CN105929829A - AGV car and control method thereof - Google Patents

AGV car and control method thereof Download PDF

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Publication number
CN105929829A
CN105929829A CN201610432040.2A CN201610432040A CN105929829A CN 105929829 A CN105929829 A CN 105929829A CN 201610432040 A CN201610432040 A CN 201610432040A CN 105929829 A CN105929829 A CN 105929829A
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wheel
rotation
agv dolly
anglec
agv
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CN201610432040.2A
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CN105929829B (en
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丁尧
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    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Abstract

The invention belongs to the technical field of teaching experiment platforms, and specifically provides an AGV car and a control method thereof. The AGV car control method comprises the steps that the pre-destination of the AGV car is input, and the AGV car is started; obstacles around the traveling AGV car are detected; according to detected information of the surrounding obstacles and the pre-destination, the current level moving distance Vx, the vertical moving distance Vy and the rotation angle omega of the AGV car are acquired; according to the level moving distance Vx, the vertical moving distance Vy and the rotation angle omega, four wheel differential combination control is carried out; and according to four wheel differential combination control, the AGV car is driven to carry out traveling or zero radius rotation without rotating the AGV car body until the AGV car reaches the pre-destination. According to the invention, the AGV car can move in any direction in a small space, and the impact of space on moving is reduced.

