CN108268030A - AGV Intelligent tracing modules based on photoelectric sensor - Google Patents
AGV Intelligent tracing modules based on photoelectric sensor Download PDFInfo
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- CN108268030A CN108268030A CN201611261073.1A CN201611261073A CN108268030A CN 108268030 A CN108268030 A CN 108268030A CN 201611261073 A CN201611261073 A CN 201611261073A CN 108268030 A CN108268030 A CN 108268030A
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- photoelectric sensor
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- intelligent tracing
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- 230000005622 photoelectricity Effects 0.000 claims abstract description 12
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 8
- 238000002955 isolation Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 4
- 238000005070 sampling Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Abstract
The present invention provides a kind of AGV Intelligent tracing modules based on photoelectric sensor, including the module body that tracks；It is characterized in that：Further include photoelectricity collecting unit；The photoelectricity collecting unit includes being arranged on arrange at equal intervals 7~24 infrared photoelectric sensors for tracking in module body and being generally aligned in the same plane；Spacing between two neighboring infrared photoelectric sensor is more than or equal to 10mm.The present invention acquires signal using infrared photoelectric sensor, does not have particular/special requirement to environment light source, road surface background, material, solves path and the little Path Recognition strong applicability of earth background discrimination.
Description
Technical field
The invention belongs to mobile robot fields, are related to a kind of AGV Intelligent tracings module.
Background technology
Automatic navigation vehicle (Automatic Guided Vehicle, AGV) is a kind of unmanned intelligence of automation
Haulage equipment belongs to mobile robot scope, is one of key equipment of automatic Material Handling System.
Mainly using magnetic guidance, needing to be laid with magnetic circuit on the ground could work the Intelligent tracing module of existing AGV, can only
Identification and the big path of earth background contrast, and ground environment is limited to, such as there are spot, water mark interference in ground in application
During factor, Path Recognition effect unobvious even cannot recognize that path position.
Invention content
Module is tracked when path and road surface background discrimination are little the drawbacks of None- identified path to solve existing AGV,
The present invention provides a kind of AGV Intelligent tracing modules based on photoelectric sensor.
The present invention technical solution be：
The AGV Intelligent tracing modules based on photoelectric sensor provided, including the module body that tracks；Its special character exists
In：Further include photoelectricity collecting unit；The photoelectricity collecting unit includes being arranged on tracking in module body and being generally aligned in the same plane
Arrange at equal intervals 7~24 infrared photoelectric sensors；Spacing between two neighboring infrared photoelectric sensor is more than or equal to
10mm。
In order to improve track module and the compatibility of existing AGV of the invention, i.e., on the basis of existing AGV structures are not changed
The module provided by the present invention that tracks can be applied, above-mentioned infrared photoelectric sensor there are 8 or 16.
Preferably, the spacing between two neighboring infrared photoelectric sensor is 15mm.
In use, the module that tracks, mounted on AGV bottoms, the infrared photoelectric sensor to track in module body is parallel to the ground
And the optimum distance away from ground is 10mm-45mm.
The above-mentioned module that tracks further includes A/D conversion signals processing unit and light-coupled isolation output unit；At A/D conversion signals
The output terminal of the input termination photoelectricity collecting unit of unit is managed, the output termination light-coupled isolation of A/D conversion signal processing units is defeated
Go out the input terminal of unit, the output terminal of light-coupled isolation output unit is the output of the module that tracks.
Light-coupled isolation output unit exports after the numerical value that A/D conversion signals processing unit exports is isolated, each
The all corresponding signal all the way of sampled point exports, and the control section of AGV is supplied to use.
The voltage for stablizing sampled signal is provided between above-mentioned photoelectricity collecting unit, A/D conversion signal processing units
Follower.
Compared with existing AGV Intelligent tracings module, it is an advantage of the invention that：
1st, the present invention acquires signal using infrared photoelectric sensor, does not have special want to environment light source, road surface background, material
It asks, solves path and the little Path Recognition strong applicability of earth background discrimination.
2nd, the module using the present invention that tracks, it is only necessary to paint on driving path or paste colour band, therefore ground route is set
It puts simple.
