CN106647738A - Method and system for determining docking path of automated guided vehicle, and automated guided vehicle - Google Patents
Method and system for determining docking path of automated guided vehicle, and automated guided vehicle Download PDFInfo
- Publication number
- CN106647738A CN106647738A CN201610991102.3A CN201610991102A CN106647738A CN 106647738 A CN106647738 A CN 106647738A CN 201610991102 A CN201610991102 A CN 201610991102A CN 106647738 A CN106647738 A CN 106647738A
- Authority
- CN
- China
- Prior art keywords
- guided vehicle
- docking
- automatic guided
- image information
- working environment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 130
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000013439 planning Methods 0.000 claims abstract description 18
- 230000007613 environmental effect Effects 0.000 claims description 67
- 230000037361 pathway Effects 0.000 claims description 11
- 238000012876 topography Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 8
- 231100000572 poisoning Toxicity 0.000 claims description 2
- 230000000607 poisoning effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 230000003252 repetitive effect Effects 0.000 abstract description 3
- 230000003993 interaction Effects 0.000 abstract description 2
- 230000004044 response Effects 0.000 description 18
- 238000006243 chemical reaction Methods 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007115 recruitment Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 230000004438 eyesight Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method and a system for determining the docking path of an automated guided vehicle, and an automated guided vehicle. The method comprises the following steps: acquiring a first position and a first docking direction of a docking object from a work environment; matching the first position and the first docking direction to the target position and the target direction of an automated guided vehicle in an environment map; and generating a path for the automated guided vehicle to move from a second position to the target position according to the target position and the target direction of the automated guided vehicle in the environment map. The technical problem that the artificial shelve has the disadvantages of high workload of goods pickup, single and trivial operation and artificial repetitive work in the prior art is overcome. By intelligently configuring and designing the units of the automated guided vehicle and the interaction between the units, perfect docking between the automated guided vehicle and a docking object can be completed even if the docking object changes position freely, accurate path planning is achieved, and the technical effect of 'machine for labor' in goods pickup from shelves is truly realized.
Description
Technical field
The present invention relates to a kind of intelligent apparatus, specifically, be a kind of automatic guided vehicle docking determining method of path and
System and automatic guided vehicle.
Background technology
Internet era net purchase allows consumer's point clicking the mouse thing of just can buy, can " picking on shelf " this part of assignment is still
Someone is so wanted to do；And mutually than ever, this task is heavier, dispensing personnel are because workload is excessive, wage is too low noisy
The thing of " strike " also occurs often.Propulsion " machine substitute human labor work ", single in production process, trifling Repetitive work was both
Recruitment pressure can be alleviated, recruitment and management cost can be more reduced, ensure safety environmental protection production.
Modern logistics systems or warehousing system, such as mail-order warehouse, supply chain home-delivery center, Baggage Handling System in Airport and customization
Inventory system in manufacturing facility, in request of the response to inventory item great challenge is faced with.As inventory system is sent out
Exhibition, while completing a large amount of challenges for packing, storing the task relevant with other stocks becomes important.
With the method for machine substitute human labor, machine first has to picking frame, then is manually chosen, and here robot first has to and goods
Frame completes docking, relates to the position path planning how robot is directed to shelf.When the position of shelf location determines, machine
Device people can be generated from current location to the path of shelf position using path planning algorithm, and moves arrival according to path
Frame position completes docking.
But, as shown in Figures 1 and 2, actual in logistics or storage docking operation, shelf location can be due to artificially pushing away
It is dynamic not in position set in advance, or because orientation changes in robot handling process, make the robot cannot be according to pre-
The path for first setting completes docking mission, for the problems referred to above, the invention provides a kind of docking determining method of path solution is right
Connect the problem that destination in path changes.
The content of the invention
The present invention for prior art exist technical problem, there is provided it is a kind of intelligent or docking object's position nobody
The method that carrier and its docking path determine, the present invention is achieved through the following technical solutions：
The invention discloses a kind of docking determining method of path of automatic guided vehicle, comprises the following steps:
- first position and the first abutting direction for docking object is obtained from working environment；
- first position is matched target location and target side for automatic guided vehicle in environmental map with the first abutting direction
To；
- target location according to automatic guided vehicle in environmental map and target direction, generate automatic guided vehicle from second
Put the path for moving to target location；
Wherein, when the first position is to dock, object present position in the work environment is docked；First abutting direction
During docking, to dock object joint residing direction in the work environment；The second place is real-time for automatic guided vehicle
Position.
Used as further improving, the method for the invention specifically includes step：
The image information of-acquisition working environment；
- first position for docking object for meeting the first default feature is obtained from image information, described first is default
Feature is used to determine the first position that object is docked in image information；
- the first abutting direction for meeting the second default feature is obtained from image information, the second described default feature is used
In it is determined that docking the first abutting direction of object in image information；
- match the first position in image information with the first abutting direction for the target of automatic guided vehicle in environmental map
Position and target direction；
- target location according to automatic guided vehicle in environmental map and target direction, generate automatic guided vehicle from second
The path for moving to target location is put, the second place is the real time position of automatic guided vehicle.
Used as further improving, image information of the present invention is for the global image information of working environment or according to the
Whether topography's information of the working environment that three default features determine, the 3rd described default feature determines topography's information
First position comprising docking object and the first abutting direction.
Used as further improving, the second place of the present invention is to obtain to be then converted into environment from working environment
The correspondence position of map, or its correspondence position in environmental map is obtained by automatic guided vehicle self poisoning.
