CN110888427A - Automatic traveling trolley control system with track memory function and control method thereof - Google Patents
Automatic traveling trolley control system with track memory function and control method thereof Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention relates to an automatic running trolley control system with a track memory function and a control method thereof, wherein the system comprises a trolley, a controller, a base station and a receiver, the base station is arranged at a plurality of different indoor positions and is used for sending wireless signals, the receiver and the controller are arranged on the trolley, the receiver is used for receiving the wireless signals sent by the base station and sending the received signals to the controller, the controller is used for calculating the coordinate position of the trolley, memorizing the coordinate position of the trolley at an initialization stage and storing the coordinate position as a preset track, controlling the trolley to run according to a preset path and judging whether the running track of the trolley deviates from the preset track, and if the running track deviates from the preset track, the deviation correction processing is carried out on the running track of the trolley. The invention does not need to set a navigation road sign in advance on the path of the trolley, can conveniently change the preset path according to the requirement, can automatically bypass when meeting the obstacle instead of stopping standby, and has high intelligent degree and convenient use.
Description
Technical Field
The invention belongs to the field of navigation trolleys, and particularly relates to an automatic travelling trolley control system with a track memory function and a control method thereof.
Background
The navigation mode of the conventional AGV trolley is basically reflective guidance, magnetic guidance, electromagnetic induction guidance, visual system auxiliary guidance and laser guidance. These direction modes all need to set up the direction road sign on road surface in advance again, and if later stage need change the driving route when, then need change the direction road sign, troublesome poeration. The AGV that adopts wireless navigation mode at present is applied to outdoors basically, realizes the navigation through GPS or big dipper, then can appear the condition that the accuracy seriously descends because the GPS model is weak when being applied to indoor.
Disclosure of Invention
The invention aims to provide an automatic traveling trolley control system with a track memory function and a control method thereof.
The technical scheme for solving the technical problems is as follows:
an automatic running trolley control system with track memory function comprises a trolley, a controller, a base station and a receiver, the base stations are arranged at a plurality of different positions indoors and are used for sending wireless signals, the receiver and the controller are arranged on the trolley, the receiver is used for receiving the wireless signals sent by the base stations, and sends the received signals to a controller, the controller is used for measuring and calculating the distance between the trolley and each base station according to the strength of the signals, and calculating the coordinate position of the trolley, the controller is also used for memorizing the coordinate position of the trolley in an initialization stage and storing the coordinate position as a preset track, and controlling the trolley to walk according to a preset path in the automatic walking stage, wherein the controller is also used for judging whether the walking track of the trolley deviates from the preset track in the automatic walking stage, and if the walking track deviates from the preset track, performing deviation rectification processing on the walking path of the trolley.
Furthermore, a gyroscope is further arranged on the trolley and used for detecting the travelling direction of the trolley, the controller is used for judging whether the travelling direction of the trolley is consistent with the preset direction, and if not, the travelling direction of the trolley is corrected.
Furthermore, the trolley is also provided with an ultrasonic sensor and/or a laser sensor, the controller is used for detecting whether obstacles exist around the trolley by using the ultrasonic sensor and/or the laser sensor, and if the obstacles exist, the trolley is controlled to bypass the obstacles.
The control method of the automatic traveling trolley with the track memory function comprises the following steps:
s1, initialization stage: manually driving the trolley to walk once indoors according to a target track, calculating the distance between the trolley and each base station through the strength of signals by the controller, and calculating the coordinate position of the trolley, wherein the controller also memorizes the coordinate position of the trolley in an initialization stage and stores the coordinate position as a preset track;
s2, automatic walking: the trolley walks according to a preset path in an automatic walking stage, the controller judges whether the walking track of the trolley deviates from the preset track or not in the walking process, and if the walking track deviates from the preset track, the deviation rectification treatment is carried out on the walking path of the trolley; the controller judges whether the trolley meets the obstacle or not in the walking process, and if the trolley meets the obstacle, the controller controls the trolley to bypass the obstacle.
