CN113848910B

CN113848910B - Navigation system, navigation control method and device, controller and AGV

Info

Publication number: CN113848910B
Application number: CN202111138646.2A
Authority: CN
Inventors: 简豪源; 陈石; 付光启; 曹伟燎; 姚世胜; 胡上羊; 胡燕翾; 黄春鹏; 陈绵炎
Original assignee: Dongfeng Honda Engine Co Ltd
Current assignee: Dongfeng Honda Engine Co Ltd
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2022-08-02
Anticipated expiration: 2041-09-27
Also published as: CN113848910A

Abstract

The application relates to a navigation system, a navigation control method and device, a controller and an AGV. The navigation system is applied to the AGV trolley, space profile scanning can be achieved through the flexibly configured laser navigator, and the setting mode is more flexible and convenient. In the moving process of the AGV, according to the deviation condition of the actual target position reflected by the image information collected by the 3D camera and the position which can be reached by continuously driving along the current moving path, the moving path of the AGV is continuously corrected, and the specified position close to the actual target position is reached, the influence of the posture of the fork arm on the material taking and placing effect is considered, after the specified position is reached, the moving path of the AGV is continuously adjusted according to the deviation condition of the fork arm and the target fork arm position, the moving path of the AGV is controlled to move to the actual target position based on the adjusted moving path, the fork arm is controlled to take and place materials at the target fork arm position, and the execution efficiency, safety and stability of the AGV are improved.

Description

Navigation system, navigation control method and device, controller and AGV

Technical Field

The application relates to the technical field of navigation positioning, in particular to a navigation system, a navigation control method and device, a controller and an AGV.

Background

Agv (automated Guided vehicle) carts, because of their ability to travel automatically along a planned path, have been used in a wide variety of environments, such as workshops that generate gases that are harmful to the human body, dark rooms without illumination, and the like. And based on the automatic driving characteristic, the device can work in all weather, and can greatly improve the working efficiency. In the moving implementation of the AGV, the positioning accuracy is an important factor affecting the rationality of the planned path.

At present, laser navigation is mainly adopted to position the AGV, and the mainstream positioning mode is a triangular positioning algorithm based on a reflector and a space positioning algorithm based on a space contour. The triangulation positioning algorithm has natural limitation and strict requirements on the layout of the reflector; although the spatial positioning algorithm has high flexibility, the accumulated error of self-navigation is large, the control precision is not high, the self-movement error (+ -150 mm) of the forklift is superposed, and the adaptability and the positioning precision of the AGV are particularly insufficient when the accurate automatic carrying task linked with equipment is executed.

Based on this, there is a need for a navigation positioning system with high control precision and flexible configuration.

Disclosure of Invention

In view of the above, there is a need to provide a navigation system, a navigation control method and apparatus, a controller, an AGV and a computer storage medium with high positioning accuracy and flexible configuration.

A navigation system is applied to an AGV, the AGV comprises a vehicle body and a fork arm, and one end of the fork arm is mechanically connected with the vehicle body; the system comprises:

the laser navigator is arranged on the vehicle body and used for emitting laser to scan the distance from the vehicle body to surrounding objects and generating a digital map and initial positioning information of the environment where the AGV trolley is located based on data obtained after polar coordinate conversion is carried out on the distance;

the 3D camera is arranged on the body and used for acquiring image information of the AGV small car fork arm side;

vehicle-mounted control system sets up on the automobile body, and vehicle-mounted control system is connected with laser navigator and 3D camera electricity respectively, and vehicle-mounted control system is used for:

generating an AGV trolley traveling path based on the material taking and placing task, a digital map generated by a laser navigator and initial positioning information, and driving the AGV trolley to move along the traveling path; the material taking and placing task is a task for indicating the AGV to take and place materials at an actual target position;

in the moving process of the AGV, correcting the moving path of the AGV according to the image information acquired by the 3D camera, and driving the AGV to move to an appointed position along the corrected moving path, wherein the appointed position is a determined position close to the actual target position;

after the target fork arm position is reached, calculating the deviation between the fork arm and the target fork arm position according to the image information of the AGV small vehicle fork arm side, wherein the target fork arm position is the fork arm position meeting the requirement of accurately taking and placing materials at the actual target position;

and adjusting the traveling path of the AGV according to the deviation between the fork arm at the designated position and the target fork arm, and controlling the AGV to move to an actual target position for material taking and placing based on the adjusted traveling path.

In one embodiment, in the moving process of the AGV, the vehicle-mounted control system is used for determining a theoretical target position of the AGV for taking and placing materials; the theoretical target position refers to a final position reached by the AGV moving along a traveling path generated on the basis of the material taking and placing task, a digital map generated by a laser navigator and initial positioning information; when the fact that the image information collected by the 3D camera comprises the image of the actual target position is monitored, reconstructing a digital map according to the deviation between the actual target position and the theoretical target position reflected by the image information collected by the 3D camera; and then continuously correcting the traveling path of the AGV according to the current position of the AGV and the reconstructed digital map, and driving the AGV to move to an appointed position along the corrected traveling path.

In one embodiment, the deviation of the fork arm from the target fork arm position comprises a deviation angle between a central axis of the AGV trolley and a path line to the actual target position and a distance between a current fork arm center point and the path line;

after the AGV arrives at the designated position, the vehicle-mounted control system is further used for obtaining the pose and the actual target position of the AGV according to the image information of the side of the fork arm of the AGV; and calculating the deviation angle of the central axis of the AGV trolley and the path line from the central axis to the actual target position and the distance from the central point of the current fork arm to the path line according to the pose of the AGV trolley and the actual target position.

In one embodiment, the fork arm is used for taking and placing the materials in the material frame; the deviation between the fork arm and the target fork arm also comprises a deviation distance and a deviation angle between a material frame position when the AGV moves to an actual target position under the current pose to pick and place materials and a target material frame position for realizing accurate pick and place of the materials;

and the vehicle-mounted control system is also used for calculating the deviation distance and the deviation angle between the position of the material frame when the AGV moves to the actual target position under the current pose to pick and place the material and the position of the target material frame for realizing accurate pick and place of the material based on the image information of the fork arm side of the AGV and the pose of the current AGV after reaching the designated position.

In one embodiment, the navigation system further comprises:

the obstacle detection device is arranged on the periphery of the vehicle body and used for acquiring obstacle information capable of reflecting the distance between a surrounding object and the vehicle body;

the vehicle-mounted control system is electrically connected with the obstacle detection device;

and the vehicle-mounted control system is used for correcting the traveling path of the AGV according to the image information and the obstacle information acquired by the 3D camera in the moving process of the AGV, and driving the AGV to move to an appointed position along the corrected traveling path.

In one embodiment, the fork arms are used for taking and placing materials in the material frame, the 3D camera is arranged on the vehicle body along a first direction, an acute angle is formed between the first direction and a second direction, and the second direction is perpendicular to the extending direction of the fork arms and is used for collecting image information of the fork arms of the AGV.

In one embodiment, the first direction is at an angle of 15 ° to 25 ° to the second direction.

In one embodiment, the navigation system further comprises:

the alarm is electrically connected with the vehicle-mounted control system;

and the vehicle-mounted control system is used for controlling the alarm to execute an alarm action when judging that the distance between the AGV and the surrounding objects is smaller than the collision threshold value according to the obstacle information.

