CN105159302A - Automatic guided vehicle (AGV) and automatic navigation method thereof - Google Patents
Automatic guided vehicle (AGV) and automatic navigation method thereof Download PDFInfo
- Publication number
- CN105159302A CN105159302A CN201510610933.7A CN201510610933A CN105159302A CN 105159302 A CN105159302 A CN 105159302A CN 201510610933 A CN201510610933 A CN 201510610933A CN 105159302 A CN105159302 A CN 105159302A
- Authority
- CN
- China
- Prior art keywords
- dolly
- path
- agv
- vehicle
- acceleration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an automatic guided vehicle (AGV) and an automatic navigation method thereof. The vehicle comprises a processor, a memory, acceleration sensors, a laser positioning device and a motor for driving travelling. The vehicle enters a learning state and runs from a starting point, the accelerations of the vehicle in two horizontal directions during running are measured by arranging two horizontal direction acceleration sensors on the vehicle, the accelerations are converted into a speed by integral operation, then the running path of the vehicle is obtained and stored, and when the vehicle arrives at the end point, the vehicle ends learning; and after the vehicle enters a running state, the vehicle runs according to the stored path. The vehicle can automatically record the running path and has higher flexibility and applicability.
Description
Technical field
The present invention relates to a kind of AGV dolly and automatic navigation method thereof, belong to the positioning and navigation field of system.
Background technology
Along with the raising of current industrial production automation degree, AGV dolly obtains increasing application with convenience, flexibly feature.But, the path navigation that the air navigation aid that current AGV dolly adopts is mainly good according to the rules and navigating according to the map.Realization navigation is marked with by the electronic tag at the multiple intervals arranged on the ground along guide tracks side as the ground on dolly driving path in prior art; Or the map data base stored in dolly, allow dolly carry out automatic running according to the perception of dolly to surrounding.In above-mentioned prior art, dolly can only according to the program set and route, dolly autonomous learning limited in one's ability, dirigibility and poor for applicability, once change the path that dolly travels, the process that dolly will realize self-navigation will be very loaded down with trivial details.
The mode recording the path that dolly travels in prior art mainly adopts in dolly store data inside storehouse or the method by installing navigation bar on the path of dolly traveling.Once change the path of dolly, just need to reset navigation data, this method not only process is loaded down with trivial details, does not also have dirigibility.The present invention, by gathering the acceleration signal of the acceleration transducer of dolly, is obtained the travelling speed of dolly, and then obtains the traveling-position information of dolly by integral operation.The present invention makes AGV dolly have motor learning function, can learn, can automatically record different driving paths and be stored according to the artificial operating path carried out.Not only computation process is simple, and accuracy is high, improves dirigibility and the applicability of the self-navigation of AGV dolly to a certain extent.
The present invention is also provided with laser locating apparatus, is calibrated, to prevent the site error of dolly long-time running from adding up, more can ensure the reliability of trolley travelling by the position of laser locating apparatus to dolly starting point and terminal.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, propose a kind of AGV dolly automatic navigation method, solve dolly self-navigation dirigibility and problem poor for applicability, the invention allows for a kind of AGV dolly.
The present invention is achieved by following scheme:
A kind of AGV dolly automatic navigation method, dolly is allowed to enter learning state, travel from start position, by arranging two horizontal direction acceleration transducers on dolly, measure the acceleration of dolly two horizontal directions in the process of moving, and convert described acceleration to speed by integral operation, so obtain dolly traveling path and store this path, when dolly is reached home, dolly terminates study; Then, dolly is allowed to enter running status.
Further, described dolly is provided with the stepper motor and rotary acceleration sensors that drive travel mechanism, respectively by the anglec of rotation of the operation step pitch and dolly that arrange stepper motor, determine the position of dolly in running status and direction, the path that the path that dolly is travelled and dolly store is consistent.
Further, described dolly according to the direction running of store path, also can travel according to the opposite direction of store path.
Further, described dolly is also provided with laser locating apparatus, utilizes laser locating apparatus to position the starting point of the driving path of dolly and terminal, for revising the position of dolly at starting point and terminal.
For implementing the claims an AGV dolly for method described in 1, described dolly comprises processor, storer, the acceleration transducer of two horizontal directions and a rotary acceleration sensors, and for driving the motor of walking; Described processor is used for making dolly be in learning state or running status; The path that described storer travels in learning state for storing dolly; Two described horizontal direction sensors are used for the acceleration in recording learning process; Described rotary acceleration sensors is for detecting the anglec of rotation of dolly in operational process.
Further, described motor is stepper motor, for recording the operation step pitch of dolly.
Further, described dolly also comprises laser locating apparatus, for the starting point of positioning trolley driving path and the position of terminal.
The present invention's beneficial effect is compared to the prior art:
Embodiment
Below in conjunction with embodiment, the present invention will be further described in detail.
