CN106681317B - AGV omnirange running method - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of AGV omnirange running methods, belong to the technical field of navigation and positioning of Mecanum wheel Omni-mobile AGV.The routing information that the present invention is sent according to host computer, and path point is parsed and classified according to a kind of path analytical algorithm, realize the high accuracy positioning and Omni-mobile navigation traveling of AGV.Wherein, the real time information also according to magnetic navigation sensor feedback carries out comprehensive descision, to obtain the information such as orientation, the speed of AGV navigation traveling, further realizes the high accuracy positioning of AGV；Also according to the judgment mode in narrow regions and pahtfinder hard region, Omni-mobile navigation traveling is further realized.
Description
Technical field
The present invention relates to the technical field of navigation and positioning of Mecanum wheel Omni-mobile AGV, and in particular to a kind of AGV omnidirectional
Navigate running method.
Background technique
Mecanum wheel Omni-mobile platform is widely used in boat as a kind of flexible carrying platform solution
The every field such as sky, space flight, education, medical treatment, industry, logistics.And AGV (automated guided vehicle) is mainly for steering-wheel-shaped at present
Using the navigator fix scheme of magnetic stripe guiding plus terrestrial reference positioning, this kind of scheme reserves corresponding formula AGV in magnetic stripe path planning needs
Turning radius and driving path it is relatively simple.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is how to realize the high accuracy positioning and Omni-mobile navigation traveling of AGV.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of AGV omnirange running methods, including following step
It is rapid:
S1, AGV receive the routing information for the driving path that host computer is sent, and the driving path is by one group of continuous path section
Point composition, the information of each path node includes coordinate information (m, n)；The routing information includes the letter of each path node
Relation information between breath and each path node；The relation information includes the distance between path node information；
S2, path parsing is carried out according to the routing information, i.e., each path node in the routing information is classified as
One kind in 7 classes below: it halt: indicates to stop after AGV reaches this path node；The point of rotation: after AGV reaches this path node
Rotation；Deceleration point: it indicates to slow down after AGV reaches this path node；Turn to subtract a little: indicate AGV reach first rotation after this path node,
It carries out accelerating again finally carrying out deceleration-operation；Traveling point: it indicates to carry out holding normally travel after AGV reaches this path node；Turn
Rest point: expression AGV first rotates after reaching this path node, stops again；Plus-minus point: indicate advanced after AGV reaches this path node
Row carries out deceleration-operation after accelerating；
S3, determine that AGV is combined in the driving status of the path node according to the classification of each path node, to complete to go
Sail task；Wherein the classification of each path node includes one or more of five kinds of driving status of AGV: stop state, walking state,
State, deceleration state and acceleration and deceleration state are rotated, after wherein acceleration and deceleration state indicates that AGV first can accelerate to maximum speed in the process of moving
It is decelerated to minimum travel speed again, transfer subtracts a little corresponding driving status combination and turns to stop to switch to acceleration and deceleration state by rotation state
The corresponding driving status combination of point is to be switched to stop state by rotation state.
Preferably, during step S3 completes traveling task, it is carried out as follows navigation correction in real time:
If the first, which occurs, for AGV car body deviates situation, i.e. car body central point below the car body on the magnetic stripe path of magnetic stripe,
There is the angle being not zero in car body central axes and magnetic stripe path simultaneously, then the value returned according to Magnetic Sensor, analysis car body with
The departure degree of magnetic stripe, and calculate rotation speed ω and carry out body gesture adjustment, realize correction；
If second of deviation situation occurs for car body, i.e., car body central point is not on magnetic stripe path, while car body central axes
Value parallel with magnetic stripe path, then being returned according to Magnetic Sensor, analyzes the departure degree of car body and magnetic stripe, and calculates traversing speed
It spends x and carries out body gesture adjustment, realize correction；
If the drift condition that car body occurs is the compound deviation situation of the first and second situation, i.e., existing rotation is inclined
It moves, and has the case where lateral shift, then disassemble obtained compound deviation situation for the first and second situation, then pass through it
Corresponding calculation calculates corresponding transverse moving speed x and rotation speed ω, while carrying out traversing and rotation adjustment, real
Now rectify a deviation；
The Magnetic Sensor is former and later two Magnetic Sensors, is separately mounted to car body front and rear end；If the normal row of car body
It sails, without any offset, then car body central point does not press from both sides on magnetic stripe path, while between car body central axes and magnetic stripe path
Angle.
Preferably, during step S3 completes traveling task, travel as follows: setting has two in driving path
The equal adjacent path node of a ordinate saves two paths if distance between the two is greater than or equal to preset threshold
The path node first driven in point is classified as turning to subtract a little；Otherwise the path node A first driven in two path nodes is classified as
Travel point, and car body in path node A towards the alpha-beta direction of own coordinate system, into two path nodes after the road that drives to
Diameter node B traveling, α indicate car body in the headstock direction of path node A, and β is the driving direction of car body, and β is saved according to two paths
The coordinate information of point obtains.
