CN109343527B - Control method for automatically adjusting lifting of laser scanner by AGV - Google Patents
Control method for automatically adjusting lifting of laser scanner by AGV Download PDFInfo
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- CN109343527B CN109343527B CN201811208894.8A CN201811208894A CN109343527B CN 109343527 B CN109343527 B CN 109343527B CN 201811208894 A CN201811208894 A CN 201811208894A CN 109343527 B CN109343527 B CN 109343527B
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- agv
- laser scanner
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- lifting
- push rod
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- 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
- G05D1/0238—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
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention provides a control method for automatically adjusting the lifting of a laser scanner by an AGV, which comprises the following steps: recording coordinate information of all reflectors on an AGV traveling scene, generating a scene coordinate point layout, arranging an induction area at the junction of all scene conversions, and arranging an inductible marker on the induction area; after the AGV receives a working instruction, the upper computer sets an optimal path according to the starting position and the end position of the AGV, and the AGV runs according to the specified path; when the AGV runs into the induction area, the induction device on the AGV induces the marker and sends an induction signal to the upper computer, and the upper computer judges whether the push rod needs to ascend or descend according to the running path of the AGV after receiving the induction signal; after the judgment is finished, sending a push rod ascending or descending instruction to the AGV, and after receiving the instruction, a controller on the AGV controls the ascending or descending mechanism to ascend or descend; after the lifting mechanism finishes working, the controller controls the lifting mechanism to stop running, meanwhile, a finishing signal is output to the upper computer, and the AGV executes the next task.
Description
Technical Field
The invention relates to the technical field of AGV, and mainly relates to a control method for automatically adjusting the lifting of a laser scanner by the AGV.
Background
With the development of material conveying systems, flexible manufacturing systems, automatic stereoscopic warehouse systems and the like, agvs (automated Guided vehicles) are used as important components in the material conveying systems and the flexible manufacturing systems, can overcome the defects of the traditional logistics systems, and are widely applied in the conveying link of the manufacturing industry.
At present, in warehouse AGV navigation, a laser navigation mode is generally used to locate AGVs, a reference object is required to be used as a positioning condition when the laser navigation mode is used, such as a reflector and the like, however, the situation of cargo stacking generally occurs in the current warehouse, the height after cargo stacking is higher than that of a laser scanner, the scanning area of the laser scanner is shielded, at this time, the AGVs lose positioning, therefore, people generally reduce the height of cargo stacking to prevent positioning loss, but this can lead to great discount of the utilization rate of the warehouse, at this time, people think that an elevating mechanism is added on the AGV to ensure scanning of the laser scanner, but generally need to operate in different space environments, for example, the AGVs need to automatically operate according to a specified path among a cargo warehouse, a cargo way and a cargo lift, but different operation spaces have different heights, therefore, if the elevating mechanism capable of realizing automatic lifting in different spaces can realize automatic lifting of the AGVs of the whole logistics conveying system The improvement of the degree of transformation is of great significance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a control method for automatically adjusting the lifting of a laser scanner by an AGV, which can improve the automation degree of the AGV.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a control method that AGV automatic adjustment laser scanner goes up and down, is equipped with elevating system and induction system on this AGV, the last fixed laser scanner that is equipped with of elevating system, laser scanner are used for detecting the reflector panel in the scene of marcing, elevating system drives laser scanner and rises or descend, control method includes following step:
a. recording coordinate information of all reflectors on an AGV traveling scene, generating a scene coordinate point layout, and arranging an induction area at the junction of all scene conversions, wherein the induction area is provided with an identifier for induction of an induction device;
the AGV travels along the navigation path according to the working instruction, when the AGV travels to the induction area, an induction device on the AGV induces the marker and sends an induction signal to an upper computer, and the upper computer judges whether the push rod needs to ascend or descend according to the travel path of the AGV after receiving the induction signal of the AGV;
c. the upper computer sends an execution instruction to the AGV, and the AGV controls the lifting mechanism to ascend or descend after receiving the execution instruction;
d. after the lifting mechanism finishes ascending or descending, a controller on the AGV outputs a stop signal to control the lifting mechanism to stop running, meanwhile, a completion signal is fed back to the upper computer, and the AGV continues to run along the navigation path.
Compared with the prior art, the control method for automatically adjusting the lifting of the laser scanner by the AGV provided by the invention has the advantages that the lifting device and the sensing device are utilized, so that the laser navigation AGV is always in an automatic navigation mode when being switched to different heights, manual intervention is not needed, the laser navigation AGV can adapt to storage environments with various heights, the AGV can be carried back and forth in the environments with different heights, the flexibility of the AGV is improved, and the automation level is improved; meanwhile, the height of stacked goods in storage can be greatly increased, the stacked goods are not restricted by a short channel, and the space utilization rate of the warehouse is improved.
