CN103076804A - Automatic guide vehicle, automatic guide system and navigation method based on ultrasonic range finder - Google Patents
Automatic guide vehicle, automatic guide system and navigation method based on ultrasonic range finder Download PDFInfo
- Publication number
- CN103076804A CN103076804A CN2012105794253A CN201210579425A CN103076804A CN 103076804 A CN103076804 A CN 103076804A CN 2012105794253 A CN2012105794253 A CN 2012105794253A CN 201210579425 A CN201210579425 A CN 201210579425A CN 103076804 A CN103076804 A CN 103076804A
- Authority
- CN
- China
- Prior art keywords
- measuring apparatus
- distance measuring
- ultrasonic distance
- automatic guide
- guide vehicle
- 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.)
- Granted
Links
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an automatic guide vehicle, an automatic guide system and a navigation method based on an ultrasonic range finder. The automatic guide vehicle comprises a drive chassis, an automatic guide vehicle body, a drive device, a gyroscope, a displacement encoder, a drive controller, an ultrasonic range finder receiving device and a controller, wherein the automatic guide vehicle body and the drive device are arranged on the drive chassis, the gyroscope, the displacement encoder, the drive controller, the ultrasonic range finder receiving device and the controller are arranged on the automatic guide vehicle body, and the gyroscope is used for acquiring a driving course angle of the automatic guide vehicle based on the ultrasonic range finder; the displacement encoder acquires the driving displacement of the automatic guide vehicle based on the ultrasonic range finder; the drive controller controls the drive device; the ultrasonic range finder receiving device which is arranged on the automatic guide vehicle body receives an ultrasonic signal and calculates a transmission distance value of the ultrasonic signal; and the controller is respectively electrically connected with the gyroscope, the encoder, the drive controller and the ultrasonic range finder receiving device and calculates a running route of the automatic guide vehicle based on the ultrasonic range finder according to the acquired course angle, the displacement and the distance value and controls the drive device to run through the drive controller.
Description
Technical field
The present invention relates to the automatic guide vehicle technology, particularly relate to automated guided vehicle, system and air navigation aid based on ultrasonic distance measuring apparatus.
Background technology
AGV(Automatic Guided Vehicle) refer to automatic guide vehicle, it is take battery as power, and the unmanned automated handling vehicle of navigational system is housed.The distinguishing feature of AGV is unmanned, utilize automated navigation system, AGV can be in the situation that does not need artificial pilotage, along predetermined route automatic running, automatically goods is transported to the destination from starting point, and can be according to storage goods yard requirement, the technological process of productions etc. change and change flexibly, have flexible, automaticity is high and the intelligent level advantages of higher, so AGV has obtained research and used in a plurality of industry fields such as machining, material assembling, household electrical appliances production, microelectronics manufacturing, cigarette.
Yet traditional AGV adopts the rail navigate mode, easily being laid on ground guide wire crushing, or is rolled by other delivery vehicle (for example fork truck) in the daily operational process of AGV, causes often needing repairing.
Summary of the invention
Based on this, be necessary for need to the problem of orbit maintenance, providing a kind of simple automatic guide vehicle based on ultrasonic distance measuring apparatus of safeguarding.
A kind of automatic guide vehicle based on ultrasonic distance measuring apparatus, comprise and drive the chassis and be arranged on automatic guide vehicle main body and drive unit on the described driving chassis, also comprise: be arranged on the gyroscope on the described automatic guide vehicle main body, the course angle when being used for obtaining described automatic guide vehicle operation based on ultrasonic distance measuring apparatus; Be arranged on the displacement encoder on the described automatic guide vehicle main body, the displacement when being used for obtaining described automatic guide vehicle based on ultrasonic distance measuring apparatus and travelling; Be arranged on the driving governor on the described automatic guide vehicle main body, be used for controlling described drive unit; Be arranged on the ultrasonic distance measuring apparatus receiving trap on the described automatic guide vehicle main body, be used for receiving ultrasonic signal and calculate the distance value that described ultrasonic signal is propagated; And be arranged on controller on the described automatic guide vehicle main body, be electrically connected respectively with described gyroscope, described scrambler, described driving governor and described ultrasonic distance measuring apparatus receiving trap, be used for calculating according to the described course angle, described displacement and the described distance value that obtain the operating path of described automatic guide vehicle based on ultrasonic distance measuring apparatus, and control described drive unit operation by described driving governor.
Among embodiment, also comprise: be arranged on the rudder angle scrambler on the described driving chassis, described rudder angle scrambler is connected with described controller therein, is used for measuring the drift angle between described automatic guide vehicle main body and the described driving chassis.
Among embodiment, also comprise: be arranged on the communicator on the described automatic guide vehicle main body, described communicator is connected with described controller therein, is used for communication.
Among embodiment, described ultrasonic distance measuring apparatus receiving trap comprises therein: the ultrasonic signal receiving element is used for receiving ultrasonic signal; And the time synchronizing signal receiving element, be used for the time of reception synchronizing signal.
In addition, also be necessary to provide a kind of automatic guide vehicle system based on ultrasonic distance measuring apparatus, comprise such as the described automatic guide vehicle based on ultrasonic distance measuring apparatus of claim 1 ~ 4 any one, also comprise: the ultrasonic distance measuring apparatus emitter, be arranged on the passage side, be used for emission ultrasonic signal and time synchronizing signal, described time synchronizing signal carries the geocoding of described ultrasonic distance measuring apparatus emitter.
Among embodiment, the distance that arranges between the described ultrasonic distance measuring apparatus emitter is greater than the twice of the signal receiving range of described ultrasonic distance measuring apparatus receiving trap therein.
Among embodiment, also comprise therein: the dispatching center, by described communicator described automatic guide vehicle based on ultrasonic distance measuring apparatus is dispatched.
