CN110030932B - AGV deviation measurement method and AGV deviation measurement device - Google Patents
AGV deviation measurement method and AGV deviation measurement device Download PDFInfo
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- CN110030932B CN110030932B CN201910444578.9A CN201910444578A CN110030932B CN 110030932 B CN110030932 B CN 110030932B CN 201910444578 A CN201910444578 A CN 201910444578A CN 110030932 B CN110030932 B CN 110030932B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses an AGV offset measurement method and an AGV offset measurement device, and relates to the technical field of AGV positioning. The AGV offset measurement method comprises the following steps: controlling the AGV trolley to move on the moving platform according to preset movement data, wherein the acquisition piece is arranged on the moving platform, and the irradiation point of the positioning laser on the AGV trolley is stopped on the acquisition piece arranged on the moving platform or approaches the acquisition piece; when the irradiation point stops on the acquisition piece or the acquisition piece is accessed, controlling the positioning laser to irradiate the acquisition piece and leaving actual motion data on the acquisition piece; and obtaining the offset precision data according to the actual motion data or the difference between the actual motion data and the preset motion data. The AGV offset measurement method and the AGV offset measurement device have the advantages that the workload of a measurer when measuring the offset accuracy of the AGV is simplified, and the measurement error is small.
Description
Technical Field
The invention relates to the technical field of AGV positioning, in particular to an AGV offset measurement method and an AGV offset measurement device.
Background
The main function of an Automated Guided Vehicle (Automated Guided Vehicle) is to realize the automation of the whole process of loading, unloading and carrying goods and materials, and the Automated Guided Vehicle is widely applied to the warehousing industry, the manufacturing industry and the like.
The AGV must be produced and sold according to the national standard strictly, but in the production and quality inspection processes, accurate data are lacked to judge whether the AGV meets the national standard or not. The accuracy data of the AGV is usually obtained in an indirect and rough manner. For example, the distance between the AGV and the fixed object is measured to judge, and the defects are that a large error is generated if the fixed object is too far away, the running precision of the AGV is influenced if the fixed object is too close, and the measured running precision is not the normal running precision; further, for example, when the AGV stops, the line is drawn along a certain position of the edge of the AGV by a pen, and the judgment is performed, but there are disadvantages that the manual repetitive operation causes work fatigue, an error is easily caused in the manual line drawing process, and only front and rear and left and right errors can be measured, and an offset error cannot be measured.
In view of the above, it is very important to develop and design an AGV offset measurement method and an AGV offset measurement apparatus that can solve the above technical problems.
Disclosure of Invention
The invention aims to provide an AGV offset measurement method, which simplifies the workload of a measurer when measuring the offset accuracy of an AGV.
Another object of the present invention is to provide an AGV offset measurement apparatus that simplifies the workload of a measurer in measuring the offset accuracy of an AGV and has a small measurement error.
The invention provides a technical scheme that:
in a first aspect, an embodiment of the present invention provides an AGV offset measurement method, where the AGV offset measurement method includes:
controlling an AGV to move on a moving platform according to preset movement data, wherein an acquisition piece is arranged on the moving platform, and an irradiation point of a positioning laser on the AGV stops on or approaches the acquisition piece arranged on the moving platform;
when the irradiation point stops on the acquisition piece or approaches the acquisition piece, controlling the positioning laser to irradiate the acquisition piece and leaving actual motion data on the acquisition piece;
and obtaining offset precision data according to the actual motion data or the difference between the actual motion data and the preset motion data.
In a second aspect, an embodiment of the present invention provides an AGV offset measurement apparatus for measuring offset precision data of an AGV, where the AGV offset measurement apparatus includes a main controller, a motion platform, a positioning laser electrically connected to the main controller, and a collection unit disposed on the motion platform; the system comprises a main controller, a positioning laser, a motion platform and a collection piece, wherein the main controller is electrically connected with an AGV trolley, the positioning laser is arranged on the AGV trolley, the main controller executes control of the AGV trolley to move on the motion platform according to preset motion data by running a computer program, and irradiation points of the positioning laser on the AGV trolley are stopped on the collection piece arranged on the motion platform or approach the collection piece; when the irradiation point stops on the acquisition piece or approaches the acquisition piece, controlling the positioning laser to irradiate the acquisition piece and leaving actual motion data on the acquisition piece; and obtaining offset precision data according to the actual motion data or the difference between the actual motion data and the preset motion data.
