CN109828590A - A kind of motion positions device and method based on photoelectric sensor - Google Patents
A kind of motion positions device and method based on photoelectric sensor Download PDFInfo
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- CN109828590A CN109828590A CN201910196157.9A CN201910196157A CN109828590A CN 109828590 A CN109828590 A CN 109828590A CN 201910196157 A CN201910196157 A CN 201910196157A CN 109828590 A CN109828590 A CN 109828590A
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- photoelectric sensor
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- chip microcontroller
- black belt
- target point
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Abstract
The invention discloses a kind of motion positions device based on photoelectric sensor, including several photoelectric sensors, cross black belt, computer and single-chip microcontroller, the photoelectric sensor is fixed on the vehicle chassis of position to be corrected, cross black belt is set to the target point of vehicle, when vehicle chassis center is located at the surface of target point, the orthographic projection of photoelectric sensor is all fallen on cross black belt；The single-chip microcontroller is connected with photoelectric sensor, cross black belt and computer respectively.The motion positions method based on photoelectric sensor that the invention also discloses a kind of.The present invention generates low and high level using photoelectric sensor autonomous transmission infrared ray and sends the signal to single-chip microcontroller, then the coordinate and deflection angle of automatic guided vehicle relative target point is accurately positioned out by single-chip microcontroller and computer, then rectify a deviation to vehicle；This method fast response time is, it can be achieved that real-time positioning and rectifying.
Description
Technical field
The present invention relates to logistlcs technologies and automatic guided vehicle (Atuomated Guided vehicles, AGV) location technology
Field, a kind of specific motion positions device and method based on photoelectric sensor.
Background technique
The developing direction of industrial production and logistics field in future necessarily tends to intelligence, this also requires AGV must
Must have the ability of independent navigation.With the development of the times, AGV airmanship mainly has tape guidance, las er-guidance, ultrasonic wave
Guiding and visual guidance, wherein tape guidance can only follow the path of tape to walk, and limitation is bigger and tape is easily damaged,
Maintenance cost is higher；Ultrasonic wave guiding is easy by external interference, and visual guidance is complicated for operation, and cost is relatively high.
Summary of the invention
It is an object of the present invention in view of the deficiencies of the prior art, provide a kind of fast response time based on photoelectric sensing
The motion positions device and method of device.
The technical solution adopted by the present invention are as follows: a kind of motion positions device based on photoelectric sensor, including several photoelectricity
Sensor, cross black belt, computer and single-chip microcontroller, the photoelectric sensor are fixed on the vehicle chassis of position to be corrected
On, cross black belt is set to the target point of vehicle, when vehicle chassis center is located at the surface of target point, photoelectric sensor
Orthographic projection all fall on cross black belt；The single-chip microcontroller respectively with photoelectric sensor, cross black belt and computer
It is connected.
According to the above scheme, the photoelectric sensor is centrosymmetric arrangement around central point.
According to the above scheme, the single-chip microcontroller is stm32 single-chip microcontroller.
The motion positions method based on photoelectric sensor that the invention also discloses a kind of, this method, which utilizes, is set to vehicle chassis
On photoelectric sensor emit infrared ray, infrared ray generates low level by ground back reflection back and is sent to single-chip microcontroller, passes through
It crosses the black belt generation high level set on target point and is sent to single-chip microcontroller；The high level of monolithic function reception photoelectric sensor
And low level, and the two is converted into be sent to computer after corresponding digital signal, computer receives the processing of signal union,
Control signal is sent to vehicle, so that vehicle is adjusted motion state, vehicle chassis center is constantly close to target point.
The invention has the benefit that
1, the present invention generates low and high level using photoelectric sensor autonomous transmission infrared ray and sends the signal to single-chip microcontroller,
Be accurately positioned out the coordinate and deflection angle of automatic guided vehicle relative target point by single-chip microcontroller and computer again, then to vehicle into
Row correction；This method fast response time is, it can be achieved that real-time positioning and rectifying；
2, the present invention uses photoelectric sensor, and anti-interference is stronger, can work under dark situations, and at low cost；
3, accumulated error is not present using each target point as reference point in the present invention, and can eliminate automatic guided vehicle itself
Accumulated error；
4, apparatus of the present invention modularization, small in size, portable mobile, can be widely applied to determining for the robot of various movements
Position, is with a wide range of applications.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of a specific embodiment of the invention.