A navigation control method is applied to the navigation system, and comprises the following steps:

In one embodiment, in the moving process of the AGV, the step of correcting the traveling path of the AGV according to the image information collected by the 3D camera and driving the AGV to move to the designated position along the corrected traveling path includes:

determining a theoretical target position of the AGV for taking and placing the materials; the theoretical target position refers to a final position reached by the AGV moving along a traveling path generated on the basis of the material taking and placing task, a digital map generated by a laser navigator and initial positioning information;

if the fact that the image information acquired by the 3D camera comprises the image of the actual target position is monitored, reconstructing a digital map according to the deviation between the actual target position and the theoretical target position reflected by the image information acquired by the 3D camera in the moving process of the AGV trolley;

and continuously correcting the traveling path of the AGV according to the current position of the AGV and the reconstructed digital map, and driving the AGV to move to an appointed position along the corrected traveling path.

after the AGV reaches the designated position, the step of calculating the deviation of the fork arm and the target fork arm according to the image information of the AGV small fork arm side comprises the following steps:

after the AGV arrives at the designated position, acquiring the pose and the actual target position of the AGV according to the image information of the AGV trolley fork arm side;

and calculating the deviation angle of the central axis of the AGV trolley and the path line from the central axis to the actual target position and the distance from the central point of the current fork arm to the path line according to the pose of the AGV trolley and the actual target position.

after the AGV reaches the designated position, the step of calculating the deviation of the fork arm and the target fork arm position according to the image information of the AGV small car fork arm side further comprises the following steps:

based on the image information of the AGV trolley fork arm side and the pose of the current AGV trolley, calculating the deviation distance and the deviation angle between the material frame position when the AGV trolley moves to the actual target position under the current pose to take and place the material and the target material frame position for realizing accurate material taking and placing.

A navigation control device applied to the navigation system, the control device comprising:

the system comprises an initial path acquisition module, a data acquisition module and a data processing module, wherein the initial path acquisition module is used for generating an AGV trolley advancing path based on a material taking and placing task, a digital map generated by a laser navigator and initial positioning information and driving the AGV trolley to move along the advancing path; the material taking and placing task is a task for indicating the AGV to take and place materials at an actual target position;

the system comprises a traveling path correction module, a three-dimensional (3D) camera and a control module, wherein the traveling path correction module is used for correcting the traveling path of the AGV according to image information acquired by the 3D camera in the moving process of the AGV and driving the AGV to move to an appointed position along the corrected traveling path, and the appointed position is a determined position close to an actual target position;

the material taking and placing deviation determining module is used for calculating the deviation of the position of the fork arm and a target fork arm according to the image information of the side of the fork arm of the AGV trolley after the AGV trolley arrives at the designated position, wherein the position of the target fork arm is the position of the fork arm which meets the requirement of accurately taking and placing materials at the actual target position;

and the material taking and placing path optimizing and executing module is used for adjusting the advancing path of the AGV according to the deviation between the fork arm at the designated position and the target fork arm position, and controlling the AGV to move to the actual target position for material taking and placing based on the adjusted advancing path.

A controller comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the navigation control method when executing the computer program.

An AGV trolley comprises an automobile body, a fork arm and the navigation system, wherein one end of the fork arm is mechanically connected with the automobile body.

A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned navigation control method.

The navigation system, the navigation control method and device, the controller and the AGV have at least the following beneficial effects. The navigation system is applied to a navigation type AGV, a laser navigator can be used for scanning the space outline of the environment where the AGV is located, a reference coordinate system, initial positioning information and a digital map are given, a preliminary traveling path can be generated on the basis of initial positioning, the implementation process is fast, then in the moving process of the AGV, an image shot by a 3D camera is combined, the preliminary traveling path can be corrected under the requirement of avoiding collision, the deviation condition of the position which can be reached by continuing traveling along the current traveling path according to the actual target position reflected by the image information collected by the 3D camera and the specified position close to the actual target position is continuously corrected, and the positioning accuracy obtained based on the image collected by the 3D camera is high. After the designated position is reached, how to guarantee accurate taking and placing of the material is concerned, the influence of the posture of the fork arm on the effect of taking and placing the material is considered, at the moment, according to the image information of the AGV small car fork arm side collected by the 3D camera, the deviation of the fork arm and the position of the target fork arm is calculated, the advancing path of the AGV car is continuously adjusted based on the obtained deviation, the AGV car is controlled to move to the actual target position based on the adjusted advancing path, the fork arm is controlled to take and place the material at the position of the target fork arm, the overall safety and stability are guaranteed while the execution efficiency of the AGV car is greatly improved. The navigation system that this application embodiment provided compares in reflector panel location and realizes the setting mode, can realize the space profile scanning through setting up the laser navigator that can dispose in a flexible way, and the setting mode is nimble more convenient.

On the other hand, compare in prior art, only adopt the mode of space profile direct positioning, through setting up the 3D camera, acquire the real-time image of AGV dolly motion in-process, can accurately know the AGV dolly motion in-process apart from the distance position of destination, around the barrier condition and the skew condition etc. of material frame on the yoke, can realize keeping away barrier track planning and carrying out the unloading position correction on the AGV dolly according to the material frame skew condition, the precision is high.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of an embodiment of a navigation system and an AGV that carries the navigation system;

FIG. 2 is a schematic view of a working area of an AGV with a navigation system in a forging shop environment according to an embodiment;

FIG. 3 is a schematic diagram illustrating a relationship between a full frame, a target position and an AGV trolley in a blanking switching area of the AGV trolley in the application environment of FIG. 2 according to an embodiment;

FIG. 4 is a diagram illustrating the positional relationship between an AGV and rectangular areas of the fork arm loading frame and the full load placement area when the AGV reaches the designated point P1 in the full load placement area of FIG. 2 in an exemplary embodiment;

FIG. 5 is a schematic diagram of electrical connections of the navigation system in one embodiment;

FIG. 6 is a flow diagram illustrating a navigation control method in one embodiment;

FIG. 7 is a flow diagram illustrating a navigation control method in one embodiment;

FIG. 8 is a flow diagram illustrating a navigation control method in one embodiment;

FIG. 9 is a schematic diagram of the structure of a navigation control device in one embodiment;

FIG. 10 is a schematic diagram of a portion of an internal structure of a controller according to an embodiment.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It will be understood that the terms "first," "second," and the like as used herein may be used herein to describe various orientations, but these orientations are not limited by these terms. These terms are only used to distinguish one direction from another.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.

As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

With the development of automatic handling technology and continuous deepening of industrial application in recent years, higher and higher requirements are put forward on the flexibility, stability and accuracy of motion control of an AGV. At present, laser navigation is mainly applied to positioning of the AGV itself.

In order to solve the problems that an implementation mode of positioning by adopting a reflector in the prior art is limited greatly, and the traditional space positioning implementation mode based on a space profile is high in flexibility but low in control precision, in one embodiment, a navigation system as shown in fig. 1 is provided and applied to an AGV trolley 10, wherein the AGV trolley 10 comprises a trolley body 2 and a fork arm, and one end of the fork arm is mechanically connected with the trolley body 2; the system comprises: the laser navigator 4, the 3D camera 3 and the vehicle-mounted control system 5 are arranged on the vehicle body 2. The laser navigator 4 can emit laser to scan the distance from the vehicle body 2 to surrounding objects, and generate a digital map and initial positioning information of the environment where the AGV 10 is located based on data obtained by polar coordinate conversion of the distance. For example, the laser navigator 4 may emit laser to measure the distance from the laser navigator to each point of the boundary, and may scan the surrounding environment five times per second, so as to generate a 3D panoramic digital map and initial positioning of the inside of the environment, and since the relative poses of the laser navigator 4 and the AGV cart 10 are known, the initial positioning information of the AGV cart 10 may be obtained.

The 3D camera 3 is arranged on the body 2, an image capable of representing depth information can be obtained according to the 3D camera 3, the image can be arranged on the fork arm side and used for collecting image information of the fork arm side of the AGV trolley 10, the posture of the fork arm on the body 2 can be seen from the image information, the image information can also represent the relative position of an object and the AGV trolley 10 in the image collection range, and important data bases can be provided for path optimization.

The onboard control system 5 is a device having data sampling, data processing, and control command generation, and may be an integrated single device or a combination of a plurality of devices. This vehicle control system 5 sets up on automobile body 2, and vehicle control system 5 is connected with laser navigation instrument 4 and 3D camera 3 electricity respectively, can drive AGV dolly 10 and remove, for example, this vehicle control system 5 can realize AGV dolly 10 mobility control through the action wheel direction of the rotational speed of drive AGV dolly 10 wheel.

