CN110320913A - The unmanned control device and method of low speed - Google Patents
The unmanned control device and method of low speed Download PDFInfo
- Publication number
- CN110320913A CN110320913A CN201910619618.9A CN201910619618A CN110320913A CN 110320913 A CN110320913 A CN 110320913A CN 201910619618 A CN201910619618 A CN 201910619618A CN 110320913 A CN110320913 A CN 110320913A
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- agv
- low speed
- navigation elements
- unmanned control
- processing unit
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 52
- 230000004888 barrier function Effects 0.000 claims abstract description 31
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000004807 localization Effects 0.000 description 4
- 230000008447 perception Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
Abstract
The present invention provides a kind of unmanned control device and method of low speed, the unmanned control device of low speed and AGV are used cooperatively and are set on AGV, the unmanned control device of low speed include: for guide AGV to walk along fixed route and obtain AGV position the first navigation elements；For judging the second navigation elements of the position of the barrier on the periphery of AGV, AGV；For position the map of the position of AGV and barrier, the surrounding enviroment for establishing AGV and plan AGV motion path processing unit, processing unit respectively with the first navigation elements, the second navigation elements be electrically connected.The unmanned control device and method of low speed of the invention is capable of the position of automatic accurate positioning AGV, and build environment map, automatically give AGV programming movement route, and the position of AGV can be corrected to provide more accurate moving line, in order to AGV can in more complicated environment proper motion.
Description
Technical field
The present invention relates to automated guided vehicle fields, more particularly, to a kind of unmanned control device of low speed and side
Method.
Background technique
In recent years, AGV(Automated Guided Vehicle, automated guided vehicle) at logistics, storage, harbour
Equal fields have wide practical use, and traditional AGV location navigation mode mainly has magnetic navigation, two-dimension code navigation etc., but these
Navigation mode can only be travelled along route, and control system only needs to be performed the positioning on fixing line road, and along fixation
The track following of track and control and some simple barrier avoiding functions.But in new application scenarios, AGV is only along solid
Fixed track travels the demand for being no longer satisfied people.Therefore, it is necessary to design a kind of new unmanned control device of low speed
And method goes to overcome the above problem.
Summary of the invention
In view of the problems of the prior art, the purpose of the present invention is to provide a kind of unmanned control device of low speed and sides
Method is capable of the position of automatic accurate positioning AGV, and build environment map, gives AGV programming movement route automatically, and can correct
The position of AGV to provide more accurate moving line, in order to AGV can in more complicated environment proper motion.
In order to achieve the above object, the present invention proposes a kind of unmanned control device of low speed, with AGV with the use of simultaneously
It is set on the AGV, the unmanned control device of low speed includes: for guiding the AGV to walk along fixed route
And obtain the first navigation elements of the position of the AGV；For judging the position of the barrier on the periphery of the AGV, the AGV
The second navigation elements；For positioning the map of the position of the AGV and the barrier, the surrounding enviroment for establishing the AGV
And plan the processing unit of the motion path of the AGV, the processing unit respectively with first navigation elements, described second
Navigation elements are electrically connected.
Alternatively, there is multiple known first coordinate positions, first coordinate on the fixed route
Position is using world coordinate system as reference frame.
Alternatively, first navigation elements include magnetic stripe and Magnetic Sensor, and the Magnetic Sensor is set to
It is electrically connected on the AGV and with the processing unit, the magnetic stripe forms the fixed route.
Alternatively, first navigation elements include two dimensional code track and two-dimension code recognition device, and described two
Dimension code recognition device is set on the AGV and is electrically connected with the processing unit, and the two dimensional code track is by multiple two dimensions
Code is arranged successively composition, and the two dimensional code track forms the fixed route.
Alternatively, second navigation elements include: for sensing first between the AGV and barrier
The distance sensing unit of distance；For shooting the video of the surrounding enviroment of the AGV and judging the obstacle according to the video
The position of the relatively described AGV of object and the camera unit for judging the second distance between the barrier and the AGV.
