CN103823468A - Sneaking type AGV navigation and location system and location method - Google Patents
Sneaking type AGV navigation and location system and location method Download PDFInfo
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- CN103823468A CN103823468A CN201410072790.4A CN201410072790A CN103823468A CN 103823468 A CN103823468 A CN 103823468A CN 201410072790 A CN201410072790 A CN 201410072790A CN 103823468 A CN103823468 A CN 103823468A
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Abstract
A sneaking type AGV navigation and location system comprises a numerical control servo system, an ultrasonic sensor and an automatic lifting mechanism which are arranged on an AGV. A driving wheel of the AGV is provided with a servo motor and an encoder. The AGV and a goods shelf are combined or separated through the automatic lifting mechanism. The ultrasonic sensor carries out navigation and obstacle avoidance. The numerical control servo system controls AGV running. According to the sneaking type AGV navigation and location system, ultrasonic navigation is used, a track is of no need, a reference object do not need to be arranged outside the AGV in a running zone on the way, autonomous navigation control is completely achieved through numerical control programming, motor speed and encoder information of the AGV, accordingly, line changing is convenient, and locating accuracy is high.
Description
Technical field
The invention belongs to automatic navigation vehicle navigation positioning system, relate to a kind of can be along free path automatic running, automatically carry out the submersible AGV navigation positioning system of pose location; Also relate to the localization method of this positioning system.
Background technology
AGV (AGV, Automated Guided Vehicle, automatic navigation vehicle) on be equipped with automated navigation system, can safeguards system in the situation that not needing artificial pilotage along predetermined route automatic running, goods is transported to destination from starting point automatically.
Arranging of projected route can be divided into two classes, and a class is rail type route, and as utilized the electromagnetic path being pasted on floor that travel route is set, AGV navigates according to the information that detects electromagnetic path; One class is non-rail type route, as utilize laser navigate (laser sensor and reflecting plate) travel route is set, on road surface, there is no track, AGV navigates according to the information of laser sensor detection of reflected plate.
The driving path of AGV can require according to goods yard, the technological process of production etc. changes and changes flexibly.In the time need to revising the path of AGV, non-rail type route needn't be changed ground rail, and modification path is flexible; And the modification dirigibility of the path of rail type route is relatively poor.
Existing AGV navigation positioning system is to adopt laser navigation or magnetic navigation.The rail type route guidance mode of utilizing electromagnetic path to navigate, need to lay electromagnetic path while revising path again, bothersome time-consuming, and very flexible is revised in path; The non-rail type route guidance mode of utilizing laser to navigate, needs to keep the cleaning of laser reflection plate, higher to environmental requirement.
Summary of the invention
The object of this invention is to provide a kind of submersible AGV navigation positioning system, the function that there is automatic running navigation and barrier avoiding function, the automatic pose positioning function of operation website and accurately slip into shelf below and draw or lift shelf.
Another object of the present invention is to provide the localization method of above-mentioned positioning system.
Technical scheme of the present invention is, submersible AGV navigation positioning system, comprise the digital control servo system, ultrasonic sensor and the automatic hoisting mechanism that are arranged on AGV, the driving wheel of AGV is provided with servomotor and scrambler, and automatic hoisting mechanism makes AGV engage with shelf and throws off; Ultrasonic sensor navigates and keeps away barrier, and digital control servo system control AGV travels.
Feature of the present invention is also:
Also comprise the object of reference A that is arranged on the absolute object of reference on nonmotile object relative to the earth and is arranged on shelf outboard end and the object of reference B of two inner sides, shelf below.
Driving wheel is 2.
Automatic hoisting mechanism is one or more, and the lifting column of automatic hoisting mechanism can automatic lifting.
Ultrasonic sensor comprises analog sensor and Boolean value output sensor.
Second technical scheme of the present invention, the localization method of above-mentioned submersible AGV navigation positioning system, detect the information of absolute object of reference according to ultrasonic sensor, determine the absolute pose benchmark of AGV, the district of travelling in way between operation website, carry out differential driving and turn to according to the servomotor of travel route control driving wheel in default way by digital control servo system, judge position and the direction of AGV by servomotor speed and encoder information, control AGV and independently travel according to travel route in default way, and keep away barrier by ultrasonic sensor.
