CN107797557A - It is a kind of using laser and the AGV dollies of tape hybrid navigation - Google Patents
It is a kind of using laser and the AGV dollies of tape hybrid navigation Download PDFInfo
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- CN107797557A CN107797557A CN201711060897.7A CN201711060897A CN107797557A CN 107797557 A CN107797557 A CN 107797557A CN 201711060897 A CN201711060897 A CN 201711060897A CN 107797557 A CN107797557 A CN 107797557A
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- 238000009434 installation Methods 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000003780 insertion Methods 0.000 claims abstract description 4
- 230000037431 insertion Effects 0.000 claims abstract description 4
- 239000002245 particle Substances 0.000 claims description 24
- 238000009826 distribution Methods 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 239000004744 fabric Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 238000010276 construction Methods 0.000 abstract description 4
- 238000005457 optimization Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241001518079 Plantago minuta Species 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of using laser and the AGV dollies of tape hybrid navigation, belong to field of mechanical technique, including vehicle body, body top installation receiver, the side wall installation pallet fork of vehicle body；The bottom of vehicle body is symmetrical arranged four Mecanum wheels, Mecanum wheel side wall insertion connecting rod；Connecting spring on the top surface of connecting rod, the top mounting bracket of spring；One end rotation connection support bar of connecting rod, and the top of support bar is bolted support, the top installation vehicle body of support；Mecanum wheel one end connects DC servo motor, and top installation photoelectric encoder, the driver of Mecanum wheel；Interior of body installation main control module, power module, power module are connected with main control module；Main control module is connected with wireless communication module, safe obstacle avoidance module, drive module, cargo handling module, positioning navigation module.The present invention travels on narrow tunnel in the case of without turning, and simple in construction, and cost is cheap, and system is stable.
Description
Technical field
The present invention relates to a kind of AGV dollies, more particularly to a kind of using laser and the AGV dollies of tape hybrid navigation,
Belong to field of mechanical technique.
Background technology
AGV belongs to one kind of mobile robot, possesses the intelligent carriage of independent navigation.From invention so far, AGV navigation,
Great breakthrough is achieved in terms of the key technology sides such as control, safety, plays more and more important role in the industry.Making
Make in industry, AGV can not only use as automatic transporting vehicle, be also used as moveable assembling, processing platform use, be
One important component of flexible manufacturing system.In modern logistics, AGV carries out the inventory of goods by independent navigation
Point, undertakes stacker handling, will greatly improve the efficiency of warehouse operating.By the constantly improve of AGV performances, in agricultural, industry, state
It has been used widely in the industries such as anti-, service.
With the development of science and technology, guide mode is also more and more various, is divided into fixed_path guided and free path is led
Draw.Fixed_path guided positioning precision is high, and cost is relatively low, but dolly must travel along specified path, to environmental requirement
It is higher；Free path guiding be not to pathway requirements it is very high, can be in outside work, but its positioning precision is relatively low, cost compared with
It is high.And limited narrow warehouse of turning, dolly cannot be introduced into, and reduce AGV use range.
The content of the invention
The main object of the present invention is to provide for a kind of using laser and the AGV dollies of tape hybrid navigation, realization making
AGV dollies travel on narrow tunnel in the case of without turning, and simple in construction, and cost is cheap, and system is stable.
The purpose of the present invention can reach by using following technical scheme：It is a kind of using laser and tape hybrid navigation
AGV dollies, including vehicle body, the top installation receiver of the vehicle body, the side wall installation pallet fork of the vehicle body；The bottom of the vehicle body
End is symmetrical arranged four Mecanum wheels, the side wall insertion connecting rod of the Mecanum wheel；Connect on the top surface of the connecting rod
Connect spring, the top mounting bracket of the spring；One end rotation connection support bar of the connecting rod, and the top of the support bar
End is bolted the support, and the vehicle body is installed on the top of the support；One end connection of the Mecanum wheel is straight
Flow servo motor, and top installation photoelectric encoder, the driver of the Mecanum wheel；The interior of body installs master control mould
Block, power module, the power module are electrically connected with the main control module；The main control module and wireless communication module, peace
Full obstacle avoidance module, drive module, cargo handling module, positioning navigation module connection；The wireless communication module and the reception
Device connects；The drive module is connected with the photoelectric encoder, the driver, the DC servo motor；The goods
Handling module is connected with the pallet fork.
