CN105571589A - AGV (automatic guided vehicle) route automatic correction method - Google Patents
AGV (automatic guided vehicle) route automatic correction method Download PDFInfo
- Publication number
- CN105571589A CN105571589A CN201510627002.8A CN201510627002A CN105571589A CN 105571589 A CN105571589 A CN 105571589A CN 201510627002 A CN201510627002 A CN 201510627002A CN 105571589 A CN105571589 A CN 105571589A
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- CN
- China
- Prior art keywords
- agv dolly
- magnetic force
- route
- controller
- agv
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- 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.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The invention introduces an AGV (automatic guided vehicle) route automatic correction method. A route automatic correction device is utilized to realize optimization control on vehicle advancing routes. The method includes that a guide rail is improved, a rail tape added with magnetic dust is adopted, and the advancing routes of an AGV are corrected by capturing changes of force generated by the magnetic dust through two magnetic sensors arranged on the lower surface of a chassis; a turnplate device is additionally mounted, so that advancing route optimization on multi-bend routes is facilitated; a camera is additionally mounted, so that normal correction of traveling routes of the AGV at multi-crossway junctions can be guaranteed through route comparison.
Description
Technical field
The present invention relates to route correction technical field, particularly a kind of AGV dolly route auto-correction method.
Background technology
AGV dolly is a kind of can traveling along the guide path of regulation; there is the transport vehicle of safeguard protection and various transfer function; have automatic loading and unloading goods concurrently simultaneously; without the need to manual operation and the feature such as automaticity able to programme is high, safe, flexible; it is one of domestic best solution route realizing material automatic transporting at present; but the mode of current AGV dolly many employings rail mounted navigation; if dolly travel route offset track; next step order of advancing cannot be obtained, cause dolly normal operation conditionly to occur.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of AGV dolly route auto-correction method.
In order to realize the object solved the problems of the technologies described above, present invention employs following technical scheme:
A kind of AGV dolly route auto-correction method, utilizes route automatic correction device to be optimized control to dolly course, it is characterized in that: on the centre position of the course of AGV dolly, paste the track adhesive tape being added with magnetic force dust; And a rotating disk that can be driven by servomotor is set on AGV dolly chassis; Rotating disk is arranged two magnetic force induction devices be electrically connected with controller, controller controls dolly along track tape movement by magnetic force induction device feedack; AGV dolly chassis lower surface installs camera additional, and camera is electrically connected with controller;
Specific works step is:
Step one, the centre position of the course of AGV dolly is pasted be added with the track adhesive tape of magnetic force dust;
Step 2, AGV dolly moved to course and makes on rotating disk two magnetic force induction devices all be positioned at directly over track adhesive tape;
Step 3, AGV dolly to be started;
Step 4, two magnetic force induction devices to magnetic force dust produce the change capture of power, and detection signal is fed back to controller, controller corrects AGV dolly course according to feedback signal, makes AGV dolly along track tape movement;
Step 5, controller control rotating disk and carry out the process of travel path scheme optimization to many bends path;
Step 6, controller are according to the signal of the cam feedback of AGV dolly chassis lower surface, and pass course comparison, control AGV dolly can normal correction travel route at many crossroads.
Concrete: described route automatic correction device comprises magnetic force induction device and track adhesive tape, described track tape-stripping is in centre position, dolly running rail road surface, described magnetic force induction device is fixedly mounted on disk lower surface, and magnetic force induction device is electrically connected with controller, the welding rotating shaft of described disk upper surface center, described rotating shaft is connected with servo motor output shaft, described servomotor is fixed with the support of perforate by inside, described support is fixedly connected with chassis by bolt, and described chassis coordinates with rotating disk to be installed.
Preferably, magnetic force dust is added in described track adhesive tape inside.
Preferably, described chassis lower surface installs camera additional, and camera is electrically connected with controller.
Preferably, lining is installed additional between described rotating disk and chassis.
Preferably, described magnetic force induction device has two and is evenly arranged in disk lower surface.
Preferably, electromagnetic clutch is installed additional between described rotating shaft and servomotor.
These technical schemes, the technical scheme comprising improvement and the technical scheme improved further also can combine mutually or combine, thus reach better technique effect.