When the AGV trolley 10 needs to place a material at an appointed position (such as the material position of the discharge hole of the blanking area shown in fig. 2), or the AGV trolley 10 needs to move the fork-taken material to an appointed position (such as the material storage position of the full material placing area B shown in fig. 2), or when the AGV trolley 10 needs to fork-take the fork-taken material at an appointed position to another appointed position, path planning needs to be relied on, the accuracy and rationality of the path planning directly affect the operation efficiency of the AGV trolley 10, and the difference between the forklift and other material transportation vehicles lies in that the direction and angle of the fork-arm fork-taken material also affect the stability of the fork-arm fork-taken material on the fork arm. In view of the above situation, the vehicle-mounted control system 5 provided in the embodiment of the present application may obtain the actual target position of the AGV 10 requiring material taking and placing based on the material taking and placing task, where the actual target position may be one or two (moving to the material outlet to take a material, and then placing the taken material in the target position of the storage area), but it should be noted that in the steps executed by the vehicle-mounted control system 5, the path planning and the correction process to different actual target positions are not interfered with each other.

And generating a traveling path of the AGV trolley 10 according to the determined actual target position, the digital map generated by the laser navigator 4 and the initial positioning information, and driving the AGV trolley 10 to move along the traveling path. If a plurality of actual target positions exist, determining the sequence of the AGV 10 needing to reach each actual target position according to the material taking and placing task and the material taking and placing sequence, and executing the following steps by the vehicle-mounted control system 5 according to the sequence:

in the moving process of the AGV, by using the real-time surrounding object conditions (the surrounding objects can also move in the moving process of the AGV 10) reflected by the image information acquired by the 3D camera 3 as the data basis for obstacle avoidance and path optimization, the vehicle-mounted control system 5 corrects the traveling path of the AGV 10 according to the image information acquired by the 3D camera 3 and drives the AGV to move to the specified position along the corrected traveling path, wherein the designated position is a determined position close to the actual target position, for example, a designated position is determined according to the actual target position determined by the material taking and placing task and the set distance value, for example, a specific position 2 meters away from the actual target position is a designated position, and based on the coordinate system of the polar coordinates, the position 2 meters away from the actual target position along the direction of the X axis of the coordinate system can be further appointed as the appointed position.

The reason is mainly that when the AGV trolley 10 is far away from the actual target position, the obstacle avoidance and the optimization of the moving path of the trolley are main, but when the AGV trolley 10 moves to the vicinity of the actual target position, the problem that the fork arms fork the object to be taken in the current direction can not cause the risk of falling of the material and the like or the problem that the utilization rate of the storage space is low due to the deviation between the falling position of the material and the actual target position after the material is put down needs to be considered. Therefore, after the AGV trolley 10 reaches the designated position, the deviation between the fork arm and the target fork arm position is calculated according to the image information of the side of the fork arm of the AGV trolley 10, wherein the target fork arm position is the fork arm position which meets the requirement of accurately taking and placing materials at the actual target position, for example, the fork arm position when the central axis of the fork arm is superposed with the central axis of the material is the target fork arm position.

After the deviation of the fork arm is obtained, the vehicle-mounted control system 5 adjusts the traveling path of the AGV 10 according to the deviation of the fork arm and the position of the target fork arm, and controls the AGV 10 to move to the actual target position for material taking and placing by adjusting the traveling path of the AGV 10 based on the adjustment. The vehicle-mounted control system 5 can also control the fork arm to execute material taking and placing actions at the target fork arm position.

The navigation system provided by the embodiment of the application is applied to a navigation type AGV, a laser navigator 4 can be used for scanning the space outline of the environment where the AGV trolley is located, a reference coordinate system, initial positioning information and a digital map are given, on the basis of initial positioning, a preliminary traveling path can be generated, the implementation process is fast, then in the moving process of the AGV trolley, an image shot by a 3D camera 3 is combined, the preliminary traveling path can be corrected under the requirement of avoiding collision, the deviation condition of the position which can be reached by continuing to travel along the current traveling path according to the actual target position reflected by the image information collected by the 3D camera 3 is obtained, the traveling path of the AGV trolley 10 is continuously corrected, the specified position close to the actual target position is reached, and the positioning accuracy obtained based on the image collected by the 3D camera 3 is high. After the designated position is reached, how to guarantee accurate taking and placing of the material is concerned, the influence of the posture of the fork arm on the effect of taking and placing the material is considered, at the moment, according to the image information of the AGV 10 fork arm side collected by the 3D camera 3, the deviation of the fork arm and the target fork arm position is calculated, the advancing path of the AGV 10 is continuously adjusted based on the obtained deviation, the AGV 10 is controlled to move to the actual target position and is controlled to take and place the material at the target fork arm position based on the adjusted advancing path, and the overall safety and stability are guaranteed while the execution efficiency of the AGV 10 is greatly improved. The navigation system that this application embodiment provided compares in reflector panel location and realizes the setting mode, can realize the space profile scanning through setting up laser navigator 4 that can dispose in a flexible way, and the setting mode is nimble more convenient.

On the other hand, compare in prior art, only adopt the mode of space profile direct positioning, through setting up 3D camera 3, acquire the real-time image in the AGV motion process, can accurately know the AGV dolly 10 motion process apart from the distance position of destination, around the barrier condition and the skew condition etc. of material frame 1 on the yoke, can realize keeping away the planning of barrier orbit and carrying out the unloading position correction on AGV dolly 10 according to the material frame 1 skew condition, the precision is high.

In one embodiment, in the moving process of the AGV, the implementation of the step that the vehicle-mounted control system 5 specifically corrects the travel path of the AGV 10 according to the image information acquired by the 3D camera 3 and drives the AGV to move to the specified position along the corrected travel path may be: the vehicle-mounted control system 5 firstly determines the theoretical target position of the AGV trolley 10 for taking and placing the materials; the theoretical target position is a final position reached by the AGV 10 moving along a travel path generated based on the material taking and placing task, the digital map generated by the laser navigator 4, and the initial positioning information, that is, an end point corresponding to a path generated at the beginning. In the process of moving the AGV trolley 10, the 3D camera 3 continuously acquires images of surrounding objects within the sampling range, and when an actual target position, for example, a discharge port falls within the shooting range of the 3D camera 3, it is considered that the positioning accuracy of the laser navigator 4 is not high and the AGV trolley 10 moves, and the situation of objects around the AGV trolley may also change, for example, in an environment, other AGV trolleys 10 are also moving or a worker is also moving, which is limited by the positioning accuracy of the laser navigator 4 and the variability of the surrounding environment, and thus the AGV trolley 10 continues to move along a path which is planned, and is difficult to reach the actual target position.

At this time, a digital map can be reconstructed by using the deviation between the actual target position and the theoretical target position reflected by the image information acquired by the 3D camera 3, the traveling path of the AGV 10 is continuously corrected according to the current position of the AGV 10 and the reconstructed digital map, the AGV 10 is driven to move to the specified position along the corrected traveling path, the deviation condition according to the yoke in the above embodiment is executed at the specified position, the traveling path is further optimized, the yoke can take and place materials at the target yoke position after the AGV 10 moves to the actual target position along the optimized path, the stability of the materials on the yoke can be ensured when the materials are taken, and the materials can be accurately dropped at the actual target position without exceeding the set range when the materials are placed. For example, the material is the spare part that bears in the rectangle material frame 1, and then the yoke can carry out the material in target yoke position and get and put, means when getting the material, can guarantee the stability of material frame 1 on the yoke, when transferring the material, can guarantee that material frame 1 is accurate to fall in the rectangle frame of actual target location, does not surpass the scope of this rectangle frame to improve the space utilization of material storage area.

The digital map reconstruction based on the image information acquired by the 3D camera 3 is also continued in accordance with the change in the surrounding environment reflected in the image information acquired by the 3D camera 3.

The criteria for reconstructing the digital map is to truly reflect the situation of the surrounding objects in the environment where the AGV cart 10 is located at the current time, so as to plan a modified path that does not collide with the surrounding objects and can reach the actual target position.

In one embodiment, as shown in FIG. 3, the deviation of the yoke from the target yoke position includes the angle of deviation α of the centerline of the AGV cart 10 from the actual target position and the distance from the current yoke center point Z to the path line LJX. The central axis of the AGV trolley 10 is a line passing through the central point Z of the yoke along the extending direction of the yoke. And the path line LJX of the AGV cart 10 to the actual destination location refers to the line of the AGV cart 10 from the current location to the actual destination location.