Preferable scheme is to be provided with multiple wheel shafts inside the Mecanum wheel, and the wheel shaft is in the Mecanum
It is interspersed in wheel.
Preferable scheme is that Mecanum wheel described in the two of which in four Mecanum wheels is one group, and one
The connecting rod installation direction in group in two Mecanum wheel side walls is opposite.
Preferable scheme is that the support bar is concave structure, and the bottom of the support symmetrically connects two supports
Bar, and two support bar installation directions are opposite.
Preferable scheme is the wireless communication module, the safe obstacle avoidance module, the drive module, the goods
Handling module, the positioning navigation module are located at the inside of the vehicle body.
Preferable scheme is that the step of positioning navigation module updates navigation map is as follows：
Dolly goes to the terminal specified from starting point；
Structure navigation map around laser scanning head scanning；
Two-dimensional map is imported into AGV navigation maps storehouse.
The step of positioning navigation module navigation path planning, is as follows：
Dolly main control module generates preliminary path planning according to final position and navigation map；
Collection point on path planning is obtained according to the positional information of dolly；
Build the specific driving path and travel speed of the dolly between collection point；
Build the final path planning of dolly.
Preferable scheme is, as follows the step of the positioning navigation module path navigation：
Dolly loads two-dimensional map, obtains the positional information of current dolly；
Load path planning；
Around laser scanner real time scan, renewal dolly is in the position of two-dimensional map；
According to the position of dolly, the phasor difference that path planning is likely to form is obtained, main control module is four according to phasor difference
Motor exports different pwm signals, so as to promote dolly to be travelled on path planning, X-direction under AGV dolly coordinate systems
With the speed and Z axis angular velocity of rotation of Y direction.
Repeat the above steps, until dolly reaches the place specified.
Preferable scheme is, as follows the step of the positioning navigation module routing update：
By laser scanner scans peripheral region, the data of acquisition are matched with environment two-dimensional map, it is small so as to obtain
The current pose of car；
Using the current pose of AGV dollies as the center of circle, make to justify using given threshold as radius, determine AGV dollies in environment two-dimensionally
The probable ranges of region in figure；
The particle of the possible pose of AGV dollies is represented with probability with certain amount, AGV is searched in AGV dolly regional extents
The accurate pose of dolly；Concretely comprise the following steps：
By particle random distribution at the regional level, matched with laser scanning data in each particle position with map,
And a function is set to carry out assessment matching degree；
The probability that more new particle carries, the minimum particle of probability is given up, increases by one between the particle of maximum probability
Particle；
Repeat the above steps iteration, and until all particle regions are tended towards stability, i.e. regional center tends towards stability and area
Domain radius is less than or equal to setting error amount threshold value, and regional center is the accurate pose of current time AGV dolly.
Preferable scheme is that the specific implementation step of the tape positioning of the positioning navigation module is as follows：
Tape is laid in loading place, tape is in 90 ° of cross shaped heads, needs to place two RFID card pieces on tape, it is acted on
Respectively AGV dollies, which stop, captures the terminal that goods is gone to AGV dollies under magnetic navigation pattern；
AGV dollies have two magnetic navigation sensors, are respectively used to read horizontal and vertical tape, when one to upper magnetic
Band, another is stopped, and the standard of dolly docking tape is that dolly direction of advance is parallel with tape, dolly axis and magnetic
Band center superposition；
When the magnetic navigation sensor of AGV dollies is to upper tape, dolly switching magnetic navigation pattern, dolly is along tape low speed
Traveling, at turning when another magnetic navigation sensor of dolly is to upper horizontal tape, dolly stops and carries out transverse shifting,
Until goods place, dolly starts pallet fork, forks goods.
