CN103076804B - Based on the automatic guide vehicle of ultrasonic distance measuring apparatus, system and air navigation aid - Google Patents
Based on the automatic guide vehicle of ultrasonic distance measuring apparatus, system and air navigation aid Download PDFInfo
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- CN103076804B CN103076804B CN201210579425.3A CN201210579425A CN103076804B CN 103076804 B CN103076804 B CN 103076804B CN 201210579425 A CN201210579425 A CN 201210579425A CN 103076804 B CN103076804 B CN 103076804B
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Abstract
Based on the automatic guide vehicle of ultrasonic distance measuring apparatus, system and air navigation aid, comprise and drive chassis, be arranged on and drive automatic guide vehicle main body on chassis and drive unit, be arranged on the gyroscope in automatic guide vehicle main body, displacement encoder, driving governor, ultrasonic distance measuring apparatus receiving trap and controller, gyroscope obtains the course angle during automatic guide vehicle operation based on ultrasonic distance measuring apparatus; Displacement encoder obtains the displacement during automatic guide vehicle traveling based on ultrasonic distance measuring apparatus; Driving governor accessory drive; Be arranged on the ultrasonic distance measuring apparatus receiving trap in automatic guide vehicle main body, receive ultrasonic signal and calculate ultrasonic signal propagate distance value; Controller and gyroscope, scrambler, driving governor and ultrasonic distance measuring apparatus receiving trap are electrically connected respectively, calculate the operating path of the automatic guide vehicle based on ultrasonic distance measuring apparatus according to the course angle obtained, displacement and distance value, and run by driving governor accessory drive.
Description
Technical field
The present invention relates to automatic guide vehicle technology, particularly relate to based on the automated guided vehicle of ultrasonic distance measuring apparatus, system and air navigation aid.
Background technology
AGV(Automatic Guided Vehicle) refer to automatic guide vehicle, it 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 when not needing artificial pilotage, along predetermined route automatic running, automatically goods is transported to destination from starting point, and can according to storage goods yard requirement, the technological process of productions etc. change and change flexibly, have flexible, automaticity is high and intelligent level advantages of higher, so AGV obtains investigation and application in multiple industry fields such as machining, material assembling, household electrical appliances production, micro-electronic manufacturing, cigarette.
But traditional AGV adopts rail navigate mode, easily being laid on ground guide wire crushing in the operational process that AGV is daily, or being rolled by other delivery vehicle (such as fork truck), causing often needing repairing.
Summary of the invention
Based on this, being necessary the problem for needing orbit maintenance, providing a kind of and safeguarding simply based on the automatic guide vehicle of ultrasonic distance measuring apparatus.
A kind of automatic guide vehicle based on ultrasonic distance measuring apparatus, comprise and drive chassis and the automatic guide vehicle main body be arranged on described driving chassis and drive unit, also comprise: be arranged on the gyroscope in described automatic guide vehicle main body, for obtaining course angle when the described automatic guide vehicle based on ultrasonic distance measuring apparatus runs; Be arranged on the displacement encoder in described automatic guide vehicle main body, for obtaining displacement when the described automatic guide vehicle based on ultrasonic distance measuring apparatus travels; Be arranged on the driving governor in described automatic guide vehicle main body, for controlling described drive unit; Be arranged on the ultrasonic distance measuring apparatus receiving trap in described automatic guide vehicle main body, for receive ultrasonic signal and calculate described ultrasonic signal propagate distance value; And the controller be arranged in 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, for calculating the described operating path based on the automatic guide vehicle of ultrasonic distance measuring apparatus according to the described course angle obtained, described displacement and described distance value, and control the operation of described drive unit by described driving governor.
Wherein in an embodiment, also comprise: be arranged on the rudder angle scrambler on described driving chassis, described rudder angle scrambler is connected with described controller, for measuring the drift angle between described automatic guide vehicle main body and described driving chassis.
Wherein in an embodiment, also comprise: be arranged on the communicator in described automatic guide vehicle main body, described communicator is connected with described controller, for communication.
Wherein in an embodiment, described ultrasonic distance measuring apparatus receiving trap comprises: ultrasonic signal receiving element, for receiving ultrasonic signal; And time synchronizing signal receiving element, for time of reception synchronizing signal.
In addition, there is a need to provide a kind of automatic guide vehicle system based on ultrasonic distance measuring apparatus, comprise the automatic guide vehicle based on ultrasonic distance measuring apparatus as described in claim 1 ~ 4 any one, also comprise: ultrasonic distance measuring apparatus emitter, be arranged on passage side, for launching ultrasonic signal and time synchronizing signal, described time synchronizing signal carries the geocoding of described ultrasonic distance measuring apparatus emitter.
