CN108120434A - A kind of AGV tracks method for correcting error, system and double navigation system - Google Patents
A kind of AGV tracks method for correcting error, system and double navigation system Download PDFInfo
- Publication number
- CN108120434A CN108120434A CN201711387417.8A CN201711387417A CN108120434A CN 108120434 A CN108120434 A CN 108120434A CN 201711387417 A CN201711387417 A CN 201711387417A CN 108120434 A CN108120434 A CN 108120434A
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- Prior art keywords
- agv
- detection unit
- magnetic induction
- central axes
- offset
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
Abstract
The invention discloses a kind of AGV tracks method for correcting error, system and double navigation system.Correction process is：During AGV travelings, the magnetic induction intensity at the multiple and different positions of detection AGV in real time, judge whether AGV shifts according to the magnetic induction intensity of detection, offset direction and distance are determined according to magnetic induction intensity after determining to shift, according to the driving trace of offset direction and distance controlling correction AGV to correct path.Coordinate positions of the AGV that the present invention is sensed by increasing by three electromagnetic detecting units on AGV in electromagnetic planar, so as to calculate the size of AGV offset tracks and direction, and according to the run trace of this numerical value correction AGV.
Description
Technical field
The invention belongs to automatic transportation technical fields, and in particular to a kind of AGV tracks method for correcting error, system and double navigation
System.
Background technology
AGV, that is, automatic guided vehicle refers to homing guidance device transport vehicle of the equipment equipped with navigation system, it can be along rule
Fixed guide path traveling.The navigation system of AGV is navigated for tape at present, is generally sensed by the magnetic being mounted on AGV chassis of vehicle bodies
Device and a magnetic stripe guide rail composition for being attached to workspace, while tape laying is relatively easy, can at any time be changed according to actual demand
Path, can give full play to the flexibility of AGV, but easily be limited by external environment, such as normal condition AGV is run along magnetic orbital,
Such as the out-of-flatness of ground face, radar emergency stop etc., it is difficult to accomplish accurately to overlap robot center line with electromagnetic path so that AGV
Operation is there are range deviation, angular deviation, and tape navigation system can not be corrected in real time, precisely loads and unloads for needing position
Operation, upper and lower pieces docking station, excessive walking error, which causes precisely to attach together operation, to be difficult to realize.
The content of the invention
The purpose of the present invention is exactly insufficient existing for above-mentioned background technology in order to solve, and provides a kind of AGV tracks correction side
Method, system and double navigation system.
The technical solution adopted by the present invention is：A kind of AGV tracks method for correcting error during AGV is travelled, detects AGV in real time
The magnetic induction intensity at multiple and different positions judges whether AGV shifts according to the magnetic induction intensity of detection, inclined when determining to occur
Offset direction and distance are determined according to magnetic induction intensity after shifting, the driving trace of AGV is corrected according to offset direction and distance controlling
To correct path.
Further, the multiple and different positions of the AGV include the first position being located on AGV central axes and respectively position
In AGV central axes arranged on left and right sides and the second position being arranged symmetrically on central axes and the third place.
Further, the offset critical value of AGV is set as δ0, during AGV is travelled, any time detects first position
Magnetic induction intensity be less than offset critical value δ0When, judge that AGV shifts.
Further, the AGV, which shifts, refers to that parallel offset occurs for AGV, and the parallel offset is the central axes of AGV
Deviate its running rail central axes certain distance.
Further, the value of delta of the magnetic induction intensity detected with the second position and the third place1Size represent AGV
Offset direction：Work as δ1When=0, represent that the central axes of AGV are overlapped with track centre；Work as δ1>When 0, represent that AGV central axes are located at
On the left of track, AGV shifts to the left；Work as δ1<When 0, represent that AGV central axes are located on the left of track, AGV occurs partially to the right
It moves.
Further, AGV offset distances k is calculated according to equation below：
Wherein, δ1For the difference for the magnetic induction intensity that first sensor and 3rd sensor detect, μ0It is normal for space permeability
Number, I are the steady electric current of perseverance during electromagnetic path converges, r0When being overlapped for the central axes of AGV with track centre, first sensor or the 3rd
The distance between sensor and track centre.
