CN111736599A - AGV navigation obstacle avoidance system, method and equipment based on multiple laser radars - Google Patents
AGV navigation obstacle avoidance system, method and equipment based on multiple laser radars Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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Abstract
The invention discloses an AGV navigation obstacle avoidance system based on multiple laser radars, which comprises an obstacle information acquisition module, a main control module, a map construction module, a path planning module and an execution module.
Description
Technical Field
The invention relates to the field of intelligent AGV equipment, in particular to an AGV navigation obstacle avoidance system, method and equipment based on multiple laser radars.
Background
Common sensors in the obstacle avoidance scheme of the existing AGV equipment comprise a visual sensor, an infrared sensor and an ultrasonic sensor, and in practical application, the sensors can only be applied to obstacle avoidance under the low-speed condition.
Along with the continuous development of technique, the technique of AGV equipment is constantly promoting, and the speed of AGV equipment is more and more fast, and the direction of going simultaneously becomes multidirectional traveling from one-way traveling, keeps away the scope of barrier and develops to need carry out comprehensive detection to 360 degrees within ranges of periphery from one-way detection to the AGV goes the road condition complicacy, and if on the AGV loads goods traveling path if meet his obstacle, if can't in time accurate parking, can lead to sending the collision to lead to car and goods impaired simultaneously. Therefore, in practical application, the obstacle avoidance of the AGV device needs to improve the detection distance and precision, the measurement distance of the laser radar can reach several tens of meters or even hundreds of meters, the angular resolution is high, usually several tenths of degrees can be reached, the precision of distance measurement is also high, but the confidence of the measurement distance can be inversely proportional to the square of the amplitude of the received signal, therefore, the distance measurement of a black body or a remote object cannot be estimated as well as a bright object or a short-distance object, and therefore, the omnibearing obstacle avoidance scheme of the AGV device based on the laser radar is a technical problem which is not solved in the field.
Disclosure of Invention
In order to solve the problems of the existing AGV equipment, the invention mainly aims to provide an AGV navigation obstacle avoidance system based on multiple laser radars and a technical scheme for realizing omnibearing obstacle avoidance of the AGV equipment by using the obstacle avoidance system.
The utility model provides a many laser radar based AGV navigation keeps away barrier system, includes barrier information acquisition module, host system, map construction module, route planning module, execution module, wherein:
the obstacle information acquisition module: the system comprises a plurality of laser radar sensors, a controller and a display, wherein the laser radar sensors are used for acquiring data of the AGV equipment and calculating the data of the AGV equipment;
the main control module: the system comprises an execution module, a navigation obstacle avoidance module and an AGV information acquisition module, wherein the execution module is used for acquiring data of an AGV according to a user;
the map construction module: a two-dimensional grid map for constructing an environment;
the path planning module: calculating according to a path algorithm to obtain path information of subsequent movement of the AGV equipment;
the execution module: and controlling the AGV equipment to walk through a motor according to the moving instruction of the main control module.
Furthermore, the path algorithm comprises an a-way finding algorithm as a global path planning algorithm and a dynamic window method as a local path algorithm.
Further, the system further comprises a device positioning module, wherein the device positioning module is used for calculating the accurate pose of the AGV device in the map.
Furthermore, the equipment positioning module calculates the accurate positioning of the AGV equipment by using the data of the extended Kalman filter, the attitude sensor and the wheel encoder.
The invention also discloses a navigation obstacle avoidance method of the AGV equipment based on the multiple laser radars, which is used for the AGV navigation obstacle avoidance system of the multiple laser radars and comprises the following steps: constructing a two-dimensional map of the environment; reading data of the laser radar, and calculating to obtain dynamic information of the obstacles in the current 360-degree direction around the AGV equipment; calculating and acquiring path planning data around the AGV equipment, wherein the path planning data comprises global path planning data and local path planning data; and generating a walking instruction by using the path planning data and sending the walking instruction to the execution module.
Further, the dynamic information of the obstacles comprises information of a plurality of obstacles around the AGV equipment, including the size, the shape and the position of the obstacles;
further, the two-dimensional map is constructed by the steps of: reading data collected by an attitude sensor and recording the data as first data; reading data of the wheel type odometer and recording the data as second data; calculating by adopting an equipment positioning module according to the first data and the second data to obtain third data; reading data of the laser radar and recording the data as fourth data; and calculating to obtain a two-dimensional grid map by using a cartographer algorithm according to the third data and the fourth data.
