CN110398965A - It is a kind of based on have mark navigation map design AGV navigation scheduling method - Google Patents
It is a kind of based on have mark navigation map design AGV navigation scheduling method Download PDFInfo
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- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 230000005012 migration Effects 0.000 claims description 8
- 238000013508 migration Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 abstract description 12
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
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- 238000012423 maintenance Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of based on the AGV navigation scheduling method for having mark navigation map to design, and is related to AGV control technology field.The present invention, which devises one kind, mark navigation map format, and proposes a kind of AGV navigation scheduling method based on the map.Map specification node and path type simultaneously provide AGV location information and are able to reflect the constraint information that site environment navigates to AGV.Scheduling steps are based on map and carry out path planning, and navigation step realizes motion control according to path and cartographic information.In the case of path circumstances change at the scene, it is only necessary to changed according to scene and change map, had no need to change AGV scheduling and navigation mode, improve the versatility that AGV is used, the debugging efforts after eliminating field demand variation.
Description
Technical field
The present invention relates to AGV control technology fields, and in particular to a kind of to be adjusted based on the AGV for having mark navigation map to design navigation
Degree method.
Background technique
Track homing guidance is a kind of ad hoc fashion of AGV self-navigation, currently used form have magnetic stripe, colour band,
The various ways such as two dimensional code, AGV navigation are along current track route until encountering abstract factory (left-hand rotation, right-hand rotation etc.),
Preset program circuit is cooperated to complete navigation task in this form.In this mode: certain control information of AGV are by reality
Object terrestrial reference label provides, ground laying environment disunity, and implementation cost is high；AGV reads site environment information according to sensor, leads
Voyage sequence needs to write according to environmental information customization, and when environmental information (AGV path change) variation, the scene AGV path is needed
It re-lays, corresponding software also needs to do corresponding change, and exploitation maintenance cost is high.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is how a kind of to realize general, the navigation scheduling side cost of implementation is low AGV
Method.
(2) technical solution
It is adjusted in order to solve the above-mentioned technical problems, the present invention provides a kind of based on the AGV for thering is mark navigation map to design navigation
Degree method, comprising the following steps:
There is mark navigation map described in S1, design；
S2, the design based on step S1 carry out AGV scheduling；
The scheduling result of S3, the design based on step S1 and step S2 carry out AGV navigation.
Preferably, in step S1, there is the format of mark navigation map described in design are as follows: include node and path, the node
Corresponding actual location tags, the path correspond to actual track mark.
Preferably, the node is a point in map, and essential information includes that ID number, position, posture, pose are inclined
Move compensation attribute, node type；The ID number is label information, is the unique designation of node, it is identical cannot to exist simultaneously ID
Two nodes；The position is coordinate information of the node in scene map；The posture is that AGV reaches the point regulation appearance
State；The pose migration attribute is existing deviation between live AGV application posture and theoretical value；The node can root
Node is divided by common path point, anchor point, charge point three types according to AGV task there are many type according to AGV task,
Wherein, for the common path point as AGV turning point or temporary parking point, AGV reaches the point without position precision and Gesture；
The anchor point is the parking work station point of AGV positioning, and AGV has position and attitude accuracy requirement, the crossover node in path in the point
It cannot function as anchor point, AGV cannot be in preset a wide range of rotation adjustment posture after reaching the point；The charge point is in map
It is placed with the location point of charger, all properties requirement comprising anchor point.
Preferably, the path is present between two nodes, corresponding A GV driving trace mark, between two nodes most
There are a paths, path has direction, speed class, avoidance attribute more；Wherein, the direction is to represent AGV between two nodes
Travelable direction can be two-way or using a node as the unidirectional of starting point；The speed class represents AGV traveling in the path
Rate request, the travel speed that friction speed grade represents AGV are different；The avoidance attribute defines untouchable avoidance sensing
The usage mode of device, including obstacle-avoidance area switch or temporarily disable both modes.
Preferably, step S2 specifically: in the case where specified beginning and end, according in map designed by step S1
Internode path information planning goes out optimum programming path, and each node has coordinate position attribute, the direction letter in path in map
Breath defines the topological relation between node.