Alternatively, the distance sensing unit includes laser sensor, and the camera unit includes that binocular is taken the photograph
Camera, the processing unit include microprocessor.
The present invention also provides a kind of unmanned control method of low speed, the unmanned control method of low speed be applied to
In the upper unmanned control device of low speed, the unmanned control method of low speed is the following steps are included: a) be arranged AGV
Initial position and target position, and make the AGV from the initial position setting in motion；B) pass through first navigation elements
And second navigation elements obtain the position of the AGV and the position of the barrier；C) processing unit is according to
The map of the surrounding enviroment of the AGV is established in the position of AGV and the position of the barrier；D) processing unit is according to
The motion path of the AGV is planned in the position of map, the fixed route and the AGV, and moves the AGV along described
Path movement reaches the target position until the AGV；Wherein, the processing unit is using the fixed route as trunk roads
Diameter plans the motion path in order to the position of AGV described in real time correction.
Alternatively, in step d), the motion path includes trunk path and non-trunk roads diameter, the master
Each position on the diameter of main line all has multiple known first coordinate positions；When the AGV is transported along the trunk path
When dynamic, the processing unit obtains the position of the AGV by first navigation elements；When the AGV is along described non-master
When main line diameter moves, the processing unit obtains the position of the AGV by second navigation elements.
Alternatively, each of described map position all has the second coordinate position, that is, the non-trunk
Path has the second coordinate position, and using world coordinate system as reference frame, the map is covered second coordinate position
The region of lid includes the region where the trunk path.
Alternatively, when the AGV is moved along the trunk path, if first navigation elements obtain
The AGV position it is identical as the position of the AGV that second navigation elements obtain, then the map and the movement
Path remains unchanged；If the institute that the position for the AGV that first navigation elements obtain and second navigation elements obtain
The position for stating AGV is different, then the position that first navigation elements obtain is subject in the position of the AGV, and described second leads
Boat unit relocates the position of the barrier on the periphery of the AGV, and the processing unit is according to the position of the AGV and described
The position of barrier forms new map, and plans new motion path to the AGV.
Compared with prior art, the unmanned control device and method of low speed of the invention being capable of automatic accurate positioning AGV
Position, and build environment map gives AGV programming movement route automatically, and can correct the position of AGV to provide more accurately
Moving line, in order to AGV can in more complicated environment proper motion.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.
Detailed description of the invention
Fig. 1 is the structural schematic block diagram of the unmanned control device of low speed of the invention；
Fig. 2 is the structural schematic block diagram of unmanned one Application Example of control device of low speed of the invention；
Fig. 3 is schematic diagram when moving using the AGV of the unmanned control device of low speed of the invention along fixed route；
Fig. 4 is the movement path planned using the AGV of the unmanned control device of low speed of the invention along processing unit
When schematic diagram.
Specific embodiment
To make to have further understanding to the purpose of the present invention, construction, feature and its function, hereby cooperate embodiment specifically
It is bright as follows.
As shown in Figures 1 to 4, the present invention provides a kind of unmanned control device of low speed, is used cooperatively and sets with AGV
It is placed on AGV, the unmanned control device of low speed includes: for guiding AGV to walk along fixed route and obtaining the position of AGV
The first navigation elements；For judging the second navigation elements of the position of the barrier on the periphery of AGV, AGV；For positioning AGV
And barrier position, establish AGV surrounding enviroment map and plan AGV motion path processing unit, processing unit
It is electrically connected respectively with the first navigation elements, the second navigation elements.
Wherein, there are multiple known first coordinate positions, the first coordinate position is made with world coordinate system on fixed route
For reference frame.As shown in figure 3, when AGV moves to coordinate points (x0, y1) from coordinate points (x0, y2) along fixed route S1
When, known first coordinate position at equal intervals can be set on fixed route S1, when AGV passes through first coordinate position
When, the first navigation elements identify first coordinate position so that it is determined that AGV present co-ordinate position, in addition, processing unit is also
The position of AGV can be calculated according to the movement velocity and run duration of AGV, for example, AGV along fixed route S1 uniform motion and
Movement velocity is v, and timing node of the AGV at coordinate points (x0, y2) is t0, when AGV moves to coordinate points (x0, y1) when
Intermediate node is t1, wherein y1 < y2, then AGV is in timing node t(t0 < t < t1) when coordinate points be (x0, y2-v* (t-t0)).
