CN109917790A - It is a kind of independently to guide vehicle and its travel control method and control device - Google Patents
It is a kind of independently to guide vehicle and its travel control method and control device Download PDFInfo
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Abstract
This application discloses a kind of autonomous guiding vehicle and its travel control methods and control device.Wherein, which includes: control device during independently guiding vehicle is according to target travel route, obtains independently guiding the current estimated location information of vehicle according to the travel distance of autonomous guiding vehicle and target travel path estimation；It is obtained from the leading actual position information drawn environmental characteristic object information locating for vehicle, and environmental characteristic information is utilized to determine that independently guiding vehicle is current；It is rectified a deviation according to driving trace of the deviation between estimated location information and actual position information to autonomous guiding vehicle, makes independently to guide vehicle and be maintained on target travel path.By the above-mentioned means, travel control method of the invention may be implemented independently to guide vehicle driving trace at work and rectify a deviation, makes independently to guide vehicle and be maintained on target travel path.
Description
Technical field
This application involves material flows automation field, more particularly to a kind of autonomous guiding vehicle and its travel control method and
Control device.
Background technique
The application field of current autonomous guiding vehicle is just constantly widened, and type is more various, and function is more and more stronger, automation
It is significantly improved with intelligent level, China independently guides vehicle market and showed rapid growth momentum.From industrial application
Angle is analyzed, and the autonomous vehicle application that guides has been extended to various industries, other than the application of technical grade, also to commerce services
Industry starts to promote and apply, and previous autonomous guiding vehicle is still that usage amount is larger using rich and influential family's such as these industries of automobile, tobacco
Industry.It is autonomous to guide vehicle and its various derivative various mobile machines predictably with the enhancing of industry demand
People will welcome explosion period of expansion.
Existing autonomous guiding vehicle is at heavy duty work scene, since workpiece or material variety are various, it usually needs more
Platform independently guides vehicle and works at the same time to improve working efficiency.In order to guarantee that independently guiding vehicle can safely and effectively be made
Industry, it is necessary to guarantee its walking path is accurately controlled, to avoid driving path and planning path have biggish deviation or
Person and other objects generate collision.
Summary of the invention
The application is mainly solving the technical problems that provide a kind of independently guiding vehicle and its travel control method and control
Device can be realized the driving trace of autonomous guiding vehicle at work and rectify a deviation, and makes independently to guide vehicle and is maintained at target
On driving path.
To solve the above-mentioned problems, the application first aspect provides a kind of travel control method of autonomous guiding vehicle,
The described method includes: control device is during the autonomous guiding vehicle is according to target travel route, according to it is described from
The leading travel distance for drawing vehicle and the target travel path estimation obtain the current estimation position of the autonomous guiding vehicle
Confidence breath；Environmental characteristic object information locating for the autonomous guiding vehicle is obtained, and determines institute using the environmental characteristic information
State the current actual position information of autonomous guiding vehicle；According between the estimated location information and the actual position information
Deviation rectifies a deviation to the driving trace of the autonomous guiding vehicle, and the autonomous guiding vehicle is made to be maintained at the target travel path
On.
To solve the above-mentioned problems, the application second aspect provides a kind of control device of autonomous guiding vehicle, including
Processor and memory, the memory is for storing program instruction；The processor is for running described program instruction, to hold
Row method as described above.
To solve the above-mentioned problems, the application third aspect provides a kind of autonomous guiding vehicle, including vehicle body, vehicle
Body motion controller and control device, wherein the control device includes control device as described above；The body movement
Controller is connect with the control device, controls the vehicle body for responding the instruction of the control device.
In above scheme, through control device during independently guiding vehicle is according to target travel route, according to
The travel distance and target travel path estimation of autonomous guiding vehicle obtain independently guiding the current estimated location information of vehicle；
Further control device, which is obtained to dominate, draws environmental characteristic object information locating for vehicle, and is determined independently using environmental characteristic information
Guide the current actual position information of vehicle；Then control device is according to inclined between estimated location information and actual position information
Difference rectifies a deviation to the driving trace of autonomous guiding vehicle, makes independently to guide vehicle and is maintained on target travel path.So as to drop
It is low because all kinds of errors bring biggish Accumulated deviation, rectify a deviation to the driving trace of autonomous guiding vehicle, make independently to guide vehicle
It is maintained on target travel path, entire control process is held from the overall situation.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the air navigation aid first embodiment of autonomous guiding vehicle of the application；
Fig. 2 is a kind of flow diagram of the air navigation aid second embodiment of autonomous guiding vehicle of the application；
Fig. 3 is a kind of flow diagram of the air navigation aid 3rd embodiment of autonomous guiding vehicle of the application；
Fig. 4 is a kind of flow diagram of the air navigation aid fourth embodiment of autonomous guiding vehicle of the application；
Fig. 5 is a kind of flow diagram of the 5th embodiment of air navigation aid of autonomous guiding vehicle of the application；
Fig. 6 is a kind of flow diagram of the travel control method first embodiment of autonomous guiding vehicle of the application；
Fig. 7 is a kind of flow diagram of the travel control method second embodiment of autonomous guiding vehicle of the application；
Fig. 8 a to Fig. 8 c is the application global coordinate system XWOWYWWith local coordinate system XRORYRBetween transformational relation original
Manage schematic diagram；
Fig. 9 is a kind of flow diagram of the travel control method 3rd embodiment of autonomous guiding vehicle of the application；
Figure 10 is a kind of structural schematic diagram of one embodiment of control device of autonomous guiding vehicle of the application；
Figure 11 is a kind of structural schematic diagram of autonomous guiding one embodiment of vehicle of the application.