Also a kind of docking pathway de-termination system of the present invention, including
Acquiring unit, obtains first position and first abutting direction of docking object from working environment；
Matching unit, first position is matched as the target location of automatic guided vehicle in environmental map with the first abutting direction
And target direction；
Path planning unit, according to matching unit determine target location, target direction, the second place in environmental map
Correspondence position, generate automatic guided vehicle and the path of target location moved to from the second place；
Used as further improving, acquiring unit of the present invention includes information receiving module, for straight from external equipment
Obtain and take first position and the first abutting direction that object is docked in working environment.
Used as further improving, acquiring unit of the present invention includes information receiving module, for from described from outside
Equipment obtains the image information of working environment；Acquiring unit also includes message processing module, is used for
The first position of the docking object for meeting the first default feature is obtained from image information, the first default feature is used for
Determine the first position that object is docked in image information；
The first abutting direction for meeting the second default feature is obtained from image information, the second described default feature is used for
Determine the first abutting direction that object is docked in image information.
Used as further improving, the image information of information receiving module of the present invention is the global image of working environment
Information, or information receiving module acquisition, according to topography's information of the working environment of the 3rd default feature determination, the 3rd is pre-
If whether feature determines topography's information comprising the first position and the first abutting direction for docking object.
Used as further improving, acquiring unit of the present invention is additionally operable to from external equipment direct access working environment
The second place of automatic guided vehicle,
Matching unit matches the second place in working environment for the correspondence position of automatic guided vehicle in environmental map；
Or acquiring unit also includes locating module, for positioning to automatic guided vehicle, obtain automatic guided vehicle and exist
Correspondence position in environmental map.
The invention also discloses a kind of automatic guided vehicle, including drive control unit, for controlling automatic guided vehicle along road
Footpath is moved to target location and completes docking with object is docked, and the above-mentioned docking pathway de-termination system in the path is generated.
The beneficial effects of the present invention is：
Overcome that artificial shelf picking workload in prior art is big, single trifling, artificial Repetitive work technology is asked
Topic, the interaction between the unit and each unit of automatic guided vehicle is designed by intelligent allocation, and it is that docking is right to realize
As arbitrarily change position can also complete automatic guided vehicle and dock the perfect docking of object, accurate path planning is accomplished, very
The technique effect of shelf picking " machine substitute human labor work " is just being realized, recruitment and management cost is being reduced, ensuring safety environmental protection production, can
To complete a large amount of packagings, store the task relevant with other stocks.
Description of the drawings
Fig. 1 is structural representation of the shelf in non-predetermined position in practical operation；
Fig. 2 is schematic top plan view of the shelf in non-predetermined position in practical operation.
Specific embodiment
Technical scheme is further improved below by illustrating：
1) first position and first abutting direction of docking object, are obtained from working environment；
2), first position is matched target location and the target for automatic guided vehicle in environmental map with the first abutting direction
Direction；
3), the target location according to automatic guided vehicle in environmental map and target direction, generate automatic guided vehicle from second
Position moves to the path of target location, and the second place is the real time position of automatic guided vehicle.
For step 1), docking object is docked with automatic guided vehicle and completes appointed task, and working environment is automatic guided vehicle
The area of space being located with docking object, area of space is by working face and corresponding solid space group up or down
Into, when first position is to dock, object present position in the work environment is docked, when the first abutting direction is to dock, docking
Object joint residing direction in the work environment.
Specifically, the first coordinate system corresponding with the working environment is set up, the first position for docking object is right for docking
Positional representation during as docking with automatic guided vehicle under the first coordinate system；First abutting direction of docking object is docking object
Direction of the joint under the first coordinate system represents when docking with automatic guided vehicle.
For step 2), wherein, the target location for docking when, the position that automatic guided vehicle is located in the work environment
Put, target direction is for during docking, automatic guided vehicle direction residing in the work environment, environmental map can be by map structure
Build topological map, characteristics map, grid map of environment of algorithm formation etc..
Specifically, the second coordinate system corresponding with environmental map, the target location of automatic guided vehicle in environmental map are set up
Automatic guided vehicle with dock positional representation under the second coordinate system when object is docked, the target of automatic guided vehicle in environmental map
Direction is that the automatic guided vehicle is represented with the direction docked when object is docked under the second coordinate system.First corresponding relation is used for
Determine under the first coordinate system or under the second coordinate system first position and the target location of automatic guided vehicle transformational relation；Second pair
The target direction of the first abutting direction and automatic guided vehicle under should being related to for determining the first coordinate system or under the second coordinate system
Transformational relation；3rd corresponding relation is used to determine that the first coordinate system corresponding with working environment and environmental map corresponding second are sat
The transformational relation of mark system.
First position is matched target location and the target side for automatic guided vehicle in environmental map with the first abutting direction
To detailed process embodiment 1：
Under the first coordinate system, according to the first corresponding relation, the first position of docking object is converted into automatic guided vehicle
Target location, according to the second corresponding relation, the first abutting direction of docking object is converted into the target side of automatic guided vehicle
To,
According to the 3rd corresponding relation, the target location of automatic guided vehicle under the first coordinate system is converted under the second coordinate
The target location of automatic guided vehicle, by the target direction of automatic guided vehicle under the first coordinate system nobody under the second coordinate is converted to
The target direction of carrier, that is, complete and match first position with the first abutting direction for automatic guided vehicle in environmental map
Target location and target direction
First position is matched target location and the target side for automatic guided vehicle in environmental map with the first abutting direction
To detailed process embodiment 2：
According to the 3rd corresponding relation, the first position that object is docked under the first coordinate system is converted into nothing under the second coordinate system
The first position of people's carrier, by the first abutting direction that object is docked under the first coordinate system nobody is converted under the second coordinate system
First abutting direction of carrier,
Under the second coordinate system, according to the first corresponding relation, the first position of docking object is converted into automatic guided vehicle
Target location, according to the second corresponding relation, the first abutting direction of docking object is converted into the target side of automatic guided vehicle
To completing target location and the target matched first position with the first abutting direction for automatic guided vehicle in environmental map
Direction.