Compared with the prior art, the AGV offset measurement method and the AGV offset measurement device provided by the embodiment of the invention have the beneficial effects that:
and sequentially controlling the AGV trolley to move on the moving platform according to the preset movement data, and controlling the positioning laser to irradiate the acquisition piece when the irradiation point stops on the acquisition piece or the acquisition piece approaches, and leaving the actual movement data on the acquisition piece. And obtaining the offset precision data according to the actual motion data or the difference between the actual motion data and the preset motion data. Therefore, deviation precision data of the AGV trolley is judged without the AGV trolley and a fixed reference object, repeated operation is not needed in modes of delineating edges and the like, the workload of a measurer when the deviation precision of the AGV trolley is measured is simplified, actual motion data are recorded in a mode of directly drawing point lines on a collecting piece through a positioning laser arranged on the AGV trolley, so that the deviation precision data are measured, and the measurement error is reduced.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.
Fig. 1 is a schematic structural diagram of an AGV deviation measuring device according to a first embodiment of the present invention.
Fig. 2 is a schematic view of the AGV offset measurement device according to the first embodiment of the present invention for measuring the accuracy of rotational offset.
Fig. 3 is a schematic diagram illustrating measurement of actual operation data on a collecting member when the AGV offset measurement device according to the first embodiment of the present invention measures rotational offset accuracy.
Fig. 4 is a schematic view of the AGV offset measurement apparatus according to the first embodiment of the present invention, showing measurement accuracy of the front-rear stop offset and the left-right stop offset.
Fig. 5 is a schematic view showing measurement data of actual operation of the AGV offset measurement apparatus according to the first embodiment of the present invention, including accuracy of stop offset before and after measurement and accuracy of stop offset between left and right sides.
Fig. 6 is a schematic view of the AGV offset measurement device according to the first embodiment of the present invention for measuring the running offset accuracy.
Fig. 7 is a schematic diagram illustrating measurement of actual operation data of the AGV deviation measuring apparatus according to the first embodiment of the present invention when measuring the accuracy of the deviation of the AGV.
Fig. 8 is a flowchart illustrating an AGV offset measurement method according to a second embodiment of the present invention.
Icon: 10-AGV offset measurement device; 12-a master controller; 15-a motion platform; 17-positioning a laser; 18-a suction cup; 19-a collecting member; 900-AGV.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The terms "upper", "lower", "inner", "outer", "left", "right", and the like, refer to an orientation or positional relationship as shown in the drawings, or as would be conventionally found in use of the inventive product, or as would be conventionally understood by one skilled in the art, and are used merely to facilitate the description and simplify the description, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the present invention. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It is also to be understood that, unless expressly stated or limited otherwise, the terms "disposed," "connected," and the like are intended to be open-ended, and mean "connected," i.e., fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following detailed description of embodiments of the invention refers to the accompanying drawings.
The first embodiment:
referring to fig. 1, fig. 1 is a schematic structural diagram of an AGV offset measuring device 10 according to a first embodiment of the present invention.
The embodiment of the invention provides an AGV offset measuring device 10, which is used for measuring offset precision book data of an AGV trolley 900, simplifies the workload of a measurer when measuring the offset precision of the AGV trolley 900 and has small measuring error.
This AGV skew measuring device 10 includes main control unit 12, motion platform 15, the location laser 17 of being connected with main control unit 12 electricity and set up in motion platform 15's collection piece 19, and main control unit 12 is used for being connected with AGV dolly 900 electricity, location laser 17 is used for installing in AGV dolly 900, main control unit 12 is according to predetermineeing motion data control AGV dolly 900 motion, and control location laser 17 draws point or line on gathering 19, with the actual motion data that leaves on gathering 19, be convenient for obtain the skew precision data through actual motion data or predetermine the difference of motion data and actual motion data.
