CN105242672A - AGV (automated guided vehicle) capable of body deviation angle adjustment - Google Patents
AGV (automated guided vehicle) capable of body deviation angle adjustment Download PDFInfo
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- CN105242672A CN105242672A CN201510779855.3A CN201510779855A CN105242672A CN 105242672 A CN105242672 A CN 105242672A CN 201510779855 A CN201510779855 A CN 201510779855A CN 105242672 A CN105242672 A CN 105242672A
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Abstract
The present invention provides an AGV (automated guided vehicle) capable of body deviation angle adjustment. The AGV capable of body deviation angle adjustment comprises an AGV body and an AGV control system. Two mutually parallel navigation sensors are arranged at an axle wire at the bottom of the AGV body perpendicular to the AGV body and configured to detect piloting substance position information. The navigation sensors send deviation information of the central positions of the navigation sensors and the piloting substance position to the AGV control system. The AGV control system is configured to adjust the AGV according to the deflected angle of the axle wire of the AGV body and the piloting substance position to overlap the axle wire of the AGV body and the piloting substance position. According to the AGV capable of body deviation angle adjustment, the angle adjustment of the AGV is realized, and the operation of the AGV is more stable.
Description
Technical field
The present invention relates to AGV Navigation Control technical field, particularly relates to a kind of AGV carrying out the adjustment of car body deviation angle.
Background technology
AGV(AutomatedGuidedVehicle, automatical pilot transportation vehicle) refer to that equipment is provided with the transport vehicle of the homing guidance such as electromagnetism or optics device, it can travel along the guide path of regulation.
As shown in Figure 1, the magnetic navigation sensor 12 that current magnetic navigation system AGV is generally contained on AGV car body 11 chassis by one forms with the magnetic stripe 30 being attached to workspace, operationally, AGV can according to the feedback signal of magnetic navigation sensor 12, by the adjustment of pid algorithm, AGV is run along magnetic stripe 30.Because magnetic stripe 30 is in the center of sensor 12 all the time, therefore AGV control system can think that AGV does not depart from route all the time, even if the car body of AGV tilts, so the control system of AGV can not well adjust car body position, reduces the stability that AGV runs.
Summary of the invention
For this reason, technical matters to be solved by this invention is: provide a kind of AGV carrying out the adjustment of car body deviation angle, makes it run more stable.
So, the invention provides a kind of AGV carrying out the adjustment of car body deviation angle, comprise AGV car body and vehicle-mounted AGV control system, the axis of the vertical AGV car body of AGV vehicle bottom arranges two navigation sensors for detecting pilotage material site information be parallel to each other, navigation sensor sends the runout information of navigation sensor center and pilotage material site to AGV control system, and AGV control system makes the axis of AGV car body overlap with pilotage material site according to the angular setting AGV that the axis of AGV car body and pilotage material site depart from.
Wherein, described two navigation sensors are separately positioned on head and the afterbody of AGV vehicle bottom.
Described navigation sensor is magnetic navigation sensor, infrared navigation sensor or the navigation sensor for detecting metal, and corresponding described pilotage material is magnetic stripe, colour band or metal wire.
Described AGV control system comprises:
Collecting unit, for the runout information of the navigation sensor center and pilotage material site that gather the transmission of two navigation sensors;
Judging unit, the angle that the axis of AGV car body and pilotage material site depart from is judged for the navigation sensor center of the transmission according to described two navigation sensors and the runout information of pilotage material site, if do not depart from, then notify that performance element continues to keep straight on by AGV, depart from if having, then notify that performance element sends correction instruction to AGV, if without pilotage material site information, then notify that performance element is out of service and report to the police by AGV;
Performance element, for performing the instruction of judging unit, corrects AGV working line or stopping.
The AGV carrying out the adjustment of car body deviation angle of the present invention, by arranging two navigation sensors for detecting pilotage material site information be parallel to each other on the axis of the vertical AGV car body of AGV vehicle bottom, navigation sensor sends the runout information of navigation sensor center and pilotage material site to AGV control system, the mode that AGV control system makes the axis of AGV car body overlap with pilotage material site according to the angular setting AGV that the axis of AGV car body and pilotage material site depart from, achieve the angular setting of AGV, make the operation of AGV more stable.