In addition, also be necessary to provide a kind of automatic guide vehicle air navigation aid based on ultrasonic distance measuring apparatus, comprise the steps: initialization course and position; Course angle when obtaining based on the operation of the automatic guide vehicle of ultrasonic distance measuring apparatus; Displacement when obtaining automatic guide vehicle based on ultrasonic distance measuring apparatus and travelling; Calculate the position of described automatic guide vehicle based on ultrasonic distance measuring apparatus according to described course angle and described displacement; Obtain ultrasonic signal, time synchronizing signal, calculate based on the automatic guide vehicle of the ultrasonic distance measuring apparatus distance value to the ultrasonic distance measuring apparatus emitter, and proofread and correct described course angle and described position; Obtain the coordinates of targets positional value; Drive described automatic guide vehicle operation based on ultrasonic distance measuring apparatus according to described coordinates of targets positional value.
Therein among embodiment, described ultrasonic signal, the time synchronizing signal of obtaining calculates based on the automatic guide vehicle of the ultrasonic distance measuring apparatus distance value to the ultrasonic distance measuring apparatus emitter, and the step of proofreading and correct described course angle and described position is: receive ultrasonic signal; The time of reception synchronizing signal, described time synchronizing signal carries the geocoding of described ultrasonic distance measuring apparatus emitter; Calculate based on the automatic guide vehicle of the ultrasonic distance measuring apparatus distance value to the ultrasonic distance measuring apparatus emitter according to described ultrasonic signal and time synchronizing signal.
Therein among embodiment, described ultrasonic signal, the time synchronizing signal of obtaining, calculating is based on the automatic guide vehicle of the ultrasonic distance measuring apparatus distance value to the ultrasonic distance measuring apparatus emitter, and also comprises after proofreading and correct the step of described course angle and described position: obtain the described course angle more than at least 2, described displacement and described distance value and calculate the coordinates computed value; Described coordinates computed value and described geocoding are compared, proofread and correct described course angle and described position.
Adopt this programme based on the automatic guide vehicle (AGV) of ultrasonic distance measuring apparatus, only by being arranged on course angle and the displacement that obtains based on the gyroscope in the AGV of ultrasonic distance measuring apparatus and displacement encoder, can obtain the trajectory coordinates based on the AGV operation of ultrasonic distance measuring apparatus, namely can be according to the destination coordinate navigation that presets.And need to not lay any guide wire, wire or other device at the road of operation, and avoided road to be rolled and damaged, reduced maintenance cost, daily maintenance only need to safeguard the AGV itself based on ultrasonic distance measuring apparatus and get final product, not only simply but also economy.
Adopt the automatic guide vehicle based on ultrasonic distance measuring apparatus (AGV) system of this programme, the dispatching center can be by carrying out interaction based on the communicator of the AGV of ultrasonic distance measuring apparatus with AGV based on ultrasonic distance measuring apparatus, and monitoring is based on the running status of the AGV of ultrasonic distance measuring apparatus or send new operation task for the AGV based on ultrasonic distance measuring apparatus.Simultaneously, also can feed back to the dispatching center to ruuning situation or tasks carrying situation based on the AGV of ultrasonic distance measuring apparatus by communicator based on the AGV of ultrasonic distance measuring apparatus, realize comprehensively monitoring and scheduling, improve the operational efficiency based on the AGV system of ultrasonic distance measuring apparatus.
Adopt the method for this programme, the AGV to based on ultrasonic distance measuring apparatus that can be autonomous navigates, need to not lay any guide wire, wire or other device at the road of operation and not guide, reduce a large amount of equipment and maintenance of equipment expense, not only simply but also economy.
Description of drawings
Fig. 1 is the structured flowchart based on the automatic guide vehicle of ultrasonic distance measuring apparatus;
Fig. 2 is the structured flowchart based on the automatic guide vehicle of ultrasonic distance measuring apparatus of an embodiment;
Fig. 3 is the structured flowchart of ultrasonic distance measuring apparatus receiving trap among Fig. 1;
Fig. 4 is the structured flowchart based on the automatic guide vehicle system of ultrasonic distance measuring apparatus;
Fig. 5 is the process flow diagram based on the automatic guide vehicle air navigation aid of ultrasonic distance measuring apparatus;
Fig. 6 is that step is the particular flow sheet of S40 among Fig. 5;
Fig. 7 is the process flow diagram that also comprises step S40A and S40B among the embodiment;
Fig. 8 is the floor map of ultrasonic distance measuring apparatus emitter layout;
Fig. 9 is the automatic guide vehicle position fixing process synoptic diagram based on ultrasonic distance measuring apparatus;
Figure 10 is the automatic guide vehicle navigation error angle synoptic diagram based on ultrasonic distance measuring apparatus.
Embodiment
Based on the automatic guide vehicle (AGV, Automatic Guided Vehicle) of ultrasonic distance measuring apparatus, the environment at its place is better, and road is more smooth, and what can be similar to thinks the operation of AGV in a two-dimensional level face based on ultrasonic distance measuring apparatus.The distance value that the course angle of obtaining by gyroscope based on the AGV of ultrasonic distance measuring apparatus, the displacement that displacement encoder obtains and ultrasonic distance measuring apparatus receiving trap obtain, controller calculates operating path based on the AGV of ultrasonic distance measuring apparatus according to course angle, displacement and distance value, then move by the driving governor accessory drive, and then the AGV that drives based on ultrasonic distance measuring apparatus moves.
By reference to the accompanying drawings 1 ~ 3, based on the automatic guide vehicle of ultrasonic distance measuring apparatus, comprise driving chassis (not shown), automatic guide vehicle main body (not shown) and drive unit (not shown); Also comprise gyroscope 10, displacement encoder 20, driving governor 30 and the ultrasonic distance measuring apparatus receiving trap 40 and the controller 50 that are arranged on the automatic guide vehicle main body.
