CN110954911A - Automatic guided vehicle positioning device and positioning method - Google Patents
Automatic guided vehicle positioning device and positioning method Download PDFInfo
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- CN110954911A CN110954911A CN201911203442.5A CN201911203442A CN110954911A CN 110954911 A CN110954911 A CN 110954911A CN 201911203442 A CN201911203442 A CN 201911203442A CN 110954911 A CN110954911 A CN 110954911A
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- agv
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- straight line
- guided vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The invention discloses a positioning device and a positioning method of an automatic guided vehicle, wherein the positioning device comprises: the laser positioning device comprises a front end reflecting plate arranged at the front end below the jacking bracket, a side end reflecting plate arranged at the side end, a laser, a positioning module and a deviation rectifying module; the laser comprises a front end laser arranged at the front end of the AGV and a side end laser arranged at the side end of the AGV; the front-end laser emits laser and receives a front-end reflection light spot reflected by the front-end reflector; the side end laser emits laser and receives side end reflection light spots reflected by the side end reflector; the positioning module judges whether the AGV travels to a parking position or not based on the front end reflection light spot; and the deviation rectifying module controls the rotation angles of the front wheels and the rear wheels of the AGV based on the side end reflection light spots, the position of the AGV and the course angle of the AGV when the AGV does not advance to the parking position. The positioning and deviation rectifying of the AGV are achieved when the magnetic nails cannot be read by a navigation antenna due to the fact that large current exists in the interaction process of the AGV and the jacking support.
Description
Technical Field
The invention belongs to the technical field of automated wharfs, and particularly relates to an automatic guided vehicle positioning device and a positioning method.
Background
The process of unloading a loaded container from an AGV platform onto a yard bridge and the process of loading a container in a yard onto an AGV platform via a yard bridge are referred to as interactive processes.
The single-machine automatic navigation system is the most important part of an AGV system, and the positioning and automatic navigation operation of the AGV are realized through the system. The single-machine automatic navigation control is the core of the AGV automatic control, and according to a navigation control algorithm and the arrangement condition of magnetic nails in an AGV running field, N continuous magnetic nails are not detected by the navigation positioning antenna and then trigger the AGV to decelerate or emergently brake to stop, so that the deviation of the AGV from a preset track caused by urban control under the condition that the magnetic nail detection antenna or the magnetic nails have problems is avoided.
The tip at the yard is provided with the jacking support in order to improve the interactive efficiency of AGV and site bridge at current automatic pier, and AGV and site bridge all can place the container on the jacking support to avoid AGV or site bridge to wait for interactive operation and waste time. Automatic pier adopts the cyclic charge's of circulation strategy at mutual in-process, promptly, charges at AGV and jacking support interaction in-process, and this leads to the jacking support to get delivers to the case in-process of marcing, has heavy current to charge simultaneously, and the interference of charging just inevitably exists, probably leads to getting the nearer navigation antenna of electric installation and can not read the magnetism nail, and the deviation appears in the parking position, brings the potential safety hazard.
Disclosure of Invention
The invention aims to provide a positioning device and a positioning method of an automatic guided vehicle, which solve the technical problem that when an automatic terminal AGV (automatic guided vehicle) interacts with a jacking support of a storage yard, the shutdown position is deviated due to the influence of cyclic charging.
In order to solve the technical problems, the invention adopts the following technical scheme:
an automated guided vehicle positioning apparatus is provided, comprising: the front end reflector is arranged at the front end below the jacking bracket; the side end reflector is arranged at the side end below the jacking bracket; the laser comprises a front end laser arranged at the front end of the AGV and a side end laser arranged at the side end of the AGV; the front-end laser is used for emitting laser and receiving a front-end reflection light spot reflected by the front-end reflector; the side end laser is used for emitting laser and receiving side end reflection light spots reflected by the side end reflection plate; the positioning module is used for judging whether the AGV travels to a parking position or not based on the front end reflection light spot; the deviation rectifying module is used for controlling the rotation angles of the front wheels and the rear wheels of the AGV based on the side end reflection light spots, the position of the AGV and the course angle of the AGV when the AGV does not move to the parking position; wherein, the jacking support is arranged at the end part of the storage yard.
Further, the positioning module comprises: the front-end reflected light spot fitting unit is used for fitting the front-end reflected light spots into a first straight line; a travel position calculation unit for calculating a distance from the front end laser to the first straight line; and the travel position judging unit is used for judging the travel position of the AGV according to the distance.
Further, the deviation rectifying module comprises: a side end reflected light fitting unit for fitting the side end reflected light spot into a second straight line; the AGV pose judging unit is used for fitting a longitudinal straight line of the AGV body based on the position of the AGV and the course angle of the AGV; and the front wheel and rear wheel corner calculating unit is used for calculating the included angle between the second straight line and the longitudinal straight line, calculating the distance between the front end of the AGV body and the rear end of the AGV body to the second straight line respectively, and calculating the front wheel and rear wheel corners based on PID feedback control.
