CN108268030B - AGV intelligence module of trailing based on photoelectric sensor - Google Patents
AGV intelligence module of trailing based on photoelectric sensor Download PDFInfo
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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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
- G05D1/0242—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
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Abstract
The invention provides an AGV intelligent tracing module based on a photoelectric sensor, which comprises a tracing module body; the method is characterized in that: the device also comprises a photoelectric acquisition unit; the photoelectric acquisition unit comprises 7-24 infrared photoelectric sensors which are arranged on the tracing module body and are positioned on the same plane at equal intervals; the distance between two adjacent infrared photoelectric sensors is more than or equal to 10 mm. The invention uses the infrared photoelectric sensor to collect signals, has no special requirements on an environmental light source, a road surface background and materials, and solves the problem of strong applicability of path identification with small division between a path and a ground background.
Description
Technical Field
The invention belongs to the field of mobile robots, and relates to an AGV intelligent tracing module.
Background
An Automatic Guided Vehicle (AGV) is an automated unmanned intelligent handling device, belongs to the category of mobile robots, and is one of key devices of an automated logistics system.
The intelligent tracking module of the conventional AGV mainly adopts magnetic guidance, a magnetic circuit needs to be laid on the ground to work, only a path with high contrast with the ground background can be identified, and when the intelligent tracking module is limited in the ground environment, such as the ground has interference factors such as stains and water marks, the path identification effect is not obvious or even the path position cannot be identified.
Disclosure of Invention
In order to solve the defect that the existing AGV tracing module cannot identify a path when the path and the road background are not greatly distinguished, the invention provides an AGV intelligent tracing module based on a photoelectric sensor.
The technical solution of the invention is as follows:
the provided AGV intelligent tracking module based on the photoelectric sensor comprises a tracking module body; it is characterized in that: the device also comprises a photoelectric acquisition unit; the photoelectric acquisition unit comprises 7-24 infrared photoelectric sensors which are arranged on the tracing module body and are positioned on the same plane at equal intervals; the distance between two adjacent infrared photoelectric sensors is more than or equal to 10 mm.
In order to improve the compatibility of the tracking module of the present invention with the existing AGV, that is, the tracking module provided by the present invention can be applied without changing the structure of the existing AGV, the number of the infrared photosensors is 8 or 16.
Preferably, the distance between two adjacent infrared photoelectric sensors is 15 mm.
When the AGV tracking system is used, the tracking module is installed at the bottom of the AGV, the infrared photoelectric sensor on the tracking module body is parallel to the ground, and the optimal distance from the infrared photoelectric sensor to the ground is 10-45 mm.
The tracing module also comprises an A/D conversion signal processing unit and an optical coupling isolation output unit; the input end of the A/D conversion signal processing unit is connected with the output end of the photoelectric acquisition unit, the output end of the A/D conversion signal processing unit is connected with the input end of the optical coupling isolation output unit, and the output end of the optical coupling isolation output unit is the output of the tracing module.
The optical coupling isolation output unit isolates the numerical value output by the A/D conversion signal processing unit and outputs the numerical value, and each sampling point corresponds to one path of signal output and is provided for a control part of the AGV to use.
And a voltage follower for stabilizing the sampling signal is arranged between the photoelectric acquisition unit and the A/D conversion signal processing unit.
Compared with the existing AGV intelligent tracing module, the invention has the advantages that:
1. the invention uses the infrared photoelectric sensor to collect signals, has no special requirements on an environmental light source, a road surface background and materials, and solves the problem of strong applicability of path identification with small division between a path and a ground background.
2. By adopting the tracing module, only the color tape needs to be painted or pasted on the driving path, so that the ground route is simple to set.
3. When possible sampling interference signals are eliminated, the method capable of automatically adjusting the threshold value is adopted, the contrast threshold value can be continuously and automatically adjusted according to the change of the use environment, and the ground and color band materials do not need to be distinguished when the deviation position of the path relative to the tracing module is judged.
Drawings
FIG. 1 is a structural configuration diagram of the present invention;
FIG. 2 is a circuit schematic of the present invention;
reference numbers in the figures: a-a photoelectric acquisition unit; b-tracing module body; 1-16 are infrared photoelectric sensors.
Detailed Description
The technical solution of the present invention is further specifically described below by using specific embodiments and with reference to the accompanying drawings.
