CN107817803B - Control system and control method suitable for secondary accurate positioning of AGV - Google Patents
Control system and control method suitable for secondary accurate positioning of AGV Download PDFInfo
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- CN107817803B CN107817803B CN201711123718.XA CN201711123718A CN107817803B CN 107817803 B CN107817803 B CN 107817803B CN 201711123718 A CN201711123718 A CN 201711123718A CN 107817803 B CN107817803 B CN 107817803B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention relates to the field of logistics automation, in particular to a control system and a control method suitable for secondary accurate positioning of an AGV. The invention is realized by the following technical scheme: the utility model provides a control system suitable for secondary accurate positioning of AGV contains AGV dolly and auxiliary positioning device, the AGV dolly contains automobile body, drive arrangement, controller and installs scanning device on the automobile body, the controller contains the auto-change over device who is used for switching positioning algorithm. The invention aims to provide a control system and a control method suitable for secondary accurate positioning of an AGV, which can trigger secondary accurate positioning in a large-scale working occasion, switch a positioning algorithm and continue working in a high-precision mode.
Description
Technical Field
The invention relates to the field of logistics automation, in particular to a control system and a control method suitable for secondary accurate positioning of an AGV.
Background
An AGV, i.e., an automatic guided vehicle, is a transport vehicle equipped with an automatic guide device and capable of traveling along a predetermined guide path. AGVs are widely used, and can replace manual work to finish work tasks such as stacking, unstacking, carrying and the like in a storage environment.
In the actual work of AGVs, the technical scheme of positioning and navigation is particularly important, and in the prior art, electromagnetic navigation, magnetic navigation and laser navigation are common. Electromagnetic navigation is one of more traditional navigation modes, and is realized by burying a metal wire on a traveling path of an AGV, loading a guide frequency on the metal wire and identifying the guide frequency. The magnetic navigation technical scheme is that a magnetic strip is attached to a road surface to replace a metal wire buried under the ground, navigation is realized through magnetic induction signals, the flexibility is good, the route is easy to change or expand, and the magnetic strip is easy to lay. The laser navigation is to install a laser reflecting plate with accurate positions around the traveling path of the AGV, the AGV transmits laser beams, and simultaneously collects the laser beams reflected by the reflecting plate to determine the current position and direction of the AGV, and the navigation of the AGV is realized through continuous triangular geometric operation.
However, no matter what positioning and guiding scheme is adopted, positioning and guiding are usually performed in a larger position area, in this environment, due to cost and efficiency, positioning accuracy is often low, and positioning requirements cannot be met in some occasions requiring high-accuracy positioning.
Disclosure of Invention
The invention aims to provide a control system and a control method suitable for secondary accurate positioning of an AGV, which can trigger secondary accurate positioning in a large-scale working occasion, switch a positioning algorithm and continue working in a high-precision mode.
The technical aim of the invention is realized by the following technical scheme: the utility model provides a control system suitable for secondary accurate positioning of AGV contains AGV dolly and auxiliary positioning device, the AGV dolly contains automobile body, drive arrangement, controller and installs scanning device on the automobile body, the controller contains the auto-change over device who is used for switching positioning algorithm.
Preferably, the scanning device is a laser scanning device, and the auxiliary positioning device is a reflector.
In a preferred embodiment of the present invention, the laser scanning device is located at a front end position on the vehicle body, and the number of the reflection plates is at least two.
Preferably, the control system comprises a trigger point located in the working environment of the AGV, and the switching device switches the positioning algorithm of the external environment to a high-precision positioning algorithm when the AGV is located at the trigger point.
Preferably, the projection of the trigger point on the connecting line of the two reflectors is located between the two reflectors.
Preferably, the distance from the trigger point to the two reflectors is the same.
As the preferable mode of the invention, the distance between the trigger point and the two reflecting plates is smaller than or equal to the preset scanning radius value of the scanning device, and the reflecting plates are positioned on the preset advancing path of the AGV trolley.
Preferably, the driving device comprises two driving wheels and a driving motor, and each driving wheel is independently controlled by one driving wheel.
Preferably, the vehicle body is further provided with a jacking mechanism, and the jacking mechanism comprises a tray and a lifting piece connected with the tray.
A method for stopping a control system suitable for secondary accurate positioning of an AGV comprises the following steps,
Step one, a field arrangement step:
An auxiliary positioning device is arranged in the working environment of the AGV, and the auxiliary positioning device is a reflecting plate;
Step two, a trolley setting step:
Setting a scanning range for installing the scanning device on the vehicle body, setting the scanning radius as X0, and setting a traveling route or a task route of the AGV;
Step three, the step of advancing the external environment of the trolley:
The AGV trolley performs navigation running according to a positioning algorithm of an external environment;
step four, switching triggering step:
When the AGV trolley runs to a trigger point, switching a positioning algorithm, wherein the scanning device scans the existence of two reflecting plates and the two reflecting plates are positioned on a travelling route of the AGV trolley at the trigger point;
step five, switching a high-precision positioning algorithm:
The controller comprises a switching device, and the switching device switches the positioning algorithm of the external environment of the AGV trolley into a high-precision positioning algorithm.
