converted into second location information, is indicated by following formula:
[xA yA θA] [T] [R]=[xO yO θO]
Wherein, [xA, yA, θA] indicate first location information, [T] [R] indicate second acquisition component and the first acquisition component it
Between relative positional relationship, [xO, yO, θO] indicate second location information.
Optionally, the matrix that [T] [R] is 3 × 3.
Optionally, [T] [R] can be merged into one 3 × 3 matrix.
Optionally, when first location information is [xA, yA], and second location information is [xO, yO] when, [T] [R] is 2 × 2
Matrix.
Schematically, the matrix that the present embodiment is 3 × 1 with [T], the matrix that [R] is 1 × 3 illustrate.
Such as:
[R]=[1,1,0 °], if [xA, yA, θA]=[1m, 2.2m, 0 °],
Then [xO yO θO0.74,0.74,0 ° of]=[].
In step 504, updated running track is generated according to second location information and landmark locations, control is led automatically
Draw vehicle to advance according to updated running track, comprising: using second location information as the starting point of updated running track,
Using landmark locations as the terminal of updated running track, updated operation rail is generated according to preset PATH GENERATION
Mark.
Assuming that recognizing position by the second acquisition component 402 at automatic guided vehicle position 401 shown in Fig. 4
Terrestrial reference at (1m, 1m) determines the second acquisition component 402 in travel zone according to the landmark locations (1m, 1m, 0 °) of the terrestrial reference
The first location information of projected position in 201 is (1.2m, 1.9m, 15 °)；According to the second acquisition component 402 and the first acquisition
Relative positional relationship between component 401 determines the second of projected position of first acquisition component 401 in travel zone 201
Location information is (1.1m, 1.7m, 15 °), then automatic guided vehicle 204 is according to landmark locations (1m, 1m, 0 °) and second confidence
Breath is that (1.1m, 1.7m, 15 °) generates updated running track.With reference to the updated running track 701 in Fig. 7, lead automatically
Draw vehicle 204 to be advanced according to the updated running track 701, by track correct to predetermined running track 202.
In conclusion the present embodiment passes through the relative position obtained between the first acquisition component and the second acquisition component in advance
Relationship obtains the first location information of the second acquisition component, determines the according to the first location information and relative positional relationship
The second location information of one acquisition component, since the running track of automatic guided vehicle is the rail passed through according to the first acquisition component
What mark generated, therefore, updated running track is generated by the way that first location information is converted to second location information, guarantee
The accuracy for the updated running track that automatic guided vehicle generates.
The second, first location information is used to indicate projected position and landmark locations of second acquisition component in travel zone
Between the first offset.Correspondingly, second location information is used to indicate projection position of first acquisition component in travel zone
Set the second offset between landmark locations.
Second location information can be by the projected position of the first acquisition component and in travel zone between landmark locations
Distance and/or angle indicate.Such as: second location information is (0.1m, 0.1m, 15 °).
At this point, in step 502, automatic guided vehicle obtains the first location information of the second acquisition component, comprising: obtain
Ground is marked on the identification position in the identification region of the second acquisition component；When identification position is not in the second acquisition component corresponding the
When two reference positions, the first location information of the second acquisition component is determined according to identification position and the second reference position, first
Confidence breath is used to indicate the distance and/or angle that projected position of second acquisition component in travel zone deviates terrestrial reference.
Optionally, in the present embodiment, will identify the offset distance between position and the second reference position and/or angle as
First location information is saved without determining projected position of second acquisition component in travel zone according to the first offset
The resource of automatic guided vehicle.
Automatic guided vehicle determines the first location information of the second acquisition component according to identification position and the second reference position,
It include: to determine the second acquisition component in travel zone according to the positional relationship between the second reference position and identification position
Positional relationship between projected position and terrestrial reference；And/or according to the second reference position and identify the angular relationship between position,
Determine the second acquisition component in the projection in travel zone and the angular relationship between terrestrial reference.
At this point, in step 503, automatic guided vehicle determines second location information according to first location information, comprising:
According to the opposite offset relationship between the second acquisition component and the first acquisition component obtained in advance, first location information is converted
For second location information；Wherein, opposite offset relationship be according to the distance between the first offset and the second offset deviation and/
Or angular deviation determination.
Optionally, the opposite offset relationship between the second acquisition component and the first acquisition component passes through translation matrix [T ']
And/or spin matrix [R '] indicates.
Schematically, according to the opposite offset relationship between the second acquisition component and the first acquisition component obtained in advance,
First location information is converted into second location information, is indicated by following formula:
[x ', y ', θ '] [T '] [R ']=[x ", y ", θ "]
Wherein, [x ', y ', θ '] indicates first location information, [T '] [R '] indicate first offset and the second offset it
Between opposite offset relationship, [x ", y ", θ "] indicate second location information.
Optionally, the matrix that [T '] [R '] is 3 × 3.
Optionally, [T '] [R '] can be merged into one 3 × 3 matrix.
Schematically, the matrix that the present embodiment is 3 × 1 with [T '], the matrix that [R '] is 1 × 3 illustrate.
Such as:
[R ']=[1,1,0 °], if [x ', y ', θ ']=[1m, 2.2m, 0 °],
Then [x ", y ", θ "]=[0.74,0.74,0 °].
In step 504, updated running track is generated according to second location information and landmark locations, control is led automatically
Draw vehicle to advance according to updated running track, comprising: determine updated fortune according to second location information and landmark locations
The starting point of row track generates after updating using landmark locations as the terminal of updated running track according to the beginning and end
Running track.
Wherein, automatic guided vehicle determines rising for updated running track according to second location information and landmark locations
Point, comprising: the positional shift data in base area target position and second location information determine the projection position of the first acquisition component
It sets；And/or the angle offset data in base area target angle and second location information determine the projected angle of the first acquisition component
Degree, the starting point of updated running track is determined according to projected position and projection angle.