In the present embodiment, the first navigation elements use magnetic stripe and Magnetic Sensor, Magnetic Sensor be set on AGV and with place
It manages unit to be electrically connected, magnetic stripe forms fixed route.In practical application, the first navigation elements can also use two dimensional code track
And two-dimension code recognition device, two-dimension code recognition device are set on AGV and are electrically connected with processing unit, two dimensional code track is by more
A two dimensional code is arranged successively composition, and two dimensional code track forms fixed route.
Second navigation elements of the invention include distance sensing unit and camera unit, and distance sensing unit is for sensing
First distance between AGV and barrier, camera unit are used to shoot the video of the surrounding enviroment of AGV and judge to hinder according to video
Hinder the second distance between position of the object with respect to AGV and disturbance in judgement object and AGV.Wherein, distance sensing unit can be used sharp
Binocular camera can be used in optical sensor, camera unit, and microprocessor can be used in processing unit, and but not limited to this.Because of laser
The precision of sensor sensing distance is greater than the precision of binocular camera sensing distance, when processing unit is obtained by the second navigation elements
When taking the position of AGV, distance sensing unit is main positioning unit, and camera unit is auxiliary positioning unit, in other words, when first
When distance is significantly different with second distance, processing unit is subject to first distance.
The present invention also provides a kind of unmanned control method of low speed, the unmanned control method of low speed is applied to the above institute
In the unmanned control device of the low speed stated, the unmanned control method of low speed the following steps are included:
A) initial position and the target position of AGV are set, and make AGV from initial position setting in motion；
B) position of AGV and the position of barrier are obtained by the first navigation elements and the second navigation elements；
C) processing unit establishes the map of the surrounding enviroment of AGV according to the position of AGV and the position of barrier；
D) processing unit according to the map, the motion path of the position of fixed route and AGV planning AGV, and make AGV along moving road
Diameter movement reaches target position until AGV；Wherein, processing unit come using fixed route as trunk path programming movement path with
Convenient for the position of real time correction AGV.
As shown in Fig. 2, in one embodiment of this invention, the unmanned control device of low speed of the invention can also with it is remote
The scheduling system of journey and the driving wheel controller of AGV are used cooperatively, and scheduling system can set target position (the i.e. purpose of AVG
Ground coordinate), driving wheel controller can control the direction of motion and movement velocity of the driving wheel of AGV, processing unit packet of the invention
It includes perception and localization process module, build figure and path planning module and path trace and control module, build figure and path planning
Module is electrically connected with perception and localization process module, path trace and control module respectively, wherein perception and localization process mould
Block is electrically connected with laser sensor, binocular camera respectively, and receives laser sensor, the AGV that binocular camera senses
Position signal and the barrier position signal on the periphery AGV, so that it is determined that the seat of the coordinate position of AGV and the barrier on the periphery AGV
Cursor position；It builds figure to connect with path planning module with scheduling system wireless, and receives the phase of the target position of scheduling system transmission
Induction signal, builds figure and path planning module also passes through perception and localization process module obtains coordinate position and the periphery AGV of AGV
The coordinate position of barrier, to establish map, and according to the map, the movement of the coordinate position planning AGV of target position and AGV
Path finally builds figure and path planning module also according to the motion path control driving wheel controller work planned, makes to drive
Controller control driving wheel is taken turns according to movement path.
