CN111026129B - Safety distance detection method for multi-laser-guided AGV - Google Patents
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- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- 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
- G05D1/0212—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
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- G—PHYSICS
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- 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
- G05D1/0212—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
Abstract
The invention discloses a safety distance detection method of a multi-laser-guided AGV, which comprises the following steps of: (1) performing coarse detection, screening out the condition that the distance between the two guiding AGV is too small, and performing the steps (2) to (5); (2) according to the size graph of the laser-guided AGV, the conversion of a two-dimensional world coordinate system is completed; (3) constructing an OBB bounding box of the laser-guided AGV; (4) calculating the distance between the OBB bounding boxes by using an SAT separation axis method; (5) and giving out corresponding actions of the laser guided AGV according to the distance judging strategy. By adopting the technical scheme, the distance between the two guided AGVs can be accurately and quickly calculated, and the safety of the whole logistics system is improved.
Description
Technical Field
The invention belongs to the technical field of automatic material transportation mechanical equipment control. More particularly, the present invention relates to a method for detecting a safety distance of a multiple laser guided AGV.
Background
First, introduction of related technical development background of a laser guided AGV:
with the improvement of the industrial automation level, an Automatic Guided Vehicle (AGV) gradually becomes an important component of an internal material system of an enterprise, and the laser Guided AGV has the advantages of no track, high control precision, high automation degree, free obstacle avoidance line, good robustness and the like, and has an increasingly large application value in the actual industry.
Safety is a primary consideration in using a laser to guide an AGV. In the prior art, front and left and right obstacles are detected by installing obstacle avoidance sensors at the front end of an AGV body, rear obstacles are detected by installing diffuse emission sensors at the rear of the AGV body, and direct collision with the obstacles is avoided by collision avoidance. If multiple vehicles need to work in coordination due to the requirements of actual projects, traffic control is needed to enable each laser-guided AGV to orderly complete tasks, but sometimes the traffic control fails; in addition, in the operation process, the scanning blind area of the obstacle avoidance sensor still exists, so that in order to increase the safety performance, corresponding measures are provided according to distance parameters after the safety distance of the multiple guidance AGVs is calculated, and the condition that the two guidance AGVs collide due to the obstacle avoidance blind area or the failure of the traffic control is prevented.
Second, the results of literature search in the prior art:
chinese patent documents: an unmanned aerial vehicle route planning safety assessment method (201811445923.2) records the following technical scheme: and constructing a no-fly area and an unmanned aerial vehicle bounding box, and performing safety assessment on the unmanned aerial vehicle airway by adopting a bounding box collision detection method.
Thirdly, the closest prior art and the existing technical problems:
according to the technical scheme described in the Chinese patent document, a no-fly area and an unmanned aerial vehicle surrounding box are constructed, safety evaluation is performed on an unmanned aerial vehicle airway by adopting a surrounding box collision detection method, coarse detection is not performed by the method, collision detection is performed on all running tracks, and the calculation amount of an algorithm is increased.
Disclosure of Invention
The invention provides a safe distance detection method of multiple laser guided AGVs (automatic guided vehicles), and aims to solve the problem of collision among the guided AGVs (automatic guided vehicles) caused by obstacle avoidance blind areas or failure of traffic control in the running process of the multiple guided AGVs.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention discloses a method for detecting the safety distance of a multi-laser-guided AGV (automatic guided vehicle), which comprises the following steps of:
(1) performing coarse detection, screening out the condition that the distance between the two guiding AGV is too small, and performing the steps (2) to (5);
(2) according to the size graph of the laser-guided AGV, the conversion of a two-dimensional world coordinate system is completed;
(3) constructing an OBB bounding box of the laser-guided AGV;
(4) calculating the distance between the OBB bounding boxes by using an SAT separation axis method;
(5) and giving out corresponding actions of the laser guided AGV according to the distance judging strategy.
The rough detection is to judge the Euclidean distance of the coordinates of the laser sensors on the two laser-guided AGV: suppose the coordinates of two laser guided AGVs are (x) respectively0、y0) And (x)0’，y0') the Euclidean distance therebetween is
And according to the size of the laser guided AGV, if d is larger than 5m, directly returning, and otherwise, performing a separation axis detection method of the bounding box.
