CN109828591A - A kind of automatic guided vehicle and its Autonomous Seam Locating Method and device with storage function - Google Patents
A kind of automatic guided vehicle and its Autonomous Seam Locating Method and device with storage function Download PDFInfo
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- CN109828591A CN109828591A CN201910219337.4A CN201910219337A CN109828591A CN 109828591 A CN109828591 A CN 109828591A CN 201910219337 A CN201910219337 A CN 201910219337A CN 109828591 A CN109828591 A CN 109828591A
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Abstract
The invention discloses a kind of automatic guided vehicle and its Autonomous Seam Locating Method and with the device for storing function.The Autonomous Seam Locating Method of the automatic guided vehicle includes: that automatic guided vehicle receives the driving instruction that scheduling system is sent by wireless network；The driving path traveling specified according to driving instruction；Corresponding countermeasure is then executed if there is obstacle with the presence or absence of obstacle in detection driving direction pre-determined distance in motion.By the above-mentioned means, the present invention can be improved safety when driving and the efficiency of processing obstacle.
Description
Technical field
The present invention relates to transport fields, more particularly to a kind of automatic guided vehicle and its Autonomous Seam Locating Method and have storage
The device of function.
Background technique
Automatic guided vehicle (Automated Guided Vehicles, AGV) is also known as automatic guided vehicle, is modern chemical industry
The important equipment of industry automatic Material Handling System.The homing guidance mode of AGV determine the logistics system being made from it flexibility and
Reliability when system is run.
With the development of industrial automation, to factory automation, more stringent requirements are proposed for enterprise.Domestic logistics are removed at present
The operation of AGV is guided still in rail in fortune link major part and least a portion of very expensive laser trackless is guided and applied
The inertial guide of work complexity；But rail guide mode can not be applicable in operating path unfixed the problem of requiring, and run over
It can not handle, be prone to accidents in time when occurring obstacle in journey, and areflexia plate laser navigation is unable to satisfy end positioning height
The requirement of precision, it is larger to environmental reconstruction for reflecting plate laser navigation, is not easy to convert operative scenario.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of automatic guided vehicle and its Autonomous Seam Locating Method and have deposit
The device of Chu Gong can be improved the driving safety of automatic guided vehicle and improve the efficiency of processing obstacle.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: provide a kind of automatic guided vehicle from
Dynamic guidance method, comprising: automatic guided vehicle receives the driving instruction that scheduling system is sent by wireless network；According to the traveling
The specified driving path traveling of instruction；It whether there is obstacle in detection driving direction pre-determined distance in motion, if there is institute
Obstacle is stated, then executes corresponding countermeasure.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of automatic guided vehicle, wrap
Include: processor, telecommunication circuit, memory, driving device and car body, the processor couple the telecommunication circuit, the storage
Device and the driving device are stored with program data in the memory, and the processor executes described program data, control institute
Telecommunication circuit and the driving device are stated, realizes method as described above.
In order to solve the above technical problems, another technical solution used in the present invention is: a kind of dress with store function
It sets, is stored with program data, described program data are for being performed to realize method as described above
The beneficial effects of the present invention are: being in contrast to the prior art, the instruction that the present invention passes through reception scheduling system
And travelled according to the instruction, it may not need the complicated railway guidance of construction, reduce cost and enforcement difficulty, adopted when encountering obstacle
Corresponding countermeasure is taken, can effectively improve safety when driving, the efficiency of processing obstacle can also be effectively improved.
Detailed description of the invention
Fig. 1 is the flow diagram of the first embodiment of dispatching method provided by the invention；
Fig. 2 is a reality of the specified transport vehicle provided by the invention that this chauffeur request is selected from least one transport vehicle
Apply the flow diagram of example；
Fig. 3 is the flow diagram of the second embodiment of dispatching method provided by the invention；
Fig. 4 is the flow diagram of the 3rd embodiment of dispatching method provided by the invention；
Fig. 5 is the flow diagram of the fourth embodiment of dispatching method provided by the invention；
Fig. 6 is the flow diagram of the 5th embodiment of dispatching method provided by the invention；
Fig. 7 is the flow diagram of the sixth embodiment of dispatching method provided by the invention；
Fig. 8 is the flow diagram of the first embodiment of the Autonomous Seam Locating Method of automatic guided vehicle provided by the invention；
Fig. 9 is the flow diagram of the second embodiment of the Autonomous Seam Locating Method of automatic guided vehicle provided by the invention；
Figure 10 is the flow diagram of the 3rd embodiment of the Autonomous Seam Locating Method of automatic guided vehicle provided by the invention；
Figure 11 is the structural schematic diagram of an embodiment of scheduling system provided by the invention；
Figure 12 is the structural schematic diagram of an embodiment of automatic guided vehicle provided by the invention；
Figure 13 is the structural schematic diagram of an embodiment of the driving device of automatic guided vehicle provided by the invention
Figure 14 is the structural schematic diagram of an embodiment of the device provided by the invention with store function.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment belongs to the scope of protection of the invention.
Referring to Fig. 1, Fig. 1 is the flow diagram of the first embodiment of dispatching method provided by the invention.The present invention mentions
The dispatching method of confession includes:
S101: receiving the chauffeur request that user terminal is sent, and the chauffeur request includes the position of the user terminal.
It, can be to scheduling system hair when the demand of user's transport cargo in need in a specific implement scene
Chauffeur is sent to request, request scheduling system call AGV (Automated Guided Vehicles, automatic guided vehicle) is by cargo
It transports.It include the position of user terminal in chauffeur request, so that scheduling system can dispatch AGV and accurately reach user terminal
Position.Scheduling system receives the chauffeur request of user terminal transmission, and obtains the position for the terminal for including in chauffeur request.?
In this implement scene, user terminal is connect by the wireless network of such as wifi, bluetooth, 4G or 5G etc with scheduling system,
In other implement scenes, it is also possible to connect by cable network.In this implement scene, chauffeur request includes user terminal
Position, in other implement scenes, chauffeur request further includes characteristic, such as weight, volume of cargo etc., so that scheduling system can
To dispatch suitable AGV, to meet the primary condition for transporting the cargo.