Further, the step S2 is that the controller determines whether the traveling direction of the cart is consistent with the preset direction, and if not, the controller corrects the traveling direction of the cart.
The invention has the beneficial effects that: the invention arranges a plurality of base stations indoors, arranges a receiver on the trolley, and obtains the current position of the trolley by calculating the distance to each base station, the method can randomly determine the track of the trolley according to the use requirement, the trolley drives the trolley to travel along the target track once in the initialization stage, the trolley can obtain the track to be traveled by self-learning, the precision can reach about 5cm, and after reaching the position, the accurate positioning is carried out by infrared correlation. Therefore, the invention does not need to set a navigation road sign in advance on the advancing path of the trolley, and the advancing path of the trolley is an indefinite track. The route can be changed conveniently as required at any time, and the route can be automatically bypassed when the barrier is touched, but the standby is not stopped, so that the intelligent degree is high, and the use is convenient.
Drawings
FIG. 1 is a schematic perspective view of the system of the present invention;
FIG. 2 is a schematic top view of the system of the present invention;
FIG. 3 is a schematic flow chart of the method of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a trolley 6 and a controller; 2. a base station; 3. a receiver; 4. a gyroscope; 5. ultrasonic sensor
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "clockwise", "counterclockwise", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
As shown in fig. 1 and 2, an automatic traveling trolley control system with a track memory function includes a trolley 1, a controller, a base station 2 and a receiver 3, the base station 2 is disposed at a plurality of different indoor locations, the base station 2 is configured to transmit wireless signals, the receiver 3 and the controller are disposed on the trolley 1, the receiver 3 is configured to receive the wireless signals transmitted by the base station 2 and transmit the received signals to the controller, the controller is configured to calculate a distance between the trolley 1 and each base station 2 according to the strength of the signals and calculate a coordinate position of the trolley 1, the controller is further configured to memorize the coordinate position of the trolley 1 in an initialization stage and store the coordinate position as a preset track, and control the trolley 1 to travel according to a predetermined path in an automatic travel stage, and the controller is further configured to determine whether the travel track of the trolley 1 deviates from the preset track in the automatic travel stage, and if the deviation is away from the preset track, carrying out deviation rectification processing on the walking path of the trolley 1.
As an implementation mode, the number of the base stations is 4, the base stations are respectively arranged on two sides of the inner wall of a workshop, when the base station positioning device is used, if a shelter is arranged between one base station and a trolley, the rest base stations can send signals to the trolley, and the trolley can be positioned as long as at least two base stations can successfully transmit the signals.
In one embodiment, the cart is an AGV cart.
As an implementation mode, the trolley 1 is further provided with a gyroscope 4, the gyroscope 4 is used for detecting the traveling direction of the trolley 1, the controller is used for judging whether the traveling direction of the trolley 1 is consistent with the preset direction, and if not, the traveling direction of the trolley 1 is corrected.
As an embodiment, the trolley 1 is further provided with an ultrasonic sensor 5 and/or a laser sensor, and the controller is configured to detect whether there is an obstacle around the trolley 1 by using the ultrasonic sensor 5 and/or the laser sensor, and if the obstacle is encountered, control the trolley 1 to bypass the obstacle.
As shown in fig. 3, an automatic control method for indoor wireless navigation is characterized by comprising the following steps:
s1, initialization stage: manually driving the trolley 1 to walk once indoors according to a target track, calculating the distance between the trolley 1 and each base station 2 through the strength of signals by a controller, and calculating the coordinate position of the trolley 1, wherein the controller also memorizes the coordinate position of the trolley 1 in an initialization stage and stores the coordinate position as a preset track;
s2, automatic walking: the trolley 1 walks according to a preset path in an automatic walking stage, the controller judges whether the walking track of the trolley 1 deviates from the preset track or not in the walking process, and if the walking track deviates from the preset track, deviation rectification processing is carried out on the walking path of the trolley 1; the controller judges whether the trolley 1 meets an obstacle or not in the walking process, and controls the trolley 1 to bypass the obstacle if the trolley meets the obstacle.