Example (b):
an automatic guided vehicle AGV of a path guidance type travels along a guidance path laid on the ground. The tracing module is installed at the bottom of the front and rear of the AGV body, and is 15-45 mm away from the surface of the guide path, and the width of the path is 30-50 mm. The photoelectric acquisition unit can detect weak reflection of the surface below the tracing module to the photoelectric device by utilizing 16 infrared photoelectric sensors (sampling points) which are uniformly distributed at intervals of 10mm, and each sampling point has a path of signal corresponding to output. In order to ensure that the working environments of sampling points are the same, reduce interference factors and enable data acquisition to be consistent, an infrared photoelectric sensor can be respectively arranged on two sides of the original 16 photoelectric sensors for infrared light source compensation.
When the AGV runs, the tracking module outputs signals at 3-5 continuous sampling points which are vertical to the upper part of the guide path. The deviation position of the guiding path relative to the tracking module can be judged by means of 3-5 paths of signals output from the 16 paths of channels, and the AGV can automatically adjust to ensure that the AGV moves forwards along the guiding path.
When the path is identified, the invention adopts a self-adaptive threshold value adjusting method, which specifically comprises the following steps:
1. determining the position of the maximum
2. Comparing whether the difference value between the maximum value and the adjacent position signal is within 10 percent, if so, considering the adjacent point as a path position, and simultaneously, taking the maximum value adjacent point as a base point, and continuously comparing until the whole sampling signal is traversed, wherein in the comparison, if all the values are within 10 percent, considering that no effective path position exists, and all the effective path positions are road surface backgrounds; if there is no signal in the 10% range, the maximum is the path position and the rest is the road background.
3. And outputting the path position and the road surface background data.
The self-adaptive threshold algorithm is used for laying a dark color path color band on a light color road surface, and the other variant of the self-adaptive threshold algorithm is used for laying a light color path color band on a dark color road surface, taking the minimum value of all sampling points as a reference, and then performing comparison operation.
When the selected photoelectric sensor faces the reflection of different colors, under the condition of the same distance, the output voltage of a light-color background is low, the output voltage of a dark-color background is high, and when the distance is proper, the photoelectric sensor can output an analog signal close to the power supply voltage under the reflection of a black background; under the reflection of a white background, the output voltage is very low, and multiple experiments find that the output analog voltage signal is less than 0.5V.
In addition, through the contrast test, when different material colors are close, the response of the photoelectric sensor to the material is relatively slow, and is only related to the color.
In order to more clearly illustrate the adaptive threshold adjustment method, a tracking module with 16 photosensors is taken as an example. For convenience of explanation, the 16 sensors are first numbered sequentially.
The first step is that a dark path color band is paved on a light road surface:
1. and sampling 16 paths of signals at the same time, and after AD conversion, assuming that the No. 7 sampling point is the maximum value.
2. And (3) comparing whether the numerical values of the No. 6 sampling point and the No. 8 sampling point are within 10% by using the No. 7, if so, taking the average value of the No. 6 sampling point, the No. 7 sampling point and the No. 8 sampling point, and then respectively taking the No. 6 sampling point and the No. 8 sampling point as base points to continue the comparison until 16 paths of sampling points are traversed.
In the comparison process, if the 16 sampling points are all within the range of 10%, determining that no effective path exists and all are road surface backgrounds; if other sampling points are not within 10% of the sampling point No. 7, only the sampling point No. 7 is considered as a path position, and other 15 paths are considered as a road surface background.
And 3, outputting a road surface background and a path position signal.
(II) paving a light-color path color band on a dark road surface
And (3) the condition that a light-color path color band is laid on the dark-color road surface is opposite to the condition that the light-color path color band is laid on the dark-color road surface, the minimum value of the 16 sampling points is taken and is used as the reference, the minimum value is compared with other sampling points respectively, and the same algorithm is sampled to obtain the final result.
And (3) the condition that a light-color path color band is laid on the dark-color road surface is opposite to the condition that the light-color path color band is laid on the dark-color road surface, the minimum value of the 16 sampling points is taken and is used as the reference, the minimum value is compared with other sampling points respectively, and the same algorithm is sampled to obtain the final result.
PS：
1. 10% is the experimental result, and is not a fixed value, and this value can be adjusted for different road surface colors and color band colors. For example, when the chromatic aberration is large, the value can be appropriately enlarged, and when the chromatic aberration is small, the value can be appropriately enlarged, and the same output result can be obtained.
2. The 8-way and 16-way tracking modules are used for being matched with the conventional AGV which is mostly provided with the magnetic guiding tracking module instead of being fixed, and can be adjusted according to application scenes rather than being fixed.
