CN114216462A - AGV natural navigation and end positioning control system and method - Google Patents
AGV natural navigation and end positioning control system and method Download PDFInfo
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Abstract
The invention relates to a control system and a method for AGV natural navigation and end positioning, wherein the AGV adopts a chassis of a differential wheel and adopts a way of Slam laser navigation and two-dimensional code end 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 the functions of AGV automatic transfer, high-precision goods storage and fetching, automatic charging and the like, can be widely applied to the field of industrial fields, can also reduce the control difficulty and 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 system and a method for controlling AGV natural navigation and end positioning.
Background
Based on a differential chassis Automatic Guided Vehicle (AGV), a natural navigation mode is increasingly applied, high-efficiency and flexible logistics transfer can be realized by matching with high-precision butt joint, the precision is not high due to the fact that natural navigation carries out navigation and positioning through a field contour, and the high-precision situation cannot be met, the AGV in different industry fields has different tasks, the positioning precision is required to be less than 5mm in many situations, the natural navigation, namely the Slam laser navigation operation precision is more than +/-10 mm, and the AGV cannot meet the requirement of higher precision due to the fact that natural navigation is adopted; in a high-precision docking scene, an omnidirectional chassis, such as a mecanum wheel, a double-rudder wheel or a four-rudder wheel mode, is mostly adopted for the AGV chassis, but the chassis is high in cost and a control algorithm is complex. Therefore, a more suitable driving method combining navigation and positioning is urgently needed to be researched to solve the existing technical problems.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned problems in the prior art, and the present invention is directed to providing a system and method for controlling natural navigation and end positioning of an AGV.
The above technical object of the present invention will be achieved by the following technical solutions.
A control system for natural navigation and end positioning of an AGV, the control system comprising: AGV and set up in the two-dimensional code on ground, wherein
The AGV includes: a laser Slam navigation device, a vision sensor, 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 establishing a map;
the vision 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 vision sensor and the left and right wheel servo motor drivers are all connected with the vehicle-mounted controller;
the on-board controller is used for controlling the movement of the AGV.
The above aspect and any possible implementation further provide an implementation that the laser Slam navigation device is communicatively connected to the onboard controller through an ethernet.
The above aspect and any possible implementation manner further provide an implementation manner, where the vision sensor is in communication connection with the vehicle-mounted controller through an RS485 interface, and is configured to scan the two-dimensional code on the ground.
In accordance with the above aspect and any one of the possible implementations, there is further provided an implementation in which the two-dimensional code disposed on the ground includes two-dimensional codes disposed at the start position, the end position, and the middle position of the travel of the AGV.
The invention also provides a control method for AGV natural navigation and end positioning, which is realized by adopting the control system provided by the invention and comprises the following steps:
s1, converting a two-dimensional code of an initial position into a global absolute coordinate system;
s2, generating an adjusting track curve between a starting point on the two-dimensional code at the starting position and a terminal point on the two-dimensional code at the ending position;
and S3, automatically adjusting in the running process of the AGV to enable the AGV to travel along the track curve all the time.
As to the above-mentioned aspect and any possible implementation manner, there is further provided an implementation manner, where the S1 specifically includes: establishing a map by using the laser Slam navigation device, determining a central point O of a two-dimensional code of an initial position by using a global coordinate system as an absolute coordinate and a local coordinate system of the two-dimensional code of the initial position in the map as a relative coordinate, and determining the central point O of the two-dimensional code of the initial position1The absolute coordinates in the global coordinate system are (X, Y, theta), where X and Y represent the center point O, respectively1The horizontal and vertical coordinate values in the global coordinate system, theta represents the center point O1An angle value in a global coordinate system; the relative coordinate of any point A on the two-dimensional code is known as (x)1，y1，a0) Wherein x is1，y1Relative coordinate value, a, representing an arbitrary point A0Representing the angle value of any point A, and then the absolute value of the point A under the global coordinate systemThe coordinate solving step comprises the following steps:
(1) calculating the distance between the arbitrary point A and the two-dimensional code central point O1The distance of (c):
(2) obtaining the center point O of the two-dimensional code of the initial position1Angles in the absolute coordinate system
θ＝a1+a2Wherein a is1Representing the value of the angle of the AGV in a relative coordinate system, a2Representing an included angle between the two-dimensional code of the initial position and a global coordinate system;
(3) calculating the absolute coordinate X of the arbitrary point AA、YA、DirA：
XA＝X+O1A*cosθ
YA＝Y+O1A*sinθ
DirA＝a2-a0。
As to the above-mentioned aspect and any possible implementation manner, there is further provided an implementation manner, where the S2 specifically includes: automatically generating an adjusting track curve between the arbitrary point A and a target terminal point in the two-dimensional code of the terminal position; the arbitrary point A and the target end point are the starting point and the ending point of the adjusting track curve, and two control points are arranged on the adjusting track curve between the starting point and the ending point.