As an embodiment, the step S2 further includes the step of determining, by the controller, whether the traveling direction of the cart 1 is consistent with the preset direction, and if not, performing deviation rectification on the traveling direction of the cart 1.
The invention adopts indoor wireless navigation guidance and infrared correlation accurate positioning to jointly realize the actions of forward moving, backward moving, forking, exiting and the like of the AGV. The method is characterized in that an indoor wireless positioning navigation system is utilized, a plurality of base stations are placed indoors, the trolley measures and calculates the position and the course in the global coordinate through a navigation device equipped by the trolley, so that the current movement position and the current state of the trolley are obtained, the track of the trolley can be determined randomly according to the use requirement, the trolley is driven to travel along the target track once in the initialization stage, the trolley can obtain the track to be traveled through self-learning, the precision of the method can reach about 5cm, and after the position is reached, infrared correlation is adopted for accurate positioning.
The guiding mode is as follows: the AGV trolley calculates the coordinates of the current trolley in the space according to the distances between the labels on the current fixed trolley body and the base stations, so that the deviation between the trolley and the previously determined flight path is obtained, the current walking angle and the specified course angle are obtained according to the 9-axis gyroscope, the deviation angle is obtained, the deviation angle is compared with the preset theoretical track, the speed value and the steering angle value of the next period are calculated, and the command value of the AGV movement is issued.
Path selection: the AGV trolley selects a path to be operated in advance through calculation according to the instruction of the upper system, and reports the result to the upper control system, so that the upper system can uniformly allocate the positions of other AGVs according to the operation condition. The path of the AGV car is designed according to the actual working conditions, and consists of a plurality of segments. Each "segment" indicates the start point, end point, and travel speed and direction of the AGV at that segment.
And (3) motion control: the frame and corresponding mechanical device form basic trolley structure, using DC storage lithium battery as energy source, DC brushless motor as power source, matching wheels, speed reducer, brake and speed controller, its operation instruction is sent out by computer or manual control, and the regulation of operation speed, direction and brake are respectively controlled by computer. For safety, the braking device mechanically brakes when power is off.
The system comprises the following components:
(1) the system comprises 1 controller, a main control CPU (STM32F407), a uCOS system and a data processing system, wherein the controller is mainly used for controlling the whole system and calculating a space coordinate, a running direction, deviation correction and the like;
(2)12 ultrasonic sensors: the ultrasonic wave detector is used for identifying and judging obstacles in 8 meters around, the front 4 ultrasonic waves, the rear 4 ultrasonic waves and the two sides 2 ultrasonic waves are respectively divided into two modes, one mode is integral, namely one module controls 12 probes and is communicated with an MCU in an RS232 or IC mode, and the other mode is that 12 ultrasonic wave devices are independently controlled through discrete devices;
(3)6 ways of infrared sensors: the front 2, the left and the right are respectively 2, and are divided into two control modes, one is in a voltage mode, the other is in a PWM mode control, only 1 mode is welded during welding, and obstacles within 1 meter around are identified and judged;
(4) an indoor accurate navigation system: the device is arranged on the top of the trolley and used for trolley navigation;
(5) one of the 9-axis gyroscopes: the method is used for angle navigation of the trolley;
(6)4G interface: for wireless transmission;
(7) JTAG interface: downloading and debugging programs;
(8) 6-way RS232 interface: one path of debugging, one path of MCU is communicated with the android i d panel, one path of gyroscope is communicated with the MCU, one path of navigation system is communicated with the MCU, and the other path of navigation system is used for being communicated with the accurate navigation system and the android tablet computer;
(9) the four-direction button comprises four direction buttons of forward, backward, left-turning and right-turning, a power switch, an emergency stop switch and two safety anti-collision switches.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. The automatic traveling trolley control system with the track memory function is characterized by comprising a trolley (1), a controller, a base station (2) and a receiver (3), wherein the base station (2) is arranged at a plurality of different indoor positions, the base station (2) is used for sending wireless signals, the receiver (3) and the controller are arranged on the trolley (1), the receiver (3) is used for receiving the wireless signals sent by the base station (2) and sending the received signals to the controller, the controller is used for calculating the distance between the trolley (1) and each base station (2) according to the strength of the signals and calculating the coordinate position of the trolley (1), the controller is also used for memorizing the coordinate position of the trolley (1) in an initialization stage and storing the coordinate position as a preset track and controlling the trolley (1) to travel according to a preset path in an automatic traveling stage, the controller is also used for judging whether the walking track of the trolley (1) deviates from the preset track or not in the automatic walking stage, and if the walking track deviates from the preset track, the deviation rectification processing is carried out on the walking path of the trolley (1).