In addition, motion path includes trunk path and non-trunk roads diameter in step d), have on trunk path known
First coordinate position；Each of map position all has the second coordinate position, that is, non-trunk roads diameter has the second coordinate bit
It sets, the second coordinate position is using world coordinate system as reference frame, where the region that map is covered includes trunk path
Region.Specifically, although the first coordinate position and the second coordinate position are located in the same coordinate system, the first coordinate position
It is accurately, the second coordinate position senses, therefore the second coordinate position has certain error.Therefore, when AGV is along master
When main line diameter moves, processing unit obtains the position of AGV by the first navigation elements；When AGV is moved along non-trunk roads diameter,
Processing unit obtains the position of AGV by the second navigation elements.The positioning accuracy to the position of AGV so can be improved.
As shown in figure 4, if AGV is now placed in coordinate points (x3, y3), needing to move to when planning the motion path of AGV
Coordinate points (x4, y4), and x3 < x0 < x4, y3≤y2 < y4≤y1, it is theoretical when needing using fixed route S1 as trunk path
Upper AGV need to first move along a straight line from (x3, y3), and to (x0, the y3) on fixed route S1, (path of this process is non-trunk roads
Diameter), further along fixed route S1 from (x0, y3) linear motion to (x0, y4) (path of this process is trunk roads diameter), finally
From (x0, y4) linear motion to (x4, y4) (path of this process is non-trunk roads diameter).
During practical application, it is contemplated that AGV needs to turn, and to improve efficiency, AGV can be made from (x3, y3) camber line
In movement (adjustment direction when moving) to fixed route S1, move along a straight line further along fixed route S1, last movement in a curve is extremely
(x4, y4)；Wherein, the track of movement in a curve is non-trunk roads diameter, and the track of linear motion is trunk roads diameter.
When AGV is moved along trunk path, if the position for the AGV that the first navigation elements obtain is obtained with the second navigation elements
The position of the AGV taken is identical, then map and motion path remain unchanged, that is to say, that in map and the accurate feelings of motion path
Under condition, if AGV is along not deviation post when the movement path, it is only necessary to establish map for the first time；If the first navigation
The position for the AGV that unit obtains is different from the position for the AGV that the second navigation elements obtain, then the position of AGV is single with the first navigation
Member obtain position subject to, and the second navigation elements relocate AGV periphery barrier position, processing unit according to
The position of AGV and the position of barrier form new map, and new motion path is planned to AGV.So it can further improve
The positioning accuracy of AGV and its periphery barrier improve the sport efficiency of AGV, and AGV is enable fast and accurately to reach target position
It sets.
In conclusion the unmanned control device and method of low speed of the invention is capable of the position of automatic accurate positioning AGV,
And build environment map, AGV programming movement route is given automatically, and can correct the position of AGV to provide more accurately movement road
Line, in order to AGV can in more complicated environment proper motion.
By the above detailed description of preferred embodiments, it is intended to more clearly describe feature and spirit of the invention,
And not protection scope of the present invention is limited with above-mentioned disclosed preferred embodiment.On the contrary, its purpose
It is intended to cover various changes and has being arranged in the scope of protection of the claims of the invention to be applied of equality.Cause
This, scope of protection of the claims of the invention should illustrate the most wide explanation of work according to above-mentioned, to cause it to cover institute
Possible change and the arrangement of tool equality.
Claims (10)
1. a kind of unmanned control device of low speed, is used cooperatively with AGV and is set on the AGV, which is characterized in that institute
Stating the unmanned control device of low speed includes:
For guide the AGV to walk along fixed route and obtain the AGV position the first navigation elements；
For judging the second navigation elements of the position of the barrier on the periphery of the AGV, the AGV；
For positioning described in the position of the AGV and the barrier, the map for the surrounding enviroment for establishing the AGV and planning
The processing unit of the motion path of AGV, the processing unit are electric with first navigation elements, second navigation elements respectively
Property connection.
2. the unmanned control device of low speed as described in claim 1, which is characterized in that have on the fixed route multiple
Known first coordinate position, first coordinate position is using world coordinate system as reference frame.
3. the unmanned control device of low speed as claimed in claim 2, which is characterized in that first navigation elements include magnetic
Item and Magnetic Sensor, the Magnetic Sensor are set on the AGV and are electrically connected with the processing unit, and the magnetic stripe is formed
The fixed route.
