CN1263625C - Optical guidance style guiding apparatus for automatic guidance vehicle - Google Patents
Optical guidance style guiding apparatus for automatic guidance vehicle Download PDFInfo
- Publication number
- CN1263625C CN1263625C CN 200310111146 CN200310111146A CN1263625C CN 1263625 C CN1263625 C CN 1263625C CN 200310111146 CN200310111146 CN 200310111146 CN 200310111146 A CN200310111146 A CN 200310111146A CN 1263625 C CN1263625 C CN 1263625C
- Authority
- CN
- China
- Prior art keywords
- laser
- master controller
- guidance
- laser head
- steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 7
- 230000009184 walking Effects 0.000 claims description 12
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses an optical guidance style guiding apparatus for automatic guidance vehicles. A laser head and a laser head processor are arranged in front of a main controller. Signals are input to the main controller. After the signals are processed, steering control signals are sent to a steering servo amplifier to control a steering motor to work and drive steering wheels to turn. Meanwhile, walk control signals output by the main controller are sent to a walk servo amplifier. After the signals are amplified, a walk motor is controlled to work, and active wheels are driven to walk. The present invention has excellent environment adaptive capacity and guidance capability. In addition, the present invention can run according to certain rules in a large range, and simultaneously has high guidance accuracy.
Description
Technical field
The invention belongs to the Logistics Equipment technical field, be specifically related to a kind of optical guidance formula automatic guided vehicle guidance device that the convey materials guide vehicle uses that is used for.
Background technology
At present, the automatic guided vehicle of domestic use (AGV) guidance device all is based on laser guiding and electromagnetism is guided two kinds of guide modes and design-calculated.The automatic guided vehicle course of laser guiding is more flexible, and still, existing laser guidance device needs a large amount of reflecting plates, and the installation site of laser head is restricted, and can't use under some occasion.The automatic guided vehicle of the electromagnetism guiding fixing route of can only walking, and route change more complicated during project installation, need be slotted on the ground of AGV walking path, and be very inconvenient.In order to make automatic guided vehicle be fit to application widely, reduce the difficulty of construction that engineering is used simultaneously, the design people is through concentrating on studies, and utilizing laser is the automatic guided vehicle guidance device of main steering signal, and through evidence, effect is good.
The innovation and creation content
1, the technical matters that will solve
The object of the present invention is to provide a kind of design easy, control easy flexibly, the optical guidance formula automatic guided vehicle guidance device that automatic guided vehicle is freely advanced.
2, technical scheme
The present invention is provided with laser scanning head and treater thereof before being achieved in that its master controller, its signal inputs to master controller, after treatment, steering controling signal is transported to and turns to servoamplifier to amplify the work of back control steer motor, drives the AGV wheel flutter and turns to; The travel controls signal of master controller output is transported to the walking servoamplifier and amplifies the work of back control movable motor, drives the walking of AGV driving wheel.
3, beneficial effect
Because the present invention's automatic guided vehicle has overcome the deficiency of original laser guidance and electromagnetism guidance, can walk freely at clearance envelope, control easy flexibly, wide accommodation has improved the transport efficiency of material, has reduced application cost.
Description of drawings
The present invention is further illustrated below in conjunction with accompanying drawing and embodiment, but the invention is not restricted to shown in the accompanying drawing.
Fig. 1 is that guidance device of the present invention is at AGV upper-part configuration relation figure;
Fig. 2 is AGV guiding algorithm block diagram of the present invention;
Fig. 3 is the control principle figure of system of the present invention;
Fig. 4 is for calculating the mathematical relation scheme drawing of steering angle.
Five, the specific embodiment
As shown in Figure 1, the present invention includes master controller, steering controlling device and traveling control device, laser scanning head 1 and treater 2 thereof are set before the master controller 3, its signal inputs to master controller 3, after treatment, steering controling signal is transported to and turns to servoamplifier 4 to amplify 5 work of back control steer motor, drives AGV wheel flutter 8 and turns to; The travel controls signal of master controller 3 outputs is transported to walking servoamplifier 6 and amplifies 7 work of back control movable motor, drives 9 walkings of AGV driving wheel.
Fig. 2 shows automatic guided vehicle guiding algorithm block diagram.Device is handled signal then by the laser signal collection, calculates the current information of dolly in real time.Laser head processor is calculated the generation location information automatically, comprise car body position (x, y) and car body orientation (θ), add speed encoder then and turn to coder and routing information, generate the diversion order value that to use for the speed command value and the controlled steering controller of speed controller use through the guiding algorithm.