A kind of deviation-rectifying system for realizing above-mentioned AGV tracks method for correcting error, including
Detecting system, for detecting the magnetic induction intensity at the multiple and different positions of AGV in real time；
Computing system, for judging whether AGV shifts according to the magnetic induction intensity of detection, for inclined when determining to occur
Offset direction and distance are determined according to magnetic induction intensity after shifting；
Control system, according to the driving trace of offset direction and distance controlling correction AGV to correct path.
Further, the detecting system include being installed on AGV bottoms in " work " font arrangement first detection unit, the
Two detection units and the 3rd detection unit, the first detection unit are located on the central axes of AGV, the second detection unit and
3rd detection unit respectively positioned at central axes arranged on left and right sides and be arranged symmetrically on central axes, the second detection unit and
3rd detection unit is parallel and is each perpendicular to first detection unit.
Further, the first detection unit, second detection unit and the 3rd detection unit are electromagnetic sensor.
A kind of double navigation system of AGV, including
Tape navigation system, for AGV to be controlled to advance on correct path operation；
Electromagnetic navigation system, for detecting the row that whether AGV shifts and AGV is corrected in control after AGV shifts
It sails to correct path；
The electromagnetic navigation system includes above-mentioned deviation-rectifying system.
The beneficial effects of the invention are as follows：The present invention is existed by increasing by three electromagnetic detecting units on AGV come the AGV sensed
Coordinate position in electromagnetic planar so as to calculate the size of AGV offset tracks and direction, and corrects AGV's according to this numerical value
Run trace.It can effectively solve that precision existing for the navigation of simple magnetometric sensor is low, easy sideslip is more and can not effectively correct rail
The defects of mark.The present invention is of low cost, control is reliable and stable, simple in structure, guidance path modification is convenient, in loading place and power supply
Area has higher positioning accuracy.
Description of the drawings
Fig. 1 is the principle schematic of the deviation-rectifying system of the present invention.
The detecting system that Fig. 2 is the present invention arranges schematic diagram.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments, convenient for this hair is well understood
It is bright, but they do not form the present invention and limit.
A kind of AGV tracks of the invention method for correcting error during AGV is travelled, detects the magnetic strength at the multiple and different positions of AGV in real time
Intensity is answered, judges whether AGV shifts according to the magnetic induction intensity of detection, according to magnetic induction intensity after determining to shift
It determines offset direction and distance, the error of electromagnetic path is deviateed according to offset direction and apart from definite AGV, then controls AGV edges
The direction movement for reducing error, so as to correct the driving trace of AGV to correct path.
In said program, the multiple and different positions of AGV include the first position being located on AGV central axes and are located at respectively
AGV central axes arranged on left and right sides and the second position being arranged symmetrically on central axes and the third place.
In said program, the offset critical value of AGV is set as δ0, during AGV is travelled, any time detects first
The magnetic induction intensity put is less than offset critical value δ0When, judge that AGV shifts.AGV, which shifts, refers to that AGV generations are parallel partially
It moves, the parallel offset is its running rail central axes certain distance of the axis line skew of AGV.
In said program, with the value of delta for the magnetic induction intensity that the second position and the third place detect1Size represent
The offset direction of AGV：Work as δ1When=0, represent that the central axes of AGV are overlapped with track centre；Work as δ1>When 0, AGV central axes position is represented
On the left of track, AGV shifts to the left；Work as δ1<When 0, represent that AGV central axes are located on the left of track, AGV occurs to the right
Offset.
In said program, AGV offset distances k is calculated according to equation below：
Wherein, δ1For the difference for the magnetic induction intensity that the second position and the third place detect, μ0For space permeability constant, I
For the steady electric current of perseverance in electromagnetic path 9, r0When being overlapped for the central axes 8 of AGV with track centre, the second position or the third place with
The distance between track centre.