Wherein in an embodiment, the distance arranged between described ultrasonic distance measuring apparatus emitter is greater than the twice of the Signal reception distance of described ultrasonic distance measuring apparatus receiving trap.
Wherein in an embodiment, also comprise: dispatching center, by described communicator, the described automatic guide vehicle based on ultrasonic distance measuring apparatus is dispatched.
In addition, there is a need to provide a kind of automatic guide vehicle air navigation aid based on ultrasonic distance measuring apparatus, comprise the steps: initialization course and position; Obtain the course angle during automatic guide vehicle operation based on ultrasonic distance measuring apparatus; Obtain the displacement during automatic guide vehicle traveling based on ultrasonic distance measuring apparatus; The described position based on the automatic guide vehicle of ultrasonic distance measuring apparatus is calculated according to described course angle and described displacement; Obtain ultrasonic signal, time synchronizing signal, calculate automatic guide vehicle based on ultrasonic distance measuring apparatus to the distance value of ultrasonic distance measuring apparatus emitter, and correct described course angle and described position; Obtain target coordinate position value; The described automatic guide vehicle based on ultrasonic distance measuring apparatus is driven to run according to described target coordinate position value.
Wherein in an embodiment, described acquisition ultrasonic signal, time synchronizing signal, calculate automatic guide vehicle based on ultrasonic distance measuring apparatus to the distance value of ultrasonic distance measuring apparatus emitter, and the step correcting described course angle and described position is: receive ultrasonic signal; Time of reception synchronizing signal, described time synchronizing signal carries the geocoding of described ultrasonic distance measuring apparatus emitter; Automatic guide vehicle based on ultrasonic distance measuring apparatus is calculated to the distance value of ultrasonic distance measuring apparatus emitter according to described ultrasonic signal and time synchronizing signal.
Wherein in an embodiment, described acquisition ultrasonic signal, time synchronizing signal, calculate automatic guide vehicle based on ultrasonic distance measuring apparatus to the distance value of ultrasonic distance measuring apparatus emitter, and also comprise after correcting the step of described course angle and described position: obtain the described course angle of more than at least 2, described displacement and described distance value and calculate coordinates computed value; Described coordinates computed value and described geocoding are compared, corrects described course angle and described position.
Adopt this programme based on the automatic guide vehicle (AGV) of ultrasonic distance measuring apparatus, by means of only being arranged on the course angle and displacement that obtain based on the gyroscope in the AGV of ultrasonic distance measuring apparatus and displacement encoder, the trajectory coordinates that the AGV based on ultrasonic distance measuring apparatus runs can be obtained, namely can according to the destination coodinate navigation preset.And do not need to lay any guide wire, wire or other device on the road run, avoiding road by rolling damages, and decrease maintenance cost, daily maintenance only needs to safeguard the AGV itself based on ultrasonic distance measuring apparatus, not only simply but also economical.
Adopt the automatic guide vehicle based on ultrasonic distance measuring apparatus (AGV) system of this programme, dispatching center can carry out interaction by the communicator of the AGV based on ultrasonic distance measuring apparatus and the AGV based on ultrasonic distance measuring apparatus, monitors based on the running status of the AGV of ultrasonic distance measuring apparatus or sends new operation task to the AGV based on ultrasonic distance measuring apparatus.Simultaneously, AGV based on ultrasonic distance measuring apparatus also can feed back to dispatching center by communicator the ruuning situation of the AGV based on ultrasonic distance measuring apparatus or tasks carrying situation, realize comprehensively monitoring and scheduling, improve the operational efficiency of the AGV system based on ultrasonic distance measuring apparatus.
Adopt the method for this programme, can the be autonomous AGV based on ultrasonic distance measuring apparatus be navigated, do not need to lay any guide wire, wire or other device on the road run to guide, reduce a large amount of equipment and maintenance of equipment expense, not only simple but also economical.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the automatic guide vehicle based on ultrasonic distance measuring apparatus;
Fig. 2 is the structured flowchart of the automatic guide vehicle based on ultrasonic distance measuring apparatus of an embodiment;
Fig. 3 is the structured flowchart of ultrasonic distance measuring apparatus receiving trap in Fig. 1;
Fig. 4 is the structured flowchart of the automatic guide vehicle system based on ultrasonic distance measuring apparatus;
Fig. 5 is the process flow diagram of the automatic guide vehicle air navigation aid based on ultrasonic distance measuring apparatus;
Fig. 6 is that in Fig. 5, step is the particular flow sheet of S40;
Fig. 7 is the process flow diagram also comprising step S40A and S40B in an embodiment;
Fig. 8 is the floor map of ultrasonic distance measuring apparatus emitter layout;
Fig. 9 is the automatic guide vehicle position fixing process schematic diagram based on ultrasonic distance measuring apparatus;
Figure 10 is the automatic guide vehicle navigation error angle schematic 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, the operation of AGV in a two-dimensional level face thought based on ultrasonic distance measuring apparatus that can be similar to.The displacement that the course angle obtained by gyroscope based on the AGV of ultrasonic distance measuring apparatus, displacement encoder are obtained and the distance value that ultrasonic distance measuring apparatus receiving trap obtains, controller calculates the operating path of the AGV based on ultrasonic distance measuring apparatus according to course angle, displacement and distance value, then run by driving governor accessory drive, and then drive the AGV based on ultrasonic distance measuring apparatus to run.
