CN106249736B - Automatic guided vehicle based on magnetic nail map navigation - Google Patents
Automatic guided vehicle based on magnetic nail map navigation Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention relates to an automatic guided vehicle based on magnetic nail map navigation, which comprises a vehicle-mounted sensor, an actuator and a controller, wherein the vehicle-mounted sensor comprises a magnetic scale, an inertial navigation module, a milemeter and an RFID reader-writer, and the actuator comprises a steering system, a braking system and a power system; the guidance vehicle runs on a lane embedded with magnetic nails, the coordinates of the magnetic nails on the road are known and stored in a controller, and the controller measures the relative positions of the magnetic nails on the lane and the vehicle body through a magnetic scale to realize high-precision positioning of the vehicle; the inertial navigation module and the odometer are utilized, data fusion is carried out by combining the coordinate information of the magnetic nail, the controller can accurately and continuously calculate the absolute position of the vehicle, and high-precision positioning and autonomous driving are realized through the actuator. The device is suitable for various automatic workshops and logistics warehouses, can effectively reduce manpower and improve the workshop operation efficiency, and has the advantages of high positioning precision, good control performance, lower cost, high reliability and low maintenance cost.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an automatic guided vehicle based on magnetic nail map navigation.
Background
Unmanned technology has rapidly developed in recent years. The development of various sensor technologies such as GPS, radar, laser radar, camera and the like provides a plurality of ways for the environment perception of the unmanned vehicle. Various electric control actuators (such as a power steering system, an EPS system and the like) are widely applied to automobiles, and the electric control actuators provide strong support for driving of future unmanned automobiles instead of human beings. Due to the complexity of the actual driving environment and the perfection of traffic regulations, the unmanned vehicle cannot be applied and popularized in a real sense in a short time. However, the unmanned vehicle technology can be applied to local traffic scenes with simple environment.
An automated guided vehicle is an autonomous vehicle driven on a fixed route, and navigation of the vehicle is achieved by placing markers on the route that can be used to locate or measure heading and path deviations. The automatic guided vehicle has wide application prospect in manufacturing industry, logistics industry and automatic storage. The automatic guided vehicle can effectively reduce labor cost, improve efficiency and facilitate management and unified scheduling.
Through retrieval, chinese patent application CN201410538378.7 discloses a magnetic navigation unmanned vehicle based on a road curvature map and a method for establishing a map thereof, including a vehicle body, a magnetic nail detection sensor, a dead reckoning sensor, a steering wheel angle sensor, a power drive system, a steering drive system, a control computer storing a road curvature map, and a magnetic nail for defining an expected travel track. … …
However, the magnetic navigation method based on the curvature map has certain limitations, and although the method optimizes the mapping efficiency, the map accuracy is reduced, and the method is only suitable for running on a single track, and the application scene is simple. The curvature map cannot express the magnetic nail relationship among multiple lanes, so that the actions such as changing cars and changing lanes cannot be completed. And navigation without absolute positioning is not beneficial to visualization, and unified scheduling and management of a multi-vehicle system are also not beneficial.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the automatic guided vehicle based on magnetic nail map navigation, which has the characteristics of high positioning precision, good control performance and low maintenance cost.
In order to achieve the above object, the present invention provides an automated guided vehicle based on magnetic nail map navigation, comprising: the automobile body with set up on-vehicle sensor, executor, the controller on the automobile body to and with the supporting magnetic nail lane of on-vehicle sensor, wherein:
the vehicle-mounted sensor comprises a magnetic scale, an inertial navigation module, a speedometer and an RFID reader-writer; the magnetic scale, the inertial navigation module, the odometer, the RFID reader-writer and the actuator are all connected with the controller;
the magnetic scale is arranged on the vehicle and used for measuring the magnetic field intensity of the magnetic nail lane in the vertical direction and feeding back the magnetic field intensity to the controller;
the inertial navigation module is used for measuring the angular speed of the vehicle body perpendicular to the ground and feeding back the angular speed to the controller;
the odometer is used for measuring the speed and the mileage of the vehicle body and feeding back to the controller;
the RFID reader-writer is used for reading RFID label information and feeding back the RFID label information to the controller;
the controller measures the relative position of the magnetic nail on the magnetic nail lane and the vehicle body through the magnetic ruler, calculates the coordinate of the vehicle body as the measured value of the Kalman filter through the relative position, the vehicle body position and the coordinate information of the magnetic nail calculated by the controller at the previous moment, calculates the estimated value of the Kalman filter by combining the data of the inertial navigation module and the odometer with the vehicle motion model, then calculates the coordinate and the position and pose information of the vehicle body through the fusion of the measured value and the estimated value, and finally realizes the navigation control of the vehicle body through the actuator.