Drive the chassis, the AGV car that is based on ultrasonic distance measuring apparatus forms the basis of unitary construction, and the effect of play supporting, motor car engine (drive unit) and each parts thereof being installed guarantees normally to travel.
The automatic guide vehicle main body is arranged on the driving chassis, can carry other mobile unit.
Drive unit is arranged on and drives the chassis, for the AGV based on ultrasonic distance measuring apparatus provides power source.Drive unit can be motor, diesel engine or gasoline engine.In the present embodiment, what adopt based on the AGV of ultrasonic distance measuring apparatus is motor, because the motor operation is more steady, easy to control, and environmental protection.
Gyroscope 10 is installed on the automatic guide vehicle main body, the course angle when being used for obtaining the AGV operation based on ultrasonic distance measuring apparatus.Particularly, the sensitive axes of gyroscope 10 is vertical with surface level, gyroscope 10 can detect the angular speed that rotates in the AGV operational process based on ultrasonic distance measuring apparatus, by the integration to angular speed, can obtain the course angle with respect to initial time (or Preset Time) based on the AGV of ultrasonic distance measuring apparatus.
Driving governor 30 is installed on the automatic guide vehicle main body, is used for accessory drive.What in the present embodiment drive unit adopted is motor, and driving governor 30 be control circuit board, and driving governor 30 is according to the operation of instruction control motor, and then driving travelling based on the AGV of ultrasonic distance measuring apparatus.
Ultrasonic distance measuring apparatus receiving trap 40 is installed on the automatic guide vehicle main body, is used for receiving ultrasonic signal and calculates the distance value that ultrasonic signal is propagated.Particularly, ultrasonic distance measuring apparatus comprises transmitting terminal and receiving end, i.e. ultrasonic distance measuring apparatus emitter and ultrasonic distance measuring apparatus receiving trap 40.The ultrasonic distance measuring apparatus emitter is arranged on the known position on road or the guidance path, ultrasonic distance measuring apparatus receiving trap 40 is installed on the AVG based on ultrasonic distance measuring apparatus, ultrasonic distance measuring apparatus emitter emission ultrasonic signal, ultrasonic distance measuring apparatus receiving trap 40 receives this ultrasonic signal, calculate the ultrasonic distance measuring apparatus emitter to the distance value of ultrasonic distance measuring apparatus receiving trap 40 according to ultrasonic signal, i.e. the distance value of ultrasonic signal propagation.
By reference to the accompanying drawings 2, in one embodiment, ultrasonic distance measuring apparatus receiving trap 40 comprises: ultrasonic signal receiving element 41 is used for receiving ultrasonic signal; Time synchronizing signal receiving element 42 is used for the time of reception synchronizing signal.
The ultrasonic distance measuring apparatus emitter is not only launched ultrasonic signal, but also simultaneously launch time synchronizing signal, time synchronizing signal is that to adopt the velocity of propagation such as infrared, radio be that the medium of the light velocity is propagated.In other embodiments, time synchronizing signal also carries the geocoding (being the reference coordinate value) of ultrasonic distance measuring apparatus emitter, be used for to proofread and correct the course that the AGV based on ultrasonic distance measuring apparatus travels.Certainly, be appreciated that also the geocoding of ultrasonic distance measuring apparatus emitter can be pre-stored in the AGV based on ultrasonic distance measuring apparatus.
The mode of operation of ultrasonic distance measuring apparatus emitter and ultrasonic distance measuring apparatus receiving trap 40: at first, the ultrasonic distance measuring apparatus emitter is launched ultrasonic signal and time synchronizing signal simultaneously; Secondly, after receiving time synchronizing signal based on the ultrasonic distance measuring apparatus receiving trap 40 on the AGV of ultrasonic distance measuring apparatus, the beginning timing is also waited for ultrasonic signal, receive ultrasonic signal after, stop timing; At last, can obtain ultrasonic signal from the ultrasonic distance measuring apparatus emitter to the ultrasonic distance measuring apparatus receiving trap the 40 time t(that propagate since the velocity of propagation of light much larger than the velocity of propagation of sound wave, so can ignore the travel-time of light), and calculate the ultrasonic distance measuring apparatus emitter to the distance (being the distance that ultrasonic signal is propagated) of ultrasonic distance measuring apparatus receiving trap 40, concrete computing method are:
If current environmental temperature is T, then the aerial velocity of propagation of ultrasonic signal is:
V＝331.5+0.607T
The ultrasonic distance measuring apparatus emitter to the distance between the ultrasonic distance measuring apparatus receiving trap 40 is:
D=V×t
This controller 50 is arithmetic processing apparatus, mainly is comprised of process chip (or single-chip microcomputer), carries out computing and Output rusults according to the data that obtain, and perhaps controls other device by the instruction of output.
Adopt the AGV based on ultrasonic distance measuring apparatus of this programme, only by being arranged on course angle and the displacement that obtains based on the gyroscope 10 in the AGV of ultrasonic distance measuring apparatus and displacement encoder 20, can obtain the position coordinates based on the AGV operation of ultrasonic distance measuring apparatus, namely can be according to destination coordinate (coordinates of targets) navigation that presets.And need to not lay any guide wire, wire or other device at the road of operation, and avoided road to be rolled and damaged, reduced maintenance cost, daily maintenance only need to safeguard the AGV itself based on ultrasonic distance measuring apparatus and get final product, not only simply but also economy.