Preferably, the lifting mechanism is an electric cylinder, a push rod of the electric cylinder is connected with the laser scanner, a magnet is arranged in the electric cylinder and acts along with the push rod of the electric cylinder, a magnetic reed switch is arranged on a cylinder body of the electric cylinder and used for detecting the magnet in the electric cylinder, and in the step d, after the AGV receives a signal of the magnetic reed switch, the AGV controller judges that the lifting action is finished; the magnetic reed switch comprises an upper magnetic reed switch and a lower magnetic reed switch, the upper magnetic reed switch is arranged at the position, close to the top, of the upper side of the electric cylinder body, and the lower magnetic reed switch is arranged at the position, close to the bottom, of the lower side of the electric cylinder body.
Alternatively, the lifting mechanism is an electric cylinder, a push rod of the electric cylinder is connected with the laser scanner, a stay wire encoder is further arranged on the push rod, pulses of the encoder are collected and calculated by the AGV controller to obtain the lifting height of the push rod, the stay wire encoder measures the lifting height of the push rod when the lifting mechanism does not act in the step d, and the AGV controller judges that the lifting action is finished when the lifting height is detected to meet the preset height requirement; or, a rotary encoder is installed on the tail shaft of the push rod motor, the pulse of the encoder is collected and calculated by the AGV controller to obtain the lifting height of the push rod, and in step d, when the lifting mechanism acts, the lifting height of the push rod is measured by the encoder, and when the lifting height is detected to reach the preset height requirement, the AGV controller judges that the lifting action is completed.
Preferably, the top of the push rod is provided with a diffuse reflection electric switch which is used for detecting an obstacle above the push rod and preventing the push rod from rising beyond a measuring range and crushing the laser scanner.
Preferably, to step c, elevating system is at the lift in-process, and laser scanner constantly scans the reflector around the detection, wherein, the length of the reflector in the induction area is greater than the length of other reflectors in the scene, in order to ensure that laser scanner can scan the reflector all the time at the in-process that rises, make the reflector data that laser scanner scanned remain unanimous all the time, avoid appearing the location failure because of the position data change arouses, make AGV be in under the automatic navigation mode all the time simultaneously, further improve the automation level.
Preferably, bit of the PLC is set to be 0 or 1 in all the traveling scenes except the sensing area, and the bit is used to ensure that the elevator mechanism of the AGV is always in a descending state or an ascending state in the traveling scenes except the sensing area, thereby ensuring traveling safety.
Drawings
Fig. 1 is a diagram of a scenario application of one embodiment of the present invention.
Detailed Description
A preferred embodiment of the present invention will be described below with reference to the accompanying drawings.
Referring to fig. 1, a control method for automatically adjusting the lifting of a laser scanner of an AGV, the AGV is provided with an elevating mechanism and a sensing device, the elevating mechanism is fixedly provided with the laser scanner, the laser scanner is used for detecting a reflective plate in a traveling scene, the elevating mechanism drives the laser scanner to ascend or descend, in this embodiment, the traveling scene comprises a goods elevator, a warehouse and a channel for connecting the goods elevator and the warehouse, wherein the height of the warehouse is greater than that of the goods elevator, the height of the goods elevator is greater than that of the channel, the elevating mechanism drives the laser scanner to ascend or descend, and the control method comprises the following steps:
a. recording coordinate information of all reflectors on an AGV traveling scene, generating a scene coordinate point layout, and setting an induction area at a junction of all scene conversion, wherein in the embodiment, only the induction area is required to be arranged at an outlet of a warehouse, namely the junction of the warehouse and a channel, and the induction area is provided with a marker for induction of an induction device;
the AGV travels along the navigation path according to the working instruction, when the AGV travels to the induction area, an induction device on the AGV induces the marker and sends an induction signal to an upper computer, and the upper computer judges whether the push rod needs to ascend or descend according to the travel path of the AGV after receiving the induction signal of the AGV;
c. the upper computer sends an execution instruction to the AGV, and the AGV controls the lifting mechanism to ascend or descend after receiving the execution instruction;
d. after the lifting mechanism finishes ascending or descending, a controller on the AGV outputs a stop signal to control the lifting mechanism to stop running, meanwhile, a completion signal is fed back to the upper computer, and the AGV continues to run along the navigation path.