Preferably, the RFID tag stores adjacent magnetic pin information for initial positioning and verification of the automated guided vehicle.
Preferably, the magnetic scale is composed of a plurality of magnetic field sensing chips which are arranged in a straight line, when the magnetic scale passes above the magnetic nail lane, the magnetic nail is identified by the magnetic scale, each magnetic field sensing chip on the magnetic scale feeds back different magnetic field strengths, and the magnitude of the magnetic field strengths reflects the distance between the magnetic field sensing chip and the magnetic nail; the transverse position of the magnetic nail relative to the magnetic scale and the magnetic pole direction are accurately judged by fitting the measured results of the plurality of magnetic sensing chips with a physical model of the magnetic field distribution of the magnetic nail.
Preferably, the magnetic scale is installed at the front end of the vehicle body and is symmetrical to the central axis of the vehicle body.
Preferably, the magnetic pin lane is composed of magnetic pins spaced equidistantly, wherein the coordinates and magnetic pole orientation (N-pole up or S-pole up) of each magnetic pin are known and constitute a magnetic pin map stored in the controller.
More preferably, the orientation of the magnetic nail magnetic poles on the magnetic nail lane on the straight track is opposite to that of the curved track, and the change of the magnetic poles is used for verifying when the automatic guided vehicle bends in and out, so that the magnetic nail missing detection is avoided.
More preferably, the magnetic nail lane is not limited to a linear road composed of a single row of magnetic nails, but also includes a grid-shaped planar space composed of magnetic nails.
Preferably, the actuator comprises a steering system, a braking system and a power system, wherein:
the steering system and the braking system convert the analog signals output by the controller into corresponding steering wheel angles and braking force, so that the direction control and the braking control of the controller on the vehicle body are realized; the controller outputs analog signals to a power system to control the power output by the vehicle body, and speed closed-loop control is realized by combining speed signals returned by the odometer.
Preferably, the controller judges the relative position of the vehicle body and the magnetic nail according to the transverse deviation information of the magnetic nail measured by the magnetic scale and the vehicle body pose calculated by the controller, and then reversely deduces the coordinate of the vehicle body according to the coordinate information of the magnetic nail to realize the updating of the positioning.
More preferably, the controller judges the transverse deviation and the course deviation of the vehicle body and the lane center according to the calculated vehicle body coordinate and pose, and controls the steering system to correct according to the transverse deviation and the course deviation so that the vehicle body runs in the lane center; when the controller detects that the polarity of the magnetic nail changes, the controller checks the magnetic nail count, and positioning errors caused by false detection of the magnetic nail under small probability are avoided.
More preferably, when the controller does not receive the detection result of the magnetic nail given by the magnetic scale, the dead reckoning of the vehicle body pose is carried out by combining the angular speed given by the inertial navigation module and the mileage given by the odometer with the vehicle kinematics model; and when a magnetic nail detection result given by the magnetic scale is received, Kalman filtering is performed by combining the position and the attitude of the dead reckoning vehicle body and a vehicle body position measurement value provided according to the magnetic nail information, and accurate vehicle body coordinates and position and attitude are calculated.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention belongs to a magnetic navigation scheme, and has the advantages of magnetic navigation, namely compared with laser navigation and visual navigation, the magnetic navigation method has the advantages of difficulty in environmental interference, stability, reliability and low cost.
2. Compared with the existing magnetic navigation schemes (tape navigation, electromagnetic navigation), the invention has a plurality of advantages; the tape is subject to wear in the shop and the sensor must be located low from the ground. The magnetic scale can reach the installation height of 5cm-30cm according to the size of the selected magnetic nail, and the adjustable range is large. The electromagnetic navigation line is troublesome to lay, high in maintenance cost and difficult to change. The magnetic nails of the present invention are relatively simple to lay and require little maintenance.
3. Compared with the existing magnetic navigation technology, the magnetic nail map navigation has the advantages of being capable of providing more information: the magnetic nail navigation can provide more positioning information for the vehicle through the change of the polarity of the magnetic nails and the change of the distance between the adjacent magnetic nails; the absolute position of the vehicle can be corrected in real time, and calibration marks are provided for stop stations, branches and the like without other auxiliary positioning or marking measures.