For step 3), path is generated using path planning algorithm, and path planning algorithm includes that A* algorithms, Dijstra are calculated
Method, RRT algorithms, D* algorithms etc..
The automatic guided vehicle obtains its in environmental map by positioning modes such as absolute fix and relative positionings
Two positions, or, the second place obtains the correspondence position for being then converted into environmental map from working environment, i.e., according to
Three corresponding relations, by the second place of automatic guided vehicle under the first coordinate system of automatic guided vehicle under the second coordinate system is converted to
Two positions.
In this technical scheme, obtain from working environment and refer to that (this equipment is arranged on nothing from the equipment for being arranged on working environment
People's carrier is external, also referred to as external equipment) directly obtain the first position for docking object and the first docking for having calculated
Direction, and the second place of automatic guided vehicle, it is also possible to obtain with regard to working environment from the equipment for be arranged on working environment
Other information (such as image information), calculate first position and first abutting direction of docking object, and unmanned carry
The second place of car.If the position of automatic guided vehicle changes again, repeat step 1) -3), the second place is nothing
The real time position of people's carrier, during automatic guided vehicle is moved to docking object, because automatic guided vehicle may be because
To run into the reasons such as barrier, do not have according to the path walking for having generated, repeat step 3), you can to ensure having for current path
Effect property.
Further technical scheme：
1) image information of working environment, is obtained；
2) first position of the docking object for meeting the first default feature, is obtained from image information, described first is pre-
If feature is used to determine the first position that object is docked in image information；
3) the first abutting direction for meeting the second default feature, the second described default feature, are obtained from image information
The first abutting direction of object is docked in for determining image information；
4), the first position in image information is matched as the mesh of automatic guided vehicle in environmental map with the first abutting direction
Cursor position and target direction；
5), the target location according to automatic guided vehicle in environmental map and target direction, generate automatic guided vehicle from second
Position moves to the path of target location, and the second place is the real time position of automatic guided vehicle.
For step 1), the image information of working environment obtained by image-capturing apparatus, the image information of working environment
Can be two-dimensional image information or deep image information, image information exists and pass with the accessible coding form of computer
Pass, acquired image information includes image-capturing apparatus all objects within the vision, such as automatic guided vehicle, docking are right
As and other barriers, marker etc..
Specifically, can by installing the image information of the whole working environment of image capture device capture in working environment,
It can be that such as optical camera etc. is such that described image catches equipment, and resulting is the image obtained through sampling digitizing
Information, can be gray level image information, or color image information etc.；Image-capturing apparatus can also be such as depth map
As catch equipment, image-capturing apparatus be arranged on working environment top obtain deep image information, such as kinect cameras, swash
Optical radar imaging device etc. is such.
For step 2), wherein, the first default position mark for being characterized as default docking object, can in the picture by
Identification.Image information to being obtained is processed, and recognizes the position mark, i.e., satisfaction first is obtained from image information and is preset
The position mark of feature, the first position of docking object is determined according to position mark in the position of image information, wherein, position mark
Note is position mark coordinate under image coordinate system in the position of image information.
Specifically, the first default feature can be dock the colour code with color attribute that arranges on object, or
The icons such as Quick Response Code, or first default geometric center for being characterized as docking object outline etc..Such as first it is default be characterized as it is right
When connecing the geometric center of object outline, the profile of docking object is obtained using morphology in image information, and it is true according to profile
Surely the geometric center of object is docked, coordinate of the geometric center in image information as meets the docking object of the first default feature
First position；When presetting the colour code with color attribute for being characterized as being fixed on docking object such as first, in extracting image
Coordinate position with same color attribute, as meets the first position information of the first default feature；Such as described first presets
When being characterized as being fixed on docking to upper Quick Response Code icon, the image in 2 D code in image information is extracted, parse Quick Response Code, it is determined that
With with default 2 D code information identical Quick Response Code icon, its coordinate in the picture as meets the of the first default feature
One positional information.
For step 3), wherein, the second default feature includes preset mark feature and preset direction feature, can be in image
In be identified.The preset mark is characterized as the bearing mark of docking object set in advance, and the preset direction is characterized as pre-
The direction of the bearing mark for first setting.Image information to being obtained is processed, and the identification from image information meets pre- bidding
The bearing mark of the docking object of note feature, and the angular deviation of calculated direction mark actual direction and preset direction feature, root
The first abutting direction of docking object is calculated according to the angular deviation.
Specifically, second abutting direction when being characterized as that docking object set in advance is docked with automatic guided vehicle is preset,
The Quick Response Code that top for example at the top of docking object is pasted, Quick Response Code has directionality, Quick Response Code is obtained in image information,
Parsing Quick Response Code, determines its abutting direction information for representing；As second it is default be characterized as being arranged on docking object with side
To line segment, the information of the line segment is obtained in image information, determine what the line segment was represented according to the deviation of default positive direction
Abutting direction.