Furthermore, the front end reflector is perpendicular to the central line of the jacking bracket.
Further, the distance between the front end reflector and the last magnetic nail below the jacking support is 2.5 meters.
An automatic guided vehicle positioning method is provided, which is applied to the automatic guided vehicle positioning device, and comprises the following steps: acquiring a front end reflected light spot received by the front end laser, and judging whether the AGV reaches a parking position or not based on the front end reflected light spot; the method comprises the steps that during the period that the AGV does not move to the parking position, side end reflection light spots are obtained, and the rotating angles of front wheels and rear wheels of the AGV are controlled based on the side end reflection light spots, the position of the AGV and the course angle of the AGV; and controlling the AGV to stop when the AGV travels to the stop position.
Further, whether the AGV carries out to the parking position is judged based on the front end reflection light spot, which specifically comprises the following steps: fitting the front end reflected light points into a first straight line; calculating the distance from the front-end laser to the first straight line; and judging the traveling position of the AGV according to the distance.
Further, based on the side reflection light spot, the position of the AGV and the course angle of the AGV, the turning angles of the front wheels and the rear wheels of the AGV are controlled, and the turning angles are specifically as follows: fitting the side end reflected light points into a second straight line; fitting a longitudinal straight line of the AGV body based on the position of the AGV and the course angle of the AGV; and calculating the included angle between the second straight line and the longitudinal straight line, calculating the distance between the front end of the AGV body and the rear end of the AGV body to the second straight line respectively, and calculating the corner of the front wheel and the corner of the rear wheel based on PID feedback control.
Compared with the prior art, the invention has the advantages and positive effects that: the invention provides a positioning device and a positioning method of an automatic guided vehicle.A front end reflector and a side end reflector are respectively arranged at the front end and the side end below a jacking bracket at the end part of a storage yard and an AGV, when the AGV moves to the position below the jacking bracket, a front end laser at the front end of the AGV emits laser beams which are blocked by the front end reflector and reflected, after the front end reflected light is received by the front end laser, a positioning module fits a front end reflected light spot into a first straight line, and calculates the distance between the front end laser and the first straight line, so as to judge the traveling distance of the AGV; the method comprises the steps that a side end laser of an AGV side end emits laser beams, the laser beams are reflected by a side end reflecting plate, after the side end reflected light is received by the side end laser, a deviation rectification module fits side end reflected light spots into a second straight line, the longitudinal straight line of an AGV body is respectively calculated based on the position of the AGV and the course angle of the AGV, the included angle between the second straight line and the longitudinal straight line and the distance between the front end of the AGV body and the rear end of the AGV body to the second straight line are calculated, the included angle and the distance parameter are used for PID feedback control calculation to obtain the rotating angles of front and rear wheels of the AGV, so that deviation rectification control of the AGV body is achieved, and the AGV is prevented from; when the positioning module judges that the AGV travels to the parking position, the AGV is controlled to park; therefore, based on the positioning device and the positioning method for the automatic guided vehicle, even if the magnetic nails cannot be read by the navigation antenna due to the large current in the interaction process of the AGV and the jacking support, the positioning and the deviation correction of the AGV can be realized based on the positioning device, and the technical problem that the deviation exists in the stop position due to the influence of the circulating charging when the AGV interacts with the jacking support of a storage yard in an automatic wharf is solved.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is an applied architecture diagram of the positioning device of the automated guided vehicle according to the present invention;
FIG. 2 is a diagram of the apparatus architecture of the automated guided vehicle positioning apparatus of the present invention;
FIG. 3 is a schematic diagram of the deviation correction of the positioning device of the automated guided vehicle according to the present invention;
fig. 4 is a flowchart of an automated guided vehicle positioning method according to the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention aims to provide an automatic guided vehicle positioning device which can ensure the accurate positioning of an automatic guided vehicle even if charging large-current interference exists under the condition that an AGV carries out cyclic charging.
Specifically, as shown in fig. 1, the positioning device of the automatic guided vehicle according to the present invention includes a front reflector 3 and a side reflector 4, the front reflector 3 is mounted at the front end (relative to the AGV traveling direction) below the lifting bracket 2, and the side reflector 4 is mounted at the side end below the lifting bracket 2. The jacking leg 2 is provided at an end of the yard 1, i.e. sea side or land side.
A front end laser 6 is arranged at the front end of the AGV5, a side end laser 7 is arranged at the side end of the AGV, the front end laser 6 emits laser beams to the front of the AGV after the AGV travels to the lower part of the jacking support 2, the laser beams are blocked by the front end reflector 3 and are reflected, and the reflected front end reflected light is received by the front end laser 6; meanwhile, the side end laser 7 emits a laser beam to the side end of the AGV5, the laser beam is blocked by the side end reflector 4 and reflected, and the reflected side end reflected light is received by the side end laser 7.