Accompanying drawing explanation
Fig. 1 is the structural representation of AGV in prior art;
Fig. 2 is for carrying out the structural representation of the AGV of car body deviation angle adjustment described in the embodiment of the present invention;
The Control system architecture schematic diagram that Fig. 3 is AGV shown in Fig. 2;
Fig. 4 is the control system of AGV shown in Fig. 3 workflow schematic diagram.
Embodiment
Below, describe the present invention by reference to the accompanying drawings.
As shown in Figure 2, present embodiments provide a kind of AGV carrying out the adjustment of car body deviation angle, this AGV comprises: AGV car body 21 and vehicle-mounted AGV control system (not identifying in figure), the axis AA' of AGV car body 21 bottom vertical AGV car body arranges two navigation sensors 22 for detecting pilotage material site 30 information be parallel to each other, the runout information of center a and pilotage material site 30 that navigation sensor 22 sends navigation sensor 22 is to AGV control system, AGV control system adjusts AGV according to the axis AA' of AGV car body and the angle b that pilotage material site 30 departs from makes the axis AA' of AGV car body overlap with pilotage material site 30.
Navigation sensor 22 can be the navigation sensor of magnetic navigation sensor, infrared navigation sensor or detection metal, accordingly, when navigation sensor is magnetic navigation sensor, pilotage material is magnetic stripe, the present embodiment provides the material of pilotage material site 30 information to be magnetic stripe, be guide with magnetic stripe, two magnetic stripes are separately positioned on head and the afterbody of AGV vehicle bottom.When navigation sensor is infrared navigation sensor, pilotage material is colour band, namely lays the colour band larger with ground colour contrast on the ground, as in upper berth, white ground black bars, is guide with black bars.When navigation sensor is the omniselector detecting metal, pilotage material is embedded in underground metal wire, is guide with metal wire.
Such as, when the axis AA' of AGV car body 21 overlaps completely with magnetic stripe 30, the magnetic navigation sensor of head feeds back to the information of AGV control system for " magnetic stripe is entreated in the sensor ", the information that the magnetic navigation sensor of afterbody feeds back to AGV control system is also " magnetic stripe is entreated in the sensor ", and therefore AGV control system thinks that car body does not depart from magnetic stripe; When the axis AA' of AGV car body 21 and magnetic stripe 30 depart from, as shown in Figure 2, the sensor feedback of head is still " magnetic stripe is entreated in the sensor " to the information of AGV control system, but the sensor feedback of afterbody becomes " magnetic stripe is on the left of sensor " to the information of AGV control system, to AGV control system according to these two signals, the deflection angle b of AGV car body 21 axis AA' and magnetic stripe 30 can be known, enter the position of adjustment AGV car body, the axis AA' of AGV car body 21 is overlapped completely with magnetic stripe 30.Therefore, the degree of tilting of car body just can be known when the run-off the straight of AGV car body time, also the foundation of AGV control system adjustment is just given, the adjustment car body that AGV control system just can be shot the arrow at the target, shorten regulation time, simultaneously because AGV control system can gather route information at any time, ensure that car body can be followed magnetic stripe completely and be run, improve the stability of AGV motion.
For structure and the course of work thereof of AGV control system, as shown in Figure 3 and Figure 4, AGV control system comprises:
Collecting unit 41, for the runout information of the navigation sensor center and pilotage material site that gather the transmission of two navigation sensors;
Judging unit 42, the angle that the axis of AGV car body and pilotage material site depart from is judged for the navigation sensor center of the transmission according to described two navigation sensors and the runout information of pilotage material site, if do not depart from, then notify that performance element AGV continues to keep straight on, depart from if having, then notify that performance element sends correction instruction to AGV, if without pilotage material site information, then notify that performance element stops the operation of AGV and reports to the police;
Performance element 43, for performing the instruction of judging unit, corrects AGV working line or stopping.