Preferable scheme is that the implementation steps of the power module automatic charging are as follows：
When dolly not enough power supply, the message of not enough power supply is transmitted to main control module by BMS systems, and main control module is according to dolly
Residing place judges, if dolly has been achieved for goods in loading place, main control module, which can be made, goes to charging
Area path；If dolly does not obtain goods also in loading place, main control module can allow dolly first to obtain goods, then go to charging at once
Area；
In charging zone, dolly is accurately positioned to charging place using magnetic navigation by induced RF ID cards, opens charging lock,
Start to charge up；
After BMS senses that battery electric quantity fills with, main control module is sent information at once, main control module is according to small
The specific situation of car goes to cargo handling area or terminal.
The advantageous effects of the present invention：The use of Mecanum wheel can make AGV dollies in the case of without turning
Narrow tunnel is travelled on, if the AGV dollies are applied into warehouse, the distance between shelf can be made to become smaller, so
More goods can be stored；AGV dollies are using laser and tape hybrid navigation pattern in navigation pattern, and dolly is in cargo handling
Area and charging zone are navigated using tape, and realization is accurately positioned, and are used laser navigation in other region dollies, are carried out coarse positioning,
Under laser navigation pattern, the travel speed of dolly is higher, and running into barrier can solve by way of turning and detouring, so as to obtain
Obtain higher efficiency；The laser navigation of no-reflection plate has to the ability of environment sensing, and path construction is simple, without other equipment,
Ground is more smooth, and navigation accuracy is higher.
Brief description of the drawings
Fig. 1 is overall structure front view of the present invention；
Fig. 2 is overall structure left view of the present invention；
Fig. 3 is overall structure top view of the present invention；
Fig. 4 is supporting structure schematic diagram of the present invention；
Fig. 5 is supporting structure top view of the present invention；
Fig. 6 is Mecanum wheel structural representation of the present invention；
Fig. 7 is overall structure schematic diagram of the present invention.
In figure：1- receivers, 2- vehicle bodies, 3- Mecanum wheels, 31- wheel shafts, 4- pallet forks, 5- springs, 6- supports, 7- connections
Bar, 8- support bars, 9- photoelectric encoders, 10- drivers, 11- DC servo motors, 12- wireless communication modules, 13- master control moulds
Block, the safe obstacle avoidance modules of 14-, 15- power modules, 16- drive modules, 17- cargo handling modules, 18- positioning navigation modules.
Embodiment
To make those skilled in the art more clear and clear and definite technical scheme, with reference to embodiment and accompanying drawing
The present invention is described in further detail, but the implementation of the present invention is not limited to this.
Fig. 1-7 are referred to, the present embodiment provides a kind of using laser and the AGV dollies of tape hybrid navigation, including car
Body 2, the top installation receiver 1 of the vehicle body 2, the side wall installation pallet fork 4 of the vehicle body 2；The bottom of the vehicle body 2 is symmetrically set
Put four Mecanum wheels 3, the side wall insertion connecting rod 7 of the Mecanum wheel 3；Bullet is connected on the top surface of the connecting rod 7
Spring 5, the top mounting bracket 6 of the spring 5；One end rotation connection support bar 8 of the connecting rod 7, and the support bar 8
Top is bolted the support 6, and the vehicle body 2 is installed on the top of the support 6；One end of the Mecanum wheel 3
Connect DC servo motor 11, and top installation photoelectric encoder 9, the driver 10 of the Mecanum wheel 3；The vehicle body 2
Inside installation main control module 13, power module 15, the power module 15 are electrically connected with the main control module 13；The master control
Module 13 and wireless communication module 12, safe obstacle avoidance module 14, drive module 16, cargo handling module 17, positioning navigation module
18 connections；The wireless communication module 12 is connected with the receiver 1；The drive module 16 and the photoelectric encoder 9, institute
State driver 10, the DC servo motor 11 connects；The cargo handling module 17 is connected with the pallet fork 4.