Assuming that recognizing position by the second acquisition component 402 at automatic guided vehicle position 401 shown in Fig. 4
Terrestrial reference at (1m, 1m), according to the first offset between the landmark locations (1m, 1m, 0 °) and the second acquisition component 402 of the terrestrial reference
Amount determines that first location information is (0.2m, 0.9m, 15 °)；According to relatively inclined between the first offset and the second offset
Shifting relationship determine second location information be (0.1m, 0.7m, 15 °), then automatic guided vehicle 204 according to landmark locations (1m,
1m, 0 °) and second location information be (0.1m, 0.7m, 15 °) determine updated running track starting point be (1.1m,
1.7m, 15 °), updated running track is generated according to the starting point and landmark locations.With reference to the updated operation rail in Fig. 7
Mark 701, automatic guided vehicle 204 is advanced according to the updated running track 701, by track correct to predetermined running track
202。
It is closed in conclusion the present embodiment passes through the relative position obtained between the first offset and the second offset in advance
System obtains the first location information of the second acquisition component, determines first according to the first location information and opposite offset relationship
The second location information of acquisition component, since the running track of automatic guided vehicle is the track passed through according to the first acquisition component
It generates, therefore, by the way that first location information is converted to second location information, is determined according to the second location information after updating
The terminal of running track generate updated running track, ensure that the updated operation rail that automatic guided vehicle generates
The accuracy of mark.
Optionally, the predetermined running track of automatic guided vehicle is the rail being projected in travel zone with the first acquisition component
Mark is with reference to generation, and therefore, when the first acquisition component recognizes ground code, automatic guided vehicle is preferentially according to the first acquisition group
The location information of the ground code that part recognizes adjusts running track.
Referring to FIG. 8, it illustrates the track adjusting methods of automatic guided vehicle provided by one embodiment of the present invention
Flow chart.The present embodiment is applied to automatic guided vehicle shown in FIG. 1 with the track adjusting method of the automatic guided vehicle, should be certainly
Dynamic guiding vehicle includes the first acquisition component and the second acquisition component, direction of travel of second acquisition component in automatic guided vehicle
It is upper to be located in front of the first acquisition component to come for example, this method further includes following steps.
Step 801, if the first acquisition component recognizes terrestrial reference, obtain landmark locations that the first acquisition component recognizes and
Ground is marked on the identification position in the identification region of the first acquisition component.
The identification region of first acquisition component refers to the region that the first acquisition component recognizes in acquisition range.
Step 802, when local target identification position is not in the first acquisition component corresponding first reference position, according to knowledge
Other position and the first reference position determine the second offset of the first acquisition component.
Optionally, when the first acquisition component is camera, corresponding first reference position of the first acquisition component is first
The central point of the camera lens of acquisition component；Alternatively, the first acquisition component is corresponding when the first acquisition component is electromagnetic induction component
First reference position is the center of the identification region of electromagnetic induction component.
Second offset be used to indicate projected position of first acquisition component in travel zone deviate terrestrial reference distance and/
Or angle.
Optionally, projected position of first acquisition component in travel zone refers to the first acquisition component orthographic projection to traveling
When in region, it is projected in the position in the travel zone.
Since when automatic guided vehicle is advanced without departing from predetermined running track, ground is marked on the cog region of the first acquisition component
Position in domain is overlapped with the first reference position, therefore, when local target identification position is not in the first reference position of camera lens,
Illustrate that automatic guided vehicle deviates predetermined running track and advances, at this time, it may be necessary to which the running track to automatic guided vehicle is repaired
Just.
Automatic guided vehicle determines the second offset of the first acquisition component, packet according to identification position and the first reference position
It includes: according to the positional relationship between the first reference position and identification position, determining throwing of first acquisition component in travel zone
Positional relationship between shadow position and terrestrial reference；And/or according to the angular relationship between the first reference position and identification position, really
Fixed first acquisition component is in the projection in travel zone and the angular relationship between terrestrial reference.
Step 803, determine that the third place information, the third place information are used to indicate according to landmark locations and the second offset
Projected position of first acquisition component in travel zone.
The third place information can be indicated by coordinate of the projected position of the first acquisition component in travel zone.Than
Such as: the third place information is (1m, 3m).
Optionally, the third place information further includes the rotation angle of the first acquisition component.Such as: the third place information is
(1m, 3m, 0 °).
Automatic guided vehicle determines the third place information according to landmark locations and the second offset, comprising: partially according to second
First acquisition component of shifting amount instruction is in the projected position in travel zone and the positional relationship between landmark locations；And/or root
According to angular relationship of the first acquisition component of the second offset instruction between the projection and landmark locations in travel zone, determine
The third place information.
Step 804, updated running track is generated according to the third place information and destination locations information, control is led automatically
Draw vehicle to advance according to updated running track.
Wherein, destination locations information is preset in automatic guided vehicle.
Optionally, destination locations information is the location information of next terrestrial reference in predetermined running track；Alternatively, destination locations are believed
Breath is the location information of terminal in predetermined running track.
Wherein, next terrestrial reference refer in predetermined running track be located in the direction of travel the corresponding terrestrial reference of landmark locations it
Next terrestrial reference to be passed through afterwards.
Automatic guided vehicle generates updated running track according to PATH GENERATION.
In conclusion the track adjusting method of automatic guided vehicle provided in this embodiment, by the first acquisition component
When recognizing terrestrial reference, the location information of terrestrial reference that is preferentially recognized using the first acquisition component adjusts running track；So that from
Dynamic guiding vehicle, being capable of basis when being projected in the generation predetermined running track of the track in travel zone with reference to the first acquisition component
The location information for the terrestrial reference that first acquisition component recognizes adjusts running track, without the conversion process of execution position information,
Not only it ensure that the accuracy of automatic guided vehicle adjustment running track, but also saved the mistake of automatic guided vehicle adjustment running track
The resource consumed in journey.