Further, after the two-dimensional map of the environment is built, an autonomous positioning step is further included, and the autonomous positioning step specifically includes: continuously reading data of the obstacles detected by the laser radar, and recording the data as fifth data; obtaining a two-dimensional grid map constructed by the steps of claim 7, and recording the two-dimensional grid map as sixth data; reading data of the odometer and recording as seventh data; and obtaining the positioning data of the AGV equipment in the current environment by using an AMCL algorithm according to the fifth data, the sixth data and the seventh data.
In addition, the invention also discloses AGV equipment, which comprises: the AGV comprises an AGV equipment main body, a traveling unit arranged on the AGV equipment main body, a control unit arranged on the AGV equipment main body and a control unit arranged on the AGV equipment main body; the laser radar and the attitude sensor are arranged on the AGV equipment main body, and the laser radar is used for obtaining obstacle information of the surrounding environment of the AGV equipment; at least two laser radars are provided; locate STM32, motor, wheeled odometer in the AGV equipment main part: the STM32 is in communication connection with the motor, the motor is connected with the walking equipment, and the motor is provided with an encoder; an industrial personal computer: interior place in the AGV equipment main part, with laser radar gesture sensor, STM32 connect, the industrial computer includes: a processor and a memory, said memory being for an executable program of the above system, said processor being for performing the above method.
According to the technical scheme disclosed by the invention, the laser radar is combined with the attitude sensor, the detection distance and precision are improved, the obstacle avoidance range is used for comprehensively detecting the peripheral 360-degree range of the AGV equipment by using the scheme of multiple laser radars, the system, the method and the equipment disclosed by the invention can be used for realizing the intelligent transportation of the AGV equipment, the moving efficiency of the AGV is improved, the stability is high, the safety and the reliability are realized, and the practical value is good.
For a clearer and more complete understanding of the present invention, the following detailed description of the present invention will be provided in conjunction with the accompanying drawings for an AGV navigation obstacle avoidance system, method and device based on multiple laser radars.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic composition diagram of an AGV navigation obstacle avoidance system based on multiple laser radars according to an embodiment of the present invention.
FIG. 2 is a schematic processing flow diagram of an AGV navigation obstacle avoidance method based on multiple laser radars according to an embodiment of the present invention.
FIG. 3 is a schematic flowchart of a map building step in an embodiment of the AGV navigation obstacle avoidance system based on multiple laser radars according to the present invention.
FIG. 4 is a schematic flowchart illustrating the autonomous positioning step in the AGV navigation obstacle avoidance system based on multiple laser radars according to an embodiment of the present invention.
FIG. 5 is a schematic diagram of an AGV device based on multiple laser radars according to an embodiment of the present invention.
FIG. 6 is a schematic diagram of a two-dimensional grid map generated by the AGV navigation obstacle avoidance system based on multiple laser radars according to the present invention.
FIG. 7 is a schematic diagram of the laser radar position of the AGV device based on multiple laser radars according to the present invention.
Detailed Description
Embodiments and examples of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of an AGV navigation obstacle avoidance system based on multiple laser radars according to the present invention, and as shown in the drawing, in this embodiment, an AGV navigation obstacle avoidance system 10 includes a main control module 101, an execution module 102, an obstacle information acquisition module 103, an equipment positioning module 104, a map construction module 105, and a path planning module 106. The AGV equipment of this embodiment is used for AGV equipment, and the structure of the AGV equipment is shown in fig. 5.
The obstacle information obtaining module 103 is configured to calculate and obtain dynamic information of the obstacle in the current 360-degree direction around the AGV device according to the data of the plurality of laser radar sensors 504.
The main control module 101 is configured to generate a navigation obstacle avoidance instruction according to the data acquired by the obstacle information acquisition module 103, and control the walking unit 506 to walk through the execution module 102;
the map building module 105: referring to fig. 6, fig. 6 is a schematic diagram of a two-dimensional grid map generated by the AGV navigation obstacle avoidance system based on multiple laser radars, where a black position in the map is indicated as a position with an obstacle, a white position is indicated as a position without an obstacle, and a gray position is an unknown area.
The path planning module 106: and calculating and obtaining path information of the subsequent movement of the AGV equipment according to a path algorithm, wherein the path algorithm comprises using an A-routing algorithm as a global path planning algorithm and using DWA (dynamic window method) as a local path algorithm.
The execution module 102: and controlling the motor through STM32 according to the movement instruction of the main control module to control the walking of the walking unit 506 of the AGV equipment.
And the equipment positioning module 104 is used for calculating the accurate positioning of the AGV equipment by utilizing the data of the extended Kalman filter, the attitude sensor and the wheel encoder.