Specific embodiment
With reference to the accompanying drawings of the specification, the scheme of the embodiment of the present application is described in detail.
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, so as to provide a thorough understanding of the present application.
Referring to Fig. 1, Fig. 1 is a kind of process signal of the air navigation aid first embodiment of autonomous guiding vehicle of the application
Figure, comprising the following steps:
S101: control device comes from the current first position of the autonomous guiding vehicle to target using global map planning
First object driving path between point, and indicate that the autonomous guiding vehicle is gone according to the first object driving path
It sails.
It is understood that independently the entire working environment where guiding vehicle be it is known, therefore, control device can be with
The global map about entire working environment is obtained ahead of time.Global map includes the various objects in working environment, such as respectively
Kind machinery, workpiece, material, shelf and building etc..First object driving path can for autonomous guiding vehicle it is current the
One position to the collisionless path between target point；Further, first object driving path is collisionless optimal path, should be use up
It may make independently to guide vehicle and be moved with shortest path.
S102: the obstacle information detected in the autonomous guiding vehicle travel process is received.
It is understood that independently the entire working environment where guiding vehicle is meeting changes locally, for example, people
Member walk about, other independently guides vehicle or the operation of other mechanical equipments, will lead to independently guide vehicle where it is whole
A working environment changes locally.It is less than with a distance from preset when personnel or mechanical equipment are moved to from first object driving path
Afterwards, the personnel or mechanical equipment can be considered as barrier, and control device in the process of moving can be in independently guiding vehicle
Real-time detection is to obstacle information.The obstacle information of the application may include that the size of barrier and barrier are dominated with oneself
Draw the relative positional relationship between vehicle.
S103: the creation autonomous guiding vehicle second position locating when detecting obstacle information includes
State the local map of obstacle information.
Local map is established to the partial duty environment where autonomous guiding vehicle, in place independently to guide vehicle institute
It is set to origin.Since obstacle information may include opposite between the size and barrier and autonomous guiding vehicle of barrier
Positional relationship, then, control device can be independently to guide the vehicle second position locating when detecting obstacle information
Origin is created that corresponding office according to relative positional relationship, the size of barrier etc. between barrier and autonomous guiding vehicle
Portion's map.
S104: the local map is incorporated to the global map, obtains updated global map.
Due in entire working environment fractional object exist variation, then control device be obtained ahead of time about entire work
The global map for making environment can accordingly change, and the local map that above-mentioned control device is got is regional area hair
State after changing, at this point, the local map is incorporated in original global map by control device, it can after obtaining update
Global map, guarantee in updated global map that at least independently regional area locating for guiding vehicle is accurate.
S105: the autonomous guiding vehicle is cooked up from the second position to institute using the updated global map
The second target travel path between target point is stated, and indicates the autonomous guiding vehicle according to second target travel path
It is travelled.
It is understood that when driving to the second position along first object driving path due to independently guiding vehicle, inspection
Barrier has been measured, then colliding in order to prevent with barrier, then control device needs to re-start path planning, so that
Autonomous guiding vehicle avoiding obstacles.Control device can use updated global map and cook up autonomous guiding vehicle at this time
From the second position to the second target travel path target point, autonomous guiding vehicle can be according to the second target travel path
Continue to travel.Similar with first object driving path, the second target travel path may be that autonomous guiding vehicle is current
The second position to the collisionless path between target point；Further, the second target travel path is collisionless optimal path,
It should make independently to guide vehicle as far as possible and target point is moved to shortest path.
