CN104793619A - Warehouse roadway automatic guided vehicle navigation device based on swing single-line laser radar - Google Patents

Abstract

The invention provides a warehouse roadway automatic guided vehicle navigation device based on swing single-line laser radar. The device comprises a laser radar swing control module, a three-dimensional point cloud data collection module and a vehicle navigation control module, the three-dimensional point cloud data collection module comprises the single-line laser radar, a motor and a rotating mechanism, the single-line laser radar serves as collection equipment for point cloud data, the motor and the rotating mechanism provide power for swinging of the single-line laser radar to realize a function of splicing planar point cloud to form three-dimensional space point cloud, the laser radar swing control module is responsible for receiving a control instruction of the vehicle navigation control module and a control task of the motor, and the vehicle navigation control module sends a swing control order to the laser radar swing control module according to current working state, receives and processes point cloud data and calculates according to current visual field point cloud to acquire position of an automatic guided vehicle so as to realize automatic positioning. The warehouse roadway automatic guided vehicle navigation device is simple in realization, high in performance-cost ratio, high in practicability and suitable for automatic guiding of warehouse roadways of various types.

Description

Warehouse roadway automatic guided vehicle navigation device based on swinging single-line lidar

technical field

The invention relates to a vehicle navigation technology for an automatic guided vehicle, in particular, it designs a navigation device for an automatic guided vehicle in a warehouse roadway based on a swinging single-line laser radar.

Background technique

In the information age, with the rapid development of warehousing and logistics, automatic guided vehicles (AGV) are playing an increasingly important role in the logistics production of factories. In the context of the continuous improvement of factory automation, the wide application of AGV has become the current development trend. The application of AGV in unattended production operations can not only improve production efficiency, but also effectively save production costs. The reason why AGV can realize unmanned driving is that automatic navigation plays a vital role in it.

After searching, many patents related to AGV navigation were found. In the current patents and practical application cases, automatic navigation devices are generally based on electromagnetic tracks, or use induction tapes, cameras to scan label tapes, or rely on a single line with a fixed scanning surface. Laser scanning beacons are used to navigate the AGV. In the electromagnetic track scheme, the electromagnetic track is pasted on the floor or embedded in the ground groove, and the AGV relies on the information of the electromagnetic track to travel and position. This kind of solution usually has a relatively large construction volume and is not easy to modify the route; sensor induction tape and camera identification In the solution of the label tape, the tape and the label tape are pasted on the ground. Under the long-term and frequent use conditions of the warehouse, they are easy to wear and require frequent maintenance and inspection; the existing single-line laser scanning reflective beacon with a fixed scanning surface is used for navigation The solution generally needs to set a certain number of reflective labels on the path of AGV walking or in the warehouse environment for navigation, and the cost is relatively high. In addition, setting differentiated labels in the warehouse environment is also difficult to set, and the amount of construction is large. Expansion problems such as the inconvenience of changing routes. After reviewing the existing literature, it is found that there is also a dynamic positioning and navigation scheme based on multi-line laser radar, and the navigation efficiency and accuracy are relatively high. It is not feasible in ordinary factory warehouses.

Contents of the invention

Based on the analysis of the above technical problems, the purpose of the present invention is to provide a low-cost, flexible, easy-to-transplant, and accurate positioning warehouse roadway automatic guided vehicle navigation device based on a swinging single-line laser radar. The 3D point cloud map of the traveling direction of the AGV vehicle can be matched with the global map of the warehouse to realize the positioning and navigation functions of the AGV.

For achieving above object, concrete technical scheme of the present invention is as follows:

The present invention provides a warehouse roadway AGV navigation device based on a swing single-line laser radar, including a three-dimensional point cloud data acquisition module, a laser radar swing control module and a vehicle navigation control module, wherein:

The three-dimensional point cloud data acquisition module is used as a point cloud data acquisition device, and the collected data is sent to the vehicle navigation control module; this module includes a single-line laser radar, a motor and a rotating mechanism, and the single-line laser radar is used for collecting Point cloud data within the field of view in front of the AGV, that is, object coordinate data within the field of view, and send the collected data to the vehicle navigation control module; the motor and the rotating mechanism are used to carry the single-line laser radar and drive the single-line laser The radar performs reciprocating motion, that is, swings, and the rotation axis of the swing is an axis perpendicular to the rotation axis of the laser transmitter of the single-line lidar;

