CN104597905A - Route tracking method for magnetic navigation AGV - Google Patents
Route tracking method for magnetic navigation AGV Download PDFInfo
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- CN104597905A CN104597905A CN201510015917.3A CN201510015917A CN104597905A CN 104597905 A CN104597905 A CN 104597905A CN 201510015917 A CN201510015917 A CN 201510015917A CN 104597905 A CN104597905 A CN 104597905A
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Abstract
The invention discloses a route tracking method for a magnetic navigation AGV (Automatic Guided Vehicle). The route tracking method comprises the following steps of: step1, judging whether signals are output by two middle points of a horizontal detection sensor and all points of a longitudinal sensor; step2, based on step1, if so, directly entering step7; step3, based on step2, if not, judging signals are output by some points of the horizontal sensor; step4, based on step3, simultaneously judging whether a first point is included in output points of longitudinal signals, if so, directly entering step7; step5; step6, outputting the calculated controlled quantity to two control motors to perform correcting procedures, and judging whether to enter an approach posture; step7, when meeting the condition of the approach posture, keeping the revolving speed of one driving wheel unchanged and the revolving speed of the other driving wheel reverse by a primary revolving speed. The control precision of the AGV is greatly improved by the route tracking method.
Description
Technical field
The present invention relates to automatic Guided Vehicle field, particularly the path following method of a kind of magnetic navigation AGV.
Background technology
AGV and automatic Guided Vehicle (Automated Guided Vehicle); refer to and be equipped with the homing guidance such as electromagnetism or optics equipment; can travel along prescribed path, there is the transport vehicle of safeguard protection and various transplanting function, belong to the category of wheeled mobile robot.Existing AGV magnetic navigation control mode, great majority adopt single or double sensor array.
Such sensor is arranged, although AGV also can be made to run along magnetic track, due to the distance of Hall element on sensor, makes the range deviation that calculates and angular deviation have certain error; Current most correction process is more loaded down with trivial details, and the state demarcation of AGV is more, although energy real-time deviation correcting, is the increase in the processor active task amount of controller; When adopting simple single sensor, when AGV is in centre position, mark does not reflect the angular deviation of now AGV accurately, likely makes AGV cross tape, causes AGV near magnetic wire, do the swing of trace.
The information being disclosed in this background technology part is only intended to increase the understanding to general background of the present invention, and should not be regarded as admitting or imply in any form that this information structure has been prior art that persons skilled in the art are known.
Summary of the invention
The object of the present invention is to provide the path following method of a kind of magnetic navigation AGV of simple and reasonable steps, the path following method of this magnetic navigation AGV adopts the sensor group of T-shaped layout, is judged the attitude of AGV by the signal carry-out bit of comprehensive lateral pickup and longitudinal sensor; Under different attitude, make AGV enter equilibrium state with different control strategies, what effectively solve detects that AGV is close to angular deviation during attitude, makes the control accuracy of AGV greatly improve, and also makes dynamic stability also improve much simultaneously.
For achieving the above object, the invention provides the path following method of magnetic navigation AGV, this magnetic navigation AGV adopts horizontal detecting sensor and the longitudinal sensor of layout in T shape, and the attitude of this magnetic navigation AGV is judged by the signal carry-out bit of comprehensive lateral pickup and longitudinal sensor, under different attitude, make AGV enter equilibrium state with different control strategies;
This path following method comprises the following steps: step 1, judges that a little whether the institute of two points and longitudinal sensor in the middle of horizontal detecting sensor has signal to export; Step 2, based on step 1, if not, then judges whether that two, the centre point of horizontal detecting sensor and first point of longitudinal detecting sensor have signal to export and longitudinal detecting sensor exists the point that no signal exports; If directly jump into step 7; Step 3, based on step 2, if not, then judges which position of lateral pickup has signal to export; Step 4, based on step 3, judges whether longitudinal signal output point has first point, if directly jump into step 7 simultaneously; Step 5, based on step 4, if conclusion is no, then calculates range deviation and the angular deviation of now car body, calculates correction radius and the motor speed increment of car body simultaneously; Step 6, controlled quentity controlled variable is out exported to two control motors and is performed correction processes as calculated, and judges whether to enter into close to attitude; Step 7, if meet the condition close to attitude, then one of them wheel speed of car body two driving wheels remains unchanged and another is taken turns and reverses with original rotating speed, until all point of longitudinal detecting sensor has signal to export, the speed that the car body that the rotating speed of two driving wheels reverts to setting advances.