2. The automatic traveling trolley control system with the track memory function as claimed in claim 1, wherein a gyroscope (4) is further disposed on the trolley (1), the gyroscope (4) is used for detecting the traveling direction of the trolley (1), the controller is used for judging whether the traveling direction of the trolley (1) is consistent with a preset direction, and if not, the traveling direction of the trolley (1) is corrected.
3. The automatic traveling trolley control system with the track memory function according to claim 1, wherein the trolley (1) is further provided with an ultrasonic sensor (5) and/or a laser sensor, the controller is used for detecting whether an obstacle exists around the trolley (1) by using the ultrasonic sensor (5) and/or the laser sensor, and if the obstacle is met, the trolley (1) is controlled to bypass the obstacle.
4. The control method of the automatic traveling trolley with the track memory function is characterized by comprising the following steps of:
s1, initialization stage: manually driving the trolley (1) to walk once indoors according to a target track, calculating the distance between the trolley (1) and each base station (2) through the strength of signals by a controller, calculating the coordinate position of the trolley (1), memorizing the coordinate position of the trolley (1) in an initialization stage and storing the coordinate position as a preset track by the controller;
s2, automatic walking: the trolley (1) walks according to a preset path in an automatic walking stage, the controller judges whether the walking track of the trolley (1) deviates from the preset track or not in the walking process, and if the walking track deviates from the preset track, deviation rectification processing is carried out on the walking path of the trolley (1); the controller judges whether the trolley (1) meets an obstacle or not in the walking process, and if the trolley (1) meets the obstacle, the trolley (1) is controlled to bypass the obstacle.
5. The automatic traveling trolley control system with the track memory function as claimed in claim 4, wherein the step of S2 further comprises the step of the controller determining whether the traveling direction of the trolley (1) is consistent with the preset direction, and if not, correcting the traveling direction of the trolley (1).
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| CN201910565154.8A CN110888427A (en) | 2019-06-27 | 2019-06-27 | Automatic traveling trolley control system with track memory function and control method thereof |
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| CN201910565154.8A CN110888427A (en) | 2019-06-27 | 2019-06-27 | Automatic traveling trolley control system with track memory function and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111552297A (en) * | 2020-05-21 | 2020-08-18 | 深圳市海柔创新科技有限公司 | Navigation method and navigation device |
| CN114510058A (en) * | 2022-02-24 | 2022-05-17 | 江苏丰东热技术有限公司 | Method and system for calibrating left and right moving positions of trolley |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111552297A (en) * | 2020-05-21 | 2020-08-18 | 深圳市海柔创新科技有限公司 | Navigation method and navigation device |
| CN111552297B (en) * | 2020-05-21 | 2021-08-17 | 深圳市海柔创新科技有限公司 | Navigation method and navigation device |
| CN114510058A (en) * | 2022-02-24 | 2022-05-17 | 江苏丰东热技术有限公司 | Method and system for calibrating left and right moving positions of trolley |
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