Further, the AGV based on ultrasonic distance measuring apparatus of this programme also combines ultrasonic distance measuring apparatus receiving trap 40, can obtain the ultrasonic distance measuring apparatus emitter to ultrasonic distance measuring apparatus receiving trap 40(namely based on the AGV of ultrasonic distance measuring apparatus) distance value, in conjunction with gyroscope 10 and displacement encoder 20 plural at least course angle and the displacement of obtaining, and obtain the ultrasonic distance measuring apparatus emitter to the distance value of ultrasonic distance measuring apparatus receiving trap 40, can calculate the coordinate figure of ultrasonic distance measuring apparatus emitter.The geocoding (being the reference coordinate value) of launching by relatively being pre-stored in geocoding (being the reference coordinate value) based on the ultrasonic distance measuring apparatus emitter in the AGV of ultrasonic distance measuring apparatus or ultrasonic distance measuring apparatus emitter, reference coordinate value and the coordinate figure that calculates resulting ultrasonic distance measuring apparatus emitter are compared, namely can proofread and correct the course based on the AGV of ultrasonic distance measuring apparatus.So that this programme also has self correcting capability based on the AGV of ultrasonic distance measuring apparatus, when in than complex environment, moving, can adjust timely the course, guarantee the correct of AGV operation.
Further, this programme is during based on the operation of the AGV of ultrasonic distance measuring apparatus, by obtaining signal based on the ultrasonic distance measuring apparatus receiving trap 40 on the AGV of ultrasonic distance measuring apparatus, do not transmit and any emitter need to be set at the AGV based on ultrasonic distance measuring apparatus, determine relevant information by the signal that reflects.Therefore, this programme is simpler, single based on the approach of the AGV obtaining information of ultrasonic distance measuring apparatus, but also can arrange that many AGV based on ultrasonic distance measuring apparatus travel at passing road.In addition, this programme is also strong based on the AGV anti-interference of ultrasonic distance measuring apparatus, and especially with respect to the AGV that adopts laser navigation, it is subjected to the interference of any light hardly.And this programme to proofread and correct based on the AGV of ultrasonic distance measuring apparatus be to have adopted ultrasonic distance measuring apparatus, its price does not need to lay any guide line far below other AGV laser navigation mode yet, has reduced greatly cost, has improved economy.
By reference to the accompanying drawings 3, in one embodiment, the automatically guiding trolley based on ultrasonic distance measuring apparatus also comprises: rudder angle scrambler 60 is arranged on the driving chassis, and rudder angle scrambler 60 and controller 50 electrical connections are used for measuring the drift angle between automatic guide vehicle main body and the driving chassis.Particularly, owing to drive the below that the chassis is positioned at the automatic guide vehicle main body, its connected mode mainly is connected through the hinge, and the hinge turning axle is vertical with surface level.At this moment, the course angle of new AGV based on ultrasonic distance measuring apparatus is that the course angle that gyroscope 10 obtains adds " drift angle " that rudder angle scrambler 60 obtains, new course angle is for providing more accurately course angle in the AGV driving process based on ultrasonic distance measuring apparatus, for the AGV self-correction based on ultrasonic distance measuring apparatus provides more accurately data, so that it is safer, accurate to travel based on the AGV of ultrasonic distance measuring apparatus, operational efficiency is higher.
In one embodiment, the automatically guiding trolley based on ultrasonic distance measuring apparatus also comprises: communicator 70 is arranged on the automatic guide vehicle main body, be connected with controller 50, be used for communication, can send to the external world AGV driving information based on ultrasonic distance measuring apparatus, also can receive the extraneous information of transmitting.Communicator 70 can be Wireless Telecom Equipment, such as infrared, wifi etc.
Based on above-mentioned automatic guide vehicle based on ultrasonic distance measuring apparatus, also provide the automatic guide vehicle system based on ultrasonic distance measuring apparatus.
Consult accompanying drawing 4, should comprise above-mentioned automatic guide vehicle based on ultrasonic distance measuring apparatus based on the automatic guide vehicle system of ultrasonic distance measuring apparatus, also comprise: ultrasonic distance measuring apparatus emitter 80 and dispatching center 90.
Ultrasonic distance measuring apparatus emitter 80 is arranged on the side of passage, is used for emission ultrasonic signal and time synchronizing signal, and this time synchronizing signal carries the geocoding of ultrasonic distance measuring apparatus emitter 80.Particularly, ultrasonic distance measuring apparatus emitter 80(is the transmitting terminal of ultrasonic distance measuring apparatus) be arranged on both sides or a side based on the AGV passing road of ultrasonic distance measuring apparatus, or the passing road both sides is easy to install the place of ultrasonic distance measuring apparatus emitter 80, and the ultrasonic signal of launching and time synchronizing signal are easy to be received by ultrasonic distance measuring apparatus receiving trap 40, namely are easy to be received this signal by the AGV based on ultrasonic distance measuring apparatus.Best ultrasonic distance measuring apparatus emitter 80 arranges distance, be based on the AGV passing road of ultrasonic distance measuring apparatus on the way every 30 meters settings, the signal of ultrasonic distance measuring apparatus emitter 80 emissions can vertically cover the road surface of the passing road width of road surface (namely greater than).
Further, at current road a plurality of ultrasonic distance measuring apparatus emitters 80 are set, the distance that then arranges between the ultrasonic distance measuring apparatus emitter 80 is greater than 2 times of the signal receiving range of ultrasonic distance measuring apparatus receiving trap 40.Because the gyroscope 10 and the displacement encoder 20 that carry based on the AGV of ultrasonic distance measuring apparatus, the perhaps rudder angle scrambler 60 of affix, comparatively accurate when comparatively smooth road operation, accumulating within a certain period of time based on the operating error of the AGV of ultrasonic distance measuring apparatus is the scope that is allowing.And the distance more than 2 times, can guarantee in the process of operation, can not receive simultaneously two or more ultrasonic signals based on the AGV of ultrasonic distance measuring apparatus.
Be appreciated that, the distance that arranges between the ultrasonic distance measuring apparatus emitter 80 also can be less than the signal receiving range of ultrasonic distance measuring apparatus receiving trap 40, and ultrasonic signal and the time synchronizing signal namely all launched by ultrasonic distance measuring apparatus emitter 80 on the current road cover.Therefore, set ultrasonic distance measuring apparatus emitter 80 will be more accurate, can constantly proofread and correct based on the AGV of ultrasonic distance measuring apparatus.