The lidar swing control module is used to receive the swing state control signal sent by the vehicle navigation control module, and drive the motor in the three-dimensional point cloud data acquisition module to rotate accordingly; the module includes a single-chip microcomputer and a motor drive component, and the single-chip microcomputer Receive the rotation control command (including forward rotation and reverse rotation signal) of the vehicle navigation control module, send the signal of successfully receiving the command to the vehicle navigation control module, and send the pulse width modulation PWM signal to the motor drive part to drive the three-dimensional point cloud data The motor in the module turns;

The vehicle navigation control module sends a swing state control command to the laser radar swing control module according to the current working state, receives and processes the point cloud data collected by the three-dimensional point cloud data acquisition module, and obtains the automatic guided vehicle according to the point cloud calculation of the current field of view location, to achieve automatic positioning.

Preferably, the motor is used to drive a rotating mechanism on which a single-line laser radar is placed.

Preferably, the output of the motor drive part is connected to the drive signal line of the motor; the motor drive part inputs PWM signal control and direction control signals, and outputs the control signal of the motor.

Preferably, the lidar swing control module controls the motor of the three-dimensional point cloud data acquisition module to switch the direction of movement according to the rotation control command of the vehicle navigation control module, wherein the motor is controlled to rotate at a constant speed during the non-commutation period.

Preferably, the vehicle navigation control module sends a rotation control command to the single-chip microcomputer in the lidar swing control module to trigger the single-chip microcomputer to drive the motor in the three-dimensional point cloud data acquisition module to reverse rotation.

Preferably, after the vehicle navigation control module receives the feedback signal that the single-chip microcomputer has successfully received the instruction and drives the motor to rotate, it receives the single-line laser radar data frame obtained through the USB serial port, and connects the plane scanning data to form a three-dimensional space point cloud map .

Preferably, the vehicle navigation control module filters the currently acquired point cloud map, extracts the grid features of the point cloud of the roadway shelf, and matches it with the stored factory warehouse roadway space map, so as to obtain accurate self-location information.

Compared with the prior art, the present invention has the following beneficial effects:

1. The device of the present invention has simple structure, flexible installation and high cost performance;

2. The present invention does not need to install auxiliary positioning infrastructure in the factory warehouse;

3. Because the present invention adopts spatial point cloud data to match with the warehouse roadway space map for positioning, the positioning accuracy is high and the positioning stability is good;

4. Automatic navigation and positioning.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is a structural block diagram of an embodiment of the present invention;

FIG. 2 is a schematic diagram of a single-line lidar swing mode in a three-dimensional point cloud data acquisition module according to an embodiment of the present invention;

3 is a schematic diagram of a single-line lidar swing mode in a three-dimensional point cloud data acquisition module according to an embodiment of the present invention;

Fig. 4 is a three-dimensional schematic diagram of a rotating mechanism according to an embodiment of the present invention;

In the figure: 1 is the vehicle navigation control module, 2 is the single-chip microcomputer, 3 is the motor drive component, 4 is the single-line laser radar, 5 is the motor, 6 is the rotating shaft of the rotating mechanism, 7 is the rotating bracket for installing the laser radar, and 8 is the device fixed frame.

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

As shown in Figure 1, this embodiment provides a warehouse laneway AGV navigation device based on a swinging single-line laser radar, including: a laser radar swing control module, a three-dimensional point cloud data acquisition module, and a vehicle navigation control module 1, wherein: vehicle navigation control Module 1 communicates with the lidar swing control module through a universal asynchronous transceiver (UART). The lidar swing control module includes a microcontroller 2 (MC9S12XS128-MAL) and a motor drive component 3. The 3D point cloud data acquisition module includes a single-line laser Radar 4 (UTM-30LX), motor 5 (42HS4813A4) and rotating mechanism. In this embodiment, a single-line laser radar 4 is used for data collection.

