CN107315412A - Automatically guiding trolley Position Fixing Navigation System and air navigation aid - Google Patents
Automatically guiding trolley Position Fixing Navigation System and air navigation aid Download PDFInfo
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- CN107315412A CN107315412A CN201710546760.6A CN201710546760A CN107315412A CN 107315412 A CN107315412 A CN 107315412A CN 201710546760 A CN201710546760 A CN 201710546760A CN 107315412 A CN107315412 A CN 107315412A
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- automatically guiding
- guiding trolley
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- position fixing
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- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 230000004888 barrier function Effects 0.000 claims description 31
- 238000004891 communication Methods 0.000 claims description 5
- 241000736199 Paeonia Species 0.000 claims 1
- 235000006484 Paeonia officinalis Nutrition 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of automatically guiding trolley Position Fixing Navigation System.The automatically guiding trolley Position Fixing Navigation System includes automatically guiding trolley and monitoring server, the automatically guiding trolley is communicated to connect with the monitoring server, the automatically guiding trolley includes RFID identifying devices, laser ranging system, vehicle-mounted wifi communicators, control device and gyroscope, the RFID identifying devices are located at the automatically guiding trolley front end, the laser ranging system is located at the automatically guiding trolley sidepiece, the RFID identifying devices, the laser ranging system, the vehicle-mounted wifi communicators and the gyroscope are connected with the control device respectively.The invention also discloses a kind of air navigation aid based on automatically guiding trolley Position Fixing Navigation System.The present invention provides a kind of automatically guiding trolley Position Fixing Navigation System and air navigation aid, with positioning precision is high, flexibility is good, low cost and other advantages.
Description
Technical field
The present invention relates to industrial robot control technology field, specifically, being related to a kind of automatically guiding trolley location navigation
System and air navigation aid.
Background technology
The guide mode of current automatic guided vehicle (Automated Guided Vehicles, AGV) mainly has electromagnetism to lead
Draw, tape guidance, optical navigation, las er-guidance, inertial guide etc..Such as road of the magnetic navigation AGV control systems for carriage walking
Line has certain constraint, dolly must walk with magnetic track, and flexibility is not high, and the magnetic track time length of magnetic navigation dolly laying is held
It is fragile, influence the reliability and off-position precision of trolley travelling.And rely on RFID (radio frequency
Identification, radio frequency identification) card reader navigates mode the AGV dollies realized because passive type RFID tag card and
The reason for RFID card reader operation principle, it is impossible to which realization is accurately positioned, it is impossible to meet the pinpoint requirements of AGV.
The content of the invention
Inaccurate technical problem is positioned in order to solve above-mentioned AGV dollies, it is high, flexible that the present invention provides a kind of positioning precision
The property low automatically guiding trolley Position Fixing Navigation System of good, cost and air navigation aid.
The invention provides a kind of automatically guiding trolley Position Fixing Navigation System, including automatically guiding trolley and monitoring service
Device, the automatically guiding trolley and the monitoring server are communicated to connect, the automatically guiding trolley include RFID identifying devices,
Laser ranging system, vehicle-mounted wifi communicators, control device and gyroscope, the RFID identifying devices are drawn automatically located at described
Lead dolly front end, the laser ranging system is located at the automatically guiding trolley sidepiece, it is the vehicle-mounted wifi communicators, described
Control device and the gyroscope are respectively arranged in the automatically guiding trolley, the RFID identifying devices, the laser ranging
Device, vehicle-mounted the wifi communicators and the gyroscope are connected with the control device respectively.
In a kind of preferred embodiment for the automatically guiding trolley Position Fixing Navigation System that the present invention is provided, the monitoring service
Device includes wifi communicators, and the wifi communicators are connected with the vehicle-mounted wifi communications.
Present invention also offers a kind of air navigation aid based on automatically guiding trolley Position Fixing Navigation System, including following step
Suddenly：
Step 1: being set by the operation interval of setting automatically guiding trolley, each station in the operation interval
RFID tag, and to the RFID tag number；
Step 2: the automatically guiding trolley receives task dispatching instruction, while current location information is sent to described
Monitoring server；
Step 3: the automatically guiding trolley according to the task dispense instruction and the current location information, build from
Current location to aiming station navigation way, and to the aiming station advance；
Step 4: the automatically guiding trolley detects the RFID tag of aiming station, reach after the aiming station, knot
Beam navigates.