Dispatch by 70 pairs of automatic guide vehicles based on ultrasonic distance measuring apparatus of communicator dispatching center 90.Dispatching center 90 sends to the AGV based on ultrasonic distance measuring apparatus and controls instruction, for example dispatching center 90 according to requirements of one's work to send mission bit stream (a series of coordinates that travel for example based on the AGV of ultrasonic distance measuring apparatus, whether travel speed needs to stop to wait mission bit stream).Further, the handle that communicator 70 can also be initiatively is sent to dispatching center 90 in real time based on the out of Memory such as coordinate of the AGV current driving of ultrasonic distance measuring apparatus.Dispatching center 90 can Real-time Obtaining based on the AGV travel conditions of ultrasonic distance measuring apparatus, send new instruction or monitor its state according to the task needs, understand in real time and also adjust the AGV working condition, realize dispatching center 90 and interaction based on the AGV of ultrasonic distance measuring apparatus.
Adopt the automatic guide vehicle system based on ultrasonic distance measuring apparatus of this programme, dispatching center 90 can carry out interaction with AGV based on ultrasonic distance measuring apparatus by communicator 70, and monitoring is based on the running status of the AGV of ultrasonic distance measuring apparatus or send new operation task instruction for the AGV based on ultrasonic distance measuring apparatus.Simultaneously, AGV based on ultrasonic distance measuring apparatus also can feed back to dispatching center 90 based on the ruuning situation of the AGV of ultrasonic distance measuring apparatus or the implementation status of task by communicator 70 handles, realize comprehensively monitoring and scheduling, improve the operational efficiency based on the AGV system of ultrasonic distance measuring apparatus.
Based on above-mentioned automatic guide vehicle based on ultrasonic distance measuring apparatus and system, the automatic guide vehicle air navigation aid based on ultrasonic distance measuring apparatus also is provided, by reference to the accompanying drawings 5, comprise the steps:
S10: initialization course and position.Particularly, more smooth based on the road surface of the AGV of ultrasonic distance measuring apparatus operation, can be similar to and think that it moves in the surface level of two dimension.Therefore, path locus, course information, position coordinates and the destination coordinate information etc. that the AGV based on ultrasonic distance measuring apparatus are moved carry out initialization.
S20: the course angle when obtaining based on the operation of the automatic guide vehicle of ultrasonic distance measuring apparatus.Can be by obtaining course angle at the gyroscope that is installed in based on the AGV of ultrasonic distance measuring apparatus, particularly, gyrostatic sensitive axes is vertical with surface level, can detect the angular speed that rotates in the AGV operational process based on ultrasonic distance measuring apparatus, by the integration to angular speed, can obtain AGV with respect to the course angle of initial time (or Preset Time).
S30: the displacement when obtaining automatic guide vehicle based on ultrasonic distance measuring apparatus and travelling.Can link to each other with the wheel of automatic guide vehicle main body by being fixed in based on the increment type shaft-position encoder on the AGV main body of ultrasonic distance measuring apparatus, detect the displacement with respect to ground based on the AGV of ultrasonic distance measuring apparatus.
S40: calculate position based on the automatic guide vehicle of ultrasonic distance measuring apparatus according to course angle and displacement.Particularly, according to displacement and the course angle with respect to ground, can calculate position (being the coordinate of AGV) based on the AGV of ultrasonic distance measuring apparatus by trigonometric function.
S50: obtain ultrasonic signal, time synchronizing signal, calculate based on the automatic guide vehicle of the ultrasonic distance measuring apparatus distance value to the ultrasonic distance measuring apparatus emitter, and proofread and correct described course angle and described position.Can be by being installed in the ultrasonic distance measuring apparatus receiving trap on the automatic guide vehicle main body, and the ultrasonic distance measuring apparatus emitter that is arranged on the known position on road or the guidance path, ultrasonic distance measuring apparatus emitter emission ultrasonic signal and time synchronizing signal, the ultrasonic distance measuring apparatus receiving trap receives this ultrasonic signal and time synchronizing signal, calculates the ultrasonic distance measuring apparatus emitter to the distance value of ultrasonic distance measuring apparatus receiving trap according to ultrasonic signal and time synchronizing signal.
Obtain the distance value of plural at least course angle, displacement and acquisition, can calculate the coordinate figure of ultrasonic distance measuring apparatus emitter.The geocoding (being the reference coordinate value) of launching by relatively being pre-stored in geocoding (being the reference coordinate value) based on the ultrasonic distance measuring apparatus emitter in the AGV of ultrasonic distance measuring apparatus or ultrasonic distance measuring apparatus emitter, reference coordinate value and the coordinate figure that calculates resulting ultrasonic distance measuring apparatus emitter are compared, can proofread and correct the course based on the AGV of ultrasonic distance measuring apparatus, namely can corrected course angle and position.
By reference to the accompanying drawings 6, further, step S50 is:
S51: receive ultrasonic signal.The ultrasonic distance measuring apparatus receiving trap that is installed on the automatic guide vehicle main body receives the ultrasonic signal that next ultrasonic distance measuring apparatus emitter is launched.
S52: time of reception synchronizing signal, time synchronizing signal carry the geocoding of ultrasonic distance measuring apparatus emitter.The ultrasonic distance measuring apparatus receiving trap that is installed on the automatic guide vehicle main body receives the time synchronizing signal that next ultrasonic distance measuring apparatus emitter is launched.This time synchronizing signal also carries the geocoding (being the reference coordinate value) of ultrasonic distance measuring apparatus emitter, be used for to proofread and correct the course that the AGV based on ultrasonic distance measuring apparatus travels.Certainly, the geocoding that also is appreciated that the ultrasonic distance measuring apparatus emitter can be pre-stored in the AGV based on ultrasonic distance measuring apparatus.