Description

A kind of AGV dolly and control method thereof
Technical field
The invention belongs to teaching experiment platform technical field, be specifically related to a kind of AGV dolly and controlling party thereof Method.
Background technology
AGV (Automated Guided Vehicle, self-navigation platform), as unpiloted carrying Car, applies the most extensive in industry and experiment.But, existing AGV dolly, owing to cannot realize 0 half The functions such as footpath turning, in less space, limitation of movement system.
Summary of the invention
It is an object of the invention to provide a kind of AGV dolly and control method thereof, it is possible to realize in less space The motion in any direction of AGV dolly, reduces the space impact on motion.
To this end, the present invention provides following technical scheme:
A kind of AGV dolly control method, including:
Step S1: the destination in advance of input AGV dolly, and start AGV dolly；
Step S2: the surrounding obstacles in detection AGV dolly traveling process；
Step S3: the surrounding obstacles information obtained according to detection and destination in advance, obtains AGV dolly and works as Front moves horizontally distance Vx, vertical travel distance VyAnd anglec of rotation ω；
Step S4: according to moving horizontally distance Vx, vertical travel distance VyAnd anglec of rotation ω, carry out Four-wheel differentia combination controls；
Step S5: control according to four-wheel differentia combination, on the basis of need not rotate AGV trolley Drive AGV dolly to advance or no-radius rotates, until arriving destination in advance.
Preferably, the method that the combination of described four-wheel differentia controls includes:
Step S41: according to AGV dolly current move horizontally distance Vx, vertical travel distance VyAnd rotation Gyration ω obtains the anglec of rotation of the four wheels of AGV dolly；
Step S42: obtain the driving frequency of each described wheel according to the anglec of rotation of each described wheel；
Step S43: drive the motion of each described wheel according to the described driving frequency of wheel each described.
Preferably, described according to AGV dolly current move horizontally distance Vx, vertical travel distance VyAnd Anglec of rotation ω obtains the method for the anglec of rotation of the four wheels of AGV dolly:
θ · 1 θ · 2 θ · 3 θ · 4 = 1 R 1 - 1 - ( l 1 + l 2 ) 1 1 l 1 + l 2 1 1 - ( l 1 + l 2 ) 1 - 1 l 1 + l 2 · V x V y ω
Wherein, θ1For the anglec of rotation of the near front wheel, θ2For the anglec of rotation of off-front wheel, θ3Rotation for left rear wheel Gyration, θ4For the anglec of rotation of off hind wheel, l1For 1/2nd of the length of AGV dolly, l2For AGV / 2nd of the width of dolly, R is the radius of wheel.
Preferably, the drive mechanism of each wheel described is motor, described according to each described wheel The method of the anglec of rotation driving frequency that obtains each described wheel be:
f 1 M = θ 1 2 π , f 2 M = θ 2 2 π , f 3 M = θ 3 2 π , f 4 M = θ 4 2 π ,
Wherein, M is the micro-stepping control amount of motor, f1For the driving frequency of the near front wheel, f2For off-front wheel Driving frequency, f3For the driving frequency of left rear wheel, f4For the driving frequency of off hind wheel, θ1For the near front wheel The anglec of rotation, θ2For the anglec of rotation of off-front wheel, θ3The anglec of rotation of left rear wheel, θ4The anglec of rotation of off hind wheel Degree.
The application also provides for a kind of AGV dolly, including:
Detection equipment: for detecting the surrounding obstacles in AGV dolly traveling process；
Processing system: for according to surrounding obstacles information and destination in advance, obtaining the water that AGV dolly is current Flat displacement Vx, vertical travel distance VyAnd anglec of rotation ω, and carry out four-wheel differentia control；
Control system: for inputting destination in advance and the startup of AGV dolly of AGV dolly, and according to Four-wheel differentia controls to drive AGV moving of car.
Preferably, described detection equipment includes proximity transducer.
Preferably, described proximity transducer is provided with 12, and along car body circumferentially distributed of AGV dolly.
Preferably, described detection equipment also includes laser radar.
Preferably, described detection equipment also includes vision sensor.
Preferably, wireless module is also included.
The technique effect of the present invention:
The present invention is by using four-wheel differentia to control, and AGV dolly is capable of no-radius and turns, and at car body Under the state not rotated, AGV dolly can move along any direction, therefore, even if in less space, AGV dolly can realize the motion of any direction, reduces the space restriction to motion, improves AGV motion Motility.
Accompanying drawing explanation
Fig. 1 is the control method flow chart of a kind of embodiment of AGV platform provided by the present invention；
Fig. 2 is the control system figure of a kind of embodiment of AGV platform provided by the present invention；
Fig. 3 is the concrete structure figure of a kind of embodiment of AGV platform provided by the present invention.
Reference:
In fig. 1-3:
1, detection equipment, 2, processing system, 3, control system, 4, wheel, 5, proximity transducer, 6, Bluetooth module, 7, vision sensor, 8, laser radar, 9, WI-FI module, 10, lithium battery.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, wherein certainly Begin to same or similar label eventually represent same or similar element or there is the unit of same or like function Part.The embodiment described below with reference to accompanying drawing is exemplary, it is intended to be used for explaining the present invention, and not It is understood that as limitation of the present invention.
A kind of AGV dolly control method that the present invention provides, as it is shown in figure 1, include:
Step S1: the destination in advance of input AGV dolly, and start AGV dolly；
Step S2: the surrounding obstacles in detection AGV dolly traveling process；
Step S3: the surrounding obstacles information obtained according to detection and destination in advance, obtains AGV dolly and works as Front moves horizontally distance Vx, vertical travel distance VyAnd anglec of rotation ω, wherein move horizontally distance and refer to AGV dolly is along the distance of the width of self, and vertical travel distance refers to the AGV dolly length side along self To distance, owing to AGV dolly all can be decomposed into water in the width direction along the displacement of any direction Flat displacement and vertical travel distance along its length；
Step S4: according to moving horizontally distance Vx, vertical travel distance VyAnd anglec of rotation ω, carry out Four-wheel differentia combination controls；
Step S5: control according to four-wheel differentia combination, on the basis of need not rotate AGV trolley Drive AGV dolly to advance or no-radius rotates, until arriving destination in advance.
Above-described embodiment is by using four-wheel differentia to control, and AGV dolly is capable of no-radius and turns, and Under the state that car body does not rotates, AGV dolly can move along any direction, therefore, even if at less sky Between, AGV dolly can realize the motion of any direction, reduces the space restriction to motion, improves AGV The motility of motion.