As a kind of technical optimization scheme of the present invention, turned in order to facilitate the vehicle body 2 in warehouse, the Mike receives
The inside of nurse wheel 3 is provided with multiple wheel shafts 31, and the wheel shaft 31 is interspersed in the Mecanum wheel 3.
As a kind of technical optimization scheme of the present invention, in order to facilitate the motion of the present apparatus, four Mecanum wheels 3
In two of which described in Mecanum wheel 3 be one group, and the connection in one group in two side walls of Mecanum wheel 3
The installation direction of bar 7 is opposite.
As a kind of technical optimization scheme of the present invention, in order to strengthen the stability of the vehicle body 2, the support bar 8 is
Concave structure, bottom symmetrically two support bars 8 of connection, and two installation direction phases of support bar 8 of the support 6
Instead.
As a kind of technical optimization scheme of the present invention, the present apparatus, and protection module, the channel radio are manipulated for convenience
Interrogate module 12, the safe obstacle avoidance module 14, the drive module 16, the cargo handling module 17, the location navigation mould
Block 18 is located at the inside of the vehicle body 2.
As a kind of technical optimization scheme of the present invention, the step of positioning navigation module 18 updates navigation map, is such as
Under：
Dolly goes to the terminal specified from starting point；
Structure navigation map around laser scanning head scanning；
Two-dimensional map is imported into AGV navigation maps storehouse.
The step of 18 navigation path planning of positioning navigation module, is as follows：
Dolly main control module generates preliminary path planning according to final position and navigation map；
Collection point on path planning is obtained according to the positional information of dolly；
Build the specific driving path and travel speed of the dolly between collection point；
Build the final path planning of dolly.
It is as follows the step of 18 path navigation of positioning navigation module as a kind of technical optimization scheme of the present invention：
Dolly loads two-dimensional map, obtains the positional information of current dolly；
Load path planning；
Around laser scanner real time scan, renewal dolly is in the position of two-dimensional map；
According to the position of dolly, the phasor difference that path planning is likely to form is obtained, main control module is four according to phasor difference
Motor exports different pwm signals, so as to promote dolly to be travelled on path planning, X-direction under AGV dolly coordinate systems
With the speed and Z axis angular velocity of rotation of Y direction.
Repeat the above steps, until dolly reaches the place specified.
It is as follows the step of 18 routing update of positioning navigation module as a kind of technical optimization scheme of the present invention：
By laser scanner scans peripheral region, the data of acquisition are matched with environment two-dimensional map, it is small so as to obtain
The current pose of car；
Using the current pose of AGV dollies as the center of circle, make to justify using given threshold as radius, determine AGV dollies in environment two-dimensionally
The probable ranges of region in figure；
The particle of the possible pose of AGV dollies is represented with probability with certain amount, AGV is searched in AGV dolly regional extents
The accurate pose of dolly；Concretely comprise the following steps：
By particle random distribution at the regional level, matched with laser scanning data in each particle position with map,
And a function is set to carry out assessment matching degree；
The probability that more new particle carries, the minimum particle of probability is given up, increases by one between the particle of maximum probability
Particle；
Repeat the above steps iteration, and until all particle regions are tended towards stability, i.e. regional center tends towards stability and area
Domain radius is less than or equal to setting error amount threshold value, and regional center is the accurate pose of current time AGV dolly.