Preferably, if alpha-beta beyond value range (- 180 °, 180 °], operated then add deduct 360 ° to alpha-beta.
Preferably, the coordinate information (m, n) and path node identifier ID are corresponded, and have uniqueness.
(3) beneficial effect
The routing information that the present invention is sent according to host computer, and path point is parsed according to a kind of path analytical algorithm
And classification, realize the high accuracy positioning and Omni-mobile navigation traveling of AGV.Wherein, also according to magnetic navigation sensor feedback
Real time information carries out comprehensive descision, to obtain the information such as orientation, the speed of AGV navigation traveling, further realizes the high-precision of AGV
Degree positioning；Also according to the judgment mode in narrow regions and pahtfinder hard region, Omni-mobile navigation traveling is further realized.
Detailed description of the invention
Fig. 1 is that the rotation of the embodiment of the present invention deviates situation schematic diagram；
Fig. 2 is the lateral run-out situation schematic diagram of the embodiment of the present invention；
Fig. 3 is the compound deviation situation schematic diagram of the embodiment of the present invention；
Fig. 4 is the driving path schematic diagram of the embodiment of the present invention；
Fig. 5 is 1 schematic diagram of scheme in the embodiment of the present invention；
Fig. 6 is 2 schematic diagram of scheme in the embodiment of the present invention.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to of the invention
Specific embodiment is described in further detail.
The embodiment of the invention provides a kind of AGV omnirange running methods, comprising the following steps:
S1, AGV receive the routing information for the driving path that host computer is sent, and the driving path is by one group of continuous path section
Point composition, the information of each path node includes coordinate information (m, n)；The routing information includes the letter of each path node
Relation information between breath and each path node；The relation information includes the distance between path node information；Coordinate
Information (m, n) and path node identifier ID are corresponded, and have uniqueness.
S2, path parsing is carried out according to the routing information, i.e., each path node in the routing information is classified as
One kind in 7 classes below: it halt: indicates to stop after AGV reaches this path node；The point of rotation: after AGV reaches this path node
Rotation；Deceleration point: it indicates to slow down after AGV reaches this path node；Turn to subtract a little: indicate AGV reach first rotation after this path node,
It carries out accelerating again finally carrying out deceleration-operation；Traveling point: it indicates to carry out holding normally travel after AGV reaches this path node；Turn
Rest point: expression AGV first rotates after reaching this path node, stops again；Plus-minus point: indicate advanced after AGV reaches this path node
Row carries out deceleration-operation after accelerating；In this step, when car body reaches respective path node, AGV can receive RFID upload
Landmark point information (label corresponding with coordinate information), diametral pitch of just satisfying the need at this time point are classified, can be real by RFID technique
Now to the distinctive mark of tens of thousands of nodes, the complexity of AGV driving path is effectively extended；
S3, determine that AGV is combined in the driving status of the path node according to the classification of each path node, to complete to go
Sail task；Wherein the classification of each path node includes one or more of five kinds of driving status of AGV: stop state, walking state,
State, deceleration state and acceleration and deceleration state are rotated, after wherein acceleration and deceleration state indicates that AGV first can accelerate to maximum speed in the process of moving
It is decelerated to minimum travel speed again, transfer subtracts a little corresponding driving status combination and turns to stop to switch to acceleration and deceleration state by rotation state
The corresponding driving status combination of point is to be switched to stop state by rotation state.
During step S3 completes traveling task, it is carried out as follows navigation correction in real time:
As shown in Figure 1, if the first, which occurs, for AGV car body deviates situation, i.e. car body central point magnetic stripe below car body
On magnetic stripe path, while there is the angle being not zero in car body central axes and magnetic stripe path, then the value returned according to Magnetic Sensor,
The departure degree of car body and magnetic stripe is analyzed, and calculates rotation speed ω and carries out body gesture adjustment, realizes correction；Magnetic Sensor
Position are as follows: Magnetic Sensor be former and later two Magnetic Sensors, be separately mounted to car body front and rear end (upper and lower two in Fig. 1
Small rectangle, the big rectangle of four of Fig. 1 middle left and right two sides are wheel), the value that former and later two sensors return is from left to right
Being followed successively by 1 to 9, (different circles, the value returned if first circle is bright are 1 in corresponding diagram, and second circle is bright to be returned
Value be 2, and so on, if the last one i.e. the 9th circle is bright value be 9 or adjacent two circles or adjacent three
A circle is bright, if two or three circles are bright, the value returned is the average value of the two or three circle respective values).Magnetic stripe
Position are as follows: if car body normally travel, without any offset, then car body central point is on magnetic stripe path, while car body central axes
There is no angle between magnetic stripe path, magnetic stripe is arranged on ground.