In combination with the above, the positioning device of the automatic guided vehicle provided by the invention, as shown in fig. 2, further includes a positioning module 8 and a deviation rectifying module 9; and the positioning module 8 acquires the received front end reflection light spot from the front end laser 6 from the lower part of the lifting support 2 when the AGV5 runs into the lifting support, and judges whether the AGV5 advances to the parking position according to the front end reflection light spot.
Specifically, the positioning module 8 includes a front end reflection light spot fitting unit 81, a traveling position calculating unit 82, and a traveling position judging unit 83; these front end reflected light spots form discrete coordinate points in a coordinate system,
the front-end reflected light spot fitting unit 81 processes the discrete coordinate points, eliminates outliers, and fits the screened points according to the least square principle to form a first straight line L1, as shown in fig. 3; then the travel position calculation unit 82 calculates the distance D between the front laser 6 and the first straight line L1 according to the position of the front laser, where the distance D is the distance between the AGV5 and the front reflector 3; if a parking position is set, for example, a position D away from the front reflector 3, the travel position determining unit 83 can determine whether the AGV is moving to the parking position according to the comparison between D and D.
When the AGV5 runs into the lower part of the jacking support 2 and starts and does not reach the parking position, the deviation rectifying module 9 acquires side end reflected light received by the side end laser 7, and the rotation angles of front and rear wheels of the AGV are controlled based on side end reflected light spots, the position of the AGV and the course angle of the AGV.
Specifically, the deviation rectifying module 9 includes a side end reflected light fitting unit 91, an AGV pose determination unit 92, and a front and rear wheel steering angle calculation unit 93; similarly, the side end reflected light points form discrete coordinate points in the coordinate system, the side end reflected light point fitting unit 91 processes the discrete coordinate points, and after outliers are extracted, the screened points are fitted according to the least square principle to form a second straight line L2; the AGV pose judging unit 92 is used for acquiring the position of the AGV and the course angle information of the AGV, and fitting a longitudinal straight line L3 of the AGV body based on the current position and the course angle; a point A is set at the front end of an AGV5 body, a point B is set at the rear end of the body, a front and rear wheel rotating angle calculating unit 93 is used for calculating an included angle between a second straight line L2 and a longitudinal straight line L3, and calculating distances d1 and d2 from the front end A of the AGV body and the rear end B of the body to the second straight line L2 respectively, the included angle, the distance d1 and the distance d2 are used as parameters of PID feedback control to calculate front and rear wheel rotating angles of the AGV5, the AGV5 controls the steering of the front and rear wheels according to the calculated front and rear wheel rotating angles, and based on the deviation rectifying module 9, even if the deviation of the body occurs under the condition that the positioning of a magnetic nail cannot be detected due to the influence of charging large current, the deviation rectifying of the body can be kept.
In the embodiment of the invention, the front-end reflector 3 is arranged perpendicular to the central line of the jacking bracket 2, namely perpendicular to the installation route of the magnetic nail 10, and the distance from the last magnetic nail is preferably 2.5 m. When installing this front end reflector, the slope of guaranteeing to take place is no longer than 1 degree, and the altitude variation is less than 5cm, guarantees not to take place obviously to rock under bad weather such as strong wind, and the roughness requirement of reflector panel is within 1 cm.
Based on the above proposed positioning device for the automated guided vehicle, the present invention further provides a positioning method for the automated guided vehicle, specifically, as shown in fig. 4, the method includes the following steps:
step S41: and acquiring front end reflected light received by the front end laser, and judging whether the AGV reaches a parking position or not based on the front end reflected light.
The specific embodiment corresponds to a positioning module 8 in the device. The method comprises the steps of fitting a light spot of front end reflected light into a first straight line, calculating the distance from a front end laser to the first straight line, and judging the proceeding position of the AGV according to the distance.
Step S42: and acquiring side end reflected light when the AGV does not travel to the parking position, and controlling the rotating angles of front and rear wheels of the AGV based on the side end reflected light, the position of the AGV and the heading angle of the AGV.
The specific embodiment corresponds to the deviation rectification module 9 in the device. The method comprises the steps of fitting light spots of side end reflected light into a second straight line, fitting a longitudinal straight line of an AGV body based on the position of the AGV and the course angle of the AGV, calculating the included angle between the second straight line and the longitudinal straight line, calculating the distance from the front end of the AGV body and the rear end of the AGV body to the second straight line respectively, and calculating the rotating angles of front and rear wheels based on PID feedback control.
Step S43: and controlling the AGV to stop when the AGV travels to the stop position.