Preferably, in step S2, optimum programming path is planned specifically: use A*Algorithm carries out path planning, in path
During search using starting point to the distance of Searching point plus Searching point to terminal sum of the distance as cost value, wherein respectively away from
Coordinate position from value all in accordance with node calculates, and the direction of search of each step is determined by the path topology relationship between node, chooses
For the smallest node of cost value as planning point, the sequence node of composition is then the optimum programming path in each step search.
Preferably, step S3 specifically: information and step S2 in map designed by foundation step S1 obtain described
Optimum programming path clustering AGV movement, the premise of navigation are AGV positioning, its initial position of AGV navigation request in node location,
For the location tags of AGV upper label identification sensor identification current location to obtain ID number, also identification obtains AGV current pose
With the positional shift of tag hub, corresponding coordinate information is inquired from map by ID number, in addition the positional shift value
The current location AGV is obtained, to obtain the current pose of AGV, AGV is moved out and carried out position according to its odometer information after location tags
Appearance updates, further according to tag recognition sensor and map information update AGV after AGV navigation reaches next location tags
Appearance state, positions AGV with this；Further according to the obtained optimum programming path the current pose of AGV, step S2 and map
Interior joint and routing information control AGV navigate to next node, and adjust AGV posture in advance before entering anchor point, between node
AGV is controlled when navigation to travel along the AGV driving trace mark, travel speed is determined by the speed class of ground path in graphs, and
The avoidance attribute switching obstacle-avoidance area of base area path in graphs temporarily disables obstacle avoidance sensor, when AGV reaches home, according to
The pose migration property control AGV of node finally moves to target position.
Preferably, the AGV driving trace mark includes colour band, magnetic stripe.
(3) beneficial effect
The present invention, which devises one kind, mark navigation map format, and proposes a kind of AGV navigation scheduling based on the map
Method.Map specification node and path type simultaneously provide AGV location information and are able to reflect what site environment navigated to AGV
Constraint information.Scheduling steps are based on map and carry out path planning, and navigation step realizes motion control according to path and cartographic information.
In the case of path circumstances change at the scene, it is only necessary to be changed according to scene and change map, have no need to change AGV scheduling and navigation side
Formula improves the versatility that AGV is used, the debugging efforts after eliminating field demand variation.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, below with reference to embodiment, to specific reality of the invention
The mode of applying is described in further detail.
The present invention, which devises one kind, mark navigation map format, and proposes a kind of AGV navigation scheduling based on the map
Method.Map specification node and path type provide AGV location information and are able to reflect what site environment navigated to AGV
Constraint information.The dispatching method includes mark navigation map design procedure, AGV scheduling steps and navigation step, AGB scheduling steps
It is that path planning is carried out based on cartographic information, navigation step is to carry out motion control according to path and cartographic information, at the scene road
Diameter environment change in the case where, it is only necessary to depending on the site environment variation change cartographic information, have no need to change AGV scheduling steps and
Navigation step improves the versatility that AGV is used, the debugging efforts after eliminating field demand variation.Compared with the existing technology,
In the present invention, the constraint information of AGV path navigation is provided by cartographic information, and scene is not necessarily to Special controlling terrestrial reference label, only needs to spread
If location tags and path, unified construction conditions simplify and are laid with process, reduce laying cost；AGV scheduling steps base area
Figure information determines, after field demand variation, requires to reset environment, paving track according to format map, AGV scheduling steps without
It needs to modify, cost of implementation is low, and map can add attribute according to environment, and scalability is strong.
