CN103019240A - Automatic guided vehicle (AGV) trolley plane positioning navigation system and method - Google Patents
Automatic guided vehicle (AGV) trolley plane positioning navigation system and method Download PDFInfo
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- CN103019240A CN103019240A CN2012105032758A CN201210503275A CN103019240A CN 103019240 A CN103019240 A CN 103019240A CN 2012105032758 A CN2012105032758 A CN 2012105032758A CN 201210503275 A CN201210503275 A CN 201210503275A CN 103019240 A CN103019240 A CN 103019240A
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Abstract
The invention relates to the field of positioning navigation and discloses an automatic guided vehicle (AGV) trolley plane positioning navigation system and an AGV trolley plane positioning navigation method. The system comprises an AGV trolley, a map database, an ultrasonic sensor module, a steering engine module, a steering angle sensor module and a microprocessor module, wherein the map database is stored in the microprocessor module; the ultrasonic sensor module is arranged at a front-end central position and a left-side central position of the AGV trolley; and the ultrasonic sensor module, the steering engine module and the steering angle sensor module are respectively and electrically connected with the microprocessor module. The front and lateral ultrasonic sensor information of the AGV trolley is received, the microprocessor module adopts a corresponding positioning algorithm after map database matching, and the AGV trolley is positioned and controlled to move. An ultrasonic distometer is used for measuring the distance, the cost is low, and the distance measurement is accurate; and moreover, a driving path of the AGV trolley can be optionally planned, the guide rail constraint is broken, the control is convenient, and the working efficiency is greatly improved.
Description
Technical field
The present invention relates to positioning and navigation field, particularly a kind of AGV dolly plane positioning navigational system and method.
Background technology
Automatic guided vehicle AGV (Automatic Guided Vehicle) refers to be equipped with automatic guiding system, by the route automatic running of setting or drawing loading platform to the appointed place, realize automatic loading and unloading and the carrying of material, with other logistics equipments from mobile interface, the unmanned conveying equipment of full process automatization.
Known AGV is equipped with electromagnetism or optical directory means at present, and guiding AGV dolly travels at predetermined track.When workload increases or equipment when increasing, need to set up new track to finish different tasks, so both increased cost, again so that system's complicated.
Summary of the invention
The objective of the invention is: for solving above-mentioned technical matters of the prior art, a kind of AGV dolly plane positioning navigational system and method are provided, replaced traditional AGV guide rail, and the map data base under the targeted environment can be according to real work situation real time altering, and the track guiding that need not to navigate.
For achieving the above object, the technical solution used in the present invention is: a kind of AGV dolly plane positioning navigational system is provided, has comprised: AGV dolly 1, map data base, ultrasonic sensor module 2, steering wheel module 3, rotary angle transmitter module 4, microprocessor module 5.
Described map data base is stored in the microprocessor module 5, is used to provide the coordinate information under the targeted environment, and processes by the data of microprocessor module 5, advances by steering wheel module 3 and rotary angle transmitter module 4 module controls AGV dollies 1; Ultrasonic sensor module 2 is installed in front end center and the center, left side of AGV dolly 1, for detection of the variation of standby AGV dolly 1 the place ahead and lateral distance, and data is offered microprocessor module 5 in real time; Steering wheel module 3 is connected with the steering link of AGV dolly 1, is used for AGV dolly 1 and turns to; Described microprocessor module is used for processing in real time the data that receive, and realizes the location navigation of AGV dolly 1; Rotary angle transmitter module 4 is installed on the column tube of AGV dolly 1, is used for measuring the corner of AGV dolly 1, and data are offered microprocessor module 5; And above-mentioned several module is electrically connected with microprocessor module 5 respectively.
Wherein, described map data base comprises: the origin and destination coordinate information under the targeted environment, flex point coordinate information, road slope information, crossing coordinate information are used to AGV dolly 1 location navigation that coordinate reference is provided.