In the concrete implementation, there are at least two laser radar sensors of the AGV device, the two laser radars are arranged on the front side and the rear side of the AGV device body, the detection ranges of the laser radar sensors are 270 degrees, the specific installation mode please refer to fig. 7, as shown in fig. 7, the laser radar sensors 504-1 and 504-2 are arranged on the front side and the rear side of the AGV device main body 500, and 360 degrees of the surrounding environment can be detected by the laser radars by using the mode. Install the industrial computer as major control system in the automobile body, stm32 controls two motor motions as motion control's execution unit, and the motor drives the wheel motion to make AGV equipment all-round motion. The motor is provided with the encoder, and in the process of wheel motion, the angle that the motor rotated can be measured to the motion displacement of calculating the wheel, but under the circumstances that the road surface is uneven, ground skidding etc. exist, there is the error according to the mode that the encoder calculated AGV equipment position, so use the mode that the extended Kalman filter carries out IMU and wheel encoder integration to compensate this kind of error.
Referring to fig. 2, fig. 2 is a schematic processing flow diagram of an AGV navigation obstacle avoidance method based on multiple laser radars according to an embodiment of the present invention, which specifically includes steps S21-S24:
step S21: a two-dimensional map of the environment is constructed.
In this embodiment, a two-dimensional map of the entire environment needs to be constructed first, and please refer to the flowchart shown in fig. 3 for constructing the two-dimensional map of the environment.
Step S22: and reading data of the laser radar, and calculating to obtain dynamic information of the obstacles in the current 360-degree direction around the AGV equipment.
In this embodiment, two laser radars are oppositely arranged on two sides of the vehicle, and the detection ranges of the two radars are 270 degrees, so that 360 degrees of the surrounding environment can be detected by the laser radars.
Step S23: and calculating and acquiring path planning data around the AGV equipment, wherein the path planning data comprises global path planning data and local path planning data.
In the embodiment, an A-x algorithm is used as a global path planning algorithm, a DWA (dynamic window algorithm) is used as a local path algorithm, and the two radars can realize 360-degree omnibearing dynamic obstacle detection and obstacle avoidance, so that the AGV can navigate and avoid obstacles in a two-dimensional environment in real time.
Step S24: and generating a walking instruction by using the path planning data and sending the walking instruction to the execution module.
The path planning data, the industrial personal computer generates walking instructions, the two motors are controlled to move by taking the stm32 as an execution unit of motion control, and the motors drive the wheels to move, so that the AGV equipment moves in all directions.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a map building step in an AGV navigation obstacle avoidance system embodiment based on multiple laser radars according to the present invention, which specifically includes steps S31-S33:
step S31: and reading data collected by the attitude sensor and recording the data as first data.
Step S32: and reading data of the wheel type odometer and recording the data as second data.
Step S33: and calculating by adopting an equipment positioning module according to the first data and the second data to obtain third data.
In the step, the IMU data and the wheel type odometer data are fused by using an EKF (extended Kalman Filter), so that fused odometer data, namely more accurate robot pose data, are obtained and recorded as third data.
Step S34: and reading the data of the laser radar and recording the data as fourth data.
Step S35: and calculating to obtain a two-dimensional grid map by using a cartographer algorithm according to the third data and the fourth data.
In this step, a cartographer algorithm is used to calculate according to the radar data and the odometer data obtained after fusion, so as to obtain two-dimensional grid map data of the environment, and complete the construction of the map.
Referring to fig. 4, fig. 4 is a schematic flowchart illustrating the autonomous positioning step in the AGV navigation obstacle avoidance system embodiment based on multiple laser radars, specifically including steps S41-S44:
step S41: and continuously reading the data of the obstacles detected by the laser radar and recording the data as fifth data.
Step S42: a two-dimensional grid map constructed using the steps of claim 7 is obtained, denoted as sixth data.
Step S43: and reading the data of the odometer and recording as seventh data.
Step S44: and obtaining the positioning data of the AGV equipment in the current environment by using an AMCL algorithm (adaptive Monte Carlo positioning algorithm) according to the fifth data, the sixth data and the seventh data.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an AGV device 50 based on multiple laser radars according to an embodiment of the present invention, which specifically includes: the AGV device comprises an AGV device main body 500, an industrial personal computer 501, an STM 32502, an attitude sensor 503, a laser radar sensor 504, a wheel type odometer 505, a walking unit 506 and a motor 507.