Specifically, proposed by the present invention a kind of based on the AGV navigation scheduling method for having mark navigation map, including following step
It is rapid:
There is the format of mark navigation map described in S1, design are as follows: include node and path, the node corresponds to actual position
Label, the path correspond to actual track mark, and the two has different type attributes, represents different functional meanings, with
It is used for AGV Navigation Control；
Wherein, the node is a point in map, and essential information includes ID number, position, posture, pose offset
Compensate attribute, node type；The ID number is label information, is the unique designation of node, it is identical cannot to exist simultaneously ID
Two nodes；The position is coordinate information of the node in actual scene map；The posture is that AGV reaches the point regulation appearance
State；The pose migration attribute is existing deviation between actual field AGV posture and theoretical value, which exists
It is used under AGV high accuracy positioning demand, is read and corrected by actual field AGV sensor, the pose migration attribute is realized
It allows certain location tags installation error, reduces location tags installation requirement；The node can be according to AGV task point
Node is divided into, wherein described general by common path point, anchor point, charge point three types according to AGV task for multiple types
For path point as AGV turning point or temporary parking point, AGV reaches the point without position precision and Gesture；The anchor point
For the parking work station point that AGV is accurately positioned, AGV has position and attitude accuracy requirement in the point, and the crossover node in path cannot be made
For anchor point, AGV, which is reached, cannot rotate adjustment posture after the point on a large scale and (finish into preceding pose adjustment, accurately adjust after
It is whole)；The charge point is the location point that charger is placed in map, and a kind of special anchor point, therefore it includes stops
The all properties requirement of point, requires in addition that adjacent node only one (arrival of an only paths).
The path is present between two nodes, corresponding A GV driving trace mark, the AGV driving trace mark packet
Include colour band, magnetic stripe.A paths are up between two nodes, path has direction, speed class, avoidance attribute；Wherein, institute
Stating direction is the direction that AGV is travelable between representing two nodes, can be two-way or using a certain node as the unidirectional of starting point；The speed
Degree grade represents AGV traveling in the rate request in the path, and the travel speed that friction speed grade represents AGV is different, to adapt to
The operating condition rate request of different zones；The avoidance attribute defines the usage mode of untouchable obstacle avoidance sensor, including keeps away
The switching of barrier region temporarily disables both modes, and AGV may make smoothly to pass in and out narrow zone (such as station).
S2, AGV scheduling steps: in the case where specified beginning and end, according to map interior joint designed by step S1
Between routing information cook up optimum programming path (including sequence node), to carry out AGV navigation, each section in map in next step
Point has a coordinate position attribute, and the directional information in path defines the topological relation between node, in this step, cooks up optimal rule
Draw path specifically: path planning is carried out using A* algorithm, is added during route searching with the distance of starting point to Searching point
Upper Searching point to terminal sum of the distance as cost value, it is each wherein each distance value is calculated all in accordance with the coordinate position of node
The direction of search of step is determined by the path topology relationship between node, is chosen the smallest node of cost value in each step search and is used as rule
Point is drawn, the sequence node of composition is then the optimum programming path.
S3, navigation step: the optimum programming that information and step S2 in map designed by foundation step S1 obtain
Path clustering AGV movement, the premise of navigation are AGV positioning, its initial position of AGV navigation request is in node location, the upper label of AGV
To obtain ID number, also identification obtains in AGV current pose and label the location tags of identification sensor identification current location
The positional shift of the heart inquires corresponding coordinate information by ID number, in addition the positional shift value obtains AGV and works as from map
Front position, to obtain the current pose of AGV, AGV is moved out and is carried out pose update according to its odometer information after location tags, directly
Further according to tag recognition sensor and map information update AGV position and posture after reaching next location tags to AGV navigation, with
This positions AGV.Further according to the obtained optimum programming path the current pose of AGV, step S2 and map interior joint and
Routing information control AGV navigates to next node, and adjusts AGV posture in advance before entering anchor point, time control of navigating between node
AGV processed is travelled along the AGV driving trace mark, and travel speed is determined by the speed class of ground path in graphs, and according to the map
The avoidance attribute switching obstacle-avoidance area in middle path temporarily disables obstacle avoidance sensor.When AGV reaches home, according to the position of node
The appearance final precise motion of migration property control AGV is to target position.
As can be seen that present invention provide that have mark navigation map not only include basic environment position relationship, also include position
Topological relation, AGV between setting different location motion control information, therefore in the case of site environment changes, it is only necessary to root
Change map content according to site environment, AGV path navigation and scheduling steps still can be used directly, be navigated without changing
Mode and scheduling mode reduce the maintenance cost of AGV, versatile.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of based on the AGV navigation scheduling method for thering is mark navigation map to design, which comprises the following steps:
There is mark navigation map described in S1, design；
S2, the design based on step S1 carry out AGV scheduling；
The scheduling result of S3, the design based on step S1 and step S2 carry out AGV navigation.