Optionally, in embodiment of the method shown in Fig. 5, if automatic guided vehicle is adopted according to the first acquisition component with second
Collect the relative positional relationship between component, first location information is converted into second location information, then automatic guided vehicle needs
Obtain the relative positional relationship.In the present embodiment, by before step 504, executing calibration process to obtain the relative position
Relationship.
Referring to FIG. 9, it illustrates the track adjusting methods of automatic guided vehicle provided by one embodiment of the present invention
Flow chart.The present embodiment is applied to automatic guided vehicle shown in FIG. 1 with the track adjusting method of the automatic guided vehicle, should be certainly
Dynamic guiding vehicle includes the first acquisition component and the second acquisition component, direction of travel of second acquisition component in automatic guided vehicle
It is upper to be located in front of the first acquisition component to come for example, before step 504, this method is also based on embodiment shown in fig. 5
Including following steps.
Step 901, control automatic guided vehicle marches to calibration region, is known in calibration region by the first acquisition component
Not Biao Ding the first terrestrial reference in region, pass through the second acquisition component and identify the second terrestrial reference in calibration region simultaneously.
Demarcating region includes at least two terrestrial references, and the setting position of each terrestrial reference is adopted according to each of automatic guided vehicle
Collect what projected position of the component in calibration region determined.
When automatic guided vehicle is marched in calibration region, projected position and mark of first acquisition component in calibration region
The first landmark registration in region is determined, in this way, the first acquisition component can identify the first terrestrial reference in calibration region；Second acquisition
Second landmark registration of the component in the projected position and calibration region in calibration region, in this way, the second acquisition component can be known
It Biao Ding not the second terrestrial reference in region.
With reference to Figure 10 A, in calibration region 1001, the first acquisition component 1002 identifies the first ground at position (1m, 2m)
It marks, the second terrestrial reference at the second acquisition component 1003 identification position (1m, 3m), the second acquisition component 1004 identification position (0m,
2m) second terrestrial reference at place, the second acquisition component 1005 identify the second terrestrial reference at position (1m, 1m), the second acquisition component 1006
Identify the second terrestrial reference at position (2m, 2m).
Step 902, the first ground of control is marked on position and the first acquisition component pair in the identification region of the first acquisition component
The first reference position answered is overlapped, and obtains the calibration location information of the first acquisition component and the calibration position letter of the second acquisition component
Breath；And/or the second ground of control is marked on the position in the identification region of the second acquisition component and the identification region of the second acquisition component
The second reference position be overlapped, obtain the first acquisition component calibration location information and the second acquisition component calibration position letter
Breath.
Wherein, the calibration location information of the first acquisition component is used to indicate projection of first acquisition component in calibration region
Position；The calibration location information of second acquisition component is used to indicate projected position of second acquisition component in calibration region.
The position being marked on when the first in the identification region of first acquisition component the first ginseng corresponding with the first acquisition component
When examining position coincidence, the calibration location information of the first acquisition component is identical as the landmark locations of the first terrestrial reference.At this point, the second terrestrial reference
Position in the identification region of the second acquisition component may not the second reference position corresponding with the second acquisition component be overlapped, from
The position and the second reference position that dynamic guiding vehicle can be marked in the identification region of the second acquisition component according to the second determine
First offset of the second acquisition component out determines the second acquisition according to the landmark locations of first offset and the second terrestrial reference
The calibration location information of component.
Wherein it is determined that the related description of the first offset of the second acquisition component and the first above-mentioned track adjustment mode
The related description of middle the first offset of determination is identical, and therefore not to repeat here for the present embodiment.
The calibration location information of the second acquisition component is determined according to the landmark locations of the first offset parameter and the second terrestrial reference
First location information is determined according to landmark locations and the first offset in related description and the first above-mentioned track adjustment mode
Related description is identical, and therefore not to repeat here for the present embodiment.
The position corresponding with the second acquisition component second in the identification region of the second acquisition component is marked on when the second
When reference position is overlapped, the calibration location information of the second acquisition component is identical as the landmark locations of the second terrestrial reference.At this point, the first ground
The position being marked in the identification region of the first acquisition component may not the first reference position weight corresponding with the first acquisition component
It closes, automatic guided vehicle can be marked on position and the first reference position in the identification region of the first acquisition component according to the first
The second offset for determining the first acquisition component determines first according to the landmark locations of second offset and the first terrestrial reference
The calibration location information of acquisition component.
Wherein it is determined that in the related description of the second offset of the first acquisition component and the first above-mentioned track adjustment mode
Determine that the related description of the first offset is identical, therefore not to repeat here for the present embodiment.
The phase of the calibration location information of the first acquisition component is determined according to the landmark locations of the second offset and the first terrestrial reference
It speaks on somebody's behalf bright with phase that is determining first location information in the first above-mentioned track adjustment mode according to landmark locations and the first offset
It speaks on somebody's behalf bright identical, therefore not to repeat here for the present embodiment.
Step 903, according to the calibration location information of the calibration location information and the first acquisition component of the second acquisition component, really
Relative positional relationship between fixed second acquisition component and the first acquisition component.
Control assembly in automatic guided vehicle is according to the calibration location information and the second acquisition component of the first acquisition component
Calibration location information between translation distance and rotation angle, determine between the second acquisition component and the first acquisition component
Relative positional relationship.