4. Compared with the existing magnetic navigation technology, the control performance based on magnetic nail map navigation is more excellent: because the map information and the positioning result of the magnetic nail are known, the control of the automatic guided vehicle is no longer limited to realize transverse control based on transverse deviation below the magnetic sensor, but has a prospect. The control performance of turning and fixed-point parking of the automatic guided vehicle can be greatly improved.
5. Compared with the magnetic navigation technology based on the curvature map, the map information based on the magnetic nail map navigation is more accurate and abundant: the curvature map stores the position relation of adjacent magnetic nails, and the error of the map is accumulated along with the number of the magnetic nails calculated forwards. The magnetic nail map of the invention stores the absolute positions and the polarity orientations of all the magnetic nails, so that the magnetic nail map has higher precision compared with a curvature map. Because the phase absolute position information of each magnetic nail is known, the map is more flexible and expandable, and the control of single-vehicle vehicles and the dispatching of multiple vehicles are more facilitated.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
figure 1 is a schematic diagram of one embodiment of the present invention,
in the figure: the system comprises a vehicle body 1, a controller 2, a milemeter 3, an inertial navigation module 4, a steering system 5, a braking system 6, an RFID reader-writer 7, a magnetic scale 8, a magnetic nail 9, an RFID tag 10 and a power system 11;
FIG. 2 is a flow chart of a control process according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a grid magnetic pin map according to an embodiment of the present invention,
in the figure: the automatic guided vehicle 100, the magnetic nail 9 and the RFID tag 10.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, an automated guided vehicle based on magnetic nail map navigation 100 includes: the vehicle-mounted sensor comprises a speedometer 3, an inertial navigation module 4, an RFID reader-writer 7 and a magnetic scale 8, and the actuator comprises a steering system 5, a braking system 6 and a power system. The controller 2 is connected with the vehicle-mounted sensor and the actuator; the magnetic nail lane is composed of magnetic nails 9 with equal intervals, and a straight lane and a curved lane are distinguished by magnetic poles; the coordinates of each magnetic pin 9 have been measured and constitute a magnetic pin map that is saved into the controller 2. RFID labels 10 are arranged at two ends of the straight channel, and the serial numbers of the adjacent magnetic nails 9 are stored in the RFID labels 10.
In this embodiment, the steering system 5 and the braking system 6 mounted on the vehicle body 1 are used to convert the analog signal output by the controller 2 into a corresponding steering wheel angle and a corresponding braking force, so as to realize the direction control and the braking control of the controller 2 on the vehicle body 1, and the controller 2 outputs the analog signal to the power system to control the power output by the vehicle body 1.
In this embodiment, the magnetic scale 8 is composed of a plurality of magnetic field sensing chips arranged in a straight line, and is used for measuring the magnetic field strength in the vertical direction and feeding back the magnetic field strength to the controller 2;
the magnetic scale 8 can detect the transverse position of the magnetic nails 9 of the magnetic nail lane relative to the vehicle body 1: when the magnetic scale 8 passes above the magnetic nail 9, each magnetic field sensing chip on the magnetic scale 8 feeds back different magnetic field strengths, and the magnitude of the magnetic field strengths reflects the distance between the magnetic field sensor and the magnetic nail 9; by fitting the measurement results of the magnetic field sensing chips with the physical model of the magnetic field distribution of the magnetic nail 9, the transverse position of the magnetic nail 9 relative to the magnetic scale 8 and the magnetic pole direction can be accurately judged.
In a preferred embodiment, the magnetic scale 8 is mounted at the front end of the vehicle body 1, is symmetrical to the central axis of the vehicle body 1, and is about 20cm from the ground.
In this embodiment, the inertial navigation module 4 is configured to measure an angular velocity of the vehicle body 1 perpendicular to the ground, and feed back the angular velocity to the controller 2.
In this embodiment, the odometer 3 is used for measuring the speed and the mileage of the vehicle body 1 and feeding back the speed and the mileage to the controller 2.
In this embodiment, the RFID reader 7 is configured to read information of the RFID tag 10 and feed the information back to the controller 2; the RFID tag 10 stores the adjacent magnetic pin 9 information for initial positioning and verification of the automated guided vehicle 100.