To realize above-mentioned AGV tracks method for correcting error, the present invention provides a kind of AGV tracks deviation-rectifying system, as shown in Figure 1, bag
It includes
Detecting system 1, for detecting the magnetic induction intensity at the multiple and different positions of AGV in real time；
Computing system 2, for judging whether AGV shifts according to the magnetic induction intensity of detection, for occurring when definite
Offset direction and distance are determined according to magnetic induction intensity after offset；
Control system 3, according to the driving trace of offset direction and distance controlling correction AGV to correct path.
In said program, as shown in Fig. 2, detecting system includes being installed on 4 bottoms of AGV are in " work " font arrangement first
Detection unit 5,6 and the 3rd detection unit 7 of second detection unit, the first detection unit 5 are located on the central axes 8 of AGV 4,
6 and the 3rd detection unit 7 of second detection unit is located at the arranged on left and right sides of 8 line of axis and respectively on 8 symmetrical cloth of central axes
It puts, the second detection unit 6 is parallel with the 3rd detection unit 7 and is each perpendicular to first detection unit 5.First detection unit 5,
6 and the 3rd detection unit 7 of second detection unit is conventional electromagnetic sensor.Electromagnetic sensor is inductance coil, Mei Ge electricity
Sense is in parallel with the capacitance of 6.8nF, forms LC resonance circuit, resonant frequency 20kHz.
The present invention also improves a kind of double navigation system of AGV under electromagnetic planar TRAJECTORY CONTROL, including tape navigation system and
For AGV to be controlled to advance on correct path operation, electromagnetic navigation system includes for electromagnetic navigation system, wherein tape navigation system
Above-mentioned deviation-rectifying system, for detecting, whether AGV shifts and control corrects the traveling of AGV to just after AGV shifts
True track.That is when AGV is travelled on the right track, controlled by tape navigation system, intervention guiding AGV, which advances, to be run；Traveling
In the process, monitor the drift condition of AGV in real time by electromagnetic navigation system, after judging to shift, controlled according to offset parameter
AGV processed is returned on correct track.
The content not being described in detail in this specification, as tape navigation system, the electromagnetic path of configuration, specific control are entangled
Positive process etc. belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of AGV tracks method for correcting error, it is characterised in that：During AGV travelings, the multiple and different positions of AGV are detected in real time
Magnetic induction intensity judges whether AGV shifts, according to magnetic induction after determining to shift according to the magnetic induction intensity of detection
Intensity determines offset direction and distance, according to the driving trace of offset direction and distance controlling correction AGV to correct path.
2. AGV tracks according to claim 1 method for correcting error, it is characterised in that：The multiple and different positions of AGV include position
It is located at AGV central axes arranged on left and right sides in the first position on AGV central axes and respectively and is arranged symmetrically on central axes
The second position and the third place.
3. AGV tracks according to claim 1 method for correcting error, it is characterised in that：The offset critical value of AGV is set as δ0,
During AGV travelings, any time detects that the magnetic induction intensity of first position is less than offset critical value δ0When, judge that AGV is sent out
Raw offset.
4. the AGV tracks method for correcting error according to claim 1 or 3, it is characterised in that：The AGV, which shifts, refers to AGV
Generation parallel offset, the parallel offset be AGV axis line skew its traveling electromagnetic path central axes certain distance.
5. AGV tracks according to claim 1 method for correcting error, it is characterised in that：It is detected with the second position and the third place
The value of delta of the magnetic induction intensity arrived1Size represent AGV offset direction：Work as δ1When=0, central axes and the track of AGV are represented
Center line overlaps；Work as δ1>When 0, represent that AGV central axes are located on the left of track, AGV shifts to the left；Work as δ1<When 0, AGV is represented
Central axes are located on the left of track, and AGV shifts to the right.
6. AGV tracks according to claim 1 method for correcting error, which is characterized in that AGV offset distances are calculated according to equation below
From k：
Wherein, δ1For the difference for the magnetic induction intensity that first sensor and 3rd sensor detect, μ0It is normal for space permeability
Number, I are the steady electric current of perseverance during electromagnetic path converges, r0When being overlapped for the central axes of AGV with track centre, first sensor or the 3rd
The distance between sensor and track centre.