Optionally, automatic guided vehicle controls the first ground and is marked on the position and first in the identification region of the first acquisition component
When corresponding first reference position of acquisition component is overlapped, according to the calibration location information and first of the second acquisition component got
The calibration location information of acquisition component, determines the relative positional relationship between the second acquisition component and the first acquisition component；Automatically
Guiding the second ground of vehicle control is marked on the position corresponding with the second acquisition component second in the identification region of the second acquisition component
When reference position is overlapped, again according to the calibration of the calibration location information and the first acquisition component of the second acquisition component got
Location information determines the relative positional relationship between the second acquisition component and the first acquisition component, according to the phase determined twice
The average value for calculating positional relationship relative positional relationship, is determined as the second acquisition component and the first acquisition component for the average value
Between relative positional relationship.
In conclusion the track adjusting method of automatic guided vehicle provided in this embodiment, by according to the second position
Before information and landmark locations generate updated running track, the phase between the second acquisition component and the first acquisition component is obtained
To positional relationship, enable automatic guided vehicle relationship depending on the relative position, first location information is converted into second
Relationship is set, since the predetermined running track of automatic guided vehicle is that the track being projected in travel zone with the first acquisition component is
With reference to generation, therefore, updated running track is still projected in the reference of the track in travel zone with the first acquisition component
It generates, it is ensured that automatic guided vehicle generates the accuracy of updated first running track.
Optionally, in embodiment of the method shown in Fig. 5, if automatic guided vehicle is adopted according to the first acquisition component with second
Collect the opposite offset relationship between component, first location information is converted into second location information, then automatic guided vehicle needs
This is obtained with respect to offset relationship.In the present embodiment, the opposite offset is obtained by before step 504, executing calibration process
Relationship.
Figure 10 B is please referred to, it illustrates the track adjusting methods of automatic guided vehicle provided by one embodiment of the present invention
Flow chart.The present embodiment is applied to automatic guided vehicle shown in FIG. 1 with the track adjusting method of the automatic guided vehicle, should
Automatic guided vehicle includes the first acquisition component and the second acquisition component, and the second acquisition component is in the traveling side of automatic guided vehicle
It is located in front of the first acquisition component to come for example, being based on embodiment shown in fig. 5, before step 504, this method upwards
It further include following steps.
Step 1010, control automatic guided vehicle marches to calibration region, passes through the first acquisition component in calibration region
The first terrestrial reference in identification calibration region identifies the second terrestrial reference in calibration region by the second acquisition component simultaneously.
The associated description of this step is detailed in step 901, and therefore not to repeat here for the present embodiment.
Step 1020, the first ground of control is marked on position and the first acquisition component pair in the identification region of the first acquisition component
The first reference position answered is overlapped, and the calibration of the deviation post information and the second acquisition component that obtain the first acquisition component deviates letter
Breath；And/or the second ground of control is marked on the position in the identification region of the second acquisition component and the identification region of the second acquisition component
The second reference position be overlapped, obtain the first acquisition component calibration offset information and the second acquisition component calibration deviate letter
Breath.
Wherein, the calibration offset information of the first acquisition component is used to indicate first in the first acquisition component and calibration region
Offset between terrestrial reference；The calibration offset information of second acquisition component is used to indicate the in the second acquisition component and calibration region
Offset between two terrestrial references.
The position being marked on when the first in the identification region of first acquisition component the first ginseng corresponding with the first acquisition component
When examining position coincidence, the calibration offset information of the first acquisition component is 0.At this point, the second ground is marked on the identification of the second acquisition component
Position in region may not the second reference position corresponding with the second acquisition component be overlapped, automatic guided vehicle can be according to the
The calibration of the second acquisition component is determined in position and the second reference position that two ground are marked in the identification region of the second acquisition component
Offset information.
The position corresponding with the second acquisition component second in the identification region of the second acquisition component is marked on when the second
When reference position is overlapped, the calibration offset information of the second acquisition component is 0.At this point, the first ground is marked on the knowledge of the first acquisition component
Position in other region may not the first reference position corresponding with the first acquisition component be overlapped, automatic guided vehicle can root
The position and the first reference position that are marked in the identification region of the first acquisition component according to the first determine the mark of the first acquisition component
Determine offset information.
Step 1030, according to the second acquisition component calibration offset information and the first acquisition component calibration offset information,
Determine opposite offset relationship.
Control assembly in automatic guided vehicle is according to the calibration offset information of the first acquisition component, the second acquisition component
The translation distance and rotation angle between offset information, the landmark locations of the first terrestrial reference and the landmark locations of the second terrestrial reference are demarcated,
Determine the opposite offset relationship between the first offset and the second offset.
Schematically, if the calibration offset information of the first acquisition component is 0, the calibration offset information of the second acquisition component is
(0.1m, 0.1m, 5 °), offset between the landmark locations of the first terrestrial reference and the landmark locations of the second terrestrial reference be (0m, 1m,
0 °), then it is 0 according to calibration offset information, calibration offset information (0.1m, 0.1m, 5 °) and offset determine for (0m, 1m, 0 °)
Opposite offset relationship.
Optionally, automatic guided vehicle controls the first ground and is marked on the position and first in the identification region of the first acquisition component
When corresponding first reference position of acquisition component is overlapped, according to the calibration offset information and first of the second acquisition component got
The calibration offset information of acquisition component determines opposite offset relationship；Automatic guided vehicle controls the second ground and is marked on the second acquisition group
When position in the identification region of part the second reference position corresponding with the second acquisition component is overlapped, again according to the got
The calibration offset information of the calibration offset information and the first acquisition component of two acquisition components, determines relative positional relationship, according to two
The secondary opposite offset relationship determined calculates the average value of opposite offset relationship, which is determined as the first offset and the
Opposite offset relationship between two offsets.