Specifically, the main controller 12 controls the AGV cart 900 to move on the moving platform 15 according to the preset movement data, and the irradiation point of the positioning laser 17 on the AGV cart 900 is stopped on the collecting part 19 arranged on the moving platform 15 or on the path collecting part 19, in other words, the setting position of the collecting part 19 is related to the preset movement data, so that when the AGV cart 900 moves with the preset movement data and drives the positioning laser 17 to move, the collecting part 19 arranged on the moving platform 15 can be aimed by the positioning laser 17, that is, the irradiation point is located on the collecting part 19.
When the AGV cart 900 moves under the control of the main controller 12 and the irradiation point of the positioning laser 17 stops on the collecting member 19 or approaches the collecting member 19, the main controller 12 further controls the positioning laser 17 to irradiate the collecting member 19 and the positioning laser 17 leaves actual movement data such as a point or a line on the collecting member 19, so as to obtain offset accuracy data according to the actual movement data or the difference between the actual movement data and the preset movement data.
Thus, the deviation precision data of the AGV trolley 900 is judged without the AGV trolley 900 and a fixed reference object, repeated operation is not needed in the modes of drawing edges and the like, the workload of a measurer when measuring the deviation precision of the AGV trolley 900 is simplified, and the actual motion data is recorded in the mode of directly drawing point lines on the collecting piece 19 through the positioning laser 17 arranged on the AGV trolley 900, so that the deviation precision data can be measured, and the measurement error is reduced.
Further, the positioning laser 17 is attached to the AGV cart 900 by a suction cup 18 attached to the positioning laser 17.
It should be noted that the main controller 12 is a part of the AGV offset measurement mechanism, and may also be a controller in the AGV cart 900, and the data such as the movement track required for measurement, i.e. the preset movement data, is input by the measurer, and the controller in the AGV cart 900 autonomously completes the movement according to the preset movement data, and controls the positioning laser 17 to hit a point on the collecting part 19. In addition, the collecting member 19 is white paper in this embodiment, but in other embodiments, it may be a collecting plate or an image recording plate formed by a photosensitive sensor such as a photoelectric sensor.
It is understood that the main controller 12 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a voice Processor, a video Processor, etc.; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The main Controller 12 may also be any conventional processor, such as a Programmable Logic Controller (PLC), a single chip computer, etc. Of course, the main controller 12 may also be a relay contactor control system, which uses a combination of switches, relays, buttons and other control appliances to receive signals and perform functions such as switching, switching and adjusting circuits.
Referring to fig. 2 and 3, fig. 2 is a schematic view illustrating an AGV offset measuring device 10 according to a first embodiment of the present invention for measuring rotational offset accuracy. Fig. 3 is a schematic diagram illustrating the measurement of actual operation data on the collecting member 19 when the AGV deviation measuring device 10 according to the first embodiment of the present invention measures the accuracy of the rotational deviation.
It can be including predetermineeing the rotation point and with predetermineeing the predetermined rotation angle that the rotation point corresponds, main control unit 12 is according to predetermineeing motion data control AGV dolly 900 on motion platform 15, rotate around predetermineeing the rotation point with predetermineeing the rotation angle, or said differently, AGV dolly 900's motion is for rotating around predetermineeing the rotation point, and rotate each time and all rotate with predetermineeing the rotation angle, this moment, gather piece 19 can be a plurality ofly, and a plurality of collection 19 distribute around predetermineeing the rotation point and set up on motion platform 15, so that when AGV dolly 900 rotated to target in place, shine the point and can stop on gathering 19.
And when the positioning laser 17 moves along with the AGV trolley 900 and the AGV trolley 900 rotates in place by a preset rotation angle, the positioning laser 17 is controlled to draw points on the acquisition piece 19, and the operation is repeated, so that actual operation data including the points can be formed on the acquisition piece 19.