The dimension map of the laser guidance AGV is as follows:
o with laser sensor installed on vehicle head2In position and with O2Establishing a local rectangular coordinate system-O for the origin of coordinates2A coordinate system; the length of the laser guided AGV is L, and the width of the laser guided AGV is W; calculating an outer surrounding coordinate of the laser-guided AGV according to the received coordinate and angle of the laser sensor;
suppose that the receiving laser sensor is in the global coordinate system O1The coordinate in the coordinate system is O2(x0，y0) Angle theta, according to the size of the AGV body and four vertexes P of the body1、P2、P3、P4In a local coordinate system O2Position of P is calculated1(x1，y1)、P2(x2，y2)、P3(x3，y3)、P4(x4，y4) In a global coordinate system O1The following coordinates:
an OBB direction bounding box algorithm is adopted for building the bounding box of the laser guidance AGV; according to the size and shape of the laser guided AGV, the OBB bounding box is P1、P2、P3、P4Packaging the AGV attributes into a Polygon, and assigning the Polygon to the attributes of each laser guidance AGV; the value of the attribute Polygon changes each time the laser guided AGV updates the coordinate pose.
The OBB bounding box constructed according to the size and shape of the guiding AGV is rectangular, namely four sides are parallel in pairs; therefore, each polygon only needs to test two edges and two separating axes, and the calculation amount of the separating axis algorithm is reduced.
Calculating the distance between the OBB bounding boxes, namely actually calculating the distance between the Polygons of the guided AGV; the specific process comprises the following steps:
a) taking the Polygon values of the two laser guided AGVs, and taking one edge to find the vertical normal vector thereof, wherein the vertical normal vector is called as a projection axis;
b) acquiring each point of a quadrilateral of the first laser-guided AGV, and projecting each point onto a projection shaft in sequence;
c) similarly, sequentially projecting each point of the second laser-guided AGV Polygon onto the projection shaft;
d) checking whether the two sections of projections are overlapped;
e) taking out the adjacent edge of the first AGV and repeating the actions a) to c);
if all the edges have the overlapped parts, the two laser guided AGVs collide; if there is some line segment without overlapping part, the minimum distance is taken, and the distance is the distance value Dis between the two laser guided AGVs.
Inputting the obtained distance value Dis into a distance discrimination function; the distance between the small workshops is divided into a safety area, a warning area and an emergency stop area;
if Dis is in the safe zone, no processing is performed;
if the Dis is in the warning area, the current traveling speed of the AGV guided by the laser needs to be reduced;
and if the Dis is in the emergency stop area, giving emergency stop signals to the two laser guidance AGVs, so that the laser guidance AGVs stop operating immediately, and the operation safety of the whole system is improved.
According to the technical scheme, firstly, the situation of the multi-laser-guided AGV which needs to be further judged is screened out through rough detection, then an OBB bounding box of the multi-laser-guided AGV is constructed, the minimum distance between the laser-guided AGV is obtained through a bounding box collision detection method, and the running speed of the laser-guided AGV is controlled according to a distance judgment strategy; the obstacle avoidance is one of key technologies for realizing autonomous navigation by the laser guided AGV, and is an important guarantee for the driving safety of the vehicle; because the laser guided AGV has a large size, the laser guided AGV cannot simply calculate the Euclidean distance between the two guided AGVs by two points and then gives corresponding actions.
Drawings
The contents of the drawings are briefly described as follows:
FIG. 1 is a dimensional diagram of a laser guided AGV of the present invention;
FIG. 2 is a schematic illustration of a sub-step of SAT separation axis, wherein:
FIG. 2a is a diagram showing the relationship between the edge to be detected and the projection axis
FIG. 2b is a schematic view of a first polygon projected onto an axis at a point;
FIG. 2c is a schematic view of a second polygon projected onto an axis at a point;
FIG. 2d is a schematic view of the projected points of the two graphs looking to see if there is a gap on the axis;
FIG. 3 is a schematic diagram of the distance split strategy for a laser guided AGV of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
The technical scheme of the invention is as follows:
the invention relates to a safety distance detection method of a multi-laser-guided AGV.
In order to overcome the defects of the prior art and achieve the purpose of solving the problem of collision between guiding AGVs (automatic guided vehicles) caused by the fact that a plurality of guiding AGVs are in an obstacle avoidance blind area or a traffic control fails in the running process, the invention adopts the technical scheme that:
the safety distance detection method comprises the following steps:
(1) performing coarse detection, screening out the condition that the distance between the two guiding AGV is too small, and performing the steps (2) to (5);
(2) according to the size graph of the laser-guided AGV, the conversion of a two-dimensional world coordinate system is completed;
(3) constructing an OBB bounding box of the laser-guided AGV;
(4) calculating the distance between the OBB bounding boxes by using an SAT separation axis method;
(5) and giving out corresponding actions of the laser guided AGV according to the distance judging strategy.