7. a kind of deviation-rectifying system for any one AGV tracks method for correcting error realized described in claim 1-6, it is characterised in that：
Including
Detecting system, for detecting the magnetic induction intensity at the multiple and different positions of AGV in real time；
Computing system, for judging whether AGV shifts according to the magnetic induction intensity of detection, for after determining to shift
Offset direction and distance are determined according to magnetic induction intensity；
Control system, according to the driving trace of offset direction and distance controlling correction AGV to correct path.
8. deviation-rectifying system according to claim 7, it is characterised in that：The detecting system includes being installed on AGV bottoms
First detection unit, second detection unit and the 3rd detection unit of " work " font arrangement, the first detection unit are located at AGV
Central axes on, the second detection unit and the 3rd detection unit respectively positioned at central axes arranged on left and right sides and on axis
Line is arranged symmetrically, and the second detection unit is parallel with the 3rd detection unit and is each perpendicular to first detection unit.
9. deviation-rectifying system according to claim 8, it is characterised in that：The first detection unit, second detection unit and
3rd detection unit is electromagnetic sensor.
10. a kind of double navigation system of AGV, it is characterised in that：Including
Tape navigation system, for AGV to be controlled to advance on correct path operation；
Electromagnetic navigation system, for detecting, whether AGV shifts and control corrects the traveling of AGV extremely after AGV shifts
Correct path；
The electromagnetic navigation system includes any one deviation-rectifying system described in claim 7-9.
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| CN201711387417.8A CN108120434A (en) | 2017-12-20 | 2017-12-20 | A kind of AGV tracks method for correcting error, system and double navigation system |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109189063A (en) * | 2018-08-24 | 2019-01-11 | 湖南超能机器人技术有限公司 | Magnetic navigation method of adjustment applied to Ackermam structural chassis robot |
| CN109399464A (en) * | 2018-12-29 | 2019-03-01 | 三海洋重工有限公司 | Gantry crane cart attitude control method and device |
| CN109445438A (en) * | 2018-12-05 | 2019-03-08 | 英华达（上海）科技有限公司 | Cruise control method and system based on the cruising device that map is shared |
| CN109460034A (en) * | 2018-12-18 | 2019-03-12 | 云南昆船智能装备有限公司 | A kind of composite magnetic band electromagnetism AGV guidance system device and method |
| CN109508015A (en) * | 2018-12-26 | 2019-03-22 | 南京航空航天大学 | A kind of AGV electromagnetic navigation control system based on extension control |
| CN111026125A (en) * | 2019-12-26 | 2020-04-17 | 上海信耀电子有限公司 | Automatic deviation rectifying method for automatic navigation trolley |
| CN111324125A (en) * | 2020-03-09 | 2020-06-23 | 广东美的制冷设备有限公司 | Magnetic navigation system, control method thereof, controller, and computer-readable storage medium |
| CN111474933A (en) * | 2020-04-24 | 2020-07-31 | 合肥工业大学 | Automatic deviation rectification control method of magnetic guidance AGV |
| CN112964168A (en) * | 2021-01-29 | 2021-06-15 | 天津市科睿思奇智控技术有限公司 | Method for angle detection and safety protection in sprinkler based on magnetic field detection |
| CN113009920A (en) * | 2021-03-09 | 2021-06-22 | 河南牧原智能科技有限公司 | Mobile robot navigation control method and system |
| CN113291688A (en) * | 2021-06-23 | 2021-08-24 | 上海宇仓智能仓储设备有限公司 | Automatic deviation correcting device of trackless movable goods shelf |