In summary, the invention has the following beneficial effects:
1. The auxiliary positioning device can be detected to automatically realize the switching of the positioning algorithm, so that the efficiency and the positioning precision are ensured.
2. The controller can realize differential adjustment of the two driving wheels through control of the driving motor, so that the travelling route and the gesture of the trolley are automatically adjusted.
Description of the drawings:
FIG. 1 is a schematic diagram of example 1;
Fig. 2 is a schematic diagram of the cart of fig. 1 performing a high accuracy positioning algorithm.
In the figure:
1. the device comprises a vehicle body, 2, a driving device, 3, a controller, 4, a scanning device, 5 and an auxiliary positioning device.
Description of the switching device
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Example 1, as shown in fig. 1: the system comprises an AGV trolley which is not greatly different from the prior art in mechanical structure, is provided with a walking structure and a driving device 2, and specifically comprises two driving wheels, wherein the two driving wheels are arranged on two sides of a vehicle body 1 left and right. In this case, each driving wheel is independently controlled by a driving motor, and the posture of the vehicle body 1 can be adjusted according to the left and right differential.
In this embodiment, as shown in fig. 1, the scanning device 4 may be a laser head, and perform laser scanning within a range of 360 ° or 180 ° in front, and a value X0 may be initially set, where the value X0 is a recognized scanning radius, and is used to detect the auxiliary positioning device 5.
In this embodiment, as shown in fig. 1, the auxiliary positioning devices 5 are light reflecting plates, and at least two auxiliary positioning devices are arranged in the working environment of the AGV trolley, in this embodiment, a plurality of shelves are installed in the warehouse hole home, trays are arranged on the shelves, and the trays need to be carried by the AGV trolley, so that the corresponding light reflecting plates can be attached to supporting legs of the shelves.
So far, the site arrangement step and the dolly setting step of the first and second steps have been completed.
And then entering a step three, namely advancing the external environment of the trolley, and enabling the AGV to advance towards the designated area by receiving a working instruction from the server through a communication device of the AGV. The communication device can adopt devices such as bluetooth, WIFI to communicate, and uses the location among the prior art and navigation mode when going forward to appointed region, does not make the description here, but for cost and efficiency, the location algorithm that AGV dolly adopted this moment is the location algorithm of external environment, and location precision often is not high, and the precision is around + -3 centimetres.
When the AGV travels to point A in FIG. 2, the step of triggering the algorithm switch begins. And step four, switching triggering step. In this step, point a is a trigger point, and when point a, three conditions are often required to be satisfied simultaneously. Condition one: the direction that AGV dolly led to two auxiliary positioning device 5 namely reflector panel matches with the direction of advance of AGV dolly in the mission system, prevents that the dolly from going to other goods shelves bottoms and carrying out the task. Specifically, the task system will be assigned to the work task assigned by the AGV cart, while in other areas, other reflectors may be disposed. The reflectors of the task are also stored in the AGV in coordinates for matching, at which point the AGV must follow the task route that the system dispatched to the designated reflectors. And under the second condition, the distances X1 and X2 between the AGV trolley and the two reflectors are smaller than or equal to a preset X0, so that a premature switching algorithm of the trolley is avoided. And thirdly, the AGV trolley is positioned between the two reflecting plates, namely, the projection position of the trolley on the connecting line of the two reflecting plates is positioned between the connecting lines of the two light release plates, so that the calculation is carried out by a positioning algorithm at the later stage.
The above three conditions are satisfied simultaneously, so that the switching of the positioning algorithm can be performed, and preferably, X1 and X2 are equal.
At this time, a step five is entered, a step for switching the high-precision positioning algorithm is performed, and the switching device in the controller 3 switches the positioning algorithm of the external environment into the high-precision positioning algorithm, wherein the precision of the high-precision positioning algorithm is higher than that of the positioning algorithm of the previous external environment, and the precision level of +/-1 cm can be reached.
Specifically, as shown in fig. 2, an O point is taken as an origin, a 0 point is located at the midpoint of a connecting line of two light-emitting plates, and an XY coordinate system is established by monitoring the distance values of X1 and X2 in real time. The Y axis is the direction of the connecting line of the two reflecting plates, and the X axis is vertical to the Y axis. When X1 and X2 are equal, the direction of the connecting line of the trolley and the 0 point is the extending direction of the X axis.