A kind of AGV dolly embodiment:
Described dolly comprises processor, storer, acceleration transducer, laser locating apparatus and for driving the motor of walking; Below the various aspects of dolly are further described:
(1) processor: processor is for controlling learning state or the running status of dolly.
(2) storer: described storer is nonvolatile memory, for storing the path of dolly in learning state.
(3) sensor: acceleration transducer dolly being provided with two horizontal directions, for recording the acceleration of dolly two horizontal directions in learning process; Dolly is also provided with a rotary acceleration sensors, for recording the anglec of rotation of dolly in running status.
(4) laser locating apparatus: position during starting point and the terminal of laser locating apparatus respectively to dolly driving path positions, for calibrating the position of trolley travelling to starting point and terminal, adds up to prevent the site error of dolly long-time running.
(5) motor: the motor described in the present embodiment is stepper motor, for recording the operation step pitch of dolly.
A kind of embodiment of AGV dolly automatic navigation method:
(1) learning state:
Dolly has learn switch, and when opening learn switch, dolly enters learning state automatically, and operator promotes dolly and travels from the start position of path, by the acceleration signal of acceleration transducer record dolly two horizontal directions of two horizontal directions.Convert each horizontal acceleration signal obtained to voltage signal, by A/D change-over circuit, analog voltage signal is changed into digital signal again, and then calculate dolly acceleration in two horizontal directions by processor, by carrying out speed and the direction that integral operation obtains dolly to acceleration, determine the positional information of dolly, obtain the path of dolly traveling according to this positional information, after dolly reaches terminal, terminate learning state and also store this path.
(2) running status:
After allowing dolly enter running status, according to stepper motor and the rotary acceleration sensors of the driving travel mechanism that dolly is arranged, record the operation step pitch of stepper motor and the anglec of rotation of dolly respectively, determine the position of dolly in running status and direction, the path that the path that dolly is travelled and dolly store is consistent, and realizes dolly and travels according to store path.Dolly not only according to the traveling in the same way of store path, also can travel according to the opposite direction of store path.
Utilize stepper motor as the mechanism driving carriage walking in the present embodiment, as other embodiment, also can be common electric machine, this motor can adopt each setting cycle to run the mode of a bit of distance, to ensure that self-operating position is consistent with storage route.
Utilize starting point and the terminal of laser locating apparatus positioning trolley driving path in the present embodiment, as other embodiment, dolly also can adopt other locating devices to position the starting point in path and final position.
Under the thinking that the present invention provides; the mode easily expected to those skilled in the art is adopted to convert the technological means in above-described embodiment, replace, revise; and the effect played goal of the invention that is substantially identical with the relevant art means in the present invention, that realize is also substantially identical; the technical scheme of such formation is carried out fine setting to above-described embodiment and is formed, and this technical scheme still falls into protection scope of the present invention.
Claims (7)
1. an AGV dolly automatic navigation method, it is characterized in that, dolly is allowed to enter learning state, travelling from start position, by arranging two horizontal direction acceleration transducers on dolly, measuring the acceleration of dolly two horizontal directions in the process of moving, and convert described acceleration to speed by integral operation, and then obtain dolly traveling path and store this path, when dolly is reached home, dolly terminate study; Then, allow dolly enter running status, dolly is by the route according to storage.
2. a kind of AGV dolly automatic navigation method according to claim 1, it is characterized in that, described dolly is provided with the stepper motor and rotary acceleration sensors that drive travel mechanism, respectively by the anglec of rotation of the operation step pitch and dolly that arrange stepper motor, determine the position of dolly in running status and direction, the path that the path that dolly is travelled and dolly store is consistent.
3. a kind of AGV dolly automatic navigation method according to claim 1 and 2, is characterized in that, described dolly according to the direction running of store path, also can travel according to the opposite direction of store path.
4. a kind of AGV dolly automatic navigation method according to claim 1, it is characterized in that, described dolly is also provided with laser locating apparatus, utilizes laser locating apparatus to position the starting point of the driving path of dolly and terminal, for revising the position of dolly at starting point and terminal.
5. for implementing the claims an AGV dolly for method described in 1, it is characterized in that, described dolly comprises processor, storer, the acceleration transducer of two horizontal directions and a rotary acceleration sensors, and for driving the motor of walking; Described processor is used for making dolly be in learning state or running status; The path that described storer travels in learning state for storing dolly; Two described horizontal direction sensors are used for the acceleration in recording learning process; Described rotary acceleration sensors is for detecting the anglec of rotation of dolly in operational process.
6. a kind of AGV dolly according to claim 5, is characterized in that, described motor is stepper motor, for recording the operation step pitch of dolly.