Further, the offset accuracy data further includes a rotation offset accuracy, and the actual rotation angle is compared with the preset rotation angle to obtain a difference value between the actual rotation angle and the preset rotation angle, so as to obtain the rotation offset accuracy, where the actual rotation angle is an included angle between adjacent lines in a plurality of lines formed by connecting points on the collecting member 19 with the preset rotation point, for example, before the AGV cart 900 rotates around the preset rotation point by one preset rotation angle, the positioning laser 17 performs dotting on the corresponding collecting member 19, and after the rotation of the preset rotation angle is completed, the positioning laser 17 performs dotting on the corresponding collecting member 19, so that the included angle between adjacent lines formed by connecting points on the collecting member 19 with the preset rotation point corresponds to the preset rotation angle, and can be used for comparing the preset rotation angle to obtain the rotation offset accuracy.
The preset rotation angle may also be an angle smaller than 180 degrees, and the division value can be divided by 180 degrees, such as 90 degrees, 60 degrees, and 30 degrees, and the division result of 180 degrees by the preset rotation angle is an integer.
The main controller 12 can control the AGV cart 900 to rotate at a preset rotation point by more than one turn at a preset rotation angle, that is, after the AGV cart 900 rotates for multiple times, the rotation angle is greater than 360 degrees, and similarly, the collecting members 19 are multiple and distributed on the moving platform 15 around the preset rotation point, so that when the AGV cart 900 rotates in place, the irradiation point can stop on the collecting member 19;
the master controller 12 may also control the positioning laser 17 to draw points on the acquisition member 19 as the AGV cart 900 is rotated to the predetermined rotational angle to form actual operational data including points on the acquisition member 19.
Further, the actual rotation angle and the preset rotation angle are compared in the same way, and the difference between the actual rotation angle and the preset rotation angle is used as the rotation deviation accuracy, wherein the actual rotation angle is an included angle between two adjacent lines in a plurality of lines formed by connecting two opposite points in actual operation data, and the two opposite points are points drawn when the AGV car 900 rotates in place twice at an interval of 180 degrees.
For example, in this embodiment, the preset rotation angle is 90 degrees, four collecting members 19 are respectively disposed around the preset rotation point, before the AGV cart 900 rotates around the preset rotation point by one preset rotation angle, the positioning laser 17 dots on the corresponding collecting member 19, after the 90-degree rotation is completed, the positioning laser 17 dots on another collecting member 19, after the ninety-degree rotation, the positioning laser 17 dots on another collecting member 19, at the time point opposite to the first dot and spaced by 180 degrees, the AGV cart 900 rotates by 90 degrees, the positioning laser 17 dots on another collecting member 19, at the time point opposite to the second dot and spaced by 180 degrees, two lines are formed by connecting the first dot and the third dot, and the second dot and the fourth dot, and the included angle between the two lines corresponds to the preset rotation angle, which can be used for comparing the preset rotation angle to obtain the rotation offset accuracy, it is measured according to the position of the multiple-rotation dotting, and the error is smaller.
Referring to fig. 4 and 5, fig. 4 is a schematic view of the AGV offset measurement device 10 according to the first embodiment of the present invention for measuring the accuracy of the front-rear stop offset and the accuracy of the left-right stop offset. Fig. 5 is a schematic view showing measurement data of actual operation of the AGV offset measurement apparatus 10 according to the first embodiment of the present invention, including accuracy of stop offset before and after measurement and accuracy of stop offset between left and right sides.
The preset movement data may further include a preset parking path, the main controller 12 may repeatedly control the AGV cart 900 to move along the preset parking path from the same direction and park at a preset parking path end point, in other words, the AGV cart 900 completes a parking action according to the preset parking path, and similarly, the collecting member 19 is disposed at the end point of the preset parking path, and the irradiation point may be stopped on the collecting member 19 when the AGV cart 900 stops.
The master controller 12 also controls the positioning laser 17 to draw a dot on the collection member 19 each time the AGV cart 900 is parked to create actual operational data including a plurality of dots on the collection member 19.
Further, the offset precision data may further include front-back stop offset precision and left-right stop offset precision, and the distance between the front-back two points is the front-back stop offset precision, where the front-back two points are two points of the plurality of points on the collecting element 19 that are farthest away in the extending direction of the preset stop path, or the maximum distance of the formed pattern of the point cloud data formed by the points on the plurality of collecting elements 19 in the moving direction of the AGV cart 900.