Based on rectifying and the location of above-mentioned two steps, even there is the heavy current and leads to the navigation antenna to read not to the magnetic nail because of charging at AGV and jacking support interaction in-process, also can realize AGV's location and rectifying based on the positioner that the aforesaid provided, receive the circulation to charge when the jacking support of AGV and storage yard is interactive to influence and lead to the technical problem that there is the deviation in the stall position to solve automatic pier.
It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (8)
1. Automated guided vehicle positioner, its characterized in that includes:
the front end reflector is arranged at the front end below the jacking bracket;
the side end reflector is arranged at the side end below the jacking bracket;
the laser comprises a front end laser arranged at the front end of the AGV and a side end laser arranged at the side end of the AGV; the front-end laser is used for emitting laser and receiving a front-end reflection light spot reflected by the front-end reflector; the side end laser is used for emitting laser and receiving side end reflection light spots reflected by the side end reflection plate;
the positioning module is used for judging whether the AGV travels to a parking position or not based on the front end reflection light spot;
the deviation rectifying module is used for controlling the rotation angles of the front wheels and the rear wheels of the AGV based on the side end reflection light spots, the position of the AGV and the course angle of the AGV when the AGV does not move to the parking position;
wherein, the jacking support is arranged at the end part of the storage yard.
2. The automated guided vehicle positioning apparatus of claim 1, wherein the positioning module comprises:
the front-end reflected light spot fitting unit is used for fitting the front-end reflected light spots into a first straight line;
a travel position calculation unit for calculating a distance from the front end laser to the first straight line;
and the travel position judging unit is used for judging the travel position of the AGV according to the distance.
3. The automated guided vehicle positioning apparatus of claim 1, wherein the deviation rectification module comprises:
a side end reflected light fitting unit for fitting the side end reflected light spot into a second straight line;
the AGV pose judging unit is used for fitting a longitudinal straight line of the AGV body based on the position of the AGV and the course angle of the AGV;
and the front wheel and rear wheel corner calculating unit is used for calculating the included angle between the second straight line and the longitudinal straight line, calculating the distance between the front end of the AGV body and the rear end of the AGV body to the second straight line respectively, and calculating the front wheel and rear wheel corners based on PID feedback control.
4. The automated guided vehicle positioning apparatus of claim 1, wherein the front reflector is mounted perpendicular to a centerline of the jacking bracket.
5. The automated guided vehicle positioning apparatus of claim 1, wherein the distance from the front reflector to the last magnetic nail below the jacking bracket is 2.5 meters.
6. Automated guided vehicle positioning method, applied in an automated guided vehicle positioning apparatus according to any one of claims 1 to 5, comprising:
acquiring a front end reflected light spot received by the front end laser, and judging whether the AGV reaches a parking position or not based on the front end reflected light spot;
the method comprises the steps that during the period that the AGV does not move to the parking position, side end reflection light spots are obtained, and the rotating angles of front wheels and rear wheels of the AGV are controlled based on the side end reflection light spots, the position of the AGV and the course angle of the AGV;
and controlling the AGV to stop when the AGV travels to the stop position.
7. The automated guided vehicle positioning method according to claim 6, wherein determining whether the AGV has moved to the parking position based on the front end reflected light spot is specifically:
fitting the front end reflected light points into a first straight line;
calculating the distance from the front-end laser to the first straight line;
and judging the traveling position of the AGV according to the distance.
8. The automated guided vehicle positioning method according to claim 6, wherein the rotation angles of the front and rear wheels of the AGV are controlled based on the side end reflection light spot, the position of the AGV, and the heading angle of the AGV, specifically:
fitting the side end reflected light points into a second straight line;
fitting a longitudinal straight line of the AGV body based on the position of the AGV and the course angle of the AGV;
and calculating the included angle between the second straight line and the longitudinal straight line, calculating the distance between the front end of the AGV body and the rear end of the AGV body to the second straight line respectively, and calculating the corner of the front wheel and the corner of the rear wheel based on PID feedback control.
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| CN111619619A (en) * | 2020-06-09 | 2020-09-04 | 中国华电科工集团有限公司 | Material trolley positioning start-stop method and system based on position compensation |
| CN112233443A (en) * | 2020-10-15 | 2021-01-15 | 浙江大学 | Automatic parking management system of unmanned parking lot based on AGV |
| CN114167868A (en) * | 2021-12-03 | 2022-03-11 | 合肥市小鹏信息科技有限公司 | High-precision AGV based on single line laser |
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| CN112233443A (en) * | 2020-10-15 | 2021-01-15 | 浙江大学 | Automatic parking management system of unmanned parking lot based on AGV |
| CN114167868A (en) * | 2021-12-03 | 2022-03-11 | 合肥市小鹏信息科技有限公司 | High-precision AGV based on single line laser |
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