In the present embodiment, the current first position of autonomous guiding vehicle is come from using global map planning by control device
To the first object driving path between target point, and indicate that autonomous guiding vehicle is gone according to first object driving path
It sails；The obstacle information detected in independently guiding vehicle travel process is received in the process of moving, and creates autonomous guiding
The vehicle second position locating when detecting obstacle information include obstacle information local map；It then will be local
Map is incorporated to global map, obtains updated global map；Then, control device can use updated global map rule
Autonomous guiding vehicle is marked from the second position to the second target travel path target point, and indicates that autonomous guiding vehicle is pressed
It is travelled according to the second target travel path；So as to so that independently guiding vehicle is in workpiece or the numerous work of material variety
Also be able to achieve correct navigation and path planning in environment, and can autonomous collision prevention dynamic barrier, may be implemented more it is autonomous
Guiding work compound between vehicle can be improved working efficiency without colliding with each other.
It is understood that repeating the step in first embodiment, work as detection in the independently driving process of guiding vehicle
To after barrier, control device timely updates global map, and continues path planning according to updated global map, most
Make independently to guide vehicle arrival target point eventually, leads the whole collisionless that independently guiding vehicle is able to achieve from starting point to target point
Boat.
Referring to Fig. 2, Fig. 2 is a kind of process signal of the air navigation aid second embodiment of autonomous guiding vehicle of the application
Figure.In the present embodiment, above-mentioned steps S103 is specifically included:
S201: estimate to obtain institute according to the travel distance of the autonomous guiding vehicle and the first object driving path
Autonomous guiding vehicle is stated in the estimated location information of the second position.
It due to independently guiding vehicle is travelled along first object driving path, first position is in first object row
It sails on path, therefore when independently guiding vehicle drives to known to the travel distance of the second position from first position, then control dress
It sets and is estimated that corresponding position of the second position on first object driving path to get autonomous guiding vehicle is arrived in second
The estimated location information set.
S202: creation is using the current second position of the autonomous guiding vehicle as the local map of origin.It can be as above
Described in S103, this will not be repeated here.
In the present embodiment, by being travelled by autonomous guiding vehicle itself travel distance, first position and first object
Path, control device can carry out pose estimation to autonomous guiding vehicle, understand local environment, and confirm autonomous guiding
The location of vehicle itself.
Referring to Fig. 3, Fig. 3 is a kind of process signal of the air navigation aid 3rd embodiment of autonomous guiding vehicle of the application
Figure.In the present embodiment, above-mentioned steps S201 is specifically included:
S301: it is counted according to the mileage of the autonomous guiding vehicle, the first position and the first object row
Path is sailed, the second position where estimation obtains the autonomous guiding vehicle corresponds to the estimation position in the global map
Confidence breath.
Autonomous guiding vehicle can wrap containing odometer, which can record the traveling road of autonomous guiding vehicle in real time
The available mileage of journey, i.e. control device counts.
Above-mentioned steps S104 is specifically included:
S302: according to the incidence relation of the estimated location information of the second position and the global map, by the office
Portion's map carries out first with the global map and matches.
The local map: being incorporated to by S303 according to the first matching result and replace in the global map with the part
The corresponding part of map, to obtain the updated global map.
As the second position estimated location information and first object driving path on corresponding position corresponding to, and first
Target travel path is the path in global map, therefore there are corresponding to global map for the estimated location information of the second position
Incidence relation；Because the origin of local map is the second position where autonomous guiding vehicle, then, the origin of local map
There are corresponding relationships with the estimated location information of the second position in global map.Pass through the corresponding relationship, control device
Local map first can be carried out with global map to match.According to first matching result, control device can will locally
Figure is incorporated in original global map, it can obtain updated global map, thereby may be ensured that it is updated globally
It is accurate that regional area locating for vehicle is at least independently guided in figure.
Referring to Fig. 4, Fig. 4 is a kind of process signal of the air navigation aid fourth embodiment of autonomous guiding vehicle of the application
Figure.Compared with first embodiment, in the present embodiment, above-mentioned steps S102 is specifically included:
S401: the reflection laser that the laser radar of the autonomous guiding vehicle receives is received, wherein the reflection laser
It is that the laser sent by object to the laser radar is reflected.
S402: if detecting, the reflection laser from barrier, obtains barrier using the reflection laser and believes
Breath.