A kind of AGV dolly plane positioning air navigation aid may further comprise the steps:
Step 100: data acquisition: AGV dolly 1 preposition and side ultrasonic sensor module 2 emission sound wave and timing, running into barrier then returns, stop timing after receiving reflection wave, microprocessor module 5 calculates the distance of AGV dolly 1 and the place ahead and side according to the mistiming that transmits and receives; Computing formula is
Wherein,
The distance that records for preposition ultrasonic sensor,
For the left side differs from the distance that ultrasonic sensor records;
Be the preposition ultrasonic sensor sound wave mistiming,
Be the left side ultrasonic sensor sound wave mistiming.
Step 200: microprocessor module 5 obtains as the described range information of above-mentioned step 100
Map data base initial information according to current microprocessor module 5 acquisitions, determine the concrete highway section at AGV dolly 1 current place, and the computing formula that provides of database is calculated to the coordinate of AGV dolly 1 according to the map, computing formula is according to the difference of road section information and difference.
Step 300: process microprocessor module 5 to the coordinate information of AGV dolly 1, determine the highway section at AGV dolly 1 place after, the different information that provide of database according to the map, control AGV dolly 1 turns to or keeps straight on, until arrive the destination.
The present invention is by receiving the ultrasonic sensor information of the preposition and side of AGV dolly, and after the map data base coupling, microprocessor adopts corresponding location algorithm, the AGV dolly is positioned and controls it advance.
Beneficial effect: the present invention uses the ultrasonic ranging device to find range, and cost is low, and range finding accurately; Avoided the laying work of complicated road track, further reduced cost, and AGV dolly driving path can plan arbitrarily, break away from the guide rail constraint, control conveniently, greatly improve work efficiency.
Description of drawings
Fig. 1 is the structural representation of a kind of AGV dolly of the present invention plane positioning navigational system.
Fig. 2 is the schematic flow sheet of a kind of AGV dolly of the present invention plane positioning air navigation aid.
Fig. 3 is map data base schematic diagram possible under a kind of targeted environment.
Fig. 4 is for being transformed the coordinate system schematic diagram that obtains by map data base possible under a kind of targeted environment.
Accompanying drawing sign: 1-AGV dolly, 2-ultrasonic sensor module, 3-steering wheel module, 4-rotary angle transmitter module, 5-microprocessor module.
Embodiment
The present invention is described in detail below in conjunction with drawings and Examples.
With reference to Fig. 1, a kind of AGV dolly of the present invention plane positioning navigational system comprises: AGV dolly 1, map data base, ultrasonic sensor module 2, steering wheel module 3, rotary angle transmitter module 4, microprocessor module 5.The ultrasonic sensor module has two, a center, dead ahead that is installed in AGV dolly 1, and another is installed in center, the left side section of AGV dolly 1.Rotary angle transmitter module 4 is installed on the column tube of AGV dolly.Steering wheel module 3 is connected with the deflecting roller connecting rod.Map data base is stored in the microprocessor module 5, reads road information for microprocessor module 5.Microprocessor module 5 carries out algorithm process according to the data of each side, location AGV dolly 1, and control AGV dolly 1 is advanced.
With reference to Fig. 3, in a workshop, there are three task points to need AGV dolly 1 to go to and execute the task.
Fig. 4 is the plane coordinate system that the map data base according to Fig. 3 is transformed.Below in conjunction with Fig. 4, specify the principle of location navigation:
If the dolly initial position in workshop is arranged in figure A point, and prepare to travel toward the B point.This moment, the map data matching data were: 1, running section: AB; 2, present coordinate (x
1, y
1).Microprocessor module 5 provides the location algorithm in this highway section according to these information, the horizontal ordinate x of AGV dolly 1
AGV=x
1, ordinate y
AGV=y-y
Dis, y here
DisBe dolly current position distance
Length.So the coordinate of AGV dolly 1 when the AB section is travelled is (x
1, y-y
Dis).