By reference to the accompanying drawings 1 ~ 3, based on the automatic guide vehicle of ultrasonic distance measuring apparatus, comprise and drive chassis (not shown), automatic guide vehicle main body (not shown) and drive unit (not shown); Also comprise the gyroscope 10 be arranged in automatic guide vehicle main body, displacement encoder 20, driving governor 30 and ultrasonic distance measuring apparatus receiving trap 40 and controller 50.
Drive chassis, be the basis of the AGV car formation unitary construction based on ultrasonic distance measuring apparatus, play supporting, the effect of motor car engine (drive unit) and each parts thereof is installed, ensure normally to travel.
Automatic guide vehicle main body, is arranged on and drives on chassis, can carry other mobile unit.
Drive unit, is arranged on and drives 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 the AGV based on ultrasonic distance measuring apparatus adopted is motor, because motor running is more steady, easy to control, and environmental protection.
Gyroscope 10, is arranged in automatic guide vehicle main body, for obtaining the course angle during AGV operation based on ultrasonic distance measuring apparatus.Particularly, the sensitive axes of gyroscope 10 and horizontal plane, gyroscope 10 can detect the angular speed rotated in the AGV operational process based on ultrasonic distance measuring apparatus, by the integration to angular speed, AGV based on ultrasonic distance measuring apparatus can be obtained relative to the course angle of initial time (or Preset Time).
Displacement encoder 20, is arranged in automatic guide vehicle main body, for obtaining the displacement during AGV traveling based on ultrasonic distance measuring apparatus.In the present embodiment, displacement encoder 20 adopts two increment type shaft-position encoders, be fixed in automatic guide vehicle main body, the axle of increment type shaft-position encoder is connected by the wheel of shaft coupling with the AGV based on ultrasonic distance measuring apparatus, detects AGV based on ultrasonic distance measuring apparatus relative to the displacement on ground.Further, the wheel be connected with the AGV based on ultrasonic distance measuring apparatus, it is still further preferred that driving wheel, because be not easy to skid in operational process based on the AGV of ultrasonic distance measuring apparatus, the data detected are more accurate.Driving wheel generally based on the AGV of ultrasonic distance measuring apparatus is all trailing wheel, therefore the trailing wheel being arranged on the AGV based on ultrasonic distance measuring apparatus that displacement encoder 20 is more.Certainly, also can be understood as, adopt the displacement encoder 20 of other type, also can be arranged on other position of AGV, as long as the displacement of the AGV based on ultrasonic distance measuring apparatus can be recorded.
Driving governor 30, is arranged in automatic guide vehicle main body, for accessory drive.What drive unit in the present embodiment adopted is motor, and driving governor 30 is control circuit board, and driving governor 30 controls the operation of motor according to instruction, and then drives the traveling based on the AGV of ultrasonic distance measuring apparatus.
Ultrasonic distance measuring apparatus receiving trap 40, is arranged in automatic guide vehicle main body, for receive ultrasonic signal and calculate ultrasonic signal propagate distance value.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.Ultrasonic distance measuring apparatus emitter is arranged on the known position on road or guidance path, ultrasonic distance measuring apparatus receiving trap 40 is arranged on the AVG based on ultrasonic distance measuring apparatus, ultrasonic signal launched by ultrasonic distance measuring apparatus emitter, ultrasonic distance measuring apparatus receiving trap 40 receives this ultrasonic signal, the distance value of ultrasonic distance measuring apparatus emitter to ultrasonic distance measuring apparatus receiving trap 40 is calculated, i.e. the distance value of ultrasonic signal propagation according to ultrasonic signal.
By reference to the accompanying drawings 2, in one embodiment, ultrasonic distance measuring apparatus receiving trap 40, comprising: ultrasonic signal receiving element 41, for receiving ultrasonic signal; Time synchronizing signal receiving element 42, for time of reception synchronizing signal.