Before operation website, detect the information of the relative object of reference A that is arranged on shelf outboard end according to ultrasonic sensor and carry out the adjustment of AGV pose.
At operation website, AGV enters shelf belows, detects the information of the relative object of reference B that is arranged on shelf inner side and carries out the adjustment of AGV pose and travel stopping location, and control automatic hoisting mechanism and draw or lift with shelf and engage according to ultrasonic sensor.
When racks store, AGV drags shelf to drive to racks store district from operation website, carry out differential driving and turn to according to the servomotor of travel route control driving wheel in default way by digital control servo system, judge position and the direction of AGV by servomotor speed and encoder information, controlling AGV independently travels according to travel route in default way, and keep away barrier by ultrasonic sensor, after travelling and stop in arrival racks store position, control automatic hoisting mechanism and shelf and throw off.
The present invention has following beneficial effect:
1, submersible AGV self-navigation positioning system using ultrasound wave navigation of the present invention, do not need to arrange track, and the district of travelling in way also need to not arrange object of reference in the AGV external world, rely on the numerical control programming of AGV self and motor speed and encoder information to carry out automatic navigation control completely, therefore route change is very convenient.
2, submersible AGV self-navigation positioning system of the present invention inner side below trailing shelf arranges relative object of reference, reduced the impact of shelf position and attitude error, and required ultrasonic sensor range is little, and therefore, the final positioning precision of AGV is high.
3, submersible AGV self-navigation positioning system of the present invention can arrange different elevating mechanisms, can be applicable to slip into towed AGV and slip into lifting type AGV.
4 submersible AGV self-navigation positioning system applied ranges of the present invention, go for the AGV of the various 2DOFs that differential steering and steering turn to, and also go for the AGV of omnibearing 3DOF, can under rugged surroundings, use simultaneously.
5, the localization method of submersible AGV self-navigation positioning system of the present invention is simple, easily goes.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view that is related to that slips into towed AGV and shelf of submersible AGV navigation positioning system of the present invention;
Fig. 2 is the towed AGV end face front elevational schematic of slipping into of submersible AGV navigation positioning system of the present invention;
Fig. 3 is the structure schematic top plan view that slips into towed AGV of submersible AGV navigation positioning system of the present invention;
Fig. 4 is that the pose slipping into before towed AGV arrival shelf in the localization method of submersible AGV navigation positioning system of the present invention is adjusted schematic top plan view;
Fig. 5 is the analog sensor setting position schematic diagram of AGV front end in submersible AGV navigation positioning system of the present invention;
Fig. 6 is the shelf outboard end object of reference setting position schematic diagram in submersible AGV navigation positioning system of the present invention;
Fig. 7 slips into towed AGV to slip into the pose location schematic diagram under shelf in the localization method of submersible AGV navigation positioning system of the present invention;
Fig. 8 is the E-E cut-open view of Fig. 7.
In figure, 1. freewheel, 2. ultrasonic sensor, 3. automatic hoisting mechanism, 4. driving wheel, 5. control servo-drive system, 6. goods, 7. shelf, 8.AGV, A. shelf outboard end object of reference, B. inner side, shelf below object of reference, 1-1. the first freewheel, 1-2. the second freewheel, 1-3. the 3rd freewheel, 1-4. the 4th freewheel, 2-1. the first analog sensor, 2-3. the second analog sensor, 2-4. the 3rd analog sensor, 2-6. the 4th analog sensor, 2-7. the 5th analog sensor, 2-9. the 6th analog sensor, 2-10. the 7th analog sensor, 2-12. the 8th analog sensor, 2-2. the first Boolean value output sensor, 2-5. second switch quantity sensor, 2-8. the 3rd Boolean value output sensor, 2-11. the 4th Boolean value output sensor, 3-1. the first automatic hoisting mechanism, 3-2. the second automatic hoisting mechanism.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The control object of submersible AGV navigation positioning system of the present invention is: the submersible AGV8 that draws (or lifting) shelf, AGV8 is driven and is travelled by 2 driving wheels, 4 differentials that scrambler and servomotor are installed, 4 (or 1,2) freewheel 1 supplemental support, 2 (or 4,6) automatic hoisting mechanisms 3 carry out engaging and disengagement of AGV and shelf, ultrasonic sensor 2 navigates and keeps away barrier, digital control servo system 5 control of travelling.