For step 4), set up corresponding with the environmental map the second coordinate system, automatic guided vehicle in environmental map
Automatic guided vehicle described in target location with dock positional representation under the second coordinate system when object is docked, in environmental map nobody
The target direction of carrier is that automatic guided vehicle is represented with the direction docked when object is docked under the second coordinate system, the first correspondence
Relation is used to determine under the first coordinate system or first position is closed with the conversion of the target location of automatic guided vehicle under the second coordinate system
System；Second corresponding relation be used to determining under the first coordinate system or under the second coordinate system the first abutting direction and automatic guided vehicle mesh
The transformational relation in mark direction；3rd corresponding relation is used to determine under the first coordinate system corresponding with working environment and environmental map pair
The transformational relation of the second coordinate system answered.
For step 5), the automatic guided vehicle it is obtained in environmental map by positioning modes such as laser, visions
The second place, or, the second place is obtained from working environment, specifically, is obtained from the image information of working environment
The second place of automatic guided vehicle, according to the 3rd corresponding relation, by automatic guided vehicle under corresponding first coordinate system of working environment
The second place be converted to the second place of automatic guided vehicle under corresponding second coordinate system of environmental map.
With reference to docking pathway de-termination system, for the determination method in docking path is specifically illustrated：
Embodiment 1：
The position of automatic guided vehicle is obtained by external equipment, and the automatic guided vehicle is under the control of drive control unit
The docking that target location completes and docks object is moved to along path, the path is generated by pathway de-termination system is docked, described
Docking pathway de-termination system includes
Acquiring unit, for obtaining first position and first abutting direction of docking object from working environment；Wherein, from
Working environment obtains and refers to and obtained from the equipment for be arranged on working environment that (it is external that this equipment is arranged on automatic guided vehicle, also referred to as
External equipment)
Matching unit, for first position to be matched as the target of automatic guided vehicle in environmental map with the first abutting direction
Position and target direction；
Path planning unit, for determined according to matching unit target location, target direction, the second place environment ground
Correspondence position in figure, generates the path that automatic guided vehicle moves to target location from the second place.
The drive control unit of automatic guided vehicle, for controlling the road that automatic guided vehicle is generated along acquisition approach planning unit
Footpath is moved, and completes docking.
Wherein, the acquiring unit be additionally operable to from be arranged on working environment equipment (this equipment be arranged on automatic guided vehicle
The second place of automatic guided vehicle is obtained in vitro), and the matching unit is also included for by the automatic guided vehicle in working environment
Second place matching be the correspondence position in environmental map；Here, acquiring unit can directly obtain external equipment and count
The first position of the docking object in good working environment and the first abutting direction, and the second place of automatic guided vehicle,
Can also external equipment obtain with regard to working environment other information (such as image information), acquiring unit calculate obtain docking it is right
The first position of elephant and the first abutting direction, and the second place of automatic guided vehicle.
Specifically, the acquiring unit includes information receiving module, and described information receiver module is used for straight from external equipment
Obtain and take first position and the first abutting direction that object is docked in working environment.
Or, the acquiring unit includes information receiving module, for obtaining the image letter of working environment from external equipment
Breath；The acquiring unit also includes message processing module, for obtaining the docking for meeting the first default feature from image information
The first position of object, the first described default feature is used to determine the first position that object is docked in image information；From image
The first abutting direction for meeting the second default feature is obtained in information, the second described default feature is used to determine in image information
First abutting direction of docking object；
The matching unit, by the first position in image information match with the first abutting direction in environmental map nobody
The target location of carrier and target direction,
Path planning unit, according to matching unit determine target location, target direction, the second place in environmental map
Correspondence position, generate automatic guided vehicle from environmental map and the path of target location moved to from the second place；The environment
Map can be topological map, characteristics map, grid map of the environment formed by map structuring algorithm etc.；
Drive control unit, moves for controlling automatic guided vehicle along the path that acquisition approach planning unit is generated, and completes
Docking.
Wherein, described information receiver module is additionally operable to from automatic guided vehicle in external equipment direct access working environment
Two positions,
Or, message processing module is additionally operable to from the image information of the working environment of information receiving module acquisition obtain
The second place of automatic guided vehicle；
The matching unit is also included for the second matching by the automatic guided vehicle in working environment in environmental map
Correspondence position；
When the information receiving module of acquiring unit is obtained for the image information that working environment is obtained from external equipment,
Described information processing module is additionally operable to set up the first coordinate system corresponding with working environment, and calculates first position and the first docking
First position and first abutting direction of the direction in the coordinate system of working environment first；For setting up corresponding with environmental map the
Two coordinate systems, and calculate the corresponding target location of first position and the first abutting direction in the coordinate system of environmental map second and
Target direction；When acquisition in the image information of the working environment that the second place of automatic guided vehicle is obtained from information receiving module
When, described information processing module also includes the second place for calculating automatic guided vehicle in the coordinate system of working environment first
The second place and calculating second place correspondence position in the coordinate system of environmental map second.
In the present invention, target location is that automatic guided vehicle is with present position when object is docked, the target direction is docked
Automatic guided vehicle and residing direction when docking object docking；The default position mark for being characterized in that docking object set in advance and side
To mark, position mark is colour code or geometric center or Quick Response Code icon, and bearing mark is Quick Response Code icon or direction line segment, right
The concrete manifestation form for connecing object can be stock's support, counter etc..