Preferably, in technique scheme, the state of the magnetic navigation AGV that horizontal detecting sensor and longitudinal sensor detect comprises:
First kind state: statokinetic, refers to that the close circle of sensor group has signal to export and all the other all detecting units of longitudinal sensor have signal to export;
Equations of The Second Kind state: extreme attitude, refer to that two, the centre point no signal of horizontal detecting sensor exports and longitudinal detecting sensor first some no signal exports, correction strategy is in this case, calculates range deviation and the angular deviation of AGV now, then obtains correction radius and controlled quentity controlled variable;
3rd class state: close to attitude, now two, the centre point of horizontal detecting sensor and first point of longitudinal detecting sensor all have signal to export.
Preferably, in technique scheme, longitudinal sensor overlaps with the center line of magnetic navigation AGV, and the center line of described magnetic navigation AGV to refer in dolly chassis plane through the mid point of two driving wheel axis and perpendicular to the line of two driving wheel axis; The axis of described two driving wheels is through first point detection signal of longitudinal sensor.
Preferably, in technique scheme, range deviation refers to that described longitudinal sensor first Hall element projects to the vertical range of ground point and magnetic stripe direction line, and described angular deviation refers to the angle of described AGV car body center line and magnetic stripe direction line.
Preferably, in technique scheme, lateral pickup two points in centre and longitudinal sensor are all justified circumferentially close near first point of lateral pickup, are the width of tape close to diameter of a circle.
Compared with prior art, the present invention has following beneficial effect: the path following method of this magnetic navigation AGV adopts the sensor group of T-shaped layout, is judged the attitude of AGV by the signal carry-out bit of comprehensive lateral pickup and longitudinal sensor; Under different attitude, make AGV enter equilibrium state with different control strategies, what effectively solve detects that AGV is close to angular deviation during attitude, makes the control accuracy of AGV greatly improve, and also makes dynamic stability also improve much simultaneously.
Accompanying drawing explanation
Fig. 1 is a kind of AGV automatic deviation correction control flow chart provided by the invention;
Fig. 2 is the arrangement of a kind of T-shaped sensor provided by the invention;
AGV attitude schematic diagram when Fig. 3 is a kind of extreme attitude provided by the invention;
Fig. 4 is provided by the invention a kind of close to AGV attitude schematic diagram during attitude;
Fig. 5 is a kind of AGV attitude schematic diagram when equilibrium position provided by the invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention not by the restriction of embodiment.
Clearly represent unless otherwise other, otherwise in whole instructions and claims, term " comprise " or its conversion as " comprising " or " including " etc. by be understood to include the element of stating or ingredient, and do not get rid of other element or other ingredient.
As shown in Figure 1, comprising the following steps according to the path following method of the magnetic navigation AGV of the specific embodiment of the invention:
Step 1, judges that a little whether the institute of two points and longitudinal sensor in the middle of horizontal detecting sensor has signal to export;
Sensor group (horizontal detecting sensor and the longitudinal sensor) layout in T shape of the path following method employing of this magnetic navigation AGV; The attitude of AGV is judged by the signal carry-out bit of comprehensive lateral pickup and longitudinal sensor; Under different attitude, make AGV enter equilibrium state with different control strategies; The state of the AGV that two sensors detect comprises the following aspects:
First kind state: statokinetic, refer to that the close circle of sensor group has signal to export and all the other all detecting units of longitudinal sensor have signal to export, now, the speed increment △ V controlling motor is zero.