As preferred scheme, elevating system is the electric jar, and the push rod and the laser scanner of electric jar are connected, be equipped with magnet in the electric jar, magnet moves along with the push rod of electric jar together, is equipped with the magnetic reed switch on the electric jar cylinder body, and the magnetic reed switch of telling is used for detecting the magnet in the electric jar, and to step d, after AGV received the signal of magnetic reed switch, the AGV controller judged that the elevating movement has been accomplished, wherein, the magnetic reed switch includes magnetic reed switch and lower magnetic reed switch, go up the position that the upside that the magnetic reed switch located the electric jar body is close to the top, the downside that the magnetic reed switch located the electric jar body is close to the position of bottom down.
Preferably, the top of the push rod is provided with a diffuse reflection electric switch which is used for detecting an obstacle above the push rod and preventing the push rod from rising beyond a measuring range and crushing the laser scanner.
As a preferable scheme, for step c, in the lifting process of the lifting mechanism, the laser scanner continuously scans and detects the surrounding reflection plates, wherein the length of the reflection plate in the sensing area is greater than the lengths of other reflection plates in the scene, so as to ensure that the laser scanner can always scan the reflection plate in the lifting process, so that the data of the reflection plate scanned by the laser scanner always keeps consistent, the positioning failure caused by the change of the position data is avoided, and meanwhile, the AGV is always in the automatic navigation mode, and the automation level is further improved.
As preferred scheme, set up PLC's bit in the whole region of passageway and goods lift and be 0 to ensure that AGV's elevating system is in the decline state all the time in passageway and goods lift, the region outside the induction zone in the warehouse sets up PLC's bit and be 1, in order to ensure that AGV's elevating system is in the state that rises all the time in other regions except induction zone in the warehouse.
The specific working process of the invention is described below with reference to the accompanying drawings:
referring to fig. 1, sufficient quantity of reflectors are arranged in an elevator, a passage and a warehouse as reference objects, a rectangular coordinate system is established by taking a navigation scanner as an original point, an induction area is arranged at an exit of the warehouse entering the passage, the reflectors and markers for induction of an induction device on the AGV are also arranged in the induction area, and meanwhile, at least one reflector in each quadrant is required to be ensured to be enough to ensure the navigation quality.
After the AGV receives a working instruction of taking goods from a goods taking point and driving to a goods elevator, the upper computer sets an optimal path according to the initial position and the end position of the AGV, and the AGV drives according to the specified path;
when the AGV carries goods to the exit of the warehouse, the AGV enters the sensing area, a sensing device on the AGV senses the marker and sends a sensing signal to an upper computer, and the upper computer judges that the push rod needs to descend according to the running path of the AGV after receiving the sensing signal of the AGV;
after the upper computer finishes judgment, a push rod descending instruction is sent to the AGV, a controller on the AGV receives the descending instruction and then controls the push rod of the electric cylinder to descend until the lower magnetic reed switch detects a magnet in the point cylinder body, and the AGV controller judges that the ascending and descending action is finished;
after the lifting mechanism finishes descending, the controller on the AGV outputs a stop signal to control the electric cylinder to stop running, and simultaneously outputs a completion signal to the upper computer, so that the AGV enters the goods channel and enters the goods elevator in parallel to complete work.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (9)
1. The utility model provides a control method that AGV automatic adjustment laser scanner goes up and down, is equipped with elevating system and induction system on this AGV, the last fixed laser scanner that is equipped with of elevating system, laser scanner are used for detecting the reflector panel in the scene of marcing, elevating system drives laser scanner and rises or descend its characterized in that: the control method comprises the following steps:
a. recording coordinate information of all reflectors on an AGV traveling scene, generating a scene coordinate point layout, and arranging an induction area at the junction of all scene conversions, wherein the induction area is provided with an identifier for induction of an induction device;
the AGV travels along the navigation path according to the working instruction, when the AGV travels to the induction area, an induction device on the AGV induces the marker and sends an induction signal to an upper computer, and the upper computer judges whether the push rod needs to ascend or descend according to the travel path of the AGV after receiving the induction signal of the AGV;
c. the upper computer sends an execution instruction to the AGV, and the AGV receives the execution instruction and then controls the lifting mechanism to ascend or descend;
d. after the lifting mechanism finishes ascending or descending, a controller on the AGV outputs a stop signal to control the lifting mechanism to stop running, meanwhile, a completion signal is fed back to an upper computer, and the AGV continues to run along the navigation path;
setting the bit of the PLC to be 0 or 1 in all the advancing scenes except the induction area, wherein the bit is used for ensuring that the lifting mechanism of the AGV is always in a descending state or an ascending state in the advancing scenes except the induction area.
2. The AGV automatic adjustment laser scanner lift control method of claim 1, characterized in that: the lifting mechanism is an electric cylinder, and a push rod of the electric cylinder is connected with the laser scanner.