In conclusion the track adjusting method of automatic guided vehicle provided in this embodiment, by according to the second position
Before information and landmark locations generate updated running track, opposite offset relationship is obtained, enables automatic guided vehicle
According to this with respect to offset relationship, first location information is converted into second position relationship, is determined further according to the second position relationship
The projected position of first acquisition component out, since the predetermined running track of automatic guided vehicle is projected in the first acquisition component
Track in travel zone is with reference to generation, and therefore, updated running track is still expert at the projection of the first acquisition component
Track in recessed region is with reference to generation, it is ensured that automatic guided vehicle generates the accuracy of updated first running track.
The entire flow of the track adjusting method of automatic guided vehicle provided in an embodiment of the present invention is introduced below.
Figure 11 is please referred to, it illustrates the track adjusting methods of automatic guided vehicle provided by one embodiment of the present invention
Flow chart.The present embodiment is applied to automatic guided vehicle shown in FIG. 1 with the track adjusting method of the automatic guided vehicle, should be certainly
Dynamic guiding vehicle includes the first acquisition component and the second acquisition component, direction of travel of second acquisition component in automatic guided vehicle
It is upper to be located in front of the first acquisition component to come for example, this method includes following steps.
Step 1101, for automatic guided vehicle during traveling, whether the first acquisition component of detection recognizes terrestrial reference；If
It is to execute step 1102；If it is not, executing step 1103.
Optionally, automatic guided vehicle detects first and adopts according to whether the first acquisition component reports the location information of terrestrial reference
Whether collection component recognizes terrestrial reference；Alternatively, whether automatic guided vehicle timing the first acquisition component of detection recognizes terrestrial reference.
Step 1102, the projected position and destination locations information projected in travel zone according to the first acquisition component generates
Updated running track.
The detailed process of this step is detailed in step 801-804, and therefore not to repeat here for the present embodiment.
Step 1103, whether the second acquisition component of detection recognizes terrestrial reference；If so, executing step 1104；If it is not, executing step
Rapid 1105.
Optionally, automatic guided vehicle detects second and adopts according to whether the second acquisition component reports the location information of terrestrial reference
Whether collection component recognizes terrestrial reference；Alternatively, whether automatic guided vehicle timing the second acquisition component of detection recognizes terrestrial reference.
Step 1104, projected position and relative positional relationship in travel zone are projected to according to the second acquisition component, really
Fixed first acquisition component projects to the projected position in travel zone.
The associated description of this step is detailed in step 502 and step 503 in the first track adjusting method, this implementation is herein
It does not repeat.
Step 1105, updated operation rail is generated according to the landmark locations of the projected position of the first acquisition component and terrestrial reference
Mark.
The detailed process of this step is detailed in the step 504 in the first track adjusting method, and the present embodiment is not gone to live in the household of one's in-laws on getting married herein
It states.
Step 1106, the operating parameter of motor is adjusted according to updated running track.
In the present embodiment, the rotational parameters of wheel are adjusted by adjusting the operating parameter of motor.
Step 1107, control motor is run according to operating parameter adjusted to drive automatic guided vehicle to advance.
In conclusion the track adjusting method of automatic guided vehicle provided in this embodiment, by automatic guided vehicle
Direction of travel on, the second acquisition component is installed before the first acquisition component, the second acquisition component is adopted than first
Collection component is scanned in advance to terrestrial reference, according to the running track of the updating location information automatic guided vehicle of the terrestrial reference；Certain
In deviation range, solve the first acquisition component identification less than be located at predetermined running track in terrestrial reference, automatic guided vehicle without
The problem of method adjusts running track according to the terrestrial reference；Before being mounted on the first acquisition component due to the second acquisition component, first
When acquisition component identification is less than terrestrial reference, the second acquisition component can recognize the terrestrial reference before the first acquisition component, therefore, from
Dynamic guiding vehicle can adjust running track according to the location information for the terrestrial reference that the second acquisition component recognizes, and improve and lead automatically
Draw the timeliness of vehicle adjustment running track.
Figure 12 is please referred to, it illustrates the track adjusting devices of automatic guided vehicle provided by one embodiment of the present invention
Structure chart.The device can pass through the whole or one of software, hardware or both being implemented in combination with as automatic guided vehicle
Part.The apparatus may include: first, which obtains module 1210, second, obtains module 1220, the first determining module 1230 and track
Generation module 1240.
First obtains module 1210, for when second acquisition component collects terrestrial reference, obtaining the terrestrial reference instruction
Landmark locations, the landmark locations are used to indicate in the travel zone for being marked on the automatic guided vehicle describedly locating position
It sets；
Second obtains module 1220, for obtaining the first location information of second acquisition component, the first position
Information is used to indicate position of second acquisition component in the travel zone；
First determining module 1230, for determining the second of first acquisition component according to the first location information
Location information, the second location information are used to indicate position of first acquisition component in the travel zone；
Track generation module 1240, for generating updated fortune according to the second location information and the landmark locations
Row track controls the automatic guided vehicle and advances according to the updated running track.
Optionally, the first location information is used to indicate projection of second acquisition component in the travel zone
Position, the second location information are used to indicate projected position of first acquisition component in the travel zone,
First determining module 1230, is used for:
It, will according to the relative positional relationship between second acquisition component and first acquisition component obtained in advance
The first location information is converted to the second location information；
Wherein, the relative positional relationship is according to the phase between first acquisition component and second acquisition component
Adjust the distance and/or relative angle determine.
Optionally, described device further include: traveling control module, third obtain module and the second determining module.