4. the unmanned control device of low speed as claimed in claim 2, which is characterized in that first navigation elements include two
Tie up code track and two-dimension code recognition device, the two-dimension code recognition device is set to the AGV on and electric with the processing unit
Property connection, the two dimensional code track is arranged successively by multiple two dimensional codes and formed, and the two dimensional code track forms the fixed route.
5. the unmanned control device of low speed as described in claim 1, which is characterized in that second navigation elements include:
For sensing the distance sensing unit of the first distance between the AGV and barrier；
For shooting the video of the surrounding enviroment of the AGV and judging the relatively described AGV's of the barrier according to the video
Position and the camera unit for judging the second distance between the barrier and the AGV.
6. the unmanned control device of low speed as claimed in claim 5, which is characterized in that the distance sensing unit includes swashing
Optical sensor, the camera unit include binocular camera, and the processing unit includes microprocessor.
7. a kind of unmanned control method of low speed, which is characterized in that the unmanned control method of low speed is applied to as weighed
Benefit requires in 1 to 6 any unmanned control device of low speed, and the unmanned control method of low speed includes following step
It is rapid:
A) initial position and the target position of AGV are set, and make the AGV from the initial position setting in motion；
B) position of the AGV and the position of the barrier are obtained by first navigation elements and second navigation elements
It sets；
C) processing unit establishes the surrounding enviroment of the AGV according to the position of the AGV and the position of the barrier
Map；
D) processing unit plans the movement road of the AGV according to the position of the map, the fixed route and the AGV
Diameter, and make the AGV along the movement path until the AGV reaches the target position；Wherein, the processing is single
Member plans the motion path in order to the position of AGV described in real time correction using the fixed route as trunk path.
8. the unmanned control method of low speed as claimed in claim 7, which is characterized in that in step d), the movement road
Diameter includes trunk path and non-trunk roads diameter, each position on the trunk path all has multiple known first coordinates
Position；When the AGV is moved along the trunk path, the processing unit passes through described in first navigation elements acquisition
The position of AGV；When the AGV is moved along the non-trunk roads diameter, the processing unit passes through second navigation elements
Obtain the position of the AGV.
9. the unmanned control method of low speed as claimed in claim 8, which is characterized in that each of described map position
All have the second coordinate position, that is, the non-trunk roads diameter has the second coordinate position, and second coordinate position is sat with the world
Mark system is used as reference frame, and the region that the map is covered includes the region where the trunk path.
10. the unmanned control method of low speed as claimed in claim 8, which is characterized in that when the AGV is along the trunk
Path move when, if first navigation elements obtain the AGV position obtained with second navigation elements it is described
The position of AGV is identical, then the map and the motion path remain unchanged；If first navigation elements obtain described
The position of AGV is different from the position of the AGV that second navigation elements obtain, then the position of the AGV is with described first
Subject to the position that navigation elements obtain, and second navigation elements relocate the position of the barrier on the periphery of the AGV,
The processing unit forms new map according to the position of the AGV and the position of the barrier, and new to AGV planning
Motion path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910619618.9A CN110320913A (en) | 2019-07-10 | 2019-07-10 | The unmanned control device and method of low speed |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910619618.9A CN110320913A (en) | 2019-07-10 | 2019-07-10 | The unmanned control device and method of low speed |
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| CN112269377A (en) * | 2020-09-15 | 2021-01-26 | 北京旷视机器人技术有限公司 | Travel control method and device for carrying equipment and electronic system |
| CN114253257A (en) * | 2021-11-23 | 2022-03-29 | 广东嘉腾机器人自动化有限公司 | Mobile robot path driving control method and storage device |
| WO2022247899A1 (en) * | 2021-05-28 | 2022-12-01 | 北京迈格威科技有限公司 | Traveling route planning method and apparatus, storage medium, and mobile apparatus |
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Application publication date: 20191011 |