CN106814733A - A kind of automatical pilot transportation vehicle Flexibility Control Technique - Google Patents
A kind of automatical pilot transportation vehicle Flexibility Control Technique Download PDFInfo
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- CN106814733A CN106814733A CN201510900942.XA CN201510900942A CN106814733A CN 106814733 A CN106814733 A CN 106814733A CN 201510900942 A CN201510900942 A CN 201510900942A CN 106814733 A CN106814733 A CN 106814733A
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- 230000004888 barrier function Effects 0.000 claims abstract description 8
- 238000005516 engineering process Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000011160 research Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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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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- 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
- G05D1/0231—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
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of automatical pilot transportation vehicle Flexibility Control Technique, and the automatical pilot transportation vehicle Flexibility Control Technique employs magnetic navigation system, laser scanning system and magnetic terrestrial reference identifying system；Described magnetic navigation system realizes traveling of the automatical pilot transportation vehicle in fixed route；Described laser scanning system carries out avoidance traveling by detecting automatical pilot transportation vehicle surrounding environment and barrier；Described magnetic terrestrial reference identifying system can the corresponding working region border of automatic identification automatical pilot transportation vehicle.The present invention proposes a kind of automatical pilot transportation vehicle Flexibility Control Technique, on the basis of the cost for not improving automatical pilot transportation vehicle, improves the flexibility of automatic guided vehicle.The characteristics of present invention has low cost, flexibility is good, it is possible to increase production efficiency.
Description
Technical field
The present invention relates to mechanical manufacturing field, and in particular to a kind of Flexibility Control Technique that can be applied on automatical pilot transportation vehicle.
Background technology
Automatical pilot transportation vehicle is a kind of with battery as power, the unmanned automated handling vehicle equipped with non-contact guiding device.
Its principal character shows as possessing dolly programming and system control management function, can realize nobody by instruction under computer monitoring
Drive, automatically along the route of regulation, reach appointed place, complete a series of job tasks.It is except in flexible manufacturing
Be used for constituting in system and automatic factory efficiently, efficiently outside logistics system, being also widely used in common factory carries out cargo transfer,
It is particularly suited for the workplace that personnel should not enter.Production automation degree and improve production efficiency can be greatly enhanced.
Concentrated because automatical pilot transportation vehicle has the advantages that function, overground system is simple, construction and system composition are easy, therefore,
It is widely used in machining, automobile making, port cargo, electronic product assembling, papermaking, power plant, electron trade
All conglomeraties such as Superclean workshop.Its speed of service can reach hundred ms/min, and transport capacity can be from several kilograms to tens tons.Automatically
Guide transport lorry is a kind of very promising handling and conveying equipment, especially in flexible manufacturing system (FMS) and flexible assembly system
(FAS) it is considered as maximally effective material transport equipment in.
At present to the main research stressed to automatical pilot transportation vehicle of research of automatical pilot transportation vehicle in itself, and for homing guidance
The intellectuality of transport vehicle is less with the research of flexibility.How system is made under prior art conditions, and quickly suitable factory needing is
The emphasis of following automatical pilot transportation vehicle research.Carry out design studies using automatical pilot transportation vehicle as an intelligence and flexiblesystem,
Presently, there are problems with：Transport vehicle flexibility is low, is not adapted under complex environment, transport vehicle implements that debugging cycle is long, maturation
The intelligence of operation is few with flexiblesystem.
In a word, automatical pilot transportation vehicle intelligence and the research of flexible control system, also in theory study conceptual phase, not compared with
It is ripe actual product.Therefore on the basis of traditional automatical pilot transportation vehicle control system, using Flexibility Control Technique, energy
Enough improve flexibility and the stability of automatical pilot transportation vehicle, improve production efficiency, with boundless application prospect.
The content of the invention
It is an object of the invention to provide a kind of automatical pilot transportation vehicle Flexibility Control Technique, the flexibility of automatic guided vehicle is improved, made certainly
Dynamic guide transport lorry occurs under the fortuitous events such as barrier is hindered, magnetic stripe is damaged in the course of travel, can still run, and improves
Production efficiency.