Ultrasonic distance measuring apparatus emitter not only launches ultrasonic signal, but also simultaneously launch time synchronizing signal, time synchronizing signal adopts the velocity of propagation such as infrared, radio to be the Medium Propagation of the light velocity.In other embodiments, time synchronizing signal also carries the geocoding (i.e. reference coordinate value) of ultrasonic distance measuring apparatus emitter, the course that the AGV for correcting based on ultrasonic distance measuring apparatus travels.Certainly, be also appreciated that the geocoding of ultrasonic distance measuring apparatus emitter can be stored in advance 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: first, ultrasonic distance measuring apparatus emitter launches 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, start timing and wait for ultrasonic signal, after receiving ultrasonic signal, stopping timing; Finally, time t(that ultrasonic signal propagates from ultrasonic distance measuring apparatus emitter to ultrasonic distance measuring apparatus receiving trap 40 can be obtained because the velocity of propagation of light is much larger than sound velocity of wave propagation, therefore the travel-time of light can be ignored), and calculate the distance (i.e. the distance of ultrasonic signal propagation) of ultrasonic distance measuring apparatus emitter to 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
Distance between ultrasonic distance measuring apparatus emitter to ultrasonic distance measuring apparatus receiving trap 40 is:
D=V×t
Controller 50, is arranged in automatic guide vehicle main body, is electrically connected respectively with gyroscope 10, scrambler, driving governor 30 and ultrasonic distance measuring apparatus receiving trap 40.Controller 50 calculates the operating path of automatic guide vehicle according to the course angle obtained, displacement and distance value, and is run by driving governor 30 accessory drive.Particularly, AGV based on ultrasonic distance measuring apparatus can calculate current position (namely current position coordinates) according to course angle and displacement, because distance value (namely ultrasonic distance measuring apparatus emitter is to the distance value of ultrasonic distance measuring apparatus receiving trap 40) is relatively-stationary to each positional value, therefore the error of the operation of the AGV based on ultrasonic distance measuring apparatus can be calculated in conjunction with current position coordinates and distance value, and correct.Finally, by the operating path of target setting coordinate as the AGV based on ultrasonic distance measuring apparatus, and drive.Be appreciated that coordinates of targets can be that user sets, also can be the coordinates of targets receiving extraneous task and set, do not limit in this programme.
This controller 50 is arithmetic processing apparatus, primarily of process chip (or single-chip microcomputer) composition, carries out computing and Output rusults according to obtained data, or controls other device by the instruction exported.
Adopt the AGV based on ultrasonic distance measuring apparatus of this programme, by means of only being arranged on the course angle and displacement that obtain based on the gyroscope 10 in the AGV of ultrasonic distance measuring apparatus and displacement encoder 20, the position coordinates that the AGV based on ultrasonic distance measuring apparatus runs can be obtained, namely can according to destination coordinate (coordinates of targets) navigation preset.And do not need to lay any guide wire, wire or other device on the road run, avoiding road by rolling damages, and decrease maintenance cost, daily maintenance only needs to safeguard the AGV itself based on ultrasonic distance measuring apparatus, not only simply but also economical.
Further, the AGV based on ultrasonic distance measuring apparatus of this programme also combines ultrasonic distance measuring apparatus receiving trap 40, ultrasonic distance measuring apparatus emitter can be obtained 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 obtain at least plural course angle and displacement, and obtain ultrasonic distance measuring apparatus emitter to the distance value of ultrasonic distance measuring apparatus receiving trap 40, the coordinate figure of ultrasonic distance measuring apparatus emitter can be calculated.By comparing the geocoding (i.e. reference coordinate value) being pre-stored in geocoding (i.e. reference coordinate value) or ultrasonic distance measuring apparatus emitter based on the ultrasonic distance measuring apparatus emitter in the AGV of ultrasonic distance measuring apparatus and launching, reference coordinate value and the coordinate figure calculating the ultrasonic distance measuring apparatus emitter obtained are compared, namely can correct the course of the AGV based on ultrasonic distance measuring apparatus.Make this programme also have self correcting capability based on the AGV of ultrasonic distance measuring apparatus, when running in comparatively complex environment, course can be adjusted timely, ensure that AGV runs correct.
