Map construction method and system for AGV automatic lightering, and medium

Abstract

The invention provides a map construction method and system for AGV automatic lightering and a medium, and the method comprises the steps: obtaining a starting point location in a target region, so as to control an AGV to move to a corresponding position; after the AGV arrives at the starting point, scanning the terrain in a target area based on the AGV, and controlling the AGV to perform automatic driving based on a preset advancing path; when the AGV is automatically driven based on the advancing path, terrain scanning data in a preset range of the AGV is collected based on a single-line laser radar; and performing data fusion on the basis of the terrain scanning data in combination with planar graph data corresponding to the target area so as to construct and obtain a lightering map. According to the method, tracing can be carried out through the AGV based on the SLAM instant positioning and map building technology to obtain the lightering map suitable for automatic lightering of the AGV, data fusion can be carried out on the topographic data obtained through scanning and the stored plane data graph to improve the lightering map, and the map stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of map construction, and in particular to a map construction method, system and medium for AGV automatic transfer. Background Art

[0002] In the tobacco production process, the equipment and control of each transportation point in the production workshop are not the same. Different workstations in different areas require different control methods. AGV (Automatic Guided Vehicle) needs to discuss each situation when sending and receiving cans to ensure the absolute correctness of the delivery. At the same time, the environmental factors under workshop production and maintenance conditions vary greatly, and the AGV's own obstacle detection capabilities are very high. It is necessary to identify various obstacles in the production environment to avoid safety accidents, especially personal injuries during production.

[0003] Therefore, for AGV in daily driving, it is necessary to build a transfer map that can provide AGV with automatic transfer, so as to facilitate AGV automatic driving. Summary of the invention

[0004] The object of the present invention is to provide a method, system and medium for constructing a map for AGV automatic transfer, so as to solve the problem of map construction for AGV automatic transfer.

[0005] In a first aspect, the present application provides a method for constructing a map for AGV automatic barge transport, the method comprising:

[0006] Obtaining a starting point position in a target area to control the AGV to move to a corresponding position;

[0007] When the AGV arrives at the starting point, the terrain in the target area is scanned based on the AGV, wherein:

[0008] Controlling the AGV to perform automatic driving based on a preset travel path, wherein the travel path includes a zigzag path;

[0009] When the AGV drives automatically based on the travel path, terrain scanning data within a preset range of the AGV is collected based on a single-line laser radar, wherein the single-line laser radar is arranged on the AGV;

[0010] Data fusion is performed based on the terrain scanning data combined with the plan view data corresponding to the target area to construct a lightering map.

[0011] In a possible implementation of the present application, the method further includes outputting the starting point to a user terminal so that the user can manually drive the AGV to the starting point.

[0012] In a possible implementation of the present application, obtaining the starting point position in the target area to control the AGV to move to the corresponding position specifically includes:

[0013] Obtain the input starting point and current position information of the AGV;

[0014] Generate a starting path based on the starting point and the current position information;

[0015] The AGV is controlled to travel to the starting point based on the starting path.

[0016] In a possible implementation of the present application, controlling the AGV to perform automatic driving based on a preset travel path specifically includes:

[0017] The AGV is controlled to perform tracking automatic driving based on the zigzag path, wherein:

[0018] During the traveling process, terrain scanning data in all directions within a preset range of the AGV is collected based on the single-line laser radar, wherein the all-around direction includes any direction within a two-dimensional plane.

[0019] In a possible implementation of the present application, the data fusion based on the terrain scanning data combined with the plan view data corresponding to the target area to construct a lightering map specifically includes:

[0020] Performing position calibration based on the terrain scanning data and the plan view data to obtain an unexplored area within the target area;

[0021] The unexplored data is fused and refined based on the plan view data, and the barge map is obtained after removing fuzzy burrs and outlining the area edges.

[0022] In a possible implementation of the present application, the method further includes controlling a surrounding lighting device provided on the AGV to turn on when the AGV automatically drives based on the travel path.