It also may include the position that other need the place of cargo transport, because of user terminal in other implement scenes
Cargo can be transported for other multiple place request scheduling system call AGV for needing to transport cargo.
S102: according to the distance between the position of the position of the user terminal and at least one transport vehicle, from it is described to
The specified transport vehicle of this chauffeur request is selected in a few transport vehicle.
In a specific implement scene, scheduling system receives each AGV scheduled in it and passes through UWB (Ultra Wide
Band, super-broadband tech) network timing send UWB location information, with each transport vehicle stored in real-time update scheduling system
Present bit.UWB technology is a kind of no-load communication techniques, transmits number using the non-sinusoidal waveform burst pulse of nanosecond to picosecond grade
According to.Unlike GPS, positioning accuracy can only arrive several meters tens meters, and cannot use indoors for it.It is by sending and receiving
The pulse spacing carefully controlled ultrashort clock pulse of Gaussian monocycle punches into signal and transmits, and monocycle impulse determines signal when ultrashort
Bandwidth it is very wide, pulse train is directly just converted into baseband signal with level-one front end cross correlation by receiver, eliminates biography
The intermediater-frequency stage united in communication equipment, significantly reduces equipment complexity, can not only use in wireless environment indoors, and
It can also provide and wired performance to compare favourably.
Scheduling system receive user terminal transmission chauffeur request after, obtain including user terminal position
Information finds suitable AGV as specified AGV to execute this in conjunction with the specific location of each AGV of real-time update from each AGV
The task of secondary cargo transport.In this implement scene, the AGV nearest using the position apart from user terminal is as specified AGV.Specifically
Ground, please refers to Fig. 2, and Fig. 2 is the specified fortune provided by the invention that this chauffeur request is selected from least one transport vehicle
The flow diagram of one embodiment of defeated vehicle.
S1021: it is found out and the user terminal from least one described transport vehicle according to the position of the user terminal
Nearest transport vehicle.
In a specific implement scene, using the position of user terminal as origin, find from each AGV from user terminal
The nearest AGV in position.In other implement scenes, user terminal is to dispatch system then for other place chauffeurs to need goods
The position in the place of object transport is origin, finds the AGV nearest apart from the place.
S1022: judge whether the nearest transport vehicle has executed transport task.
In a specific implement scene, after finding the AGV nearest apart from user terminal, it is also necessary to judge the AGV
Whether transport task has been executed, such as during the AGV is going to the position of another user terminal or the AGV
Cargo is being transported, then such AGV can not execute current transport task.In this implement scene, when scheduling system is given
It, can be to the mark of AGV addition " in work ", in the chauffeur of subsequently received user terminal after one AGV distribution execution task
Whether request when finding the suitable corresponding transport task of AGV execution, can be carried " in work " by each AGV of identification
Mark judge whether the AGV is carrying out transport task.
S1023: it if the nearest transport vehicle is executing transport task, is looked for from least one described transport vehicle
The transport vehicle close with the user terminal second out, and with the described second close transport vehicle for the specified transport vehicle.
In a specific implement scene, if nearest AGV is executing transport task, which cannot be executed
The transport task of this time, the close AGV in scheduling position second of the Systematic selection from user terminal, and judge whether the AGV is executing
Transport task, if the AGV is also executing transport task, and so on, position third from user terminal, the is examined successively
Four ... close AGV, until finding and being not carried out the AGV of transport task.
S1024: if the nearest transport vehicle is not carried out transport task, using the nearest transport vehicle as institute
State specified transport vehicle.
In a specific true scene, the nearest AGV in position apart from user terminal is not carried out transport task, then
Using the AGV as the specified AGV for executing the transport task.In other implement scenes, in the chauffeur request that user terminal is sent
Further include other information, such as weight, the volume of cargo etc., then dispatches system and determining that the position apart from user terminal is nearest
After AGV is not carried out transport task, also to continue to judge whether the AGV meets the needs of transporting the cargo, for example, load-carrying whether
More than or equal to the weight of cargo, if the cargo etc. of the volume can be transported, if the AGV is able to satisfy requirement, the AGV conduct
Execute the specified AGV of the secondary transport task.If the AGV cannot be met the requirements, the system of scheduling is examined successively from user terminal
Position third, the 4th ... close AGV until finding be not carried out transport task, and the AGV for meeting the transportation demand of cargo is
Only, using the AGV as the specified AGV of this transport task.
In other implement scenes, it can also be performance best AGV or fastest AGV etc. as specified AGV
Deng.
S103: cooked up by terminal of the position of the user terminal and by starting point of the position of the specified transport vehicle to
Few first driving path.
In this implement scene, after scheduling system finds suitable AGV as the specified AGV of this transport task, scheduling
System obtains the real time position of the AGV according to the UWB location information of real-time reception and the AGV of update, by the position of user terminal
It sets as terminal, using the current location of AGV as starting point, cooks up at least one the first driving paths.In this implement scene,
Plan at least one the first driving paths, it is possible to provide a variety of different selections, and can be according to current practice flexible choice
Suitable route.In other implement scenes, after cooking up at least one the first driving paths, scheduling system can be from row
Sail distance length, traveling is difficult to degree etc. and compares, select an optimal path.
In other implement scenes, user terminal replaces other positions chauffeur, then using the position as terminal, by AGV's
At least one the first driving paths are cooked up as starting point in current location.
S104: the first driving instruction comprising at least one the first driving path is sent to the specified transport
Vehicle, so that the specified transport vehicle is according at least one the first traveling route to the position of the user terminal.
In a specific implement scene, the first driving instruction comprising at least one the first driving paths is sent to
The specified AGV selected in step s 102, so that the AGV can be whole to user according at least one the first traveling route
The position at end.In this implement scene, AGV is selected from at least one the first driving paths after receiving the first driving instruction
Arbitrary first driving path is selected, and according to the first traveling route to the position of user terminal.