Further, during the operation of this programme based on the AGV of ultrasonic distance measuring apparatus, obtain signal by based on the ultrasonic distance measuring apparatus receiving trap 40 on the AGV of ultrasonic distance measuring apparatus, and do not need transmitting based on the AGV of ultrasonic distance measuring apparatus being arranged any emitter, determine relevant information by the signal reflected.Therefore, this programme is simpler, single based on the approach of the AGV obtaining information of ultrasonic distance measuring apparatus, but also can arrange on passing road that many AGV based on ultrasonic distance measuring apparatus travel.In addition, this programme is also strong based on the AGV anti-interference of ultrasonic distance measuring apparatus, and especially relative to the AGV adopting laser navigation, it is hardly by the interference of any light.And this programme based on ultrasonic distance measuring apparatus AGV correct be have employed ultrasonic distance measuring apparatus, its price, far below other AGV laser navigation mode, does not need to lay any guide line yet, greatly reduces cost, improve 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 and drives on chassis, and rudder angle scrambler 60 and controller 50 are electrically connected, for measuring automatic guide vehicle main body and driving the drift angle between chassis.Particularly, due to the below driving chassis to be positioned at automatic guide vehicle main body, its connected mode is mainly through chain connection, and hinge axis of rotation and horizontal plane.Now, the course angle of the 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 provide course angle more accurately in the AGV driving process based on ultrasonic distance measuring apparatus, for the AGV self-correction based on ultrasonic distance measuring apparatus provides data more accurately, AGV based on ultrasonic distance measuring apparatus is travelled safer, accurate, operational efficiency is higher.
In one embodiment, the automatically guiding trolley based on ultrasonic distance measuring apparatus also comprises: communicator 70, is arranged in automatic guide vehicle main body, be connected with controller 50, for communication, outwardly can send the AGV driving information based on ultrasonic distance measuring apparatus, also can receive the extraneous information transmitted.Communicator 70 can be Wireless Telecom Equipment, such as infrared, wifi etc.
Based on the above-mentioned automatic guide vehicle based on ultrasonic distance measuring apparatus, also provide the automatic guide vehicle system based on ultrasonic distance measuring apparatus.
Accompanying drawings 4, should comprise the 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, and for launching ultrasonic signal and time synchronizing signal, this time synchronizing signal carries the geocoding of ultrasonic distance measuring apparatus emitter 80.Particularly, the transmitting terminal of ultrasonic distance measuring apparatus emitter 80(and ultrasonic distance measuring apparatus) be arranged on both sides based on the AGV passing road of ultrasonic distance measuring apparatus or side, or passing road both sides is easy to the place of installing ultrasonic distance measuring apparatus emitter 80, and the ultrasonic signal launched and time synchronizing signal are easy to be received by ultrasonic distance measuring apparatus receiving trap 40, be namely 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 at the AGV passing road based on ultrasonic distance measuring apparatus on the way every 30 meters of settings, the signal that ultrasonic distance measuring apparatus emitter 80 is launched longitudinally can cover the road surface (being namely greater than the width on road surface) of passing road.
Further, current road arranges multiple ultrasonic distance measuring apparatus emitter 80, then the distance arranged between ultrasonic distance measuring apparatus emitter 80 is greater than 2 times of the Signal reception distance of ultrasonic distance measuring apparatus receiving trap 40.Because the gyroscope 10 carried based on the AGV of ultrasonic distance measuring apparatus and displacement encoder 20, or the rudder angle scrambler 60 of affix, comparatively accurate when comparatively smooth road runs, it is the scope allowed that the operating error of the AGV based on ultrasonic distance measuring apparatus accumulates within a certain period of time.And more than 2 times distances, can guarantee that the AGV based on ultrasonic distance measuring apparatus can not receive two or more ultrasonic signal in the process run simultaneously.
Be appreciated that, the distance arranged between ultrasonic distance measuring apparatus emitter 80 also can be less than the Signal reception distance of ultrasonic distance measuring apparatus receiving trap 40, on namely current road all the ultrasonic signal launched by ultrasonic distance measuring apparatus emitter 80 and time synchronizing signal cover.Therefore, set ultrasonic distance measuring apparatus emitter 80 will be more accurate, and the AGV based on ultrasonic distance measuring apparatus can correct constantly.
Dispatching center 90, is dispatched the automatic guide vehicle based on ultrasonic distance measuring apparatus by communicator 70.Dispatching center 90 sends manipulation instruction to the AGV based on ultrasonic distance measuring apparatus, such as dispatching center 90 sends mission bit stream (such as a series of traveling coordinate according to requirements of one's work to the AGV based on ultrasonic distance measuring apparatus, travel speed, the need of mission bit streams such as stoppings).Further, communicator 70 initiatively can also be sent to dispatching center 90 out of Memory such as the coordinates of the AGV current driving based on ultrasonic distance measuring apparatus in real time.Dispatching center 90 can Real-time Obtaining based on the AGV travel conditions of ultrasonic distance measuring apparatus, need send new instruction or monitor its state according to task, real-time understanding also adjusts AGV working condition, realizes dispatching center 90 and the 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 by communicator 70 and the AGV based on ultrasonic distance measuring apparatus, monitors based on the running status of the AGV of ultrasonic distance measuring apparatus or sends new operation task instruction to the AGV based on ultrasonic distance measuring apparatus.Simultaneously, AGV based on ultrasonic distance measuring apparatus also can feed back to dispatching center 90 by communicator 70 the implementation status of the ruuning situation of the AGV based on ultrasonic distance measuring apparatus or task, realize comprehensively monitoring and scheduling, improve the operational efficiency of the AGV system based on ultrasonic distance measuring apparatus.