Further, the distance between the right and left points, which are the points on the collector 19 that are farthest from each other in the direction perpendicular to the extending direction of the predetermined stop path, may be used as the right and left stop shift accuracy, i.e., the maximum distance between the right and left sides of the formed pattern of the point cloud data formed by the points on the collector 19 in the traveling direction of the AGV cart 900.
In this embodiment, the predetermined stopping path is a stopping point on the waist-shaped path, the AGV cart 900 moves along the waist-shaped path, stops at the stopping point, and makes a point on the collecting member 19 at the stopping point to collect point cloud data having a plurality of points.
Referring to fig. 6 and 7, fig. 6 is a schematic view illustrating the measurement of the AGV offset measurement device 10 according to the first embodiment of the present invention when measuring the running offset accuracy. Fig. 7 is a schematic view showing the measurement of actual operation data of the AGV deviation measuring device 10 according to the first embodiment of the present invention when measuring the accuracy of the deviation of the operation.
The preset motion data may also include a preset motion path along which the master controller 12 can repeatedly control the AGV cart 900 to move, wherein the collection piece 19 is disposed along the preset motion path and the irradiation point is enabled to collect the piece 19 along the AGV cart 900 path.
Furthermore, the main controller 12 controls the positioning laser 17 to draw a line on the pick-up member 19 each time the irradiation spot passes the pick-up member 19, so as to form actual operation data including a plurality of lines on the pick-up member 19.
Further, the deviation precision data may further include running deviation precision, and a maximum included angle is used as the running deviation precision, wherein the maximum included angle is the largest included angle data between every two of the plurality of lines.
In this embodiment, the predetermined movement path is a plurality of segments of the waist-shaped path, the AGV cart 900 moves along the waist-shaped path, and dots are formed on the collecting member 19 on the predetermined movement path to collect the collecting member 19 having a plurality of lines.
The operating principle of the AGV deviation measuring device 10 according to the first embodiment of the present invention is as follows:
which comprises a main controller 12, a motion platform 15, a positioning laser 17 electrically connected with the main controller 12 and an acquisition part 19 arranged on the motion platform 15, the main controller 12 is electrically connected with the AGV trolley 900, the positioning laser 17 is arranged on the AGV trolley 900, the main controller 12 controls the AGV trolley 900 to move on the moving platform 15 according to preset movement data, and, the irradiation point of the positioning laser 17 on the AGV car 900 is stopped on the pickup 19 provided on the moving platform 15 or the approach pickup 19, and when the irradiation point of the positioning laser 17 stops on the pickup member 19 or approaches the pickup member 19, the main controller 12 further controls the positioning laser 17 to irradiate the pickup member 19, and causes positioning laser 17 to leave actual motion data such as points or lines on acquisition member 19, so as to obtain the offset precision data according to the actual motion data or the difference between the actual motion data and the preset motion data. Thus, the deviation precision data of the AGV trolley 900 can be judged without the AGV trolley 900 and a fixed reference object, repeated operation is not needed in the modes of drawing edges and the like, the workload of a measurer when measuring the deviation precision of the AGV trolley 900 is simplified, and the actual motion data is recorded in the mode of directly drawing point lines on the collecting piece 19 through the positioning laser 17 arranged on the AGV trolley 900, so that the deviation precision data can be measured, and the measurement error is reduced.
In summary, the following steps:
the embodiment of the invention provides an AGV offset measuring device 10 which simplifies the workload of a measurer when measuring the offset accuracy of an AGV trolley 900 and has small measuring error.
Second embodiment:
referring to fig. 8, fig. 8 is a flowchart illustrating an AGV offset measurement method according to a second embodiment of the present invention.
The AGV deviation measuring method can be applied to the AGV deviation measuring device 10 in the first embodiment, and includes:
and S101, controlling the AGV trolley 900 to move on the moving platform 15 according to the preset movement data.