A kind of preferred embodiment of the air navigation aid based on automatically guiding trolley Position Fixing Navigation System provided in the present invention
In, in the step one, it is specially to the RFID tag number：
Any 90 ° of corners using place are carried out as relative coordinate origin by starting point of relative coordinate origin to RFID tag
Numbering, numbers be incremented by along Y direction first, and Y-axis has been incremented by after 1 row to go to adjacent 1 near-end arranged again and be numbered and has been incremented by
Establishment, the like until numbering is to last station.
A kind of preferred embodiment of the air navigation aid based on automatically guiding trolley Position Fixing Navigation System provided in the present invention
In, in the step 3, building the navigation way from current location to aiming station is specially：
The automatically guiding trolley dispenses the aiming station information in instruction according to the task and described guides small automatically
The current location information of car, the general direction of motion is drawn with reference to the data of the gyroscope；
The automatically guiding trolley immediately begins to move to the aiming station direction after general direction is learnt, is moved through
The distance between dolly and station are measured according to the laser ranging system in journey, carriage walking posture are adjusted in real time,
Ensure that dolly is walked in the middle of station and station.
A kind of preferred embodiment of the air navigation aid based on automatically guiding trolley Position Fixing Navigation System provided in the present invention
In, in the step 3, the automatically guiding trolley also includes avoidance during traveling and operated, and is specially：
The automatically guiding trolley stops advancing when running into barrier, and carries out timing to the existence time of barrier, and
Judge whether the barrier is removed in preset time, if the barrier is removed within a certain period of time, walk on；
If the barrier is not removed in preset time, the automatically guiding trolley is judged before left front or the right side
Whether side has barrier, if left front or right front do not have barrier, order the automatically guiding trolley to the left side or
The right, which is turned, to be carried out, and carries out local route adjustment；
If left front and right front all have barrier, the automatically guiding trolley rear is detected with the presence or absence of obstacle
Thing, turns, and carry out local route adjustment if left back and/or right back do not have barrier to left back or right back；Such as
Fruit left back and right back all have barrier, and then the automatically guiding trolley stops the intervention request of mobile and sender's work.
A kind of preferred embodiment of the air navigation aid based on automatically guiding trolley Position Fixing Navigation System provided in the present invention
In, the preset time is 10 seconds.
The automatically guiding trolley Position Fixing Navigation System and air navigation aid provided compared to prior art, the present invention has following
Beneficial effect：Automatic guided vehicle Position Fixing Navigation System and air navigation aid that the present invention is provided, with reference to RFID and laser ranging skill
Art, can be accurately positioned and be guided to AGV dollies, and navigation way can be optimized, and improve the work effect of AGV dollies
Rate and flexibility.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, it can also obtain other according to these accompanying drawings
Accompanying drawing, wherein：
Fig. 1 is the structured flowchart for the automatically guiding trolley Position Fixing Navigation System that the present invention is provided；
Fig. 2 is the flow chart for the air navigation aid based on automatically guiding trolley Position Fixing Navigation System that the present invention is provided.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, Fig. 1 is the structured flowchart for the automatically guiding trolley Position Fixing Navigation System that the present invention is provided.It is described from
Dynamic pilot trolley Position Fixing Navigation System 1 includes automatically guiding trolley 11 and monitoring server 13, the automatically guiding trolley 11 with
The monitoring server 13 is communicated to connect.
The automatically guiding trolley 11 includes RFID identifying devices 111, laser ranging system 113, vehicle-mounted wifi communication dresses
115, control device 117 and gyroscope 119 are put, the RFID identifying devices 111 are located at the front end of automatically guiding trolley 11, use
In RFID tag of the identification by station, the laser ranging system 113 is located at the sidepiece of automatically guiding trolley 11, described
Vehicle-mounted wifi communicators 115, the control device 117 and the gyroscope 119 are respectively arranged on the automatically guiding trolley 11
It is interior, the RFID identifying devices 111, the laser ranging system 113, vehicle-mounted the wifi communicators 117 and the gyro
Instrument 119 is connected with the control device 117 respectively.
The control device 117 is used as chip, the monolithic from model STM32F103C6T6AXXX 32 single-chip microcomputers
Machine processing speed is fast, capacity big, and easily carries out secondary development.
