CN109696169A - Spill barrier avoidance air navigation aid and device, AGV trolley based on AGV trolley - Google Patents
Spill barrier avoidance air navigation aid and device, AGV trolley based on AGV trolley Download PDFInfo
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- 230000004888 barrier function Effects 0.000 title claims abstract description 74
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Abstract
The invention discloses a kind of spill barrier avoidance air navigation aid and device, AGV trolley based on AGV trolley, initial default is navigated using APF algorithm, it can automatically switch algorithm when AGV trolley falls into local best points to walk out for A*, and automatically switching algorithm after walking out is APF, path after being allowed to is still optimal path, it solves the problems, such as that AGV trolley is fallen into inside large-scale spill barrier, and guarantees that the path of AGV trolley traveling is that optimal path reduces AGV trolley navigation time as far as possible.
Description
Technical field
The disclosure belongs to the technical field of path planning, is related to a kind of spill barrier avoidance navigation based on AGV trolley
Method and device, AGV trolley.
Background technique
Only there is provided background technical informations relevant to the disclosure for the statement of this part, it is not necessary to so constitute first skill
Art.
Automated Guided Vehicle, abbreviation AGV, also commonly referred to as AGV trolley refer to equipped with electricity magnetically or optically
Equal homing guidances device, can travel along defined guide path, the transport vehicle with safeguard protection and various transfer functions,
The carrier of driver is not required in industrial application, with chargeable battery for its power resources.It can generally be controlled by computer
Its travelling route and behavior to be made, or sets up its travelling route using electromagnetic path, electromagnetic path sticks on floor, nobody
Carrier then relies on message brought by electromagnetic path to be moved and acted.
AGV trolley distinguishing feature be it is unmanned, on AGV be equipped with automatic guiding system, can be with safeguards system not
It needs to be transported to cargo or material from starting point automatically along scheduled route automatic running in the case where artificial pilotage
Destination.Another feature of AGV be it is flexible, high degree of automation and intelligent level are high, and the driving path of AGV can root
Change according to storage goods yard requirements, technological process of production etc. and flexibly change, and the expense of operating path change with it is traditional defeated
Band is sent to compare with the transmission line of rigidity very cheap.AGV generally is equipped with charging crane, can connect automatically with other logistics equipments
Mouthful, it realizes cargo and material handling and carries full process automatization.In addition, AGV also has the characteristics that clean manufacturing, AGV is relied on
Included battery provides power, noiseless in operational process, pollution-free, can apply and require working environment clean many
Place.
With the fast development of artificial intelligence, the intelligence of all trades and professions is more and more obvious.But it is being related to AGV trolley
There is deficiencies in intelligence degree for independent navigation work.It needs with AGV trolley factory, laboratory or research institute etc. are some
The place of amount transport article is being difficult voluntarily to walk out simultaneously when AGV trolley independent navigation enters accidentally inside spill barrier
Target point is reached, wastes a large amount of time and manpower and material resources in this way.
Summary of the invention
For the deficiencies in the prior art, one or more other embodiments of the present disclosure provide a kind of small based on AGV
The spill barrier avoidance air navigation aid and device of vehicle, AGV trolley, effectively realizing has on map in AGV trolley independent navigation
In the case where large-scale spill barrier, trolley still is able to lay out barrier, reaches target point.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of spill obstacle based on AGV trolley is provided
Object avoidance air navigation aid.
A kind of spill barrier avoidance air navigation aid based on AGV trolley, this method comprises:
It is navigated in starting point AGV trolley using APF algorithm；
When AGV trolley is static, positions AGV trolley and judge whether the rest point is target point, if then navigation terminates,
Otherwise, AGV trolley carries out spill barrier avoidance using the navigation of A* algorithm；When AGV trolley is walked out inside spill barrier,
AGV trolley is navigated using APF algorithm；
Previous step is repeated until AGV trolley reaches target point.
Further, in the method, nature object of reference is matched using global map SLAM algorithm and using laser radar
Mode position AGV trolley.
Further, in the method, the method that the AGV trolley carries out spill barrier avoidance using the navigation of A* algorithm
Include:
Two lists are created, first list is added in the addressable grid node of AGV trolley near starting point, AGV is small
Second list is added in the grid node that vehicle is passed by；
When AGV trolley is accessed since current grid node is to next grid node, compare from first list
Initial point is estimated via the cost of certain grid node to target point, and cost is selected to estimate that the smallest grid node is moved from first list
Except in addition second list；
Until first list is that empty or AGV trolley reaches target point.