S53: calculate based on the automatic guide vehicle of the ultrasonic distance measuring apparatus distance value to the ultrasonic distance measuring apparatus emitter according to ultrasonic signal and time synchronizing signal.If current environmental temperature is T, the aerial velocity of propagation of ultrasonic signal is so: V=331.5+0.607T; The ultrasonic distance measuring apparatus emitter to the distance between the ultrasonic distance measuring apparatus receiving trap is: D=V * t.
S60: obtain the coordinates of targets positional value.According to operational plan or the task scheduling based on the AGV of ultrasonic distance measuring apparatus, can a plurality of coordinates of targets points be set at the track based on the AGV operation of ultrasonic distance measuring apparatus, arrives a coordinate points after, next coordinates of targets point for operation, successively propelling.If each coordinates of targets is together in series, be the track based on the AGV operation of ultrasonic distance measuring apparatus, certain coordinate points wherein also can be based on the destination of the AGV task of ultrasonic distance measuring apparatus.The coordinates of targets point that arranges in the AGV based on ultrasonic distance measuring apparatus is more, and the track of operation is just clearer and more definite, and operation is just more accurate.
S70: drive described automatic guide vehicle operation based on ultrasonic distance measuring apparatus according to the coordinates of targets positional value.Obtained based on all the coordinates of targets points on the AGV running orbit of ultrasonic distance measuring apparatus, just can according to course angle and positional value, travel according to the speed of setting based on the AGV of ultrasonic distance measuring apparatus.
Adopt the method for this programme, the AGV to based on ultrasonic distance measuring apparatus that can be autonomous navigates, and lays any guide wire, wire or other device at the road of operation and does not guide, and reduces a large amount of equipment and maintenance of equipment expense, not only simply but also economy.
In other embodiments, consult accompanying drawing 7, after step S50, also comprise:
S50A: the course angle, displacement and the distance value that obtain more than at least 2 calculate the coordinates computed value.
S50B: coordinates computed value and geocoding are compared corrected course angle and displacement.
The scheme of this programme by to be pre-stored in based on ultrasonic distance measuring apparatus AGV geocoding (being the reference coordinate value) or from the geocoding of ultrasonic distance measuring apparatus emitter; compare with the coordinates computed value that calculates; then according to error relatively; again corrected course value and shift value are guaranteed can move accurately according to projected path based on the AGV of ultrasonic distance measuring apparatus.
The implementation process of this programme now is described in conjunction with specific embodiments, Fig. 8 is the floor map of ultrasonic distance measuring apparatus emitter layout, Fig. 9 is the automatic guide vehicle position fixing process synoptic diagram based on ultrasonic distance measuring apparatus, and Figure 10 is the automatic guide vehicle navigation error angle synoptic diagram based on ultrasonic distance measuring apparatus.
The working environment that moves based on the AGV of ultrasonic distance measuring apparatus is comparatively smooth, can be considered as moving in the two-dimensional level face.Ultrasonic distance measuring apparatus emitter (be numbered 1., 2., 3., 4., 5. and 6.) layout is in a side of operation road, and the distance between each ultrasonic distance measuring apparatus emitter is at 50 meters.3. and ultrasonic distance measuring apparatus emitter 5. if the AGV based on ultrasonic distance measuring apparatus will transmit goods from the A point to the B point, then need through being numbered 1..When arriving the ultrasonic distance measuring apparatus emitter that is numbered 3. based on the AGV of ultrasonic distance measuring apparatus, and in zone that its ultrasonic signal covers.Measure distance B 1 and the D2 to the ultrasonic distance measuring apparatus emitter based on the AGV of ultrasonic distance measuring apparatus in primary importance and the second place respectively based on the AGV of ultrasonic distance measuring apparatus.Owing to gyroscope and displacement encoder are installed on the AGV based on ultrasonic distance measuring apparatus, can draw the coordinate figure in primary importance and the second place based on the AGV of ultrasonic distance measuring apparatus, and primary importance is to the distance B 3 of the second place.The coordinate figure of the distance value of known D1, D2, D3 and primary importance, the second place then can calculate the coordinate figure of the ultrasonic distance measuring apparatus emitter that is numbered 3., and this coordinate figure is the coordinate figure that calculates.
Having in the AGV based on ultrasonic distance measuring apparatus prestores is numbered 3. actual coordinate value (being the reference coordinate value), or launch the time synchronizing signal that carries geocoding (being reference information) by this ultrasonic distance measuring apparatus emitter that is numbered 3., compare for coordinate figure and its reference coordinate value of 3. ultrasonic distance measuring apparatus emitter by calculating resulting label, can draw its error, can proofread and correct according to this error.
Consult Figure 10, a and b are respectively and are numbered 1. and the actual coordinate value of ultrasonic distance measuring apparatus emitter 3., c is numbered the 3. coordinate figure that calculates of ultrasonic distance measuring apparatus emitter, angle between c and the ab is based on the error angle of the navigation in the AGV operational process of ultrasonic distance measuring apparatus, just can proofread and correct according to this error angle.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. automatic guide vehicle based on ultrasonic distance measuring apparatus comprises driving the chassis and being arranged on automatic guide vehicle main body and drive unit on the described driving chassis, it is characterized in that, also comprises:
Be arranged on the gyroscope on the described automatic guide vehicle main body, the course angle when being used for obtaining described automatic guide vehicle operation based on ultrasonic distance measuring apparatus;
Be arranged on the displacement encoder on the described automatic guide vehicle main body, the displacement when being used for obtaining described automatic guide vehicle based on ultrasonic distance measuring apparatus and travelling;
Be arranged on the driving governor on the described automatic guide vehicle main body, be used for controlling described drive unit;
Be arranged on the ultrasonic distance measuring apparatus receiving trap on the described automatic guide vehicle main body, be used for receiving ultrasonic signal and calculate the distance value that described ultrasonic signal is propagated; And
Be arranged on the controller on the described automatic guide vehicle main body, be electrically connected respectively with described gyroscope, described scrambler, described driving governor and described ultrasonic distance measuring apparatus receiving trap, be used for calculating according to the described course angle, described displacement and the described distance value that obtain the operating path of described automatic guide vehicle based on ultrasonic distance measuring apparatus, and control described drive unit operation by described driving governor.