The above aspect and any possible implementation further provide an implementation in which the adjustment trajectory curve is generated from a third order bezier curve and a curvature value, and the two control point coordinates are changed by changing the curvature value, thereby controlling a trend shape of the adjustment trajectory curve.
As to the above-mentioned aspect and any possible implementation manner, there is further provided an implementation manner, where the S3 specifically includes: (1) the AGV judges whether the angle error exceeds the maximum tolerance value at any point A, and if so, the AGV starts to adjust the angle value in situ at any point A;
(2) the AGV automatically controls according to the adjusting track curve, dead reckoning is carried out after the AGV leaves the two-dimensional code at the initial position, deviation correction adjustment is carried out according to the left-right error and the angle error of the two-dimensional code after the two-dimensional code at the middle position is met, and the two-dimensional code leaving the middle position continues to move forward according to the adjusted track curve after deviation correction until the target terminal point stops;
(3) after stopping near the target terminal, the AGV adjusts according to the coordinates provided by the two-dimensional code where the target terminal is located, stops after reaching the target terminal, adjusts the in-situ angle, and completes the positioning of the two-dimensional code terminal;
(4) and after the two-dimension code end positioning is completed, the AGV executes other service logics.
The above aspect and any possible implementation further provide an implementation, wherein in the step (3), the adjusting includes adjusting a front-back position error, a left-right error, and/or an angle error.
The invention has the beneficial technical effects
According to the embodiment provided by the invention, by adopting the chassis of the differential wheel and adopting the way of Slam laser navigation and two-dimensional code end 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 access, automatic charging function and the like of an AGV, can be widely applied to the field of industrial fields, can also reduce the control difficulty, and can improve the safety and stability of a logistics system.
Drawings
Embodiments of the invention are described in detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a block diagram of the control system components in an embodiment of the present 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 trajectory profile generated in an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description is made 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, an automated guided vehicle agv (automated guided vehicle) natural navigation and end positioning control system includes: AGV and set up in the two-dimensional code on ground, wherein
The AGV includes: the system comprises a laser Slam navigation device, a vision sensor, a left wheel servo motor, a right wheel servo motor, a driver and a vehicle-mounted controller, wherein the laser Slam navigation device, the vision sensor, the left wheel servo driver, the right wheel servo driver and the vehicle-mounted controller are connected; the vehicle-mounted controller communicates 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, a Slam navigation controller performs data processing to match with a previous map in real time, current positioning information is output, coordinate data of a global coordinate system are calculated, the laser Slam navigation device is communicated with a vehicle-mounted controller through a network port, center coordinate data of an AGV body are output, and the refreshing frequency of navigation coordinate data output is 25 HZ; the vision sensor is used for solving relative coordinate data under a local coordinate system X1Y1 by scanning two-dimensional codes on the ground, and is communicated with an AGV vehicle-mounted controller through an RS485 interface, and the refreshing frequency of the vision sensor is 25 HZ; the AGV is provided with four wheels, wherein, control the wheel and independently set up the motor. The vehicle-mounted controller communicates with servo motor drivers of left and right wheels of a vehicle body through a CAN interface to control the speed of the servo motors, the differential wheel chassis CAN realize the adjustment of the posture of the vehicle body through different speed control, including left and right deviation, angle deviation, position deviation and the like under a global coordinate system, meanwhile, the motor drivers of the left and right wheels 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 feedback information of the left and right wheels to calculate mileage information in real time.
The AGV automatic operation mode is divided into two control modes, namely a navigation operation mode and an end positioning adjustment mode. After a dispatching system issues path information, an AGV carries out track tracking control according to the path, navigation is carried out in a navigation running mode by adopting a SLAM navigation and mileage dead reckoning fusion mode, before the terminal positioning is reached, the AGV is switched into a two-dimensional code and odometer mode for navigation, finally, after a positioning terminal point is reached, in-situ adjustment is carried out according to a two-dimensional code feedback value, the execution of business logic tasks after precision is met, wherein the odometer is auxiliary data, and the SLAM navigation data has a certain correction effect.