After the target position is reached, the vehicle-mounted control system 5 is used for obtaining the pose and the actual target position of the AGV 10 according to the image information of the fork arm side of the AGV 10, and then calculating the deviation angle between the central axis of the AGV 10 and the path line from the central axis to the actual target position and the distance from the central point of the current fork arm to the path line according to the pose and the actual target position of the AGV 10. At this time, in order to make the yoke perform material picking and placing at the actual target position in an ideal direction, the vehicle-mounted control system 5 adjusts the traveling path of the AGV 10 according to the deviation angle α between the central axis of the AGV 10 and the path line to the actual target position and the distance from the current yoke central point Z to the path line LJX, as shown in fig. 2, so that the central axis of the AGV 10 can move to the actual target position along the path line LJX to perform material picking and placing.

In one embodiment, the fork arm is used for taking and placing materials in the material frame 1, and the task of taking and placing materials may include a task of taking materials, may include only a task of placing materials, and may include tasks of taking materials and placing materials at the same time. The deviation between the positions of the fork arms and the target fork arms further comprises a deviation distance and a deviation angle between the position of the material frame 1 when the AGV trolley 10 moves to the actual target position under the current pose to pick and place materials and the position of the target material frame 1 for realizing accurate pick and place of the materials. After the designated position is reached, the vehicle-mounted control system can calculate the deviation distance and the deviation angle between the position of the material frame 1 when the AGV trolley 10 moves to the actual target position under the current position and the material is taken and placed and the position of the target material frame 1 when the AGV trolley 10 moves to the actual target position to take and place the material based on the image information of the fork arm side of the AGV trolley 10 and the position (the position and the posture of the fork arm compared with the body 2) of the current AGV trolley 10. The deviation distance from the position of the target material frame 1 for realizing accurate material taking and placing can refer to the deviation distance from the actual position of the material frame 1 to two coordinate axes of a coordinate system defined by horizontal and vertical central axes of the position of the target material frame 1. The deviation angle between the position of the target material frame 1 for realizing accurate material taking and placing can be a deviation angle between the position of the target material frame 1 and one of the central axes. When the material frame 1 is a rectangular material frame 1, the deviation angle from the position of the target material frame 1 for realizing accurate material taking and placing can refer to the deviation angle of the central axis perpendicular to the long edge of the position of the target material frame 1 (the position of the target material frame 1 shown in fig. 3 or the position of the material frame 1 to be placed, which is marked by a dashed frame shown in fig. 4).

According to the deviation condition of the fork arms and the deviation condition of the position of the target material frame 1, the moving direction of the AGV trolley 10 is adjusted, as shown in fig. 3, the central axis of the fork arms of the AGV trolley 10 is overlapped with the central axis of the material frame 1, the AGV trolley 10 is controlled to continuously travel to the actual target position in the direction, and the material frame 1 is taken and placed.

In one embodiment, the navigation system further comprises: and the obstacle detection device 6 is arranged on the periphery of the vehicle body 2 and used for acquiring obstacle information capable of reflecting the distance between the surrounding object and the vehicle body 2. The vehicle-mounted control system 5 is electrically connected with the obstacle detection device 6, and the vehicle-mounted control system 5 is used for correcting the traveling path of the AGV trolley 10 according to the image information and the obstacle information acquired by the 3D camera 3 in the moving process of the AGV trolley 10 and driving the AGV trolley 10 to move to the specified position along the corrected traveling path. In order to ensure the safety of the AGV trolley 10 in the moving process, besides the 3D camera 3 image acquisition, the system is used for early warning for the front barrier, in order to avoid collision between an object at the rear side of the trolley body and the AGV trolley 10, a barrier detection device 6 is further arranged on the periphery of the trolley body, data basis is provided for the vehicle-mounted control system 5 to judge whether collision risk exists or not through distance measurement, and the vehicle-mounted control system 5 is convenient to carry out barrier avoidance control according to the situation of the object around the trolley body reflected by the barrier information, and adjust the travelling path, for example, a vehicle comes behind the AGV trolley 10, at the moment, the vehicle travels along the original A travelling path and collides with the rear vehicle, at the moment, the travelling path can be planned to the two sides of the current travelling direction, and avoidance is carried out. Of course, the vehicle-mounted control system 5 can better ensure the safety of the AGV 10 in moving by synthesizing the obstacle information and the path optimization result obtained by the image information of the fork arm side.

In one embodiment, the fork arms are used for taking and placing materials in the material frame 1, the 3D camera 3 is disposed on the body 2 along a first direction, the first direction and a second direction form an acute angle, and the second direction is a direction perpendicular to the extending direction of the fork arms and is used for collecting image information of the side of the fork arms of the AGV cart 10. Arranged on the body 2 along a first direction, and because it is arranged at an acute angle with a second direction, i.e. with the direction perpendicular to the fork arms, therefore, the 3D camera 3 can not only shoot the image of the obstacle on the side of the fork arm when the AGV trolley 10 moves, but also shoot the relative position relation image of the material frame 1 in the acquisition area compared with the fork arm and the relative position image of the AGV trolley 10 relative to the destination, this information provides a very important basis for the AGV cart 10 to better perform the transfer tasks, the collected information provides very important judgment basis for the AGV trolley 10 to better execute the carrying task, the image collected by the 3D camera 3 is transmitted to the vehicle-mounted control system 5, and the vehicle-mounted control system 5 controls the moving track of the AGV trolley 10 and the fork depth and other processes of the fork arms when the material frame 1 is forked according to the relationship between the map information and the vehicle body parameters obtained after the laser navigator 4 carries out space scanning. Meanwhile, in the moving process of the AGV trolley 10, the obstacle detection device 6 arranged on the periphery of the body 2 is used for detecting obstacles around the body, and the vehicle-mounted control system 5 corrects the moving track of the AGV trolley 10 according to the obstacle condition fed back by the obstacle detection device 6.

Specifically, the working process of the navigation system will be described by taking the forging shop shown in fig. 2 as an example of an application environment. In the initial state, the AGV 10 is in the standby area A, waiting for scheduling, a forged part of the forging equipment falls into a material frame 1 of a blanking switching area D through a transmission device, after the material frame 1 is full, the material frame 1 for receiving materials is replaced, at the moment, the full material frame 1 needs to be transported to a full material placing area B, at the moment, the vehicle-mounted control system 5 controls the AGV 10 to move towards the blanking switching area D along a planned path, in the moving process, the deviation (if the whole system adopts polar coordinates) and the angular deviation of an actual target position (such as the actual position of the full material frame 1) and a theoretical target position (such as the discharge port of the blanking switching area D) shown in the figure 3 can be calculated through a laser scanner and camera vision, then a three-dimensional model is reconstructed to carry out positioning and track correction on the AGV 10, and parameters, the AGV 10 continuously optimize, the position and the track correction are carried out along with the movement of the AGV 10, And correcting the running track to realize accurate positioning. The path can be corrected automatically, and the positioning precision is high, stable and reliable.

The vehicle-mounted control system 5 can control the AGV trolley 10 to move to the specified position point P of the blanking switching area D, because the position point is close to the discharge port, the 3D camera 3 can clearly shoot images comprising the full material placing area B, the fork arm and the full material frame 1 on the fork arm, the position relation among the three can be fully reflected, after the vehicle-mounted control system 5 processes the images, the offset angle alpha between the actual position of the full material frame 1 of the 3D camera 3 and the target position corresponding to the current fork arm can be obtained, the driving wheel direction of the AGV trolley 10 is adjusted based on the correction, the vehicle-mounted control system 5 controls the fork arm to accurately fork the full material frame 1, then the AGV trolley 10 bears the full material frame 1 to move to the full material placing area B under the action of the vehicle-mounted control system 5, the specified position point P1 of the full material placing area B is reached first, and the control realization is based on the similar to the blanking area, according to the deviation angle beta between the rectangular area and the actual position of the material frame 1, the AGV trolley 10 can be controlled to accurately place the full material frame 1 in each rectangular area of the full material placing area B in the figure 4 according to the corresponding sequence of the figure. The full material frame 1 is accurately placed according to the array shown in the figure, so that the storage space is saved, and the delivery efficiency is improved.