In an application scenarios, the autonomous vehicle that guides may include laser radar, which is two-dimensional laser radar,
It can specifically include laser emitter and radar receiver；When independently guiding vehicle driving is to the second position, laser emitter
Emit infrared laser beam, the radar receiver is received by the reflected infrared laser beam of the tested object, thus from leading
Object information in surrounding same plane can constantly be perceived by drawing vehicle；When control device detects what radar receiver received
When reflection laser is from barrier, due to infrared laser beam from be emitted to receive elapsed time and autonomous guiding vehicle to
The distance between barrier is directly proportional, then control device can use the reflection laser and obtain obstacle information.Then, by adopting
It accurately can draw ambient enviroment of the vehicle at current location obtained from leading in real time with laser radar, and surrounding can be obtained
Positional relationship etc. between barrier and autonomous guiding vehicle.In the present embodiment, using this high-precision measurement of laser radar
Sensor, has not by environment shadow sound, processing method is simple and measurement accuracy is high, has higher distance and angle-resolved
Rate can complete sampling within the extremely short period, and have very strong anti-interference and lower measurement error.In other implementations
In example, barrier can also be detected using other sensors or other modes, for example, by using sonar sensor or figure
As sensor etc..
Referring to Fig. 5, Fig. 5 is a kind of process signal of the 5th embodiment of air navigation aid of autonomous guiding vehicle of the application
Figure.Compared with fourth embodiment, in the present embodiment, the object includes barrier and environmental characteristic object, in above-mentioned steps
After S401 further include:
S501: if detecting, the reflection laser from environmental characteristic object, obtains environment using the reflection laser
Characteristic body information.
It is in the specific location in entire working environment in order to more accurately obtain independently guiding vehicle, the present embodiment is whole
Several environmental characteristic objects are provided in a working environment.The environmental characteristic object is fixed in entire working environment, for example, can
To be immovable building in plant area, or think the road sign etc. of setting.When control device detects radar receiver
When the reflection laser received is from environmental characteristic object, it similarly can use reflection laser and obtain environmental characteristic object information, from
And the positional relationship between environmental characteristic object and autonomous guiding vehicle can be obtained.
Above-mentioned steps S103 is specifically included:
S502: creation is using the current second position of the autonomous guiding vehicle as the local map of origin, wherein institute
Stating local map includes the obstacle information and environmental characteristic object information.
It is understood that since control device obtains the positional relationship between environmental characteristic object and autonomous guiding vehicle,
So, when creating local map, can in local map corresponding display environmental characteristic object information.
Above-mentioned steps S104 is specifically included:
S503: according to the incidence relation of the environmental characteristic object information and the global map, by the local map with
The global map carries out the second matching.
The local map: being incorporated to by S504 according to the second matching result and replace in the global map with the part
The corresponding part of map, to obtain the updated global map.
It include environmental characteristic object letter in global map since environmental characteristic object is fixed in entire working environment
Breath, therefore environmental characteristic object information is with global map that there are corresponding incidence relations；Again because also including environment in local map
Characteristic body information, then, the environmental characteristic object information in environmental characteristic object information and global map in local map is to exist
Corresponding relationship, by the corresponding relationship, local map and global map can be carried out second and matched by control device, obtain the
Two matching results.According to second matching result, local map can be incorporated in original global map by control device
To obtain updated global map.At this point, the position in the corresponding global map in the updated of the origin of local map is
The physical location of autonomous guiding vehicle.In the present embodiment, by the environmental characteristic object fixed in the setting of entire working environment, make
The position that obtained autonomous guiding vehicle is in updated global map is more accurate.Autonomous guiding vehicle in the application
Global path planning can be carried out according to control instruction, can accurately reach specified station, Che Jingdu can achieve positive and negative
100mm；The angular deviation of station parking area controls within 15 °, and can be using part correction come vehicle appearance when adjusting parking
State.
Referring to Fig. 6, Fig. 6 is that a kind of process of the travel control method first embodiment of autonomous guiding vehicle of the application is shown
It is intended to, comprising the following steps:
S601: control device during the autonomous guiding vehicle is according to target travel route, according to it is described from
The leading travel distance for drawing vehicle and the target travel path estimation obtain the current estimation position of the autonomous guiding vehicle
Confidence breath.
The target travel path can be above-mentioned first object driving path or the second target travel path.It can be as above
Described in S201, this will not be repeated here.
S602: environmental characteristic object information locating for the autonomous guiding vehicle is obtained, and utilizes the environmental characteristic information
Determine the current actual position information of the autonomous guiding vehicle.
Due to environmental characteristic object be in entire working environment it is fixed, control device is obtaining corresponding environmental characteristic
It after object information, is equivalent to independently to guide the object of reference that vehicle obtains its physical location, it can utilize environmental characteristic information
Determine the current actual position information of autonomous guiding vehicle.
S603: according to the deviation between the estimated location information and the actual position information to the autonomous guiding vehicle
Driving trace correction, be maintained at the autonomous guiding vehicle on the target travel path.