The present invention slips into AGV self-navigation positioning system and comprises the digital control servo system 5 being arranged on AGV, the servomotor of driving wheel 4 and scrambler, and the automatic hoisting mechanism 3 that lifting column can automatic lifting, navigates and keeps away the ultrasonic sensor 2 of barrier use; Be arranged on absolute object of reference on nonmotile object relative to the earth and be arranged on the relative object of reference A of shelf outboard end and the relative object of reference B of two inner sides, shelf below.
The relation that slips into towed AGV8 and shelf 7 of the present invention as shown in Figure 1 and Figure 2, AGV8 slips into below shelf 7, the lifting of the lifting column by the first automatic hoisting mechanism 3-1, the second automatic hoisting mechanism 3-2 makes AGV8 engage or throw off with shelf 7, and object of reference B-1, the B-2 of the object of reference A of shelf 7 outboard end and two inner sides, shelf 7 below coordinate pose adjustment and the location of carrying out AGV8 with the ultrasonic sensor 2 on AGV8.
The present invention uses structure that object slips into towed AGV as shown in Figure 3, the servomotor of 2 driving wheels 4 carries out differential driving and turns to, judged by servomotor speed and encoder information position and the direction of AGV8,4 freewheels 1 are supplemental support, 2 automatic hoisting mechanisms 3 carry out joint and the disengagement of haulage gear, 12 ultrasonic sensor 2(8 analog sensors and 4 Boolean value output sensors) navigate and keep away barrier, digital control servo system 5 control of travelling.
The localization method that slips into towed AGV self-navigation positioning system of the present invention, the information that (1) first detects absolute object of reference according to analog sensor is carried out pose adjustment, determines the absolute pose benchmark of AGV8, (2) district of travelling in the way between operation website, carry out differential driving by digital control servo system 5 according to travel route programming in default way, the servomotor of controlling 2 driving wheels 4 and turn to, judged by servomotor speed and encoder information position and the direction of AGV8, control AGV8 carries out independent navigation according to travel route in default way and travels, and keeps away barrier by Boolean value output sensor 2-2,2-5,2-8 and 2-11, (3) before operation website, as shown in Figure 4, detect the information of the relative object of reference A that is arranged on shelf outboard end according to analog sensor 2-4,2-6 and carry out the adjustment of AGV8 pose, analog sensor 2-4, the 2-6 low-angle that need be inclined upwardly, as shown in Figure 5, Figure 6, to detect the relative object of reference A that is arranged on shelf outboard end before operation website, (4) at operation website, as shown in Figure 7, Figure 8, AGV8 enters shelf 7 belows, detect and be arranged on the relative object of reference B-1 of 7 liang of inner sides of shelf and the information of B-2 carries out the adjustment of AGV8 pose and travel stopping location according to analog sensor 2-1,2-3,2-7,2-9, and the lifting column of controlling the first automatic hoisting mechanism 3-1 and the second automatic hoisting mechanism 3-2 rises AGV8 is engaged with shelf 7, (5) racks store district, AGV8 traction shelf 7 are exercised shelf memory block from operation website, programmed according to travel route in default way by digital control servo system 5, the servomotor of controlling driving wheel 4 carries out differential driving and turns to, judge position and the direction of AGV8 by servomotor speed and encoder information, controlling AGV8 independently travels according to travel route in default way, and by ultrasonic sensor 2-2, 2-5, 2-8 and 2-11 keep away barrier, after travelling and stop in arrival racks store position, the lifting column of controlling two automatic hoisting mechanism 3-1 and 3-2 declines AGV8 and shelf 7 is thrown off.
The present invention arranges different automatic hoisting mechanism 3, can be suitable for and slip into lifting type AGV8.
The present invention goes for slipping into towed AGV and slipping into lifting type AGV of various 2DOFs that differential steering and steering turn to, also goes for the towed AGV of slipping into of omnibearing 3DOF and slips into lifting type AGV.
AGV8 of the present invention enters shelf 7 belows to carry out the adjustment of AGV8 pose and travels stopping location, ultrasonic sensor 2 and the relative object of reference B near distance that is arranged on 7 liang of inner sides of shelf, and the ultrasonic sensor 2 that available range is little, precision is high, therefore positioning precision is high.