[0023] In a possible implementation of the present application, the method further includes controlling a preset lighting device in the target area to turn on when the AGV automatically drives based on the travel path.

[0024] In a second aspect, the present application provides a map construction system for AGV automatic transfer, the system comprising:

[0025] An acquisition module, used to acquire a starting point position in a target area to control the AGV to move to a corresponding position;

[0026] A scanning module is used to scan the terrain in the target area based on the AGV after the AGV arrives at the starting point, wherein:

[0027] A control module, used to control the AGV to perform automatic driving based on a preset travel path, wherein the travel path includes a zigzag path;

[0028] A collection module, used for collecting terrain scanning data within a preset range of the AGV based on a single-line laser radar when the AGV is automatically driven based on the travel path, wherein the single-line laser radar is arranged on the AGV;

[0029] A construction module is used to perform data fusion based on the terrain scanning data combined with the plane map data corresponding to the target area to construct a lightering map.

[0030] In a third aspect, the present application provides a computer-readable storage medium as described above, on which a computer program is stored, and when the program is executed by a processor, the map construction method for automatic transfer of the AGV is implemented.

[0031] In a fourth aspect, the present application provides an electronic device as mentioned above, comprising: a processor and a memory; wherein the memory is used to store a computer program, and the processor is used to load and execute the computer program so that the electronic device executes the AGV automatic transfer map construction method.

[0032] As described above, the AGV automatic barge map construction method, system and medium of the present invention can obtain a barge map suitable for automatic barge of the automatic guided vehicle through tracking by the AGV automatic guided vehicle based on the SLAM real-time positioning and map construction technology, and the terrain data obtained by scanning and the stored plane data map can be fused to improve the barge map and enhance the map stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A diagram showing a scenario application of a map construction method for AGV automatic transfer in one embodiment of the present invention;

[0034] Figure 2 Shown is a schematic diagram of method steps of a map construction method for AGV automatic transfer in one embodiment of the present invention;

[0035] Figure 3 It is a schematic diagram showing the method steps of a map construction method for AGV automatic transfer in another embodiment of the present invention;

[0036] Figure 4 A schematic diagram of near infrared spectrum data of a map construction method for AGV automatic transfer in one embodiment of the present invention is shown;

[0037] Figure 5 Shown is a schematic diagram of the structure of a map building system for AGV automatic transfer in one embodiment of the present invention;

[0038] Figure 6 Shown is a schematic structural diagram of an electronic device in an embodiment of the present invention.

[0039] Component number description

[0040] Steps S102 to S110

[0041] Steps S202 to S206

[0042] Steps S402 to S404

[0043] 50 AGV automatic transfer map construction system

[0044] 51 Get Module

[0045] 52 Scanning Module

[0046] 53 Control module

[0047] 54 Acquisition Module

[0048] 55 Building Blocks DETAILED DESCRIPTION

[0049] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0050] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0051] SLAM (Simultaneous Localization and Mapping) technology includes visual SLAM navigation technology and laser SLAM navigation technology. Visual SLAM refers specifically to the use of cameras, Kinect and other depth cameras for indoor navigation and exploration. First of all, compared with laser SLAM, the advantage of visual SLAM is that the sensors it uses are extremely cost-effective. The camera is used to identify the target and identify the things that are closest to human understanding. The disadvantage is that the ground on which the robot is running needs to have texture information. When the area of ​​the running site is large, the time to draw the navigation map is longer than that of laser navigation. At the same time, the visual SLAM technology is highly dependent on light. It cannot work in dark places such as under the equipment bracket or in some textureless areas. The stability is still lacking. For the laser SLAM navigation technology, in the laser SLAM navigation technology, the robot calculates the odometer information through the encoder combined with the IMU (Inertial Measurement Unit) during the movement, and uses the robot's motion model to obtain the initial estimation of the robot's posture. Then, the laser data obtained by the laser sensor loaded on the robot is combined with the observation model (laser scanning matching) to accurately correct the robot's posture. The advantage is that the robot is accurately positioned. Finally, on the basis of accurate positioning, the laser data is added to the grid map. Repeatedly, the robot moves in the environment and finally completes the construction of the entire scene map. Laser SLAM navigation technology has the advantages of mature technology, high stability and accurate positioning. Therefore, the application of this application is laser SLAM navigation technology, especially for the application scenario of this application applied to AGV automatic guided vehicles, which can solve the positioning and map construction problems of robots when they move in unknown environments.