Wherein, the method that four-wheel differentia combination controls includes:
Step S41: according to AGV dolly current move horizontally distance Vx, vertical travel distance VyAnd rotation Gyration ω obtains the anglec of rotation of the four wheels 4 of AGV dolly；
Step S42: obtain the driving frequency of each wheel 4 according to the anglec of rotation of each wheel 4；
Step S43: drive the motion of each wheel according to the driving frequency of each wheel 4.
Pass through said method, it is possible to simplified control system.
Further, according to AGV dolly current move horizontally distance Vx, vertical travel distance VyAnd rotation Gyration ω obtains the method for the anglec of rotation of the four wheels of AGV dolly:
θ · 1 θ · 2 θ · 3 θ · 4 = 1 R 1 - 1 - ( l 1 + l 2 ) 1 1 l 1 + l 2 1 1 - ( l 1 + l 2 ) 1 - 1 l 1 + l 2 · V x V y ω
Wherein, θ1For the anglec of rotation of the near front wheel, θ2For the anglec of rotation of off-front wheel, θ3Rotation for left rear wheel Gyration, θ4For the anglec of rotation of off hind wheel, l1For 1/2nd of the length of AGV dolly, l2For AGV / 2nd of the width of dolly, R is the radius of wheel.
Adopt in this way, it is possible to simplify control program further.
The drive mechanism of each wheel is motor, obtains each according to the anglec of rotation of each wheel The method of the driving frequency of wheel 4 is:
f 1 M = θ 1 2 π , f 2 M = θ 2 2 π , f 3 M = θ 3 2 π , f 4 M = θ 4 2 π ,
Wherein, M is the micro-stepping control amount of motor, f1For the driving frequency of the near front wheel, f2For off-front wheel Driving frequency, f3For the driving frequency of left rear wheel, f4For the driving frequency of off hind wheel, θ1For the near front wheel The anglec of rotation, θ2For the anglec of rotation of off-front wheel, θ3The anglec of rotation of left rear wheel, θ4The anglec of rotation of off hind wheel Degree.
According to above-mentioned algorithm, it is possible to simplify control program and algorithm, it is simple to control operation.
The driving frequency of said method, it is also possible to by directly inputting different frequencies, to be adjusted.
The application also provides for a kind of AGV dolly, as in figure 2 it is shown, include:
Detection equipment 1: for detecting the surrounding obstacles in AGV dolly traveling process；
Processing system 2: for according to surrounding obstacles information and destination in advance, obtaining AGV dolly current Move horizontally distance Vx, vertical travel distance VyAnd anglec of rotation ω, and carry out four-wheel differentia control；
Control system 3: for inputting destination in advance and the startup of AGV dolly, the Yi Jigen of AGV dolly Control to drive AGV moving of car according to four-wheel differentia.
The processing system controlled by four-wheel differentia, in less space, AGV dolly can realize arbitrarily The motion in direction, reduces the space restriction to motion, improves the motility of AGV motion.
Specifically, as it is shown on figure 3, detection equipment 1 includes proximity transducer 5, this setting can be conveniently The transmission of system signal and the detection of surrounding.
Proximity transducer 5 can be provided with one, two or more, it is preferably provided with 12, and edge The car body of AGV dolly circumferentially distributed, preferably to obtain the information of periphery obstacle.
Detection equipment 1 also includes laser radar 8, preferably to obtain the information of periphery obstacle.
Detection equipment 1 also includes vision sensor 7, preferably to obtain the information of periphery obstacle.
Detection equipment 1 can also only include in proximity transducer 5, laser radar 8 and vision sensor 7 One or both, it is also possible to three all includes, it is of course also possible to also include other sensor.
AGV dolly also includes wireless module, such as bluetooth module 6 and WI-FI module 9, to facilitate with extraneous Communication.
AGV dolly also includes lithium battery 10, to facilitate power supply.Certainly its power supply can also pass through cable power, Or other electrokinetic cell.
In describing the invention, it is to be understood that term " " center ", " longitudinally ", " laterally ", " length Degree ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertically ", " water Flat ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axially ", " radially ", " all To " etc. the orientation of instruction or position relationship be based on orientation shown in the drawings or position relationship, merely to just Describe in the description present invention and simplification rather than indicate or imply that the device of indication or element must have specific Orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint Relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", The feature of " second " can express or implicitly include one or more this feature.The present invention's In description, " multiple " are meant that two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " install ", " being connected ", " connection ", The term such as " fix " should be interpreted broadly, connect for example, it may be fixing, it is also possible to be to removably connect, Or it is integral；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to pass through Intermediary is indirectly connected to, and can be connection or the interaction relationship of two elements of two element internals. For the ordinary skill in the art, above-mentioned term can be understood as the case may be in the present invention Concrete meaning.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " Or D score can be that the first and second features directly contact, or the first and second features are by between intermediary Contact.And, fisrt feature second feature " on ", " top " and " above " but first special Levy directly over second feature or oblique upper, or be merely representative of fisrt feature level height higher than second feature. Fisrt feature second feature " under ", " lower section " and " below " can be that fisrt feature is in second feature Underface or obliquely downward, or it is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", It is concrete that the description of " concrete example " or " some examples " etc. means to combine this embodiment or example describes Feature, structure, material or feature are contained at least one embodiment or the example of the present invention.In this theory In bright book, the schematic representation of above-mentioned term is necessarily directed to identical embodiment or example.And, Describe specific features, structure, material or feature can with in one or more embodiments in office or example with Suitably mode combines.Additionally, in the case of the most conflicting, those skilled in the art can be by this The feature of different embodiments described in description or example and different embodiment or example be combined and Combination.
Although above it has been shown and described that embodiments of the invention, it is to be understood that above-described embodiment It is exemplary, it is impossible to being interpreted as limitation of the present invention, those of ordinary skill in the art is the present invention's In the range of above-described embodiment can be changed, revise, replace and modification.