Technical scheme is as follows：The present invention provides a kind of automatical pilot transportation vehicle Flexibility Control Technique, homing guidance fortune
Defeated car Flexibility Control Technique employs magnetic navigation system, laser scanning system and magnetic terrestrial reference identifying system；Described magnetic navigation system
Including magnetic navigation sensor and magnetic stripe, described magnetic stripe is previously placed on the travel route specified, by installed in homing guidance
Magnetic navigation sensor on transport vehicle is identified, and realizes traveling of the automatical pilot transportation vehicle in fixed route；Described laser
Scanning system includes laser scanner, and described laser scanner is arranged on automatical pilot transportation vehicle, automatic by laser scanning
Guide transport lorry surrounding environment, detects automatical pilot transportation vehicle surrounding environment and barrier, carries out avoidance traveling；Described magnetic ground
Mark identifying system includes terrestrial reference identification sensor and magnetic terrestrial reference, and described magnetic terrestrial reference is previously placed at corresponding working region border,
Automatical pilot transportation vehicle working region is divided into high accuracy working region and low precision works region, is transported by installed in homing guidance
Terrestrial reference identification sensor on defeated car is identified, and in described high accuracy working region, automatical pilot transportation vehicle will be in strict accordance with
Magnetic strip information carries out navigation traveling in high accuracy working region；In low precision works region, will be preferential according to low precision works region
Interior magnetic strip information carries out navigation traveling, if occurring the fortuitous event such as barrier or magnetic stripe damage on travel route, by described
Laser scanner gathers ambient condition information, carries out avoidance traveling.
Described magnetic navigation system can be replaced using navigation system such as photoelectric navigation systems.
Described laser scanning system can be replaced using vision collecting systems such as camera acquisition systems.
The features of the present invention and technique effect：The present invention proposes a kind of automatical pilot transportation vehicle Flexibility Control Technique, is not improving certainly
On the basis of the cost of dynamic guide transport lorry, the flexibility of automatic guided vehicle is improved.The present invention is with the good spy of low cost, flexibility
Point, it is possible to increase production efficiency.
Brief description of the drawings
The three dimensional structure diagram of the automatical pilot transportation vehicle that Fig. 1 is provided for the present invention.
Fig. 2 is the three dimensional structure diagram that automatical pilot transportation vehicle of the invention removes car shell.
Fig. 3 is the schematic diagram that automatical pilot transportation vehicle of the invention runs in working region.
In figure：1- automatical pilot transportation vehicles, 2- laser scanners, 3- magnetic stripes, 4- magnetic navigation sensors, 5- magnetic terrestrial reference, 6- ground
Mark individual sensor, magnetic stripe in 31- high accuracy working region, magnetic stripe, the first magnetic of 51- terrestrial reference, 52- in the low precision works regions of 32-
Second magnetic terrestrial reference, the magnetic terrestrial references of 53- the 3rd.
Specific embodiment
A kind of automatical pilot transportation vehicle Flexibility Control Technique combination drawings and Examples of the invention describe in detail as follows：
A kind of automatical pilot transportation vehicle of the present embodiment as depicted in figs. 1 and 2, including magnetic navigation system, laser scanning system with
Magnetic terrestrial reference identifying system.
Described magnetic navigation system includes magnetic navigation sensor 4 and magnetic stripe 3, and described magnetic stripe 3 is previously placed at the traveling road specified
On line, it is identified by the magnetic navigation sensor 4 on automatical pilot transportation vehicle 1, as automatical pilot transportation vehicle 1
Input signal, realize traveling of the automatical pilot transportation vehicle 1 in fixed route.
Described laser scanning system includes laser scanner 2, and described laser scanner 2 is arranged on automatical pilot transportation vehicle 1,
By launching laser, the surrounding of automatical pilot transportation vehicle 1 is scanned, detect the surrounding environment of automatical pilot transportation vehicle 1 and barrier, entered
And automatical pilot transportation vehicle 1 is controlled, realize that avoidance is travelled.
Described magnetic terrestrial reference identifying system includes terrestrial reference identification sensor 6 and magnetic terrestrial reference 5, and described magnetic terrestrial reference 5 is previously placed at phase
The working region border answered, high accuracy working region and low precision works region are divided into by the working region of automatical pilot transportation vehicle 1,
It is identified by the terrestrial reference identification sensor 6 on automatical pilot transportation vehicle 1 so that the basis of automatical pilot transportation vehicle 1
Different zones take the algorithms of different to carry out navigation traveling.