The navigation sensor center of the transmission of collect two navigation sensors and the runout information of pilotage material site are sent to judging unit 42 by collecting unit 41, judging unit 42 judges according to the navigation sensor center of the transmission of described two navigation sensors and the runout information of pilotage material site the angle that the axis of AGV car body and pilotage material site depart from, if do not depart from, then notify that performance element 43 allows AGV continue to keep straight on, depart from if having, then notify that performance element 43 sends correction instruction to AGV, if without pilotage material site information, then notify that performance element 43 makes AGV out of service and reports to the police.
The present embodiment uses two magnetic navigation sensor for using single magnetic navigation sensor in background technology, and AGV described in the present embodiment better can follow route, and reduces the adjustment frequency and adjustment amount, thus AGV can be run more stably; Simultaneously because AGV is generally loading use, while even running, also improve the security of AGV.
In sum, the AGV of car body deviation angle adjustment can be carried out described in the present embodiment, by arranging two navigation sensors for detecting pilotage material site information be parallel to each other on the axis of the vertical AGV car body of AGV vehicle bottom, navigation sensor sends the runout information of navigation sensor center and pilotage material site to AGV control system, the mode that AGV control system makes the axis of AGV car body overlap with pilotage material site according to the angular setting AGV that the axis of AGV car body and pilotage material site depart from, achieve the angular setting of AGV, make the operation of AGV more stable.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. one kind can be carried out the AGV of car body deviation angle adjustment, comprise AGV car body and vehicle-mounted AGV control system, it is characterized in that, the axis of the vertical AGV car body of AGV vehicle bottom arranges two navigation sensors for detecting pilotage material site information be parallel to each other, navigation sensor sends the runout information of navigation sensor center and pilotage material site to AGV control system, and AGV control system makes the axis of AGV car body overlap with pilotage material site according to the angular setting AGV that the axis of AGV car body and pilotage material site depart from.
2. AGV according to claim 1, is characterized in that, described two navigation sensors are separately positioned on head and the afterbody of AGV vehicle bottom.
3. the AGV according to claims 1 or 2, is characterized in that, described navigation sensor is magnetic navigation sensor, infrared navigation sensor or the navigation sensor for detecting metal, and corresponding described pilotage material is magnetic stripe, colour band or metal wire.
4. the AGV according to claims 1 to 3 any one, is characterized in that, described AGV control system comprises:
Collecting unit, for the runout information of the navigation sensor center and pilotage material site that gather the transmission of two navigation sensors;
Judging unit, the angle that the axis of AGV car body and pilotage material site depart from is judged for the navigation sensor center of the transmission according to described two navigation sensors and the runout information of pilotage material site, if do not depart from, then notify that performance element continues to keep straight on by AGV, depart from if having, then notify that performance element sends correction instruction to AGV, if without pilotage material site information, then notify that performance element is out of service and report to the police by AGV;
Performance element, for performing the instruction of judging unit, corrects AGV working line or stopping.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510779855.3A CN105242672A (en) | 2015-11-13 | 2015-11-13 | AGV (automated guided vehicle) capable of body deviation angle adjustment |
| CN201621211664.3U CN206258734U (en) | 2015-11-13 | 2016-11-09 | AGV dollies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510779855.3A CN105242672A (en) | 2015-11-13 | 2015-11-13 | AGV (automated guided vehicle) capable of body deviation angle adjustment |
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| Publication Number | Publication Date |