As a kind of technical optimization scheme of the present invention, the specific implementation step of the tape positioning of the positioning navigation module 18
It is rapid as follows：
Tape is laid in loading place, tape is in 90 ° of cross shaped heads, needs to place two RFID card pieces on tape, it is acted on
Respectively AGV dollies, which stop, captures the terminal that goods is gone to AGV dollies under magnetic navigation pattern；
AGV dollies have two magnetic navigation sensors, are respectively used to read horizontal and vertical tape, when one to upper magnetic
Band, another is stopped, and the standard of dolly docking tape is that dolly direction of advance is parallel with tape, dolly axis and magnetic
Band center superposition；
When the magnetic navigation sensor of AGV dollies is to upper tape, dolly switching magnetic navigation pattern, dolly is along tape low speed
Traveling, at turning when another magnetic navigation sensor of dolly is to upper horizontal tape, dolly stops and carries out transverse shifting,
Until goods place, dolly starts pallet fork, forks goods.
It is as follows as a kind of technical optimization scheme of the present invention, the implementation steps of the automatic charging of power module 15：
When dolly not enough power supply, the message of not enough power supply is transmitted to main control module by BMS systems, and main control module is according to dolly
Residing place judges, if dolly has been achieved for goods in loading place, main control module, which can be made, goes to charging
Area path；If dolly does not obtain goods also in loading place, main control module can allow dolly first to obtain goods, then go to charging at once
Area；
In charging zone, dolly is accurately positioned to charging place using magnetic navigation by induced RF ID cards, opens charging lock,
Start to charge up；
After BMS senses that battery electric quantity fills with, main control module is sent information at once, main control module is according to small
The specific situation of car goes to cargo handling area or terminal.
In use, the present invention is put into warehouse by user, when dolly is accurately parked in appointed place, pallet fork 4 passes through
Servomotor slowly rises, and realization accurately forks goods.Main control module 13 is the core of trolley control system, can control dolly
All sensors and motor.Positioning navigation module 18 is divided for two parts, including laser navigation pattern and tape navigation pattern.
Cargo handling area and charging zone, dolly are navigated using tape, and realization is accurately positioned.Dolly has two magnetic navigation sensors, mutually
It is disposed vertically, it is to the right positioned at dolly front lower and dolly central bottom respectively.When dolly magnetic navigation sensor leaves tape,
Dolly switches to laser navigation pattern.Laser navigation pattern is used in other regions, the positioning precision of laser navigation is led than tape
Drift some, but walk when it is more flexible.Dolly real-time update two-dimensional map, by the pose and guidance path that detect dolly
Information, is conducted into main control module 13, and main control module 13 is by controlling the speed and dolly travel direction of DC servo motor 11
Reduce path difference.When dolly battery electric quantity deficiency, main control module 13 switches guidance path according to dolly concrete condition.Driving
When module 16 receives order, i.e., charging zone is gone at once.Charging zone dolly switch to tape navigate pattern, when dolly be parked in it is specified
During charging place, charging lock is opened, automatic charging pattern is opened.When dolly is fully charged, automatic charging terminates, main control module
Guidance path is updated, dolly immediately enters working condition.Tape navigation, which belongs to, to be accurately positioned, and positioning precision 15mm, belongs to accurate
Positioning；Laser navigation positioning precision 60mm, belongs to coarse positioning；Power module is used for when dolly not enough power supply, drives Plantago minuta
Toward charging zone.
In summary, in the present embodiment, AGV dollies can be made not according to the use of the present embodiment Mecanum wheel 3
With narrow tunnel is travelled in the case of turning, it if the AGV dollies are applied into warehouse, can become the distance between shelf
Must be smaller, it can so store more goods；AGV dollies use laser and tape hybrid navigation pattern in navigation pattern,
Dolly is navigated in cargo handling area and charging zone using tape, and realization is accurately positioned, and laser navigation is used in other region dollies,
Coarse positioning is carried out, under laser navigation pattern, the travel speed of dolly is higher, runs into the side that barrier can detour by turning
Formula solves, so as to obtain higher efficiency；The laser navigation of no-reflection plate has the ability to environment sensing, and path construction is simple,
Without other equipment, ground is more smooth, and navigation accuracy is higher.