2. the automatic guide vehicle based on ultrasonic distance measuring apparatus according to claim 1, it is characterized in that, also comprise: be arranged on the rudder angle scrambler on the described driving chassis, described rudder angle scrambler is connected with described controller, is used for measuring the drift angle between described automatic guide vehicle main body and the described driving chassis.
3. the automatic guide vehicle based on ultrasonic distance measuring apparatus according to claim 2 is characterized in that, also comprises: be arranged on the communicator on the described automatic guide vehicle main body, described communicator is connected with described controller, is used for communication.
4. the automatic guide vehicle based on ultrasonic distance measuring apparatus according to claim 3 is characterized in that, described ultrasonic distance measuring apparatus receiving trap comprises:
The ultrasonic signal receiving element is used for receiving ultrasonic signal; And
The time synchronizing signal receiving element is used for the time of reception synchronizing signal.
5. automatic guide vehicle system based on ultrasonic distance measuring apparatus, it is characterized in that, comprise such as the described automatic guide vehicle based on ultrasonic distance measuring apparatus of claim 1 ~ 4 any one, also comprise: the ultrasonic distance measuring apparatus emitter, be arranged on the passage side, be used for emission ultrasonic signal and time synchronizing signal, described time synchronizing signal carries the geocoding of described ultrasonic distance measuring apparatus emitter.
6. the automatic guide vehicle system based on ultrasonic distance measuring apparatus according to claim 5 is characterized in that, the distance that arranges between the described ultrasonic distance measuring apparatus emitter is greater than the twice of the signal receiving range of described ultrasonic distance measuring apparatus receiving trap.
7. the automatic guide vehicle system based on ultrasonic distance measuring apparatus according to claim 6 is characterized in that, also comprises: the dispatching center, by described communicator described automatic guide vehicle based on ultrasonic distance measuring apparatus is dispatched.
8. the automatic guide vehicle air navigation aid based on ultrasonic distance measuring apparatus comprises the steps:
Initialization course and position;
Course angle when obtaining based on the operation of the automatic guide vehicle of ultrasonic distance measuring apparatus;
Displacement when obtaining automatic guide vehicle based on ultrasonic distance measuring apparatus and travelling;
Calculate the position of described automatic guide vehicle based on ultrasonic distance measuring apparatus according to described course angle and described displacement;
Obtain ultrasonic signal, time synchronizing signal, calculate based on the automatic guide vehicle of the ultrasonic distance measuring apparatus distance value to the ultrasonic distance measuring apparatus emitter, and proofread and correct described course angle and described position;
Obtain the coordinates of targets positional value;
Drive described automatic guide vehicle operation based on ultrasonic distance measuring apparatus according to described coordinates of targets positional value.
9. the automatic guide vehicle air navigation aid based on ultrasonic distance measuring apparatus according to claim 8, it is characterized in that, described ultrasonic signal, the time synchronizing signal of obtaining, calculating is based on the automatic guide vehicle of the ultrasonic distance measuring apparatus distance value to the ultrasonic distance measuring apparatus emitter, and the step of proofreading and correct described course angle and described position is:
Receive ultrasonic signal;
The time of reception synchronizing signal, described time synchronizing signal carries the geocoding of described ultrasonic distance measuring apparatus emitter;
Calculate based on the automatic guide vehicle of the ultrasonic distance measuring apparatus distance value to the ultrasonic distance measuring apparatus emitter according to described ultrasonic signal and time synchronizing signal.
10. the automatic guide vehicle air navigation aid based on ultrasonic distance measuring apparatus according to claim 9, it is characterized in that, described ultrasonic signal, the time synchronizing signal of obtaining, calculating is based on the automatic guide vehicle of the ultrasonic distance measuring apparatus distance value to the ultrasonic distance measuring apparatus emitter, and also comprises after proofreading and correct the step of described course angle and described position:
Obtain the described course angle more than at least 2, described displacement and described distance value and calculate the coordinates computed value;
Described coordinates computed value and described geocoding are compared, proofread and correct described course angle and described position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210579425.3A CN103076804B (en) | 2012-12-27 | 2012-12-27 | Based on the automatic guide vehicle of ultrasonic distance measuring apparatus, system and air navigation aid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210579425.3A CN103076804B (en) | 2012-12-27 | 2012-12-27 | Based on the automatic guide vehicle of ultrasonic distance measuring apparatus, system and air navigation aid |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103076804A true CN103076804A (en) | 2013-05-01 |
| CN103076804B CN103076804B (en) | 2015-10-21 |
Family
ID=48153371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210579425.3A Active CN103076804B (en) | 2012-12-27 | 2012-12-27 | Based on the automatic guide vehicle of ultrasonic distance measuring apparatus, system and air navigation aid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103076804B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104656650A (en) * | 2013-11-18 | 2015-05-27 | 巍世科技有限公司 | Mobile device with route correction function and operation steps thereof |