It is understood that in practical application, leading to the application side since various kinds of sensors can there is a certain error
Method is in implementation process, such as autonomous the guiding travel distance of vehicle, the determination of current location, the acquisition of environmental characteristic object information
Etc., can there be error；Therefore the independently current estimated location information of guiding vehicle and the independently current actual bit of guiding vehicle
It there will necessarily be certain deviation between confidence breath, in order to reduce because all kinds of errors bring biggish Accumulated deviation, control device can
It is rectified a deviation with the driving trace to autonomous guiding vehicle, makes independently to guide vehicle and be maintained on target travel path.
Referring to Fig. 7, Fig. 7 is that a kind of process of the travel control method second embodiment of autonomous guiding vehicle of the application is shown
It is intended to.In the present embodiment, above-mentioned current estimated location information independently guides vehicle in world coordinates when being included in current location
It is XWOWYWIn estimation posture information (XWA1,YWA1, θ 1), wherein global coordinate system is to entire where autonomous guiding vehicle
What working environment was established；θ 1 is autonomous guiding vehicle in global coordinate system XWOWYWIn estimated course angle；Environmental characteristic object information
Including environmental characteristic object in local coordinate system XRORYRIn coordinate (XRB,YRB) and environmental characteristic object in global coordinate system
XWOWYWIn coordinate (XWB,YWB), wherein local coordinate system XRORYRIt is to the partial duty environment where autonomous guiding vehicle
It establishes, and independently to guide vehicle position as origin.Above-mentioned steps S602 is specifically included:
S701: environmental characteristic object information locating for the autonomous guiding vehicle is obtained, and according to the global coordinate system
XWOWYWWith local coordinate system XRORYRBetween transformational relation and the environmental characteristic object information, the autonomous guiding vehicle
Currently in the global coordinate system XWOWYWIn attained pose information (XWA2,YWA2, θ 2).
Above-mentioned steps S603 is specifically included:
S702: by the attained pose information (XWA2,YWA2, θ 2) and the estimation posture information (XWA1,YWA1, θ 1) and it carries out
Compare, obtains the position deviation and angular deviation of the autonomous guiding vehicle.
S703: according to the position deviation of the autonomous guiding vehicle and angular deviation to the traveling of the autonomous guiding vehicle
Track correction.
Specifically, above-mentioned global coordinate system XWOWYWWith local coordinate system XRORYRBetween transformational relation can be with are as follows:
XWB=XWA2+XRB*cosθ2+YRB*sinθ2,
YWB=YWA2+YRB*cosθ2-XRB*sinθ2,
Wherein, θ 2 is autonomous guiding vehicle in global coordinate system XWOWYWIn actual heading angle.
Explain the global coordinate system X of the application belowWOWYWWith local coordinate system XRORYREstablishment process, and it is global
Coordinate system XWOWYWWith local coordinate system XRORYRBetween transformational relation derivation process.
Fig. 8 a to Fig. 8 c is please referred to, Fig. 8 a to Fig. 8 c is the application global coordinate system XWOWYWWith local coordinate system XRORYRIt
Between transformational relation schematic illustration.
As shown in Figure 8 a, it is assumed that known global coordinate system XWOWYWIn a point P (x, y), coordinate origin O, around point O revolve
Turn θ, it can be in the hope of point P in local coordinate system XRORYRMiddle coordinate value (x', y').The key for solving x' and y' is with known side
Bevel edge is done to solve, it can be in the hope of with trigonometric function in conjunction with above desiring to make money or profit:
X'=OD+DF=xcos (θ)+ysin (θ),
Y'=PC-FC=ycos (θ)-xsin (θ).
Point P is in local coordinate system XRORYRIn coordinate value be (x', y').
Similarly if it is known that P point is in local coordinate system XRORYRIn coordinate (x', y'), can be in the hope of point P in world coordinates
It is XWOWYWIn coordinate value:
X=x'cos (- θ)+y'sin (- θ),
Y=y'cos (- θ)-x'sin (- θ).
It can see that coordinate value (x, y) of the known point P in a coordinate system by above-mentioned two formula, then seat
After mark system rotates θ around coordinate origin, coordinate value x' and y' of the point P in new coordinate system are respectively as follows:
X'=xcos (θ)+ysin (θ),
Y'=ycos (θ)-xsin (θ),
θ is rotated counterclockwise around coordinate origin, and above formula θ value is positive, and rotates clockwise θ, and above formula θ value is negative.
As shown in Figure 8 b, it is known that global coordinate system XWOWYW, coordinate system is translated (a, b) and obtains local coordinate system XRORYR,
If global coordinate system midpoint P (x, y), follows coordinate system to translate together, then P point is in global coordinate system X at this timeWOWYWIn
Coordinate is (x+a, y+b).
It can be in the hope of according to vectorial addition:
OP=OO'+O'P'=T+O'P',
So the coordinate of vector OP' is (x+a, y+b).