[0052] See also Figure 1 In one embodiment of the invention, the map construction method of the AGV automatic transfer of the present invention includes the following steps:

[0053] Step S102, obtaining a starting point position in a target area to control the AGV to move to a corresponding position;

[0054] Step S104, when the AGV arrives at the starting point, the terrain in the target area is scanned based on the AGV;

[0055] Step S106, controlling the AGV to perform automatic driving based on a preset travel path, wherein the travel path includes a zigzag path;

[0056] Step S108, when the AGV is automatically driving based on the travel path, collecting terrain scanning data within a preset range of the AGV based on a single-line laser radar, wherein the single-line laser radar is arranged on the AGV;

[0057] Step S110, performing data fusion based on the terrain scanning data combined with the plan view data corresponding to the target area to construct a lightering map.

[0058] It should be noted that the starting point position in the target area is obtained to control the AGV to move to the corresponding position, such as Figure 2 As shown, the specific steps include:

[0059] Step S202, obtaining the input starting point and the current position information of the AGV;

[0060] Step S204, generating a starting path based on the starting point and the current position information;

[0061] Step S206: Control the AGV to move to the starting point based on the starting path.

[0062] Specifically, when constructing a barge map, it is necessary to scan the target area based on a single-line laser radar set on the AGV to collect terrain data. Therefore, it is necessary to set the starting point of the AGV to facilitate terrain collection based on the corresponding circular path. When the AGV is controlled to move to the starting point, the input starting point and the current position information corresponding to the AGV can be obtained, so as to generate a corresponding starting path based on the position information and the starting point, so that the AGV can be controlled to move based on the starting path to reach the starting point and prepare for subsequent terrain collection operations.

[0063] In addition, in one embodiment of the invention, the method also includes outputting the starting point to the user end so that the user can manually drive the AGV to the starting point, that is, in addition to controlling the AGV to automatically drive to the starting point, the user can also manually drive the AGV to the starting point.

[0064] It should be noted that the above embodiment describes that the AGV can be controlled to automatically move to the starting point based on the starting path, while the present embodiment describes that the starting point can be output to the user end so that the user (such as an operator) can manually drive the AGV to the corresponding starting point, which can also ensure that the AGV can continue subsequent terrain collection operations at the correct starting point.

[0065] Furthermore, in one embodiment of the invention, the controlling of the AGV to perform automatic driving based on a preset travel path specifically includes: controlling the AGV to perform tracking automatic driving based on the zigzag path, wherein during the travel process, the terrain scanning data in all directions within a preset range of the AGV is collected based on the single-line laser radar, wherein the all-round direction includes any direction within a two-dimensional plane.

[0066] It should be noted that if Figure 3 As shown, the AGV's circular path is shown, wherein: Figure 3 The coordinates (0,0) correspond to the starting point, and x and y represent the plane coordinate axes. Specifically, the AGV is controlled to perform automatic tracking based on the zigzag path, for example, based on Figure 3 The zigzag path in the AGV is driven counterclockwise or clockwise, wherein during the driving process, the terrain scanning data of the full circumference within the preset range of the AGV is collected based on the single-line laser radar, and the corresponding full circumference direction is the terrain data of the 360° area within the current preset range of the AGV.