As shown in Figure 3, laser scanning head 1 is with fixing speed rotation sweep and the contour laser-bounce plate of laser scanning head in the system, laser head processor is handled the laser signal of reflected back, and calculate current position (x, y, θ), x, y is a plane right-angle coordinate upper/lower positions parameter, and θ is a direction angle.Laser head processor communicates by interface and master controller.When master controller is given an order when requiring current location to laser head processor, master controller need transmit other parameters that laser head processor needs according to agreement simultaneously, laser head processor is calculated current information immediately and is returned master controller, and so far master controller sends a position requests and finishes.
The reference of the information of laser-bounce plate that laser head processor 2 must have current environment in advance after as Dynamic Recognition.
As shown in Figure 4, in routing information, can be with the AGV walking path section of being divided into, the kind of section is divided into the segment of curve of ordinary straight line segment and different shape.Control method on linear portion and the segment of curve has nothing in common with each other.The combination of various segment of curve and linear portion just can constitute a complete AGV mobile route.
Principle of work of the present invention and working process:
After the AGV system powers on, laser head 1 and laser head processor 2 are started working, and acquisition AGV current location, AGV seeks apart from recently own and the most identical platform in course according to the routing information that is stored in master controller 3 and runs to this platform automatically, at this moment, AGV promptly finishes insertion system, and begins to accept the walking order that upper system sends.Be the segment table information of process on the AGV track route, after AGV receives upper walking order, master controller is by comparing current location and routing information, calculate the current location of AGV, calculate at last the steering angle and the speed of travel of front-wheel by current location and target location, and with these two values as setting value, by the master controller output voltage to walking servoamplifier 6 with turn to servoamplifier 4, deliver to movable motor 7 and steer motor 5 at last, a control cycle is finished since then.When next control cycle repeats above step again temporarily.
The present invention has good adaptive capacity to environment and guidance capability, and can travel by certain rule in bigger area division, has higher guidance accuracy simultaneously.
Claims (2)
1, a kind of optical guidance formula automatic guided vehicle guidance device, comprise master controller, steering controlling device and traveling control device, it is characterized in that: preceding laser scanning head (1) and the treater (2) thereof of being provided with of master controller (3), its signal inputs to master controller (3), after treatment, steering controling signal is transported to and turns to servoamplifier (4) to amplify back control steer motor (5) work, drives AGV wheel flutter (8) and turns to; The travel controls signal of master controller (3) output is transported to walking servoamplifier (6) and amplifies back control movable motor (7) work, drives AGV driving wheel (9) walking.
2, optical guidance formula automatic guided vehicle guidance device as claimed in claim 1, it is characterized in that: laser head processor (2) has the information of the laser-bounce plate of current environment in advance, device is by the laser signal collection, then signal is handled, calculate the current information (x of dolly in real time, y, θ), add speed encoder then and turn to coder and routing information, generate the diversion order value that to use for the speed command value and the controlled steering controller of speed controller use through the guiding algorithm; Laser scanning head (1) is with fixing speed rotation sweep and the contour laser-bounce plate of laser scanning head, and laser head processor (2) is handled the laser signal of reflected back, and calculates current position (x, y, θ), x, y is a plane right-angle coordinate upper/lower positions parameter, and θ is a direction angle; Laser head processor (2) communicates by interface and master controller, when master controller is given an order when requiring current location to laser head processor (2), master controller (3) need transmit other parameters that laser head processor (2) needs according to agreement simultaneously, laser head processor (2) is calculated current information immediately and is returned master controller, and so far master controller sends a position requests and finishes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310111146 CN1263625C (en) | 2003-12-03 | 2003-12-03 | Optical guidance style guiding apparatus for automatic guidance vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310111146 CN1263625C (en) | 2003-12-03 | 2003-12-03 | Optical guidance style guiding apparatus for automatic guidance vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1546336A CN1546336A (en) | 2004-11-17 |
