CN109933055A - Indoor path planning system - Google Patents
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Abstract
The invention discloses a kind of indoor path planning systems, include: multiple identification codes, identification device, main control unit；Multiple identification codes are respectively arranged on multiple and different nodes of indoor road, and the information of identification code includes the position of the node where identification code；Identification device is set on the vehicle run on road indoors, the information of identification device identification code for identification；Main control unit is used to obtain the information of identification code, and the destination for obtaining vehicle driving from identification device, and sends driving instruction to vehicle.The interior path planning system is easy to operate, at low cost, so that the precision of the path planning of the indoor transportings such as workshop or warehouse greatly improves, safety substantially improves.
Description
Technical field
The invention belongs to indoor path planning field more particularly to a kind of indoor path planning systems.
Background technique
Good interior path planning needs accurate indoor positioning.Conventional satellite location technology, such as GPS (global location
System), Chinese Beidou satellite navigation system, it is difficult to require higher indoor scene for workshop, storage equally accurate.To meet room
Interior location requirement also occurs using the wireless modes such as Wi-Fi (a kind of wireless local area network technology), bluetooth, passes through and detect wireless communication
The modes such as number power carry out coordinate estimation and positioning, but wireless mode is there are signal interference, sensitivity is unstable, power consumption is big etc. lacks
It falls into.Vehicle is higher to wireless communication stability requirement especially in workshop, and disposes too many hotspot and will cause nothing
The congestion of line signal and interference, so as to cause deviations.When often adjacent closer in view of indoor path, the coordinate bit of low precision
It sets and is often not enough to accurately determine path locating for vehicle, this is unfavorable for the path planning of vehicle, command scheduling in workshop
And anticollision hedging.Moreover, above-mentioned location technology, higher operating costs.
Summary of the invention
The technical problem to be solved by the present invention is to overcome indoor path planning scheme precision in the prior art is low, at high cost
Defect, provide that a kind of precision is high, indoor path planning system at low cost.
The present invention solves above-mentioned technical problem by following technical proposals:
It is a kind of interior path planning system, include: multiple identification codes, identification device, main control unit；
Multiple identification codes are respectively arranged on multiple and different nodes of indoor road, and the information of identification code includes identification
The position of node where code；
Identification device is set on the vehicle run on road indoors, the letter of identification device identification code for identification
Breath；
Main control unit is used to obtain the information of identification code, and the destination for obtaining vehicle driving from identification device,
And driving instruction is sent to vehicle.
Preferably, main control unit is also used to the information according to identification code, the destination of vehicle driving generates planning driving path,
And driving instruction is sent to vehicle according to planning driving path.
Preferably, main control unit is also used to obtain the topology diagram of indoor road, and according to the information of identification code,
The destination of vehicle driving, indoor road topology diagram generate planning driving path, and according to planning driving path to vehicle send
Driving instruction.
Preferably, identification code includes bar code, identification device includes the bar code barcode scanning gun being set on vehicle.
Preferably, the information of identification code includes the number, the length of road, identification code of the road where identification code apart from road
The distance of the starting point on road.
Preferably, the information of identification code also includes the speed limit of the road where identification code.
Preferably, identification code is set to the starting point of road；
And/or
Identification code is set to the intersection in two road.
Preferably, the quantity of identification device is several, several identification devices are uniquely arranged in correspondence in vehicle respectively
On, main control unit is used to obtain the information of identification code from several identification devices, and issues driving instruction to vehicle or stop
Vehicle evacuation instruction.
Preferably, the quantity of identification device is several, several identification devices are uniquely arranged in correspondence in vehicle respectively
On, main control unit is used to obtain the information of identification code from several identification devices.
Preferably, vehicle includes automatic driving vehicle.
Preferably, the direction that the bar paten of bar code extends is identical as the direction of the length of road.