Based on the above-mentioned automatic guide vehicle based on ultrasonic distance measuring apparatus and system, also provide the automatic guide vehicle air navigation aid based on ultrasonic distance measuring apparatus, by reference to the accompanying drawings 5, comprise the steps:
S10: initialization course and position.Particularly, the road surface that the AGV based on ultrasonic distance measuring apparatus runs is more smooth, can be similar to and think that it runs in the surface level of two dimension.Therefore, initialization is carried out to path locus, course information, position coordinates and destination coordinate information etc. that the AGV based on ultrasonic distance measuring apparatus runs.
S20: obtain the course angle during automatic guide vehicle operation based on ultrasonic distance measuring apparatus.Can by being arranged on based on the gyroscope acquisition course angle on the AGV of ultrasonic distance measuring apparatus, particularly, gyrostatic sensitive axes and horizontal plane, the angular speed rotated in the AGV operational process based on ultrasonic distance measuring apparatus can be detected, by the integration to angular speed, the course angle of AGV relative to initial time (or Preset Time) can be obtained.
S30: obtain the displacement during automatic guide vehicle traveling based on ultrasonic distance measuring apparatus.Can be connected with the wheel of automatic guide vehicle main body based on the increment type shaft-position encoder in the AGV main body of ultrasonic distance measuring apparatus by being fixed on, detecting AGV based on ultrasonic distance measuring apparatus relative to the displacement on ground.
S40: the position calculating the automatic guide vehicle based on ultrasonic distance measuring apparatus according to course angle and displacement.Particularly, according to relative to the displacement on ground and course angle, the position (i.e. the coordinate of AGV) of the AGV based on ultrasonic distance measuring apparatus can be calculated by trigonometric function.
S50: obtain ultrasonic signal, time synchronizing signal, calculates automatic guide vehicle based on ultrasonic distance measuring apparatus to the distance value of ultrasonic distance measuring apparatus emitter, and corrects described course angle and described position.Can by being arranged on the ultrasonic distance measuring apparatus receiving trap in automatic guide vehicle main body, and be arranged on the ultrasonic distance measuring apparatus emitter of the known position on road or guidance path, ultrasonic distance measuring apparatus emitter launches ultrasonic signal and time synchronizing signal, ultrasonic distance measuring apparatus receiving trap receives this ultrasonic signal and time synchronizing signal, calculates the distance value of ultrasonic distance measuring apparatus emitter to ultrasonic distance measuring apparatus receiving trap according to ultrasonic signal and time synchronizing signal.
Obtain the distance value of at least plural course angle, displacement and acquisition, the coordinate figure of ultrasonic distance measuring apparatus emitter can be calculated.By comparing the geocoding (i.e. reference coordinate value) being pre-stored in geocoding (i.e. reference coordinate value) or ultrasonic distance measuring apparatus emitter based on the ultrasonic distance measuring apparatus emitter in the AGV of ultrasonic distance measuring apparatus and launching, reference coordinate value and the coordinate figure calculating the ultrasonic distance measuring apparatus emitter obtained are compared, can correct the course of the AGV based on 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 be arranged in 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 carries the geocoding of ultrasonic distance measuring apparatus emitter.The ultrasonic distance measuring apparatus receiving trap be arranged in 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 (i.e. reference coordinate value) of ultrasonic distance measuring apparatus emitter, the course that the AGV for correcting based on ultrasonic distance measuring apparatus travels.Certainly, be also appreciated that the geocoding of ultrasonic distance measuring apparatus emitter can be pre-stored in the AGV based on ultrasonic distance measuring apparatus.
S53: calculate automatic guide vehicle based on ultrasonic distance measuring apparatus to the distance value of ultrasonic distance measuring apparatus emitter according to ultrasonic signal and time synchronizing signal.If current environmental temperature is T, so the aerial velocity of propagation of ultrasonic signal is: V=331.5+0.607T; Distance between ultrasonic distance measuring apparatus emitter to ultrasonic distance measuring apparatus receiving trap is: D=V × t.
