CN110632925B - Unmanned aerial vehicle assisted AGV self-guiding system and method thereof - Google Patents
Unmanned aerial vehicle assisted AGV self-guiding system and method thereof Download PDFInfo
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Abstract
The invention relates to an AGV self-guiding system assisted by an unmanned aerial vehicle and a method thereof, wherein the AGV self-guiding system comprises an AGV transport vehicle, a self-guiding controller, a wireless communication module and a multi-rotor unmanned aerial vehicle, a corresponding self-guiding method comprises the switching of the states of the multi-rotor unmanned aerial vehicle, the switching between the states is completed by judging conditions, the states of the multi-rotor unmanned aerial vehicle comprise four states of automatic tracking, active detection, carrying and charging, and the switching process specifically comprises the following steps: step S1: acquiring environment information of an AGV (automatic guided vehicle) and judging an external environment state and a self motion state; step S2: obtaining a theoretical state of the multi-rotor unmanned aerial vehicle according to an external environment state and a self motion state, and generating a corresponding state switching instruction; step S3: the wireless communication module sends a state switching instruction; step S4: many rotor unmanned aerial vehicle receive and handle the state switching instruction, get into corresponding state. Compared with the prior art, the invention has the advantages of wider coverage range, higher safety, long-time operation and the like.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle auxiliary transportation, in particular to an unmanned aerial vehicle-assisted AGV self-guiding system and a method thereof.
Background
AGVs are transportation vehicles that can travel along a predetermined guide path, and have safety protection and various transfer functions, and are increasingly used. In order to ensure the driving safety of the AGV, it is important to design an AGV self-guidance system and a method thereof.
The guiding system is critically dependent on the realization of a predetermined transportation plan and the exertion of the advantages of the automated guided vehicle. The electromagnetic guiding mode is the first developed AGV guiding mode and is the most widely applied at present. However, due to the disadvantage of the electromagnetic guide method, an optical guide method, a magnet guide method, a laser guide method, a mark tracking guide method, an image sensor guide method, and the like have been developed in succession. The development characteristics of high flexibility, high efficiency, high reliability and low cost of the unmanned carrying system are fully reflected by various guiding modes, and the AGV technology reaches a new level by developing towards the intelligent direction.
The conventional AGV self-guiding system and the method thereof are basically based on an AGV self-sensing system, so that the sensing range is limited, and a globally optimal path is difficult to find. In order to overcome the difficulty, the invention designs an AGV self-guiding system assisted by an unmanned aerial vehicle and a method thereof, wherein the AGV self-guiding system assisted by the unmanned aerial vehicle with multiple rotor wings is used for assisting the AGV to guide.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an AGV self-guiding system assisted by an unmanned aerial vehicle and a method thereof.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides an unmanned aerial vehicle auxiliary AGV is from bootstrap system, includes AGV transport vechicle, self-guidance controller, wireless communication module and many rotor unmanned aerial vehicle, self-guidance controller and wireless communication module are located the AGV transport vechicle, self-guidance controller is connected with the perception system and the control system of AGV transport vechicle through the CAN bus, acquires AGV transport vechicle current state in real time to keep real-time communication through wireless communication module and many rotor unmanned aerial vehicle, send unmanned aerial vehicle control signal, receive unmanned aerial vehicle perception information.
The self-guiding method comprises the following steps that the states of the multi-rotor unmanned aerial vehicle are switched, the switching between the states is completed through judging conditions, the states of the multi-rotor unmanned aerial vehicle comprise four states of automatic tracking, active detection, carrying and charging, and the switching process specifically comprises the following steps:
step S1: the method comprises the steps that a self-guiding controller obtains information of a perception system of the AGV, and the external environment state of the AGV is judged; the method comprises the steps that a self-guiding controller acquires information of an AGV transport vehicle control system and judges the self-motion state of the AGV transport vehicle;
step S2: comparing the judgment conditions of the self-guiding method according to the external environment state and the self-movement state of the AGV transport vehicle to obtain the theoretical state of the multi-rotor unmanned aerial vehicle, and generating a corresponding state switching instruction;
step S3: the self-guiding controller sends a state switching instruction through the wireless communication module;
step S4: many rotor unmanned aerial vehicle receive and handle the state switching instruction through wireless communication module, get into corresponding state.