[0067] Further, in one embodiment of the invention, if Figure 4 As shown, the data fusion based on the terrain scanning data combined with the plane map data corresponding to the target area to construct a barge map specifically includes the following steps:

[0068] Step S402, performing position calibration based on the terrain scanning data and the plan view data to obtain an unexplored area in the target area;

[0069] Step S404, fusing and refining the unexplored data based on the plan view data, removing fuzzy burrs and outlining the area edges to obtain the lightering map.

[0070] It should be noted that, in this embodiment, the description of improving the barge map by performing data fusion based on the terrain scanning data and the plan view data is specifically explained. Specifically, first, position calibration is performed based on the terrain scanning data and the plan view data to obtain the unexplored area in the target area. The unexplored area corresponds to the unclearly explored or dark spot area. Therefore, after position calibration based on the plan view data and the terrain scanning data, the unexplored data area can be identified, and then the unexplored data can be fused and refined based on the plan view data, and the fuzzy burrs are removed and the area edges are outlined to obtain the perfect barge map.

[0071] Furthermore, in one embodiment of the invention, the method further comprises controlling the omnidirectional lighting device provided on the AGV to turn on when the AGV is automatically driving based on the travel path. In addition, the method further comprises controlling the preset lighting device in the target area to turn on when the AGV is automatically driving based on the travel path.

[0072] It should be noted that, since the target area needs to be visible when single-line laser scanning is used to collect terrain data, when the AGV is automatically driving based on the travel path, the preset lighting device in the target area is controlled to be turned on, so as to ensure full-area lighting in the target area. In addition, when the AGV is automatically driving based on the travel path, the all-around lighting device set on the AGV is controlled to be turned on. Due to the shadows or light and shadows in the target area, some areas may be blurred or black. Therefore, in this embodiment, it is also explained that when the AGV is automatically driving based on the travel path, the all-around lighting device set on the AGV is controlled to be turned on. The problem of blurred or black shadows in some areas can be avoided by the technical means of local fill light.

[0073] The embodiment of the present application also provides a map construction system for AGV automatic barge, which can implement the map construction method for AGV automatic barge described in the present application. However, the implementation device of the map construction method for AGV automatic barge described in the present application includes but is not limited to the structure of the map construction system for AGV automatic barge listed in the present embodiment. All structural deformations and replacements of the prior art made according to the principles of the present application are included in the protection scope of the present application.

[0074] See also Figure 5 In one embodiment, this embodiment provides a map construction system 50 for AGV automatic transfer, the system comprising:

[0075] An acquisition module 51 is used to acquire a starting point position in a target area to control the AGV to move to a corresponding position;

[0076] The scanning module 52 is used to scan the terrain in the target area based on the AGV after the AGV arrives at the starting point, wherein:

[0077] A control module 53, used to control the AGV to perform automatic driving based on a preset travel path, wherein the travel path includes a zigzag path;

[0078] A collection module 54, configured to collect terrain scanning data within a preset range of the AGV based on a single-line laser radar when the AGV is automatically driving based on the travel path, wherein the single-line laser radar is arranged on the AGV;

[0079] The construction module 55 is used to perform data fusion based on the terrain scanning data combined with the plan view data corresponding to the target area to construct a lightering map.

[0080] Since the specific implementation of this embodiment corresponds to the aforementioned method embodiment, the same details will not be repeated here, and those skilled in the art should also understand that Figure 5 The division of the modules in the embodiment is merely a division of logical functions, and in actual implementation, all or part of them can be integrated into one or more physical entities, and these modules can be implemented entirely in the form of software called by processing elements, or entirely in the form of hardware, or some modules can be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware.

[0081] See also Figure 6 This embodiment provides an electronic device. Specifically, the electronic device includes at least a memory and a processor connected via a bus, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to execute all or part of the steps in the aforementioned method embodiment.

[0082] To sum up, the present invention can obtain a barge map suitable for automatic barge by an AGV automatic guided vehicle based on SLAM real-time positioning and map construction technology, and the terrain data obtained by scanning and the stored plane data map can be fused to improve the barge map and enhance the map stability.