Because the unloading switching area D usually can not place too many empty material frames 1, empty material frames 1 are generally placed in a designated area in a centralized manner, such as the empty material placing area C shown in FIG. 2, when the AGV 10 puts down the materials in the full material placing area B, the vehicle-mounted control system 5 can drive the AGV 10 to move to the empty material placing area C, similarly, images including the empty material placing area C, the fork arms and the empty material frames 1 are shot by the 3D camera 3, the vehicle-mounted control system 5 controls the AGV 10 to move to the position of one of the empty material frames 1, the fork arms are controlled to fork the empty material frame 1, and the empty material frame 1 is moved to the unloading switching area D from the empty material placing area C, so that the unloading area material frames 1 are switched.

As described in the implementation process, the system is applied to the navigation type AGV 10, and has a simpler detection mode and higher flexibility, so that the execution efficiency of the AGV 10 is greatly improved, and the overall safety and stability can be ensured. The schematic diagram of the electrical connection relationship of the navigation system and the electrical connection relationship between the navigation system and the devices in the workshop can be seen in fig. 5.

The laser navigator 4 uses laser as guidance, and can accurately position the position of the object to be navigated by using collimation and non-divergence of the laser so as to guide the direction in which the object to be navigated advances. The laser navigator 4 itself also has a data processing function and a path planning function, so in an implementable manner, the laser navigator 4 can give an initial planned path, and the onboard control system 5 corrects the planned path according to environmental conditions during the movement of the AGV cart 10, depending on the model selection and parameter configuration of each device.

Realize the high accuracy location in this application, leave the cooperation of laser navigation appearance 4 and 3D camera 3, 3D camera 3 indicates the camera device that has two camera lenses at least, except can acquireing two-dimensional image information, can also obtain the depth information, is convenient for carry out accurate location, and in the aspect of the specific selection, can select 3D camera 3, industry binocular camera and depth camera etc. according to application environment. For example, if the AGV cart 10 is used to transport smaller sized materials, an industrial-scale binocular camera with a higher pixel level may be used to ensure accuracy. The 3D camera 3 can be used for detecting the front object besides improving the positioning precision and correcting the track path, and compared with the mode of detecting and judging by utilizing a linear detection switch and a distance sensor in the current industry, the structure is simpler, the detection range and the distance are larger, the operability is more flexible, and the comprehensive and multi-angle safety guarantee is formed by the 3D camera and a safety scanner on the two sides of the vehicle body.

Obstacle detection device 6 can be laser safety scanner, detects the obstacle around the automobile body based on laser rangefinder principle, and obstacle detection device 6 can also be the radar detection device based on infrared ray, can also be obstacle detection device 6 etc. based on ultrasonic ranging technique, and is not exhaustive here, can realize that the device that the obstacle detected in the scope agreed around automobile body 2 all belongs to the implementable way in this application.

The 3D camera 3 is an image pickup device having at least two lenses, and in one embodiment, a binocular camera may be used to meet the positioning accuracy requirement and control the cost.

The position rationality that 3D camera 3 set up, to whether can gather the relative position relation of yoke and material frame 1 well, and whether can gather the image of fork truck place side environment object in many places has very important influence, in the experimentation, we find, when the contained angle of first direction and second direction is between 15 ~25, when 3D camera 3 sets up the contained angle of direction and yoke vertical direction and is in this scope promptly, the image that 3D camera 3 gathered can include material frame 1 on yoke and the yoke, also can gather the picture that can reflect the barrier condition around the side automobile body of yoke place. Not only can realize that fine the place ahead keeps away the barrier effect, also can be according to material frame 1 and treat the relative position relation between locating position, the yoke, adjust AGV dolly 10's yoke direction to carry out full material frame 1's accurate fork and get and put down.

In one of the possible embodiments, the 3D camera 3 may be fixed to the position on which the lifting door provided on the body 2 rests by a bracket, and the view of the 3D camera 3 for capturing images is not easily affected by the components of the AGV cart 10 itself.

Also, in some embodiments, in order to achieve double optimization in terms of obstacle avoidance effect and cost, the obstacle detection devices 6 may be two and symmetrically disposed on both sides of the vehicle body 2. Since the 3D camera 3 performs the acquisition of the image of the obstacle on the side where the yoke is located, the obstacle detecting device 6 may be disposed on the side away from the yoke, for example, at the position shown in fig. 1.

In one embodiment, the applicant finds that the included angle between the two obstacle detection devices 6 is 120 degrees, the obstacle scanning detection within the range of 360 degrees of the body of the AGV 10 can be realized after the included angle is overlapped with the image acquisition range of the 3D camera 3, the detection reliability is high, and therefore the safety reliability of the AGV 10 during movement is also improved.

In one embodiment, the AGV cart 10 includes an elevator gantry; the system further comprises a support, and the vehicle-mounted control system 5 is installed on one side, far away from the fork arm, of the lifting door frame through the support. The setting mode of the vehicle-mounted control system 5 can avoid the interference of the vehicle-mounted control system 5 to the laser navigator 4 and the 3D camera 3 in the working process on one hand, and on the other hand, the vehicle-mounted control system 5 drives wheels to rotate and needs to rely on an electric connection line to place the wheels on one side far away from the fork arm, so that the abrasion of the electric connection line in the working process can be avoided, and the service life of the equipment is prolonged.

The specific configuration of the on-board control system 5, which is a complex, different model AGV cart 10, differs in its control system components, and in one embodiment, the on-board control system 5 includes: a servo driver 51, a programmable logic controller 52 and a terminal 53, wherein the terminal 53 can be an industrial computer or other equipment with data processing and computing functions. The terminal 53 acquires raw data from the laser navigator 4 and the 3D camera 3, performs positioning calculation and image processing, and transmits the processing result to the Programmable Logic Controller 52 (PLC 21, Programmable Logic Controller) so that the Programmable Logic Controller 52 performs movement control of the AGV cart 10. The programmable logic controller 52 performs logic operation and time sequence control based on the calculation result of the terminal 53 to control the moving process of the AGV 10 through digital mode input/output, the servo driver 51 is electrically connected with the input end of the servo motor of the AGV 10, the output shaft of the servo motor is mechanically connected with the wheels of the AGV 10, and the steering control of the AGV is realized when the instruction output by the programmable logic controller 52 is executed.

In some embodiments, the programmable logic controller 52 may be selected from Mitsubishi Q series products.

The AGV cart 10 may include, in addition to the above components, an analog module, a relay, etc., and the installation location and the function of the AGV cart 10 may vary depending on the model of the AGV cart. However, the operation of these devices is controlled by the programmable logic controller 52, and the high/medium/low gear shift can be switched by the programmable logic controller 52 controlling the middle potentiometer 91 of the handle inside the cab of the AGV 10. The programmable logic controller 52 controls the operating state of the servo driver 51 to achieve forward and reverse control of the AGV car 10. The PLC 52 is manually operated in the cab to control the operation in the manual mode, and the PLC 52 can also automatically operate according to the specific situation of the AGV car 10 in the moving process. The manual and automatic driving modes can be switched to each other.

The programmable logic controller 52 may also integrate a power supply, a CPU, an input/output module, a positioning module, an AD/DA conversion module, and an ethernet module to provide operating voltage for data operation and transmission. The input/output module may include a digital I/O template and an analog I/O template.

In order to better ensure the obstacle avoidance effect, the navigation system further comprises: and the alarm is electrically connected with the vehicle-mounted control system 5. When the vehicle-mounted control system 5 judges that a barrier exists around according to the barrier information acquired by the barrier detection device 6 or when the barrier exists in front of the AGV trolley 10 according to the image acquired by the 3D camera 3, in order to avoid injury to workers around the trolley in the process of adjusting the AGV trolley 10, the vehicle-mounted control system 5 controls the alarm to work, and the specific implementation process can be realized by referring to the short-distance barrier detection and alarm during the reversing of the existing vehicle. The alarm can remind a driver to intervene and adjust the moving track of the AGV trolley 10 in time in a manual mode.