The automatic tracking state means that the multi-rotor unmanned aerial vehicle automatically tracks the back upper position of the AGV, monitors the actual running route of the AGV, judges whether the AGV deviates from the target running route, and sends a deviation rectifying instruction to the self-guiding controller through the wireless communication module when the AGV runs and deviates.
Preferably, when many rotor unmanned aerial vehicle are in the automatic tracking state, many rotor unmanned aerial vehicle and AGV transport vechicle's linear distance is no longer than 50 meters.
The driving deviation is divided into course angle deviation and driving area deviation, the course angle deviation means that the course angle of the AGV deviates from the center line of the drivable area to a certain degree, and the driving area deviation means that any part of the body of the AGV exceeds the boundary of the drivable area.
Preferably, the calculation conditions of the deviation rectifying instruction are as follows:
wherein, thetarAngle theta of center line of travelable area and arctic line directionaFor the course angle of AGV transport vehicleThe calculation formula is as follows:
wherein, Δ t is unit time, d is the travel distance of the AGV in the direction of the arctic line in the unit time, and v is the travel speed of the AGV;
deviation rectifying instruction passes through steering angle theta of AGV transport vechiclea-θrAnd correcting the deviation, wherein the angle is positive, the corresponding angle is turned to the left, and when the angle is negative, the corresponding angle is turned to the right.
The active detection state refers to that the peripheral environment state and the drivable area of the AGV are actively detected by the multi-rotor unmanned aerial vehicle, and the image data are transmitted to the self-guiding controller in real time through the wireless communication module.
Preferably, when many rotor unmanned aerial vehicle are in the initiative and survey the state, many rotor unmanned aerial vehicle and AGV transport vechicle's linear distance is no longer than 200 meters.
The judgment condition is determined by a sensing system and a control system of the AGV transport vehicle, and the specific judgment condition is as follows:
case 1: when the external environment state of the AGV transport vehicle is unknown and the self motion state is stopped, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is actively detected;
case 2: when the external environment state of the AGV transport vehicle is unknown and the self motion state is running, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is automatic tracking;
case 3: when the external environment state of the AGV transport vehicle is known, the self motion state is stopped, and the duration time of the state is kept to be more than or equal to 3 minutes, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is actively detected;
case 4: when the external environment state of the AGV transport vehicle is known and the self motion state is running, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is carried;
case 5: when many rotor unmanned aerial vehicle's state was for "carrying" and the electric quantity is less than 50%, the theoretical state that corresponds many rotor unmanned aerial vehicle is "charging".
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, before the AGV enters an unknown area or in an emergency situation which cannot be handled, the multi-rotor unmanned aerial vehicle can be used for high-view active detection, and a wider environment state around the AGV is covered, so that an operation route can be formulated more reasonably.
2. The invention utilizes the multi-rotor unmanned aerial vehicle to automatically track and detect whether the AGV runs according to the route in real time, thereby realizing the track deviation correction and improving the running safety.
3. The multi-rotor unmanned aerial vehicle has the carrying and charging functions, and the system can be guaranteed to effectively run for a long time.
Drawings
FIG. 1 is a schematic structural diagram of a bootstrap system of the present invention;
FIG. 2 is a schematic flow chart of the present invention;
fig. 3 is a schematic diagram of the judgment condition for the unmanned aerial vehicle state switching of the present invention;
fig. 4 is a schematic view of the automatic tracking of the multi-rotor drone of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, an unmanned aerial vehicle assisted AGV self-guidance system, including the AGV transport vechicle, self-guidance controller, wireless communication module and many rotor unmanned aerial vehicle, self-guidance controller and wireless communication module are located the AGV transport vechicle, self-guidance controller is connected with the perception system and the control system of AGV transport vechicle through the CAN bus, acquire AGV transport vechicle current state in real time, and keep real-time communication through wireless communication module and many rotor unmanned aerial vehicle, send unmanned aerial vehicle control signal, receive unmanned aerial vehicle perception information.
The multi-rotor unmanned aerial vehicle is a six-rotor industrial unmanned aerial vehicle with high reliability and high expansibility, adopts an all-carbon fiber body, carries a high-precision differential positioning module, a visible light cloud platform camera, a broadcast horn and a wireless communication module, adopts an umbrella-shaped folding design of a machine arm, is convenient for carrying and fast unfolding of an AGV, and the high-precision differential positioning module supports Beidou/GPS/GLONASS three-mode satellite positioning and RTK high-precision positioning.