| CN1263625C true CN1263625C (en) | 2006-07-12 |
Family
ID=34335954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310111146 Expired - Lifetime CN1263625C (en) | 2003-12-03 | 2003-12-03 | Optical guidance style guiding apparatus for automatic guidance vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1263625C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8577551B2 (en) * | 2009-08-18 | 2013-11-05 | Crown Equipment Corporation | Steer control maneuvers for materials handling vehicles |
| CN103010011A (en) * | 2012-11-26 | 2013-04-03 | 苏州工业园区职业技术学院 | Automatic guide vehicle system |
| CN104181921A (en) * | 2013-05-23 | 2014-12-03 | 鸿富锦精密工业（深圳）有限公司 | Vehicle |
| CN104932503A (en) * | 2015-06-08 | 2015-09-23 | 东莞理工学院 | Method and system for remotely controlling trolley by laser guidance |
| CN105746045B (en) * | 2016-02-22 | 2017-10-17 | 高圣荣 | A kind of intelligent seeder |
| CN107167036B (en) * | 2017-03-31 | 2018-06-22 | 中国科学院长春光学精密机械与物理研究所 | Full-automatic high precision optical guidance device |
| CN107102641B (en) * | 2017-05-18 | 2020-08-07 | 湖北工业大学 | Laser-guided two-wheel differential AGV-based in-situ yaw rotation method |
-
2003
- 2003-12-03 CN CN 200310111146 patent/CN1263625C/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| CN1546336A (en) | 2004-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102145808B (en) | Industrial laser guidance AGV double-closed-loop control system and control method thereof | |
| JP5592832B2 (en) | Electric drive dump truck | |
| CN110703763A (en) | Unmanned vehicle path tracking and obstacle avoidance method | |
| CN111267857B (en) | Lane changing track generation method and device for automatic driving vehicle | |
| CN108508760B (en) | Joint simulation method and system for multi-wheel independently-driven slip steering vehicle | |
| CN201993646U (en) | Double closed loop control system of industrial laser guidance AGV (Automatic Guided Vehicle) | |
| CN103048996A (en) | Automatic guided vehicle based on laser scanning distance meter, and system and navigation method of automatic guided vehicle | |
| CN104878970A (en) | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange | |
| CN109606506A (en) | A kind of control method that diagonal driving turns to | |
| CN107618504A (en) | It is a kind of applied to the crawl speed control method and device automatically parked | |
| CN1263625C (en) | Optical guidance style guiding apparatus for automatic guidance vehicle | |
| CN110103998B (en) | Method for controlling AGV steering and translation motion of asymmetric four-steering wheel | |
| KR20150029821A (en) | Automatic parking assistant method integrated path generation and steering control and Automatic parking assistant system for the same method | |
| CN114200942B (en) | System and method for controlling and positioning whole-course speed planning of anti-swing of unmanned crown block belt | |
| CN110716563A (en) | Electronic map given trajectory-based electric wheelchair path tracking control method and device | |
| CN113848933A (en) | Omnibearing obstacle avoidance method and device for cleaning robot | |
| JP2921390B2 (en) | Masume welding robot | |
| CN1546288A (en) | Curved weld seam independent traveling welding robot system | |
| CN2700183Y (en) | Mechanical guiding type automatic guided vehicle guiding device | |
| TWI770966B (en) | Guidance control method of unmanned self-propelled vehicle | |
| JPS59111508A (en) | Automatic car guiding method using point follow-up system | |
| Paromtchik et al. | Autonomous maneuvers of a nonholonomic vehicle | |
| CN111722631B (en) | Autonomous mobile chassis, multi-span greenhouse chassis rail-changing method and storage medium | |
| CN111390922A (en) | Automatic driving robot | |
| JPS633315A (en) | Drive controller for traveling object |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20041117 Assignee: YUNNAN KSEC INTELLIGENT EQUIPMENT CO.,LTD. Assignor: YUNNAN KSEC DESIGN AND RESEARCH INSTITUTE Contract record no.: 2014530000054 Denomination of invention: Optical guidance style guiding apparatus for automatic guidance vehicle Granted publication date: 20060712 License type: Exclusive License Record date: 20140526 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160120 Address after: 650217 Building 5, 3 Industrial Park, Jing Hua District, Kunming, Yunnan Patentee after: YUNNAN KSEC INTELLIGENT EQUIPMENT CO.,LTD. Address before: 650051, No. 6, Renmin Middle Road, Panlong District, Yunnan, Kunming Patentee before: YUNNAN KSEC DESIGN AND RESEARCH INSTITUTE |
|
| CX01 | Expiry of patent term |
Granted publication date: 20060712 |
|
| CX01 | Expiry of patent term |