CN104155977B - Production line free path AGV robot positioning systems and localization method - Google Patents
Production line free path AGV robot positioning systems and localization method Download PDFInfo
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- CN104155977B CN104155977B CN201410350866.5A CN201410350866A CN104155977B CN 104155977 B CN104155977 B CN 104155977B CN 201410350866 A CN201410350866 A CN 201410350866A CN 104155977 B CN104155977 B CN 104155977B
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Abstract
Production line free path AGV robot positioning systems disclosed by the invention, including apparatus for work and AGV robots, apparatus for work includes the lathe and material switch being sequentially connected, and AGV robots include AGV and manipulator, 8 ultrasonic displacement sensors are respectively arranged with one week along AGV outside；The invention also discloses a kind of localization method of production line free path AGV robots, including AGV positioning and manipulator two steps are positioned with respect to material switch.This method can make AGV robots be no longer dependent on fixed track flexibly to run, and can realize and positioned exactly with other working equipments.It is not required to lay track, the travel path of AGV robots can be changed freely, production line has flexibility, the need for being adapted to multi-item production；Using the positioning of AGV one-levels, the AGV robots dual-positioning method of manipulator two-stage positioning, although positioning cost increased, but the expense of laying track is saved, overall economic efficiency is still better than rail type navigation mode.
Description
Technical field
The invention belongs to equipment manufacturing method and technology field, and in particular to a kind of production line free path AGV robots
Localization method, the invention further relates to production line free path AGV robot positioning systems used in this method.
Background technology
Wheeled mobile robot is made up of AGV (Automated Guided Vehicle, automatic navigation vehicle) and manipulator,
AGV robots are may be simply referred to as, for operations such as automatic transporting, traction, handling.When AGV robots are used for production line, in operation dress
Standby operation website (such as machining tool website, detection website, discrepancy warehouse website, loading and unloading website) AGV robots and thing
When expecting that switch carries out material exchange, it is desirable to AGV accurate positionings, but to being travelled in the way between the operation website of working equipment
Route is without strict positioning requirements.
Existing AGV navigation mode mainly carries out the rail type navigation mode of guiding run course, rail type using track
The Electrified track magnetic orbital and the class of metal track two of navigation mode, electromagnetic path navigation mode are the electromagnetism using laying on the ground
Track sets travel route, and AGV is then navigated according to the information of the sensor detection electromagnetic path disposed thereon, such as Fig. 1
It is shown；Metal rail channel type navigation mode is to set traveling road using the metal track (rail) of (or aerial) on the ground is laid
Line, AGV is travelled by the constraint of metal track completely, as shown in Figure 2.Rail type navigation mode advantage is that AGV reaches operation website
Positioning is simple, accurate；Have the disadvantage：(1) need to lay track again when transport path changes, bothersome time-consuming, path modification is flexible
Property it is poor, be adapted to path fix the mode of production；(2) position equipped to track in operation website relative activity and direction (pose)
It is required that it is high, exchanged so that AGV accurately carries out material with working equipment.
The content of the invention
It is an object of the invention to provide a kind of localization method of production line free path AGV robots, this method can
AGV robots is no longer dependent on fixed track and independent and flexible is run, and can realize it is accurate with other working equipments
Ground is positioned.
It is another object of the present invention to provide a kind of production line free path AGV robot positioning systems.
The technical solution adopted in the present invention is：Production line free path AGV robot positioning systems, including apparatus for work
With AGV robots, as shown in figure 3, apparatus for work includes the lathe and material switch that are sequentially connected, material switch
Side is provided with two-stage positioning marker, and lathe side is provided with one-level location marker, and one-level location marker and two grades are determined
Bit identification thing is located at the homonymy of material switch；AGV robots include AGV and manipulator, are set respectively within one week along AGV outside
8 ultrasonic displacement sensors are equipped with, respectively including ultrasonic displacement sensor a, ultrasonic displacement sensor b, ultrasonic wave position
Displacement sensor c, ultrasonic displacement sensor d, ultrasonic displacement sensor e, ultrasonic displacement sensor f, ultrasonic displacement are passed
Ultrasonic displacement sensor i and ultrasonic displacement has been arranged side by side in sensor g and ultrasonic displacement sensor h, the side of manipulator
Sensor j；Two-stage positioning marker includes the marker unit e and mark in the material switch side is arranged side by side respectively
Know thing unit f；One-level location marker includes marker unit a, marker unit b, marker unit c and marker list respectively
First d, wherein, marker unit b, marker unit c are parallel with marker unit e and marker unit f respectively, marker unit
A and marker unit d are vertical with the marker unit e and marker unit f respectively；Ultrasonic displacement sensor i and ultrasound
Ripple displacement transducer j is corresponding with marker unit e and marker unit f respectively.