It should be noted that when the AGV cart 900 is on the moving platform 15, the irradiation point of the positioning laser 17 on the AGV cart 900 may be stopped on the collecting member 19 provided on the moving platform 15 or the path collecting member 19.
S102, when the irradiation point stops on the acquisition piece 19 or approaches the acquisition piece 19, controlling the positioning laser 17 to irradiate the acquisition piece 19 and leaving actual movement data on the acquisition piece 19.
And S103, obtaining offset precision data according to the actual motion data or the difference between the actual motion data and the preset motion data.
Thus, the deviation precision data of the AGV trolley 900 is judged without the AGV trolley 900 and a fixed reference object, repeated operation is not needed in the modes of drawing edges and the like, the workload of a measurer when measuring the deviation precision of the AGV trolley 900 is simplified, and the actual motion data is recorded in the mode of directly drawing point lines on the collecting piece 19 through the positioning laser 17 arranged on the AGV trolley 900, so that the deviation precision data can be measured, and the measurement error is reduced.
Further, step S101 may specifically be: control AGV dolly 900 is in predetermineeing the rotation point and rotate with predetermineeing rotation angle, wherein, gathers a 19 and be a plurality ofly, and the duplex winding is predetermine the rotation point and is distributed and set up in motion platform 15, and when AGV dolly 900 rotated to target in place, shines the point and can stop on gathering 19, in addition, predetermine the motion data and can also include predetermineeing the rotation point and predetermineeing the rotation angle with predetermineeing that the rotation point corresponds.
Step S102 may specifically be: the positioning laser 17 is controlled to draw a point on the acquisition member 19 as the AGV cart 900 is rotated to the predetermined rotational angle to form actual operational data including the point on the acquisition member 19.
Step S103 may specifically be: and comparing the actual rotation angle with the preset rotation angle to generate the rotation deviation precision, wherein the actual rotation angle is an included angle between adjacent lines in a plurality of lines formed by connecting points on the preset rotation point and the line acquisition piece 19. Further, the offset accuracy data may also include rotational offset accuracy.
Further, step S101 may specifically be: control AGV dolly 900 is in predetermineeing the rotation point and rotate more than the round with predetermineeing rotation angle respectively, wherein, predetermine the motion data equally can include predetermineeing the rotation point and with predetermine the rotation angle of predetermineeing that the rotation point corresponds, and, predetermine rotation angle and be less than 180 degrees, and can make the divisor whole divide 180 degrees, in addition, it is a plurality of to gather piece 19, and it sets up in motion platform 15 to predetermine the rotation point distribution to the duplex winding, and when AGV dolly 900 rotated to target in place, shine the point and can stop on gathering piece 19.
Step S102 may specifically be: the positioning laser 17 is controlled to draw a point on the acquisition member 19 as the AGV cart 900 is rotated to the predetermined rotational angle to form actual operational data including the point on the acquisition member 19.
Step S103 may specifically be: the actual rotation angle and the preset rotation angle are compared to generate rotation deviation accuracy, wherein the deviation accuracy data can further comprise the rotation deviation accuracy, in addition, the actual rotation angle is an included angle between two adjacent lines in a plurality of lines formed by connecting two opposite points in actual operation data, and the two opposite points are points drawn when the AGV trolley 900 rotates in place twice at an interval of 180 degrees.
Further, step S101 may specifically be: repeatedly control AGV dolly 900 by same direction along predetermineeing the path of parking motion and predetermineeing the path of parking end point and parking, wherein predetermine the motion data and can also include predetermineeing the path of parking, gather piece 19 in addition and set up in the end point of predetermineeing the path of parking for when AGV dolly 900 stops irradiation point can stop on gathering piece 19.
Step S102 may specifically be: the positioning laser 17 is controlled to draw points on the collection member 19 each time the AGV cart 900 is parked to create actual operational data including a plurality of points on the collection member 19.