Equations of The Second Kind state: extreme attitude, refers to that two, the centre point no signal of horizontal detecting sensor exports and longitudinal detecting sensor first some no signal exports.Correction strategy is in this case, calculate range deviation ed and the angular deviation e α of AGV now, obtain correction radius R and controlled quentity controlled variable △ V again, because the sweep frequency of described AGV controller is comparatively large, therefore change according to the change of sweep frequency and sensor signal output point at described four parameter ed, e α, R, △ V in this correction stage.
3rd class state: close to attitude, now two, the centre point of horizontal detecting sensor and first point of longitudinal detecting sensor all have signal to export.
The described longitudinal sensor of sensor group overlaps with the center line of dolly, and the center line of described dolly to refer in dolly chassis plane through the mid point of two driving wheel axis and perpendicular to the line of two driving wheel axis; The axis of two described driving wheels is through first point detection signal (Hall element) of longitudinal sensor;
With reference to accompanying drawing 2, for 8 magneto-dependent sensors, the layout of T-shaped sensor, first point 3 of one end of two, the centre point of lateral pickup 6 and the close lateral pickup of longitudinal sensor 2 is on same circumference 7, and the diameter of described circumference 7 is the width of tape.The entirety of these three check point compositions is called close to circle by the present invention; Overlap with the center line 8 of described dolly 1 when longitudinal sensor 2 is installed, and the axis of two driving wheels 5 is through first point 3 of the close lateral pickup end of described longitudinal sensor 2.
The width of described tape just in time has two some signals outputs to be advisable with the setting height(from bottom) place of sensor.
The signal detected is sent to host computer treatment and analysis by described sensor group, and described host computer can be PLC, also can be 51 series monolithics or motion controller.
With reference to accompanying drawing 3, after described upper computer detection to signal, whether first point first analyzing longitudinal sensor has signal to export, if do not have, then needs the angular deviation e calculating at this time AGV
αwith range deviation e
d, it adopts following mode to calculate respectively:
e
d＝L
2·sin(e
α)
In the middle of above-mentioned formula, L
1refer to the distance of the median average of the signal output point of lateral pickup to its middle 2 mid points, L
2refer to, the mid point of the point having signal to export of longitudinal sensor is to the distance of its first point.
Described host computer calculates e
αand e
dafter, calculate correction radius R and Electric Machine Control amount Δ V in the following manner:
In above formula, L refers to the distance between AGV two-wheeled, and V refers to the linear velocity of car body movement.
By reference to the accompanying drawings 4, after above-mentioned correction, AGV can enter into close to attitude, and now described host computer can give one of them motor with contrary rotating speed, make AGV original place rotate an angle until all check points of longitudinal sensor have signal to export.
By reference to the accompanying drawings 5, when AGV enters into equilibrium state, lateral pickup only has middle two points to have signal to export and signal that longitudinal sensor a little has exports, and at this moment host computer is all identical to the signal of two motors, and AGV steadily forward.
First some no signal of longitudinal sensor exports, the correction strategy of AGV again under attitude is, calculate range deviation ed and the angular deviation e α of current AGV in real time, obtain correction radius R and controlled quentity controlled variable △ V again, because the sweep frequency of described AGV controller is larger, therefore change according to the change of sweep frequency and sensor signal output point at described four parameter ed, e α, R, △ V in this correction stage, be conducive to dolly like this and enter next state stably.