2. the method as described in claim 1, which is characterized in that there is the format of mark navigation map in step S1, described in design are as follows:
Comprising node and path, the node corresponds to actual location tags, and the path corresponds to actual track mark.
3. method according to claim 2, which is characterized in that the node is a point in map, and information includes ID
Number, position, posture, pose migration attribute, node type；The ID number is label information, is unique mark of node
Will cannot exist simultaneously identical two nodes of ID；The position is coordinate information of the node in scene map；The posture
The point regulation posture is reached for AGV；The pose migration attribute is existing between live AGV application posture and theoretical value
Deviation；Node can be divided into common path point, stopped by the node according to type there are many AGV tasks according to AGV task
By point, charge point three types, wherein the common path point reaches the point as AGV turning point or temporary parking point, AGV
Without position precision and Gesture；The anchor point is the parking work station point of AGV positioning, and AGV has position and posture essence in the point
Degree requires, and the crossover node in path cannot function as anchor point, and AGV cannot be in preset a wide range of rotation adjustment appearance after reaching the point
State；The charge point is the location point that charger is placed in map, all properties requirement comprising anchor point.
4. method as claimed in claim 3, which is characterized in that the path is present between two nodes, corresponding A GV traveling
Track indicates that a be up to paths between two nodes, path has direction, speed class, avoidance attribute；Wherein, described
Direction is the direction that AGV is travelable between representing two nodes, can be two-way or using a node as the unidirectional of starting point；Described speed etc.
Grade represents AGV traveling in the rate request in the path, and the travel speed that friction speed grade represents AGV is different；The avoidance category
Property define the usage mode of untouchable obstacle avoidance sensor, including obstacle-avoidance area switching or temporarily disable both modes.
5. method as claimed in claim 4, which is characterized in that step S2 specifically: in the case where specified beginning and end,
Optimum programming path is cooked up according to routing information between map interior joint designed by step S1, each node has seat in map
Cursor position attribute, the directional information in path define the topological relation between node.
6. method as claimed in claim 5, which is characterized in that in step S2, plan optimum programming path specifically: use A*
Algorithm carries out path planning, with the distance of starting point to Searching point plus the distance of Searching point to terminal during route searching
The sum of be used as cost value, wherein each distance value all in accordance with node coordinate position calculate, the direction of search of each step is by between node
Path topology relationship determine, choose in the search of each step the smallest node of cost value as planning point, the sequence node of composition
It is then the optimum programming path.
7. method as claimed in claim 6, which is characterized in that step S3 specifically: according in map designed by step S1
Information and step S2 obtain the optimum programming path clustering AGV movement, the premise of navigation be AGV positioning, AGV navigation want
Ask its initial position in node location, the location tags of AGV upper label identification sensor identification current location are to obtain ID volume
Number, also identification obtains the positional shift of AGV current pose and tag hub, and corresponding coordinate is inquired from map by ID number
Information, in addition the positional shift value obtains the current location AGV, to obtain the current pose of AGV, AGV moves out location tags
Pose update is carried out according to its odometer information afterwards, further according to tag recognition after AGV navigation reaches next location tags
Sensor and map information update AGV position and posture, position AGV with this；It is obtained further according to the current pose of AGV, step S2
To the optimum programming path and map interior joint and routing information control AGV navigate to next node, and stopped entering
AGV posture is adjusted before point in advance, control AGV is travelled along the AGV driving trace mark when navigating between node, and travel speed is by ground
The speed class of path in graphs determines, and the avoidance attribute of base area path in graphs switches obstacle-avoidance area or temporarily disables avoidance
Sensor when AGV reaches home, finally moves to target position according to the pose migration property control AGV of node.
8. method as claimed in claim 4, which is characterized in that the AGV driving trace mark includes colour band, magnetic stripe.
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| CN113189949A (en) * | 2021-04-28 | 2021-07-30 | 铽罗（上海）机器人科技有限公司 | Navigation scheduling control method and system |
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