Further, in the method, it is described from starting point via the cost of certain grid node to target point be estimated as from
Initial node estimates that basis is in state space from initial grid via the cost of grid node n to target grid node
Lattice node is to the actual range of grid node n and from grid node n to the calculating of the sum of the actual range of target grid node.
Further, in the method, the AGV trolley carries out the specific of spill barrier avoidance using the navigation of A* algorithm
Method includes:
Starting point is put into first list；
Judge whether first list is empty；If so, terminating navigation, otherwise, cost is selected to estimate the smallest grid node
It is added in second list from being removed in first list；
Judge whether grid node n is destination node, if so, terminating navigation, otherwise, judges whether grid node n has
Grid node n and its child node are established or modified to sub- grid node if so, its sub- grid node is put into first list
Pointer, return to judge first list whether be it is empty, otherwise, return to and judge whether first list is sky.
Further, in the method, composition setting AGV trolley of the AGV trolley in A* algorithm is square, with AGV
The center of gravity that the mechanical arm Z axis of trolley is square, the sum of length after the entire mechanical arm stretching of AGV trolley and safe distance are
AGV trolley forms the half of square side length.
Further, in the method, judge whether AGV trolley walks out inside spill barrier by laser radar, with
The square positive axis that formed of AGV trolley is middle line, forms square with AGV trolley as center of gravity vertex, establishes one
A central angle is the sector that 90 degree of radiuses are R, and wherein R is greater than the half that AGV trolley forms square side length, when AGV trolley
On laser radar when showing clear in this sector, then it is assumed that trolley is walked out inside spill barrier.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of computer readable storage medium is provided.
A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device
Reason device loads and executes a kind of spill barrier avoidance air navigation aid based on AGV trolley.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of terminal device is provided.
A kind of terminal device comprising processor and computer readable storage medium, processor is for realizing each instruction；Meter
Calculation machine readable storage medium storing program for executing is suitable for being loaded by processor and being executed described one kind and is based on for storing a plurality of instruction, described instruction
The spill barrier avoidance air navigation aid of AGV trolley.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of AGV trolley is provided.
A kind of AGV trolley realizes AGV based on a kind of spill barrier avoidance air navigation aid based on AGV trolley
The spill barrier avoidance of trolley is navigated, including AGV trolley, the mechanical arm and laser radar that are installed on AGV trolley.
The disclosure the utility model has the advantages that
A kind of spill barrier avoidance air navigation aid and device, AGV trolley based on AGV trolley of the present invention, just
The default that begins is navigated using APF algorithm, can be automatically switched algorithm when AGV trolley falls into local best points and be walked out for A*,
And automatically switching algorithm after walking out is APF, and the path after being allowed to is still optimal path, solves AGV trolley and falls into greatly
Problem inside type spill barrier, and guarantee that the path of AGV trolley traveling reduces AGV trolley for optimal path and leads as far as possible
ETS estimated time of sailing.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is a kind of spill barrier avoidance air navigation aid stream based on AGV trolley according to one or more embodiments
Cheng Tu；
Fig. 2 is a kind of application scenarios schematic diagram according to one or more embodiments；
Fig. 3 is the position view that A* algorithm is converted to according to the AGV trolley navigation algorithm of one or more embodiments；
Fig. 4 is the AGV trolley A* navigation algorithm flow chart according to one or more embodiments；
Fig. 5 is the path schematic diagram passed by according to the AGV trolley of one or more embodiments using A* algorithm；
Fig. 6 is to be illustrated the position that navigation algorithm is converted to APF algorithm according to the AGV trolley of one or more embodiments
Figure；
Fig. 7 is the virtual fan-shaped schematic diagram artificially constructed according to one or more embodiments；
Fig. 8 is arrival the walked path of target point after going back to APF navigation algorithm according to the AGV trolley of one or more embodiments
Schematic diagram；
Fig. 9 is the composition schematic diagram according to the AGV trolley of one or more embodiments in A* algorithm in grating map；
Figure 10 is the simulaed path schematic diagram according to the AGV trolley of one or more embodiments in grid topic figure.