Fig. 2 is the 3 dimensional drawing of apparatus of the present invention.
Fig. 3 is the bottom view of Fig. 2.
Fig. 4 is the plan view that the target point in the present invention is overlapped with cross black belt central point.
Fig. 5 is the plan view that target point is not overlapped with cross black belt central point in the present invention.
Fig. 6 is overlapped kinematic sketch with cross black belt central point for target point in the present invention.
Fig. 7 is overlapped kinematic sketch with cross black belt central point for target point in the present invention.
The plan view of maximum deflection angle when Fig. 8 is cross black belt central point in the present invention.
Wherein: 1, photoelectric sensor；2, cross black belt；3, chassis；4,4. number photoelectric sensor；5,5. number photoelectric transfer
Sensor.
Specific embodiment
For a better understanding of the present invention, the present invention is further described in the following with reference to the drawings and specific embodiments.
A kind of motion positions device based on photoelectric sensor as shown in Figure 1, comprising: several photoelectric sensors 1, cross
Black belt 2, computer and single-chip microcontroller, photoelectric sensor 1 are fixed on the vehicle chassis 3 of position to be corrected, cross black glue
The target point for being set to vehicle with 2, when 3 center of vehicle chassis is located at the surface of target point, the orthographic projection of photoelectric sensor 1 is equal
It falls on cross black belt 2；The single-chip microcontroller is connected with photoelectric sensor 1, cross black belt 2 and computer respectively；Institute
Photoelectric sensor 1 is stated to be centrosymmetric arrangement around central point.
A kind of motion positions method based on photoelectric sensor 1, this method utilize the photoelectric transfer set on 3 center of vehicle chassis
1 autonomous transmission infrared ray of sensor, infrared ray generates low level by ground back reflection back and is sent to single-chip microcontroller, by being set to
The low cross black belt 2 of reflectivity on target point generates high level and is sent to single-chip microcontroller；Monolithic function receives photoelectric transfer
The high level and low level of sensor 1, and the two is converted into be sent to computer after corresponding digital signal, computer receives letter
The processing of number union sends control signal to vehicle, so that vehicle is adjusted motion state, 3 center of vehicle chassis is constantly close to target
Point.In actual treatment, it is only necessary to know the relative coordinate of central point and target point, and the headstock of vehicle is relative to advance side
To deflection angle.It according to athletic posture at this time, is analyzed by computer, using correction algorithm, is going to next target point
It rectifies a deviation in the process, allows vehicle is more acurrate to reach next target point.Photoelectric sensor 1 collects transmitting terminal and receiving end one, from
Main transmitting infrared ray, ground reflecting rate is high, and photoelectric sensor 1 receives reflected infrared ray by ground, generates low electricity
It is flat；The cross black belt 2 extremely low by reflectivity of photoelectric sensor 1, does not receive infrared ray, generates high level, utilize
Stm32 monolithic function receives the low and high level of photoelectric sensor 1, is converted into corresponding digital signal.
Automatic guided vehicle is mostly according to the route walking being pre-designed, from a certain position to target point.Due to automatic guided vehicle
Other error components such as left and right wheel speed difference, it may occur that at this moment course deviation is needed to position automatic guided vehicle, be oriented
Relative position and the deflection angle of 3 central point of homing guidance chassis and target point, computer receive relative coordinate point and partially
When the signal of gyration, is rectified a deviation using corresponding correction algorithm, prevent automatic guided vehicle from derailing.Below for homing guidance
Technical principle of the invention is further described in vehicle.
In the present embodiment, the positioning device is mounted on the chassis 3 of automatic guided vehicle (as shown in Figures 2 and 3), installation
Height is away from ground in 10mm or so；Described device includes multiple photoelectric sensors 1, and 1 quantity of photoelectric sensor of surrounding is equal
, the digital signal of multiple photoelectric sensors 1 constitutes binary number, and the corresponding one section of displacement bias of the binary number constituted
Amount, and shift offset is unique.When automatic guided vehicle moves on cross black belt 2, since automatic guided vehicle exists
Trajectory error, therefore the sensor of every row falls in the in varying numbers of the top in cross black belt 2, photoelectric sensing all around
Device 1 has different low and high levels, there is different binary numbers, so the sensor of surrounding can measure four sections of shift offsets,
The coordinate and deflection angle of automatic guided vehicle relative target point can be measured using mathematical formulae according to this four sections of shift offsets
Degree.