The monitoring server 13 includes wifi communicators 131, path management module 133 and search module 135, described
Wifi communicators 131 and the search module 135 are connected with the path management module 133 respectively, the wifi communications
Device 131 is communicated to connect with the vehicle-mounted wifi communicators 115.The path management module 133 passes through the search module
135 are searched for, call the routing information prestored, and routing information is entered according to the feedack of automatically guiding trolley 11
Row adjustment in real time.
Referring to Fig. 2, Fig. 2 is the stream for the air navigation aid based on automatically guiding trolley Position Fixing Navigation System that the present invention is provided
Cheng Tu.The air navigation aid based on automatically guiding trolley Position Fixing Navigation System comprises the following steps：
Set by step S1, the operation interval for setting automatically guiding trolley, each station in the operation interval
RFID tag, and to the RFID tag number；
Specifically, using any 90 ° of corners in place as relative coordinate origin, being marked by starting point of relative coordinate origin to RFID
Label are numbered, and number be incremented by along Y direction first, Y-axis be incremented by 1 row after go to again it is adjacent 1 row near-end compiled
Number incremental establishment, the like until numbering is to last station.
Step S2, the automatically guiding trolley receive task dispatching instruction, while current location information is sent to described
Monitoring server；
Instructed specifically, the monitoring server sends task dispatching by the wifi communicators, it is described to draw automatically
Lead dolly and the task dispatching instruction is received by the vehicle-mounted wifi communicators, filled while passing through the vehicle-mounted wifi communications
Put and the current location information of the automatically guiding trolley is sent to the monitoring server.
Step S3, the automatically guiding trolley according to the task dispense instruction and the current location information, build from
Current location to aiming station navigation way, and to the aiming station advance；
Specifically, the automatically guiding trolley dispenses aiming station information in instruction and described automatic according to the task
The current location information of pilot trolley, the general direction of motion is drawn with reference to the data of the gyroscope；Meanwhile, the path tube
Reason module is searched for by the search module, calls the routing information prestored；
The automatically guiding trolley immediately begins to move to the aiming station direction after general direction is learnt, is moved through
The distance between dolly and station are measured according to the laser ranging system in journey, carriage walking posture are adjusted in real time,
Ensure that dolly is walked in the middle of station and station.
Further, the automatically guiding trolley also includes avoidance operation during traveling, is specially：
The automatically guiding trolley stops advancing when running into barrier, and carries out timing to the existence time of barrier, and
Judge whether the barrier is removed in preset time, if the barrier is removed within a certain period of time, walk on；
If the barrier is not removed in preset time, the automatically guiding trolley is judged before left front or the right side
Whether side has barrier, if left front or right front do not have barrier, order the automatically guiding trolley to the left side or
The right, which is turned, to be carried out, while the path management module and carrying out local route adjustment；
If left front and right front all have barrier, the automatically guiding trolley rear is detected with the presence or absence of obstacle
Thing, turns if left back and/or right back do not have barrier to left back or right back, while the path management module is simultaneously
Carry out local route adjustment；The automatically guiding trolley stops mobile concurrent if left back and right back all have barrier
Manpower intervention is sent to ask.
The preset time is 10 seconds.
Step S4, the automatically guiding trolley detect the RFID tag of aiming station, reach after the aiming station, knot
Beam navigates.
The automatic guided vehicle Position Fixing Navigation System and air navigation aid that the present invention is provided have the advantages that：
Automatic guided vehicle Position Fixing Navigation System and air navigation aid that the present invention is provided, with reference to RFID and laser ranging skill
Art, can be accurately positioned and be guided to AGV dollies, and navigation way can be optimized, and improve the work effect of AGV dollies
Rate and flexibility.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (7)
1. a kind of automatically guiding trolley Position Fixing Navigation System, including automatically guiding trolley and monitoring server, the automatic guiding
Dolly is communicated to connect with the monitoring server, it is characterised in that the automatically guiding trolley includes RFID identifying devices, laser
Range unit, vehicle-mounted wifi communicators, control device and gyroscope, the RFID identifying devices guide small automatically located at described
Chinese herbaceous peony end, the laser ranging system is located at the automatically guiding trolley sidepiece, the vehicle-mounted wifi communicators, the control
Device and the gyroscope are respectively arranged in the automatically guiding trolley, the RFID identifying devices, the laser ranging system,
The vehicle-mounted wifi communicators and the gyroscope are connected with the control device respectively.