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| CN105242672A true CN105242672A (en) | 2016-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510779855.3A Pending CN105242672A (en) | 2015-11-13 | 2015-11-13 | AGV (automated guided vehicle) capable of body deviation angle adjustment |
| CN201621211664.3U Active CN206258734U (en) | 2015-11-13 | 2016-11-09 | AGV dollies |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621211664.3U Active CN206258734U (en) | 2015-11-13 | 2016-11-09 | AGV dollies |
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| CN (2) | CN105242672A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527443A (en) * | 2016-11-27 | 2017-03-22 | 北京特种机械研究所 | Omnidirectional mobile AGV navigation rectification method |
| CN106681317A (en) * | 2016-11-27 | 2017-05-17 | 北京特种机械研究所 | AGV omnidirectional navigation-based driving 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 |
| 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 |
| CN108454610A (en) * | 2017-02-22 | 2018-08-28 | 深圳市城市交通规划设计研究中心有限公司 | Path following control device and method, the unmanned trolley of unmanned trolley |
| CN109387194A (en) * | 2018-10-15 | 2019-02-26 | 浙江明度智控科技有限公司 | A kind of method for positioning mobile robot and positioning system |
| CN109703650A (en) * | 2019-01-24 | 2019-05-03 | 江苏理工学院 | A kind of automated guided vehicle and guiding tracking |
| CN110361011A (en) * | 2019-08-27 | 2019-10-22 | 国以贤智能科技（上海）有限公司 | Method, apparatus, equipment and the storage medium of vision guided navigation |
| CN110758152A (en) * | 2019-10-08 | 2020-02-07 | 北京创新工场旷视国际人工智能技术研究院有限公司 | Intelligent robot, charging pile and intelligent robot autonomous charging and docking method |
| CN112596521A (en) * | 2020-12-14 | 2021-04-02 | 北京航星机器制造有限公司 | Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device |
| CN113848940A (en) * | 2021-10-18 | 2021-12-28 | 陕西晟思智能测控有限公司 | AGV autonomous navigation control method and system |
| CN115072235A (en) * | 2022-06-13 | 2022-09-20 | 韶关祺瑞环保设备有限公司 | Goods taking method, automatic navigation vehicle and intelligent warehousing system |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107878875A (en) * | 2017-12-01 | 2018-04-06 | 嘉孚朗机器人设备（苏州）有限公司 | Shaped piece feed frame |
| CN113759898A (en) * | 2021-08-05 | 2021-12-07 | 天津市山石机器人有限责任公司 | Magnetic navigation type intelligent vehicle attitude measurement system and method and storage medium |
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2015
- 2015-11-13 CN CN201510779855.3A patent/CN105242672A/en active Pending
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2016
- 2016-11-09 CN CN201621211664.3U patent/CN206258734U/en active Active
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527443A (en) * | 2016-11-27 | 2017-03-22 | 北京特种机械研究所 | Omnidirectional mobile AGV navigation rectification method |
| CN106681317A (en) * | 2016-11-27 | 2017-05-17 | 北京特种机械研究所 | AGV omnidirectional navigation-based driving method |
| CN106681317B (en) * | 2016-11-27 | 2019-07-05 | 北京特种机械研究所 | AGV omnirange running 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 |
| CN108454610A (en) * | 2017-02-22 | 2018-08-28 | 深圳市城市交通规划设计研究中心有限公司 | Path following control device and method, the unmanned trolley of unmanned trolley |
| 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 |
| CN109387194A (en) * | 2018-10-15 | 2019-02-26 | 浙江明度智控科技有限公司 | A kind of method for positioning mobile robot and positioning system |
| CN109387194B (en) * | 2018-10-15 | 2020-10-09 | 浙江明度智控科技有限公司 | Mobile robot positioning method and positioning system |
| CN109703650A (en) * | 2019-01-24 | 2019-05-03 | 江苏理工学院 | A kind of automated guided vehicle and guiding tracking |
| CN109703650B (en) * | 2019-01-24 | 2020-10-30 | 江苏理工学院 | Automatic guide transport vehicle and guide tracking method |
| CN110361011A (en) * | 2019-08-27 | 2019-10-22 | 国以贤智能科技（上海）有限公司 | Method, apparatus, equipment and the storage medium of vision guided navigation |
| CN110758152A (en) * | 2019-10-08 | 2020-02-07 | 北京创新工场旷视国际人工智能技术研究院有限公司 | Intelligent robot, charging pile and intelligent robot autonomous charging and docking method |
| CN112596521A (en) * | 2020-12-14 | 2021-04-02 | 北京航星机器制造有限公司 | Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device |
| CN112596521B (en) * | 2020-12-14 | 2023-04-11 | 北京航星机器制造有限公司 | Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device |
| CN113848940A (en) * | 2021-10-18 | 2021-12-28 | 陕西晟思智能测控有限公司 | AGV autonomous navigation control method and system |
| CN115072235A (en) * | 2022-06-13 | 2022-09-20 | 韶关祺瑞环保设备有限公司 | Goods taking method, automatic navigation vehicle and intelligent warehousing system |
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| CN206258734U (en) | 2017-06-16 |
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Application publication date: 20160113 |