Traveling control module marches to calibration region for controlling the automatic guided vehicle, in the calibration region
The first terrestrial reference in the calibration region is identified by first acquisition component, is identified simultaneously by second acquisition component
The second terrestrial reference in the calibration region；
Third obtains module, and the position in the identification region of first acquisition component is marked on for controlling first ground
Corresponding with first acquisition component the first reference position is overlapped, obtain first acquisition component calibration location information and
The calibration location information of second acquisition component；And/or control second ground is marked on the identification of second acquisition component
Position in region is overlapped with the second reference position of the identification region of second acquisition component, obtains the first acquisition group
The calibration location information of the calibration location information and second acquisition component of part；
Second determining module, for the calibration location information and first acquisition component according to second acquisition component
Calibration location information, determine the relative positional relationship between second acquisition component and first acquisition component；
Wherein, the calibration location information is used to indicate first acquisition component and/or second acquisition component exists
Projected position in the calibration region.
Optionally, the first location information is used to indicate projection of second acquisition component in the travel zone
The first offset between position and the landmark locations, the second location information are used to indicate first acquisition component and exist
The second offset between projected position and the landmark locations in the travel zone；First determining module 1230,
For:
It, will according to the opposite offset relationship between second acquisition component and first acquisition component obtained in advance
The first location information is converted to the second location information；
Wherein, the opposite offset relationship is inclined according to the distance between first offset and second offset
Move what poor and/or angle offset difference determined.
Optionally, the traveling control module is also used to control the automatic guided vehicle and marches to calibration region, in institute
It states in calibration region and the first terrestrial reference in the calibration region is identified by first acquisition component, acquired by described second
Component identifies the second terrestrial reference in the calibration region simultaneously；
Described device further include: the 4th obtains module and third determining module.
4th obtains module, and the position in the identification region of first acquisition component is marked on for controlling first ground
Corresponding with first acquisition component the first reference position is overlapped, obtain first acquisition component deviation post information and
The deviation post information of second acquisition component；And/or control second ground is marked on the identification of second acquisition component
Position in region is overlapped with the second reference position of the identification region of second acquisition component, obtains the first acquisition group
The calibration offset information of the calibration offset information and second acquisition component of part；
Third determining module, for the calibration offset information and first acquisition component according to second acquisition component
Calibration offset information, determine the opposite offset relationship；
Wherein, the calibration offset information be used to indicate first acquisition component and/or second acquisition component with
Offset in the calibration region between terrestrial reference.
Optionally, described second module is obtained, comprising: first acquisition unit, the first determination unit and the second determination unit.
First acquisition unit, for obtaining the identification position being marked in the identification region of second acquisition component describedly
It sets；
First determination unit, for being not in corresponding second reference bit of second acquisition component when the identification position
When setting, the first offset of second acquisition component is determined according to the identification position and second reference position, it is described
First offset be used to indicate projected position of second acquisition component in the travel zone deviate the terrestrial reference away from
From and/or angle；
Second determination unit, for determining that the first position is believed according to the landmark locations and first offset
Breath, the first location information are used to indicate projected position of second acquisition component in the travel zone.
Optionally, described second module is obtained, comprising: second acquisition unit and third determination unit.
Second acquisition unit, for obtaining the identification position being marked in the identification region of second acquisition component describedly
It sets；
Third determination unit, for being not in corresponding second reference bit of second acquisition component when the identification position
When setting, the first location information of second acquisition component, institute are determined according to the identification position and second reference position
It states first location information and is used to indicate the projected position deviation terrestrial reference of second acquisition component in the travel zone
Distance and/or angle.
Optionally, described first module is obtained, comprising: acquisition unit and acquiring unit.
Acquisition unit, for acquiring the terrestrial reference simultaneously by first acquisition component and second acquisition component；
Acquiring unit, for not collecting the terrestrial reference when first acquisition component, and second acquisition component is adopted
When collecting the terrestrial reference, the landmark locations of the terrestrial reference instruction are obtained.
Optionally, the track generation module, is used for:
According to the second location information, the landmark locations information and preset PATH GENERATION, generation is described more
Running track after new, the PATH GENERATION is used to generate track according to the beginning and end of track to be generated, described
PATH GENERATION is continuous path CP algorithm or point-to-point PTP algorithm.
Optionally, the quantity of second acquisition component is 4, and second acquisition component is respectively arranged in described the
Front, dead astern, front-left and the front-right of one acquisition component.
Figure 13 shows the structural schematic diagram of automatic guided vehicle involved in an illustrative embodiment of the invention.The inspection
Measurement equipment includes: processor 1311, memory 1314 and bus 1315.
Processor 1311 includes one or more than one processing core, and memory 1314 passes through bus 1315 and processor
1311 are connected, and memory 1314 executes real when the program instruction in memory 1314 for storing program instruction, processor 1311
The track adjusting method for the automatic guided vehicle that existing above-mentioned each embodiment of the method provides.
Schematically, processor 1311 executes the program instruction in memory 1314 and realizes: in first acquisition component
It is unidentified to arrive terrestrial reference, and when second acquisition component recognizes the terrestrial reference, obtain what second acquisition component recognized
Landmark locations and second location information, the landmark locations are used to indicate the traveling area for being marked on the automatic guided vehicle describedly
The location of in domain, the second location information is used to indicate the position being marked in the camera lens of second acquisition component describedly
It sets；When describedly the second location information indicates that the position being marked in the camera lens is not in the reference position of the camera lens
When, the first offset of second acquisition component is determined according to the position and the reference position that are marked in the camera lens describedly
Amount, first offset are used to indicate projected position of second acquisition component in the travel zone and deviate describedly
Target distance and/or angle；The third place information, the third position are determined according to the landmark locations and first offset
Confidence breath is used to indicate projected position of second acquisition component in the travel zone；According to the third place information
Updated first running track is generated with the landmark locations, controls the automatic guided vehicle according to described updated the
One running track is advanced.