It should be noted that the electric elements occurred in this article such as receiver 1, photoelectric encoder 9, driver 10, wireless
The main controller and 220V civil powers of communication module 12, main control module 13, safe obstacle avoidance module 14, positioning navigation module 18 with the external world
Electrical connection, and be the conventionally known equipment that computer etc. plays control, herein, such as first and second or the like pass
It is that term is used merely to make a distinction an entity or operation and another entity or operate, and not necessarily requires or secretly
Show between these entities or operation any this actual relation or order be present.Moreover, term " comprising ", "comprising" or
Any other variant thereof is intended to cover non-exclusive inclusion so that process, method, article including a series of elements or
Person's equipment not only includes those key elements, but also the other element including being not expressly set out, or it is this mistake also to include
Journey, method, article or the intrinsic key element of equipment.In the absence of more restrictions, by sentence "including a ..."
The key element of restriction, it is not excluded that in addition identical also be present in the process including the key element, method, article or equipment will
Element.
It is described above, further embodiment only of the present invention, but protection scope of the present invention is not limited thereto, and it is any
In scope disclosed in this invention, technique according to the invention scheme and its design add those familiar with the art
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (10)
- It is 1. a kind of using laser and the AGV dollies of tape hybrid navigation, it is characterised in that：Including vehicle body (2), the vehicle body (2) Top installation receiver (1), the vehicle body (2) side wall installation pallet fork (4)；The bottom of the vehicle body (2) is symmetrical arranged four Individual Mecanum wheel (3), the side wall insertion connecting rod (7) of the Mecanum wheel (3)；Connect on the top surface of the connecting rod (7) Connect spring (5), the top mounting bracket (6) of the spring (5)；One end rotation connection support bar (8) of the connecting rod (7), And the top of the support bar (8) is bolted the support (6), the vehicle body is installed on the top of the support (6) (2)；One end connection DC servo motor (11) of the Mecanum wheel (3), and the top installation of the Mecanum wheel (3) Photoelectric encoder (9), driver (10)；Installation main control module (13), power module (15), the electricity inside the vehicle body (2) Source module (15) is electrically connected with the main control module (13)；The main control module (13) and wireless communication module (12), safety Obstacle avoidance module (14), drive module (16), cargo handling module (17), positioning navigation module (18) connection；The wireless telecommunications Module (12) is connected with the receiver (1)；The drive module (16) and the photoelectric encoder (9), the driver (10), DC servo motor (11) connection；The cargo handling module (17) is connected with the pallet fork (4).
- It is 2. according to claim 1 a kind of using laser and the AGV dollies of tape hybrid navigation, it is characterised in that：It is described Multiple wheel shafts (31) are provided with inside Mecanum wheel (3), and the wheel shaft (31) staggeredly divides in the Mecanum wheel (3) Cloth.
- It is 3. according to claim 1 a kind of using laser and the AGV dollies of tape hybrid navigation, it is characterised in that：Four Mecanum wheel (3) described in two of which in the Mecanum wheel (3) is one group, and two Mecanums in one group The connecting rod (7) installation direction taken turns in (3) side wall is opposite.
- It is 4. according to claim 1 a kind of using laser and the AGV dollies of tape hybrid navigation, it is characterised in that：It is described Support bar (8) is concave structure, bottom symmetrically two support bars (8) of connection, and two supports of the support (6) Bar (8) installation direction is opposite.
- It is 5. according to claim 1 a kind of using laser and the AGV dollies of tape hybrid navigation, it is characterised in that：It is described Wireless communication module (12), the safe obstacle avoidance module (14), the drive module (16), the cargo handling module (17), The positioning navigation module (18) is located at the inside of the vehicle body (2).