As a preferred method, the three-dimensional point cloud data acquisition module is installed on the front end of the AGV, and the initial position of the single-line laser radar 4 (which is Hokuyo's UTM-30LX in this embodiment) is at the scanning upper bound or in Fig. 2 Scan the Nether. The single-line laser radar 4 oscillates in one direction between the upper and lower bounds of scanning (from top to bottom or from bottom to top) once as one swing cycle. In each swing cycle, the single-line laser radar 4 scans each scanning point of each scanning plane The position data is sent back to the vehicle navigation control module 1 through USB2.0 for processing to generate a spatial point cloud.

As a preferred method, as shown in Figure 4, it is a three-dimensional schematic diagram of the rotating mechanism in the three-dimensional point cloud data module, and the rotating shaft of the motor 5 is connected with the rotating shaft 6 of the rotating mechanism (that is, the rotating shaft that the single-line laser radar 4 swings); The bracket 7 is provided with rotational force by the motor 5, and the single-line laser radar 4 is installed on the bracket 7; the fixing bracket 8 is a fixed base for fixing the module to the AGV.

As a preferred method, the three-dimensional point cloud data acquisition module can be used for three-dimensional point cloud reconstruction of the environment, and the single-line laser radar 4 can be used to reciprocate and scan the axis perpendicular to the axis of rotation of its laser transmitter. A feature to connect 3D planar point cloud data into spatial point cloud data.

As a preferred manner, the spatial point clouds obtained by swinging the single-line lidar 4 can be spliced to form a three-dimensional point cloud map of the entire environment.

As a preferred mode, in the described lidar swing control module: the single-chip microcomputer 2 uses the MC9S12XS128MAL single-chip microcomputer of Freescale, and the PWM signal and the direction control signal of the motor drive part 3 are produced by the single-chip microcomputer 2, and communicate with the vehicle navigation control module through the UART 1 to communicate. In this embodiment, the cycle of the single-chip microcomputer 2 receiving the steering control signal from the vehicle navigation control module 1 is 3 seconds, so the rotation cycle of the single-line laser radar 4 is 3 seconds, that is, the motor 5 rotates and reverses every 3 seconds.

As a preferred manner, the control program of the single-chip microcomputer 2 is written using the CodeWarrior programming platform.

As a preferred manner, the vehicle navigation control module 1 sends "forward rotation" and "reverse rotation" signals to the single-chip microcomputer 2, and the single-chip microcomputer 2 sends a successful reception signal to the vehicle navigation control module 1 after receiving it and turns on the PWM module. Output rotation direction control signal.

As a preferred mode, the motor drive part 3 sets the rotation step size of the motor 5 to 360°/3200, and the rotation angle of the motor 5 in each swing cycle is 120°, that is, scanning as shown in Figure 2 The angle between the upper bound and the lower bound of scanning is 120°; the data frame rate of the single-line lidar 4 used in this embodiment is 40 frames per second, so 120 frames of point cloud data can be collected during this swing cycle, wherein the ground plane bisects the swing horn.

As shown in Figure 2, as a preferred mode, the rotating shaft 6 of the rotating mechanism is directly connected to the rotating shaft of the motor 5; as shown in Figure 3, the opening angle of the fan-shaped area of the laser scanning plane is also 120° in this embodiment , that is, the entire scanning range of the single-line laser radar 4 in each swing cycle is an area within the range of 120° of pitch viewing angle and 120° of left and right field of view, and finally the spatial point cloud map of this area is restored in the vehicle navigation control module 1 .

As a preferred manner, the factory warehouse roadway space map is stored in advance in the vehicle navigation control module 1 . During the AGV travel process, the navigation device continuously collects point cloud data, and the vehicle navigation control module 1 stitches the continuous 120 frames of point cloud data into a three-dimensional space point cloud map; and the data receiving time to calculate the angle of rotation of the frame data relative to the initial position of the swing (that is, the upper limit of the scan or the lower limit of the scan), so as to calculate the exact position of the current frame in space, thereby restoring the space of the above scan area Point cloud map.