By adopting technique scheme, the present invention has following beneficial effect:
Compared with prior art, this route auto-correction method makes improvement to guide rails, adopt the track adhesive tape being added with magnetic force dust, by two magnetic force induction devices of chassis lower surface to magnetic force dust produce the change capture of power, thus AGV dolly course is corrected, also add rotating-table apparatus simultaneously, be applicable to carrying out the process of travel path scheme optimization to many bends path, install camera additional simultaneously, pass course comparison, ensures that AGV dolly can normal correction travel route at many crossroads.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is polycrystalline substance schematic diagram of the present invention.
In figure: 1 chassis, 2 bolts, 3 supports, 4 servomotors, 5 rotating disks, 6 electromagnetic clutchs, 7 rotating shafts, 8 linings, 9 magnetic force induction devices, 10 cameras, 11 track adhesive tapes.
Embodiment
Below in conjunction with drawings and Examples, further explanation is explained to this patent.But the protection domain of this patent is not limited to concrete embodiment.
Embodiment 1
As shown in drawings, a kind of AGV dolly route auto-correction method of this patent, utilize route automatic correction device to be optimized control to dolly course, it is characterized in that: on the centre position of the course of AGV dolly, paste the track adhesive tape 11 being added with magnetic force dust; And a rotating disk 5 that can be driven by servomotor 4 is set on AGV dolly chassis; Rotating disk 5 is arranged two magnetic force induction devices 9 be electrically connected with controller, controller controls dolly by magnetic force induction device 9 feedack and moves along track adhesive tape 11; AGV dolly chassis lower surface installs camera 10 additional, and camera 10 is electrically connected with controller.
Specific works step is:
Step one, the centre position of the course of AGV dolly is pasted be added with the track adhesive tape 11 of magnetic force dust;
Step 2, AGV dolly moved to course and makes on rotating disk 5 two magnetic force induction devices 9 all be positioned at directly over track adhesive tape 11;
Step 3, AGV dolly to be started;
Step 4, two magnetic force induction devices, 9 pairs of magnetic force dust produce the change capture of power, and detection signal is fed back to controller, controller corrects AGV dolly course according to feedback signal, and AGV dolly is moved along track adhesive tape 11;
Step 5, controller control rotating disk 5 and carry out the process of travel path scheme optimization to many bends path;
The signal that step 6, controller feed back according to the camera 10 of AGV dolly chassis lower surface, pass course comparison, control AGV dolly can normal correction travel route at many crossroads.
Wherein, route automatic correction device comprises magnetic force induction device 9 and track adhesive tape 11, track adhesive tape 11 is pasted onto centre position, dolly running rail road surface, magnetic force dust is added in track adhesive tape 11 inside, magnetic force induction device 9 is fixedly mounted on rotating disk 5 lower surface, and magnetic force induction device 9 is electrically connected with controller, magnetic force induction device 9 has two and is evenly arranged in rotating disk 5 lower surface, by the different suction of two magnetic force induction devices, 9 pairs of track adhesive tapes 11, thus by Signal transmissions to controller, by controller to after Data Management Analysis, by scheme transmission of advancing to the propulsion system of dolly and steering gear, the welding rotating shaft 7 of rotating disk 5 upper surface center, rotating shaft 7 is connected with servomotor 4 output shaft, servomotor 4 is fixed by the inner support 3 with perforate, support 3 is fixedly connected with chassis 1 by bolt 2, chassis 1 coordinates with rotating disk 5 to be installed, lining 8 is installed additional between rotating disk 5 and chassis 1, the magnetic force induction device 9 on rotating disk 5 surface made can obtain multiple operating angle, more be applicable to many bends route, chassis 1 lower surface installs camera 10 additional, and camera 10 is electrically connected with controller, by camera 10 data acquisition, with database data comparison, thus determine the correct enforcement path of dolly at many crossroads, electromagnetic clutch 6 is installed additional between rotating shaft 7 and servomotor 4.
Claims (7)
1. an AGV dolly route auto-correction method, utilizes route automatic correction device to be optimized control to dolly course, it is characterized in that: on the centre position of the course of AGV dolly, paste the track adhesive tape being added with magnetic force dust; And a rotating disk that can be driven by servomotor is set on AGV dolly chassis; Rotating disk is arranged two magnetic force induction devices be electrically connected with controller, controller controls dolly along track tape movement by magnetic force induction device feedack; AGV dolly chassis lower surface installs camera additional, and camera is electrically connected with controller;
Specific works step is:
Step one, the centre position of the course of AGV dolly is pasted be added with the track adhesive tape of magnetic force dust;
Step 2, AGV dolly moved to course and makes on rotating disk two magnetic force induction devices all be positioned at directly over track adhesive tape;
Step 3, AGV dolly to be started;
Step 4, two magnetic force induction devices to magnetic force dust produce the change capture of power, and detection signal is fed back to controller, controller corrects AGV dolly course according to feedback signal, makes AGV dolly along track tape movement;
Step 5, controller control rotating disk and carry out the process of travel path scheme optimization to many bends path;
Step 6, controller are according to the signal of the cam feedback of AGV dolly chassis lower surface, and pass course comparison, control AGV dolly can normal correction travel route at many crossroads.