7. a kind of AGV dolly according to claim 5, is characterized in that, described dolly also comprises laser locating apparatus, for the starting point of positioning trolley driving path and the position of terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510610933.7A CN105159302A (en) | 2015-09-23 | 2015-09-23 | Automatic guided vehicle (AGV) and automatic navigation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510610933.7A CN105159302A (en) | 2015-09-23 | 2015-09-23 | Automatic guided vehicle (AGV) and automatic navigation method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105159302A true CN105159302A (en) | 2015-12-16 |
Family
ID=54800187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510610933.7A Pending CN105159302A (en) | 2015-09-23 | 2015-09-23 | Automatic guided vehicle (AGV) and automatic navigation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105159302A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105786001A (en) * | 2016-05-05 | 2016-07-20 | 重庆惟觉科技有限公司 | Intelligent control method for trolley |
| CN106292657A (en) * | 2016-07-22 | 2017-01-04 | 北京地平线机器人技术研发有限公司 | Mobile robot and patrol path setting method thereof |
| CN107923754A (en) * | 2015-02-05 | 2018-04-17 | 格雷奥朗佩特有限公司 | Apparatus and method for guidance path compensation |
| CN108180911A (en) * | 2017-12-29 | 2018-06-19 | 广东嘉腾机器人自动化有限公司 | A kind of AGV automatically generates amendment Path Method |
| CN108536135A (en) * | 2017-03-06 | 2018-09-14 | 苏州宝时得电动工具有限公司 | Controlling of path thereof, device and clean robot |
| CN109892311A (en) * | 2018-10-26 | 2019-06-18 | 济南钰成霖信息科技有限公司 | A kind of independent navigation spray robot and its working method for orchard operation |
| CN110109454A (en) * | 2019-04-18 | 2019-08-09 | 福建信息职业技术学院 | A kind of intelligent carriage motion profile clone method |
| CN110793514A (en) * | 2018-08-02 | 2020-02-14 | 菜鸟智能物流控股有限公司 | Position measuring method and position measuring device |
| CN110913335A (en) * | 2019-12-03 | 2020-03-24 | 三一重工股份有限公司 | Automatic guided vehicle sensing and positioning method and device, server and automatic guided vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6092010A (en) * | 1997-09-03 | 2000-07-18 | Jervis B. Webb Company | Method and system for describing, generating and checking non-wire guidepaths for automatic guided vehicles |
| CN101556154A (en) * | 2008-10-13 | 2009-10-14 | 美新半导体（无锡）有限公司 | Positioning and path map generation system and data acquisition analysis method thereof |
| CN101750086A (en) * | 2008-11-28 | 2010-06-23 | 财团法人工业技术研究院 | Navigation information correcting method and navigation device thereof |
| US20110301800A1 (en) * | 2010-06-03 | 2011-12-08 | Hitachi Plant Technologies, Ltd. | Automatic guided vehicle and method for drive control of the same |
| CN103064417A (en) * | 2012-12-21 | 2013-04-24 | 上海交通大学 | Global localization guiding system and method based on multiple sensors |
| CN104102222A (en) * | 2014-07-31 | 2014-10-15 | 广州大学 | Accurately positioning method for AGV (Automatic Guided Vehicle) |
| CN104858871A (en) * | 2015-05-15 | 2015-08-26 | 珠海市一微半导体有限公司 | Robot system and map self-building and navigation method thereof |
| CN104898677A (en) * | 2015-06-29 | 2015-09-09 | 厦门狄耐克物联智慧科技有限公司 | Robot navigation system and robot navigation method |
-
2015
- 2015-09-23 CN CN201510610933.7A patent/CN105159302A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6092010A (en) * | 1997-09-03 | 2000-07-18 | Jervis B. Webb Company | Method and system for describing, generating and checking non-wire guidepaths for automatic guided vehicles |
| CN101556154A (en) * | 2008-10-13 | 2009-10-14 | 美新半导体（无锡）有限公司 | Positioning and path map generation system and data acquisition analysis method thereof |
| CN101750086A (en) * | 2008-11-28 | 2010-06-23 | 财团法人工业技术研究院 | Navigation information correcting method and navigation device thereof |
| US20110301800A1 (en) * | 2010-06-03 | 2011-12-08 | Hitachi Plant Technologies, Ltd. | Automatic guided vehicle and method for drive control of the same |
| CN103064417A (en) * | 2012-12-21 | 2013-04-24 | 上海交通大学 | Global localization guiding system and method based on multiple sensors |
| CN104102222A (en) * | 2014-07-31 | 2014-10-15 | 广州大学 | Accurately positioning method for AGV (Automatic Guided Vehicle) |
| CN104858871A (en) * | 2015-05-15 | 2015-08-26 | 珠海市一微半导体有限公司 | Robot system and map self-building and navigation method thereof |