Preferably, the information of identification code includes the type information of the node where identification code, type information includes road road
In, intersection, setting, setting indicate node be vehicle carry out loading or unloading operation node.
Preferably, the information of identification code includes automobile body angle adjustment information, automobile body angle adjustment information characterization
Vehicle reaches the angle that node rear needs to rotate.
Preferably, being additionally provided with backup id on node, identification device is also used to identify the information of backup id.
Preferably, the speed limit of different nodes is different.
At the time of main control unit is also used to obtain identification device identification identification code.
The positive effect of the present invention is that: indoor path planning system of the invention is easy to operate, at low cost, so that
The precision of the path planning of the indoor transportings such as workshop or warehouse greatly improves, safety substantially improves.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the indoor path planning system of the embodiment of the present invention 1.
Fig. 2 is the schematic diagram of the bar code of the road of the indoor path planning system of the embodiment of the present invention 1 on the way.
Fig. 3 is the schematic diagram of the bar code of the setting of the indoor path planning system of the embodiment of the present invention 1.
Fig. 4 is the schematic diagram of the bar code of the intersection of the indoor path planning system of the embodiment of the present invention 1.
Fig. 5 is the schematic diagram of the setting of the indoor road of the embodiment of the present invention 1.
Fig. 6 is the schematic diagram of the intersection of the indoor road of the embodiment of the present invention 1.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
The indoor path planning system of the present embodiment, as shown in Figure 1, comprising: multiple identification codes 101, identification device 102,
Main control unit 103.Multiple identification codes 101 are respectively arranged at indoor road 2, and (as a kind of signal, Fig. 1 illustrates only interior
Road part.The indoor road is set in a warehouse or workshop) multiple and different nodes on, identification code 101
Information include the node where identification code 101 position；Identification device 102 is set to the vehicle run on road indoors
On 3, the information of the identification code 101 for identification of identification device 102；Main control unit 103 is used to obtain from identification device 102 and identify
The information of code 101, and the destination for obtaining vehicle driving, and driving instruction is sent to vehicle, control vehicle driving.Driving
Instruction includes vehicle heading, travel speed etc..
(in order to reduce human cost, improving safety and automate efficiency, which can be used automatic driving car to vehicle
) transport on the road of cargo indoors when driving, one node of every arrival, the identification device being set on vehicle identifies the section
Identification code at point, and the information of identification code is transmitted to main control unit.As shown in Figure 1, main control unit 103 is set to master
In control room, network and identification device carry out data transmission (in indoor path planning system of the invention by wireless communication
In other optional embodiments, main control unit be can be set on vehicle).Main control unit obtains the information of identification code, i.e.,
Specify the position that vehicle is presently in.
As shown in Figure 1, being set to multiple identification codes 101 on indoor road, indoor road is divided into multiple sections
Point.The information that main control unit 103 obtains the node that multiple identification codes 101 are characterized (includes location information, which can
Think the relative position information on the road of the node indoors), so as to obtain the topological structure of these nodes.Then,
It can be vehicle driving planning path according to the topological structure of node that vehicle is presently in, destination node (destination), node,
Control vehicle driving.Main control unit 103 can only inquire next nearest node every time, and it is to this nearest to control vehicle
Node traveling；The optimal path from present node locating for vehicle to destination node (destination) can also be cooked up, and is controlled
Vehicle is travelled along the optimal path；It can also be according to the situation on the indoor road obtained in real time (for example, when multiple vehicles need
When using same path), real-time update, optimization planning driving path.The information for the node that each identification code 101 is characterized is preset
In the memory of main control unit 103, it can be updated according to the variation that indoor road or node are arranged.In this way, main
Control unit 103 may not necessarily obtain the electronic map in the warehouse or workshop, can accurately cook up planning driving path, section
The cost for drawing warehouse or workshop electronic map is saved.