Specific embodiment:
Below in conjunction with the attached drawing in one or more other embodiments of the present disclosure, to one or more other embodiments of the present disclosure
In technical solution be clearly and completely described, it is clear that described embodiments are only a part of the embodiments of the present invention,
Instead of all the embodiments.Based on one or more other embodiments of the present disclosure, those of ordinary skill in the art are not being made
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms that the present embodiment uses have and the application person of an ordinary skill in the technical field
Normally understood identical meanings.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that flowcharts and block diagrams in the drawings show according to various embodiments of the present disclosure method and
The architecture, function and operation in the cards of system.It should be noted that each box in flowchart or block diagram can represent
A part of one module, program segment or code, a part of the module, program segment or code may include one or more
A executable instruction for realizing the logic function of defined in each embodiment.It should also be noted that some alternately
Realization in, function marked in the box can also occur according to the sequence that is marked in attached drawing is different from.For example, two connect
The box even indicated can actually be basically executed in parallel or they can also be executed in a reverse order sometimes,
This depends on related function.It should also be noted that each box and flow chart in flowchart and or block diagram
And/or the combination of the box in block diagram, the dedicated hardware based system that functions or operations as defined in executing can be used are come
It realizes, or the combination of specialized hardware and computer instruction can be used to realize.
In the absence of conflict, the feature in the embodiment and embodiment in the disclosure can be combined with each other, and tie below
It closes attached drawing and embodiment is described further the disclosure.
As shown in Figure 1, being a kind of spill barrier avoidance air navigation aid flow chart based on AGV trolley, AGV trolley is silent
In the case where recognizing navigation algorithm for APF, local best points problem is encountered, algorithm is switched into A*, after extricating oneself from a plight, algorithm is turned
Gain APF.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of spill obstacle based on AGV trolley is provided
Object avoidance air navigation aid.Applied in some fields needed with AGV trolley amount transport article such as factory, laboratory or research institute
Institute, in the navigation scenarios when AGV trolley independent navigation enters accidentally inside spill barrier.
A kind of spill barrier avoidance air navigation aid based on AGV trolley applies at least one AGV trolley in this method,
The AGV trolley carries laser radar and mechanical arm, and can establish global map SLAM algorithm and utilize laser radar
Mode with nature object of reference positions.Trolley can know constantly oneself position in map and oneself whether
Reach target point, and we can the navigation mode to AGV trolley be programmed and control.
As shown in Fig. 2, application scenarios of the invention be target point with starting point it is known that and having in map can make AGV small
Vehicle is strayed into the case where concave barrier of large size therein.
A kind of spill barrier avoidance air navigation aid based on AGV trolley, this method comprises:
Step (1): it is navigated in starting point AGV trolley using APF algorithm；
Step (2): when AGV trolley is static；
Step (3): positioning AGV trolley simultaneously judges whether the rest point is target point, if so, entering step (8) navigation
Terminate, otherwise, enters step (4)；
Step (4): AGV trolley carries out spill barrier avoidance using the navigation of A* algorithm；
Step (5): AGV trolley judges whether to walk out spill barrier, when AGV trolley is walked out inside spill barrier,
Enter step (6)；Otherwise, return step (4)；
Step (6): AGV trolley is navigated using APF algorithm；
Step (7): judging whether AGV trolley reaches target point, if so, entering step (8)；Otherwise, return step (3)；
Step (8): navigation terminates.
In step (1), trolley carries out the navigation of APF algorithm by default.
Default algorithm is APF artificial potential field algorithm when AGV trolley sets out, i.e., generates gravitational field, barrier to trolley to target
Object is hindered to generate repulsion field to it, thus trolley carrys out avoidance and arrives at the destination.Along negative gradient under trolley comprehensive function on the scene
It advances in direction.When trolley with marching to target perhaps near barrier when gravitational field or repulsion field can increase rapidly.To real
The accessibility and collision prevention of trolley are showed.And realize optimal path.But in the case where having large-scale spill barrier on map
There are problems that local optimum.
In one or more other embodiments of the present disclosure, nature is matched using global map SLAM algorithm and using laser radar
The mode of object of reference positions AGV trolley.When AGV trolley finds oneself at certain using laser radar and global map SLAM algorithm
When one position shakes and is not target point herein, it is that trolley enters large-scale spill that we, which then think that trolley falls into local best points,
It can not voluntarily be walked out after barrier, then switch to the navigation of A* algorithm at once.
As shown in figure 3, trolley will enter local best points, the artificial gesture of APF when AGV trolley drives at red-label
Trolley cannot be navigate to target point at this time by the navigation of energy field.Navigation algorithm is converted into A* algorithm at this moment.