As shown in Figure 8 c, by the superposition of both the above situation, it is known that the local coordinate system X after rotation translationRORYRIn point
P'(x', y'), ask P' in global coordinate system XWOWYWIn coordinate value:
Coordinate value of the P' in coordinate system XO'Y can be first found out, X'O'Y' rotates clockwise θ (θ should take negative value at this time) can
To be transformed to coordinate system XO'Y, then coordinate system XO'Y can be transformed to coordinate system XOY by translation (- a ,-b), so far can be with
Find out the point P'(x', y' in coordinate system X'O'Y') in global coordinate system XWOWYWIn coordinate value x, y is respectively as follows:
X=x'cos (θ)+y'sin (θ)+a,
Y=y'cos (θ)-x'sin (θ)+b.
So obtaining autonomous guiding vehicle currently in global coordinate system X in the application specific embodimentWOWYWIn
Attained pose information (XWA2,YWA2, θ 2) after, arbitrary point (such as environmental characteristic object or barrier) is in local coordinate system
XRORYRIn coordinate (XRB,YRB) and in global coordinate system XWOWYWIn coordinate (XWB,YWB) between there are following conversion passes
System:
XWB=XWA2+XRB*cosθ2+YRB*sinθ2,
YWB=YWA2+YRB*cosθ2-XRB*sinθ2,
Wherein, θ 2 is autonomous guiding vehicle in global coordinate system XWOWYWIn actual heading angle.
As an embodiment, above-mentioned steps S703 is specifically included:
According to the position deviation and angular deviation of the autonomous guiding vehicle, using fuzzy-adaptation PID control mode to it is described from
The leading driving trace correction for drawing vehicle.
It is understood that in above-mentioned steps S602, it is described to obtain environmental characteristic object locating for the autonomous guiding vehicle
Information specifically includes:
Receive the reflection laser that the laser radar of the autonomous guiding vehicle receives, wherein the reflection laser be by
What the laser that the environmental characteristic object sends the laser radar was emitted.Such as the navigation of above-mentioned autonomous guiding vehicle
Described in method fourth embodiment, this will not be repeated here.
Referring to Fig. 9, Fig. 9 is that a kind of process of the travel control method 3rd embodiment of autonomous guiding vehicle of the application is shown
It is intended to.Traveling controlling party compared with the first embodiment of the travel control method of above-mentioned autonomous guiding vehicle, in the present embodiment
Method further include:
S901: it according to the autonomous guiding vehicle current first position, target point and global map, cooks up described
The target travel path of the autonomous guiding vehicle from the first position to the target point.
S902: the driving instruction comprising the target travel path is sent to the autonomous guiding vehicle, to indicate
Autonomous guiding vehicle is stated to be travelled according to first driving path.
As described in above-mentioned steps S101, this will not be repeated here.
Further, above-mentioned steps S601 is specifically included:
S903: counting according to the mileage of the autonomous guiding vehicle and the target travel path, and estimation obtains institute
State the autonomous guiding vehicle currently estimated location information in the global map.
As described in above-mentioned steps S301 and S601, this will not be repeated here.
The travel control method of the autonomous guiding vehicle of the application, control device is in independently guiding vehicle according to target travel
During route, obtain independently guiding vehicle according to the travel distance of autonomous guiding vehicle and target travel path estimation
Current estimated location information；Further control device, which is obtained to dominate, draws environmental characteristic object information locating for vehicle, and utilizes
Environmental characteristic information determines the current actual position information of autonomous guiding vehicle；Then control device according to estimated location information with
Deviation between actual position information rectifies a deviation to the driving trace of autonomous guiding vehicle, makes independently to guide vehicle and is maintained at target line
It sails on path.So as to reduce because all kinds of errors bring biggish Accumulated deviation, to the driving trace of autonomous guiding vehicle into
Row correction, holds entire control process from the overall situation.It is understood that the air navigation aid of the autonomous guiding vehicle of the application with
Travel control method can be combined, that is, realize during the navigation process, and real-time perfoming traveling control, making independently to guide vehicle can
To efficiently accomplish job task in complex work environment.
Referring to Fig. 10, Figure 10 is a kind of structural representation of one embodiment of control device of autonomous guiding vehicle of the application
Figure.Control device 20 in the present embodiment includes: processor 200 and memory 202, and memory 202 and processor 200 couple；
Memory 202 is for storing program instruction and all kinds of maps and various information；Processor 200 executes program instructions, the program
Instruction can be performed to realize method as described above.