Firstly, screening out the condition of the multi-laser-guided AGV needing further judgment through rough detection, then constructing an OBB bounding box of the multi-laser-guided AGV, obtaining the minimum distance between the laser-guided AGV through a bounding box collision detection method, and controlling the running speed of the laser-guided AGV according to a distance judgment strategy; the problem of collision between the guiding AGVs due to the fact that the multiple guiding AGVs are in an obstacle avoidance blind area or the traffic control fails in the driving process is solved.
Secondly, a coarse detection method comprises the following steps:
the rough detection is that the Euclidean distance is judged for the coordinates of the laser sensors on the two laser guided AGVs firstly: suppose the coordinates of two laser guided AGVs are (x) respectively0、y0) And (x)0’，y0') the euclidean distance between them is:
according to the size of the laser guided AGV, if d is larger than 5m, directly returning; otherwise, the separation axis detection method of the bounding box is carried out.
Thirdly, converting a dimension map and a coordinate system of the laser guidance AGV:
the dimensional diagram of the laser guided AGV is shown in fig. 1:
o with laser sensor installed on vehicle head2Position (O in the figure)2Position) and with O2Establishing a local rectangular coordinate system-O for the origin of coordinates2A coordinate system; the length of the laser guided AGV is L, and the width of the laser guided AGV is W; calculating an outer surrounding coordinate of the laser-guided AGV according to the received coordinate and angle of the laser sensor;
suppose that the receiving laser sensor is in the global coordinate system O1The coordinate in the coordinate system is O2(x0，y0) Angle theta, according to the size of the AGV body and four vertexes P of the body1、P2、P3、P4In a local coordinate system O2Position of P is calculated1(x1，y1)、P2(x2，y2)、P3(x3，y3)、P4(x4，y4) In a global coordinate system O1The following coordinates:
fourthly, constructing an OBB bounding box of the laser guidance AGV:
the Bounding box for establishing the laser guidance AGV adopts an OBB (oriented Bounding box) direction Bounding box algorithm; the algorithm is simple in principle and good in compactness. According to the size and shape of the laser guided AGV, the OBB bounding box is P1、P2、P3、P4Packaging the AGV attributes into a Polygon, and assigning the Polygon to the attributes of each laser guidance AGV; the value of the attribute Polygon changes each time the laser guided AGV updates the coordinate pose.
The OBB bounding box constructed according to the size and shape of the guiding AGV is rectangular, namely four sides are parallel in pairs; therefore, each polygon only needs to test two edges and two separating axes, and the calculation amount of the separating axis algorithm is reduced.
Fifthly, calculating the distance between the OBB bounding boxes (as shown in figure 2):
calculating the distance between the OBB bounding boxes, namely actually calculating the distance between the Polygons of the guided AGV; the specific process comprises the following steps:
a) taking the Polygon values of the two laser guided AGVs, and taking one edge to find the vertical normal vector thereof, wherein the vertical normal vector is called as a projection axis;
b) acquiring each point of a quadrilateral of the first laser-guided AGV, and projecting each point onto a projection shaft in sequence;
c) similarly, sequentially projecting each point of the second laser-guided AGV Polygon onto the projection shaft;
d) checking whether the two sections of projections are overlapped;
e) taking out the adjacent edge of the first AGV and repeating the actions a) to c);
if all the edges have the overlapped parts, the two laser guided AGVs collide; and if some line segments have no overlapped part, the minimum distance is taken, and the distance is the distance value Dis between the two laser guidance AGVs.
Sixthly, the action of the laser guidance AGV (as shown in FIG. 3):
inputting the obtained distance value Dis into a distance discrimination function; the distance between the small workshops is divided into a safety area, a warning area and an emergency stop area;
if Dis is in the safe zone, no processing is performed;
if the Dis is in the warning area, the current traveling speed of the AGV guided by the laser needs to be reduced;
and if the Dis is in the emergency stop area, giving emergency stop signals to the two laser guidance AGVs, so that the laser guidance AGVs stop operating immediately, and the operation safety of the whole system is improved.
The beneficial effects of the invention are as follows:
firstly, screening out the condition of the multi-laser-guided AGV which needs to be further judged through rough detection, then constructing an OBB bounding box of the multi-laser-guided AGV, and obtaining the minimum distance between the laser-guided AGV through a bounding box collision detection method; and controlling the running speed of the laser guided AGV according to the distance judging strategy.
The obstacle avoidance is one of key technologies for guiding the AGV to achieve autonomous navigation through laser guidance, and is an important guarantee for vehicle driving safety.
Because the laser-guided AGV has a large size, the corresponding action can not be given after the Euclidean distance between the two guided AGVs is calculated simply by two points.