Comprise the following steps that：
1), by external equipment, the positional information of docking object and automatic guided vehicle is obtained from working environment；Outside sets
The standby top installed in working environment, links with automatic guided vehicle data transfer, and external equipment and acquired information are respectively
Normal image catches the two-dimensional image information or depth image of equipment acquisition and catches the deep image information that equipment is obtained, general
Logical image-capturing apparatus are optical cameras, and it is kinect cameras or laser infrared radar imaging that depth image catches equipment, image information
Exist with the accessible coding form of computer and transmit, the information automatic guided vehicle of acquisition, docking object, his barrier, mark
Know any one in thing or several combinations, the present embodiment is by taking the image information that optical camera shoots as an example；
2), by acquiring unit, from image information by presetting feature the of docking object in the first coordinate system is obtained
One position and the first abutting direction, the second place of the automatic guided vehicle in the first coordinate system；Docking object is in the first coordinate system
In first position and the first abutting direction realized by the message processing module of the automatic guided vehicle in automatic guided vehicle produce
Life passes data to again acquiring unit after docking object external server to realize generation, is to pass through in the present embodiment
The message processing module of automatic guided vehicle calculates first position and first setting up the first coordinate system corresponding with working environment
First position and first abutting direction of the abutting direction in the coordinate system of working environment first；Docking object and automatic guided vehicle pair
Connect and complete appointed task, working environment is the area of space that automatic guided vehicle and docking object are located, area of space is flat by working
Face and corresponding solid space composition up or down.The first position is for during docking, docking object is in building ring
Present position in border, when the first abutting direction is to dock, docks object joint residing direction in the work environment；
Further, the first position of the docking object for meeting the first default feature is obtained from image information；Wherein,
One default feature is used to determine the first position that object is docked in image information；
The first default position mark for being characterized as docking object set in advance, obtains satisfaction first pre- from image information
If the position mark of feature, the first position of object is docked in the position acquisition of image information according to position mark, wherein, position
It is marked at the position of image information i.e. position mark coordinate under image coordinate system.
Specifically, the first default feature can be dock the colour code with color attribute that arranges on object, or
The icons such as Quick Response Code, or described first default geometric center for being characterized as docking object etc..Such as first it is default be characterized as it is right
When connecing the geometric center of object, in image information using morphology obtain docking object profile, and determined according to profile it is right
The geometric center of object is connect, coordinate of the geometric center in image information as meets the docking object of the first default feature
First position；Such as described first is default when being characterized as the colour code with color attribute being fixed on docking object, extracts
Coordinate position with same color attribute in image, as meets the first position information of the first default feature；For example it is described
First is default when being characterized as being fixed on docking to upper Quick Response Code icon, extracts the image in 2 D code in image information, parsing two
Dimension code, it is determined that having and default 2 D code information identical Quick Response Code icon, it is pre- that its coordinate in the picture as meets first
If the first position information of feature.
The first abutting direction for meeting the second default feature is obtained from image information, the second default feature is used to determine figure
As the first abutting direction for docking object in information；
Second default feature includes preset mark feature and preset direction feature, and the preset mark is characterized as presetting
Docking object bearing mark, the preset direction is characterized as the direction of the bearing mark set in advance, according to default
Marker characteristic obtains the bearing mark of the docking object for meeting the second default feature from image information, calculates the bearing mark
With the angular deviation of preset direction feature, the first abutting direction of docking object is calculated according to the angular deviation.
Specifically, second abutting direction when being characterized as that docking object set in advance is docked with automatic guided vehicle is preset,
The Quick Response Code that top for example at the top of docking object is pasted, Quick Response Code has directionality, Quick Response Code is obtained in image information,
Parsing Quick Response Code, determines its abutting direction information for representing；Such as second default being characterized by arranges and docks on object
Have directive line segment, the information of the line segment is obtained in image information, according to the deviation of default positive direction the line segment is determined
The abutting direction of representative；
In addition, described image information can be the global image information of working environment or can the according to the 3rd default spy
Topography's information of the working environment of determination is levied, the 3rd described default feature determines topography's information whether comprising docking
The first position of object and the first abutting direction.
3), the second coordinate system set up in environmental map by message processing module, calculates first position and the first docking
Target location and target direction of the direction in the second coordinate system, the calculating automatic guided vehicle second place is in the second coordinate system
Correspondence position；
4), by determining unit, for determining the first corresponding relation, i.e., for determine the first coordinate system under or the second coordinate
The transformational relation of the target location of the lower first position of system and automatic guided vehicle；For determining the second corresponding relation, i.e. the second correspondence
Relation is used to determining under the first coordinate system or the target direction of the first abutting direction and automatic guided vehicle turns under the second coordinate system
Change relation；For determining that the 3rd corresponding relation, i.e. the 3rd corresponding relation are used to determine the first coordinate system corresponding with working environment
The transformational relation of the second coordinate system corresponding with environmental map.Specifically, it is determined that first position is matched with the first abutting direction
It is the corresponding conversion relation of target location under the coordinate system of environmental map second and target direction, it is determined that the second place is matched
It is the corresponding conversion relation of the correspondence position under the coordinate system of environmental map second；It is determined that the working environment that acquiring unit is obtained
In the matching of first position and the first abutting direction be corresponding during target location and target direction in environmental map
The target location of first position and automatic guided vehicle under transformational relation is included for determining the first coordinate system or under the second coordinate system
The first corresponding conversion relation, for determine the first coordinate system under or the second coordinate system under the first abutting direction and automatic guided vehicle
Target direction the second corresponding conversion relation, it is corresponding for determining corresponding with working environment the first coordinate system and environmental map
The second coordinate system the 3rd corresponding conversion relation, also for determining working environment in the second place matching be environment ground
The corresponding conversion relation at the second seat in figure；
5), according to the corresponding conversion relation of determining unit, will be in working environment first position and first by matching unit
Abutting direction matching is target location and target direction under the coordinate system of environmental map second, will be in the working environment second place
Matching is the correspondence position under the coordinate system of environmental map second；
Specifically, under the first coordinate system, according to the first corresponding relation, the first position of docking object is converted into nobody
The target location of carrier, according to the second corresponding relation, by the first abutting direction of docking object automatic guided vehicle is converted to
Target direction,
According to the 3rd corresponding relation, the target location of automatic guided vehicle under the first coordinate system is converted under the second coordinate
The target location of automatic guided vehicle, by the target direction of automatic guided vehicle under the first coordinate system nobody under the second coordinate is converted to
The target direction of carrier, that is, complete and match first position with the first abutting direction for automatic guided vehicle in environmental map
Target location and target direction
Or, specifically, according to the 3rd corresponding relation, the first position of automatic guided vehicle under the first coordinate system is converted to
The first position of automatic guided vehicle under second coordinate system, by the first abutting direction that object is docked under the first coordinate system the is converted to
First abutting direction of automatic guided vehicle under two coordinate systems,
Under the second coordinate system, according to the first corresponding relation, the first position of docking object is converted into automatic guided vehicle
Target location, according to the second corresponding relation, the first abutting direction of docking object is converted into the target side of automatic guided vehicle
To completing target location and the target matched first position with the first abutting direction for automatic guided vehicle in environmental map
Direction.