The present invention another technical scheme be：The localization method specific steps of production line free path AGV robots are such as
Under：
The first step, AGV positioning
The information for the one-level location marker that AGV is perceived according to 8 ultrasonic displacement sensors carries out location control, specifically
For, ultrasonic displacement sensor a controls AGV advance running speed-reductions after perceiving marker unit d information；Ultrasonic displacement is passed
Sensor a, which is perceived, controls AGV advance travelings to stop after marker unit b information；Then AGV carries out positioning adjustment, according to ultrasound
Ripple displacement transducer a and ultrasonic displacement sensor b perceive marker unit b and marker unit c information respectively, utilize
AGV straight trip, turning, cross running function, adjust AGV position and direction, carry out AGV positioning；
Second step, manipulator is positioned with respect to material switch
Manipulator perceives marker unit e and mark according to ultrasonic displacement sensor i and ultrasonic displacement sensor j respectively
Know thing unit f information, using locomotive function around manipulator, adjust position of the manipulator with respect to material switch,
Realize positioning of the manipulator with respect to material switch.
When AGV is travelled to apparatus for work from different directions, ultrasonic displacement sensor a and ultrasonic displacement sensor
B function is substituted by ultrasonic displacement sensor c and ultrasonic displacement sensor d respectively；Or respectively by ultrasonic displacement
Sensor e and ultrasonic displacement sensor f are substituted；Or respectively by ultrasonic displacement sensor g and ultrasonic displacement sensing
Device h is substituted.
Apparatus for work is respectively applied to machining tool website, detection website, come in and go out warehouse website or loading and unloading website.
The beneficial effects of the invention are as follows：The localization method of the production line free path AGV robots of the present invention, is not required to laying
Track, the driving path of AGV robots can be changed freely, and production line has flexibility, the need for being adapted to multi-item production；
Using the positioning of AGV one-levels, the AGV robots dual-positioning method of manipulator two-stage positioning, although positioning cost increased, but section
The expense of laying track is saved, overall economic efficiency is still better than rail type navigation mode.
Brief description of the drawings
Fig. 1 is the structural representation of existing electromagnetic path navigation system；
Fig. 2 is the structural representation of existing metal track navigation system；
Fig. 3 is the structural representation of the production line free path AGV robot positioning systems of the present invention；
Fig. 4 is Fig. 3 top view.
In figure, 1. lathes, 2. material switches, 3. one-level location markers, 4. two-stage positioning markers, 5.AGV, 6.
Manipulator；
31. marker unit a, 32. marker unit b, 33. marker unit c, 34. marker unit d；
41. marker unit e, 42. marker unit f；
51. ultrasonic displacement sensor a, 52. ultrasonic displacement sensor b, 53. ultrasonic displacement sensor c, 54. surpass
Sound wave displacement transducer d, 55. ultrasonic displacement sensor e, 56. ultrasonic displacement sensor f, 57. ultrasonic displacement sensors
G, 58. ultrasonic displacement sensor h；
61. ultrasonic displacement sensor i, 62. ultrasonic displacement sensor j.
Embodiment
With reference to embodiment, the present invention is described in detail.