| CN113835424A (en) * | 2020-06-23 | 2021-12-24 | 莱克电气绿能科技(苏州)有限公司 | Automatic walking equipment, system, regression control method and device |
| CN115373375A (en) * | 2021-05-18 | 2022-11-22 | 未岚大陆(北京)科技有限公司 | Method and device for returning robot to charging pile, robot and storage medium |
| WO2022242667A1 (en) * | 2021-05-18 | 2022-11-24 | 未岚大陆(北京)科技有限公司 | Line patrol sensor, and method and device for returning robot to charging pile |
| CN115542923A (en) * | 2022-11-28 | 2022-12-30 | 中汽智联技术有限公司 | Vehicle magnetic circulation control method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109189063A (en) * | 2018-08-24 | 2019-01-11 | 湖南超能机器人技术有限公司 | Magnetic navigation method of adjustment applied to Ackermam structural chassis robot |
| CN109445438A (en) * | 2018-12-05 | 2019-03-08 | 英华达（上海）科技有限公司 | Cruise control method and system based on the cruising device that map is shared |
| CN109445438B (en) * | 2018-12-05 | 2022-03-04 | 英华达（上海）科技有限公司 | Cruise control method and system of cruise device based on map sharing |
| CN109460034A (en) * | 2018-12-18 | 2019-03-12 | 云南昆船智能装备有限公司 | A kind of composite magnetic band electromagnetism AGV guidance system device and method |
| CN109508015A (en) * | 2018-12-26 | 2019-03-22 | 南京航空航天大学 | A kind of AGV electromagnetic navigation control system based on extension control |
| CN109399464A (en) * | 2018-12-29 | 2019-03-01 | 三海洋重工有限公司 | Gantry crane cart attitude control method and device |
| CN111026125B (en) * | 2019-12-26 | 2023-10-10 | 上海信耀电子有限公司 | Automatic correction method for automatic navigation trolley |
| CN111026125A (en) * | 2019-12-26 | 2020-04-17 | 上海信耀电子有限公司 | Automatic deviation rectifying method for automatic navigation trolley |
| CN111324125A (en) * | 2020-03-09 | 2020-06-23 | 广东美的制冷设备有限公司 | Magnetic navigation system, control method thereof, controller, and computer-readable storage medium |
| CN111474933A (en) * | 2020-04-24 | 2020-07-31 | 合肥工业大学 | Automatic deviation rectification control method of magnetic guidance AGV |
| CN111474933B (en) * | 2020-04-24 | 2022-03-15 | 合肥工业大学 | Automatic deviation rectification control method of magnetic guidance AGV |
| CN113835424A (en) * | 2020-06-23 | 2021-12-24 | 莱克电气绿能科技(苏州)有限公司 | Automatic walking equipment, system, regression control method and device |
| CN112964168A (en) * | 2021-01-29 | 2021-06-15 | 天津市科睿思奇智控技术有限公司 | Method for angle detection and safety protection in sprinkler based on magnetic field detection |
| CN113009920A (en) * | 2021-03-09 | 2021-06-22 | 河南牧原智能科技有限公司 | Mobile robot navigation control method and system |
| CN115373375A (en) * | 2021-05-18 | 2022-11-22 | 未岚大陆(北京)科技有限公司 | Method and device for returning robot to charging pile, robot and storage medium |
| WO2022242667A1 (en) * | 2021-05-18 | 2022-11-24 | 未岚大陆(北京)科技有限公司 | Line patrol sensor, and method and device for returning robot to charging pile |
| CN115373375B (en) * | 2021-05-18 | 2023-08-18 | 未岚大陆(北京)科技有限公司 | Method and device for returning charging pile of robot, robot and storage medium |
| CN113291688B (en) * | 2021-06-23 | 2022-08-19 | 上海宇仓智能仓储设备有限公司 | Automatic deviation correcting device of trackless movable goods shelf |
| CN113291688A (en) * | 2021-06-23 | 2021-08-24 | 上海宇仓智能仓储设备有限公司 | Automatic deviation correcting device of trackless movable goods shelf |
| CN115542923A (en) * | 2022-11-28 | 2022-12-30 | 中汽智联技术有限公司 | Vehicle magnetic circulation control method, device, equipment and storage medium |
| CN115542923B (en) * | 2022-11-28 | 2023-03-24 | 中汽智联技术有限公司 | Vehicle magnetic circulation control method, device, equipment and storage medium |
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Application publication date: 20180605 |