CN114216462B - Control system and method for AGV natural navigation and tail end positioning - Google Patents
Control system and method for AGV natural navigation and tail end positioning Download PDFInfo
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Abstract
The invention relates to a control system and a control method for AGV natural navigation and tail end positioning, wherein the AGV adopts a chassis of a differential wheel, adopts a Slam laser navigation and two-dimension code tail end positioning mode, the navigation and positioning method not only can greatly reduce cost, but also can realize positioning with the precision within 5mm, can realize automatic transfer, high-precision goods storage and taking, automatic charging functions and the like of the AGV, can be widely applied to the field of industrial sites, can also reduce control difficulty, and can improve the safety and stability of a logistics system.
Description
Technical Field
The invention relates to the field of logistics automation, in particular to a control system and a control method for AGV natural navigation and tail end positioning.
Background
The automatic guided vehicle AGV (Automated Guided Vehicle) based on the differential chassis is increasingly applied in a natural navigation mode, and can realize high-efficiency and flexible logistics transportation by matching with high-precision butt joint, because the natural navigation is performed by the field contour, the navigation positioning is performed with low precision, a plurality of high-precision occasions are not met, the AGVs in different industries have different requirements on the completion of tasks, the positioning precision is required to be less than 5mm in a plurality of occasions, the natural navigation, namely the Slam laser navigation operation precision is more than +/-10 mm, and the AGVs cannot meet the requirements of higher precision by adopting the natural navigation; in a high-precision docking scene, an AGV chassis mostly adopts an omni-directional chassis, such as a mode of a Mecanum wheel, a double steering wheel or a four steering wheel, but the cost of the chassis is higher, and a control algorithm is also complex. Therefore, a more suitable driving mode combining navigation and positioning needs to be studied to solve the technical problems existing at present.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and aims to provide a control system and a control method for AGV natural navigation and end positioning, which are used for solving the problems in the prior art.
The above technical object of the present invention is achieved by the following technical means.
A control system for natural navigation and end positioning of an AGV, the control system comprising: AGV and set up in two-dimensional code on ground, wherein
The AGV includes: a laser Slam navigation device, a visual sensor, a left wheel servo motor, a right wheel servo motor, a driver and a vehicle-mounted controller,
The laser Slam navigation device is used for building a map;
The visual sensor is used for scanning the two-dimensional code arranged on the ground;
the left and right wheel servo motor drivers are used for controlling the left and right wheel servo motors;
the laser Slam navigation device, the visual sensor and the left and right wheel servo motor drivers are all connected with the vehicle-mounted controller;
the vehicle-mounted controller is used for controlling the movement of the AGV.
In the aspects and any possible implementation manner as described above, there is further provided an implementation manner, where the laser Slam navigation device is communicatively connected to the vehicle-mounted controller through an ethernet.
In the aspect and any possible implementation manner described above, there is further provided an implementation manner, where the vision sensor is connected to the vehicle-mounted controller through an RS485 interface in a communication manner, and is used for scanning the two-dimensional code on the ground.
In the aspect and any possible implementation manner described above, there is further provided an implementation manner, where the two-dimensional code set on the ground includes two-dimensional codes placed at a starting position, a terminating position and an intermediate position of the running of the AGV.
The invention also provides a control method for AGV natural navigation and terminal positioning, which is realized by adopting the control system provided by the invention and comprises the following steps:
S1, converting a global absolute coordinate system of a two-dimensional code of a starting position;
S2, generating an adjusting track curve between a starting point on the two-dimensional code at the starting position and an end point on the two-dimensional code at the end position;
s3, automatically adjusting the AGV in the running process of the AGV to enable the AGV to always run along the track curve.