2. automatically guiding trolley Position Fixing Navigation System according to claim 1, it is characterised in that the monitoring server bag
Wifi communicators are included, the wifi communicators are connected with the vehicle-mounted wifi communications.
3. a kind of air navigation aid of the automatically guiding trolley Position Fixing Navigation System based on described in claim 1, it is characterised in that bag
Include following steps：
Step 1: setting RFID to mark by the operation interval of setting automatically guiding trolley, each station in the operation interval
Label, and to the RFID tag number；
Step 2: the automatically guiding trolley receives task dispatching instruction, while current location information is sent to the monitoring
Server；
Step 3: the automatically guiding trolley dispenses instruction and the current location information according to the task, build from current
Position to aiming station navigation way, and to the aiming station advance；
Step 4: the automatically guiding trolley detects the RFID tag of aiming station, reach after the aiming station, terminate to lead
Boat.
4. the air navigation aid of automatically guiding trolley Position Fixing Navigation System according to claim 3, it is characterised in that the step
In rapid one, it is specially to the RFID tag number：
RFID tag is numbered as starting point using relative coordinate origin as relative coordinate origin for any 90 ° of corners using place,
Number and be incremented by along Y direction first, Y-axis be incremented by 1 row after go to again it is adjacent 1 row near-end incremental establishment is numbered,
The like until numbering is to last station.
5. the air navigation aid of automatically guiding trolley Position Fixing Navigation System according to claim 3, it is characterised in that the step
In rapid three, building the navigation way from current location to aiming station is specially：
Aiming station information and the automatically guiding trolley of the automatically guiding trolley in task dispatching instruction
Current location information, the general direction of motion is drawn with reference to the data of the gyroscope；
The automatically guiding trolley immediately begins to move to the aiming station direction after general direction is learnt, in moving process
The distance between dolly and station are measured according to the laser ranging system, carriage walking posture are adjusted in real time, it is ensured that
Dolly is walked in the middle of station and station.
6. the air navigation aid of automatically guiding trolley Position Fixing Navigation System according to claim 3, it is characterised in that the step
In rapid three, the automatically guiding trolley also includes avoidance during traveling and operated, and is specially：
The automatically guiding trolley stops advancing when running into barrier, and carries out timing to the existence time of barrier, and judges
Whether the barrier is removed in preset time, if the barrier is removed within a certain period of time, walks on；
If the barrier is not removed in preset time, the automatically guiding trolley judges that left front or right front are
It is no to have barrier, if left front or right front do not have barrier, the automatically guiding trolley is ordered to the left side or the right
Turn and carry out, and carry out local route adjustment；
If left front and right front all have barrier, the automatically guiding trolley rear is detected with the presence or absence of barrier,
Turned if left back and/or right back do not have barrier to left back or right back, and carry out local route adjustment；If left
Rear and right back all have barrier, and then the automatically guiding trolley stops the intervention request of mobile and sender's work.
7. the air navigation aid of automatically guiding trolley Position Fixing Navigation System according to claim 6, it is characterised in that described pre-
If the time is 10 seconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710546760.6A CN107315412A (en) | 2017-07-06 | 2017-07-06 | Automatically guiding trolley Position Fixing Navigation System and air navigation aid |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710546760.6A CN107315412A (en) | 2017-07-06 | 2017-07-06 | Automatically guiding trolley Position Fixing Navigation System and air navigation aid |
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| CN107315412A true CN107315412A (en) | 2017-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710546760.6A Pending CN107315412A (en) | 2017-07-06 | 2017-07-06 | Automatically guiding trolley Position Fixing Navigation System and air navigation aid |
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Cited By (4)
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| CN109240313A (en) * | 2018-11-26 | 2019-01-18 | 智久(厦门)机器人科技有限公司上海分公司 | Barrier-avoiding method, the apparatus and system of unmanned fork truck |
| WO2019149215A1 (en) * | 2018-02-05 | 2019-08-08 | 腾讯科技（深圳）有限公司 | Intelligent robot control method, device, system, and storage medium |
| CN113190000A (en) * | 2021-04-30 | 2021-07-30 | 长沙中联重科环境产业有限公司 | Compactor operation control system and method and vertical garbage station |
| CN114355847A (en) * | 2021-12-13 | 2022-04-15 | 青海高景太阳能科技有限公司 | Based on zigBee single crystal AGV workshop positioning system |
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Application publication date: 20171103 |