In the method for controlling the natural navigation and the tail end positioning of the AGV, the automatic navigation and positioning mode can be automatically switched, and the attitude of the differential wheel cannot be adjusted in situ in an all-round manner, so that a two-dimensional code needs to be placed at the starting position and the ending 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 central position point of the two-dimensional code at the starting position and the ending position, the distance between the advanced adjusting point and the stopping point is determined according to the actual conditions, the farther the distance is, the poorer the stopping accuracy 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 the starting point and the stopping point is equivalent to the terminal point.
The laser Slam navigation device completes the establishment of an operation map running in a factory building, a coordinate system is an absolute coordinate, a coordinate system of a two-dimensional code of an initial position in the map is a relative coordinate, the two-dimensional code relative coordinate of the initial position needs to be converted into an absolute coordinate, and the coordinates are unified.
The first step is as follows: and the two-dimensional code carries out global absolute coordinate system conversion. All the two-dimensional codes need to be subjected to coordinate conversion, coordinate conversion values can be stored in a table in advance, the converted coordinate values are read when the vision sensor scans the two-dimensional codes, only after the AGV adjusts points in advance, the positioning mode is switched, and the two-dimensional codes are effective.
Firstly, determining a two-dimensional code center position O of an initial position by adopting total station equipment1Absolute coordinates (X, Y, theta) in a global coordinate system, where X and Y represent the center point O, respectively1Under the global coordinate systemAnd theta represents the center point O1An angle value in a global coordinate system; the relative coordinate of any point A on the two-dimensional code is known as (x)1，y1，a0) Wherein x is1，y1Relative coordinate value, a, representing an arbitrary point A0And representing the angle value of any point a, the step of obtaining the absolute coordinate of any point a in the global coordinate system includes:
(1) calculating the distance between the arbitrary point A and the two-dimensional code central point O1The distance of (c):
(2) obtaining the center point O of the two-dimensional code of the initial position1Angle theta ═ a in the absolute coordinate system1+a2Wherein a is1Representing the value of the angle of the AGV in a relative coordinate system, a2The included angle between the two-dimensional code representing the initial position and the global coordinate system
(3) Calculating the absolute coordinate X of the arbitrary point AA、YA、DirA：
XA＝X+O1A*cosθ
YA＝Y+O1A*sinθ
DirA＝a2-a0。
The second step is that: 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 start position two-dimensional code, the target end point E is a known coordinate, and an adjustment trajectory curve is automatically generated between the point a and the point E according to a third-order bezier curve and a curvature value. The three-order Bezier curve takes any point A and the 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 by setting a curvature value to form the adjusting track curve which is to be walked by the AGV, at the moment, the navigation mode is switched to 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 the mileage information is calculated in software through position calculation.
The third step: automatic regulation of trajectory curve
(1) Judging whether the angle error exceeds the maximum tolerance value at any point A, and if the angle error exceeds the maximum tolerance value at any point A, starting to adjust the angle value in situ, 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 adjusting track curve, carrying out dead reckoning by totally depending on a odometer after the AGV leaves the two-dimensional code at the initial position, carrying out deviation correction adjustment according to left and right errors and angle errors of the two-dimensional code when the AGV meets the two-dimensional code at the middle position, continuing to advance according to the adjusting track curve after the two-dimensional code leaves the middle position until a target terminal point E stops, wherein the left and right errors are left and right error values of a coordinate value of the center of the vehicle body and the center of the two-dimensional code;
(3) after stopping near the point E, the AGV can scan the two-dimensional code of the termination position where the point E is located, and carries out accurate in-place adjustment according to the coordinates provided by the two-dimensional code, namely carries out error adjustment on the two-dimensional code, wherein the error adjustment comprises front and back position errors, left and right errors and angle errors, and the AGV stops after reaching the point E to carry out in-place angle adjustment to complete end positioning.
(4) And after the positioning of the tail end is finished, performing business logic execution, such as goods storing and taking tasks.