When AGV dolly 1 continues to move ahead, the coordinate that microprocessor module 5 calculates is (x
1, y
1) time, illustrate that AGV dolly 1 arrives the B point, namely task is a bit.Execute task, AGV dolly 1 need to travel to the C point; Then microprocessor module 5 should be controlled AGV dolly 1 right turn 90 degree, and rotary angle transmitter module 4 is notified microprocessor module 5 after recording 90-degree rotation, and this moment, microprocessor module 5 read the map database information of BC section: 1, running section: BC section; 2, present coordinate (x
1, y
2).Then microprocessor module 5 obtains corresponding location algorithm, and the coordinate of AGV dolly 1 when the BC section is travelled is (x-x
Dis, y
2), x wherein
DisBe the distance of AGV dolly 1 preposition ultrasonic sensor module 2 apart from the place ahead.
After AGV dolly 1 is forwarded to the C point, need to the transition of CD section, microprocessor module 5 reads and obtains CD section map datum: 1, running section: CD section; 2, present coordinate (x
2, y
2); 3, terminal point coordinate (x
3, y
3).Accordingly, microprocessor module 5 obtains AGV dolly 1 and needs right turn
Because the CD section is one section oblique line, it is complicated a little that its corresponding coordinate Calculation formula also will become.To the CD section in this schematic diagram, its coordinate Calculation is divided into two sections, and the first half section is CC ', wherein
, then in this section, the coordinate of AGV dolly 1 is (x-x
DisCos θ, y-y
DisCos θ); If the coordinate of the D ' that asks according to known conditions is (x
5, y
5), then
The real-time coordinate of AGV dolly 1 is (x-x in the section
DisCos θ, y
5+ x
DisSin θ), advance according to this coordinate, E the most at last reaches terminal.
In like manner, can according to different task needs, design different maps and corresponding database.
Above content is the further description of the present invention being done in conjunction with optimal technical scheme, can not assert that the implementation of invention only limits to these explanations.Concerning the general technical staff of the technical field of the invention, under the prerequisite that does not break away from design of the present invention, can also make simple deduction and replacement, all should be considered as protection scope of the present invention.
Claims (3)
1. AGV dolly plane positioning navigational system, it is characterized in that, described a kind of AGV dolly plane positioning navigational system comprises: AGV dolly (1), map data base, ultrasonic sensor module (2), steering wheel module (3), rotary angle transmitter module (4), microprocessor module (5);
Described map data base is stored in the microprocessor module (5); Ultrasonic sensor module (2) is installed in front end center and the center, left side of AGV dolly (1); Steering wheel module (3) is connected with the steering link of AGV dolly (1); Rotary angle transmitter module (4) is installed on the column tube of AGV dolly (1); And above-mentioned several module is electrically connected with microprocessor module (5) respectively;
Detailed process is as follows:
Data acquisition: AGV dolly (1) is preposition launches sound wave and timing with side ultrasonic sensor module (2), running into barrier then returns, stop timing after receiving reflection wave, microprocessor module (5) calculates the distance of AGV dolly (1) and the place ahead and side according to the mistiming that transmits and receives; Computing formula is
Wherein,
The distance that records for preposition ultrasonic sensor,
For the left side differs from the distance that ultrasonic sensor records;
Be the preposition ultrasonic sensor sound wave mistiming,
Be the left side ultrasonic sensor sound wave mistiming;
Microprocessor module (5) obtains as the described range information of above-mentioned step 100
Map data base initial information according to current microprocessor module (5) acquisition, determine the concrete highway section at the current place of AGV dolly (1), and the computing formula that provides of database is calculated to the mark of AGV dolly (1) according to the map, computing formula is according to the difference of road section information and difference;
Process microprocessor module (5) to the coordinate information of AGV dolly (1), determine the highway section at AGV dolly (1) place after, the different information that provide of database according to the map, control AGV dolly (1) turns to or keeps straight on, until arrive the destination.