The invention provides a kind of production line free path AGV robot positioning systems, as shown in Figure 3 and Figure 4, including make
Industry device and AGV robots, apparatus for work include the lathe 1 and material switch 2 being sequentially connected, material switch 2
Side is provided with two-stage positioning marker 4, and the side of lathe 1 is provided with one-level location marker 3, one-level location marker 3 and two
Level location marker 4 is located at the homonymy of material switch 2；AGV robots include AGV5 and manipulator 6, along AGV5 outside
8 ultrasonic displacement sensors are respectively arranged with one week, are sensed respectively including ultrasonic displacement sensor a51, ultrasonic displacement
Device b52, ultrasonic displacement sensor c53, ultrasonic displacement sensor d54, ultrasonic displacement sensor e55, ultrasonic displacement
Sensor f56, ultrasonic displacement sensor g57 and ultrasonic displacement sensor h58, the side of manipulator 6 have been arranged side by side super
Sound wave displacement transducer i61 and ultrasonic displacement sensor j62；Two-stage positioning marker 4 includes being arranged side by side in material respectively
The marker unit e41 and marker unit f42 of the side of switch 2；One-level location marker 3 includes marker unit respectively
A31, marker unit b32, marker unit c33 and marker unit d34, wherein, marker unit b32, marker unit
C33 is parallel with marker unit e41 and marker unit f41 respectively, marker unit a31 and marker unit d34 respectively with
Marker unit e41 and marker unit f41 are vertical；Ultrasonic displacement sensor i61 and ultrasonic displacement sensor j62 difference
It is corresponding with marker unit e41 and marker unit f42.
Present invention also offers a kind of method that AGV robot localizations are carried out using the system, comprise the following steps that：
The first step, AGV positioning
The information for the one-level location marker 3 that AGV5 is perceived according to 8 ultrasonic displacement sensors carries out location control, tool
For body, ultrasonic displacement sensor a51 controls AGV5 advance running speed-reductions after perceiving marker unit d34 information；Ultrasound
Ripple displacement transducer a51, which is perceived, controls AGV5 advance travelings to stop after marker unit b32 information；Then AGV5 is positioned
Adjustment, marker unit b32 and mark are perceived according to ultrasonic displacement sensor a51 and ultrasonic displacement sensor b52 respectively
Thing unit c33 information, using AGV5 straight trip, turning, cross running function, adjusts AGV5 position and direction, carries out AGV
Positioning；
Second step, manipulator is positioned with respect to material switch
Manipulator 6 perceives marker unit according to ultrasonic displacement sensor i61 and ultrasonic displacement sensor j62 respectively
E41 and marker unit f42 information, using locomotive function around manipulator 6, adjustment manipulator 6 is exchanged with respect to material
The position of device 2, realizes positioning of the manipulator 6 with respect to material switch 2.
When AGV5 is travelled to apparatus for work from different directions, ultrasonic displacement sensor a51 and ultrasonic displacement are passed
Sensor b52 function is substituted by ultrasonic displacement sensor c53 and ultrasonic displacement sensor d54 respectively；Or respectively by
Ultrasonic displacement sensor e55 and ultrasonic displacement sensor f56 are substituted；Or respectively by ultrasonic displacement sensor g57
Substituted with ultrasonic displacement sensor h58.
Apparatus for work is respectively applied to machining tool website, detection website, come in and go out warehouse website or loading and unloading website.
It is solid that the localization method of the production line free path AGV robots of the present invention can be no longer dependent on AGV robots
Fixed track is flexibly run, and can be realized and positioned exactly with other working equipments.It is not required to lay track, AGV machines
The travel path of device people can be changed freely, and production line has flexibility, the need for being adapted to multi-item production；Using AGV mono-
Level positioning, the AGV robots dual-positioning method of manipulator two-stage positioning, although positioning cost increased, but save laying
The expense of track, overall economic efficiency is still better than rail type navigation mode.