Because AGV8 will enter shelf 7 belows, therefore the ultrasonic sensor 2 in AGV8 front need be inclined upwardly a low-angle (as started adjustment apart from the shelf 1000mm AGV of place, ultrasonic sensor tilt approximately 5 degree), to the relative object of reference A that is arranged on shelf 7 outboard end can be detected before operation website.
Different automatic hoisting mechanism 3 is set, goes for slipping into towed AGV and slip into lifting type AGV, and can two-way (from front end or the rear end of shelf) draw or lift.
Submersible AGV self-navigation positioning system applied range of the present invention, goes for the AGV of the various 2DOFs that differential steering and steering turn to, and also goes for the AGV of omnibearing 3DOF.
Claims (8)
1. submersible AGV navigation positioning system, it is characterized in that: comprise and be arranged on AGV(8) on digital control servo system (5), ultrasonic sensor (2) and automatic hoisting mechanism (3), described AGV(8) driving wheel (4) servomotor and scrambler are installed, described automatic hoisting mechanism (3) makes AGV(8) engage with shelf (7) with throw off; Described ultrasonic sensor (2) navigates and keeps away barrier, and described digital control servo system (5) is controlled AGV(8) travel.
2. submersible AGV navigation positioning system as claimed in claim 1, is characterized in that: also comprise the object of reference A that is arranged on the absolute object of reference on nonmotile object relative to the earth and is arranged on shelf (7) outboard end and the object of reference B of two inner sides, shelf below.
3. submersible AGV navigation positioning system as claimed in claim 1 or 2, is characterized in that: described driving wheel (4) is 2; Described automatic hoisting mechanism (3) is one or more, and the lifting column of described automatic hoisting mechanism (3) can automatic lifting.
4. submersible AGV navigation positioning system as claimed in claim 3, is characterized in that: described ultrasonic sensor (2) comprises analog sensor and Boolean value output sensor.
5. the localization method of the submersible AGV navigation positioning system as described in claim 1-4 any one, it is characterized in that: the information that detects absolute object of reference according to ultrasonic sensor (2), determine AGV(8) absolute pose benchmark, the district of travelling in way between operation website, carry out differential driving and turn to according to the servomotor of travel route control driving wheel (4) in default way by digital control servo system (5), judge position and the direction of AGV by servomotor speed and encoder information, control AGV(8) independently travel according to travel route in default way, and keep away barrier by ultrasonic sensor (2).
6. the localization method of submersible AGV navigation positioning system as claimed in claim 5, it is characterized in that: before operation website, detect the information of the relative object of reference A that is arranged on shelf (7) outboard end according to ultrasonic sensor (2) and carry out AGV(8) pose adjustment.
7. the localization method of the submersible AGV navigation positioning system as described in claim 5 or 6, it is characterized in that: at operation website, AGV(8) enter shelf (7) below, detect the information of the relative object of reference B that is arranged on shelf (7) inner sides according to ultrasonic sensor (2) and carry out AGV(8) pose adjustment and travel and stop location, and control automatic hoisting mechanism (3) and draw or lift with shelf (7) and engage.
8. the localization method of submersible AGV navigation positioning system as claimed in claim 7, it is characterized in that: when racks store, AGV(8) drag shelf to drive to racks store district from operation website, carry out differential driving and turn to according to the servomotor of travel route control driving wheel (1) in default way by digital control servo system (5), judge AGV(8 by servomotor speed and encoder information) position and direction, control AGV(8) independently travel according to travel route in default way, and keep away barrier by ultrasonic sensor (2), after travelling and stop in arrival racks store position, controlling automatic hoisting mechanism (3) throws off with shelf (7).