Step S103 may specifically be: the distance between the front point and the rear point is measured and recorded as front and rear stop offset precision, and the distance between the left and right points is measured and recorded as left and right stop offset precision, wherein the offset precision data can also be front and rear stop offset precision and left and right stop offset precision, in addition, the front and rear two points are two points of the plurality of points on the acquisition piece 19 which are farthest away in the extending direction of the preset stop path, and the left and right two points are two points of the plurality of points on the acquisition piece 19 which are farthest away in the vertical direction in the extending direction of the preset stop path.
Further, step S101 may specifically be: the AGV trolley 900 is controlled repeatedly to move along the preset movement path, wherein the preset movement data can also comprise the preset movement path, in addition, the acquisition piece 19 is arranged along the preset movement path, and the irradiation point can be enabled to acquire the piece 19 along with the AGV trolley 900.
Step S102 may specifically be: the positioning laser 17 is controlled to draw a line on the acquisition member 19 each time the irradiation spot passes the acquisition member 19, wherein actual operating data comprising a plurality of lines is formed on the acquisition member 19.
Step S103 may specifically be: and measuring the maximum included angle, and recording the maximum included angle as running deviation precision, wherein the deviation precision data can also comprise the running deviation precision, and in addition, the maximum included angle is the angle of two lines with the maximum included angle in the plurality of lines.
The operating principle of the AGV offset measurement method provided by the second embodiment of the present invention is as follows:
and controlling the AGV trolley 900 to move on the moving platform 15 according to the preset movement data, and controlling the positioning laser 17 to irradiate the acquisition piece 19 when the irradiation point stops on the acquisition piece 19 or approaches the acquisition piece 19, and leaving the actual movement data on the acquisition piece 19. And obtaining the offset precision data according to the actual motion data or the difference between the actual motion data and the preset motion data. Thus, the deviation precision data of the AGV trolley 900 can be judged without the AGV trolley 900 and a fixed reference object, repeated operation is not needed in the modes of drawing edges and the like, the workload of a measurer when measuring the deviation precision of the AGV trolley 900 is simplified, and the actual motion data is recorded in the mode of directly drawing point lines on the collecting piece 19 through the positioning laser 17 arranged on the AGV trolley 900, so that the deviation precision data can be measured, and the measurement error is reduced.
In summary, the following steps:
the embodiment of the invention provides an AGV offset measurement method, which simplifies the workload of a measurer when measuring the offset accuracy of an AGV trolley 900 and has small measurement error.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that the features in the above embodiments may be combined with each other and the present invention may be variously modified and changed without conflict. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The present embodiments are to be considered as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. An AGV offset measurement method is characterized by comprising the following steps:
controlling an AGV to move on a moving platform according to preset movement data, wherein an acquisition piece is arranged on the moving platform, and an irradiation point of a positioning laser on the AGV stops on or approaches the acquisition piece arranged on the moving platform;
when the irradiation point stops on the acquisition piece or approaches the acquisition piece, controlling the positioning laser to irradiate the acquisition piece and leaving actual motion data on the acquisition piece;
obtaining offset precision data according to the actual motion data or the difference between the actual motion data and the preset motion data;
the preset motion data comprise preset rotation points and preset rotation angles corresponding to the preset rotation points, and the step of controlling the AGV to move on the motion platform according to the preset motion data comprises the following steps of:
controlling the AGV trolleys to rotate at the preset rotating points by a preset rotating angle, wherein a plurality of collecting pieces are distributed on the moving platform around the preset rotating points, and when the AGV trolleys rotate to the position, the irradiation points can stop on the collecting pieces;
the step of controlling the positioning laser to irradiate the acquisition piece comprises:
and controlling the positioning laser to position the AGV trolley in the acquisition part when rotating to the position by a preset rotating angle, so as to form actual operation data comprising points on the acquisition part.
2. The AGV skew measurement method of claim 1 wherein said skew accuracy data includes rotational skew accuracy, said step of deriving said skew accuracy data from a difference between said actual motion data and said predetermined motion data comprising:
and comparing the actual rotation angle with a preset rotation angle to generate rotation deviation precision, wherein the actual rotation angle is an included angle between adjacent lines in a plurality of lines formed by connecting points on the acquisition piece through the preset rotation points.