Fig. 4 and Fig. 5 is that multiple photoelectric sensors 1 are arranged in the signal of the plane on homing guidance chassis 3 in the present embodiment
(when guaranteeing that 3 center of automatic guide vehicle chassis is located at target point, the orthographic projection of all photoelectric sensors 1 is respectively positioned on target point figure
Cross black belt 2 on).The mounting height of photoelectric sensor 1 is 10mm away from ground, and detection range is that diameter is 1mm's
Circle；The distance between two photoelectric sensors, 1 central point is that 7mm can will be in two photoelectric sensors 1 shown in design as shown in the figure 4
The distance between heart point is reduced to 3.5mm, when previous photoelectric sensor 1 is on cross black belt 2, latter photoelectric sensor 1
Or not on cross black belt 2, is fallen on cross black belt 2 to rear photoelectric sensor 1, have the peak excursion of 3.5mm
Error uses mean value method at this time, and taking the center of the distance of two photoelectric sensors 1 is offset point, can subtract peak excursion error
It is small to arrive 1.75mm.1 orthographic projection of photoelectric sensor as shown in Figure 6 is all on black belt, binary number that computer acquisition is arrived
It is 1111111, position offset 0；When setting position is as shown in Figure 7, according to the front and rear row of device, the photoelectric transfer of left and right sides
Sensor 1 can measure offset X 1, X2, X3, X4, then by the similar figures and trigonometric function relationship of triangle, can be in the hope of at this time
Position and attitude (Δ X, Δ Y, θ).Using the center line of cross black belt 2 as reference line, when each row's photoelectric sensor 1 is respectively positioned on
When cross 2 surface of black belt, indicate that 3 center of chassis of automatic guided vehicle is just overlapped with target point, what computer was read
Binary number is 1111111, the athletic posture (Δ X=0, Δ Y=0, θ=0) of automatic guided vehicle at this time；When each row's photoelectric transfer
Sensor 1 entirely in the top of cross black belt 2, does not indicate that the central point of automatic guided vehicle is offset with target point, two respectively arranged
System number corresponds to four field offset amount X1, X2, X3, X4, finds out athletic posture (Δ X, Δ Y, θ) at this time using this four field offsets amount,
Such as, shown in 7:
It is as follows according to offset X 1, X2, formula measured by front and rear row photoelectric sensor 1:
Wherein: X1, X2 indicate the offset of opposite 2 center line of cross black belt, have it is positive and negative, when photoelectric sensor 1 is left
Partially, X1 is negative value, and 1 right avertence of photoelectric sensor, X2 is positive value, and L indicates the distance of front and rear row sensor.
It is as follows according to offset X 3, X4, formula measured by left and right sides photoelectric sensor 1:
Wherein: X3, X4 indicate the offset of opposite 2 center line of cross black belt, have it is positive and negative, when on photoelectric sensor 1
Partially, X3 is negative value, and photoelectric sensor 1 is lower, and X4 is positive value partially, and L indicates the distance of left and right side senser.
It is surveyed according to front and rear row photoelectric sensor 1 and left and right sides photoelectric sensor 1, it may be determined that the movement appearance of automatic guided vehicle
State (Δ X, Δ Y, θ).When the binary system that the photoelectric sensor 1 of each row is not read in the top of cross black belt 2, computer
Number is 0000000, indicates that the central point of automatic guided vehicle does not reach near target point, computer reports an error to it, does not count to it
According to being handled, until there is correct binary number, it is handled.