Step 2, based on step 1, if not, then judges whether that two, the centre point of horizontal detecting sensor and first point of longitudinal detecting sensor have signal to export and longitudinal detecting sensor exists the point that no signal exports; If directly jump into step 7;
Step 3, based on step 2, if not, then judges which position of lateral pickup has signal to export;
Step 4, based on step 3, judges whether longitudinal signal output point has first point, if directly jump into step 7 simultaneously;
Step 5, based on step 4, if conclusion is no, then calculates range deviation ed and the angular deviation e α of now car body, calculates correction radius R and the motor speed increment △ V of car body simultaneously;
Described range deviation refers to that described longitudinal sensor first Hall element projects to the vertical range of ground point and magnetic stripe direction line, and described angular deviation refers to the angle of described AGV car body center line and magnetic stripe direction line;
Step 6, controlled quentity controlled variable is out exported to two control motors and is performed correction processes as calculated.And judge whether to enter into close to attitude.
Step 7, if meet the condition close to attitude, then one of them wheel speed of car body two driving wheels remains unchanged and another is taken turns and reverses with original rotating speed, until all point of longitudinal detecting sensor has signal to export, the speed that the car body that the rotating speed of two driving wheels reverts to setting advances.
To sum up, the path following method of this magnetic navigation AGV adopts the sensor group of T-shaped layout, is judged the attitude of AGV by the signal carry-out bit of comprehensive lateral pickup and longitudinal sensor; Under different attitude, make AGV enter equilibrium state with different control strategies, what effectively solve detects that AGV is close to angular deviation during attitude, makes the control accuracy of AGV greatly improve, and also makes dynamic stability also improve much simultaneously.
The aforementioned description to concrete exemplary of the present invention is to illustrate and the object of illustration.These descriptions not want the present invention to be defined as disclosed precise forms, and obviously, according to above-mentioned instruction, can much change and change.The object selected exemplary embodiment and describe is to explain certain principles of the present invention and practical application thereof, thus those skilled in the art can be realized and utilize various different exemplary of the present invention and various different selection and change.Scope of the present invention is intended to limited by claims and equivalents thereof.
Claims (5)
1. a path following method of magnetic navigation AGV, is characterized in that,
This magnetic navigation AGV adopts horizontal detecting sensor and the longitudinal sensor of layout in T shape, and the attitude of this magnetic navigation AGV is judged by the signal carry-out bit of comprehensive lateral pickup and longitudinal sensor, under different attitude, make AGV enter equilibrium state with different control strategies;
This path following method comprises the following steps:
Step 1, judges that a little whether the institute of two points and longitudinal sensor in the middle of horizontal detecting sensor has signal to export;
Step 2, based on step 1, if not, then judges whether that two, the centre point of horizontal detecting sensor and first point of longitudinal detecting sensor have signal to export and longitudinal detecting sensor exists the point that no signal exports; If directly jump into step 7;
Step 3, based on step 2, if not, then judges which position of lateral pickup has signal to export;
Step 4, based on step 3, judges whether longitudinal signal output point has first point, if directly jump into step 7 simultaneously;
Step 5, based on step 4, if conclusion is no, then calculates range deviation and the angular deviation of now car body, calculates correction radius and the motor speed increment of car body simultaneously;
Step 6, controlled quentity controlled variable is out exported to two control motors and is performed correction processes as calculated, and judges whether to enter into close to attitude;
Step 7, if meet the condition close to attitude, then one of them wheel speed of car body two driving wheels remains unchanged and another is taken turns and reverses with original rotating speed, until all point of longitudinal detecting sensor has signal to export, the speed that the car body that the rotating speed of two driving wheels reverts to setting advances.
2. the path following method of magnetic navigation AGV according to claim 1, is characterized in that, the state of the magnetic navigation AGV that described horizontal detecting sensor and longitudinal sensor detect comprises:
First kind state: statokinetic, refers to that the close circle of sensor group has signal to export and all the other all detecting units of longitudinal sensor have signal to export;
Equations of The Second Kind state: extreme attitude, refer to that two, the centre point no signal of horizontal detecting sensor exports and longitudinal detecting sensor first some no signal exports, correction strategy is in this case, calculates range deviation and the angular deviation of AGV now, then obtains correction radius and controlled quentity controlled variable;
3rd class state: close to attitude, now two, the centre point of horizontal detecting sensor and first point of longitudinal detecting sensor all have signal to export.