As can be seen from the above description, the present embodiment arranges suitable AGV by the chauffeur request sent according to user terminal
This transport task is completed, such as nearest AGV can be arranged to complete, the distance of AGV traveling can be effectively reduced, when saving
Between, at least one the first driving path of planning, AGV can be selected arbitrarily, and driving path is flexible, and driving path is united by scheduling system
One planning, high reliablity facilitate overall arrangement.
Referring to Fig. 3, Fig. 3 is the flow diagram of the second embodiment of dispatching method provided by the invention.The present invention mentions
The dispatching method of confession includes:
S301: the requirement command that the user terminal is sent is received, the requirement command includes the position of destination.
In a specific implement scene, the specified AGV for dispatching system call successfully arrives at the position of user terminal, uses
Family is successfully loaded with cargo (can be manual or automatic, the present invention is not described in detail herein) on the AGV, user terminal this
When to scheduling system send requirement command, requirement command includes the position of the destination of this transport task.Scheduling system receives
To after the requirement command, read including destination position.
In other implement scenes, it can also be that user's operation specifies AGV, sending by specified AGV to scheduling system needs
Ask instruction.
S302: the position using the user terminal is starting point and using the position of the destination as terminal, is cooked up at least
The second driving instruction comprising at least one the second driving path is sent to the specified fortune by one the second driving path
Defeated vehicle, so that the specified transport vehicle is travelled according at least one the second driving path to the destination.
In a specific implement scene, scheduling system is after reading the position of destination, with the position of user terminal
It is set to starting point, using the address of destination as terminal, cooks up at least one the second driving paths.In other implement scenes, adjust
Degree system obtains real time position of the specified AGV according to the location information of the UWB of the specified AGV of this of real-time reception and update, with
The real time position of the specified AGV is starting point, using the address of destination as terminal, cooks up at least one the second driving paths.
In this implement scene, scheduling system refers to the second traveling comprising at least one the second driving paths cooked up
Order is sent to the specified AGV, and the specified AGV is allowed to drive to the position of destination according at least one the second driving path
It sets.In this implement scene, specified AGV can arbitrarily select a driving path, be travelled according to the driving path to destination.
In other implement scenes, after cooking up at least one the second driving paths, scheduling system can be from travel distance length, traveling
It is difficult to degree etc. to compare, selects an optimal path.The second driving instruction comprising the optimal path is sent to finger
AGV is determined, so that the specified AGV is travelled according to optimal path to destination.
As can be seen from the above description, the present embodiment is after the requirement command for receiving user terminal transmission, according to wherein wrapping
At least one the second driving paths are cooked up in the position of the destination included and the position of user terminal, and by at least one the second rows
It sails path and is sent to specified AGV, enable specified AGV according at least one the second driving paths, travel to the position of destination,
AGV can be selected arbitrarily, and driving path is flexible, and driving path facilitates pool to pacify by scheduling system unified planning, high reliablity
Row.
Referring to Fig. 4, Fig. 4 is the flow diagram of the 3rd embodiment of dispatching method provided by the invention.The present invention mentions
The dispatching method of confession includes:
S401: receiving the chauffeur request that user terminal is sent, and the chauffeur request includes the position of the user terminal.
S402: according to the distance between the position of the position of the user terminal and at least one transport vehicle, from it is described to
The specified transport vehicle of this chauffeur request is selected in a few transport vehicle.
S403: it is planned by terminal of the position of the user terminal and by starting point of the position of the specified transport vehicle
At least one the first driving paths out.
S404: the first driving instruction comprising at least one the first driving path is sent to the specified transport
Vehicle, so that the specified transport vehicle is according at least one the first traveling route to the position of the user terminal.
Step in the first embodiment for the dispatching method provided by the invention that step S401~step S404 and invention provide
Rapid S101~step S104 is almost the same, and details are not described herein again.
S405: the requirement command that the user terminal is sent is received, the requirement command includes the position of destination.
S406: the position using the user terminal is starting point and using the position of the destination as terminal, is cooked up at least
The second driving instruction comprising at least one the second driving path is sent to the specified fortune by one the second driving path
Defeated vehicle, so that the specified transport vehicle is travelled according at least one the second driving path to the destination.
Step in the second embodiment for the dispatching method provided by the invention that step S405~step S406 and invention provide
Rapid S301~step S302 is almost the same, and details are not described herein again.
S407: sending to the specified transport vehicle and terminate work order, so that the specified transport vehicle stops traveling.
In a specific implement scene, when specified AGV in motion, have special circumstances need its stop traveling, adjust
Degree system can send to specified AGV and terminate work order, so that the specified AGV stops row after receiving the termination work order
It sails.In this implement scene, this step is located at after step S306, as in specified AGV according at least one the second travelings
When route, scheduling system, which is sent, terminates work order, so that the specified AGV stops traveling.In other implement scenes, this
Step may be located on after step S404, as in specified AGV when according at least one the first traveling routes, scheduling
System, which is sent, terminates work order, so that the specified AGV stops traveling.
As can be seen from the above description, the present embodiment is sent to it termination work and refers to when specified AGV is in driving status
It enables, specified AGV can be made to stop travelling according to the termination work order, the flexible control travelled to specified AGV may be implemented,
When there are emergency situations, AGV is protected in time.
Referring to Fig. 5, Fig. 5 is the flow diagram of the fourth embodiment of dispatching method provided by the invention.The present invention mentions
The dispatching method of confession includes:
S501: receiving the chauffeur request that user terminal is sent, and the chauffeur request includes the position of the user terminal.
S502: according to the distance between the position of the position of the user terminal and at least one transport vehicle, from it is described to
The specified transport vehicle of this chauffeur request is selected in a few transport vehicle.
S503: it is planned by terminal of the position of the user terminal and by starting point of the position of the specified transport vehicle
At least one the first driving paths out.