6), by path planning unit, generate automatic guided vehicle from environmental map and move to target position from the second place
The path put；Path using path planning algorithm generate, path planning algorithm include A* algorithms, Dijstra algorithms, RRT algorithms,
D* algorithms etc.；
7), by drive control unit, control automatic guided vehicle and move along the path that path planning unit is generated, complete right
Connect.
Embodiment 2
When the second place of automatic guided vehicle is not obtained from external equipment, automatic guided vehicle can also include that positioning is single
Unit, positioning unit is used to obtain correspondence position of the automatic guided vehicle second place in environmental map, and positioning mode includes absolute
Positioning and relative positioning, absolute fix is mainly using navigation beacon, actively or passively mark, map match etc. are positioned；Phase
Be to positioning by measure automatic guided vehicle relative to initial position distance and direction determine the second place of automatic guided vehicle,
Location algorithm includes MonteCarlo location algorithms, three visual angle methods, three subtense techniques, Model Matching algorithm etc..
It is with the difference steps characteristic of embodiment 1 with positioning unit：
1), by external equipment, docking object location information is obtained from working environment, by positioning unit, obtains nothing
Correspondence position of people's carrier second place in environmental map；
2), by acquiring unit, first position of the docking object in the first coordinate system and the are obtained from positional information
One abutting direction；
3), the second coordinate system set up in environmental map by message processing module, calculates first position and the first docking
Target location and target direction of the direction in the second coordinate system；
4), by determining unit, it is determined that it is in the coordinate of environmental map second that first position is matched with the first abutting direction
The corresponding conversion relation of target location and target direction under system；
5), according to the corresponding conversion relation of determining unit, will be in working environment first position and first by matching unit
Abutting direction matching is target location and target direction under the coordinate system of environmental map second；
6), by path planning unit, generate automatic guided vehicle from environmental map and move to target position from the second place
The path put；The second place is obtained by positioning unit positioning；
7), by drive control unit, control automatic guided vehicle and move along the path that path planning unit is generated, complete right
Connect.
Remaining technical characteristic is same as Example 1 with technological means.
Several preferred embodiments of the present invention are the foregoing is only, it is all in the present invention not to limit the present invention
Spirit and principle within any modification, equivalent and the improvement made etc., should be included in protection scope of the present invention it
It is interior.
Claims (10)
1. the docking determining method of path of a kind of automatic guided vehicle, it is characterised in that comprise the following steps:
- first position and the first abutting direction for docking object is obtained from working environment；
- first position is matched target location and target direction for automatic guided vehicle in environmental map with the first abutting direction；
- target location according to automatic guided vehicle in environmental map and target direction, generate automatic guided vehicle and move from the second place
Move the path to target location；
Wherein, when the first position is to dock, object present position in the work environment is docked；First abutting direction is right
When connecing, object joint residing direction in the work environment is docked；The second place is the real time position of automatic guided vehicle.
2. docking determining method of path according to claim 1, it is characterised in that methods described specifically includes step：
The image information of-acquisition working environment；
- first position for docking object for meeting the first default feature, the first described default feature are obtained from image information
The first position of object is docked in for determining image information；
- the first abutting direction for meeting the second default feature is obtained from image information, the second described default feature is used for true
Determine the first abutting direction that object is docked in image information；
- match the first position in image information with the first abutting direction for the target location of automatic guided vehicle in environmental map
And target direction；
- target location according to automatic guided vehicle in environmental map and target direction, generate automatic guided vehicle and move from the second place
The path to target location is moved, the second place is the real time position of automatic guided vehicle.
3. the determination method in docking path according to claim 2, it is characterised in that described image information is working environment
Global image information or the working environment determined according to the 3rd default feature topography's information, the described 3rd presets
Whether feature determines topography's information comprising the first position and the first abutting direction for docking object.
4. the determination method in the docking path according to claim 1 or 2 or 3, it is characterised in that the described second place is
Obtain from working environment and be then converted into the correspondence position of environmental map, or obtained by automatic guided vehicle self poisoning
Its correspondence position in environmental map.
5. it is a kind of to dock pathway de-termination system, it is characterised in that to include
Acquiring unit, obtains first position and first abutting direction of docking object from working environment；
Matching unit, first position is matched target location and the mesh for automatic guided vehicle in environmental map with the first abutting direction
Mark direction；
Path planning unit, it is right in environmental map according to target location, target direction, the second place that matching unit determines
Position is answered, the path that automatic guided vehicle moves to target location from the second place is generated.