The alarm can be an audible and visual alarm to improve the alarm effect.

In one embodiment, the alarm comprises: and the buzzer is electrically connected with the vehicle-mounted control system 5. The vehicle-mounted control system 5 controls the buzzer to work, and can control the on-off state of an air switch connected in series on a power supply loop of the buzzer. This can also be achieved by providing a contactor. The alarm can also comprise a warning lamp 6, and the warning lamp 6 is also electrically connected with the vehicle-mounted control system 5. The switch of the warning lamp 6 can be realized by controlling the on-off of a series relay in a power supply loop of the warning lamp 6 through the vehicle-mounted control system 5. The warning lamp 6 can also be in a state of always working, and can twinkle to remind operators around the vehicle body to avoid.

The navigation system, in some embodiments, is provided with a power supply that provides operating power 7 to the various components of the system, for example, a DC power supply that may be DC12V, which may be integrated into a cavity within the body 2 to prevent damage. In some embodiments, the power supply has a power management circuit integrated therein for managing the power supplied to the navigation system.

In one embodiment, the navigation system may further include a touch screen 8, and the touch screen 8 may be connected to the programmable logic controller 52 through an RS232 serial port for displaying data. In some embodiments, the obstacle detection device 6 of the navigation system may be a check obstacle avoidance laser scanner, which can output deceleration and stop signals to the programmable logic controller 52.

In one embodiment, the navigation system further comprises an onboard wireless switch 9 connected to the programmable logic controller 52 and the terminal 53 via network cables, respectively. The terminal 53 may be an on-board computer in the AGV cart 10. The wireless switch 9 and the terminal 53 are connected through a network port, and can adopt a TCP/IP protocol for communication.

On the other hand, an embodiment of the present application further provides a navigation control method, as shown in fig. 6, which is applied to the navigation system, and the method includes:

s200: generating an AGV trolley 10 traveling path based on the material taking and placing task, the digital map generated by the laser navigator 4 and the initial positioning information, and driving the AGV trolley 10 to move along the traveling path; the material taking and placing task is a task for indicating the AGV trolley 10 to take and place materials at an actual target position;

s400: in the moving process of the AGV trolley 10, correcting the traveling path of the AGV trolley 10 according to the image information acquired by the 3D camera 3, and driving the AGV trolley 10 to move to an appointed position along the corrected traveling path, wherein the appointed position is a determined position close to an actual target position;

s600: after the target fork arm position is reached, calculating the deviation between the fork arm and the target fork arm position according to the image information of the AGV trolley 10 fork arm side, wherein the target fork arm position is the fork arm position meeting the requirement of accurately taking and placing materials at the actual target position;

s800: adjusting the traveling path of the AGV trolley 10 according to the deviation between the fork arm at the designated position and the target fork arm, controlling the AGV trolley 10 to move to the actual target position based on the adjusted traveling path, and controlling the fork arm to take and place materials at the target fork arm position.

Specifically, the terms and steps in the embodiment of the method may all be implemented as described in the above navigation system, and the method execution subject may be the vehicle-mounted control system 5. By executing the steps of the method, the positioning accuracy can be improved, the defects that in the prior art, when a carrying task linked with equipment is executed, the environmental adaptability is insufficient, the positioning accuracy is low and the like are overcome, and compared with a traditional travel switch monitoring mode, the method greatly simplifies an article detection mode at a fork arm and improves the overall safety of the AGV trolley 10.

In one embodiment, as shown in fig. 7 to 8, in the moving process of the AGV 10, the step S400 of correcting the travel path of the AGV 10 according to the image information collected by the 3D camera 3 and driving the AGV 10 to move to the designated position along the corrected travel path includes:

s420: determining a theoretical target position of the AGV trolley 10 for taking and placing materials; the theoretical target position is the final position reached by the AGV trolley 10 moving along a traveling path generated based on the material taking and placing task, the digital map generated by the laser navigator 4 and the initial positioning information;

s440: if the monitored image information acquired by the 3D camera 3 comprises an image of an actual target position, reconstructing a digital map according to the deviation between the actual target position and a theoretical target position reflected by the image information acquired by the 3D camera 3 in the moving process of the AGV trolley 10;

s460: and continuously correcting the traveling path of the AGV trolley 10 according to the current position of the AGV trolley 10 and the reconstructed digital map, and driving the AGV trolley 10 to move to the specified position along the corrected traveling path.

In one embodiment, as shown in FIG. 8, the deviation of the yoke from the target yoke position includes the deviation angle of the center axis of the AGV car 10 and the path line to the actual target position and the distance from the center point of the current yoke to the path line;

after the AGV reaches the designated position, the step S600 of calculating the deviation between the fork arm and the target fork arm position according to the image information of the AGV trolley 10 fork arm side comprises the following steps:

s620: after the AGV reaches the designated position, acquiring the pose and the actual target position of the AGV 10 according to the image information of the fork arm side of the AGV 10;

s640: and calculating the deviation angle of the central axis of the AGV trolley 10 and a path line from the central axis to the actual target position and the distance from the central point of the current fork arm to the path line according to the pose of the AGV trolley 10 and the actual target position.

In one embodiment, as shown in fig. 8, the fork arms are used for taking and placing materials in the material frame 1; the deviation between the fork arm and the target fork arm also comprises a deviation distance and a deviation angle between the position of the material frame 1 when the AGV trolley 10 moves to the actual target position under the current pose to pick and place the material and the position of the target material frame 1 for realizing accurate pick and place of the material;

after the AGV reaches the designated position, the step S600 of calculating the deviation between the fork arm and the target fork arm position according to the image information of the AGV trolley 10 fork arm side further comprises:

s660: based on the image information of the fork arm side of the AGV trolley 10 and the pose of the current AGV trolley 10, the deviation distance and the deviation angle between the position of the material frame 1 when the AGV trolley 10 moves to the actual target position under the current pose and the position of the target material frame 1 when the material is taken and placed and the material is accurately taken and placed are calculated.

Specifically, the terms and steps in the above embodiments can all be implemented with reference to the description in the above navigation system, and the advantageous effects described in the above navigation system embodiments can be correspondingly implemented by executing the above method steps. In addition, the navigation control method provided by the embodiment of the application can also comprise other steps executed by the vehicle-mounted control system 5 in the navigation system, and correspondingly realizes corresponding beneficial effects.

It should be understood that although the various steps in the flowcharts of fig. 6-8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Also, at least some of the steps in fig. 6-8 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps or stages.

The present application also provides a navigation control device, as shown in fig. 9, which is applied to the above navigation system, the navigation control device including:

the initial path obtaining module 200 is configured to generate a travel path of the AGV 10 based on the material taking and placing task, the digital map generated by the laser navigator 4, and the initial positioning information, and drive the AGV 10 to move along the travel path; the material taking and placing task is a task for indicating the AGV trolley 10 to take and place materials at an actual target position;

the traveling path correction module 400 is configured to correct a traveling path of the AGV 10 according to the image information acquired by the 3D camera 3 during the moving process of the AGV 10, and drive the AGV 10 to move to an assigned position along the corrected traveling path, where the assigned position is a determined position close to an actual target position;

the material taking and placing deviation determining module 600 is used for calculating the deviation between the fork arm and a target fork arm position according to the image information of the fork arm side of the AGV trolley 10 after the AGV trolley reaches the designated position, wherein the target fork arm position is the fork arm position which meets the requirement of accurate material taking and placing at the actual target position;

and a material taking and placing path optimizing and executing module 800, configured to adjust a traveling path of the AGV cart 10 according to a deviation between positions of the fork arm at the designated position and the target fork arm, control the AGV cart 10 to move to an actual target position based on the adjusted traveling path, and control the fork arm to take and place materials at the target fork arm position.