For the first case, if the value of preceding Magnetic Sensor is a, the value of rear Magnetic Sensor is b, between the Magnetic Sensor of front and back
Distance be definite value L, then calculate the numerical value absolute value of the difference between the Magnetic Sensor of front and back | a-b | the half (a+b)/2 with sum, and
Calculate the trigonometric function tan α of the angle α between car body central axes and magnetic stripe=| a-b | thus/L calculates angle α, will press from both sides
Angle α obtains rotation speed ω multiplied by coefficient, carries out body gesture adjustment using rotation speed ω, correction is realized, wherein the system
Number is when rotating to most inclined degree according to car body, according to the smaller rotation speed ω of the angle α examination that correspondingly smaller theory is carried out
It tests to obtain, coefficient is 0.02 in the present embodiment.
As shown in Fig. 2, that is, car body central point is not on magnetic stripe path, simultaneously if second of deviation situation occurs for car body
Car body central axes are parallel with magnetic stripe path, then the value returned according to Magnetic Sensor, analyze the departure degree of car body and magnetic stripe, and count
It calculates transverse moving speed x and carries out body gesture adjustment, realize correction；
For second situation, before the half (a+b)/2 of the sum of the value of forward and backward Magnetic Sensor is subtracted Magnetic Sensor or after
The central value of Magnetic Sensor obtains the distance between the midpoint of magnetic stripe and car body central point d below car body, then calculates traversing speed
X=2.5d is spent, body gesture adjustment is carried out using transverse moving speed x, realizes correction, this is utilized midpoint distance d in the process and gets over
Small transverse moving speed x smaller linear relationship.
Most of drift condition can be the compound of above-mentioned two situations, i.e., existing rotation offset, and have lateral shift
Situation will need while carrying out traversing and rotation adjustment operation to realize correction at this time.As shown in figure 3, if car body occur it is inclined
Condition of shifting one's love be the first and second situation compound deviation situation, then by obtained compound deviation situation disassemble for the first with
Second situation, then corresponding transverse moving speed x and rotation speed ω are calculated by its corresponding calculation, while into
Row is traversing and rotation adjusts, and realizes correction；
For compound deviation situation, before the half (a+b)/2 of the sum of the value of forward and backward Magnetic Sensor is subtracted Magnetic Sensor or
The central value of Magnetic Sensor obtains the distance between the midpoint of magnetic stripe and car body central point d below car body afterwards, then calculates traversing
Speed x=ytan α+d*2.5/cos α, carrying out body gesture adjustment using the recombination velocity of x, y, (car body is with the recombination velocity of x, y
(the sum of two velocity vectors x, y) advances, to advance along magnetic stripe), realize correction, wherein y is preset car body advance speed
Degree.
It during step S3 completes traveling task, is travelled according further to such as under type: vertical there are two setting in driving path
The equal adjacent path node of coordinate will be in two path nodes if distance between the two is greater than or equal to preset threshold
The path node first driven to is classified as turning to subtract a little；Otherwise the path node A first driven in two path nodes is classified as travelling
Point, and car body in path node A towards the alpha-beta direction of own coordinate system, into two path nodes after drive to path section
Point B traveling, α indicate car body in the headstock direction of path node A, and β is the driving direction of car body, and β is according to two path nodes
Coordinate information obtains.If alpha-beta beyond value range (- 180 °, 180 °], operated then add deduct 360 ° to alpha-beta.
For example, it is directed to Mecanum wheel Omni-mobile AGV, when if necessary to the traveling such as path of Fig. 4 (1. -> 2. -> 3. ->
4. -> 5. -> 6.), then can have two schemes: 1. such as Fig. 5 are rotated by 90 ° counterclockwise after driving to 3. point, move forward to 4.
Point moves forward after rotating clockwise 90 ° again；2. being travelled further along such as Fig. 6 travelling to after 3. putting to laterally move to 4. to put.Such as
3. fruit puts to the operating range very little or the traveling more narrow car body in space 4. put can not rotate, then above scheme can be executed
2 operating mode；3. can be executed above-mentioned if putting longer or need vehicle body forward travel to the operating range 4. put
The operating mode of scheme 1.
For scheme 1,3. can use path analytical algorithm will be classified as turning to subtract that point, 4. click and sweep is classified as the point of rotation by click and sweep, that
AGV, which reaches 3. to put, will carry out forward travel after rotating according to what scheme 1 described with after 4. point.