3. The AGV automatic adjustment laser scanner lift control method of claim 2, characterized in that: and d, when the AGV receives a signal of the magnetic reed switch, the AGV controller judges that the lifting action is finished.
4. The AGV automatic adjustment laser scanner lift control method of claim 2, characterized in that: and d, a stay wire encoder is further arranged on the push rod, the pulse of the encoder is collected and calculated by the AGV controller to obtain the lifting height of the push rod, the stay wire encoder measures the lifting height of the push rod when the lifting mechanism acts in the step d, and the AGV controller judges that the lifting action is finished when the lifting height reaches a preset height requirement.
5. The AGV automatic adjustment laser scanner lift control method of claim 2, characterized in that: and (d) a rotary encoder is installed on the tail shaft of the push rod motor, the pulse of the encoder is collected and calculated by the AGV controller to obtain the lifting height of the push rod, the encoder measures the lifting height of the push rod when the lifting mechanism acts, and the AGV controller judges that the lifting action is finished when the lifting height reaches a preset height requirement.
6. The AGV control method for automatically adjusting the elevation of a laser scanner of claim 3, wherein: the magnetic reed switch comprises an upper magnetic reed switch and a lower magnetic reed switch, the upper magnetic reed switch is arranged at the position, close to the top, of the upper side of the electric cylinder body, and the lower magnetic reed switch is arranged at the position, close to the bottom, of the lower side of the electric cylinder body.
7. The AGV automatic adjustment laser scanner lift control method of claim 2, characterized in that: the top of the push rod is provided with a diffuse reflection electric switch which is used for detecting an obstacle above.
8. The AGV automatic adjustment laser scanner lift control method of claim 1, characterized in that: and c, continuously scanning and detecting the surrounding reflecting plates by the laser scanner in the lifting process of the lifting mechanism.
9. The AGV automatic adjustment laser scanner lift control method of claim 1, characterized in that: the length of the reflector in the induction area is greater than the lengths of other reflectors in the scene, so that the reflector can be always scanned by the laser scanner in the ascending process, and the data of the reflector scanned by the laser scanner are always consistent.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811208894.8A CN109343527B (en) | 2018-10-17 | 2018-10-17 | Control method for automatically adjusting lifting of laser scanner by AGV |
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| CN201811208894.8A CN109343527B (en) | 2018-10-17 | 2018-10-17 | Control method for automatically adjusting lifting of laser scanner by AGV |
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| CN109343527B true CN109343527B (en) | 2022-06-14 |
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| CN110623432A (en) * | 2019-09-11 | 2019-12-31 | 安徽信息工程学院 | Intelligent bookshelf and control method thereof |
| CN115215065A (en) * | 2022-06-27 | 2022-10-21 | 武汉逸飞激光股份有限公司 | Lifting control method and device, electronic equipment and multilayer conveying line thereof |
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| CN207230084U (en) * | 2017-09-29 | 2018-04-13 | 苏州罗伯特木牛流马物流技术有限公司 | The AGV fork trucks of adjustable laser scanner height |
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| CN104442452B (en) * | 2014-11-14 | 2017-04-05 | 宝鸡赫威特机械科技有限公司 | Unmanned electric railless three-dimensional stacking fork truck |
| CN104679004B (en) * | 2015-02-09 | 2017-07-11 | 上海交通大学 | Automatic guided vehicle and its guidance method that flexible path is combined with fixed route |
| JP6633877B2 (en) * | 2015-09-25 | 2020-01-22 | シャープ株式会社 | Moving vehicle |
| CN205450772U (en) * | 2016-01-05 | 2016-08-10 | 东莞市松迪智能机器人科技有限公司 | Automated guidance of qxcomm technology car |
| CN106774300A (en) * | 2016-11-18 | 2017-05-31 | 广西大学 | A kind of AGV anti-collision device for trolley |
| CN207061784U (en) * | 2017-06-29 | 2018-03-02 | 林德（中国）叉车有限公司 | A kind of fork truck region Control for Speed Limitation mechanism and fork truck based on RFID |
| CN108204815A (en) * | 2017-12-30 | 2018-06-26 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of laser fork truck navigation device |
| CN108483052B (en) * | 2018-03-06 | 2023-03-14 | 查道球 | Continuous and automatic material package loading and stacking system and loading and stacking method |
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| CN104149875A (en) * | 2014-09-04 | 2014-11-19 | 苏州工业园区艾吉威自动化设备有限公司 | Laser navigation forklift type AGV |
| CN207230084U (en) * | 2017-09-29 | 2018-04-13 | 苏州罗伯特木牛流马物流技术有限公司 | The AGV fork trucks of adjustable laser scanner height |
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