S60: obtain target coordinate position value.According to operational plan or the task scheduling of the AGV based on ultrasonic distance measuring apparatus, the track that can run at the AGV based on ultrasonic distance measuring apparatus arranges multiple coordinates of targets point, after arriving a coordinate points, the next coordinates of targets point for running, advances successively.If each coordinates of targets is together in series, be the track that the AGV based on ultrasonic distance measuring apparatus runs, certain coordinate points wherein also can be the destination of the AGV task based on ultrasonic distance measuring apparatus.The coordinates of targets point arranged in based on the AGV of ultrasonic distance measuring apparatus is more, and the track of operation is clearer and more definite, and it is more accurate to run.
S70: drive the described automatic guide vehicle based on ultrasonic distance measuring apparatus to run according to target coordinate position value.Obtain based on all coordinates of targets points on the AGV running orbit of ultrasonic distance measuring apparatus, the AGV based on ultrasonic distance measuring apparatus just can according to course angle and positional value, according to the speeds of setting.
Adopt the method for this programme, can the be autonomous AGV based on ultrasonic distance measuring apparatus be navigated, on the road run, do not lay any guide wire, wire or other device and guide, reduce a large amount of equipment and maintenance of equipment expense, not only simple but also economical.
In other embodiments, accompanying drawings 7, also comprises after step S50:
S50A: obtain the course angle of more than at least 2, displacement and distance value and calculate coordinates computed value.
S50B: coordinates computed value and geocoding are compared, corrected course angle and displacement.
The scheme of this programme is passed through being pre-stored in based on the AGV geocoding (i.e. reference coordinate value) of ultrasonic distance measuring apparatus or the geocoding from ultrasonic distance measuring apparatus emitter; compare with the coordinates computed value calculated; then according to the error compared; again corrected course value and shift value, guarantees that the AGV based on ultrasonic distance measuring apparatus can run accurately according to projected path.
The implementation process of this programme is now 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 schematic diagram based on ultrasonic distance measuring apparatus, and Figure 10 is the automatic guide vehicle navigation error angle schematic diagram based on ultrasonic distance measuring apparatus.
The working environment run based on the AGV of ultrasonic distance measuring apparatus is comparatively smooth, can be considered as running in two-dimensional level face.Ultrasonic distance measuring apparatus emitter (be numbered 1., 2., 3., 4., 5. and 6.) layout is running the side of road, and the distance between each ultrasonic distance measuring apparatus emitter is at 50 meters.If goods will be transmitted from A point to B point based on the AGV of ultrasonic distance measuring apparatus, then need the ultrasonic distance measuring apparatus emitter through being numbered 1., 3. and 5..When the AGV based on ultrasonic distance measuring apparatus arrives the ultrasonic distance measuring apparatus emitter be numbered 3., and in the region that its ultrasonic signal covers.AGV based on ultrasonic distance measuring apparatus obtains AGV to the distance D1 of ultrasonic distance measuring apparatus emitter based on ultrasonic distance measuring apparatus and D2 in primary importance and second place measurement respectively.Owing to being provided with gyroscope and displacement encoder based on the AGV of ultrasonic distance measuring apparatus, can show that AGV based on ultrasonic distance measuring apparatus is at the coordinate figure of primary importance and the second place, and primary importance is to the distance D3 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 be numbered 3., this coordinate figure is the coordinate figure calculated.
The actual coordinate value (i.e. reference coordinate value) prestoring and be numbered 3. is had in based on the AGV of ultrasonic distance measuring apparatus, or by this be numbered ultrasonic distance measuring apparatus emitter 3. launch the time synchronizing signal carrying geocoding (i.e. reference information), by calculating coordinate figure that the label that obtains is ultrasonic distance measuring apparatus emitter 3. and its reference coordinate value compares, its error can be drawn, can correct according to this error.