3. the path following method of magnetic navigation AGV according to claim 1, it is characterized in that, described longitudinal sensor overlaps with the center line of magnetic navigation AGV, and the center line of described magnetic navigation AGV to refer in dolly chassis plane through the mid point of two driving wheel axis and perpendicular to the line of two driving wheel axis; The axis of described two driving wheels is through first point detection signal of longitudinal sensor.
4. the path following method of magnetic navigation AGV according to claim 1, it is characterized in that, described range deviation refers to that described longitudinal sensor first Hall element projects to the vertical range of ground point and magnetic stripe direction line, and described angular deviation refers to the angle of described AGV car body center line and magnetic stripe direction line.
5. the path following method of magnetic navigation AGV according to claim 1, it is characterized in that, described lateral pickup two points in centre and longitudinal sensor are all justified circumferentially close near first point of lateral pickup, are the width of tape close to diameter of a circle.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106323297A (en) * | 2016-03-28 | 2017-01-11 | 成都飞机工业（集团）有限责任公司 | Magnetic navigation method capable of detecting magnetic strip branches |
| CN106527443A (en) * | 2016-11-27 | 2017-03-22 | 北京特种机械研究所 | Omnidirectional mobile AGV navigation rectification method |
| CN106873594A (en) * | 2017-03-08 | 2017-06-20 | 苏州易摩物联科技有限公司 | AGV magnetic navigations progress control method and system |
| CN106919176A (en) * | 2017-04-19 | 2017-07-04 | 无锡新创力工业设备有限公司 | A kind of AGV dollies correction control method |
| CN107065873A (en) * | 2017-04-13 | 2017-08-18 | 浙江工业大学 | A kind of multi-curvature circular path tracking control method based on tape guidance AGV |
| CN107065864A (en) * | 2017-03-20 | 2017-08-18 | 北京石油化工学院 | The list of magnetic stripe navigation drives unidirectional automatical pilot transportation vehicle deviation correction control system and method |
| CN108052107A (en) * | 2018-01-19 | 2018-05-18 | 浙江科钛机器人股份有限公司 | A kind of AGV indoor and outdoor complex navigation system and methods for merging magnetic stripe, magnetic nail and inertial navigation |
| CN109279543A (en) * | 2018-11-07 | 2019-01-29 | 上海大学 | A kind of fork-lift type AGV magnetic conductance rail tracking control system and method |
| CN109642783A (en) * | 2016-08-30 | 2019-04-16 | 爱知制钢株式会社 | For motor vehicle attitude detection system |
| CN110006431A (en) * | 2019-04-09 | 2019-07-12 | 铽罗（上海）机器人科技有限公司 | The data-optimized processing system of AGV magnetic navigation |
| CN110209164A (en) * | 2019-05-20 | 2019-09-06 | 江苏理工学院 | A kind of AGV trolley linear Hall guiding device and its guidance method |
| CN110989571A (en) * | 2019-10-18 | 2020-04-10 | 江苏金陵智造研究院有限公司 | Tracking control method for steering wheel drive type AGV |
| CN111026125A (en) * | 2019-12-26 | 2020-04-17 | 上海信耀电子有限公司 | Automatic deviation rectifying method for automatic navigation trolley |
| CN111176280A (en) * | 2019-12-30 | 2020-05-19 | 上海自动化仪表有限公司 | AGV path guidance improved control method based on switching value magnetic navigation sensor |
| CN111474933A (en) * | 2020-04-24 | 2020-07-31 | 合肥工业大学 | Automatic deviation rectification control method of magnetic guidance AGV |
| CN112445216A (en) * | 2019-08-29 | 2021-03-05 | 北京京东乾石科技有限公司 | Method and device for automatically recovering AGV after separating from track |