For the explanation of the terms in the embodiment of the device, reference is made to the description in the navigation system, and details are not repeated. Specifically, the traveling path of the AGV 10 is generated according to the material taking and placing task, the digital map generated by the laser navigator 4 and the initial positioning information through the modeling and control capability of the initial path obtaining module 200, and the AGV 10 is driven to move along the traveling path; the material taking and placing task is a task for indicating the AGV trolley 10 to take and place materials at an actual target position. Then, in the moving process of the AGV 10, the traveling path correction module 400 corrects the traveling path of the AGV 10 according to the image information acquired by the 3D camera 3, and drives the AGV 10 to move to an assigned position along the corrected traveling path, where the assigned position is a determined position close to the actual target position. After the target position is reached, the material taking and placing deviation determining module 600 calculates the deviation between the fork arm and the target fork arm position according to the image information of the side of the fork arm of the AGV trolley 10, wherein the target fork arm position is the fork arm position meeting the requirement of accurate material taking and placing at the actual target position. Finally, the material taking and placing path optimizing and executing module 800 adjusts the traveling path of the AGV 10 according to the deviation between the positions of the fork arm at the designated position and the target fork arm, controls the AGV 10 to move to the actual target position based on the adjusted traveling path, and controls the fork arm to take and place the material at the position of the target fork arm. The positioning accuracy is improved, the defects that in the prior art, when a carrying task linked with equipment is executed, the environmental adaptability is insufficient, the positioning accuracy is low and the like are overcome, and compared with a traditional travel switch monitoring mode, the detection mode of articles at the fork arms is greatly simplified, and the overall safety of the AGV trolley 10 carrying the virtual device is improved.

For the specific definition of the navigation control device, reference may be made to the above definition of the navigation control method, which is not described herein again. The modules in the navigation control device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation. In addition, it should be noted that the units and modules in the navigation control device provided in the embodiment of the present application may also execute other steps in the navigation control method, and the units and modules in the navigation control device provided in the embodiment of the present application may also execute other steps executed by the on-vehicle control system 5 in the navigation system.

In one embodiment, as shown in FIG. 9, the travel path modification module 400 includes:

a theoretical target position determining unit 420, configured to determine a theoretical target position of the AGV cart 10 for taking and placing the material; the theoretical target position is the final position reached by the AGV trolley 10 moving along a traveling path generated based on the material taking and placing task, the digital map generated by the laser navigator 4 and the initial positioning information;

the reconstructed map unit 440 is configured to reconstruct a digital map according to a deviation between an actual target position and a theoretical target position reflected by image information acquired by the 3D camera 3 in a moving process of the AGV 10 when it is monitored that the image information acquired by the 3D camera 3 includes an image of the actual target position;

and the reconstructed path correction unit 460 is configured to continuously correct the travel path of the AGV cart 10 according to the current position of the AGV cart 10 and the reconstructed digital map, and drive the AGV cart 10 to move to the specified position along the corrected travel path.

In one embodiment, as shown in FIG. 9, the deviation of the yoke from the target yoke position includes the deviation angle of the center axis of the AGV cart 10 from the path line to the actual target position and the distance from the center point of the current yoke to the path line;

the material taking and placing deviation determining module 600 includes:

a pose acquiring unit 620, configured to acquire a pose and an actual target position of the AGV 10 according to image information of the arm side of the AGV 10 after reaching the designated position;

and the fork arm deviation calculating unit 640 is used for calculating a deviation angle between the central axis of the AGV trolley 10 and a path line to the actual target position and a distance from the current fork arm central point to the path line according to the pose of the AGV trolley 10 and the actual target position.

In one embodiment, the fork arm is used for taking and placing the materials in the material frame 1; the deviation between the fork arm and the target fork arm also comprises a deviation distance and a deviation angle between the position of the material frame 1 when the AGV trolley 10 moves to the actual target position under the current pose to pick and place the material and the position of the target material frame 1 for realizing accurate pick and place of the material; as shown in fig. 9, the material taking and discharging deviation determining module 600 further includes:

and the material frame 1 deviation calculating unit 660 is configured to calculate a deviation distance and a deviation angle between the position of the material frame 1 when the material is picked and placed and the position of the target material frame 1 when the material is picked and placed based on the image information of the fork arm side of the AGV 10 and the position and posture of the current AGV 10, wherein the position and posture of the AGV 10 moves to an actual target position under the current position and posture.

The application also provides a material taking and placing control method which comprises the steps in any one of the navigation control method embodiments and further comprises the step of controlling the fork arm to take and place materials at the position of the target fork arm. Besides the beneficial effects of the navigation system embodiment, the material taking and placing control method can achieve the beneficial effects of accurately and quickly taking and placing materials when being executed.

In one embodiment, a controller is provided, which may be a terminal 53, the internal structure of which may be as shown in fig. 10. The controller includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the controller is configured to provide computational and control capabilities. The memory of the controller comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the controller is used for performing wired or wireless communication with an external terminal 53, and the wireless communication may be implemented by WIFI, an operator network, NFC (near field communication), or other technologies. The computer program is executed by a processor to realize a navigation control method or a material taking and placing control method. The display screen of the controller can be a liquid crystal display screen or an electronic ink display screen, and the input device of the controller can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on a shell of the controller, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the configuration shown in fig. 10 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the controller to which the present application is applied, and that a particular controller may include more or less components than those shown, or combine certain components, or have a different arrangement of components.

A controller comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of the navigation control method when executing the computer program, for example, may execute the steps of:

s600: after the target fork arm position is reached, calculating the deviation between the fork arm and the target fork arm position according to the image information of the AGV trolley 10 on the fork arm side, wherein the target fork arm position is the fork arm position meeting the requirement of accurately taking and placing materials at the actual target position;

An AGV trolley 10 comprises a trolley body 2, a fork arm with one end mechanically connected with the trolley body 2 and the navigation system.

The AGV dolly 10 that this application embodiment provided the idol and felt, because it has carried on above-mentioned navigation, adopt laser navigator 4 to carry out rough positioning based on space profile earlier, install 3D camera 3 and carry out the fine positioning again in the middle of AGV dolly 10 lift portal, judge the target location before article fork is got/is put, carry out the route correction according to fork truck current position again, improve positioning accuracy, constitute omnidirectionally with both sides obstacle detection device 6 simultaneously, multi-angle safety detection scope, when having solved among the prior art in the transport task of execution with the equipment linkage, there are not enough and the not high defect of positioning accuracy of environmental suitability, and compare in traditional travel switch monitoring mode, the fork arm department article detection mode has been simplified greatly, improve AGV dolly 10 overall security.

As described in the above embodiment for the working process of the AGV 10, the fetching and placing of the material frame 1 of the AGV 10 equipped with the navigation system needs to be matched with the working rhythm of the forging equipment, when the material frame 1 at the blanking port of the forging equipment is full, the AGV 10 is commanded to go to the blanking region to fetch material, and this matching is realized by the general dispatching monitoring computer 40 arranged in the workshop, which realizes the interaction with the navigation system by dispatching the fixed base station wireless switch 9 and the vehicle-mounted switch, so as to obtain the current position and the traveling path of the AGV 10, and in addition, the computer can obtain the processing process and the discharging condition of the forging equipment by being in communication connection with the workshop equipment control PLC21 (which can adopt TCP/IP protocol) (specifically, the running state parameters of the workshop equipment control PLC21 and the mobile platform 2222 of the forging equipment) and synthesize two pieces of information, reasonable scheduling of the AGV cart 10 and the forging apparatus may be achieved.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

s200: generating a traveling path of the AGV trolley 10 based on the material taking and placing task, the digital map generated by the laser navigator 4 and the initial positioning information, and driving the AGV trolley 10 to move along the traveling path; the material taking and placing task is a task for indicating the AGV trolley 10 to take and place materials at an actual target position;

It should be noted that, when being executed by the processor, the computer program further implements other steps of the foregoing method embodiments, which are not described herein again.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example.