3rd, the present invention is when rejecting possible sampling interference signal, using it is a kind of can adjust automatically threshold value method, can be according to
According to the variation of use environment, continuous adjust automatically comparison threshold value, when judging deviation position of the path relative to the module that tracks, nothing
Ground and colour band material need to be distinguished.
Description of the drawings
Fig. 1 is a kind of structure structural map of the present invention；
Fig. 2 is the circuit diagram of the present invention；
Figure label：A- photoelectricity collecting units；B- tracks module body；1~16 is infrared photoelectric sensor.
Specific embodiment
Below by specific embodiment, and with reference to attached drawing, the technical solutions of the present invention will be further described.
Embodiment：
The automatic guided vehicle AGV of path navigation mode, the guide path being laid with along landing ground travel.The module that tracks is mounted on
The bottom of AGV car body front and backs, apart from 15-45mm of guide path surface, path width is 30-50mm.Photoelectricity acquires
Unit is capable of detecting when the module that tracks using its internal interval evenly arranged 16 infrared photoelectric sensor (sampled point) of 10mm
Underlying surfaces to the weak reflection of photoelectric device, each sampled point have all the way signal correspond to output.In order to ensure sampled point
Working environment it is identical, reduce disturbing factor, make data acquisition consistent, can be in the both sides of original 16 photoelectric sensors entirety
An infrared photoelectric sensor is set to carry out infrared light supply compensation respectively.
When AGV is run, continuous 3-5 sampled point of the module that tracks above guide path can output signal.By
3-5 road signals exported in 16 paths, it can be determined that for guide path relative to the deviation position for the module that tracks, AGV can be automatic
Adjustment, it is ensured that move ahead along guide path.
The present invention is when identifying path, using adaptive thresholding value adjustment method, specially：
1st, determining maximum position
2nd, compare maximum value and adjacent position signal difference whether in the range of 10%, if in the range, then it is assumed that
The consecutive points are path position, while using the maximum value consecutive points as basic point, continue to compare, until having traversed entire sampling
Signal, in the comparison, if all values are all in the range of 10%, then it is assumed that without effective path position, all road surface back ofs the body
Scape；If the signal not in the range of 10%, which is path position, and other is road surface background.
3rd, outgoing route position and road surface background data.
Above-mentioned adaptive thresholding algorithm is for the dark path colour band situation of laying, adaptive thresholding algorithm on light road surface
Another variant is for being laid with light path colour band situation on dark road surface, is that take the minimum values of all sampled points be base
Then operation is compared in standard.
The photoelectric sensor of selection is when in face of the reflection of different colours, in same distance, light background output
Voltage is low, and dark-background output voltage is higher, when apart from it is suitable when, under the reflection of black background, can export close to power supply electricity
The analog signal of pressure；Under the reflection of white background, output voltage is very low, and test of many times finds that output analog voltage signal is small
In 0.5V.
In addition, by contrast test, when unlike material color is close, photoelectric sensor reacts more blunt to material,
It is only related with color.
For the above-mentioned adaptive thresholding value adjustment method of clearer explanation, below to have tracking for 16 photoelectric sensors
Illustrate for module.For purposes of illustration only, first to No. 16 sensor serial numbers.
(1), the situation of dark path colour band is laid on light road surface：
1st, synchronization is to 16 road signal samplings, after AD conversion, it is assumed that No. 7 sampled points are maximum value.
2nd, using the numerical value of No. 6 and No. 8 sampled points of No. 7 comparisons whether in the range of 10%, if taking 6,7, No. 8 to adopt
The average value of sample then respectively with No. 6 and No. 8 for basic point, continues to compare, until traversing 16 road sampled points.
In comparison process, if 16 road sampled points are all in the range of 10%, then it is assumed that all without active path
Road surface background；If other sampled points are not in the range of No. 7 sampled points 10%, then it is assumed that only No. 7 sampled points are path position,
Other 15 tunnels are road surface background.
3 output road surface backgrounds and path position signal.
(2), the situation of light path colour band is laid on dark road surface
The situation of light path colour band is laid on dark road surface and above on the contrary, the then minimum of 16 road sampled points of Shi Qu
Value, on the basis of minimum value, is compared respectively with other sampled points, samples same algorithm, obtain final result.