S504: the first driving instruction comprising at least one the first driving path is sent to the specified transport
Vehicle, so that the specified transport vehicle is according at least one the first traveling route to the position of the user terminal.
Step in the first embodiment for the dispatching method provided by the invention that step S501~step S504 and invention provide
Rapid S101~step S104 is almost the same, and details are not described herein again.
S505: the requirement command that the user terminal is sent is received, the requirement command includes the position of destination.
S506: the position using the user terminal is starting point and using the position of the destination as terminal, is cooked up at least
The second driving instruction comprising at least one the second driving path is sent to the specified fortune by one the second driving path
Defeated vehicle, so that the specified transport vehicle is travelled according at least one the second driving path to the destination.
Step in the second embodiment for the dispatching method provided by the invention that step S505~step S506 and invention provide
Rapid S301~step S302 is almost the same, and details are not described herein again.
S507: to the specified transport vehicle transmitting path designated order, the path designated order includes from least one
The specified path selected in first driving path and/or at least one the second driving paths so that the specified transport vehicle according to
The specified path traveling.
In a specific implement scene, scheduling system is sending the first driving instruction and/or the second row to specified AGV
After sailing instruction, AGV transmitting path designated order is specified to this, includes from at least one the first traveling roads in the path designated order
The specified path selected in diameter and/or at least one the second driving paths, the specified AGV are receiving the path designated order
Afterwards, the specified path traveling according to specified by it.In this implement scene, the first driving instruction and/or are received in the AGV
Transmitting path designated order, the AGV can be directly according to specified routes at once after two driving instructions.
In other implement scenes, it is in transmitting path designated order in driving process in the AGV, dispatches system hair at this time
When sending path designated order, the UWB location information for needing that AGV is specified to regularly send according to this obtains the present bit of the specified AGV
It sets, from the current location of at least one the first driving paths and/or at least one the second driving path selection covering specified AGV
Path as specified path.
As can be seen from the above description, the present embodiment allows specified AGV according to specified by transmitting path designated order
Instruction traveling, driving path can be adjusted flexibly according to the actual situation, can satisfy a variety of transportation demands.
Referring to Fig. 6, Fig. 6 is the flow diagram of the 5th embodiment of dispatching method provided by the invention.The present invention mentions
The dispatching method of confession includes:
S601: the requirement command that the user terminal is sent is received, the requirement command includes the position of destination.
S602: the position using the user terminal is starting point and using the position of the destination as terminal, is cooked up at least
The second driving instruction comprising at least one the second driving path is sent to the specified fortune by one the second driving path
Defeated vehicle, so that the specified transport vehicle is travelled according at least one the second driving path to the destination.
Step in the second embodiment for the dispatching method provided by the invention that step S601~step S602 and invention provide
Rapid S301~step S302 is almost the same, and details are not described herein again.
S603: the modification request that user terminal is sent is received, the modification request includes the new destination reselected
Position.
In a specific implement scene, the position of the destination inputted before user's discovery is wrong, Huo Zhegen
According to actual conditions, needing cargo transport to new place, then user terminal can send modification request to scheduling system at this time,
It include the position of the new destination reselected in modification request.After scheduling system receives modification request, read wherein
New destination position.
S604: being starting point and using the position of the new destination as terminal using the specified transport vehicle current location, again
It plans at least one new second driving path, will be sent out comprising new second driving instruction of described at least one new second driving path
The specified transport vehicle is given, so that the specified transport vehicle is travelled according to described at least one new second driving path to described
New destination.
In a specific implement scene, scheduling system specifies AGV fixed after reading the position of destination, according to this
When the UWB location information that sends obtain the current location of the specified AGV, specify the current location of AGV as starting point using this, with new mesh
Ground address be terminal, cook up at least one new second driving path.
In this implement scene, scheduling system is by new second row comprising at least one new second driving path cooked up
It sails instruction and is sent to the specified AGV, the specified AGV is allowed to drive to new mesh according at least one new second driving path
Ground position.In this implement scene, specified AGV can arbitrarily select a driving path, be travelled according to the driving path
To new destination.In other implement scenes, after cooking up at least one the second driving paths, scheduling system can be from traveling road
Journey length, traveling are difficult to degree etc. and compare, and select an optimal path.By new second traveling comprising the optimal path
Instruction is sent to specified AGV, so that the specified AGV is travelled according to optimal path to destination.
As can be seen from the above description, the present embodiment can receive user terminal transmission modification request after, according to
At least one new second driving path is planned in the position of its new destination for including again, sends out when specified AGV is in traveling
It send new second driving instruction to specify AGV to this, allows to be travelled according at least one new second driving path to new purpose
Ground can be adjusted flexibly the path and destination of traveling, can satisfy various transportation demands.
Referring to Fig. 7, Fig. 7 is the flow diagram of the sixth embodiment of dispatching method provided by the invention.The present invention mentions
The dispatching method of confession includes:
S701: when detecting that the transport vehicle is more than that preset time does not receive the first driving instruction, to preset Accreditation Waiting Area
The position in domain be terminal and using it is described more than preset time do not receive any instruction transport vehicle current location as starting point, rule
Draw at least one third driving path.
In a specific implement scene, after specified AGV completes transport task, the mesh of the transport task will be stopped at
Ground, wait next time be scheduled use.When current scheduling Comparision is heavy, the stopping of each AGV unused time is less,
When current scheduling Comparision is idle, then there is more AGV to be in and stop unused state, it at this time can be by the unified tune of these AGV
It spends to a default Accreditation Waiting Area, facilitates unified management.
Scheduling system, which monitors in real time and counts each AGV, stops the unused time, when detect an AGV be more than preset time still
When not receiving the first driving instruction, that is, indicate that the AGV is not called upon for a long time, which can be scheduled to default Accreditation Waiting Area
Domain.The UWB location information regularly sent according to the AGV obtains the current location of the AGV, using the current location of the AGV as starting point,
At least one third driving path is planned as terminal in position to preset waiting area.