The included angle between the connecting line from the trolley to the reflector and the X axis is a deviation angle value, and as shown in fig. 2, the two deviation angle values are alpha and beta respectively. In the running process of the AGV trolley, the system calculates the angle values of alpha and beta in real time, and compares the angle values in real time to obtain the current deviation of the vehicle in the Y-axis direction. And then, according to the deviation value in the Y-axis direction, the rotation speeds of the left and right differential driving wheels are adjusted to adjust the posture of the vehicle, so that the deviation correction of the angle and the Y-axis direction of the vehicle is realized. And the distance from the O point is monitored by laser at the position in the X-axis direction, so that the accurate positioning of the target point is realized.
When the trolley reaches a preset position in the system, the trolley can be controlled to carry out the consignment lifting task. The lifting structure can be installed on the car body 1, a tray is arranged on the trolley, and a lifting piece is connected to the tray. The lifting member can be in various realization forms, for example, comprises a lifting motor, a gear, a screw rod and other parts, and the tray of the trolley is lifted by a spiral lifting mode.
After the trolley completes the preset work task in the system, the positioning algorithm can be switched back to the positioning algorithm of the external environment.
Claims (5)
1. Control system suitable for secondary accurate positioning of AGV contains AGV dolly and auxiliary positioning device, its characterized in that: the AGV dolly contains automobile body (1), drive arrangement (2), controller (3) and installs scanning device (4) on automobile body (1), controller (3) contain the auto-change over device that is used for switching positioning algorithm, scanning device (4) are laser scanning device, auxiliary positioning device is the reflector panel, laser scanning device is located front end position on automobile body (1), the reflector panel is two at least, this kind of control system contains and is located trigger point in the AGV dolly operational environment, when the AGV dolly is located trigger point, auto-change over device switches the positioning algorithm of external environment to high accuracy positioning algorithm, to the judgement of trigger point needs to satisfy the following three condition simultaneously: the first condition, the projection of trigger point on two reflector panel connecting lines is located two between the reflector panel, the second condition, trigger point is two the distance between the reflector panel all is less than or equal to scanning radius numerical value that scanning device preset, just, the reflector panel is located on the preset advancing path of AGV dolly, the third condition, task system distributes work task for this AGV, the position information storage of the reflector panel that work task corresponds is in the AGV dolly, the AGV dolly leads to two correspondences the direction of reflector panel matches with the advancing direction of AGV dolly.
2. A control system for secondary accurate positioning of an AGV according to claim 1 wherein: the distance from the trigger point to the two reflecting plates is the same.
3. A control system for secondary accurate positioning of an AGV according to claim 1 wherein: the driving device (2) comprises driving wheels and driving motors, wherein the number of the driving wheels is two, and each driving wheel is independently controlled by one driving wheel.
4. A control system for secondary accurate positioning of an AGV according to claim 1 wherein: the lifting mechanism is further arranged on the vehicle body (1) and comprises a tray and a lifting piece connected with the tray.
5. A method of parking a control system for secondary accurate positioning of an AGV according to any of claims 1-4 wherein: comprises the following steps of the method,
Step one, a field arrangement step:
an auxiliary positioning device (5) is arranged in the working environment of the AGV, and the auxiliary positioning device (5) is a reflecting plate;
Step two, a trolley setting step:
setting a scanning range for installing the scanning device (4) on the vehicle body (1), setting a scanning radius as X0, and setting a traveling route or a task route of the AGV;
Step three, the step of advancing the external environment of the trolley:
The AGV trolley performs navigation running according to a positioning algorithm of an external environment;
step four, switching triggering step:
When the AGV trolley runs to a trigger point, switching a positioning algorithm, wherein the scanning device (4) scans the existence of two reflecting plates and the two reflecting plates are positioned on a travelling path of the AGV trolley at the trigger point;
step five, switching a high-precision positioning algorithm:
The controller (3) comprises a switching device, and the switching device switches the positioning algorithm of the external environment of the AGV into a high-precision positioning algorithm.
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| CN201711123718.XA CN107817803B (en) | 2017-11-14 | 2017-11-14 | Control system and control method suitable for secondary accurate positioning of AGV |
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| CN201711123718.XA CN107817803B (en) | 2017-11-14 | 2017-11-14 | Control system and control method suitable for secondary accurate positioning of AGV |
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| CN109143258A (en) * | 2018-09-06 | 2019-01-04 | 苏州元谋智能机器人系统有限公司 | The localization method of trackless navigation AGV |
| CN110039539B (en) * | 2019-04-04 | 2023-10-10 | 肖卫国 | Method, computer readable medium and system for carrying operation based on automatic carrying trolley |
| CN111176299A (en) * | 2020-01-22 | 2020-05-19 | 广州富港万嘉智能科技有限公司 | Vehicle position adjusting method, computer readable storage medium, AGV control system and AGV |
| CN112269378B (en) * | 2020-09-23 | 2022-11-11 | 锐捷网络股份有限公司 | Laser positioning method and device |
| CN112960319B (en) * | 2021-01-29 | 2024-02-02 | 苏州寻迹智行机器人技术有限公司 | Method for assisting submerged jacking AGV to drill into goods shelf by utilizing light reflecting unit |
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