CN103955216A - Two-stage composite obstacle avoiding device of automatic guided vehicle - Google Patents
Two-stage composite obstacle avoiding device of automatic guided vehicle Download PDFInfo
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- CN103955216A CN103955216A CN201410164221.2A CN201410164221A CN103955216A CN 103955216 A CN103955216 A CN 103955216A CN 201410164221 A CN201410164221 A CN 201410164221A CN 103955216 A CN103955216 A CN 103955216A
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Abstract
The invention discloses a two-stage composite obstacle avoiding device of an automatic guided vehicle. The two-stage composite obstacle avoiding device comprises an obstacle testing module, a master controller and an obstacle avoidance execution module. The master controller is connected with the obstacle testing module and the obstacle avoidance execution module. The obstacle testing module comprises a visual testing unit used for detecting obstacles located within 3-6 meters and an ultrasonic testing unit used for detecting obstacles located within 0.02-2 meters. The two-stage composite obstacle avoiding device provides control information for parking, obstacle avoidance and other operation of the automatic guided vehicle, and the situation that the automatic guided vehicle collides with an obstacle, so that a vehicle body is damaged is avoided.
Description
Technical field
The spy that the present invention relates to automatic guided vehicle hinders, keeps away barrier field, the particularly compound obstacle avoidance apparatus of a kind of automatic guided vehicle two-stage.
Background technology
Automatic guided vehicle (Automated Guided Vehicle; be called for short AGV); assignment has electromagnetism or optical target sounding device; can, along the path walking of regulation, on car body, there is the automatic transportation car of programming and parking selecting arrangement, safety guard and various material transfer functions.
At present, barrier mode that what existing automatic guided vehicle had keep away is that vision is kept away barrier, capable of avoiding obstacles by supersonic wave and laser and kept away three kinds, barrier, and these three kinds of modes are substantially all independent uses, and keeping away barrier mode for every kind has the shortcoming of himself.Utilize separately laser sensor to keep away barrier, sensor price is high, and system building cost is high.Utilize separately vision sensor to keep away barrier, algorithm complexity, precision is not high, and system arithmetic speed requires high.Utilize separately ultrasound wave to keep away barrier, keep away barrier apart from short, keep away barrier region and have blind area, arrange that ultrasonic sensor quantity is more.
Summary of the invention
Use separately a kind of sensor to keep away the shortcoming that barrier brings in order to overcome automatic guided vehicle, the invention discloses the compound obstacle avoidance apparatus of a kind of automatic guided vehicle two-stage, this device can be kept away barrier and the ultrasound wave advantages of closely keeping away barrier at a distance vision, has realized efficient, simple, the safe barrier of keeping away of automatic guided vehicle.
The present invention adopts following technical scheme:
The compound obstacle avoidance apparatus of a kind of automatic guided vehicle two-stage, comprise detection of obstacles module, master controller and keep away barrier execution module, described master controller is respectively with detection of obstacles module and keep away barrier execution module and be connected, and described detection of obstacles module comprises for detection of the visual detection unit of barrier within the scope of 3 meters-6 meters with for detection of the ultrasound examination unit of barrier within the scope of 0.02 meter-3 meters.
Described visual detection unit comprises vision sensor, and is arranged on the front bottom end of automatic guided vehicle.
Described ultrasound examination unit comprises multiple ultrasonic sensors, is arranged on respectively the surrounding of automatic guided vehicle.
Described vision sensor comprises a CCD camera.
The invention has the beneficial effects as follows:
Vision is kept away to barrier to this device at a distance and ultrasound wave is closely kept away the advantages that barrier judges, avoid vision closely to keep away when barrier complexity of calculating of program and the high requirement of system arithmetic speed, and effectively avoided the shortcoming of ultrasound wave long-range detection weak effect;
Keep away at a distance by vision the two-stage that barrier and ultrasound wave closely keep away barrier and keep away barrier judgement, keep away at a distance barrier expanded range, closely keep away barrier efficiently simply, realized automatic guided vehicle safe, practical, keep away barrier flexibly.
Brief description of the drawings
Fig. 1 is principle of work schematic diagram of the present invention;
Fig. 2 is the scheme of installation of ultrasound examination of the present invention unit and visual detection unit.
In figure, 1-ultrasound examination unit, 2-visual detection unit, 3-master controller, 4-automatic guided vehicle, 5-keeps away barrier execution module.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
As shown in Figure 1, the compound obstacle avoidance apparatus of a kind of automatic guided vehicle two-stage, comprise detection of obstacles module, master controller 3 and keep away barrier execution module 5, described detection of obstacles module comprises ultrasound examination unit 1, visual detection unit 2, described master controller 3 respectively with ultrasound examination unit 1, visual detection unit 2 and keep away barrier execution module 5 be connected.
Described ultrasound examination 1 is for closely detecting around barrier, and for detection of 0.02 meter of-3 meters of scope barrier, described visual detection unit 2, for early warning detects, for detection of the barrier within the scope of 3 meters-6 meters, and detects apart from adjustable.