S702: it is more than when presetting that the third driving instruction comprising at least one third driving path, which is sent to described,
Between do not receive the transport vehicle of any instruction so that described is more than that preset time does not receive the transport vehicle of any instruction according to institute
It states at least one third and travels route to the default waiting area.
In a specific implement scene, the third driving instruction comprising at least one third driving path is sent to
The AGV selected in step s 601, so that the AGV can travel route to default Accreditation Waiting Area according at least one third
The position in domain.In this implement scene, AGV is selected from least one third driving path after receiving third driving instruction
An arbitrary third driving path is selected, and travels route to the position of user terminal according to the third.In other implementations
In scene, after cooking up at least one third driving path, scheduling system can be difficult to degree etc. from travel distance length, traveling
Aspect compares, and selects an optimal path.Third driving instruction comprising the optimal path is sent to the AGV, so that should
Determine AGV to be travelled according to optimal path to the position of default waiting area.
As can be seen from the above description, the AGV not being scheduled for a long time is dispatched to default waiting area by the present embodiment, convenient
Unified management reduces the consumption of manpower management, improves working efficiency.
Referring to Fig. 8, Fig. 8 is the process of the first embodiment of the Autonomous Seam Locating Method of automatic guided vehicle provided by the invention
Schematic diagram.The Autonomous Seam Locating Method of automatic guided vehicle provided by the invention includes:
S801: automatic guided vehicle receives the driving instruction that scheduling system is sent by wireless network.
In a specific implement scene, AGV is communicated by wireless network with scheduling system, when scheduling system is
It will include the driving path after AGV has planned driving path (including the first, second, and third driving path described above)
Driving instruction (including the first, second, and third driving instruction described above) is sent to the AGV.AGV is connect by wireless network
Receive the driving instruction.In this implement scene, wireless network is WIFI network, and in other implement scenes, wireless network includes
Bluetooth, Zig-bee or other wireless networks.
S802: it is travelled according to the driving trace that the driving instruction is specified.
In a specific implement scene, AGV reads the traveling after the driving instruction for receiving the transmission of scheduling system
The driving path that instruction includes, and travelled according to the driving path.It include at least one in driving instruction in this implement scene
Driving path, AGV arbitrarily selects a driving path, and travels according to the driving path.In another implement scene, AGV
The path designated order of scheduling system transmission can be received, then the route according to specified by the path designated order.Another
In one implement scene, AGV or scheduling system can travel the indexs such as difficulty, from least one driving path according to operating range
In, an optimal path is selected, AGV is according to the route.
S803: it detects in driving direction pre-determined distance then held with the presence or absence of obstacle if there is the obstacle in motion
The corresponding countermeasure of row.
In a specific implement scene, AGV is detected in the process of moving whether there is in driving direction pre-determined distance
Obstacle, and if so, executing corresponding countermeasure.In this implement scene, avoidance is carried out using ultrasonic wave, AGV is to traveling
It is sent to sending ultrasonic wave, the ultrasonic wave reflected based on the received judges driving direction with the presence or absence of obstacle.Judged by ultrasonic wave
The front method that whether there are obstacles is herein without repeating.It, can also be using infrared ray, ultraviolet in other implement scenes
The detection methods such as line judge driving direction with the presence or absence of obstacle.
In this implement scene, the intensity of ultrasonic wave is adjustable, and when AGV travel speed is fast, ultrasonic intensity is strong, with
It predicts relatively to whether there is obstacle in driving direction at a distance, gives the AGV enough ramp to stop time.When AGV travel speed is slow,
Ultrasonic intensity is weak, only needs the enough AGV ramp to stop of Prediction distance, power consumption can be effectively reduced and economize on resources.
In this implement scene, AGV reflects ultrasonic wave the type of disturbance in judgement based on the received, according to different obstacle classes
Type selects corresponding countermeasure.Specifically, AGV keeps to the right in normally travel, if it is judged that obstacle is fixture
Body then Reduced Speed Now and gets around the obstacle, continues thereafter with and completes the specified driving path of driving instruction.In other implement scenes
In, AGV needs the size of disturbance in judgement, and obtain the width of present road, according to the fuselage width of itself and/or is transported
Cargo judges whether current obstacle can detour and passes through, if it is possible to, then AGV slows down and gets around the obstacle, if it is not,
AGV slows down and/or parking, and AGV sends request signal to scheduling system, and request scheduling system plans new traveling road again
Diameter, after scheduling system receives the request signal, the UWB location information regularly sent according to the AGV obtains the present bit of the AGV
It sets, using the current location of the AGV as starting point, plans driving path again and be sent to the AGV.Or the AGV from it is received to
It searches whether to can choose other available driving paths in a few driving path.
If it is judged that obstacle is mobile object, then the obstacle is likely to be staff, due to the movement of staff
With very big uncertainty, AGV can not successfully bypass staff, and AGV is sounded an alarm and stopped, and staff hears alarm
After sound, the driving path of AGV need to be left in time.AGV will continue to emit ultrasonic wave to driving direction after a stoppage, when detecting row
Direction is sailed there is no when moveable obstacle, shows that staff has left the driving path of the AGV in time, then the AGV stops
It only sounds an alarm and continues to complete the specified driving path of driving instruction.
In other implement scenes, in order to improve the safety of AGV, when AGV detects driving direction pre-determined distance memory
In obstacle, equal ramp to stop can sound an alarm at this time, to staff's removing obstacles.It will continue to after AGV parking to traveling
Direction emits ultrasonic wave, and when detecting driving direction there is no when obstacle, which stops sounding an alarm and continuing to complete traveling referring to
Enable specified driving path.
In other implement scenes, request signal, request scheduling system weight are sent to AGV to scheduling system after AGV stopping
After newly planning that new driving path, scheduling system receive the request signal, the UWB location information that is regularly sent according to the AGV
Driving path is planned again and is sent to the AGV using the current location of the AGV as starting point in the current location for obtaining the AGV.AGV
It is travelled according to new driving path.