In this embodiment, the magnetic pin lane is composed of magnetic pins 9 spaced at equal intervals, wherein the coordinates and magnetic pole orientation (N-pole up or S-pole up) of each magnetic pin 9 are known and constitute a magnetic pin map stored in the controller 2.
In a preferred embodiment, the magnetic nail lane is not limited to a linear road composed of a single row of magnetic nails 9 (as shown in fig. 1), but also includes a grid-shaped planar space composed of magnetic nails 9 (as shown in fig. 3).
As shown in fig. 2, the controller 2 according to this embodiment controls the following processes:
when the controller 2 of the automated guided vehicle 100 is first started, the initial position of the vehicle body 1 is unknown; the controller 2 assumes that the automated guided vehicle 100 is traveling slowly on an infinitely distant magnetic nail straight track; the controller 2 controls a steering system to enable the automatic guided vehicle 100 to run in a magnetic nail lane through the transverse deviation of the magnetic nail 9 returned by the magnetic scale 8;
when the RFID reader-writer 7 reads the RFID tag 10 for the first time, the number of the adjacent magnetic nail 9 is determined according to the returned information, and the corresponding coordinate is loaded according to the number, so that the initial coordinate and the pose of the automatic guided vehicle 100 are initialized;
in each control period of the controller 2, if the measurement result of the magnetic nail 9 given by the magnetic scale 8 is not received, the controller 2 calculates the dead reckoning of the vehicle pose by combining the angular velocity given by the inertial navigation module 4 and the mileage given by the odometer 3 with the vehicle kinematics model; when receiving the measurement result of the magnetic nail 9 given by the magnetic ruler 8, the controller 2 calculates the detected coordinate of the magnetic nail 9 according to the coordinate and the pose of the vehicle, matches the most possible number of the magnetic nail 9 of the detected magnetic nail 9 with the data in the magnetic nail map, loads the corresponding magnetic nail 9 information into the controller 2, and reversely pushes the vehicle coordinate according to the high-precision coordinate information; the controller 2 combines the vehicle pose of dead reckoning with the vehicle coordinate value provided according to the measurement result of the magnetic nail 9 to carry out Kalman filtering, and more accurate vehicle pose is calculated; because the measurement result of the magnetic nail 9 is high-precision and fixed, the calculation of the vehicle pose by the controller 2 cannot gradually diverge along with the error of each sensor, and higher precision is always kept, and the positioning error can generally reach below 1 cm;
when the controller 2 receives the change of the magnetic pole of the magnetic nail 9 returned by the magnetic ruler 8, the controller 2 combines the stored magnetic pole information of the magnetic nail 9 to correct the magnetic nail number so as to prevent the positioning error caused by the false detection of the magnetic nail 9;
when the controller 2 receives the signal received by the RFID reader-writer 7, the controller 2 corrects the number of the magnetic nail 9 by combining the stored magnetic pole information of the magnetic nail 9 so as to prevent the positioning error caused by the false detection of the magnetic nail 9;
and the controller 2 executes a corresponding navigation task according to the positioning result.