As shown in figure 4, the AGV trolley is carried out recessed using the navigation of A* algorithm in one or more other embodiments of the present disclosure
The method of shape barrier avoidance includes:
Two lists are created, first list is added in the addressable grid node of AGV trolley near starting point, AGV is small
Second list is added in the grid node that vehicle is passed by；
When AGV trolley is accessed since current grid node is to next grid node, compare from first list
Initial point is estimated via the cost of certain grid node to target point, and cost is selected to estimate that the smallest grid node is moved from first list
Except in addition second list；
Until first list is that empty or AGV trolley reaches target point.
A* algorithm creates two lists: first list open List and second list closed List, by what is passed by
It is put into the grid node that cannot be walked in open List list, feasible grid node is put into closed List list,
Compare each grid node f value size in closed List list, path is selected with this.Specially can near starting point
It is added to open List with the point of access, the point passed by all is stored in closed List, each time from current grid
It is all the value that f (n) is compared from open List when node starts access to next grid node, value minimum
Grid node as next starting point, then the grid node is added in closed List, according still further to f (n)
Size relation stored.Recycled with this, until open List be it is empty either reach target point, then terminate entirely to search
Rope process.
F (n) herein=g (n)+h (n), wherein f (n) is from initial node via grid node n to target grid
The cost of lattice node estimates, g (n) is from initial node to the actual range of grid node n in state space, and h (n) is
From grid node n to the actual range of target grid node.
In the method, described to be estimated as from starting point via the cost of certain grid node to target point from initial section
Point estimates that basis is in state space from initial node to grid via the cost of grid node n to target grid node
The actual range of lattice node n is calculated with from grid node n to the sum of the actual range of target grid node.
Further, in the method, the AGV trolley carries out the specific of spill barrier avoidance using the navigation of A* algorithm
Method includes:
Starting point is put into first list；
Judge whether first list is empty；If so, terminating navigation, otherwise, cost is selected to estimate the smallest grid node
It is added in second list from being removed in first list；
Judge whether grid node n is destination node, if so, terminating navigation, otherwise, judges whether grid node n has
Grid node n and its child node are established or modified to sub- grid node if so, its sub- grid node is put into first list
Pointer, return to judge first list whether be it is empty, otherwise, return to and judge whether first list is sky.
About composition of the AGV trolley with mechanical arm in A* algorithm map, for convenient for calculating, AGV trolley is in A* algorithm
In composition setting AGV trolley be square, with the center of gravity that the mechanical arm Z axis of AGV trolley is square, AGV trolley it is entire
The sum of length and safe distance after mechanical arm stretching are formed the half of square side length by AGV trolley.
Further, in the method, when laser radar display front is open enough, i.e., judged by laser radar
Whether AGV trolley walks out inside spill barrier, forms square positive axis as middle line, with AGV trolley using AGV trolley
Formed square be center of gravity vertex, establishing a central angle is the sector that 90 degree of radiuses are R, wherein R be greater than AGV trolley institute
The half (wherein the size of R is more bigger than the half of trolley base side length) for forming square side length, when the laser thunder on AGV trolley
Up to when showing clear in this sector, then it is assumed that trolley is walked out inside spill barrier.
As shown in figure 5, red-label section is the path passed by using A* algorithm of AGV trolley, trolley using A* algorithm from
Local best points move towards large-scale spill barrier exit, are left inside large-scale spill barrier with this.
As Figure 6-Figure 7, AGV trolley experiences nothing in virtual sector using laser radar at this red-label point
Navigation algorithm is then converted to APF artificial potential field method here by barrier.
After trolley has walked out spill barrier inside, then navigation algorithm is converted to APF artificial potential field method again, to protect
It is optimal to demonstrate,prove path.
As shown in figure 8, this section of path of red-label is after AGV trolley leaves large-scale spill barrier inside, to utilize APF
Artificial potential field method is navigated to terminal.
As shown in Fig. 9-Figure 10, Fig. 9 is composition of the AGV trolley in A* algorithm in grating map, and Figure 10 is trolley in grid
Lattice inscribe the simulaed path in figure, and wherein grey parts are the path passed by, and grid node is in close List, blue portion
Divide the present present position of expression trolley, grid node is in close List, and yl moiety indicates, the optional grid section of trolley
Point, these grid nodes are in open List.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of computer readable storage medium is provided.
A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device
Reason device loads and executes a kind of spill barrier avoidance air navigation aid based on AGV trolley.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of terminal device is provided.
A kind of terminal device comprising processor and computer readable storage medium, processor is for realizing each instruction；Meter
Calculation machine readable storage medium storing program for executing is suitable for being loaded by processor and being executed described one kind and is based on for storing a plurality of instruction, described instruction
The spill barrier avoidance air navigation aid of AGV trolley.