[0083] In the several embodiments provided in the present application, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules or units, which can be electrical, mechanical or other forms.

[0084] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0085] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0086] The present application embodiment also provides a computer-readable storage medium. A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above embodiment can be completed by a program to instruct the processor, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state hard disk (SSD)), etc.

[0087] The present application embodiment may also provide a computer program product, the computer program product including one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer or data center.

[0088] When the computer program product is executed by a computer, the computer executes the method described in the above method embodiment. The computer program product may be a software installation package, and when the above method is required, the computer program product may be downloaded and executed on a computer.

[0089] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0090] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for constructing a map for AGV automatic transfer, characterized in that: include: Obtaining a starting point position in a target area to control the AGV to move to a corresponding position; When the AGV arrives at the starting point, the terrain in the target area is scanned based on the AGV, wherein: Controlling the AGV to perform automatic driving based on a preset travel path, wherein the travel path includes a zigzag path; When the AGV drives automatically based on the travel path, terrain scanning data within a preset range of the AGV is collected based on a single-line laser radar, wherein the single-line laser radar is arranged on the AGV; Data fusion is performed based on the terrain scanning data combined with the plan view data corresponding to the target area to construct a lightering map.

2. The method for constructing a map for AGV automatic transfer according to claim 1, characterized in that: The method further includes outputting the starting point to a user terminal so that the user can manually drive the AGV to the starting point.

3. The map construction method for AGV automatic transfer according to claim 1, characterized in that: The obtaining of the starting point position in the target area to control the AGV to move to the corresponding position specifically includes: Obtain the input starting point and current position information of the AGV; Generate a starting path based on the starting point and the current position information; The AGV is controlled to travel to the starting point based on the starting path.

4. The method for constructing a map for AGV automatic transfer according to claim 3, characterized in that: The controlling the AGV to perform automatic driving based on a preset travel path specifically includes: The AGV is controlled to perform tracking automatic driving based on the zigzag path, wherein: During the traveling process, terrain scanning data in all directions within a preset range of the AGV is collected based on the single-line laser radar, wherein the all-around direction includes any direction within a two-dimensional plane.

5. The method for constructing a map for AGV automatic transfer according to claim 4, characterized in that: The data fusion based on the terrain scanning data combined with the plan view data corresponding to the target area to construct a lightering map specifically includes: Performing position calibration based on the terrain scanning data and the plan view data to obtain an unexplored area within the target area; The unexplored data is fused and refined based on the plan view data, and the barge map is obtained after removing fuzzy burrs and outlining the area edges.

6. The method for constructing a map for AGV automatic transfer according to claim 4, characterized in that: The method further includes controlling a surrounding lighting device disposed on the AGV to turn on when the AGV automatically drives based on the travel path.

7. The method for constructing a map for AGV automatic transfer according to claim 1, characterized in that: The method also includes controlling a preset lighting device in the target area to turn on when the AGV automatically drives based on the travel path.

8. A map construction system for AGV automatic transfer, characterized in that: include: An acquisition module, used to acquire a starting point position in a target area to control the AGV to move to a corresponding position; A scanning module is used to scan the terrain in the target area based on the AGV after the AGV arrives at the starting point, wherein: A control module, used to control the AGV to perform automatic driving based on a preset travel path, wherein the travel path includes a zigzag path; A collection module, used for collecting terrain scanning data within a preset range of the AGV based on a single-line laser radar when the AGV is automatically driven based on the travel path, wherein the single-line laser radar is arranged on the AGV; A construction module is used to perform data fusion based on the terrain scanning data combined with the plane map data corresponding to the target area to construct a lightering map.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the map construction method for AGV automatic transfer as described in any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: The electronic device comprises: a processor and a memory; wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the map construction method for AGV automatic transfer as described in any one of claims 1 to 7.

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