When it is implemented, the identification code 101 uses bar code, identification device 102 uses bar code barcode scanning gun, and bar code is swept
The information of code rifle bar code for identification.Bar code barcode scanning gun is set on vehicle, is preferably set to the front end of vehicle, so as to
Obtain the information of bar code in time in vehicular motion.The setting direction of bar code preferably with the length of indoor road
Direction (i.e. the direction of vehicle driving) is consistent, that is, the direction of the length in direction and road that the bar paten of bar code extends
It is identical.In this way, even if in vehicle traveling, the bar code pattern that bar code barcode scanning gun obtains will not be sent out because of vehicle movement
Raw difference；It, will not be because of the bar code pattern hair that bar code barcode scanning gun obtains especially in warehouse under the situation of dark
Raw trailing phenomenon, and influence identification.Therefore, discrimination and recognition speed can be greatly improved.According to the road of vehicle indoors
On position when driving, these bar codes can be sprayed or are pasted onto the center or edge of indoor road, from
And it prevents from rolling repeatedly, wear and cause bar code lossless and can not identify.To prevent from not knowing caused by being stained because of bar code itself
Not, can be arranged on node backup bar code (backup id), that is, can be set in the way of one in front and one in back at the same node
2 bar codes (one of them is backup id) is set, the content of two bar codes is essentially identical, but because two bar codes
Slightly difference (for example, several centimetres difference) in position, therefore, it includes location information it is different.Identification device is identifying
When, the identification code (including backup id) on road can be identified one by one.Or in identification device setting identification
Minimum interval (minimum interval or minimum range interval), for example, 2 seconds (most after identification device identifies an identification code
Small time interval) in no longer identify.When identification code and backup id are in normal condition, identification device is only identified wherein
One, ignore another；When identification code damage, identification device identifies backup id, to guarantee discrimination, improves road
The stability and accuracy of diameter planning.
In order to improve the precision of path planning, as shown in Figure 1, the starting point that identification code 101 is set to road (also can be considered
Terminal), the intersection 201 in two road, setting 202 (i.e. vehicle carry out the operations such as loading or unloading or vehicle maintenance, charging
Node) etc. at important nodes.Multiple identification codes 101 are set on longer road, longer path are divided into multiple
Shorter section can also be improved the precision of path planning.Therefore, the information of identification code 101 includes the section where identification code 101
The type information of point, type information include road (node shown in 203 as shown in figure 1), intersection, setting on the way.
Further, the information of identification code 101 also includes number, the length of road, road of the road where identification code 101
The distance of starting point of the extending direction, identification code 101 on road apart from road.With reference to these information, main control unit 103 can not
The setting situation of indoor road must can be obtained by the topology diagram of indoor road.In order to improve roading and
The safety of vehicle driving control, the information of identification code also includes the speed limit of the road where identification code, and main control unit 103
According to the Control for Speed Limitation vehicle driving of the road.For setting node, the information of identification code also includes the adjustment of automobile body angle
Information, after vehicle reaches the jobs node, main control unit 103 is issued to vehicle according to automobile body angle adjustment information and is adjusted
The driving of whole angle instructs, and control vehicle rotates corresponding angle, in order to accurately and efficiently execute cargo loading or unloading behaviour
Make.
Fig. 2, Fig. 3, Fig. 4 show the example of 3 bar codes.
Fig. 2 show the bar code (interior joint 206 referring to Fig.1) at the node in one of road, and the bar code is corresponding
16 scale coding values are as follows: P01E0007D00001FE207.Wherein:
P: characterizing the node is the node of road on the way；
01E: the number of the road where the node is characterized；
0007D0: the length for characterizing the road where the node is 2000cm=0x7D0cm；
0001FE: the distance of starting point (referring to Fig.1 interior joint B) of the bar code position away from the road where the node
510cm=0x1FE cm；
20: speed limit 20km/h.
7: check code is calculated according to specific algorithm.It is here exemplified with using the acquisition of MD5 (Message-Digest Algorithm 5) algorithm
Check code specifically can refer in Linux (a kind of operating system) for generating the md5sum order of MD5 value.