The situation of light path colour band is laid on dark road surface and above on the contrary, the then minimum of 16 road sampled points of Shi Qu
Value, on the basis of minimum value, is compared respectively with other sampled points, samples same algorithm, obtain final result.
PS：
1st, 10% is experimental result, is not fixed value, and when for different road surface colors and colour band color, which can be into
Row adjustment.Such as aberration it is bigger when, which can suitably be amplified, when aberration is small, which can suitably be put it is small, all
It can obtain similarly exporting result.
2nd, 8 tunnels, 16 road tracking modules are used for the existing AGV for being equipped with magnetic guidance tracking module mostly is coordinated to substitute,
Only it is not fixed value, can be adjusted according to application scenarios, is not fixed value.
3rd, it is equidistantly arranged between the photoelectric sensor selected in tracking module, spread length 15mm, which is real
Gained optimum distance is tested, while takes into account volume, existing tracking module use case and the tracking module usage scenario of tracking module
Depending on, not fixed value.When this is smaller than 10mm, signal interference can be generated between adjacent sensors, influences finally to satisfy the need
The judgement of diameter；When spacing is more than certain numerical value, since path width is limited, then the judgement effect of Path Recognition can drop in reality
It is low, lose actual use meaning.
4th, the module that tracks described in this patent can recognize that module and ground optimum distance is 10mm-45mm.Due to tracking module
The photoelectric sensor self-characteristic limitation of selection when identification distance is less than 10mm or more than 45mm, can generate larger knowledge
Other error, if be changed to the sensor of other performance, which can be changed by experiment.In view of actually making
With in the process, AGV can generate in operation it is certain jolt, at this moment tracking module and the distance on ground can generate variation, recommend
It is best that the identification distance on tracking module and ground, which is 30mm, during design, can run the identification jolted and brought to avoid due to AGV
Error.
Embodiment described above is a kind of preferred version of the present invention, not makees limit in any form to the present invention
System also has other variants and remodeling under the premise of without departing from the technical solution recorded in claim.
Claims (6)
1. the AGV Intelligent tracing modules based on photoelectric sensor, including the module body that tracks；It is characterized in that：Further include photoelectricity
Collecting unit；The photoelectricity collecting unit includes being arranged on arranging at equal intervals of tracking in module body and be generally aligned in the same plane
7~24 infrared photoelectric sensors；Spacing between two neighboring infrared photoelectric sensor is more than or equal to 10mm.
2. the AGV Intelligent tracing modules according to claim 1 based on photoelectric sensor, it is characterised in that：It is described infrared
Photoelectric sensor has 8 or 16.
3. the AGV Intelligent tracing modules according to claim 2 based on photoelectric sensor, it is characterised in that：It is two neighboring
Spacing between infrared photoelectric sensor is 15mm.
4. the AGV Intelligent tracing modules based on photoelectric sensor according to claim 1,2 or 3, it is characterised in that：It tracks
Module is mounted on AGV bottoms, and infrared photoelectric sensor is parallel to the ground and distance away from ground is 10mm-45mm.
5. the AGV Intelligent tracing modules according to claim 1 based on photoelectric sensor, it is characterised in that：Further include A/D
Conversion signal processing unit and light-coupled isolation output unit；The input termination photoelectricity collecting unit of A/D conversion signal processing units
Output terminal, the input terminal of the output termination light-coupled isolation output unit of A/D conversion signal processing units, light-coupled isolation output is single
Output of the output terminal of member for the module that tracks.
6. the AGV Intelligent tracing modules according to claim 5 based on photoelectric sensor, it is characterised in that：The photoelectricity
The voltage follower for stablizing sampled signal is provided between collecting unit, A/D conversion signal processing units.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611261073.1A CN108268030B (en) | 2016-12-30 | 2016-12-30 | AGV intelligence module of trailing based on photoelectric sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611261073.1A CN108268030B (en) | 2016-12-30 | 2016-12-30 | AGV intelligence module of trailing based on photoelectric sensor |
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| CN108268030A true CN108268030A (en) | 2018-07-10 |
| CN108268030B CN108268030B (en) | 2021-08-27 |
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