3. Photoelectric sensors selected for use in the tracking module are arranged at equal intervals, the arrangement distance is 15mm, the distance is the optimal distance obtained by an experiment, and the size of the tracking module, the use case of the existing tracking module and the use scene of the tracking module are considered at the same time, so that the arrangement distance is not a fixed value. When the distance is less than 10mm, signal interference can be generated between adjacent sensors, and the final judgment of the path is influenced; when the distance is larger than a certain value, the judgment effect of the actual path identification is reduced due to the limited path width, and the actual use significance is lost.
4. The optimum distance between the identifiable module of the tracing module and the ground is 10-45 mm. Because the photoelectric sensor self characteristic restriction that the tracking module chose for use, when discernment distance is less than 10mm or is greater than 45mm, can produce great identification error, if when changing for the sensor of other performance, this discernment distance can change through the experiment. In consideration of the fact that the AGV jolts to a certain extent during operation in the actual use process, the distance between the tracking module and the ground changes, the optimal recognition distance between the tracking module and the ground is 30mm during recommended design, and recognition errors caused by the fact that the AGV jolts in operation can be avoided.
The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the invention as set forth in the claims.
Claims (6)
1. The AGV intelligent tracking module based on the photoelectric sensor comprises a tracking module body; the method is characterized in that: the device also comprises a photoelectric acquisition unit; the photoelectric acquisition unit comprises 7-24 infrared photoelectric sensors which are arranged on the tracing module body and are positioned on the same plane at equal intervals; the distance between two adjacent infrared photoelectric sensors is more than or equal to 10 mm;
when a dark color path color band is laid on a light color road surface, the AGV intelligent tracing module based on the photoelectric sensor can realize the following steps:
step 1: determining the position of the maximum value in the sampling point signal of the infrared photoelectric sensor above the guidance path, which is vertical to the guidance path, of the tracking module;
step 2: comparing whether the difference value between the maximum value and the adjacent position signal is within 10 percent, if so, considering the adjacent point as a path position, and simultaneously, taking the maximum value adjacent point as a base point, and continuously comparing until the whole sampling signal is traversed, wherein in the comparison, if all the values are within 10 percent, considering that no effective path position exists, and all the effective path positions are road surface backgrounds; if there is no signal in the 10% range, the maximum is the path position, others are the road surface background;
and step 3: outputting path position and road surface background data;
when a light-color path color band is laid on a dark-color road surface, the AGV intelligent tracking module based on the photoelectric sensor can realize the following steps:
step 1: determining the position of the minimum value in sampling point signals of the infrared photoelectric sensor, which are perpendicular to the guide path, of the tracking module;
step 2: comparing whether the difference value between the minimum value and the adjacent position signal is within 10 percent, if so, considering the adjacent point as a path position, and meanwhile, taking the minimum value adjacent point as a base point, and continuously comparing until the whole sampling signal is traversed, wherein in the comparison, if all the values are within 10 percent, considering that no effective path position exists, and all the effective path positions are road surface backgrounds; if there is no signal in the 10% range, the minimum is the path position, others are the road surface background;
and step 3: and outputting the path position and the road surface background data.
2. The AGV intelligent tracking module based on photoelectric sensor of claim 1, wherein: there are 8 or 16 infrared photosensors.
3. The AGV intelligent tracking module based on photoelectric sensor of claim 2, wherein: the distance between two adjacent infrared photoelectric sensors is 15 mm.
4. The AGV intelligent tracking module based on photoelectric sensor of claim 1, 2 or 3, wherein: the tracking module is installed at the bottom of the AGV, and the infrared photoelectric sensor is parallel to the ground and is 10-45 mm away from the ground.
5. The AGV intelligent tracking module based on photoelectric sensor of claim 1, wherein: the optical coupler also comprises an A/D conversion signal processing unit and an optical coupling isolation output unit; the input end of the A/D conversion signal processing unit is connected with the output end of the photoelectric acquisition unit, the output end of the A/D conversion signal processing unit is connected with the input end of the optical coupling isolation output unit, and the output end of the optical coupling isolation output unit is the output of the tracing module.
6. The AGV intelligent tracking module based on photoelectric sensor of claim 5, wherein: and a voltage follower for stabilizing a sampling signal is arranged between the photoelectric acquisition unit and the A/D conversion signal processing unit.
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| CN201959539U (en) * | 2011-01-17 | 2011-09-07 | 南京工业大学 | Robot pk system |
| CN102716562A (en) * | 2012-06-25 | 2012-10-10 | 湖南商学院 | Autonomous land vehicle based on active fire-fighting early warning |
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