While the foregoing description shows and describes several preferred embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the invention as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A control system for natural navigation and end positioning of an automated guided vehicle AGV, the control system comprising: AGV and set up in the two-dimensional code on ground, wherein
The AGV includes: a laser Slam navigation device, a vision sensor, 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 establishing a map;
the vision 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 vision sensor and the left and right wheel servo motor drivers are all connected with the vehicle-mounted controller;
the on-board controller is used for controlling the movement of the AGV.
2. The AGV natural navigation and end positioning control system of claim 1 wherein the laser Slam navigation device is communicatively coupled to the onboard controller via an Ethernet network.
3. The AGV natural navigation and end positioning control system of claim 1 wherein said vision sensor is communicatively coupled to said onboard controller via an RS485 interface.
4. The AGV natural navigation and end positioning control system of claim 1, wherein said two-dimensional code placed on the ground comprises two-dimensional codes placed at the start position, the end position and the middle position of the travel of the AGV.
5. A method for controlling natural navigation and end positioning of an AGV, wherein the method is implemented by using the control system of any one of claims 1 to 4, and comprises the following steps:
s1, converting a two-dimensional code of an initial position into a global absolute coordinate system;
s2, generating an adjusting track curve between a starting point on the two-dimensional code at the starting position and a terminal point on the two-dimensional code at the ending position;
and S3, automatically adjusting in the running process of the AGV to enable the AGV to travel along the track curve all the time.
6. The AGV natural navigation and end positioning control method according to claim 5, wherein said S1 further comprises: establishing a map by using the laser Slam navigation device, wherein the adopted global coordinate system is absolute coordinates, the local coordinate system of the two-dimensional code of the initial position in the map is relative coordinates, and determining the central point O of the two-dimensional code of the initial position1The absolute coordinates in the global coordinate system are (X, Y, theta), where X and Y represent the center point O, respectively1The horizontal and vertical coordinate values in the global coordinate system, theta represents the center point O1An angle value in a global coordinate system; the relative coordinate of any point A on the two-dimensional code of the starting position is (x)1，y1，a0) Wherein x is1，y1Relative coordinate value, a, representing an arbitrary point A0And representing the angle value of any point a, the step of obtaining the absolute coordinate of any point a in the global coordinate system includes:
(1) calculating the distance between the arbitrary point A and the two-dimensional code central point O1The distance of (c):
(2) obtaining the center point O of the two-dimensional code of the initial position1Angles in the absolute coordinate system
θ＝a1+a2Wherein a is1Representing the value of the angle of the AGV in a relative coordinate system, a2Representing an included angle between the two-dimensional code of the initial position and a global coordinate system;
(3) calculating the absolute coordinate X of the arbitrary point AA、YA、DirA：
XA＝X+O1A*cosθ
YA＝Y+O1A*sinθ
DirA＝a2-a0。
7. The AGV natural navigation and end positioning control method according to claim 5, wherein said S2 further comprises: automatically generating an adjusting track curve between the arbitrary point A and a target terminal point in the two-dimensional code of the terminal position; the arbitrary point A and the target end point are the starting point and the ending point of the adjusting track curve, and two control points are arranged on the adjusting track curve between the starting point and the ending point.
8. The AGV natural navigation and end positioning control method of claim 7 wherein said adjustment trajectory profile is generated from a third order bezier curve and a curvature value, and wherein the shape of the trend of said adjustment trajectory profile is controlled by changing the coordinates of said two control points by changing said curvature value.
9. The AGV natural navigation and end positioning control method according to claim 5, wherein said S3 further comprises: (1) the AGV judges whether the angle error exceeds the maximum tolerance value at any point A, and if so, the angle value is adjusted in situ at any point A;
(2) the AGV automatically controls according to the adjusting track curve, dead reckoning is carried out after the AGV leaves the two-dimensional code at the initial position, deviation correction adjustment is carried out according to the left-right error and the angle error of the two-dimensional code after the two-dimensional code at the middle position is met, and the two-dimensional code leaving the middle position continues to move forward according to the adjusted track curve after deviation correction until the target terminal point stops;
(3) after stopping near the target terminal, the AGV adjusts according to the coordinates provided by the two-dimensional code where the target terminal is located, stops after reaching the target terminal, adjusts the in-situ angle, and completes the positioning of the two-dimensional code terminal;
(4) and after the two-dimension code end positioning is completed, the AGV executes other service logics.
10. The AGV natural navigation and end positioning control method of claim 9 wherein in said step (3) said adjustments include adjustments for fore and aft position errors, side to side errors and/or angle errors.
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