Optionally, memory 1314 can be by any kind of volatibility or non-volatile memory device or their group
It closes and realizes, such as static to access memory (SRAM) at any time, electrically erasable programmable read-only memory (EEPROM) is erasable to compile
Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash
Device, disk or CD.
Optionally, with reference to Figure 14, automatic guided vehicle further includes the first acquisition component 1312 and the second acquisition component 1313.
First acquisition component 1312 and the second acquisition component 1313 are connected by bus 1315 with processor 1311 respectively.
Optionally, processor 1311 executes the program instruction in memory 1314 and controls the first acquisition component 1312 and realize and knows
Not code the step of；Processor 1311 executes the program instruction in memory 1314 and controls the realization identification of the second acquisition component 1313
The step of ground code.
Automatic guided vehicle further includes driving assembly 1316, and processor 1311 executes the program instruction control in memory 1314
Driving assembly 1316 processed drives automatic guided vehicle to advance.
Above structure signal is only to schematically illustrate to automatic guided vehicle, automatic guided vehicle may include it is more or
Less component, such as: automatic guided vehicle further includes other components such as sensor, display screen, motor, and the present embodiment is no longer superfluous
It states.
The embodiment of the present invention also provides a kind of computer-readable medium, is stored thereon with program instruction, and program instruction is located
Reason device 1311 realizes the track adjusting method for the automatic guided vehicle that above-mentioned each embodiment of the method provides when executing.
Those of ordinary skill in the art may be aware that mould described in conjunction with the examples disclosed in the embodiments of the present disclosure
Block and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.
Those of ordinary skill in the art can be understood that, for convenience and simplicity of description, the device of foregoing description
It with the specific work process of module, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In embodiment provided herein, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the module, it can be only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple module or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple
On network module.Some or all of the modules therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (16)
1. a kind of track adjusting method of automatic guided vehicle, which is characterized in that the automatic guided vehicle includes the first acquisition
Component and the second acquisition component, second acquisition component are located at described first on the direction of travel of the automatic guided vehicle
The front of acquisition component, which comprises
When second acquisition component collects terrestrial reference, the landmark locations of the terrestrial reference instruction are obtained, the landmark locations are used
The location of in the travel zone that instruction is marked on the automatic guided vehicle describedly；
The first location information of second acquisition component is obtained, the first location information is used to indicate the second acquisition group
Position of the part in the travel zone；
The second location information of first acquisition component, the second location information are determined according to the first location information
It is used to indicate position of first acquisition component in the travel zone；
Updated running track is generated according to the second location information and the landmark locations, controls the automatic guided vehicle
It advances according to the updated running track.
2. the method according to claim 1, wherein the first location information is used to indicate second acquisition
Projected position of the component in the travel zone, the second location information are used to indicate first acquisition component described
Projected position in travel zone,
The second location information that first acquisition component is determined according to the first location information, comprising:
It, will be described according to the relative positional relationship between second acquisition component and first acquisition component obtained in advance
First location information is converted to the second location information；
Wherein, the relative positional relationship be according between first acquisition component and second acquisition component it is opposite away from
From and/or relative angle determine.
3. according to the method described in claim 2, it is characterized in that, described determine described according to the first location information
Before the second location information of one acquisition component, further includes:
It controls the automatic guided vehicle and marches to calibration region, known in the calibration region by first acquisition component
The first terrestrial reference in the not described calibration region, the second ground in the calibration region is identified by second acquisition component simultaneously
Mark；
Control the position and first acquisition component pair that first ground is marked in the identification region of first acquisition component
The first reference position answered is overlapped, and obtains the mark of the calibration location information and second acquisition component of first acquisition component
Determine location information；And/or control second ground is marked on position in the identification region of second acquisition component and described the
Second reference position of the identification region of two acquisition components is overlapped, and obtains calibration location information and the institute of first acquisition component
State the calibration location information of the second acquisition component；
According to the calibration location information of the calibration location information and first acquisition component of second acquisition component, institute is determined
State the relative positional relationship between the second acquisition component and first acquisition component；
Wherein, the calibration location information is used to indicate first acquisition component and/or second acquisition component described
Demarcate the projected position in region.
4. the method according to claim 1, wherein the first location information is used to indicate second acquisition
Component is in the projected position in the travel zone and the first offset between the landmark locations, the second location information
It is inclined in the projected position in the travel zone and second between the landmark locations to be used to indicate first acquisition component
Shifting amount；
The second location information that first acquisition component is determined according to the first location information, comprising:
It, will be described according to the opposite offset relationship between second acquisition component and first acquisition component obtained in advance
First location information is converted to the second location information；
Wherein, the opposite offset relationship is according to the distance between first offset and second offset offset deviation
And/or the determination of angle offset difference.
5. according to the method described in claim 4, it is characterized in that, described determine described according to the first location information
Before the second location information of one acquisition component, further includes:
It controls the automatic guided vehicle and marches to calibration region, known in the calibration region by first acquisition component
The first terrestrial reference in the not described calibration region, the second ground in the calibration region is identified by second acquisition component simultaneously
Mark；
Control the position and first acquisition component pair that first ground is marked in the identification region of first acquisition component
The first reference position answered is overlapped, and obtains the deviation post information of first acquisition component and the mark of second acquisition component
Determine offset information；And/or control second ground is marked on position in the identification region of second acquisition component and described the
Second reference position of the identification region of two acquisition components is overlapped, and obtains calibration offset information and the institute of first acquisition component
State the calibration offset information of the second acquisition component；
According to the calibration offset information of the calibration offset information and first acquisition component of second acquisition component, institute is determined
State opposite offset relationship；
Wherein, the calibration offset information be used to indicate first acquisition component and/or second acquisition component with it is described
Demarcate the offset in region between terrestrial reference.