The working condition of automatical pilot transportation vehicle 1 is as shown in figure 3, between the first magnetic terrestrial reference 51 and the second magnetic terrestrial reference 52 be height
Precision works region, between the second magnetic terrestrial reference 52 and the 3rd magnetic terrestrial reference 53 is low precision works region.Described high-precision
Degree working region, automatical pilot transportation vehicle 1 will carry out navigation traveling in strict accordance with the information of magnetic stripe 31 in high accuracy working region.
Described low precision works region, preferentially will carry out navigation traveling according to the information of magnetic stripe 32 in low precision works region.If occurring swashing
The scanning of photoscanner 2 is to hindering the barrier of traveling, because of magnetic stripe damage cause the magnetic navigation sensor 4 cannot to detect magnetic stripe 3
The fortuitous events such as information, will gather ambient condition information by laser scanner 2, and the input as automatical pilot transportation vehicle 1 is believed
Number, carry out avoidance traveling.
The automatical pilot transportation vehicle Flexibility Control Technique have low cost, flexibility is good, the features such as be easily achieved, it is possible to increase it is raw
Produce efficiency.
Claims (3)
1. the present invention provides a kind of automatical pilot transportation vehicle Flexibility Control Technique, it is characterised in that：The automatical pilot transportation vehicle is flexible
Control technology employs magnetic navigation system, laser scanning system and magnetic terrestrial reference identifying system；Described magnetic navigation system includes magnetic conductance
Boat sensor and magnetic stripe, described magnetic stripe is previously placed on the travel route specified, by automatical pilot transportation vehicle
Magnetic navigation sensor be identified, realize traveling of the automatical pilot transportation vehicle in fixed route；Described laser scanning system
Including laser scanner, described laser scanner is arranged on automatical pilot transportation vehicle, is transported by laser scanning homing guidance
Car surrounding environment, detects automatical pilot transportation vehicle surrounding environment and barrier, carries out avoidance traveling；Described magnetic terrestrial reference identification system
System includes terrestrial reference identification sensor and magnetic terrestrial reference, and described magnetic terrestrial reference is previously placed at corresponding working region border, will lead automatically
Draw transport vehicle working region and be divided into high accuracy working region and low precision works region, by automatical pilot transportation vehicle
Terrestrial reference identification sensor is identified, and in described high accuracy working region, automatical pilot transportation vehicle will be in strict accordance with high accuracy work
Making magnetic strip information in region carries out navigation traveling；In low precision works region, preferentially will be believed according to magnetic stripe in low precision works region
Breath carries out navigation traveling, if occurring the fortuitous event such as barrier or magnetic stripe damage on travel route, by described laser scanning
Instrument gathers ambient condition information, carries out avoidance traveling.
2. a kind of automatical pilot transportation vehicle Flexibility Control Technique as claimed in claim 1, it is characterised in that：Magnetic navigation system can
Replaced using navigation system such as photoelectric navigation systems.
3. a kind of automatical pilot transportation vehicle Flexibility Control Technique as claimed in claim 1, it is characterised in that：Laser scanning system
Can be replaced using vision collecting systems such as camera acquisition systems.
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| CN201510900942.XA CN106814733A (en) | 2015-12-01 | 2015-12-01 | A kind of automatical pilot transportation vehicle Flexibility Control Technique |
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| CN201510900942.XA CN106814733A (en) | 2015-12-01 | 2015-12-01 | A kind of automatical pilot transportation vehicle Flexibility Control Technique |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108327816A (en) * | 2018-04-18 | 2018-07-27 | 杨雪锋 | A kind of aircraft AGV servicers |
| CN109884997A (en) * | 2017-07-21 | 2019-06-14 | 北京图森未来科技有限公司 | A kind of vehicle control device and vehicle |
| CN110320913A (en) * | 2019-07-10 | 2019-10-11 | 苏州欧博智慧机器人有限公司 | The unmanned control device and method of low speed |
| CN113031627A (en) * | 2021-05-08 | 2021-06-25 | 西北农林科技大学 | Indoor navigation system and method for facility transport robot |
| CN114482133A (en) * | 2022-03-04 | 2022-05-13 | 东莞市冀桥建材有限公司 | Automatic construction and assembly method for well cover in area |
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Application publication date: 20170609 |