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| CN106323297A (en) * | 2016-03-28 | 2017-01-11 | 成都飞机工业（集团）有限责任公司 | Magnetic navigation method capable of detecting magnetic strip branches |
| CN106323297B (en) * | 2016-03-28 | 2021-10-29 | 成都飞机工业（集团）有限责任公司 | Magnetic navigation method capable of detecting magnetic stripe branch |
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| CN106527443A (en) * | 2016-11-27 | 2017-03-22 | 北京特种机械研究所 | Omnidirectional mobile AGV navigation rectification method |
| CN106527443B (en) * | 2016-11-27 | 2019-06-18 | 北京特种机械研究所 | Omni-mobile AGV navigation method for correcting error |
| CN106873594A (en) * | 2017-03-08 | 2017-06-20 | 苏州易摩物联科技有限公司 | AGV magnetic navigations progress control method and system |
| CN107065864A (en) * | 2017-03-20 | 2017-08-18 | 北京石油化工学院 | The list of magnetic stripe navigation drives unidirectional automatical pilot transportation vehicle deviation correction control system and method |
| CN107065873A (en) * | 2017-04-13 | 2017-08-18 | 浙江工业大学 | A kind of multi-curvature circular path tracking control method based on tape guidance AGV |
| CN106919176A (en) * | 2017-04-19 | 2017-07-04 | 无锡新创力工业设备有限公司 | A kind of AGV dollies correction control method |
| CN108052107A (en) * | 2018-01-19 | 2018-05-18 | 浙江科钛机器人股份有限公司 | A kind of AGV indoor and outdoor complex navigation system and methods for merging magnetic stripe, magnetic nail and inertial navigation |
| CN108052107B (en) * | 2018-01-19 | 2020-11-24 | 浙江科钛机器人股份有限公司 | AGV indoor and outdoor composite navigation system and method integrating magnetic stripes, magnetic nails and inertial navigation |
| CN109279543A (en) * | 2018-11-07 | 2019-01-29 | 上海大学 | A kind of fork-lift type AGV magnetic conductance rail tracking control system and method |
| CN109279543B (en) * | 2018-11-07 | 2020-10-30 | 上海大学 | Forklift AGV magnetic guide rail tracking control system and method |
| CN110006431A (en) * | 2019-04-09 | 2019-07-12 | 铽罗（上海）机器人科技有限公司 | The data-optimized processing system of AGV magnetic navigation |
| CN110006431B (en) * | 2019-04-09 | 2021-02-05 | 铽罗（上海）机器人科技有限公司 | AGV magnetic navigation data optimizing processing system |
| CN110209164B (en) * | 2019-05-20 | 2022-09-27 | 江苏理工学院 | Linear Hall guiding device of AGV (automatic guided vehicle) and guiding method thereof |
| CN110209164A (en) * | 2019-05-20 | 2019-09-06 | 江苏理工学院 | A kind of AGV trolley linear Hall guiding device and its guidance method |
| CN112445216A (en) * | 2019-08-29 | 2021-03-05 | 北京京东乾石科技有限公司 | Method and device for automatically recovering AGV after separating from track |
| CN110989571A (en) * | 2019-10-18 | 2020-04-10 | 江苏金陵智造研究院有限公司 | Tracking control method for steering wheel drive type AGV |
| CN111026125A (en) * | 2019-12-26 | 2020-04-17 | 上海信耀电子有限公司 | Automatic deviation rectifying method for automatic navigation trolley |
| CN111026125B (en) * | 2019-12-26 | 2023-10-10 | 上海信耀电子有限公司 | Automatic correction method for automatic navigation trolley |
| CN111176280A (en) * | 2019-12-30 | 2020-05-19 | 上海自动化仪表有限公司 | AGV path guidance improved control method based on switching value magnetic navigation sensor |
| CN111474933A (en) * | 2020-04-24 | 2020-07-31 | 合肥工业大学 | Automatic deviation rectification control method of magnetic guidance AGV |
| CN111474933B (en) * | 2020-04-24 | 2022-03-15 | 合肥工业大学 | Automatic deviation rectification control method of magnetic guidance AGV |
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