Claims (10)

1. an AGV dolly control method, it is characterised in that including:
Step S1: the destination in advance of input AGV dolly, and start AGV dolly；
Step S2: detect the surrounding obstacles in described AGV dolly traveling process；
Step S3: the surrounding obstacles information obtained according to detection and described destination in advance, obtains described AGV What dolly was current moves horizontally distance Vx, vertical travel distance VyAnd anglec of rotation ω；
Step S4: move horizontally distance V according to describedx, described vertical travel distance VyAnd the described anglec of rotation Degree ω, carries out four-wheel differentia combination and controls；
Step S5: control according to four-wheel differentia combination, need not rotate the basis of described AGV trolley Upper driving described AGV dolly is advanced or no-radius rotates, until arriving destination in advance.
AGV dolly control method the most according to claim 1, it is characterised in that described four-wheel differentia The method that combination controls includes:
Step S41: according to described AGV dolly current move horizontally distance Vx, vertical travel distance VyWith And anglec of rotation ω obtains the anglec of rotation of four wheels of AGV dolly；
Step S42: obtain the driving frequency of each described wheel according to the anglec of rotation of each described wheel；
Step S43: drive the motion of each described wheel according to the described driving frequency of wheel each described.
AGV dolly control method the most according to claim 2, it is characterised in that described according to AGV Distance V is moved horizontally described in dolly is currentx, described vertical travel distance VyAnd described anglec of rotation ω obtains The method of the anglec of rotation of four wheels to described AGV dolly is:
θ · 1 θ · 2 θ · 3 θ · 4 = 1 R 1 - 1 - ( l 1 + l 2 ) 1 1 l 1 + l 2 1 1 - ( l 1 + l 2 ) 1 - 1 l 1 + l 2 · V x V y ω
Wherein, θ1For the anglec of rotation of the near front wheel, θ2For the anglec of rotation of off-front wheel, θ3Rotation for left rear wheel Gyration, θ4For the anglec of rotation of off hind wheel, l1For 1/2nd of the length of AGV dolly, l2For AGV / 2nd of the width of dolly, R is the radius of wheel.
AGV dolly control method the most according to claim 3, it is characterised in that described each The drive mechanism of wheel is motor, and the described anglec of rotation according to each described wheel obtains each described The method of the driving frequency of wheel is:
f 1 M = θ 1 2 π , f 2 M = θ 2 2 π , f 3 M = θ 3 2 π , f 4 M = θ 4 2 π ,
Wherein, M is the micro-stepping control amount of motor, f1For the driving frequency of the near front wheel, f2For off-front wheel Driving frequency, f3For the driving frequency of left rear wheel, f4For the driving frequency of off hind wheel, θ1For the near front wheel The anglec of rotation, θ2For the anglec of rotation of off-front wheel, θ3The anglec of rotation of left rear wheel, θ4The anglec of rotation of off hind wheel Degree.
5. an AGV dolly, it is characterised in that including:
Detection equipment: for detecting the surrounding obstacles in AGV dolly traveling process；
Processing system: for according to surrounding obstacles information and destination in advance, obtaining described AGV dolly current Move horizontally distance Vx, vertical travel distance VyAnd anglec of rotation ω, and carry out four-wheel differentia control；
Control system: for inputting destination in advance and the startup of described AGV dolly of AGV dolly, and Control to drive described AGV moving of car according to four-wheel differentia.
AGV dolly the most according to claim 5, it is characterised in that described detection equipment includes close Sensor.
AGV dolly the most according to claim 6, it is characterised in that described proximity transducer is provided with ten Two, and along car body circumferentially distributed of AGV dolly.
AGV dolly the most according to claim 6, it is characterised in that described detection equipment also includes swashing Optical radar.
9. according to the AGV dolly described in any one of claim 5-8, it is characterised in that described detection equipment Also include vision sensor.
AGV dolly the most according to claim 5, it is characterised in that also include wireless module.
CN201610432040.2A 2016-06-15 2016-06-15 A kind of AGV trolley and its control method Active CN105929829B (en)