In the aspect and any possible implementation manner as described above, there is further provided an implementation manner, where the S1 specifically includes: establishing a map by adopting the laser Slam navigation device, wherein the global coordinate system is an absolute coordinate, the local coordinate system of the two-dimensional code of the initial position in the map is a relative coordinate, and the absolute coordinate of a center point O 1 of the two-dimensional code of the initial position in the global coordinate system is (X, Y, theta), wherein X and Y respectively represent the horizontal and vertical coordinate values of a center point O 1 in the global coordinate system, and theta represents the angle value of the center point O 1 in the global coordinate system; knowing that the relative coordinate of any point a on the two-dimensional code is (x 1,y1,a0), wherein x 1,y1 represents the relative coordinate value of any point a, and a 0 represents the angle value of any point a, the step of obtaining the absolute coordinate of any point a in the global coordinate system comprises:
(1) Solving the distance between any point A and the two-dimensional code center point O 1:
(2) Obtaining the angle of the center point O 1 of the two-dimensional code of the initial position in the absolute coordinate system
Θ=a 1+a2, where a 1 represents an angle value of the AGV in the relative coordinate system, and a 2 represents an included angle between the two-dimensional code of the starting position and the global coordinate system;
(3) The absolute coordinate X A、YA、DirA of the arbitrary point A is obtained:
XA＝X+O1A*cosθ
YA＝Y+O1A*sinθ
DirA＝a2-a0。
In the aspect and any possible implementation manner as described above, there is further provided an implementation manner, where the S2 specifically includes: automatically generating an adjusting track curve between any point A and a target end point in the two-dimensional code of the termination position; the arbitrary point A and the target end point are the starting point and the ending point of the regulating track curve, and two control points are arranged on the regulating track curve between the starting point and the ending point.
In the aspect and any possible implementation manner described above, there is further provided an implementation manner, in which the adjustment track curve is generated according to a third-order bezier curve and a curvature value, and the coordinates of the two control points are changed by changing the curvature value, so as to control a trend shape of the adjustment track curve.
In the aspect and any possible implementation manner as described above, there is further provided an implementation manner, where the S3 specifically includes: (1) The AGV judges whether the angle error exceeds the tolerance maximum value at any point A, and if so, the in-situ adjustment of the angle value is started at any point A;
(2) The AGV automatically controls according to the adjustment track curve, dead reckons after the AGV leaves the two-dimensional code at the initial position, and when the AGV meets the two-dimensional code at the intermediate position, the AGV carries out correction adjustment according to the left-right error and the angle error of the two-dimensional code, and after the AGV leaves the two-dimensional code at the intermediate position, the AGV continues to advance according to the corrected adjustment track curve until the target end point stops;
(3) After stopping near the target end point, the AGV adjusts according to the coordinates provided by the two-dimensional code of the target end point, stops after reaching the target end point, adjusts the in-situ angle, and completes the positioning of the tail end of the two-dimensional code;
(4) After the end positioning of the two-dimension code is completed, the AGV executes other business logic.
In the aspect and any possible implementation manner as described above, there is further provided an implementation manner, in the step (3), the adjustment includes adjustment of a front-rear position error, a left-right error, and/or an angle error.
The beneficial technical effects of the invention
According to the embodiment of the invention, through adopting the chassis of the differential wheel and adopting the modes of Slam laser navigation and two-dimension code terminal positioning, the navigation and positioning method not only can greatly reduce the cost, but also can realize positioning with the precision within 5mm, can realize automatic transfer, high-precision goods storage and taking, automatic charging functions and the like of the AGV, can be widely applied to the field of industrial sites, can also reduce the control difficulty, and can improve the safety and stability of a logistics system.
Drawings
Embodiments of the present invention are described in detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a block diagram of a control system in an embodiment of the invention;
FIG. 2 is a schematic diagram of a control method positioning in an embodiment of the invention;
FIG. 3 is a schematic diagram of a generated trajectory graph in an embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved by the present invention more apparent, the following detailed description will be given with reference to the accompanying drawings and specific examples, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1, the control system for natural navigation and end positioning of the automated guided vehicle AGV (AutomatedGuidedVehicle) comprises: AGV and set up in two-dimensional code on ground, wherein
The AGV includes: the device comprises a laser Slam navigation device, a visual sensor, a left and right wheel servo motor, a driver and a vehicle-mounted controller, wherein the laser Slam navigation device, the visual sensor, the left and right wheel servo driver and the vehicle-mounted controller are connected; the vehicle-mounted controller is communicated with the left and right wheel servo motor drivers through a CAN interface to control the speed of the servo motor.