As can be seen from the above description, the present embodiment is travelled by the driving instruction sent according to scheduling system, in motion
Judge then to execute corresponding countermeasure, Ke Yiyou if there is obstacle with the presence or absence of obstacle in the pre-determined distance of driving direction
Effect improves the safety of AGV traveling, and flexibly selects different countermeasures to can effectively improve processing according to different obstacles
The efficiency of obstacle.
Referring to Fig. 9, the process of the second embodiment of the Autonomous Seam Locating Method of automatic guided vehicle provided by the invention is illustrated
Figure.The Autonomous Seam Locating Method of automatic guided vehicle provided by the invention includes:
S901: automatic guided vehicle receives the driving instruction that scheduling system is sent by wireless network.
S902: it is travelled according to the driving path that the driving instruction is specified.
S903: it detects in driving direction pre-determined distance then held with the presence or absence of obstacle if there is the obstacle in motion
The corresponding countermeasure of row.
The Autonomous Seam Locating Method for the automatic guided vehicle provided by the invention that step S901~step S903 and invention provide
Step S801~step S803 in first embodiment is almost the same, and details are not described herein again.
S904: timing sends positioning signal at least one ultra-wide band base station in motion.
In a specific implement scene, AGV timing in motion is fixed to the indoor base station UWB transmission UWB is set to
Position signal, the base station UWB are sent to scheduling system after receiving these UWB positioning signals, by positioning signal, so that scheduling system
The real time position of each AGV can be updated to, so that the accuracy and reliability of scheduling is higher.UWB technology is a kind of carrierfree
The communication technology transmits data using the non-sinusoidal waveform burst pulse of nanosecond to picosecond grade.It is unlike GPS, and positioning accuracy is only
Several meters tens meters can be arrived, and cannot be used indoors.It is by sending and receiving pulse spacing carefully controlled Gauss single-revolution
Phase super short-time pulse, monocycle impulse determines that the bandwidth of signal is very wide when ultrashort, and receiver directly uses level-one front end to intersect phase
It closes device and pulse train is just converted into baseband signal, eliminate the intermediater-frequency stage in conventional communication device, significantly reduce equipment
Complexity can not only be used in wireless environment indoors, and can also be provided and wired performance to compare favourably.
In this implement scene, in order to further save resource, when AGV remains static, no longer at least with one
A base station UWB sends UWB positioning signal, and such scheduling system will not update the position of the AGV, the position of the AGV be its most
The position of UWB positioning signal is once sent afterwards.In other implement scenes, no matter AGV is in static or driving status, all can
Timing sends UWB positioning signal at least one base station UWB.
In this implement scene, 4 base stations UWB are set indoors, in other implement scenes, can be set any
The base station UWB.
S905: it after reaching default destination, stops according to the path planned in advance and unloads automatically.
In a specific implement scene, AGV drives to the position of destination according to the driving path that driving instruction is specified
It postpones, stopped according to the parking path planned in advance and unloads automatically.For example, being provided with guide rail or similar in destination locations
The label of guide rail, for assisting AGV to find parking path.Or one section of fixed driving path is previously stored in AGV, one
Denier AGV is arrived at the destination, then recalls this section of fixed driving path automatically, and travel according to this section of fixed driving path.When
When driving to the terminal of the fixed driving path of landing place i.e. this section, AGV unloads automatically.For example, when AGV is dragged by hook
When dynamic load has the trailer transportation of cargo, the hook of AGV loosens automatically or other unloading modes.
In this implement scene, stop sign can be previously provided with for identifying default parking ground in destination region
Point, AGV, which is travelled according to the driving path planned in advance to parking marker place, to be stopped, and AGV can be detected by stop sign
Itself parking position and stop sign whether there is deviation, and if there is deviation, then adjust automatically is stopped posture, so that it stops
The position of vehicle is consistent with default parking site.If deviation is smaller, AGV can carry out local directed complete set, quickly to adjust to accurate
Position.In other implement scenes, it is parking area that a biggish region, which can be set, and AGV need to only be located at the parking area
It is interior, it is possible to reduce the time it takes when AGV corrects parking position.
In this implement scene, it is located in purpose and is provided with sensing device, sends inductive signal to AGV.AGV receives this
After inductive signal, reduce speed now at the pre-determined distance of destination.Because AGV carries cargo, so if AGV is will
It brings to a halt when arriving at the destination and very likely results in falling or even damaging for freight.Therefore, inductive signal is sent to AGV
Method, allow AGV to reduce speed now in advance, it can be ensured that the safety of cargo.It, can be using laser, wireless in this implement scene
Signal, visual signal etc. are used as inductive signal.
As can be seen from the above description, the present embodiment can be timely updated AGV in scheduling system by regularly sending UWB signal
Location information, it is ensured that the reliability and accuracy of scheduling, it is automatic according to the parking path planned in advance after arriving at the destination
It travels and unloads automatically, it is possible to reduce dispatch the burden of system, effectively save resource stops ground in default using by AGV parking
Point can make unloading area unified, facilitate management.AGV receives the inductive signal that the sensing device in destination region is sent
Afterwards, it reduces speed now at the pre-determined distance of destination, it can be ensured that the safety of freight.
Referring to Fig. 10, Figure 10 is the stream of the 3rd embodiment of the Autonomous Seam Locating Method of automatic guided vehicle provided by the invention
Journey schematic diagram.The Autonomous Seam Locating Method of automatic guided vehicle provided by the invention includes:
S1001: automatic guided vehicle receives the driving instruction that scheduling system is sent by wireless network.
S1002: it is travelled according to the driving path that the driving instruction is specified.
S1003: detect whether there is obstacle in motion in driving direction pre-determined distance, if there is the obstacle, then
Execute corresponding countermeasure.
The Autonomous Seam Locating Method for the automatic guided vehicle provided by the invention that step S1001~step S1003 and invention provide
First embodiment in step S801~step S803 it is almost the same, details are not described herein again.