These computer executable instructions execute the equipment according to each reality in the disclosure
Apply method or process described in example.
In the present embodiment, computer program product may include computer readable storage medium, containing for holding
The computer-readable program instructions of row various aspects of the disclosure.Computer readable storage medium, which can be, can keep and store
By the tangible device for the instruction that instruction execution equipment uses.Computer readable storage medium for example can be-- but it is unlimited
In-- storage device electric, magnetic storage apparatus, light storage device, electric magnetic storage apparatus, semiconductor memory apparatus or above-mentioned
Any appropriate combination.The more specific example (non exhaustive list) of computer readable storage medium includes: portable computing
Machine disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or
Flash memory), static random access memory (SRAM), Portable compressed disk read-only memory (CD-ROM), digital versatile disc
(DVD), memory stick, floppy disk, mechanical coding equipment, the punch card for being for example stored thereon with instruction or groove internal projection structure, with
And above-mentioned any appropriate combination.Computer readable storage medium used herein above is not interpreted instantaneous signal itself,
The electromagnetic wave of such as radio wave or other Free propagations, the electromagnetic wave propagated by waveguide or other transmission mediums (for example,
Pass through the light pulse of fiber optic cables) or pass through electric wire transmit electric signal.
Computer-readable program instructions described herein can be downloaded to from computer readable storage medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, local area network, wide area network and/or wireless network
Portion stores equipment.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, firewall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
Computer program instructions for executing present disclosure operation can be assembly instruction, instruction set architecture (ISA)
Instruction, machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programmings
The source code or object code that any combination of language is write, the programming language include the programming language-of object-oriented such as
C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer-readable program refers to
Order can be executed fully on the user computer, partly be executed on the user computer, as an independent software package
Execute, part on the user computer part on the remote computer execute or completely on a remote computer or server
It executes.In situations involving remote computers, remote computer can include local area network by the network-of any kind
(LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize internet
Service provider is connected by internet).In some embodiments, by being believed using the state of computer-readable program instructions
Breath comes personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or programmable logic
Array (PLA), the electronic circuit can execute computer-readable program instructions, to realize the various aspects of present disclosure.
It should be noted that although being referred to several modules or submodule of equipment in the detailed description above, it is this
Division is only exemplary rather than enforceable.In fact, in accordance with an embodiment of the present disclosure, two or more above-described moulds
The feature and function of block can embody in a module.Conversely, the feature and function of an above-described module can be with
Further division is to be embodied by multiple modules.
According to the one aspect of one or more other embodiments of the present disclosure, a kind of AGV trolley is provided.
A kind of AGV trolley realizes AGV based on a kind of spill barrier avoidance air navigation aid based on AGV trolley
The spill barrier avoidance of trolley is navigated, including AGV trolley, the mechanical arm and laser radar that are installed on AGV trolley.
The disclosure the utility model has the advantages that
A kind of spill barrier avoidance air navigation aid and device, AGV trolley based on AGV trolley of the present invention, just
The default that begins is navigated using APF algorithm, can be automatically switched algorithm when AGV trolley falls into local best points and be walked out for A*,
And automatically switching algorithm after walking out is APF, and the path after being allowed to is still optimal path, solves AGV trolley and falls into greatly
Problem inside type spill barrier, and guarantee that the path of AGV trolley traveling reduces AGV trolley for optimal path and leads as far as possible
ETS estimated time of sailing.
A kind of spill barrier avoidance air navigation aid and device, AGV trolley based on AGV trolley of the present invention, needle
For the barrier-avoiding method of large-scale concave barrier, APF is combined with A* algorithm, is strayed into trolley in APF algorithm large-scale recessed
Under the premise of type barrier, trolley is set to reach target point in conjunction with A* algorithm.
A kind of spill barrier avoidance air navigation aid and device, AGV trolley based on AGV trolley of the present invention, to the greatest extent
It is possible that trolley is made to walk according to optimal path, the time is saved with this, so the basic navigation algorithm or APF of trolley are calculated
Method, after the navigation of A* algorithm makes trolley leave large-scale concave barrier, according to the sector of the small front side of laser radar detection, to sentence
Whether disconnected trolley leaves inside large-scale concave barrier, switch to APF algorithm immediately once leaving, and guarantees optimal path with this.