Claims (1)
1. the localization method of production line free path AGV robots, it is characterised in that the alignment system that the localization method is used
Including apparatus for work and AGV robots, the apparatus for work includes the lathe (1) and material switch (2) being sequentially connected, institute
The side for stating material switch (2) is provided with two-stage positioning marker (4), and lathe (1) side is provided with one-level positioning
Marker (3), the one-level location marker (3) is located at the material switch (2) with the two-stage positioning marker (4)
Homonymy；The AGV robots include AGV (5) and manipulator (6), and 8 are respectively arranged with one week along the AGV (5) outside
Ultrasonic displacement sensor, respectively including ultrasonic displacement sensor a (51), ultrasonic displacement sensor b (52), ultrasonic wave position
Displacement sensor c (53), ultrasonic displacement sensor d (54), ultrasonic displacement sensor e (55), ultrasonic displacement sensor f
(56), ultrasonic displacement sensor g (57) and ultrasonic displacement sensor h (58), the side of the manipulator (6) is arranged side by side
There are ultrasonic displacement sensor i (61) and ultrasonic displacement sensor j (62)；Described two-stage positioning marker (4) is wrapped respectively
Include and be arranged side by side in the marker unit e (41) and marker unit f (42) of material switch (2) side；Described
One-level location marker (3) includes marker unit a (31), marker unit b (32), marker unit c (33) and mark respectively
Know thing unit d (34), wherein, the marker unit b (32), marker unit c (33) respectively with the marker unit e
(41) it is parallel with marker unit f (42), the marker unit a (31) and marker unit d (34) respectively with the mark
Thing unit e (41) and marker unit f (42) is vertical；Described ultrasonic displacement sensor i (61) and ultrasonic displacement sensing
Device j (62) is corresponding with described marker unit e (41) and marker unit f (42) respectively；
The localization method is as follows：
The first step, AGV positioning
The information for the one-level location marker (3) that AGV (5) is perceived according to 8 ultrasonic displacement sensors carries out location control, tool
For body, ultrasonic displacement sensor a (51) controls AGV (5) advance traveling to subtract after perceiving marker unit d (34) information
Speed；Ultrasonic displacement sensor a (51), which is perceived, controls AGV (5) advance travelings to stop after marker unit b (32) information；So
AGV (5) carries out positioning adjustment afterwards, is perceived respectively according to ultrasonic displacement sensor a (51) and ultrasonic displacement sensor b (52)
Marker unit b (32) and marker unit c (33) information, using the straight trip of AGV (5), turning, cross running function, are adjusted
The position and direction of whole AGV (5), carry out AGV positioning；
When AGV (5) is travelled to apparatus for work from different directions, ultrasonic displacement sensor a (51) and ultrasonic displacement are passed
Sensor b (52) function is substituted by ultrasonic displacement sensor c (53) and ultrasonic displacement sensor d (54) respectively；Or
Substituted respectively by ultrasonic displacement sensor e (55) and ultrasonic displacement sensor f (56)；Or respectively by ultrasonic displacement
Sensor g (57) and ultrasonic displacement sensor h (58) are substituted；
Second step, manipulator is positioned with respect to material switch
Manipulator (6) perceives marker list according to ultrasonic displacement sensor i (61) and ultrasonic displacement sensor j (62) respectively
First e (41) and marker unit f (42) information, using locomotive function around manipulator (6), adjust manipulator (6) phase
To the position of material switch (2), positioning of the manipulator (6) with respect to material switch (2) is realized.
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| AU2016347660B2 (en) * | 2015-10-28 | 2021-11-18 | Bar-Ilan University | Robotic cooperative system |
| CN105974922B (en) * | 2016-06-29 | 2019-05-17 | 上海诺力智能科技有限公司 | A kind of tunnel automatic guided vehicle, guidance system and its operating method |
| CN106525116A (en) * | 2016-12-26 | 2017-03-22 | 海克斯康测量技术(青岛)有限公司 | Real-time online measurement device and method thereof |
| CN109399228B (en) * | 2018-11-06 | 2023-06-13 | 中国工程物理研究院激光聚变研究中心 | Material transfer device that refutes suitable for clean environment |
| CN110308731B (en) * | 2019-07-25 | 2020-10-09 | 陕西科技大学 | High-precision secondary positioning device for mobile robot |
| CN110255106A (en) * | 2019-08-01 | 2019-09-20 | 长沙远大住宅工业安徽有限公司 | Multi-transportation vehicle automatic alignment apparatus and alignment methods |
| CN110716546A (en) * | 2019-10-22 | 2020-01-21 | 上海浩亚机电股份有限公司 | Free path AGV robot positioning system |
| CN111115139B (en) * | 2019-12-31 | 2021-12-10 | 广东嘉腾机器人自动化有限公司 | AGV drift motion adjusting method |
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