Described keeping away hinders the driver element that execution module 5 is automatic guided vehicle 4.Detection information is sent to respectively master controller 3 by described ultrasound examination unit and visual detection unit, described master controller 3 sends to result to keep away barrier execution module 5, described in keep away barrier execution module 5 and carry out a series of barrier actions of keeping away according to instruction control guide vehicle 4.
As shown in Figure 1, the present invention is two-stage obstacle avoidance apparatus, and described visual detection unit 2 realizes trafficability characteristic analysis and the barrier edge-description in 3 to 6 meters of paths, front, judges in the first order.
When vision sensor detects and has barrier on path, front, the 4 barriers to entry thing early warning stages of automatic guided vehicle, the trafficability characteristic of analysis path, reserved automatic guided vehicle speed-buffering distance, automatic guided vehicle 4 reduces speed now, until enter ultrasound examination unit 2 scopes.
When 0.02 to 3 meter of barrier is closely realized in described ultrasound examination unit 2, barrier profile is described and the Real-time Feedback of distance, judges in the second level.Barrier is kept away for closely detecting in real time in ultrasound examination unit, if there is sufficient space in path, can carry out around barrier operation, if path spacing is less, the alarm operation that stops, avoids bumping with barrier and damaging car body.
As shown in Figure 2, described ultrasound examination unit 1 comprises multiple ultrasonic sensors, is arranged on the surrounding of automatic guided vehicle 4, can increase or reduce the quantity of sensor according to car body size.
Offer the mounting hole of ultrasonic sensor at the side of automatic guided vehicle 4, be fixed on by screw and mounting seat on the mounting hole of car body, and its signal wire is connected with master controller by mounting seat.
Described visual detection unit 2 comprises vision sensor, is specially a CCD camera, is arranged on the front bottom of car, and the longest sighting distance is determined by vision sensor central axis and horizontal line angle of inclination.
Each ultrasonic sensor is used alternatingly in the time that automatic guided vehicle carries out around barrier operation, master controller 3 provides pulse triggering signal to ultrasonic sensor, periodic level detection echo is sent in circulation by ultrasonic sensor, the real-time distance of automatic guided vehicle 4 and obstacle is the half of the cycle of detection of echoes and the product of velocity of sound, suppose that automatic guided vehicle normal running speed is 0.8m/s, far below velocity of sound 340m/s, can be considered that each ultrasonic sensor acts on simultaneously, intersect and cover surveyed area, realize and detect in real time barrier.The detection information that master controller 3 feeds back according to ultrasound examination unit 1 is kept away barrier computing, and sending controling instruction drives keeps away barrier execution module 5, carries out a series of barrier operations that keep away thereby control automatic guided vehicle 4.
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not limited by the examples; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (4)
1. the compound obstacle avoidance apparatus of automatic guided vehicle two-stage, it is characterized in that, comprise detection of obstacles module, master controller and keep away barrier execution module, described master controller is respectively with detection of obstacles module and keep away barrier execution module and be connected, and described detection of obstacles module comprises for detection of the visual detection unit of barrier within the scope of 3 meters-6 meters with for detection of the ultrasound examination unit of barrier within the scope of 0.02 meter-3 meters.
2. the compound obstacle avoidance apparatus of a kind of automatic guided vehicle two-stage according to claim 1, is characterized in that, described visual detection unit comprises vision sensor, and is arranged on the front bottom end of automatic guided vehicle.
3. the compound obstacle avoidance apparatus of a kind of automatic guided vehicle two-stage according to claim 1, is characterized in that, described ultrasound examination unit comprises multiple ultrasonic sensors, is arranged on respectively the surrounding of automatic guided vehicle.
4. the compound obstacle avoidance apparatus of a kind of automatic guided vehicle two-stage according to claim 2, is characterized in that, described vision sensor comprises a CCD camera.