A kind of spill barrier avoidance air navigation aid and device, AGV trolley based on AGV trolley of the present invention is right
In manifestation mode of the trolley in map, it is utmostly to protect trolley and be convenient for operation, is conducive to increase trolley travelling
Safety and accelerate trolley navigation speed.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.Therefore, the present invention is not intended to be limited to this
These embodiments shown in text, and it is to fit to the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. a kind of spill barrier avoidance air navigation aid based on AGV trolley, which is characterized in that this method comprises:
It is navigated in starting point AGV trolley using APF algorithm；
When AGV trolley is static, positions AGV trolley and judge whether the rest point is target point, it is no if then navigation terminates
Then, AGV trolley carries out spill barrier avoidance using the navigation of A* algorithm；When AGV trolley is walked out inside spill barrier, AGV
Trolley is navigated using APF algorithm；
Previous step is repeated until AGV trolley reaches target point.
2. a kind of spill barrier avoidance air navigation aid based on AGV trolley as described in claim 1, which is characterized in that
In this method, AGV trolley is positioned using global map SLAM algorithm and in such a way that laser radar matches nature object of reference.
3. a kind of spill barrier avoidance air navigation aid based on AGV trolley as described in claim 1, which is characterized in that
In this method, the AGV trolley includes: using the method that the navigation of A* algorithm carries out spill barrier avoidance
Two lists are created, first list is added in the addressable grid node of AGV trolley near starting point, AGV trolley is walked
Second list is added in the grid node crossed；
When AGV trolley is accessed since current grid node is to next grid node, compare in first list from starting point
Estimate via the cost of certain grid node to target point, selects cost to estimate that the smallest grid node is removed from first list and add
Enter in second list；
Until first list is that empty or AGV trolley reaches target point.
4. a kind of spill barrier avoidance air navigation aid based on AGV trolley as claimed in claim 3, which is characterized in that
It is described to be estimated as from starting point from initial node via the cost of certain grid node to target point via grid in this method
The cost of node n to target grid node estimates that basis is in state space from initial node to the reality of grid node n
Border distance is calculated with from grid node n to the sum of the actual range of target grid node.
5. a kind of spill barrier avoidance air navigation aid based on AGV trolley as claimed in claim 4, which is characterized in that
In this method, the AGV trolley includes: using the specific method that the navigation of A* algorithm carries out spill barrier avoidance
Starting point is put into first list；
Judge whether first list is empty；If so, terminate navigation, otherwise, cost is selected to estimate the smallest grid node from the
It removes and is added in second list in one list；
Judge whether grid node n is destination node, if so, terminating navigation, otherwise, judges whether grid node n there are sub- grid
The finger of grid node n and its child node is established or modified to lattice node if so, its sub- grid node is put into first list
Needle returns to and judges whether first list is sky, otherwise, returns to and judges whether first list is empty.
6. a kind of spill barrier avoidance air navigation aid based on AGV trolley as described in claim 1, which is characterized in that
In this method, composition setting AGV trolley of the AGV trolley in A* algorithm is square, and is positive with the mechanical arm Z axis of AGV trolley
Rectangular center of gravity, the sum of length and safe distance after the entire mechanical arm stretching of AGV trolley form square by AGV trolley
The half of side length.
7. a kind of spill barrier avoidance air navigation aid based on AGV trolley as described in claim 1, which is characterized in that
In this method, judge whether AGV trolley walks out inside spill barrier by laser radar, pros are formed with AGV trolley
Shape forward direction axis is middle line, forms square with AGV trolley as center of gravity vertex, establishing a central angle is that 90 degree of radiuses are
The sector of R, wherein R is greater than the half that AGV trolley forms square side length, when the laser radar on AGV trolley shows this fan
In shape when clear, then it is assumed that trolley is walked out inside spill barrier.
8. a kind of computer readable storage medium, wherein being stored with a plurality of instruction, which is characterized in that described instruction is suitable for by terminal
The processor of equipment loads and executes the described in any item a kind of spill barriers based on AGV trolley of claim 1-7 such as and keeps away
Hinder air navigation aid.
9. a kind of terminal device comprising processor and computer readable storage medium, processor is for realizing each instruction；It calculates
Machine readable storage medium storing program for executing is for storing a plurality of instruction, which is characterized in that described instruction is suitable for being loaded by processor and being executed such as power
Benefit requires a kind of described in any item spill barrier avoidance air navigation aids based on AGV trolley of 1-7.
10. a kind of AGV trolley, which is characterized in that based on such as a kind of described in any item trolleies based on AGV of claim 1-7
Spill barrier avoidance air navigation aid realizes the spill barrier avoidance navigation of AGV trolley, including AGV trolley, to be installed on AGV small
Mechanical arm and laser radar on vehicle.
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