2. a kind of AGV dolly plane positioning navigational system according to claim 1 is characterized in that, described map data base comprises: the origin and destination coordinate information under the targeted environment, flex point coordinate information, road slope information, crossing coordinate information.
3. AGV dolly plane positioning air navigation aid may further comprise the steps:
Step 100: data acquisition: AGV dolly (1) is preposition launches sound wave and timing with side ultrasonic sensor module (2), running into barrier then returns, stop timing after receiving reflection wave, microprocessor module (5) calculates the distance of AGV dolly (1) and the place ahead and side according to the mistiming that transmits and receives; Computing formula is
Wherein,
The distance that records for preposition ultrasonic sensor,
For the left side differs from the distance that ultrasonic sensor records;
Be the preposition ultrasonic sensor sound wave mistiming,
Be the left side ultrasonic sensor sound wave mistiming;
Step 200: microprocessor module (5) obtains as the described range information of above-mentioned step 100
Map data base initial information according to current microprocessor module (5) acquisition, determine the concrete highway section at the current place of AGV dolly (1), and the computing formula that provides of database is calculated the coordinate of AGV dolly (1) according to the map, and computing formula is according to the difference of road section information and difference;
Step 300: process microprocessor module (5) to the coordinate information of AGV dolly (1), determine the highway section at AGV dolly (1) place after, the different information that provide of database according to the map, control AGV dolly (1) turns to or keeps straight on, until arrive the destination.
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| CN201210503275.8A CN103019240B (en) | 2012-11-30 | 2012-11-30 | A kind of AGV dolly plane positioning navigational system and method |
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| CN201210503275.8A CN103019240B (en) | 2012-11-30 | 2012-11-30 | A kind of AGV dolly plane positioning navigational system and method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103412566A (en) * | 2013-08-21 | 2013-11-27 | 广州动进精密机械科技有限公司 | Method and system enabling AGV to atomically search for destination station at multiple turnouts |
| CN104656084A (en) * | 2013-11-21 | 2015-05-27 | 现代自动车株式会社 | Obstacle Map Generation Apparatus And Method Using An Ultrasonic Sensor |
| CN104679004A (en) * | 2015-02-09 | 2015-06-03 | 上海交通大学 | Flexible path and fixed path combined automated guided vehicle and guide method thereof |
| CN104793619A (en) * | 2015-04-17 | 2015-07-22 | 上海交通大学 | Warehouse roadway automatic guided vehicle navigation device based on swing single-line laser radar |
| CN106843228A (en) * | 2017-03-23 | 2017-06-13 | 汕头大学 | Method and system based on mobile terminal line setting intelligent carriage walking path |
| CN107243900A (en) * | 2017-08-09 | 2017-10-13 | 苏州阿甘机器人有限公司 | A kind of finding automatic feeding method based on indoor navigation |
| CN107608266A (en) * | 2017-09-08 | 2018-01-19 | 中国计量大学 | Automatic send based on STM32 takes out cart system design |
| CN108572653A (en) * | 2018-06-05 | 2018-09-25 | 河南森源电气股份有限公司 | A kind of AGV ultrasonic waves guidance system and AGV navigation vehicles |
| TWI684084B (en) * | 2017-06-20 | 2020-02-01 | 日商日本電產新寶股份有限公司 | Mobile device |
| CN114663001A (en) * | 2022-05-25 | 2022-06-24 | 广州市广播电视台 | Prompt message generation method applied to relay vehicle and electronic equipment |
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| CN107243900B (en) * | 2017-08-09 | 2020-05-05 | 苏州阿甘机器人有限公司 | Automatic small part feeding method based on indoor navigation |
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| CN108572653A (en) * | 2018-06-05 | 2018-09-25 | 河南森源电气股份有限公司 | A kind of AGV ultrasonic waves guidance system and AGV navigation vehicles |
| CN114663001A (en) * | 2022-05-25 | 2022-06-24 | 广州市广播电视台 | Prompt message generation method applied to relay vehicle and electronic equipment |
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