2. AGV dolly route auto-correction method according to claim 1, it is characterized in that: described route automatic correction device comprises magnetic force induction device and track adhesive tape, described track tape-stripping is in centre position, dolly running rail road surface, described magnetic force induction device is fixedly mounted on disk lower surface, and magnetic force induction device is electrically connected with controller, the welding rotating shaft of described disk upper surface center, described rotating shaft is connected with servo motor output shaft, described servomotor is fixed with the support of perforate by inside, described support is fixedly connected with chassis by bolt, described chassis coordinates with rotating disk to be installed.
3. AGV dolly route auto-correction method according to claim 2, is characterized in that: magnetic force dust is added in described track adhesive tape inside.
4. AGV dolly route auto-correction method according to claim 2, is characterized in that: described chassis lower surface installs camera additional, and camera is electrically connected with controller.
5. AGV dolly route auto-correction method according to claim 2, is characterized in that: install lining additional between described rotating disk and chassis.
6. AGV dolly route auto-correction method according to claim 2, is characterized in that: described magnetic force induction device has two and is evenly arranged in disk lower surface.
7. AGV dolly route auto-correction method according to claim 2, is characterized in that: install electromagnetic clutch additional between described rotating shaft and servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510627002.8A CN105571589A (en) | 2015-09-29 | 2015-09-29 | AGV (automatic guided vehicle) route automatic correction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510627002.8A CN105571589A (en) | 2015-09-29 | 2015-09-29 | AGV (automatic guided vehicle) route automatic correction method |
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| Publication Number | Publication Date |
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| CN105571589A true CN105571589A (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510627002.8A Pending CN105571589A (en) | 2015-09-29 | 2015-09-29 | AGV (automatic guided vehicle) route automatic correction method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705955A (en) * | 2016-12-23 | 2017-05-24 | 深圳市三维通机器人系统有限公司 | Mass AGV (Automated Guided Vehicle) dispatching method and system thereof |
| CN106909155A (en) * | 2017-03-28 | 2017-06-30 | 北京京东尚科信息技术有限公司 | Automated guided vehicle control method, device and automated guided vehicle |
| CN108762276A (en) * | 2018-06-07 | 2018-11-06 | 安徽理工大学 | A kind of automatic inclined rail means for correcting of AGV trolleies and automatic rail bearing calibration partially |
| EP3971464A1 (en) * | 2020-09-21 | 2022-03-23 | M. Schäfer Vermietung und Verwaltung | Camera carriage and camera movement system |
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| CN203298774U (en) * | 2013-03-22 | 2013-11-20 | 武汉理工大学 | Magnetic navigation sensor for AGV (automatic guided vehicle) |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106705955A (en) * | 2016-12-23 | 2017-05-24 | 深圳市三维通机器人系统有限公司 | Mass AGV (Automated Guided Vehicle) dispatching method and system thereof |
| CN106909155A (en) * | 2017-03-28 | 2017-06-30 | 北京京东尚科信息技术有限公司 | Automated guided vehicle control method, device and automated guided vehicle |
| CN106909155B (en) * | 2017-03-28 | 2019-07-30 | 北京京东尚科信息技术有限公司 | Automated guided vehicle control method, device and automated guided vehicle |
| US11225260B2 (en) | 2017-03-28 | 2022-01-18 | Beijing Jingdong Qianshi Technology Co., Ltd. | Control method and device for automated guided vehicle, and automated guided vehicle |
| CN108762276A (en) * | 2018-06-07 | 2018-11-06 | 安徽理工大学 | A kind of automatic inclined rail means for correcting of AGV trolleies and automatic rail bearing calibration partially |
| EP3971464A1 (en) * | 2020-09-21 | 2022-03-23 | M. Schäfer Vermietung und Verwaltung | Camera carriage and camera movement system |
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Application publication date: 20160511 |