As shown in fig. 2, the self-guiding method includes switching states of the multi-rotor unmanned aerial vehicle, switching between the states is completed by judging conditions, the states of the multi-rotor unmanned aerial vehicle include four states of automatic tracking, active detection, carrying and charging, and the switching process specifically includes the following steps:
step S1: the method comprises the steps that a self-guiding controller obtains information of a perception system of the AGV, and the external environment state of the AGV is judged; the method comprises the steps that a self-guiding controller acquires information of an AGV transport vehicle control system and judges the self-motion state of the AGV transport vehicle;
step S2: comparing the judgment conditions of the self-guiding method according to the external environment state and the self-movement state of the AGV transport vehicle to obtain the theoretical state of the multi-rotor unmanned aerial vehicle, and generating a corresponding state switching instruction;
step S3: the self-guiding controller sends a state switching instruction through the wireless communication module;
step S4: many rotor unmanned aerial vehicle receive and handle the state switching instruction through wireless communication module, get into corresponding state.
The automatic tracking state means that the multi-rotor unmanned aerial vehicle automatically tracks the back upper position of the AGV, monitors the actual running route of the AGV, judges whether the AGV deviates from the target running route, and sends a deviation rectifying instruction to the self-guiding controller through the wireless communication module when the AGV runs and deviates.
When many rotor unmanned aerial vehicle were in the automatic tracking state, many rotor unmanned aerial vehicle and AGV transport vechicle's linear distance was no longer than 50 meters.
The driving deviation is divided into course angle deviation and driving area deviation, the course angle deviation means that the course angle of the AGV deviates from the center line of the drivable area to a certain degree, and the driving area deviation means that any part of the body of the AGV exceeds the boundary of the drivable area.
As shown in fig. 4, the calculation conditions of the deviation rectifying instruction are specifically as follows:
wherein, thetarAngle theta of center line of travelable area and arctic line directionaFor the course angle of the AGV transport vehicle, the calculation formula is as follows:
wherein, Δ t is unit time, d is the travel distance of the AGV in the direction of the arctic line in the unit time, and v is the travel speed of the AGV;
steering angle theta of deviation correcting instruction passing AGV (automatic guided vehicle)a-θrAnd correcting the deviation, wherein the angle is positive, the corresponding angle is turned to the left, and when the angle is negative, the corresponding angle is turned to the right.
The active detection state refers to that the multi-rotor unmanned aerial vehicle actively detects the surrounding environment state and the drivable area of the AGV, and transmits image data to the self-guiding controller in real time through the wireless communication module.
When many rotor unmanned aerial vehicle were in the initiative and survey the state, many rotor unmanned aerial vehicle and AGV transport vechicle's linear distance was no longer than 200 meters.
As shown in fig. 3, the determination conditions are determined by the sensing system and the control system of the AGV transport, and the specific determination conditions are as follows:
case 1: when the external environment state of the AGV transport vehicle is unknown and the self motion state is stopped, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is actively detected;
case 2: when the external environment state of the AGV transport vehicle is unknown and the self motion state is running, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is automatic tracking;
case 3: when the external environment state of the AGV transport vehicle is known, the self motion state is stopped, and the duration time of the state is kept to be more than or equal to 3 minutes, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is actively detected;
case 4: when the external environment state of the AGV transport vehicle is known and the self motion state is running, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is carried;
case 5: when many rotor unmanned aerial vehicle's state was for "carrying" and the electric quantity is less than 50%, the theoretical state that corresponds many rotor unmanned aerial vehicle is "charging".