In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic depictions of the above terms do not necessarily refer to the same embodiment or example.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The navigation system is characterized by being applied to an AGV, wherein the AGV comprises a vehicle body and a fork arm, and one end of the fork arm is mechanically connected with the vehicle body; the system comprises:

the laser navigator is arranged on the AGV body and used for emitting laser to scan the distance from the AGV body to surrounding objects and generating a digital map and initial positioning information of the environment where the AGV trolley is located according to data obtained after polar coordinate conversion is carried out on the distance;

the vehicle-mounted control system is arranged on the vehicle body, the vehicle-mounted control system is respectively electrically connected with the laser navigator and the 3D camera, and the vehicle-mounted control system is used for:

generating an AGV trolley traveling path based on the material taking and placing task, the digital map generated by the laser navigator and the initial positioning information, and driving the AGV trolley to move along the traveling path; the material taking and placing task is used for indicating the AGV to take and place materials at an actual target position;

in the moving process of the AGV trolley, correcting the moving path of the AGV trolley according to the image information collected by the 3D camera, and driving the AGV trolley to move to an appointed position along the corrected moving path, wherein the appointed position is a determined position close to the actual target position;

after the AGV reaches the designated position, calculating the deviation between the fork arm and a target fork arm position according to the image information of the AGV small vehicle fork arm side, wherein the target fork arm position is the fork arm position meeting the requirement of accurately taking and placing materials at the actual target position;

adjusting the traveling path of the AGV according to the deviation between the fork arm at the designated position and the target fork arm, and controlling the AGV to move to the actual target position for taking and placing materials based on the adjusted traveling path;

the deviation between the positions of the fork arms and the target fork arms comprises a deviation angle between a central axis of the AGV trolley and a path line to the actual target position and a distance between the current center point of the fork arms and the path line;

after the AGV arrives at the designated position, the vehicle-mounted control system is further used for obtaining the pose and the actual target position of the AGV according to the image information of the AGV trolley fork arm side; calculating a deviation angle between a central axis of the AGV trolley and a path line from the central axis to the actual target position and a distance from the current central point of the fork arm to the path line according to the pose of the AGV trolley and the actual target position;

the fork arm is used for picking and placing materials in the material frame; the deviation between the fork arm and the target fork arm also comprises a deviation distance and a deviation angle between a material frame position when the AGV trolley moves to the actual target position under the current pose to pick and place materials and a target material frame position for realizing accurate pick and place of the materials;

and the vehicle-mounted control system is also used for calculating the deviation distance and the deviation angle between the material frame position when the AGV moves to the actual target position for material taking and placing and the target material frame position for realizing accurate material taking and placing based on the image information of the AGV small fork arm side and the current pose of the AGV small car after reaching the designated position.

2. The navigation system of claim 1, wherein during the AGV movement, the on-board control system is further configured to determine a theoretical target position for the AGV to pick and place the material; the theoretical target position refers to a final position reached by the AGV moving along a traveling path generated based on a material taking and placing task, a digital map generated by the laser navigator and initial positioning information; when the fact that the image information collected by the 3D camera comprises the image of the actual target position is monitored, reconstructing a digital map according to the deviation between the actual target position and the theoretical target position reflected by the image information collected by the 3D camera; and then continuously correcting the travel path of the AGV according to the current position of the AGV and the reconstructed digital map, and driving the AGV to move to an appointed position along the corrected travel path.

3. The navigation system of any one of claims 1-2, further comprising:

and the vehicle-mounted control system is used for correcting the travel path of the AGV according to the image information acquired by the 3D camera and the obstacle information in the moving process of the AGV, and driving the AGV to move to an appointed position along the corrected travel path.

4. The navigation system of claim 1, wherein the fork arm is used for picking and placing materials in the material frame, the 3D camera is disposed on the vehicle body along a first direction, the first direction and a second direction form an acute angle, and the second direction is a direction perpendicular to an extending direction of the fork arm and is used for collecting image information of the AGV cart fork arm side.

5. The navigation system of claim 4, wherein the first direction is angled from 15 ° to 25 ° from the second direction.

6. The navigation system of claim 3, further comprising:

the alarm is electrically connected with the vehicle-mounted control system;

and the vehicle-mounted control system is used for controlling the alarm to execute an alarm action when judging that the distance between the AGV and the surrounding objects is smaller than a collision threshold value according to the obstacle information.

7. A navigation control method applied to the navigation system according to any one of claims 1 to 6, the method comprising:

after the AGV reaches the designated position, the step of calculating the deviation between the fork arm and the target fork arm according to the image information of the AGV small car fork arm side comprises the following steps:

after the AGV arrives at the designated position, acquiring the pose and the actual target position of the AGV according to the image information of the side of the fork arm of the AGV;

calculating a deviation angle between a central axis of the AGV trolley and a path line from the central axis to the actual target position and a distance from the current central point of the fork arm to the path line according to the pose of the AGV trolley and the actual target position;

after the AGV reaches the designated position, the step of calculating the deviation between the fork arm and the target fork arm position according to the image information of the AGV small car fork arm side further comprises the following steps:

based on the image information of AGV dolly fork arm side with current the position appearance of AGV dolly calculates the AGV dolly moves under current position appearance extremely the deviation distance and the deviation angle of the material frame position when actual target location carries out the material and gets and put the target material frame position that realizes that the material is accurate to be got and put.

8. The method of claim 7, wherein the step of correcting the AGV cart traveling path according to the image information collected by the 3D camera during the AGV cart moving process, and driving the AGV cart to move to the designated position along the corrected traveling path comprises:

determining a theoretical target position of the AGV for taking and placing the materials; the theoretical target position refers to a final position reached by the AGV moving along a traveling path generated based on a material taking and placing task, a digital map generated by the laser navigator and initial positioning information;

if the fact that the image information collected by the 3D camera comprises the image of the actual target position is monitored, reconstructing a digital map according to the deviation between the actual target position and the theoretical target position reflected by the image information collected by the 3D camera in the moving process of the AGV trolley;

and continuously correcting the travel path of the AGV according to the current position of the AGV and the reconstructed digital map, and driving the AGV to move to an appointed position along the corrected travel path.

9. A navigation control device applied to the navigation system according to any one of claims 1 to 6, the control device comprising:

the initial path acquisition module is used for generating an AGV trolley traveling path based on the material taking and placing task, the digital map generated by the laser navigator and the initial positioning information and driving the AGV trolley to move along the traveling path; the material taking and placing task is used for indicating the AGV to take and place materials at an actual target position;

the travel path correction module is used for correcting the travel path of the AGV according to the image information acquired by the 3D camera in the moving process of the AGV and driving the AGV to move to an appointed position along the corrected travel path, wherein the appointed position is a determined position close to the actual target position;

the material taking and placing deviation determining module is used for calculating the deviation between the fork arm and a target fork arm position according to the image information of the AGV small car fork arm side after the AGV small car fork arm side reaches the designated position, wherein the target fork arm position is the fork arm position meeting the requirement of accurate material taking and placing at the actual target position;

the material taking and placing path optimizing and executing module is used for adjusting the traveling path of the AGV according to the deviation between the fork arm at the designated position and the target fork arm position, and controlling the AGV to move to the actual target position for material taking and placing based on the adjusted traveling path;

the material taking and placing deviation determining module comprises:

the position and pose acquisition unit is used for acquiring the position and the actual target position of the AGV according to the image information of the side of the fork arm of the AGV trolley;

the fork arm deviation calculation unit is used for calculating a deviation angle between a central axis of the AGV trolley and a path line to the actual target position and a distance from a current center point of the fork arm to the path line according to the pose of the AGV trolley and the actual target position;

the fork arm is used for picking and placing materials in the material frame; the deviation between the positions of the fork arms and the target fork arms further comprises a deviation distance and a deviation angle between a material frame position when the AGV trolley moves to the actual target position under the current pose to pick and place materials and a target material frame position for realizing accurate pick and place of the materials;

the material taking and placing deviation determining module further comprises:

and the material frame deviation calculating unit is used for calculating the deviation distance and the deviation angle between the material frame position when the AGV moves to the actual target position to take and place the material and the target material frame position for realizing the accurate taking and placing of the material based on the image information of the AGV small car fork arm side and the current position and posture of the AGV small car.

10. A controller comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 7 to 8.

11. An AGV cart comprising a body, a yoke mechanically connected at one end to the body, and a navigation system according to any one of claims 1 to 6.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 7 to 8.