S904: other automatic guided vehicles whether detection left and right directions has the direction of motion different, if it is present the row that slows down
Sail, until other different automatic guided vehicles of the direction of motion leave automatic guided vehicle current driving path, it is described from
Dynamic guiding vehicle restores original speed.
In a specific implement scene, there can be multiple AGV in a warehouse and execute different transport times respectively
Business, it is possible that intersect, two such or multiple AGV are likely in some or certain crosspoints mutual driving path
It meets.In this implement scene, AGV default is kept to the right, enough in road width if the AGV to meet is to travel in opposite directions
In the case of, it will not crash.But if the angle between the driving direction of the AGV to meet is less than 180 °, then having very much can
It can crash, be happened in order to avoid such, AGV can detect whether left and right directions has fortune in the process of moving
Other different AGV of dynamic direction.If there is other different AGV of the direction of motion, then AGV Reduced Speed Now, until movement side
Itself current driving path is left to other different AGV, which restores original speed.
In this implement scene, AGV is detecting that left and right directions there are when other different AGV of the direction of motion, compares that
Priority height between this, this priority can be the priority of AGV itself, or by the excellent of AGV freight
First grade.If the priority of itself is higher than other different AGV of the direction of motion, without slowing down, travelled according to the speed of principle.
If the priority of itself lower than different other AGV of the direction of motion, Reduced Speed Now, until different other of the direction of motion
AGV leaves itself current driving path, which restores original speed.
As can be seen from the above description, the AGV in the present embodiment judges whether left and right directions has the direction of motion in motion
Other different AGV, and Reduced Speed Now until other different AGV of the direction of motion leave itself current driving path, can keep away
Exempt from the generation of collision accident, effectively ensures the safety of AGV under steam.
Figure 11 is please referred to, Figure 11 is the structural schematic diagram of scheduling system provided by the invention.Scheduling 10 include processor 11,
Memory 12 and telecommunication circuit 13, processor 11 couple memory 12 and telecommunication circuit 13, and memory 12 is for storing program number
According to processor 11 controls telecommunication circuit 13 for the program data in run memory 12 and communicated and executed such as lower section
Method:
Scheduling system 10 receives the chauffeur request that user terminal is sent by telecommunication circuit 13, includes using in chauffeur request
Furthermore the position of family terminal dispatches system 10 and also receives each AGV timing hair scheduled in scheduling system 10 by telecommunication circuit 13
The UWB positioning signal sent, processor 11 obtain the real-time position AGV according to these UWB positioning signals.Processor 11 further according to
The distance between each AGV scheduled in the position of user terminal and scheduling system 10 selects the specified AGV of this chauffeur request.Place
Device 11 is managed using the position of user terminal as terminal, to specify the position of AGV to cook up at least one the first driving paths as starting point.
The first driving instruction comprising at least one the first driving path is sent to specified by processor 11 by telecommunication circuit 13
AGV, so that being to determine AGV to be travelled according at least one driving path to user terminal position.
After specified AGV is travelled to user terminal position and has been loaded cargo, scheduling system 10 passes through communication
Circuit 13 receives the requirement command of user terminal transmission, which includes the position of destination.Processor 11 is with purpose
The position on ground is terminal, is starting point at least one the second driving path of planning using the position of user terminal, will be comprising at least one
Second driving instruction of the second driving path is sent to specified AGV, so that specified AGV is according at least one the second driving instruction rows
It sails to the position of destination.
Wherein, processor 11 realizes that the detailed process of above-mentioned function sees above method embodiment.
As can be seen from the above description, the scheduling system in the present embodiment can according to the position of user terminal and each AGV it
Between distance select suitable AGV as specified AGV, and at least one path is cooked up, so that AGV can choose free routing
Traveling, driving path is flexible, and driving path facilitates overall arrangement by scheduling system unified planning, high reliablity.
Figure 12 is please referred to, Figure 12 is the structural schematic diagram of an embodiment of automatic guided vehicle provided by the invention.Automatically it leads
Drawing vehicle 20 includes processor 21, memory 22, telecommunication circuit 23, driving device 24 and detection device 25, and the coupling of processor 21 is deposited
Reservoir 22, telecommunication circuit 23, driving device 24 and detection device 25, memory 22 are used for storing program data, processor 21
Program data in run memory 22 is communicated and is held to control telecommunication circuit 23, driving circuit 24 and detection device 25
The following method of row:
AGV (Automated Guided Vehicle, automatic guided vehicle) 20 receives scheduling system by telecommunication circuit 23
The driving instruction sent by wireless network, processor 21 read the driving path for including in the driving instruction, control driving dress
24 are set to be travelled according to the driving path for including in driving instruction.In motion, processor 21 controls the detection traveling of detection device 25
It whether there is obstacle in the pre-determined distance of direction, if there is the obstacle, processor 21 will execute corresponding countermeasure.
Figure 13 is please referred to, Figure 13 is the structure of an embodiment of the driving device of automatic guided vehicle provided by the invention
Schematic diagram.Driving device 24 includes the wheel hub servo motor 241 being mutually coupled and permanent magnet synchronous motor drive control device 242.Wheel
Hub servo motor technology is also known as wheel inner electric machine technology, its maximum feature is exactly that power, transmission and brake apparatus is all whole
Close in wheel hub, therefore mechanical part greatly simplified, stability is good, and structure is simple, instead of traditional motor, belt wheel transmission and
The scheme of common wheel can effectively raise the power to weight ratio of AGV ontology, so that structure is more compact, while improve entirety
The reliability of movement executing mechanism, solve the problems, such as because AGV ontology it is overweight caused by energy consumption, while reduce be fabricated to
This, improves the accuracy and stability of AGV.Meanwhile wheel hub servo motor 241 includes high-precision encoder, passes through position
The accurate feedback of the signals such as speed, can accurately control revolving speed and the position of motor, to realize the servo of entire AGV system
Performance.Permanent magnet synchronous motor drive control device 242 has the function of complete electric current, speed, three closed loop of position, using FOC
(Field Oriental Control, Field orientable control) algorithm, SVPWM (Sector Vector Pulse Width
Modulation, the modulation of vector pulse width) technology, the stator current of motor is subjected to solution lotus root, thus reach decoupling control,
So that torque generation is linear and controllable, enough control precision can be reached by controlling entire motor.