Claims (8)
1. A self-guiding method of an AGV self-guiding system assisted by an unmanned aerial vehicle is characterized in that the system comprises an AGV transport vehicle, a self-guiding controller, a wireless communication module and a multi-rotor unmanned aerial vehicle, wherein the self-guiding controller and the wireless communication module are positioned on the AGV transport vehicle, the self-guiding controller is connected with a sensing system and a control system of the AGV transport vehicle through a CAN bus, the current state of the AGV transport vehicle is obtained in real time, the wireless communication module is in real-time communication with the multi-rotor unmanned aerial vehicle, an unmanned aerial vehicle control signal is sent, and unmanned aerial vehicle sensing information is received; the self-guiding method comprises the following steps that the states of the multi-rotor unmanned aerial vehicle are switched, the switching between the states is completed through judging conditions, the states of the multi-rotor unmanned aerial vehicle comprise four states of automatic tracking, active detection, carrying and charging, and the switching process specifically comprises the following steps:
step S1: the method comprises the steps that a self-guiding controller obtains information of a perception system of the AGV, and the external environment state of the AGV is judged; the method comprises the steps that a self-guiding controller acquires information of an AGV transport vehicle control system and judges the self-motion state of the AGV transport vehicle;
step S2: comparing the judgment conditions of the self-guiding method according to the external environment state and the self-movement state of the AGV transport vehicle to obtain the theoretical state of the multi-rotor unmanned aerial vehicle, and generating a corresponding state switching instruction;
step S3: the self-guiding controller sends a state switching instruction through the wireless communication module;
step S4: many rotor unmanned aerial vehicle receive and handle the state switching instruction through wireless communication module, get into corresponding state.
2. The self-guiding method of claim 1, wherein the automatic tracking state is that the multi-rotor unmanned aerial vehicle automatically tracks the back upper position of the AGV, monitors the actual driving route of the AGV, determines whether the AGV deviates from the target driving route, and sends a deviation correction instruction to the self-guiding controller through the wireless communication module when the AGV deviates from the driving route.
3. The self-guidance method of claim 2, wherein the multi-rotor drone is located no more than 50 meters in line with the AGV transport when in the auto-track mode.
4. The self-guidance method according to claim 2, wherein the deviation is divided into a heading angle deviation and a driving area deviation, the heading angle deviation means that the heading angle of the AGV transport deviates from the center line of the driving area to a certain extent, and the driving area deviation means that any part of the body of the AGV transport exceeds the boundary of the driving area.
5. The self-guiding method according to claim 2, wherein the calculation condition of the deviation rectifying command is specifically as follows:
wherein, thetarAngle theta of center line of travelable area and arctic line directionaFor the course angle of the AGV transport vehicle, the calculation formula is as follows:
wherein, Δ t is unit time, d is the travel distance of the AGV in the direction of the arctic line in the unit time, and v is the travel speed of the AGV;
deviation rectifying instruction passes through steering angle theta of AGV transport vechiclea-θrAnd correcting the deviation, wherein the angle is positive, the corresponding angle is turned to the left, and when the angle is negative, the corresponding angle is turned to the right.
6. The self-guiding method according to claim 1, wherein the active detection state refers to that the multi-rotor unmanned aerial vehicle actively detects the surrounding environment state and the driving area of the AGV, and transmits the image data to the self-guiding controller in real time through the wireless communication module.
7. The self-guidance method of claim 1, wherein the multi-rotor drone is within 200 meters of the AGV transport in a straight line when the multi-rotor drone is in the active probing state.
8. The method of claim 1, wherein the determination is made by the AGV transport sensing system and the AGV transport control system as follows:
case 1: when the external environment state of the AGV transport vehicle is unknown and the self motion state is stopped, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is actively detected;
case 2: when the external environment state of the AGV transport vehicle is unknown and the self motion state is running, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is automatic tracking;
case 3: when the external environment state of the AGV transport vehicle is known, the self motion state is stopped, and the duration time of the state is kept to be more than or equal to 3 minutes, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is actively detected;
case 4: when the external environment state of the AGV transport vehicle is known and the self motion state is running, the theoretical state corresponding to the multi-rotor unmanned aerial vehicle is carried;
case 5: when many rotor unmanned aerial vehicle's state was for "carrying" and the electric quantity is less than 50%, the theoretical state that corresponds many rotor unmanned aerial vehicle is "charging".
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Inventor after: Li Gang Inventor after: He Bin Inventor after: Zhu Zhongpan Inventor after: Wang Zhipeng Inventor after: Zhou Yanmin Inventor after: Shen Runjie Inventor after: Xu Shoulin Inventor after: Dong Yi Inventor before: Li Gang Inventor before: He Bin Inventor before: Zhu Zhongpan Inventor before: Wang Zhipeng Inventor before: Zhou Yanmin Inventor before: Shen Runjie Inventor before: Xu Shoulin |
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