The laser Slam navigation device acquires point cloud original data through an Ethernet interface, the slam navigation controller performs data processing and matches with the previous map building in real time, current positioning information is output, coordinate data of a global coordinate system is calculated, the coordinate data is communicated with the vehicle-mounted controller through a network port, central coordinate data of an AGV vehicle body is output, and refreshing frequency of the output of the navigation coordinate data is 25HZ; the visual sensor calculates relative coordinate data under a local coordinate system X1Y1 by scanning a two-dimensional code of the ground, and communicates with the AGV vehicle-mounted controller through an RS485 interface, wherein the refreshing frequency of the visual sensor is 25HZ; AGVs are provided with four wheels, wherein, the left and right wheels independently set up the motor. The vehicle-mounted controller is communicated with servo motor drivers of left and right wheels of the vehicle body through a CAN interface, speed control is carried out on the servo motor, and the differential wheel chassis CAN realize adjustment of the vehicle body posture through different speed control, wherein the adjustment comprises left and right deviation, angle deviation, position deviation and the like under a global coordinate system, meanwhile, the left and right wheel motor drivers feed back wheel speed information to the vehicle-mounted controller in real time, the refreshing frequency of the wheel speed information fed back to the vehicle-mounted controller by the motor drivers is 100HZ, and the vehicle-mounted controller carries out dead reckoning according to the left and right wheel feedback information to calculate mileage information in real time.
The AGV automatic operation mode is divided into two control modes, namely a navigation operation mode and a tail end positioning adjustment mode. After the dispatching system issues path information, the AGV carries out track tracking control according to the path, navigation is carried out in a Slam navigation and mileage dead reckoning fusion mode under a navigation operation mode, before the AGV reaches the tail end positioning, the AGV is switched into a two-dimension code and mileometer mode to carry out navigation, finally, after the AGV reaches the positioning end point, the AGV carries out in-situ adjustment according to a two-dimension code feedback value, and after the precision is met, the execution of a business logic task is carried out, wherein the mileometer is auxiliary data, and has a certain correction effect on SLAM navigation data.
According to the automatic navigation and positioning mode in the control method for the natural navigation and the tail end positioning of the AGV, automatic switching can be achieved, and considering that the differential wheel cannot adjust the gesture in situ omnidirectionally, a two-dimensional code is required to be placed at a starting position and a stopping position, as shown in fig. 2, the distance between the advanced adjusting point and the stopping point is determined according to the requirements of the size of a vehicle body, the butt joint distance and the like, the advanced adjusting point and the stopping point can be used as the center position point of the two-dimensional code at the starting position and the stopping position, the distance between the advanced adjusting point and the stopping point is determined according to the actual situation, the farther the distance is, the worse the adjusting precision is, the larger the error is, an adjusting curve can be generated through the adjusting point and the stopping point, and the adjusting point is equivalent to a starting point and a stopping point.
The laser Slam navigation device completes the establishment of an operation map operated in a factory building, the coordinate system is an absolute coordinate, the coordinate system of the two-dimensional code of the initial position in the map is a relative coordinate, and the relative coordinate of the two-dimensional code of the initial position is required to be converted into the absolute coordinate to be unified.
The first step: and converting the global absolute coordinate system by the two-dimensional code. All the two-dimensional codes need to be subjected to coordinate conversion, the coordinate conversion values can be stored in a table in advance, and when the visual sensor scans the two-dimensional codes, the converted coordinate values are read, and only after the AGV adjusts the points in advance, the AGV is switched into a positioning mode, so that the two-dimensional codes are effective.