3. The AGV offset measurement method according to claim 1, wherein the predetermined movement data includes a predetermined rotation point and a predetermined rotation angle corresponding to the predetermined rotation point, the predetermined rotation angle is smaller than 180 degrees and can divide the predetermined rotation angle by 180 degrees, and the step of controlling the AGV to move on the moving platform according to the predetermined movement data includes:
controlling the AGV trolleys to rotate for more than one circle at the preset rotating points by preset rotating angles respectively, wherein the number of the collecting pieces is multiple, the collecting pieces are distributed on the moving platform around the preset rotating points, and when the AGV trolleys rotate to the position, the irradiation points can be stopped on the collecting pieces;
the step of controlling the positioning laser to irradiate the acquisition piece comprises:
and controlling the positioning laser to position the AGV trolley in the acquisition part when rotating to the position by a preset rotating angle, so as to form actual operation data comprising points on the acquisition part.
4. The AGV skew measurement method of claim 3 wherein said skew accuracy data includes rotational skew accuracy, said step of deriving said skew accuracy data from a difference between said actual motion data and said predetermined motion data comprising:
actual rotation angle of contrast and predetermine rotation angle to generate rotatory skew precision, wherein, actual rotation angle does contained angle between two adjacent lines in the many lines that two relative point lines formed in the actual operation data, two relative points are the point that draw when AGV dolly interval 180 degrees twice rotates in place.
5. The AGV offset measurement method according to claim 1, wherein the predetermined motion data includes a predetermined parking path, and the step of controlling the AGV to move on the moving platform according to the predetermined motion data includes:
repeatedly controlling the AGV trolley to move along the preset parking path from the same direction and park at the end point of the preset parking path, wherein the acquisition piece is arranged at the end point of the preset parking path, so that the irradiation point can be stopped on the acquisition piece when the AGV trolley stops;
the step of controlling the positioning laser to irradiate the acquisition piece comprises:
and controlling the positioning laser to draw points on the acquisition piece when the AGV trolley parks each time so as to form actual operation data comprising a plurality of points on the acquisition piece.
6. The AGV offset measurement method according to claim 5, wherein said offset accuracy data includes front and rear stop offset accuracy and left and right stop offset accuracy, and said step of obtaining offset accuracy data from said actual movement data includes:
measuring the distance between a front point and a rear point, and recording the distance as the front-rear stopping offset precision, wherein the front-rear point is the point of the plurality of points on the acquisition piece which is farthest away in the extending direction of the preset stopping path;
and measuring the distance between a left point and a right point, and recording the distance as the left-right stopping offset precision, wherein the left point and the right point are the points with the farthest distance in the direction perpendicular to the extending direction of the preset stopping path on the collecting piece.
7. The AGV offset measurement method of claim 1, wherein the predetermined motion data includes a predetermined motion path, and the step of controlling the AGV to move on the motion platform according to the predetermined motion data includes:
repeatedly controlling the AGV trolley to move along the preset movement path, wherein the acquisition piece is arranged along the preset movement path, and the irradiation point can pass through the acquisition piece along with the AGV trolley;
the step of controlling the positioning laser to irradiate the acquisition piece comprises:
and controlling the positioning laser to draw a line on the acquisition piece when the irradiation point passes through the acquisition piece each time so as to form actual operation data comprising a plurality of lines on the acquisition piece.
8. The AGV offset measurement method of claim 7 wherein said offset accuracy data includes operational offset accuracy, said step of deriving offset accuracy data from said actual motion data including:
and measuring a maximum included angle, and recording the maximum included angle as the running deviation precision, wherein the maximum included angle is the angle of two lines with the maximum included angle in the plurality of lines.
9. The AGV deviation measuring device is characterized by being used for measuring deviation precision data of an AGV, and comprising a main controller, a moving platform, a positioning laser electrically connected with the main controller and a collecting piece arranged on the moving platform;
the main controller is used for being electrically connected with an AGV trolley, the positioning laser is used for being installed on the AGV trolley, and the main controller executes a computer program to execute the AGV deviation measuring method according to any one of claims 1 to 8.
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