After the vehicle navigation control module 1 generates a spatial point cloud map, filter and denoise the map data, and use random sampling consensus algorithm (RANdom SAmple Consensus, RANSAC) to extract the vertical plane point cloud of the roadway shelf in the point cloud, Then, the point cloud is matched with the point cloud of the factory warehouse roadway space map stored in advance by Normal Distribution Transform (NDT). Relative position, that is, to obtain the specific position of the current AGV, and realize the function of navigation and positioning.

As a preferred method, in the laneway shelf warehouse, the grid information of the laneway shelf can be obtained after feature extraction based on the spatial point cloud data obtained by a single swing single-line laser radar 4; the current field of view data and map The relative position information of the data; use the relative position information to obtain the accurate position of the automatic guided vehicle installed with the navigation device in the warehouse.

As a preferred manner, the 3D point cloud data acquisition module and the lidar swing control module are both provided by a 12V battery.

The preferred embodiments of the present invention have been described in detail above. It should be understood that the present invention is not limited to the above-mentioned specific implementation, and those skilled in the art can make various deformations, substitutions or modifications within the scope of the claims, which does not affect the essential content of the present invention, the content of the present invention The scope of protection should be as listed in the claims.

Claims (7)

1., based on tunnel, the warehouse automatic guide vehicle guider swinging single line laser radar, it is characterized in that, comprise three dimensional point cloud acquisition module, laser radar weave control module and automobile navigation control module, wherein:

The data collected as the collecting device of cloud data, and are sent to automobile navigation control module by described three dimensional point cloud acquisition module; This module comprises single line laser radar, motor and rotating mechanism, described single line laser radar for gathering the cloud data within the scope of AGV field of front vision, i.e. object coordinates data within the vision, and the data collected are sent to automobile navigation control module; Described motor and rotating mechanism, for carrying single line laser radar, and drive single line laser radar to move back and forth namely to swing, the turning axle of this swing is the axis with the rotational axis vertical of the generating laser of single line laser radar;

Described laser radar weave control module, for receiving the swing state control signal that automobile navigation control module sends, and drives the motor in three dimensional point cloud acquisition module to rotate accordingly; This module comprises single-chip microcomputer and motor driving part part, described single-chip microcomputer receives the rotation control instruction of automobile navigation control module, send the signal successfully receiving instruction to automobile navigation control module, and send pulse-width modulation PWM signal to described motor driving part part to drive the electric machine rotation in three dimensional point cloud module;

Described automobile navigation control module, swing state control command is sent to laser radar weave control module according to current duty, receive, process the cloud data of three dimensional point cloud acquisition module collection, and the position of automatic guide vehicle is obtained according to the cloud computing of present viewing field point, realize automatically locating.

2. a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar according to claim 1, it is characterized in that, described motor, for driving rotating mechanism, described rotating mechanism is laid single line laser radar.

3. a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar according to claim 1, it is characterized in that, the described output of motor driving part part is connected with the drive signal line of motor; Described motor driving part part input pwm signal controls, direction control signal, the control signal of output motor.

4. a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar according to claim 1, it is characterized in that, described laser radar weave control module controls the motor converting motion direction of three dimensional point cloud acquisition module according to the rotation control instruction of automobile navigation control module, wherein during not commutating, control motor uniform rotation.

5. a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar according to claim 1, it is characterized in that, described automobile navigation control module, by sending rotation control instruction to the single-chip microcomputer in laser radar weave control module, rotates backward with the motor triggered in Micro Controller Unit (MCU) driving three dimensional point cloud acquisition module.

6. a kind of tunnel, the warehouse automatic guide vehicle guider based on swinging single line laser radar according to any one of claim 1-5, it is characterized in that, described automobile navigation control module receive single-chip microcomputer successfully received instruction and drive motor rotate feedback signal after, receive the single line laser radar data frame obtained by USB serial ports, three dimensions point cloud map is connected to form to flat scanning data.

7. a kind of tunnel, warehouse automatic guide vehicle guider based on swinging single line laser radar according to claim 6, it is characterized in that, the point cloud map of current acquisition is carried out filtering by described automobile navigation control module, and the grid search-engine extracting tunnel shelf point cloud mates with the factory position warehouse lane space map of its storage, thus obtain accurate own location information.