Wherein, processor 21 realizes that the detailed process of above-mentioned function sees above method embodiment.
As can be seen from the above description, the driving instruction that the automatic guided vehicle in the present embodiment can be sent according to scheduling system
Traveling judges then to execute corresponding answer if there is obstacle with the presence or absence of obstacle in the pre-determined distance of driving direction in motion
To strategy, the safety of AGV traveling can effectively improve, and flexibly select different countermeasures can according to different obstacles
To effectively improve the efficiency of processing obstacle.
Figure 13 is please referred to, Figure 13 is the structural schematic diagram of the device provided by the invention with store function.There is storage function
At least one program data 31 is stored in the device 30 of energy, program data 31 is for executing such as Fig. 1-dispatching party shown in Fig. 7
The method of method and Fig. 8-homing guidance shown in Fig. 10.In one embodiment, the device with store function can be terminal
In storage chip, hard disk either other read-write storages such as mobile hard disk or flash disk, CD tool, can also be clothes
Business device etc..
As can be seen from the above description, the present invention there is in the Installation practice of store function the program that stores can use so that
AGV can choose free routing traveling, and driving path is flexible, and for driving path by scheduling system unified planning, high reliablity is convenient
Overall arrangement also can effectively improve the safety of AGV traveling, and flexibly according to different obstacles, select different to answer countermeasure
It slightly can effectively improve the efficiency of processing obstacle.
It is different from the prior art, the scheduling system in the present invention is according to the distance between the position of user terminal and each AGV
It selects suitable AGV as specified AGV, and cooks up at least one path, so that AGV can choose free routing traveling, row
It is flexible to sail path, driving path facilitates overall arrangement by scheduling system unified planning, high reliablity, leading in the present invention automatically
Draw vehicle to be travelled according to the driving instruction that scheduling system is sent, be judged in the pre-determined distance of driving direction in motion with the presence or absence of barrier
Hinder, corresponding countermeasure is then executed if there is obstacle, can effectively improve the safety of AGV traveling, and flexibly according to not
Same obstacle selects different countermeasures to can effectively improve the efficiency of processing obstacle.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of Autonomous Seam Locating Method of automatic guided vehicle characterized by comprising
Automatic guided vehicle receives the driving instruction that scheduling system is sent by wireless network；
The driving path traveling specified according to the driving instruction；
It is then executed corresponding with the presence or absence of obstacle if there is the obstacle in detection driving direction pre-determined distance in motion
Countermeasure.
2. the method according to claim 1, wherein the method also includes:
Timing sends positioning signal at least one ultra-wide band base station in motion；And/or
After reaching default destination, stops according to the route planned in advance and unload automatically.
3. according to the method described in claim 2, it is characterized in that, being planned behind the default destination of the arrival according to preparatory
Route stop and unload before, comprising:
Receive and be located at the inductive signal that the sensing device of the default destination is sent, apart from the default destination it is default away from
It reduces speed now from place；And/or
After reaching default destination, stop according to the route running planned in advance to default parking site, if detecting parking
Position and the default parking site have deviation, then adjust parking posture so that the parking position and the default parking site
Matching.
4. the method according to claim 1, wherein to detect driving direction in motion pre- for the automatic guided vehicle
If whether there is obstacle apart from interior, comprising:
The automatic guided vehicle issues ultrasonic wave to driving direction, reflects ultrasonic wave judge whether driving direction deposits based on the received
In obstacle；
It is described if there is the obstacle, then execute corresponding countermeasure, comprising:
The type for reflecting ultrasonic wave disturbance in judgement executes corresponding reply according to the type of the obstacle based on the received
Strategy.
5. according to the method described in claim 4, it is characterized in that, the type according to the obstacle, executes corresponding answer
To strategy, comprising:
If it is judged that the obstacle is fixed object, then Reduced Speed Now and the obstacle is got around, and continue to complete the traveling
The specified driving path of instruction；
If it is judged that the obstacle is mobile object, then sounds an alarm and stop, and emits ultrasonic wave to the driving direction,
When detecting the driving direction there is no when the obstacle, then stopping sounds an alarm and continues to complete the driving instruction and specifies
The driving path.
6. then executing corresponding answer the method according to claim 1, wherein described if there is the obstacle
To strategy, comprising:
It if there is the obstacle, stops immediately, and continues to emit ultrasonic wave to the driving direction, when detecting the traveling
When the obstacle is not present in direction, then the specified driving path of the driving instruction is continued to complete.
7. the method according to claim 1, wherein the method also includes:
Other automatic guided vehicles whether detection left and right directions has the direction of motion different, if it is present Reduced Speed Now, until institute
It states other different automatic guided vehicles of the direction of motion and leaves automatic guided vehicle current driving path, the automatic guided vehicle is extensive
Restore first speed.
8. the method according to claim 1, wherein the method also includes:
Other automatic guided vehicles whether detection left and right directions has the direction of motion different；
If it is present it is preferential to judge whether the priority of other different automatic guided vehicles of the direction of motion is higher than itself
Grade；
If it is, then Reduced Speed Now, until other different automatic guided vehicles of the direction of motion leave the homing guidance
Vehicle current driving path, the automatic guided vehicle restore original speed；
If be lower than, do not slow down, is travelled according to original speed.
9. a kind of automatic guided vehicle characterized by comprising processor, telecommunication circuit, memory, driving device and detection dress
It sets, the processor couples the telecommunication circuit, the memory, the driving device and the detection device, the storage
Be stored with program instruction in device, the processor executes described program data, control the telecommunication circuit, the driving device and
The detection device realizes the method according to claim 1.
10. a kind of device with store function, which is characterized in that be stored with program data, described program data are for being held
Row is to realize the method according to claim 1.
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