When the 1 distance L of photoelectric sensor of front and rear row, left and right sides is bigger, the precision of positioning is higher.Each row's photoelectric sensor
1 quantity is more, and the offset ranges that positioning device is surveyed at this time are bigger, can be according to the run trace precision of automatic guided vehicle
To determine the quantity of installation photoelectric sensor 1.But deflection angle test scope is limited, as shown in figure 8, to its front-seat light
Electric transducer 1 is analyzed, front-seat photoelectric sensor 1 number be from left to right followed successively by 1. -7., rotated counterclockwise by this device
When, photoelectric sensor 1 is successively removed from cross black belt 2, but when rotating angle and continuing growing, 5. number photoelectric sensing
Device 5 first goes out cross black belt 2 than 4. number photoelectric sensor 4, not applicable to algorithm at this time, and computer reports an error to it.Experiment
When test, maximum deflection angle is measured at 14 degree or so, i.e., the test scope of the present embodiment is -14~14 degree of degree.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of motion positions device based on photoelectric sensor, which is characterized in that including several photoelectric sensors, cross black
Adhesive tape, computer and single-chip microcontroller, the photoelectric sensor are fixed on the vehicle chassis of position to be corrected, and cross black belt is set
In the target point of vehicle, when vehicle chassis center is located at the surface of target point, the orthographic projection of photoelectric sensor all falls within ten
On word black belt；The single-chip microcontroller is connected with photoelectric sensor, cross black belt and computer respectively.
2. the motion positions device based on photoelectric sensor as described in claim 1, which is characterized in that the photoelectric sensor
It is centrosymmetric arrangement around central point.
3. the motion positions device based on photoelectric sensor as described in claim 1, which is characterized in that the single-chip microcontroller is
Stm32 single-chip microcontroller.
4. a kind of motion positions method based on photoelectric sensor, which is characterized in that this method utilizes the photoelectricity on vehicle chassis
Sensor emission infrared ray, infrared ray generate low level by ground back reflection back and are sent to single-chip microcontroller, by being set to vehicle
The cross black belt of target point generates high level and is sent to single-chip microcontroller；The high level of monolithic function reception photoelectric sensor
And low level, and the two is converted into be sent to computer after corresponding digital signal, computer receives the processing of signal union,
Control signal is sent to vehicle, so that vehicle is adjusted motion state, vehicle chassis center is constantly close to target point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910196157.9A CN109828590A (en) | 2019-03-15 | 2019-03-15 | A kind of motion positions device and method based on photoelectric sensor |
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| CN201910196157.9A CN109828590A (en) | 2019-03-15 | 2019-03-15 | A kind of motion positions device and method based on photoelectric sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111977313A (en) * | 2020-09-03 | 2020-11-24 | 太原钢铁(集团)有限公司 | Adhesive tape coil positioning parking method |
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| CN201853137U (en) * | 2010-11-24 | 2011-06-01 | 重庆大学 | Photoelectric sensor-based intelligent and self-tracking trolley control system |
| CN102854878A (en) * | 2012-09-14 | 2013-01-02 | 苏州工业园区永动工业设备有限公司 | Infrared photoelectric guiding automatic guided vehicle (AGV) device and control method thereof |
| CN104898661A (en) * | 2015-03-31 | 2015-09-09 | 苏州佳世达电通有限公司 | Vehicle deviation correction control method and system |
| CN105022390A (en) * | 2014-04-23 | 2015-11-04 | 王芳 | Intelligent line inspection dolly |
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2019
- 2019-03-15 CN CN201910196157.9A patent/CN109828590A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101441479A (en) * | 2007-11-21 | 2009-05-27 | 同方威视技术股份有限公司 | Control apparatus and control method of vehicle error correcting |
| CN201853137U (en) * | 2010-11-24 | 2011-06-01 | 重庆大学 | Photoelectric sensor-based intelligent and self-tracking trolley control system |
| CN102854878A (en) * | 2012-09-14 | 2013-01-02 | 苏州工业园区永动工业设备有限公司 | Infrared photoelectric guiding automatic guided vehicle (AGV) device and control method thereof |
| CN105022390A (en) * | 2014-04-23 | 2015-11-04 | 王芳 | Intelligent line inspection dolly |
| CN104898661A (en) * | 2015-03-31 | 2015-09-09 | 苏州佳世达电通有限公司 | Vehicle deviation correction control method and system |
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| CN111977313A (en) * | 2020-09-03 | 2020-11-24 | 太原钢铁(集团)有限公司 | Adhesive tape coil positioning parking method |
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Application publication date: 20190531 |