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Cited By (17)
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|---|---|---|---|---|
| CN104503451A (en) * | 2014-11-27 | 2015-04-08 | 华南农业大学 | Obstacle-avoidance automatic guidance method and automatic guided vehicle based on vision and ultrasonic sensing |
| CN104932502A (en) * | 2015-06-04 | 2015-09-23 | 福建天晴数码有限公司 | Short-distance obstacle avoiding method and short-distance obstacle avoiding system based on three-dimensional depth camera |
| CN105236061A (en) * | 2015-10-09 | 2016-01-13 | 深圳市华星光电技术有限公司 | Storage equipment |
| CN105487536A (en) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | Low-cost autonomous obstacle avoidance method for mobile robot |
| CN105807786A (en) * | 2016-03-04 | 2016-07-27 | 深圳市道通智能航空技术有限公司 | UAV automatic obstacle avoidance method and system |
| CN107031626A (en) * | 2017-03-29 | 2017-08-11 | 华南农业大学 | A kind of fork truck automatic obstacle avoiding system and method |
| CN107505940A (en) * | 2017-08-08 | 2017-12-22 | 速感科技（北京）有限公司 | Double laser radar control method, system and localization method on automated guided vehicle |
| CN108227693A (en) * | 2016-12-14 | 2018-06-29 | 现代自动车株式会社 | Vehicle automatic stopping control device, the system and method with the equipment |
| CN108427119A (en) * | 2018-02-11 | 2018-08-21 | 辅易航智能科技(苏州)有限公司 | The method for realizing low obstructions tracing detection based on ultrasonic sensor |
| CN108664033A (en) * | 2018-06-11 | 2018-10-16 | 浙江国自机器人技术有限公司 | A kind of control method and system of robotic laser avoidance |
| CN109313859A (en) * | 2016-08-31 | 2019-02-05 | 宝马股份公司 | For activating the method and barrier auxiliary device of the obstacle recognition system of motor vehicle automatically |
| CN110325089A (en) * | 2017-05-23 | 2019-10-11 | 东芝生活电器株式会社 | Electric dust collector |
| CN110562354A (en) * | 2019-10-21 | 2019-12-13 | 上海沃迪智能装备股份有限公司 | barrier heavy load AGV is kept away in space |
| CN110815202A (en) * | 2018-08-07 | 2020-02-21 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
| CN111024060A (en) * | 2019-12-10 | 2020-04-17 | 西北工业大学 | Vehicle navigation system, method, device and readable storage medium based on optical and acoustic system |
| CN113777649A (en) * | 2021-09-02 | 2021-12-10 | 中国辐射防护研究院 | Device for simulating radioactive source to advance |
| CN114871661A (en) * | 2022-05-25 | 2022-08-09 | 张家港市驰睿智能科技有限公司 | Autonomous navigation flexible welding workstation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105487536A (en) * | 2014-10-13 | 2016-04-13 | 北京自动化控制设备研究所 | Low-cost autonomous obstacle avoidance method for mobile robot |
| CN104503451A (en) * | 2014-11-27 | 2015-04-08 | 华南农业大学 | Obstacle-avoidance automatic guidance method and automatic guided vehicle based on vision and ultrasonic sensing |
| CN104503451B (en) * | 2014-11-27 | 2017-05-24 | 华南农业大学 | Obstacle-avoidance automatic guidance method and automatic guided vehicle based on vision and ultrasonic sensing |
| CN104932502B (en) * | 2015-06-04 | 2018-08-10 | 福建天晴数码有限公司 | Short distance barrier-avoiding method based on three dimensional depth video camera and short distance obstacle avoidance system |
| CN104932502A (en) * | 2015-06-04 | 2015-09-23 | 福建天晴数码有限公司 | Short-distance obstacle avoiding method and short-distance obstacle avoiding system based on three-dimensional depth camera |
| CN105236061A (en) * | 2015-10-09 | 2016-01-13 | 深圳市华星光电技术有限公司 | Storage equipment |
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| CN105807786A (en) * | 2016-03-04 | 2016-07-27 | 深圳市道通智能航空技术有限公司 | UAV automatic obstacle avoidance method and system |
| CN109313859A (en) * | 2016-08-31 | 2019-02-05 | 宝马股份公司 | For activating the method and barrier auxiliary device of the obstacle recognition system of motor vehicle automatically |
| CN108227693A (en) * | 2016-12-14 | 2018-06-29 | 现代自动车株式会社 | Vehicle automatic stopping control device, the system and method with the equipment |
| CN107031626A (en) * | 2017-03-29 | 2017-08-11 | 华南农业大学 | A kind of fork truck automatic obstacle avoiding system and method |
| CN110325089A (en) * | 2017-05-23 | 2019-10-11 | 东芝生活电器株式会社 | Electric dust collector |
| CN107505940A (en) * | 2017-08-08 | 2017-12-22 | 速感科技（北京）有限公司 | Double laser radar control method, system and localization method on automated guided vehicle |
| CN108427119A (en) * | 2018-02-11 | 2018-08-21 | 辅易航智能科技(苏州)有限公司 | The method for realizing low obstructions tracing detection based on ultrasonic sensor |
| CN108664033A (en) * | 2018-06-11 | 2018-10-16 | 浙江国自机器人技术有限公司 | A kind of control method and system of robotic laser avoidance |
| CN110815202A (en) * | 2018-08-07 | 2020-02-21 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
| CN110815202B (en) * | 2018-08-07 | 2021-11-09 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
| CN110562354A (en) * | 2019-10-21 | 2019-12-13 | 上海沃迪智能装备股份有限公司 | barrier heavy load AGV is kept away in space |
| CN111024060A (en) * | 2019-12-10 | 2020-04-17 | 西北工业大学 | Vehicle navigation system, method, device and readable storage medium based on optical and acoustic system |
| CN113777649A (en) * | 2021-09-02 | 2021-12-10 | 中国辐射防护研究院 | Device for simulating radioactive source to advance |
| CN114871661A (en) * | 2022-05-25 | 2022-08-09 | 张家港市驰睿智能科技有限公司 | Autonomous navigation flexible welding workstation |
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Application publication date: 20140730 |