| CN104898677A (en) * | 2015-06-29 | 2015-09-09 | 厦门狄耐克物联智慧科技有限公司 | Robot navigation system and robot navigation method |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107923754A (en) * | 2015-02-05 | 2018-04-17 | 格雷奥朗佩特有限公司 | Apparatus and method for guidance path compensation |
| CN107923754B (en) * | 2015-02-05 | 2021-08-06 | 格雷奥朗佩特有限公司 | Apparatus and method for navigation path compensation |
| CN105786001A (en) * | 2016-05-05 | 2016-07-20 | 重庆惟觉科技有限公司 | Intelligent control method for trolley |
| CN105786001B (en) * | 2016-05-05 | 2018-07-27 | 重庆惟觉科技有限公司 | A kind of intelligent control method of trolley |
| CN106292657A (en) * | 2016-07-22 | 2017-01-04 | 北京地平线机器人技术研发有限公司 | Mobile robot and patrol path setting method thereof |
| CN106292657B (en) * | 2016-07-22 | 2020-05-01 | 北京地平线机器人技术研发有限公司 | Mobile robot and patrol path setting method thereof |
| CN108536135B (en) * | 2017-03-06 | 2023-10-27 | 苏州宝时得电动工具有限公司 | Path control method and device and cleaning robot |
| CN108536135A (en) * | 2017-03-06 | 2018-09-14 | 苏州宝时得电动工具有限公司 | Controlling of path thereof, device and clean robot |
| CN108180911B (en) * | 2017-12-29 | 2020-02-28 | 广东嘉腾机器人自动化有限公司 | Method for automatically generating correction path by AGV |
| CN108180911A (en) * | 2017-12-29 | 2018-06-19 | 广东嘉腾机器人自动化有限公司 | A kind of AGV automatically generates amendment Path Method |
| CN110793514A (en) * | 2018-08-02 | 2020-02-14 | 菜鸟智能物流控股有限公司 | Position measuring method and position measuring device |
| CN110793514B (en) * | 2018-08-02 | 2024-03-01 | 菜鸟智能物流控股有限公司 | Position measuring method and position measuring device |
| CN109892311A (en) * | 2018-10-26 | 2019-06-18 | 济南钰成霖信息科技有限公司 | A kind of independent navigation spray robot and its working method for orchard operation |
| CN110109454A (en) * | 2019-04-18 | 2019-08-09 | 福建信息职业技术学院 | A kind of intelligent carriage motion profile clone method |
| CN110913335A (en) * | 2019-12-03 | 2020-03-24 | 三一重工股份有限公司 | Automatic guided vehicle sensing and positioning method and device, server and automatic guided vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105159302A (en) | Automatic guided vehicle (AGV) and automatic navigation method thereof | |
| US9410811B2 (en) | Automated guided vehicle, system comprising a computer and an automated guided vehicle, method of planning a virtual track, and method of operating an automated guided vehicle | |
| CN101201246B (en) | Moving body system | |
| CN104597905A (en) | Route tracking method for magnetic navigation AGV | |
| CN106272433B (en) | The track location system and method for autonomous mobile robot | |
| CN105824315B (en) | A kind of AGV automated induction systems and its method | |
| CN104750115B (en) | A kind of laser active type navigation system of mobile device and air navigation aid | |
| CN103048996A (en) | Automatic guided vehicle based on laser scanning distance meter, and system and navigation method of automatic guided vehicle | |
| CN2823983Y (en) | Double magnetic nail guiding device for automatic transport vehicle | |
| KR102079524B1 (en) | Automatic driving vehicle and automatic driving system with the same | |
| CN102142200B (en) | Retrograde-motion preventing system for vehicle | |
| CN108415432A (en) | Localization method of the robot based on straight flange | |
| CN105278533A (en) | Omnidirectional moving platform navigation method | |
| CN205950750U (en) | Transformer station inspection robot control system that navigates based on inertial navigation | |
| CN105737853B (en) | A kind of drift calibration method of robot inertial navigation system | |
| CN102650693A (en) | Method for correcting navigation mileage measurement signal of navigator | |
| US9612597B2 (en) | Apparatus for controlling autonomously navigating utility vehicle | |
| CN110789606A (en) | Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof | |
| CN111474938A (en) | Inertial navigation automatic guided vehicle and track determination method thereof | |
| CN207540557U (en) | A kind of device pinpoint in short-term for AGV trolleies | |
| JP2012059176A (en) | Guidance control system and guidance control method for mobile | |
| CN111473795A (en) | Obstacle avoidance method and terminal for unmanned vehicle | |
| CN110977929B (en) | Movement device, positioning method, rail device and movement system | |
| CN207367055U (en) | A kind of guide device based on monocular vision and Multi-sensor Fusion | |
| JPS61294512A (en) | Unmanned carrier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151216 |
|
| RJ01 | Rejection of invention patent application after publication |