In this embodiment, two lidar sensors 504 are provided, and an STM32 acts as a motion control actuator to directly control the motor with the encoder. Two laser radar install the both sides at the car relatively, and the detection range of two radars is 270 degrees, uses this kind of mode can make 360 degrees all can be detected by laser radar of surrounding environment. Install the industrial computer as major control system in the automobile body, stm32 controls two motor motions as motion control's actuating mechanism, and the motor drives the wheel motion to make the all-round motion of robot. The motor is provided with an encoder, and the rotating angle of the motor can be measured in the process of the movement of the wheel, so that the movement displacement of the wheel is calculated. The attitude sensor 503 is composed of an IMU inertial sensor.
In this embodiment, the industrial personal computer 501 is built in the AGV device main body 500, and is connected to the laser radar sensor 504 and the attitude sensor 503; the industrial computer comprises: the AGV comprises at least one processor and a memory, wherein the memory is in communication connection with the at least one processor in the industrial personal computer, and the memory stores instructions which can be executed by the at least one processor in the industrial personal computer, and the instructions are executed by the at least one processor, so that the industrial personal computer can execute any one embodiment of the AGV navigation obstacle avoidance system or method based on the multi-laser radar.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a AGV navigation keeps away barrier system based on many laser radar, characterized by: including barrier information acquisition module, host system, map construction module, route planning module, execution module, wherein: the obstacle information acquisition module: the system comprises a plurality of laser radar sensors, a controller and a display, wherein the laser radar sensors are used for acquiring data of the AGV equipment and calculating the data of the AGV equipment; the main control module: the system comprises an execution module, a navigation obstacle avoidance module and an AGV information acquisition module, wherein the execution module is used for acquiring data of an AGV according to a user; the map construction module: a two-dimensional grid map for constructing an environment; the path planning module: calculating according to a path algorithm to obtain path information of subsequent movement of the AGV equipment; the execution module: and controlling the AGV equipment to walk through a motor according to the moving instruction of the main control module.
2. The system of claim 1 wherein said path algorithm includes using an AGV routing algorithm as a global path planning algorithm and a dynamic windowing algorithm as a local path algorithm.
3. The system of claim 1 further comprising a device location module for calculating the exact pose of the AGV device in the map.
4. The system of claim 1 wherein the device positioning module uses data from the extended kalman filter and attitude sensors and wheel encoders to calculate the exact position of the AGV device.
5. A navigation obstacle avoidance method of AGV equipment based on multiple laser radars is used for an AGV navigation obstacle avoidance system of the multiple laser radars, and is characterized by comprising the following steps: constructing a two-dimensional map of the environment; reading data of the laser radar, and calculating to obtain dynamic information of the obstacles in the current 360-degree direction around the AGV equipment; calculating and acquiring path planning data around the AGV equipment, wherein the path planning data comprises global path planning data and local path planning data; and generating a walking instruction by using the path planning data and sending the walking instruction to the execution module.
6. The method of claim 6 wherein said dynamic information of the obstacles includes information about a plurality of obstacles about the periphery of the AGV installation including the size, shape and location of the obstacles.
7. The method of claim 6, wherein the step of constructing the two-dimensional map comprises: reading data collected by an attitude sensor and recording the data as first data; reading data of the wheel type odometer and recording the data as second data; calculating by adopting an equipment positioning module according to the first data and the second data to obtain third data; reading data of the laser radar and recording the data as fourth data; and calculating to obtain a two-dimensional grid map by using a cartographer algorithm according to the third data and the fourth data.
8. The method as claimed in claim 7, wherein the step of autonomous positioning is further included after the two-dimensional map of the environment is built, and the step of autonomous positioning specifically includes: continuously reading data of the obstacles detected by the laser radar, and recording the data as fifth data; obtaining a two-dimensional grid map, and recording the two-dimensional grid map as sixth data; reading data of the odometer and recording as seventh data; and obtaining the positioning data of the AGV equipment in the current environment by using an AMCL algorithm according to the fifth data, the sixth data and the seventh data.
9. An AGV apparatus, comprising: the AGV comprises an AGV equipment main body, a traveling unit arranged on the AGV equipment main body, a control unit arranged on the AGV equipment main body and a control unit arranged on the AGV equipment main body; the laser radar and the attitude sensor are arranged on the AGV equipment main body, and the laser radar is used for obtaining obstacle information of the surrounding environment of the AGV equipment; at least two laser radars are provided; locate STM32, motor, wheeled odometer in the AGV equipment main part: the STM32 is in communication connection with the motor, the motor is connected with the walking equipment, and the motor is provided with an encoder; an industrial personal computer: interior place in the AGV equipment main part, with laser radar gesture sensor, STM32 connect, the industrial computer includes: a processor and a memory, the memory for storing an executable program of the system of any one of claims 1-4, the processor for performing the method of any one of claims 5-8.
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