In other embodiments, the autonomous guiding controller of vehicle 20 of the application further comprises telecommunication circuit 204.It is logical
Letter circuit 204 is used to communicate with other equipment realization, such as is communicated to realize navigation and traveling control, specifically with host computer
It may include transmitters and receivers.All kinds of instructions and processor 200 of the memory 202 for the execution of storage processor 200 exist
Data in treatment process, wherein the memory 202 includes non-volatile memory portion, for storing above-mentioned all kinds of instructions.?
In another embodiment, which can only cache all kinds of fingers of the processor 200 execution as the memory of processor 200
It enables, for all kinds of instruction actual storages in the external equipment of terminal, processor 200 is outer by calling by connecting with external equipment
All kinds of instructions of portion's storage, to execute respective handling.The operation of the control of processor 200 control device 20.Processor 200 may
It is a kind of IC chip, the processing capacity with signal.Processor 200 can also be general processor 200, digital signal
Processor 200 (DSP), specific integrated circuit (ASIC), ready-made programmable gate array (FPGA) or other programmable logic devices
Part, discrete gate or transistor logic, discrete hardware components.General processor 200 can be microprocessor 200 or should
Processor 200 is also possible to any conventional processor 200 etc..
In the present embodiment, processor 200 executes above-mentioned each implementation by all kinds of instructions for calling memory 202 to store
Method in example.
As an embodiment, control device 20 of the invention can be the vehicle-mounted computer of autonomous guiding vehicle.
The memory 202 and processor 200 of above-mentioned control device 20 can execute corresponding step in above method embodiment respectively
Suddenly, therefore it is not repeated herein, please refers to the explanation of the above corresponding step in detail.
For example, the processor 200 of control device 20 utilizes global map when realizing the air navigation aid of autonomous guiding vehicle
Planning comes from the current first position of autonomous guiding vehicle to the first object driving path between target point, and indicates from leading
Draw vehicle to be travelled according to first object driving path；Memory 202 is received in independently guiding vehicle row in the process of moving
The obstacle information detected during sailing, it is locating when detecting obstacle information that processor 200 creates autonomous guiding vehicle
The second position include obstacle information local map；Then local map is incorporated to global map by processor 200, is obtained
To updated global map；Then, processor 200 can use updated global map and cook up autonomous guiding vehicle certainly
The second position to the second target travel path between target point, and indicate autonomous guiding vehicle according to the second target travel path
It is travelled；So as to so that independently guiding vehicle is also able to achieve correctly in workpiece or the numerous working environments of material variety
Navigation and path planning, and can autonomous collision prevention dynamic barrier, the collaborations between more autonomous guiding vehicles may be implemented
Operation can be improved working efficiency.
In another example the processor 200 of control device 20 is autonomous when realizing the travel control method of autonomous guiding vehicle
Guide vehicle according to target travel route during, according to the travel distance of the autonomous guiding vehicle in memory 202 with
And target travel path estimation obtains independently guiding the current estimated location information of vehicle；Processor 200 further obtains autonomous
Environmental characteristic object information locating for vehicle is guided, and determines the current physical location of autonomous guiding vehicle using environmental characteristic information
Information；Later, processor 200 can be according to the deviation between estimated location information and actual position information to autonomous guiding vehicle
Driving trace correction, make independently to guide vehicle and be maintained on target travel path；So as to reduce because all kinds of errors are brought
Biggish Accumulated deviation rectifies a deviation to the driving trace of autonomous guiding vehicle.
Figure 11 is please referred to, Figure 11 is a kind of structural schematic diagram of autonomous guiding one embodiment of vehicle of the application.The present embodiment
In autonomous guiding vehicle 10 include: vehicle body 22, body movement controller 24 and control device 20, wherein control dress
Setting 20 includes control device 20 as described above；Body movement controller 24 is connect with control device 20, is filled for response control
20 instruction is set to control vehicle body 22.
It is understood that the autonomous guiding vehicle 10 in the present invention can be industrial autonomous guiding vehicle or industrial machine
Device people is also possible to Indoor Robot etc..
In several embodiments provided herein, it should be understood that disclosed method and apparatus can pass through it
Its mode is realized.For example, device embodiments described above are only schematical, for example, stroke of module or unit
Point, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some interfaces, the INDIRECT COUPLING of device or unit
Or communication connection, it can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can select some or all of unit therein according to the actual needs to realize the mesh of present embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
The above is only presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize the application
Equivalent structure made by specification and accompanying drawing content, equivalent process or principle of equal effects transformation, are applied directly or indirectly in other
Relevant technical field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of travel control method of autonomous guiding vehicle, which is characterized in that the described method includes:
Control device is during the autonomous guiding vehicle is according to target travel route, according to the autonomous guiding vehicle
Travel distance and the target travel path estimation obtain the current estimated location information of the autonomous guiding vehicle；
Environmental characteristic object information locating for the autonomous guiding vehicle is obtained, and utilization environmental characteristic information determination is described certainly
It is leading to draw the current actual position information of vehicle；
According to the deviation between the estimated location information and the actual position information to the traveling of the autonomous guiding vehicle
Track correction, is maintained at the autonomous guiding vehicle on the target travel path.