- It is 6. according to claim 1 a kind of using laser and the AGV dollies of tape hybrid navigation, it is characterised in that：It is described It is as follows that positioning navigation module (18) updates the step of navigation map：Dolly goes to the terminal specified from starting point；Structure navigation map around laser scanning head scanning；Two-dimensional map is imported into AGV navigation maps storehouse.The step of positioning navigation module (18) navigation path planning, is as follows：Dolly main control module generates preliminary path planning according to final position and navigation map；Collection point on path planning is obtained according to the positional information of dolly；Build the specific driving path and travel speed of the dolly between collection point；Build the final path planning of dolly.
- It is 7. according to claim 1 a kind of using laser and the AGV dollies of tape hybrid navigation, it is characterised in that：It is described The step of positioning navigation module (18) path navigation, is as follows：Dolly loads two-dimensional map, obtains the positional information of current dolly；Load path planning；Around laser scanner real time scan, renewal dolly is in the position of two-dimensional map；According to the position of dolly, the phasor difference that path planning is likely to form is obtained, main control module is according to phasor difference, for four drivings Motor exports different pwm signals, so as to promote dolly to be travelled on path planning, X-direction and Y under AGV dolly coordinate systems The speed and Z axis angular velocity of rotation of direction of principal axis.Repeat the above steps, until dolly reaches the place specified.
- It is 8. according to claim 1 a kind of using laser and the AGV dollies of tape hybrid navigation, it is characterised in that：It is described The step of positioning navigation module (18) routing update, is as follows：By laser scanner scans peripheral region, the data of acquisition are matched with environment two-dimensional map, worked as so as to obtain dolly Preceding pose；Using the current pose of AGV dollies as the center of circle, make to justify using given threshold as radius, determine AGV dollies in environment two-dimensional map The probable ranges of region；The particle of the possible pose of AGV dollies is represented with probability with certain amount, AGV dollies are searched in AGV dolly regional extents Accurate pose；Concretely comprise the following steps：By particle random distribution at the regional level, matched, and set with map in each particle position with laser scanning data Put a function and carry out assessment matching degree；The probability that more new particle carries, the minimum particle of probability is given up, increases a particle between the particle of maximum probability；Repeat the above steps iteration, and until all particle regions are tended towards stability, i.e. regional center tends towards stability and region half Footpath is less than or equal to setting error amount threshold value, and regional center is the accurate pose of current time AGV dolly.
- It is 9. according to claim 1 a kind of using laser and the AGV dollies of tape hybrid navigation, it is characterised in that：It is described The specific implementation step of the tape positioning of positioning navigation module (18) is as follows：Tape is laid in loading place, tape is in 90 ° of cross shaped heads, needs to place two RFID card pieces on tape, it acts on difference Stopped for AGV dollies and capture the terminal that goods is gone to AGV dollies under magnetic navigation pattern；AGV dollies have two magnetic navigation sensors, are respectively used to read horizontal and vertical tape, when one to upper tape, separately One is stopped, and the standard of dolly docking tape is that dolly direction of advance is parallel with tape, in dolly axis and tape The heart overlaps；When the magnetic navigation sensor of AGV dollies is to upper tape, dolly switching magnetic navigation pattern, dolly is along tape low speed row Sail, at turning when another magnetic navigation sensor of dolly is to upper horizontal tape, dolly stops and carries out transverse shifting, directly To goods place, dolly starts pallet fork, forks goods.
- It is 10. according to claim 1 a kind of using laser and the AGV dollies of tape hybrid navigation, it is characterised in that：It is described The implementation steps of power module (15) automatic charging are as follows：When dolly not enough power supply, the message of not enough power supply is transmitted to main control module by BMS systems, and main control module is according to residing for dolly Place judge, if dolly has been achieved for goods in loading place, main control module, which can be made, goes to charging zone road Footpath；If dolly does not obtain goods also in loading place, main control module can allow dolly first to obtain goods, then go to charging zone at once；In charging zone, dolly is accurately positioned to charging place using magnetic navigation by induced RF ID cards, is opened charging lock, is started Charging；After BMS senses that battery electric quantity fills with, main control module is sent information at once, main control module is according to dolly Specific situation goes to cargo handling area or terminal.