It can be not only that different speed limits is arranged in different roads according to the planning situation of indoor road, can also be same
Different speed limits is arranged in the different nodes of one of road.For example, can successively paste multiple knowledges along road for control limiting vehicle speed
Other code, speed limit are successively decreased.When such as will be close to crossing, successively arrange that 4 identification codes, speed limit are followed successively by 20km/ at a certain distance
H, 10km/h, 5km/h, 2km/h, pre-decelerating when ensuring vehicle close to crossing avoid emergency brake from influencing cargo security.
As shown in Figure 1, node 203 and node 204 are the node of road on the way, but two node is respectively arranged at difference
Road (road number different) on.Although two node is relatively close in linear distance, main control unit 103 is according to node
The number information of the road at 203 places for including with the identification code of node 204 is different, judges that two node is in different roads
On the road, so, main control unit 103 will not directly be travelled from node 203 to node 204 to control vehicle, and should be along node
Road driving where 203 reaches intersection, can drive into other roads.Therefore, the indoor path planning system of the present embodiment
In system, main control unit need not obtain the topology diagram of indoor road, and the information according only to the identification code of each node is
The planning to vehicle driving path can be achieved.
For the node of operation vertex type, identification code is set to and actually fills by the node 202 being referred in Fig. 1
Goods, unloading position on, vehicle reach node 202 simultaneously identify the identification code, that is, be considered as and drive to correct position, can carry out
Loading, unloading operation.But for the loadings such as the entrance in warehouse, outlet, unloading operation more frequently setting, such as Fig. 5 institute
Show, the setting entrance is more, and needs to adjust vehicle body angle after vehicle arrival, can complete accurately to freight, unload and grasp
Make, therefore, in order to improve the accuracy of planning driving path planning, and facilitates main control unit to send adjustment vehicle body angle etc. in advance and refer to
Enable, so that vehicle makes a response in time, the identification code of the setting be not provided in actually freighted, unloaded, the A of maintenance work
Point, but be set near A point.In order to guarantee that vehicle efficiently and accurately enters or is driven out to from multiple entrances of multiple roads
The setting is provided with multiple identification codes (identification code shown in fig. 5 characterizes setting type node) in the setting, and
Automobile body angle adjustment information etc. is provided in identification code.For example, the bar code at Fig. 5 interior joint 205 was as shown in figure 3, should
The corresponding 16 scale coding value of bar code are as follows: T20C000064FFFFEC055A3.Wherein:
T: characterizing the node is setting, is the type information of node；
20C: the number of the road where the node is characterized；
000064: characterizing the node (position where identification code) and arrive the position actually freighted, unloaded in the X-axis direction
The relative coordinate for setting A is that (positive value indicates A of the node relative to the position actually freighted, unloaded to+100cm=0x064cm
In positive direction in X-axis)；
0001FE: characterize the node arrive in the Y-axis direction actually freighted, the relative coordinate of position A unloaded be-
20cm=0xFFFFEC cm, wherein highest bit is 1, indicates that (negative value indicates the node relative to actually being freighted, unloaded to negative
In the negative direction in Y-axis of the position A of goods)；
05: the speed limit for characterizing the road is 5km/h；Main control unit controls vehicle speed according to the speed-limiting messages, it is ensured that
Safety in production；
5A: characterization automobile body angle adjustment information, that is, after vehicle reaches the setting according to the positive direction of its traveling,
Vehicle body need to rotate clockwise 90 degree, i.e. -90=0xA6 (wherein highest bit is 1, indicates negative, that is, rotates clockwise), then into
Row handling operation；
3: check code is here exemplified with the check code obtained using MD5 algorithm.