2. the travel control method of autonomous guiding vehicle as described in claim 1, which is characterized in that
The current estimated location information is included in when the current location the autonomous guiding vehicle in global coordinate system
XWOWYWIn estimation posture information (XWA1,YWA1, θ 1), wherein the global coordinate system is to where the autonomous guiding vehicle
Entire working environment establish；The θ 1 is the autonomous guiding vehicle in the global coordinate system XWOWYWIn estimation boat
To angle；
The environmental characteristic object information includes the environmental characteristic object in local coordinate system XRORYRIn coordinate (XRB,YRB) and
The environmental characteristic object is in the global coordinate system XWOWYWIn coordinate (XWB,YWB), wherein the local coordinate system XRORYR
It is to be established to the partial duty environment where autonomous guiding vehicle, and using the autonomous guiding vehicle position as origin；
It is described to determine that the current actual position information of the autonomous guiding vehicle includes: using the environmental characteristic information
According to the global coordinate system XWOWYWWith local coordinate system XRORYRBetween transformational relation and the environmental characteristic object
Information, the autonomous guiding vehicle is currently in the global coordinate system XWOWYWIn attained pose information (XWA2,YWA2, θ 2)；
The deviation according between the estimated location information and the actual position information is to the autonomous guiding vehicle
Driving trace correction, comprising:
By the attained pose information (XWA2,YWA2, θ 2) and the estimation posture information (XWA1,YWA1, θ 1) and it is compared, it obtains
The position deviation and angular deviation of the autonomous guiding vehicle；
It is rectified a deviation according to the position deviation of the autonomous guiding vehicle and angular deviation to the driving trace of the autonomous guiding vehicle.
3. the travel control method of autonomous guiding vehicle as claimed in claim 2, which is characterized in that the global coordinate system
XWOWYWWith local coordinate system XRORYRBetween transformational relation are as follows:
XWB=XWA2+XRB*cosθ2+YRB*sinθ2
YWB=YWA2+YRB*cosθ2-XRB*sinθ2
Wherein, θ 2 is the autonomous guiding vehicle in the global coordinate system XWOWYWIn actual heading angle.
4. the travel control method of autonomous guiding vehicle as claimed in claim 2, which is characterized in that described according to described autonomous
The position deviation and angular deviation for guiding vehicle rectify a deviation to the driving trace of the autonomous guiding vehicle, comprising:
According to the position deviation and angular deviation of the autonomous guiding vehicle, using fuzzy-adaptation PID control mode to described from leading
Draw the driving trace correction of vehicle.
5. the travel control method of autonomous guiding vehicle as described in claim 1, which is characterized in that the acquisition is described autonomous
Guide environmental characteristic object information locating for vehicle, comprising:
Receive the reflection laser that the laser radar of the autonomous guiding vehicle receives, wherein the reflection laser is by described
What the laser that environmental characteristic object sends the laser radar was emitted.
6. the travel control method of autonomous guiding vehicle as described in claim 1, which is characterized in that the method also includes:
According to the autonomous guiding vehicle current first position, target point and global map, the autonomous guiding is cooked up
The target travel path of the vehicle from the first position to the target point；
Driving instruction comprising the target travel path is sent to the autonomous guiding vehicle, to indicate the autonomous guiding
Vehicle is travelled according to the target travel path.
7. the travel control method of autonomous guiding vehicle as claimed in claim 6, which is characterized in that described according to described autonomous
The travel distance and the target travel path estimation for guiding vehicle obtain the current estimated location of the autonomous guiding vehicle
Information, comprising:
It is counted according to the mileage of the autonomous guiding vehicle and the target travel path, estimation obtains the autonomous guiding
The current estimated location information in the global map of vehicle.
8. a kind of control device of autonomous guiding vehicle, which is characterized in that including processor and memory, the memory is used for
Store program instruction；The processor requires 1 to 7 described in any item sides for running described program instruction, with perform claim
Method.
9. the control device of guiding vehicle as claimed in claim 8 autonomous, which is characterized in that the control device be it is described from
The leading vehicle-mounted computer for drawing vehicle.
10. a kind of autonomous guiding vehicle, which is characterized in that vehicle body, body movement controller and control device, wherein
The control device includes control device described in claim 8 or 9；
The body movement controller is connect with the control device, is controlled for responding the instruction of the control device described
Vehicle body.
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