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| CN106896813A (en) * | 2017-02-27 | 2017-06-27 | 天津赛伯特科技有限公司 | Self-adapting intelligent car TCS |
| CN108319272A (en) * | 2018-04-12 | 2018-07-24 | 南阳师范学院 | One kind intelligently climbing vehicle control and method |
| CN108437833A (en) * | 2018-04-13 | 2018-08-24 | 山东时风（集团）有限责任公司 | A kind of special storage from turn truck and control method |
| CN108664033A (en) * | 2018-06-11 | 2018-10-16 | 浙江国自机器人技术有限公司 | A kind of control method and system of robotic laser avoidance |
| CN108687784A (en) * | 2018-08-10 | 2018-10-23 | 合肥阅辞科技有限公司 | meal delivery robot |
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| CN110282047A (en) * | 2019-06-06 | 2019-09-27 | 广汽丰田发动机有限公司 | A kind of laser navigation handling device |
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| CN106896813A (en) * | 2017-02-27 | 2017-06-27 | 天津赛伯特科技有限公司 | Self-adapting intelligent car TCS |
| CN108319272A (en) * | 2018-04-12 | 2018-07-24 | 南阳师范学院 | One kind intelligently climbing vehicle control and method |
| CN108437833A (en) * | 2018-04-13 | 2018-08-24 | 山东时风（集团）有限责任公司 | A kind of special storage from turn truck and control method |
| CN110579206B (en) * | 2018-06-08 | 2022-12-13 | 西克股份公司 | Navigation system |
| CN110579206A (en) * | 2018-06-08 | 2019-12-17 | 西克股份公司 | Navigation system |
| CN108664033A (en) * | 2018-06-11 | 2018-10-16 | 浙江国自机器人技术有限公司 | A kind of control method and system of robotic laser avoidance |
| CN108687784A (en) * | 2018-08-10 | 2018-10-23 | 合肥阅辞科技有限公司 | meal delivery robot |
| CN109656252A (en) * | 2018-12-29 | 2019-04-19 | 广州市申迪计算机系统有限公司 | A kind of middle control degree system and positioning navigation method based on AGV |
| CN109753070A (en) * | 2019-01-16 | 2019-05-14 | 深圳市海柔创新科技有限公司 | A kind of barrier-avoiding method, device and storage robot |
| CN109765905A (en) * | 2019-03-01 | 2019-05-17 | 航天通用技术(北京)有限公司 | A kind of omnidirectional's intelligent three-dimensional carrying control system |
| CN110282047A (en) * | 2019-06-06 | 2019-09-27 | 广汽丰田发动机有限公司 | A kind of laser navigation handling device |
| CN113146576A (en) * | 2021-02-04 | 2021-07-23 | 合肥工业大学 | Medicine taking system, robot based on medicine taking system and control method |
| CN113031627A (en) * | 2021-05-08 | 2021-06-25 | 西北农林科技大学 | Indoor navigation system and method for facility transport robot |
| CN113733556A (en) * | 2021-09-18 | 2021-12-03 | 重庆理工大学 | Multistation 3D printer |
| CN113733556B (en) * | 2021-09-18 | 2024-01-26 | 重庆理工大学 | Multistation 3D printer |
| CN114199251A (en) * | 2021-12-03 | 2022-03-18 | 江苏集萃智能制造技术研究所有限公司 | Anti-collision positioning method for robot |
| CN114199251B (en) * | 2021-12-03 | 2023-09-15 | 江苏集萃智能制造技术研究所有限公司 | Anti-collision positioning method for robot |
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