When there are more vehicles on indoor road while running, identification device, main control are provided on each vehicle
Unit obtains the information of the identification code of the acquisition of the identification device on all vehicles, so that it is determined that the location of each vehicle,
To plan planning driving path for each vehicle, it is sent to it driving instruction.When a certain node is more busy, vehicle driving is sent
When conflict, main control unit issues parking evacuation instruction according to information such as the priority of vehicle, to the lower vehicle of priority, to
The higher vehicle of priority issues the instruction for continuing traveling.Main control unit may be that vehicle plans new planning driving path, keep away
Open the node of congestion.
In order to simplify the complexity of roading algorithm, vehicle operation conflict is reduced, the operation effect of indoor road is improved
Rate can make setting to the driving direction of road vehicle according to the width situation of indoor road.For example, for compared with
Narrow road can be set as one-way road, and provide direction of traffic, which is characterized in the identification code on the road；
For wider road, two-way two lane can be set as, vehicle is to keep to the right, (the dotted line in figure at this point, as shown in Figure 6
Arrow indicates direction of traffic), on two lanes of road, it is respectively provided with identification code.In order to be made in further detail to indoor road
Mark, improve the accuracy of path planning, as shown in fig. 6, the intersection be provided with 8 identification codes, which is divided
For 4 entrances (node that vehicle drives into) and 4 outlets (node that vehicle is driven out to) totally 8 mouths, and numbered for each in/out mouth
It distinguishes, one of bar code is as shown in figure 4, the corresponding 16 scale coding value of the bar code are as follows: C3010812016.Its
In:
C: the node that the node is intersection type is characterized；
301: characterizing the number of the road where the node；
08: the entrance quantity for characterizing the intersection node is 8；
1: characterizing the entrance that the identification code is located at number 1；
20: current speed limit 20km/h；
1: characterizing the node, Parking permitted；
6: check code is here exemplified with the check code obtained using MD5 algorithm.
At the time of main control unit 103 can also obtain the identification identification code of identification device 102, i.e., vehicle reaches each section
The time of point calculates the speed of vehicle operation to reach the time of the distance between adjacent two nodes and experience according to vehicle
Degree.Alternatively, main control unit according to the length of vehicle operating path, main control unit be vehicle set speed, Vehicular turn,
It time etc. of needs consumption such as berths, load and unload, at the time of estimating out vehicle and complete this transport, to reasonably be vehicle arrangement
Transport task improves the utilization rate of vehicle.
A kind of typical application scenarios of the indoor path planning system of the present embodiment are workshops, use automatic driving vehicle
Equal transfer tools transshipment cargo or workpiece between station (setting) different in workshop.Automatic driving vehicle is indoors
It is moved on road.In order to improve the accuracy of vehicle moving direction, Crane Rail can be set on indoor road, vehicle edge should
Crane Rail operation, does not deviate by road.Main control unit can specify the location of each vehicle (that is, in which road
Which node on road), which needs not be the absolute coordinate of the node.
Bar code setting is simple, cost is very low, can be arranged by the way of putting up or spraying, and mating need not spread
If power supply line and facility, difficulty of construction is small, short construction period.
In other optional embodiments of indoor path planning system of the invention, identification code can use digital number
(for example, the corresponding digital code value of bar code), two dimensional code etc., identification device can use camera and pattern recognition device,
For obtaining digital number image or two dimensional code, and the digital number or two dimensional code are identified, to obtain the letter of the identification code
Breath.Identification code can also use RFID (radio frequency identification) device, and identification device is using the induction dress for reading the RFID device
It sets.In addition, the main control unit on each vehicle can be from other when main control unit is respectively arranged on each vehicle
Main control unit on vehicle obtains information, realizes information sharing, can carry out the negotiation of path planning each other, improve room
The reasonable employment of interior road improves the efficiency of vehicle operation.