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| CN105172937A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | AGV having lifting device and shelf |
| CN105468001A (en) * | 2015-12-31 | 2016-04-06 | 浙江同筑科技有限公司 | Insert AGV (Automatic Guided Vehicle) navigation vehicle and control method thereof |
| CN105759821A (en) * | 2016-04-12 | 2016-07-13 | 深圳市正阳精密装备有限公司 | Wheel type transport robot control system and method for automatic production workshop |
| CN105857440A (en) * | 2016-04-12 | 2016-08-17 | 上海发那科机器人有限公司 | Locating mechanism of self-touring material trolley |
| CN106276009A (en) * | 2016-08-11 | 2017-01-04 | 中国科学院宁波材料技术与工程研究所 | Omni-mobile transfer robot |
| CN106379684A (en) * | 2016-11-11 | 2017-02-08 | 杭州南江机器人股份有限公司 | Submersible AGV abut-joint method and system and submersible AGV |
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| CN106980955A (en) * | 2017-03-29 | 2017-07-25 | 北京京东尚科信息技术有限公司 | Method and apparatus for determining shelf storage space for shelf |
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| CN108196549A (en) * | 2017-01-16 | 2018-06-22 | 浙江国自机器人技术有限公司 | One kind is used for submersible AGV laser infrared obstacle avoidance systems |
| CN108327816A (en) * | 2018-04-18 | 2018-07-27 | 杨雪锋 | A kind of aircraft AGV servicers |
| CN108482521A (en) * | 2018-05-18 | 2018-09-04 | 杭州南江机器人股份有限公司 | A kind of docking mechanism for AGV trolley Transport cargo racks |
| CN108572653A (en) * | 2018-06-05 | 2018-09-25 | 河南森源电气股份有限公司 | A kind of AGV ultrasonic waves guidance system and AGV navigation vehicles |
| CN109693224A (en) * | 2017-10-20 | 2019-04-30 | 上海明匠智能系统有限公司 | Omni-directional mobile robots control system |
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| CN107305380A (en) * | 2016-04-20 | 2017-10-31 | 上海慧流云计算科技有限公司 | A kind of automatic obstacle-avoiding method and apparatus |
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| CN106276009B (en) * | 2016-08-11 | 2020-06-19 | 中国科学院宁波材料技术与工程研究所 | Omnidirectional movement transfer robot |
| CN106379684A (en) * | 2016-11-11 | 2017-02-08 | 杭州南江机器人股份有限公司 | Submersible AGV abut-joint method and system and submersible AGV |
| CN108196549A (en) * | 2017-01-16 | 2018-06-22 | 浙江国自机器人技术有限公司 | One kind is used for submersible AGV laser infrared obstacle avoidance systems |
| CN106697109A (en) * | 2017-02-15 | 2017-05-24 | 上海工程技术大学 | Submerged AGV trailing device |
| CN106980955A (en) * | 2017-03-29 | 2017-07-25 | 北京京东尚科信息技术有限公司 | Method and apparatus for determining shelf storage space for shelf |
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| CN109693224A (en) * | 2017-10-20 | 2019-04-30 | 上海明匠智能系统有限公司 | Omni-directional mobile robots control system |
| CN108327816A (en) * | 2018-04-18 | 2018-07-27 | 杨雪锋 | A kind of aircraft AGV servicers |
| CN108482521A (en) * | 2018-05-18 | 2018-09-04 | 杭州南江机器人股份有限公司 | A kind of docking mechanism for AGV trolley Transport cargo racks |
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| CN111204556A (en) * | 2018-11-22 | 2020-05-29 | 仁宝电脑工业股份有限公司 | Conveying device, conveying system and goods shelf conveying method |
| CN109774805A (en) * | 2018-12-29 | 2019-05-21 | 广州蓝海机器人系统有限公司 | The towed list of one kind drives two-way AGV and control method |
| CN110141673A (en) * | 2019-05-06 | 2019-08-20 | 江苏耀群工业技术有限公司 | A kind of movable sterilizing system and control method |
| CN112172959A (en) * | 2019-07-05 | 2021-01-05 | 坎德拉（深圳）科技创新有限公司 | Outdoor robot |
| CN112172959B (en) * | 2019-07-05 | 2023-09-29 | 坎德拉（深圳）科技创新有限公司 | Outdoor robot |
| CN111055640A (en) * | 2019-12-17 | 2020-04-24 | 浙江欣奕华智能科技有限公司 | Traction butt joint device, system and method for submerged mobile robot and material vehicle |
| CN111086572A (en) * | 2020-01-16 | 2020-05-01 | 深圳市科昭科技有限公司 | Intelligence lift post turns to AGV robot |
| CN111747049A (en) * | 2020-06-29 | 2020-10-09 | 中国人民解放军第五七一九工厂 | AGV-based oil particle size detection sample transfer system and transfer method |
| CN113110440A (en) * | 2021-04-08 | 2021-07-13 | 华晟智能自动化装备有限公司 | Latent AGV shelf automatic identification and adjustment system and method |
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