Firstly, determining absolute coordinates (X, Y, theta) of a two-dimensional code center position O 1 of a starting position in a global coordinate system by using total station equipment, wherein X and Y respectively represent the abscissa and ordinate values of a center point O 1 in the global coordinate system, and theta represents the angle value of the center point O 1 in the global coordinate system; knowing that the relative coordinate of any point a on the two-dimensional code is (x 1,y1,a0), wherein x 1,y1 represents the relative coordinate value of any point a, and a 0 represents the angle value of any point a, the step of obtaining the absolute coordinate of any point a in the global coordinate system comprises:
(1) Solving the distance between any point A and the two-dimensional code center point O 1:
(2) Calculating an angle theta=a 1+a2 of a center point O 1 of the two-dimensional code of the initial position in the absolute coordinate system, wherein a 1 represents an angle value of the AGV in the relative coordinate system, and a 2 represents an included angle between the two-dimensional code of the initial position and the global coordinate system
(3) The absolute coordinate X A、YA、DirA of the arbitrary point A is obtained:
XA＝X+O1A*cosθ
YA＝Y+O1A*sinθ
DirA＝a2-a0。
And a second step of: and generating an adjusting track curve according to the point A and the end point E.
As shown in FIG. 3, the AGV stops at any point A on the two-dimensional code at the initial position, the target end point E is a known coordinate, and an adjustment track curve is automatically generated between the points A and E according to the third-order Bezier curve and the curvature value. The three-order Bezier curve takes any point A and last point E as a starting point and an ending point of an adjusting track curve, two control points B and C are arranged on the adjusting track curve between the starting point and the ending point, the two control points are used for controlling the trend shape of the adjusting track curve, coordinates of the control points B and C are changed through setting a curvature value to form an adjusting track curve to be walked by the AGV, at the moment, a navigation mode is switched into two-dimensional code+odometer navigation, the odometer is wheel speed information fed back by a left wheel and a right wheel in real time, and dead reckoning is carried out in software to obtain mileage information.
And a third step of: track curve automatic adjustment
(1) Judging whether the angle error exceeds the maximum tolerance value at any point A, and if so, starting to adjust the angle value in situ at any point A, wherein the angle error is the angle difference between the current angle direction of the center of the vehicle body and the direction to be adjusted;
(2) Automatically controlling according to the regulating track curve, performing dead reckoning by all the AGVs by means of the odometers after leaving the two-dimensional code at the initial position, correcting and regulating according to left and right errors and angle errors of the two-dimensional code after encountering the two-dimensional code at the intermediate position, and continuing to advance according to the regulating track curve after leaving the two-dimensional code at the intermediate position until the target end point E stops, wherein the left and right errors are left and right error values of the central coordinate value of the vehicle body and the center of the two-dimensional code;
(3) After stopping near point E, the AGV can scan the two-dimensional code at the termination position of point E, and accurate in-place adjustment is performed according to the coordinates provided by the two-dimensional code, namely error adjustment is performed on the two-dimensional code, wherein the error comprises front and back position errors, left and right errors and angle errors, stopping is performed after the position reaches the point E, in-situ angle adjustment is performed, and the terminal positioning is completed.
(4) And performing business logic execution, such as cargo storing and taking tasks, after the end positioning is completed.