Embodiment 2
The indoor path planning system of the present embodiment and the indoor path planning system of embodiment 1 are essentially identical, such as Fig. 1 institute
Show.In order to improve the accuracy of path planning, the main control unit 103 of the indoor path planning system of the present embodiment is also used to obtain
Take the topology diagram of indoor road, and according to the information of identification code, the destination of vehicle driving, indoor road topology
Structure chart generates planning driving path, and sends driving instruction to vehicle according to planning driving path.
The topology diagram of indoor road includes that relative position between each road, the length of road, road prolong
Stretch the information such as direction.After the topology diagram for obtaining indoor road, main control unit can more clearly determine all
Which node is connection relationship on the road of node indoors can determine between not according to the topology diagram of indoor road
In the presence of the path (between such as Fig. 1 node 203 and node 204) being connected directly, to be excluded in path planning, more to accelerate
Speed accurately plans planning driving path.
Shown in sum up, indoor path planning system of the invention, cost is relatively low, and precision is higher, it is possible to prevente effectively from using
GPS, Wi-Fi cause the defect of path planning mistake to vehicle location generation error；Workshop electronics is drawn and it is possible to save
The cost of map.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (13)
1. a kind of interior path planning system is, characterized by comprising: multiple identification codes, identification device, main control unit；
Multiple identification codes are respectively arranged on multiple and different nodes of indoor road, and the information of the identification code includes
The position of node where the identification code；
The identification device is set on the vehicle run on the indoor road, and the identification device is described for identification
The information of identification code；
The main control unit is used to obtain the information of the identification code from the identification device, and for obtaining the vehicle row
The destination sailed, and driving instruction is sent to the vehicle.
2. interior path planning system as described in claim 1, which is characterized in that the main control unit is also used to according to institute
State the information of identification code, the destination of the vehicle driving generates planning driving path, and according to the planning driving path to the vehicle
Send driving instruction.
3. interior path planning system as described in claim 1, which is characterized in that the main control unit is also used to obtain institute
The topology diagram of indoor road is stated, and according to the information of the identification code, the destination of the vehicle driving, the interior
Road topology diagram generate planning driving path, and according to the planning driving path to the vehicle send driving instruction.
4. interior path planning system as described in claim 1, which is characterized in that the identification code includes bar code, described
Identification device includes the bar code barcode scanning gun being set on the vehicle.
5. interior path planning system as described in claim 1, which is characterized in that the information of the identification code includes the knowledge
The distance of starting point of the number, the length, the identification code of the road of road where other code apart from the road.
6. interior path planning system as claimed in claim 5, which is characterized in that the information of the identification code also includes described
The speed limit of road where identification code.
7. interior path planning system as described in claim 1, which is characterized in that the identification code is set to the road
Starting point；
And/or
The identification code is set to the intersection of two roads.
8. interior path planning system as described in claim 1, which is characterized in that the quantity of the identification device is several
A, several described identification devices are uniquely arranged in correspondence with respectively on vehicle, and the main control unit is used for from several institutes
The information that identification device obtains the identification code is stated, and issues driving instruction or parking evacuation instruction to the vehicle.
9. interior path planning system as described in claim 1, which is characterized in that the vehicle includes automatic driving vehicle.
10. interior path planning system as described in claim 1, which is characterized in that the information of the identification code includes described
The type information of node where identification code, the type information include road on the way, intersection, setting.
11. interior path planning system as described in claim 1, which is characterized in that the information of the identification code includes vehicle
Vehicle body angle adjustment information, automobile body angle adjustment information characterization vehicle reach the angle that the node rear needs to rotate
Degree.
12. interior path planning system as described in claim 1, which is characterized in that be additionally provided with backup on the node and know
Other code, the identification device are also used to identify the information of the backup id.
13. interior path planning system as claimed in claim 6, which is characterized in that the speed limit of different nodes is different.
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| CN113467346A (en) * | 2021-08-11 | 2021-10-01 | 中国矿业大学 | Automatic driving robot for underground railway vehicle and control method thereof |
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