For scheme 2, it will 3. be put using path analytical algorithm and be classified as traveling point with 4. click and sweep.The current appearance of vehicle body can be passed through
The relativeness of state (headstock direction) α and the direction β of car body traveling calculate vehicle body velocities.Such as Fig. 2, it is assumed that vehicle body is supporting
Up to state when 3. putting be α=- 90 ° and car body needs to advance to β=0 ° direction, then vehicle body is only needed to own coordinate system
Alpha-beta=- 90 ° direction running, i.e., travel to the left, assigns negative value to transverse moving speed x.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of AGV omnirange running method, which comprises the following steps:
S1, AGV receive the routing information for the driving path that host computer is sent, and the driving path is by one group of continuous path node group
At the information of each path node includes coordinate information (m, n)；The routing information includes the information of each path node,
And the relation information between each path node；The relation information includes the distance between path node information；
S2, path parsing is carried out according to the routing information, i.e., each path node in the routing information is classified as 7
One kind in class: it halt: indicates to stop after AGV reaches this path node；The point of rotation: AGV rotates after reaching this path node；
Deceleration point: it indicates to slow down after AGV reaches this path node；Turn to subtract a little: indicate AGV reach first rotation after this path node, again into
Row accelerates last progress deceleration-operation；Traveling point: it indicates to carry out holding normally travel after AGV reaches this path node；Turn rest point:
Expression AGV first rotates after reaching this path node, stops again；Plus-minus point: it indicates first to be accelerated after AGV reaches this path node
After carry out deceleration-operation；
S3, it determines that AGV is combined in the driving status of the path node according to the classification of each path node, appoints to complete traveling
Business；Wherein the classification of each path node includes one or more of five kinds of driving status of AGV: stopping state, walking state, rotation
State, deceleration state and acceleration and deceleration state, wherein acceleration and deceleration state indicates to subtract again after AGV can first accelerate to maximum speed in the process of moving
To minimum travel speed, transfer subtracts a little corresponding driving status combination and turns rest point pair to switch to acceleration and deceleration state by rotation state speed
The driving status combination answered is to be switched to stop state by rotation state.
2. the method as described in claim 1, which is characterized in that during step S3 completes traveling task, according to as follows
Mode carries out correction of navigating in real time:
If the first, which occurs, for AGV car body deviates situation, i.e. car body central point is below the car body on the magnetic stripe path of magnetic stripe, simultaneously
There is the angle being not zero in car body central axes and magnetic stripe path, then the value returned according to Magnetic Sensor analyzes car body and magnetic stripe
Departure degree, and calculate rotation speed ω carry out body gesture adjustment, realize correction；
If second of deviation situation occurs for car body, i.e., car body central point is not on magnetic stripe path, while car body central axes and magnetic
Paths are parallel, then the value returned according to Magnetic Sensor, analyze the departure degree of car body and magnetic stripe, and calculate transverse moving speed x
Body gesture adjustment is carried out, realizes correction；
If compound deviation situation of the drift condition of car body generation for the first and second situation, i.e., existing rotation offset,
There is the case where lateral shift again, then disassemble obtained compound deviation situation for the first and second situation, then is each by it
Self-corresponding calculation calculates corresponding transverse moving speed x and rotation speed ω, while carrying out traversing and rotation adjustment, realizes
Correction；
The Magnetic Sensor is former and later two Magnetic Sensors, is separately mounted to car body front and rear end；If car body normally travel,
There is no any offset, then car body central point does not have angle on magnetic stripe path, while between car body central axes and magnetic stripe path.
3. the method as described in claim 1, which is characterized in that during step S3 completes traveling task, according to as follows
Mode travels: the equal adjacent path node of ordinate there are two setting in driving path, if distance between the two is greater than or waits
In preset threshold, then the path node first driven in two path nodes is classified as turning to subtract a little；Otherwise by two path nodes
The middle path node A first driven to be classified as traveling point, and car body in path node A towards the alpha-beta direction of own coordinate system, to two
The path node B traveling driven to after in a path node, α indicate car body in the headstock direction of path node A, and β is car body
Driving direction, β are obtained according to the coordinate information of two path nodes.
4. method as claimed in claim 3, which is characterized in that if alpha-beta beyond value range (- 180 °, 180 °], then right
Alpha-beta add deduct 360 ° and operates.
5. method according to any one of claims 1 to 4, which is characterized in that the coordinate information (m, n) and path node
Identifier ID is corresponded, and has uniqueness.
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| CN204302797U (en) * | 2014-08-06 | 2015-04-29 | 深圳市纳瑞机器人有限公司 | Mixing identifies the AGV dolly, AGV mobile alignment and the AGV mobile system that control |
| CN105242672A (en) * | 2015-11-13 | 2016-01-13 | 深圳市步科电气有限公司 | AGV capable of adjusting deviation angle of vehicle body |
| CN105785995A (en) * | 2016-03-15 | 2016-07-20 | 无锡凯乐士科技有限公司 | Automatic guided vehicle |
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