6. docking pathway de-termination system according to claim 5, it is characterised in that the acquiring unit includes that information is received
Module, for docking first position and first abutting direction of object from external equipment direct access working environment.
7. docking pathway de-termination system according to claim 5, it is characterised in that specifically, the acquiring unit includes
Information receiving module, for from the image information that working environment is obtained from external equipment；The acquiring unit also includes letter
Breath processing module, is used for
The first position of the docking object for meeting the first default feature is obtained from image information, the first described default feature is used
In it is determined that docking the first position of object in image information；
The first abutting direction for meeting the second default feature is obtained from image information, the second described default feature is used to determine
The first abutting direction of object is docked in image information.
8. docking pathway de-termination system according to claim 7, it is characterised in that the image letter of described information receiver module
The global image information for working environment is ceased, or described information receiver module obtains the work determined according to the 3rd default feature
Topography's information of environment, the 3rd described default feature determines whether topography's information includes first of docking object
Put and the first abutting direction.
9. the docking pathway de-termination system according to claim 5 or 6 or 7 or 8, it is characterised in that
The acquiring unit is additionally operable to the second place from automatic guided vehicle in external equipment direct access working environment,
Matching unit matches the second place in working environment for the correspondence position of automatic guided vehicle in environmental map；
Or acquiring unit also includes locating module, for positioning to automatic guided vehicle, automatic guided vehicle is obtained in environment
Correspondence position in map.
10. a kind of automatic guided vehicle, it is characterised in that including drive control unit, move along path for controlling automatic guided vehicle
Move to target location and complete docking with object is docked, the path is by docking pathway de-termination system life as claimed in claim 5
Into.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610991102.3A CN106647738A (en) | 2016-11-10 | 2016-11-10 | Method and system for determining docking path of automated guided vehicle, and automated guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610991102.3A CN106647738A (en) | 2016-11-10 | 2016-11-10 | Method and system for determining docking path of automated guided vehicle, and automated guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106647738A true CN106647738A (en) | 2017-05-10 |
Family
ID=58806049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610991102.3A Pending CN106647738A (en) | 2016-11-10 | 2016-11-10 | Method and system for determining docking path of automated guided vehicle, and automated guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106647738A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108001976A (en) * | 2017-12-04 | 2018-05-08 | 杭州南江机器人股份有限公司 | A kind of transfer approach and transmission system |
| CN108628325A (en) * | 2018-07-13 | 2018-10-09 | 苏州海顺包装材料有限公司 | Control method, device and the automatic guided vehicle of automatic guided vehicle |
| CN108726071A (en) * | 2018-06-12 | 2018-11-02 | 芜湖乐创电子科技有限公司 | A kind of workpiece placement machine people based on infrared sensing |
| CN108845591A (en) * | 2018-06-26 | 2018-11-20 | 北京云迹科技有限公司 | The localization method and positioning device of unmanned delivery machine |
| CN109426250A (en) * | 2017-08-25 | 2019-03-05 | 杭州海康机器人技术有限公司 | A kind of control AGV carries out the methods, devices and systems of cargo transfer |
| CN109573439A (en) * | 2018-12-27 | 2019-04-05 | 北京艾瑞思机器人技术有限公司 | The method of transfer robot, shelf, warehousing system and Transport cargo rack |
| WO2019169643A1 (en) * | 2018-03-09 | 2019-09-12 | 深圳蓝胖子机器人有限公司 | Luggage transport method, transport system, robot, terminal device, and storage medium |
| CN110275538A (en) * | 2019-06-27 | 2019-09-24 | 广东利元亨智能装备股份有限公司 | Intelligent cruise vehicle navigation method and system |
| CN110316509A (en) * | 2018-03-28 | 2019-10-11 | 北京京东尚科信息技术有限公司 | A kind of shelf change face method and apparatus |
| WO2020024478A1 (en) * | 2018-07-25 | 2020-02-06 | 博众精工科技股份有限公司 | Point stabilization control method and device for mobile robot |
| CN114911226A (en) * | 2021-10-08 | 2022-08-16 | 广东利元亨智能装备股份有限公司 | Method and device for controlling running of carrier and carrier |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830702A (en) * | 2012-09-07 | 2012-12-19 | 无锡普智联科高新技术有限公司 | Mobile robot path planning method used in intensive storage zone |
| CN103472827A (en) * | 2013-09-11 | 2013-12-25 | 无锡普智联科高新技术有限公司 | AGV hoisting correction system based on guide path and method thereof |
| CN104238557A (en) * | 2013-06-18 | 2014-12-24 | 库卡实验仪器有限公司 | Automated Guided Vehicle And Method Of Operating An Automated Guided Vehicle |
| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
| US20160174453A1 (en) * | 2014-07-29 | 2016-06-23 | Kubota Corporation | Work Vehicle Coordinating System |
| CN105807759A (en) * | 2014-12-29 | 2016-07-27 | 鸿富锦精密工业（深圳）有限公司 | Automated guided vehicle control system and automated guided vehicle control method |
-
2016
- 2016-11-10 CN CN201610991102.3A patent/CN106647738A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830702A (en) * | 2012-09-07 | 2012-12-19 | 无锡普智联科高新技术有限公司 | Mobile robot path planning method used in intensive storage zone |