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Cited By (4)

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Publication number Priority date Publication date Assignee Title
CN106741265A (en) * 2017-01-04 2017-05-31 芜湖德力自动化装备科技有限公司 A kind of AGV platforms
CN106886222A (en) * 2017-03-29 2017-06-23 北京京东尚科信息技术有限公司 The control method and device of automatic guided vehicle
CN109839931A (en) * 2019-01-30 2019-06-04 斯坦德机器人（深圳）有限公司 The picking method, apparatus and computer equipment of automated guided vehicle
CN111766856A (en) * 2019-03-28 2020-10-13 北京京东尚科信息技术有限公司 Automatic guide transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller

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CN204713933U (en) * 2014-01-16 2015-10-21 广州科力新能源有限公司 Intelligence AGV Automatic Track Finding transport trolley
CN105235756A (en) * 2015-10-19 2016-01-13 广西大学 Compact AGV with zero turning radius and shock absorption function

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EP0226386A2 (en) * 1985-12-06 1987-06-24 NDC Technologies, Inc. Automatically guided vehicle having steering mechanism for enabling vehicle to follow guidance wire
CN101813943A (en) * 2010-02-08 2010-08-25 吉林大学 Intelligent navigation vehicle and control method thereof
CN203667453U (en) * 2013-12-03 2014-06-25 北京物资学院 AGV device
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106741265A (en) * 2017-01-04 2017-05-31 芜湖德力自动化装备科技有限公司 A kind of AGV platforms
CN106886222A (en) * 2017-03-29 2017-06-23 北京京东尚科信息技术有限公司 The control method and device of automatic guided vehicle
CN106886222B (en) * 2017-03-29 2021-01-26 北京京东乾石科技有限公司 Control method and device for automated guided vehicle
CN109839931A (en) * 2019-01-30 2019-06-04 斯坦德机器人（深圳）有限公司 The picking method, apparatus and computer equipment of automated guided vehicle
CN111766856A (en) * 2019-03-28 2020-10-13 北京京东尚科信息技术有限公司 Automatic guide transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller

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