| CN106468920A (en) * | 2015-08-19 | 2017-03-01 | 苏州宝时得电动工具有限公司 | Return charging method and its automatic running device |
| CN107728622A (en) * | 2017-10-20 | 2018-02-23 | 中国人民解放军陆军工程大学 | A kind of unmanned mechanical vehicle pose measurement and method for tracing based on ultrasonic array |
| CN108873833A (en) * | 2018-06-08 | 2018-11-23 | 广州市远能物流自动化设备科技有限公司 | A kind of control method for movement and automated guided vehicle of automated guided vehicle |
| CN110456802A (en) * | 2019-08-30 | 2019-11-15 | 上海有个机器人有限公司 | A kind of method that mobile robot safely and fast crosses gate |
| CN112394740A (en) * | 2019-08-12 | 2021-02-23 | 天津大学 | Composite anti-interference track tracking control algorithm of unmanned rolling machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2700183Y (en) * | 2003-12-03 | 2005-05-18 | 云南昆船设计研究院 | Mechanical guiding type automatic guided vehicle guiding device |
| US20080199298A1 (en) * | 2004-05-03 | 2008-08-21 | Jervis B. Webb Company | Automatic transport loading system and method |
| US20090091447A1 (en) * | 2007-10-09 | 2009-04-09 | Optex Co., Ltd. | Laser area sensor |
| US20120303176A1 (en) * | 2011-05-26 | 2012-11-29 | INRO Technologies Limited | Method and apparatus for providing accurate localization for an industrial vehicle |
-
2012
- 2012-12-27 CN CN201210579425.3A patent/CN103076804B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2700183Y (en) * | 2003-12-03 | 2005-05-18 | 云南昆船设计研究院 | Mechanical guiding type automatic guided vehicle guiding device |
| US20080199298A1 (en) * | 2004-05-03 | 2008-08-21 | Jervis B. Webb Company | Automatic transport loading system and method |
| US20090091447A1 (en) * | 2007-10-09 | 2009-04-09 | Optex Co., Ltd. | Laser area sensor |
| CN102077058A (en) * | 2008-04-28 | 2011-05-25 | 杰维斯·B·韦布国际公司 | Automatic transport loading system and method |
| US20120303176A1 (en) * | 2011-05-26 | 2012-11-29 | INRO Technologies Limited | Method and apparatus for providing accurate localization for an industrial vehicle |
Non-Patent Citations (2)
| Title |
|---|
| LEI WANG ETAL.: "A 3D scanning laser rangefinder and its application to an autonomous guided vehicle", 《IEEE CONFERENCE PUBLICATIONS 》 * |
| 赵海文: "基于多传感器的移动机器人行为控制研究", 《中国博士学位论文全文数据库》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104656650A (en) * | 2013-11-18 | 2015-05-27 | 巍世科技有限公司 | Mobile device with route correction function and operation steps thereof |
| CN106468920A (en) * | 2015-08-19 | 2017-03-01 | 苏州宝时得电动工具有限公司 | Return charging method and its automatic running device |
| CN107728622A (en) * | 2017-10-20 | 2018-02-23 | 中国人民解放军陆军工程大学 | A kind of unmanned mechanical vehicle pose measurement and method for tracing based on ultrasonic array |
| CN108873833A (en) * | 2018-06-08 | 2018-11-23 | 广州市远能物流自动化设备科技有限公司 | A kind of control method for movement and automated guided vehicle of automated guided vehicle |
| CN108873833B (en) * | 2018-06-08 | 2020-12-08 | 广州市远能物流自动化设备科技有限公司 | Movement control method of automatic guided transport vehicle and automatic guided transport vehicle |
| CN112394740A (en) * | 2019-08-12 | 2021-02-23 | 天津大学 | Composite anti-interference track tracking control algorithm of unmanned rolling machine |
| CN112394740B (en) * | 2019-08-12 | 2022-06-17 | 天津大学 | Composite anti-interference track tracking control algorithm for advancing process of unmanned rolling machine |
| CN110456802A (en) * | 2019-08-30 | 2019-11-15 | 上海有个机器人有限公司 | A kind of method that mobile robot safely and fast crosses gate |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103076804B (en) | 2015-10-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103048996A (en) | Automatic guided vehicle based on laser scanning distance meter, and system and navigation method of automatic guided vehicle | |
| CN103076804B (en) | Based on the automatic guide vehicle of ultrasonic distance measuring apparatus, system and air navigation aid | |
| CN108388245B (en) | AGV trolley indoor positioning navigation system and control method thereof | |
| CN103777637B (en) | Areflexia plate Laser Self navigation AGV dolly and air navigation aid thereof | |
| CN109416544B (en) | Mobile body guidance system, mobile body, guidance device, and memory | |
| CN102854878B (en) | Infrared photoelectric guiding automatic guided vehicle (AGV) device and control method thereof | |
| JP4920645B2 (en) | Autonomous mobile robot system | |
| JP6599543B2 (en) | Automated guided vehicle | |
| CN203038110U (en) | Automatic guided vehicle based on radio frequency identification and system thereof | |
| CN103019240B (en) | A kind of AGV dolly plane positioning navigational system and method | |
| CN103217978A (en) | Control method for implementing coordinated operation of multiple vehicle groups of hydraulic heavy duty truck | |
| CN201021981Y (en) | Magnetic navigation differential carrying robot | |
| CN107422735A (en) | A kind of trackless navigation AGV laser and visual signature hybrid navigation method | |
| CN204347616U (en) | A kind of automatical pilot transportation vehicle based on RFID technique | |
| CN202795055U (en) | Infrared light electric guide AGV (automatic guided vehicle) device | |
| CN105015521A (en) | Automatic parking device of large vehicle based on magnetic nail | |
| CN207037462U (en) | AGV dolly embedded control systems based on ROS | |
| CN102455705B (en) | Automatic handling system | |
| KR101805423B1 (en) | ICT based Stereo Vision guided vehicle system for the next generation smart factory | |
| CN105717921A (en) | Automated guided vehicle (AGV) system | |
| CN203350716U (en) | Navigation control system of automatic guided vehicle | |
| CN106647729A (en) | AGV navigation system based on image identification and wireless network and navigation method thereof | |
| CN102661749A (en) | Precise docking control system for powered platform transportation vehicle | |
| CN108549391B (en) | AGV trolley control system and method | |
| CN103777630A (en) | Positioning navigation system and control method thereof |
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 |