6. method according to any one of claims 1 to 3, which is characterized in that described to obtain the of second acquisition component
One location information, comprising:
Obtain the identification position being marked in the identification region of second acquisition component describedly；
When the identification position is not in corresponding second reference position of second acquisition component, according to the identification position
Determine that the first offset of second acquisition component, first offset are used to indicate described with second reference position
Projected position of second acquisition component in the travel zone deviates the distance and/or angle of the terrestrial reference；
Determine that the first location information, the first location information are used for according to the landmark locations and first offset
Indicate projected position of second acquisition component in the travel zone.
7. method according to claim 1 or 4 or 5, which is characterized in that described to obtain the first of second acquisition component
Location information, comprising:
Obtain the identification position being marked in the identification region of second acquisition component describedly；
When the identification position is not in corresponding second reference position of second acquisition component, according to the identification position
Determine that the first location information of second acquisition component, the first location information are used to indicate with second reference position
Projected position of second acquisition component in the travel zone deviates the distance and/or angle of the terrestrial reference.
8. the method according to claim 1, wherein described when second acquisition component collects terrestrial reference,
Obtain the landmark locations of the terrestrial reference instruction, comprising:
The terrestrial reference is acquired by first acquisition component and second acquisition component；
When first acquisition component does not collect the terrestrial reference, and second acquisition component collects the terrestrial reference, obtain
Take the landmark locations of the terrestrial reference instruction.
9. the method according to claim 1, wherein described according to the second location information and described ground mark
It sets and generates updated running track, comprising:
According to the second location information, the landmark locations and preset PATH GENERATION, the updated fortune is generated
Row track, the PATH GENERATION are used to generate track according to the beginning and end of track to be generated, and the track generates
Algorithm is continuous path CP algorithm or point-to-point PTP algorithm.
10. the method according to claim 1, wherein the quantity of second acquisition component is 4, and described
Second acquisition component is respectively arranged in front, dead astern, front-left and the front-right of first acquisition component.
11. a kind of track adjusting device of automatic guided vehicle, which is characterized in that the automatic guided vehicle includes the first acquisition
Component and the second acquisition component, second acquisition component are located at described first on the direction of travel of the automatic guided vehicle
The front of acquisition component, described device include:
First obtains module, for when second acquisition component collects terrestrial reference, obtaining the ground mark of the terrestrial reference instruction
It sets, the landmark locations are used to indicate location in the travel zone for being marked on the automatic guided vehicle describedly；
Second obtains module, and for obtaining the first location information of second acquisition component, the first location information is used for
Indicate position of second acquisition component in the travel zone；
First determining module, for determining the second confidence of first acquisition component according to the first location information
Breath, the second location information are used to indicate position of first acquisition component in the travel zone；
Track generation module, for generating updated running track according to the second location information and the landmark locations,
The automatic guided vehicle is controlled to advance according to the updated running track.
12. device according to claim 11, which is characterized in that the first location information is used to indicate described second and adopts
Collect projected position of the component in the travel zone, the second location information is used to indicate first acquisition component in institute
The projected position in travel zone is stated,
First determining module, is used for:
It, will be described according to the relative positional relationship between second acquisition component and first acquisition component obtained in advance
First location information is converted to the second location information；
Wherein, the relative positional relationship be according between first acquisition component and second acquisition component it is opposite away from
From and/or relative angle determine.
13. device according to claim 12, which is characterized in that described device further include:
Traveling control module marches to calibration region for controlling the automatic guided vehicle, passes through in the calibration region
First acquisition component identifies the first terrestrial reference in the calibration region, by described in second acquisition component simultaneously identification
Demarcate the second terrestrial reference in region；
Third obtains module, position and the institute being marked on for controlling first ground in the identification region of first acquisition component
It states corresponding first reference position of the first acquisition component to be overlapped, obtains the calibration location information of first acquisition component and described
The calibration location information of second acquisition component；And/or control second ground is marked on the identification region of second acquisition component
In position be overlapped with the second reference position of the identification region of second acquisition component, obtain first acquisition component
Demarcate the calibration location information of location information and second acquisition component；
Second determining module, for the mark for demarcating location information and first acquisition component according to second acquisition component
Determine location information, determines the relative positional relationship between second acquisition component and first acquisition component；
Wherein, the calibration location information is used to indicate first acquisition component and/or second acquisition component described
Demarcate the projected position in region.
14. 1 to 13 any device according to claim 1, which is characterized in that described second obtains module, comprising:
First acquisition unit, for obtaining the identification position being marked in the identification region of second acquisition component describedly；
First determination unit, for being not in corresponding second reference position of second acquisition component when the identification position
When, the first offset of second acquisition component is determined according to the identification position and second reference position, described the
One offset is used to indicate the distance that projected position of second acquisition component in the travel zone deviates the terrestrial reference
And/or angle；
Second determination unit, for determining the first location information, institute according to the landmark locations and first offset
It states first location information and is used to indicate projected position of second acquisition component in the travel zone.
15. a kind of automatic guided vehicle, which is characterized in that the automatic guided vehicle include processor, with the processor phase
Memory even, and the program instruction being stored on the memory, the processor are realized when executing described program instruction
The track adjusting method of automatic guided vehicle as described in claims 1 to 10 is any.
16. a kind of computer readable storage medium, which is characterized in that be stored thereon with program instruction, described program instruction is located
Manage the track adjusting method that the automatic guided vehicle as described in claims 1 to 10 is any is realized when device executes.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243368A (en) * | 2019-04-29 | 2019-09-17 | 丰疆智能科技研究院(常州)有限公司 | The driving trace of intelligent agricultural machinery establishes system and its application |
| CN113761086A (en) * | 2020-06-16 | 2021-12-07 | 北京京东乾石科技有限公司 | Method and device for displaying track of automatic guided transport vehicle |
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