The invention has the advantages of being not easy to be interfered by the environment, stable and reliable and low in cost; the adjustable range of the magnetic scale is large; the magnetic nails are relatively simple to lay and almost do not need maintenance; more positioning and checking information is provided for the vehicle through the change of the polarity of the magnetic nails and the change of the distance between the adjacent magnetic nails; the automatic guided vehicle can calculate the accurate position in real time, brings convenience to control due to reliable foresight, and improves the steering and fixed-point parking performance of the automatic guided vehicle.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (8)
1. An automated guided vehicle based on magnetic pin map navigation, comprising: the automobile body with set up on-vehicle sensor, executor, the controller on the automobile body to and with the supporting magnetic nail lane of on-vehicle sensor, wherein:
the vehicle-mounted sensor comprises a magnetic scale, an inertial navigation module, a speedometer and an RFID reader-writer; the magnetic scale, the inertial navigation module, the odometer, the RFID reader-writer and the actuator are all connected with the controller;
the magnetic scale is arranged on the vehicle and used for measuring the magnetic field intensity of the magnetic nail lane in the vertical direction and feeding back the magnetic field intensity to the controller; the magnetic nail lane is composed of magnetic nails at equal intervals, a straight road and a bent road are distinguished by magnetic poles, RFID tags are arranged at two ends of the straight road, and serial numbers of adjacent magnetic nails are stored in the RFID tags; wherein the coordinates and magnetic pole orientation of each magnetic pin are known and constitute a magnetic pin map stored in the controller;
the inertial navigation module is used for measuring the angular speed of the vehicle body perpendicular to the ground and feeding back the angular speed to the controller;
the odometer is used for measuring the speed and the mileage of the vehicle body and feeding back to the controller;
the RFID reader-writer is used for reading RFID label information and feeding back the RFID label information to the controller; the RFID reader-writer reads RFID label information arranged on a straight track of the magnetic nail lane and is used for initial positioning and verification of the automatic guided vehicle; when the RFID reader-writer reads the RFID label for the first time, determining the number of the adjacent magnetic nails through the returned information, loading corresponding coordinates according to the number, and initializing the initial coordinates and the pose of the automatic guided vehicle;
the controller measures the relative position of the magnetic nail on the magnetic nail lane and the vehicle body through the magnetic ruler, calculates the coordinate of the vehicle body as the measured value of the Kalman filter through the relative position, the vehicle body position and the coordinate information of the magnetic nail calculated by the controller at the previous moment, calculates the estimated value of the Kalman filter by combining the data of the inertial navigation module and the odometer with the vehicle motion model, then calculates the coordinate and the position and pose information of the vehicle body through the fusion of the measured value and the estimated value, and finally realizes the navigation control of the vehicle body through the actuator.
2. The automated guided vehicle based on magnetic nail map navigation of claim 1, wherein the magnetic scale is composed of a plurality of magnetic field sensing chips which are arranged in a straight line, when the magnetic scale passes above the magnetic nail lane, the magnetic nail is identified by the magnetic scale, each magnetic field sensing chip on the magnetic scale feeds back different magnetic field intensity, and the magnitude of the magnetic field intensity reflects the distance between the magnetic field sensing chip and the magnetic nail; the transverse deviation and the magnetic pole direction of the magnetic nail relative to the magnetic scale are accurately judged by fitting the measured results of the magnetic sensing chips and the physical model of the magnetic distribution of the magnetic nail.
3. The automated guided vehicle based on magnetic nail map navigation of claim 2, wherein the magnetic scale is installed at the front end of the vehicle body and is symmetrical with the central axis of the vehicle body.
4. The automated guided vehicle based on magnetic nail map navigation of claim 1, wherein the magnetic nail lane is a linear road composed of a single row of magnetic nails or a latticed plane space composed of magnetic nails.
5. The automated guided vehicle based on magnetic nail map navigation of claim 1, wherein the actuator comprises a steering system, a braking system and a power system, wherein:
the steering system and the braking system convert the analog signals output by the controller into corresponding steering wheel angles and braking force, so that the direction control and the braking control of the vehicle by the controller are realized; the controller outputs analog signals to a power system to control the power output by the vehicle body, and speed closed-loop control is realized by combining speed signals returned by the odometer.
6. The automated guided vehicle based on magnetic nail map navigation according to any one of claims 1-5, characterized in that the controller judges the relative position of the vehicle body and the magnetic nail according to the lateral deviation information of the magnetic nail measured by the magnetic scale and the vehicle body pose calculated by the controller, and then reversely deduces the coordinates of the vehicle body according to the coordinate information of the magnetic nail to realize the update of the positioning.
7. The automated guided vehicle based on magnetic nail map navigation of claim 6, characterized in that the controller judges the lateral deviation and the course deviation of the vehicle body and the lane center according to the calculated vehicle body coordinates and pose, and controls the steering system to correct according to the lateral deviation and the course deviation so that the vehicle body runs in the lane center; when the controller detects that the polarity of the magnetic nail changes, the controller checks the magnetic nail count, and positioning errors caused by false detection of the magnetic nail under small probability are avoided.
8. The automated guided vehicle based on magnetic nail map navigation of claim 6, characterized in that the controller performs dead reckoning of the vehicle body pose by combining the angular velocity given by the inertial navigation module and the mileage given by the odometer with the vehicle kinematics model when the magnetic nail information given by the magnetic scale is not received; when the magnetic nail information given by the magnetic ruler is received, Kalman filtering is carried out by combining the position and the attitude of the dead reckoning vehicle body and the vehicle body position measurement value provided according to the magnetic nail information, and accurate vehicle body coordinates and position and attitude are calculated.
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