While the foregoing description illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the claimed invention, either as a result of the foregoing teachings or as a result of knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (6)
1. The method is characterized by adopting a control system for automatic guided vehicle AGV natural navigation and end positioning, and the system comprises the following steps: AGVs with set up in the two-dimensional code on ground, wherein AGVs include: the system comprises a laser Slam navigation device, a visual sensor, a differential wheel chassis, a left wheel servo motor, a right wheel servo motor, a driver and a vehicle-mounted controller, wherein the laser Slam navigation device is used for building a map;
The visual sensor is used for scanning the two-dimensional code arranged on the ground, and the two-dimensional code arranged on the ground comprises a starting position, a termination position and a middle position for the AGV to travel;
the left and right wheel servo motor drivers are used for controlling the left and right wheel servo motors;
the laser Slam navigation device, the visual sensor and the left and right wheel servo motor drivers are all connected with the vehicle-mounted controller;
the vehicle-mounted controller is used for controlling the movement of the AGV;
the differential wheel chassis realizes the adjustment of the posture of the AGV body through different speed control;
the method comprises the following steps:
S1, performing global absolute coordinate system conversion on a two-dimensional code at a starting position, wherein the S1 specifically comprises the following steps: the laser Slam navigation device is adopted to establish a map, a global coordinate system is adopted as an absolute coordinate, a local coordinate system of the two-dimensional code of the initial position in the map is a relative coordinate, the absolute coordinate of a center point O 1 of the two-dimensional code of the initial position in the global coordinate system is determined to be (X, Y, theta), wherein X and Y respectively represent the horizontal and vertical coordinate values of the center point O 1 in the global coordinate system, and theta represents the angle value of the center point O 1 in the global coordinate system; the relative coordinate of any point a on the two-dimensional code of the initial position is (x 1,y1,a0), wherein x 1,y1 represents the relative coordinate value of any point a, and a 0 represents the angle value of any point a, and the step of obtaining the absolute coordinate of any point a in the global coordinate system comprises: (1) Solving the distance between any point A and the two-dimensional code center point O 1:
(2) Calculating an angle theta=a 1+a2 of a center point O 1 of the two-dimensional code of the initial position in the absolute coordinate system, wherein a 1 represents an angle value of the AGV in the relative coordinate system, and a 2 represents an included angle between the two-dimensional code of the initial position and the global coordinate system;
(3) The absolute coordinate X A、YA、DirA of the arbitrary point A is obtained:
XA＝X+O1A*cosθ
YA＝Y+O1A*sinθ
DirA＝a2-a0；
S2, generating an adjusting track curve between a starting point on the two-dimensional code at the starting position and an end point on the two-dimensional code at the end position;
s3, automatically adjusting the AGV in the running process of the AGV to enable the AGV to always run along the track curve, wherein the S3 specifically comprises the following steps:
(1) The AGV judges whether the angle error exceeds the maximum tolerance value at any point A on the two-dimensional code at the initial position, and if so, the angle value starts to be adjusted in situ at the any point A;
(2) The AGV automatically controls according to the adjustment track curve, dead reckons after the AGV leaves the two-dimensional code at the initial position, and when the AGV meets the two-dimensional code at the intermediate position, the AGV carries out correction adjustment according to the left-right error and the angle error of the two-dimensional code, and after the AGV leaves the two-dimensional code at the intermediate position, the AGV continues to advance according to the corrected adjustment track curve until the target end point stops;
(3) After stopping near the target end point, the AGV adjusts according to the coordinates provided by the two-dimensional code of the target end point, stops after reaching the target end point, adjusts the in-situ angle, and completes the positioning of the tail end of the two-dimensional code;
(4) After the end positioning of the two-dimension code is completed, the AGV executes other business logic.
2. The method of claim 1 wherein the laser Slam navigation device is communicatively coupled to the onboard controller via ethernet.
3. The method for controlling natural navigation and end positioning of an AGV according to claim 1, wherein the vision sensor is communicatively connected to the vehicle-mounted controller through an RS485 interface.
4. The control method for natural navigation and end positioning of an AGV according to claim 1, wherein S2 specifically comprises: automatically generating an adjusting track curve between any point A and a target end point in the two-dimensional code of the termination position; the arbitrary point A and the target end point are the starting point and the ending point of the regulating track curve, and two control points are arranged on the regulating track curve between the starting point and the ending point.
5. The control method of natural navigation and end positioning of an AGV according to claim 4 wherein the adjustment trajectory curve is generated according to a third-order bezier curve and a curvature value, and coordinates of the two control points are changed by changing the curvature value, thereby controlling a trend shape of the adjustment trajectory curve.
6. The method of claim 1 wherein in step (3) said adjustment includes adjustment of fore-aft position error, left-right error and/or angle error.
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