Eighthly, the innovation points of the invention are summarized as follows:
1. the outline of the laser guided AGV is constructed by adopting the OBB bounding box, and the two guided AGVs are detected only once, so that the algorithm is simple, the compactness is good, and the method can be applied to various occasions;
2. the safety distance detection is carried out on the multiple laser guided AGVs, and safety protection can be carried out on the aspects of obstacle avoidance blind areas or traffic management failure existing in the running process of the multiple laser guided AGVs.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (6)
1. A safety distance detection method for a multi-laser-guided AGV is characterized by comprising the following steps: the detection method comprises the following steps:
(1) performing coarse detection, screening out the condition that the distance between the two laser guided AGVs is too small, and performing the steps (2) to (5);
(2) according to the size graph of the laser-guided AGV, the conversion of a two-dimensional world coordinate system is completed;
(3) constructing an OBB bounding box of the laser-guided AGV;
(4) calculating the distance between the OBB bounding boxes by using an SAT separation axis method;
(5) giving out corresponding actions of the laser guided AGV according to the distance judging strategy;
the rough detection is to judge the Euclidean distance of the coordinates of the laser sensors on the two laser-guided AGV: suppose the coordinates of two laser guided AGVs are (x) respectively0、y0) And (x)0’，y0') the euclidean distance between them is:
according to the size of the laser guided AGV, if d is larger than 5m, directly returning; otherwise, the separation axis detection method of the bounding box is carried out.
2. The method of claim 1 for detecting the safe distance of a multiple laser guided AGV, wherein: the dimension map of the laser guidance AGV is as follows:
o with laser sensor installed on vehicle head2In position and with O2Establishing a local rectangular coordinate system-O for the origin of coordinates2A coordinate system; the length of the laser guided AGV is L, and the width of the laser guided AGV is W; calculating an outer surrounding coordinate of the laser-guided AGV according to the received coordinate and angle of the laser sensor;
suppose that the receiving laser sensor is in the global coordinate system O1The coordinate in the coordinate system is O2（x0，y0) Angle theta, according to the size of the AGV body and four vertexes P of the body1、P2、P3、P4In a local coordinate system O2Position of P is calculated1（x1，y1）、P2（x2，y2）、P3（x3，y3）、P4（x4，y4) In a global coordinate system O1The following coordinates:
3. the method of claim 1 for detecting the safe distance of a multiple laser guided AGV, wherein: an OBB direction bounding box algorithm is adopted for building the bounding box of the laser guidance AGV; according to the size and shape of the laser guided AGV, the OBB bounding box is P1、P2、P3、P4Are formed by combining themAfter being packaged into a Polygon, assigning the Polygon to the attribute of each laser guidance AGV; the value of the attribute Polygon changes each time the laser guided AGV updates the coordinate pose.
4. The method of claim 3 for detecting the safe distance of a multiple laser guided AGV, wherein: the OBB bounding box constructed according to the size and shape of the laser-guided AGV is rectangular, namely four sides are parallel to each other; therefore, each polygon only needs to test two edges and two separating axes, and the calculation amount of the separating axis algorithm is reduced.
5. The method of claim 3 for detecting the safe distance of a multiple laser guided AGV, wherein: calculating the distance between the OBB bounding boxes, namely actually calculating the distance between the Polygon of each laser-guided AGV; the specific process comprises the following steps:
a) taking the Polygon values of the two laser guided AGVs, and taking one edge to find the vertical normal vector thereof, wherein the vertical normal vector is called as a projection axis;
b) acquiring each point of a quadrilateral of the first laser-guided AGV, and projecting each point onto a projection shaft in sequence;
c) similarly, sequentially projecting each point of the second laser-guided AGV Polygon onto the projection shaft;
d) checking whether the two sections of projections are overlapped;
e) taking out the adjacent edge of the first laser-guided AGV, and repeating the actions a) to c);
if all the edges have the overlapped parts, the two laser guided AGVs collide; and if some line segments have no overlapped part, the minimum distance is taken, and the distance is the distance value Dis between the two laser guidance AGVs.
6. The method of claim 5 for detecting the safe distance of a multiple laser guided AGV, wherein:
inputting the obtained distance value Dis into a distance discrimination function; the distance between the small workshops is divided into a safety area, a warning area and an emergency stop area;
if Dis is in the safe zone, no processing is performed;
if the Dis is in the warning area, the current traveling speed of the AGV guided by the laser needs to be reduced;
and if the Dis is in the emergency stop area, giving emergency stop signals to the two laser guidance AGVs, so that the laser guidance AGVs stop operating immediately, and the operation safety of the whole system is improved.
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