Consult Figure 10, a and b is respectively the actual coordinate value of the ultrasonic distance measuring apparatus emitter be numbered 1. and 3., c is the coordinate figure calculated being numbered 3. ultrasonic distance measuring apparatus emitter, angle between c and ab is the error angle based on the navigation in the AGV operational process of ultrasonic distance measuring apparatus, just can correct according to this error angle.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It 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 (7)
1., based on an automatic guide vehicle for ultrasonic distance measuring apparatus, comprise and drive chassis and the automatic guide vehicle main body be arranged on described driving chassis and drive unit, it is characterized in that, also comprise:
Be arranged on the gyroscope in described automatic guide vehicle main body, for obtaining course angle when the described automatic guide vehicle based on ultrasonic distance measuring apparatus runs;
Be arranged on the displacement encoder in described automatic guide vehicle main body, for obtaining displacement when the described automatic guide vehicle based on ultrasonic distance measuring apparatus travels;
Be arranged on the driving governor in described automatic guide vehicle main body, for controlling described drive unit;
Be arranged on the ultrasonic distance measuring apparatus receiving trap in described automatic guide vehicle main body, for receive ultrasonic signal and calculate described ultrasonic signal propagate distance value; Described ultrasonic distance measuring apparatus receiving trap comprises: ultrasonic signal receiving element, for receiving ultrasonic signal; Time synchronizing signal receiving element, for time of reception synchronizing signal;
Be arranged on the controller in 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, for calculating the described position based on the automatic guide vehicle of ultrasonic distance measuring apparatus according to the described course angle obtained, described displacement and described distance value, obtain the described target coordinate position value based on the automatic guide vehicle of ultrasonic distance measuring apparatus, and control the operation of described drive unit by described driving governor;
Be arranged on the rudder angle scrambler on described driving chassis, described rudder angle scrambler is connected with described controller, for measuring the drift angle between described automatic guide vehicle main body and described driving chassis;
Wherein, receive described ultrasonic signal and described time synchronizing signal, described time synchronizing signal carries the geocoding of described ultrasonic distance measuring apparatus emitter; Calculate automatic guide vehicle based on ultrasonic distance measuring apparatus to the distance value of ultrasonic distance measuring apparatus emitter according to described ultrasonic signal and time synchronizing signal, and correct described course angle and described position.
2. the automatic guide vehicle based on ultrasonic distance measuring apparatus according to claim 1, is characterized in that, also comprise: be arranged on the communicator in described automatic guide vehicle main body, described communicator is connected with described controller, for communication.
3. the automatic guide vehicle system based on ultrasonic distance measuring apparatus, it is characterized in that, comprise as claimed in claim 2 based on the automatic guide vehicle of ultrasonic distance measuring apparatus, also comprise: ultrasonic distance measuring apparatus emitter, be arranged on passage side, for launching ultrasonic signal and time synchronizing signal, described time synchronizing signal carries the geocoding of described ultrasonic distance measuring apparatus emitter.
4. the automatic guide vehicle system based on ultrasonic distance measuring apparatus according to claim 3, is characterized in that, the distance arranged between described ultrasonic distance measuring apparatus emitter is greater than the twice of the Signal reception distance of described ultrasonic distance measuring apparatus receiving trap.
5. the automatic guide vehicle system based on ultrasonic distance measuring apparatus according to claim 4, is characterized in that, also comprise: dispatching center, is dispatched the described automatic guide vehicle based on ultrasonic distance measuring apparatus by described communicator.
6., based on an automatic guide vehicle air navigation aid for ultrasonic distance measuring apparatus, comprise the steps:
Initialization course and position;
Obtain the course angle during automatic guide vehicle operation based on ultrasonic distance measuring apparatus;
Obtain the displacement during automatic guide vehicle traveling based on ultrasonic distance measuring apparatus;
The described position based on the automatic guide vehicle of ultrasonic distance measuring apparatus is calculated according to described course angle and described displacement;
Obtain ultrasonic signal, time synchronizing signal, calculate automatic guide vehicle based on ultrasonic distance measuring apparatus to the distance value of ultrasonic distance measuring apparatus emitter, and correct described course angle and described position;
Obtain target coordinate position value;
The described automatic guide vehicle based on ultrasonic distance measuring apparatus is driven to run according to described target coordinate position value;
Described acquisition ultrasonic signal, time synchronizing signal, calculate automatic guide vehicle based on ultrasonic distance measuring apparatus to the distance value of ultrasonic distance measuring apparatus emitter, and the step correcting described course angle and described position is:
Receive ultrasonic signal;
Time of reception synchronizing signal, described time synchronizing signal carries the geocoding of described ultrasonic distance measuring apparatus emitter;
Automatic guide vehicle based on ultrasonic distance measuring apparatus is calculated to the distance value of ultrasonic distance measuring apparatus emitter according to described ultrasonic signal and time synchronizing signal.
7. the automatic guide vehicle air navigation aid based on ultrasonic distance measuring apparatus according to claim 6, it is characterized in that, described acquisition ultrasonic signal, time synchronizing signal, calculate automatic guide vehicle based on ultrasonic distance measuring apparatus to the distance value of ultrasonic distance measuring apparatus emitter, and also comprise after correcting the step of described course angle and described position:
Obtain the described course angle of more than at least 2, described displacement and described distance value and calculate coordinates computed value;
Described coordinates computed value and described geocoding are compared, corrects described course angle and described position.
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| 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 |
| 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 |
| 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 |
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