| CN104238557A (en) * | 2013-06-18 | 2014-12-24 | 库卡实验仪器有限公司 | Automated Guided Vehicle And Method Of Operating An Automated Guided Vehicle |
| CN103472827A (en) * | 2013-09-11 | 2013-12-25 | 无锡普智联科高新技术有限公司 | AGV hoisting correction system based on guide path and method thereof |
| US20160174453A1 (en) * | 2014-07-29 | 2016-06-23 | Kubota Corporation | Work Vehicle Coordinating System |
| CN105807759A (en) * | 2014-12-29 | 2016-07-27 | 鸿富锦精密工业（深圳）有限公司 | Automated guided vehicle control system and automated guided vehicle control method |
| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109426250A (en) * | 2017-08-25 | 2019-03-05 | 杭州海康机器人技术有限公司 | A kind of control AGV carries out the methods, devices and systems of cargo transfer |
| CN108001976A (en) * | 2017-12-04 | 2018-05-08 | 杭州南江机器人股份有限公司 | A kind of transfer approach and transmission system |
| WO2019169643A1 (en) * | 2018-03-09 | 2019-09-12 | 深圳蓝胖子机器人有限公司 | Luggage transport method, transport system, robot, terminal device, and storage medium |
| CN114041096A (en) * | 2018-03-09 | 2022-02-11 | 深圳蓝胖子机器智能有限公司 | Baggage transportation method, transportation system, robot, terminal device, and storage medium |
| CN110316509A (en) * | 2018-03-28 | 2019-10-11 | 北京京东尚科信息技术有限公司 | A kind of shelf change face method and apparatus |
| CN108726071A (en) * | 2018-06-12 | 2018-11-02 | 芜湖乐创电子科技有限公司 | A kind of workpiece placement machine people based on infrared sensing |
| CN108845591A (en) * | 2018-06-26 | 2018-11-20 | 北京云迹科技有限公司 | The localization method and positioning device of unmanned delivery machine |
| CN108628325A (en) * | 2018-07-13 | 2018-10-09 | 苏州海顺包装材料有限公司 | Control method, device and the automatic guided vehicle of automatic guided vehicle |
| WO2020024478A1 (en) * | 2018-07-25 | 2020-02-06 | 博众精工科技股份有限公司 | Point stabilization control method and device for mobile robot |
| US11247336B2 (en) | 2018-07-25 | 2022-02-15 | Bozhon Precision Industry Technology Co., Ltd. | Point stabilization control method and apparatus for a mobile robot |
| CN109573439A (en) * | 2018-12-27 | 2019-04-05 | 北京艾瑞思机器人技术有限公司 | The method of transfer robot, shelf, warehousing system and Transport cargo rack |
| CN109573439B (en) * | 2018-12-27 | 2021-07-09 | 北京旷视机器人技术有限公司 | Transfer robot, rack, warehousing system and method for transferring rack |
| CN110275538A (en) * | 2019-06-27 | 2019-09-24 | 广东利元亨智能装备股份有限公司 | Intelligent cruise vehicle navigation method and system |
| CN114911226A (en) * | 2021-10-08 | 2022-08-16 | 广东利元亨智能装备股份有限公司 | Method and device for controlling running of carrier and carrier |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106647738A (en) | Method and system for determining docking path of automated guided vehicle, and automated guided vehicle | |
| US11506500B2 (en) | Aligning measured signal data with SLAM localization data and uses thereof | |
| CN106347919A (en) | Automatic warehousing system | |
| US20220019970A1 (en) | Method and system for warehouse inventory management using drones | |
| CN103389699B (en) | Based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system | |
| EP3656138A1 (en) | Aligning measured signal data with slam localization data and uses thereof | |
| CN115699098B (en) | Machine learning based object identification using scale map and three-dimensional model | |
| CN108430713A (en) | Estimating pose of an object in an environment using sensor-based observations of agents in the environment and estimating uncertainty metrics of the pose | |
| US20230064071A1 (en) | System for 3d surveying by an autonomous robotic vehicle using lidar-slam and an estimated point distribution map for path planning | |
| CN107972027B (en) | Robot positioning method and device and robot | |
| AU2022201774B2 (en) | Object Moving System | |
| US20220011779A1 (en) | Autonomous Robotic Navigation In Storage Site | |
| CN114047750A (en) | Express delivery warehousing method based on mobile robot | |
| Novoselov et al. | Development of the method local navigation of mobile robot a based on the tags with QR code and wireless sensor network | |
| US20200241551A1 (en) | System and Method for Semantically Identifying One or More of an Object and a Location in a Robotic Environment | |
| Zhu et al. | Indoor multi-robot cooperative mapping based on geometric features | |
| KR102631315B1 (en) | System capable of correcting location errors using real-time analysis and contrast between vision data and lidar data for the implementation of simultaneous localization and map-building technology | |
| Wang | Autonomous mobile robot visual SLAM based on improved CNN method | |
| CN205352386U (en) | Distributing type visual positioning system based on robot | |
| Meng et al. | Arpico: Using pictures to build localization service for indoor iot applications | |
| Shaik et al. | 2D localization in large areas using inexpensive rgbd camera augmented with visual tags | |
| Adam et al. | Continuous and autonomous digital twinning of large-scale dynamic indoor environments | |
| CN112037259A (en) | System and method for tracking dynamic target | |
| Genovese | Drones in Warehouses: Advancements in Autonomous Inventory A Comparative Analysis of Vision-Based Techniques and Fiducial Marker Families for Indoor Drone Navigation and Relocation= Drones in Warehouses: Advancements in Autonomous Inventory A Comparative Analysis of Vision-Based Techniques and Fiducial Marker Families for Indoor Drone Navigation and Relocation | |
| CN113570663B (en) | Indoor positioning method based on fusion of single-line laser radar and top-view camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170510 |
|
| WD01 | Invention patent application deemed withdrawn after publication |