CN112904857A - Automatic guided vehicle control method and device and automatic guided vehicle - Google Patents
Automatic guided vehicle control method and device and automatic guided vehicle Download PDFInfo
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Abstract
The application relates to an automatic guided vehicle control method, an automatic guided vehicle control device and an automatic guided vehicle, wherein after a destination instruction is received, path planning can be carried out according to the destination instruction to obtain a currently corresponding required driving path; and then the automatic guided vehicle can be controlled to move to a destination corresponding to the destination instruction for operation according to the planned driving path, and the driving path record is stored. After the automatic guided vehicle finishes the operation, the automatic guided vehicle can be controlled to directly return to the starting point only according to the driving path stored in the record, and one operation flow is finished. By the aid of the scheme, the path is planned only when the automatic guided vehicle moves from the departure point to the destination for the first time, the corresponding driving path is stored, and when the subsequent automatic guided vehicle moves between the departure point and the destination, the path is planned for a plurality of times without needing to be repeated again, so that the path planning time of the automatic guided vehicle is effectively saved, and the working efficiency of the automatic guided vehicle can be improved.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to an automatic guided vehicle control method and device and an automatic guided vehicle.
Background
An AGV (automatic Guided Vehicle) is a transport Vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. Compared with manpower or other handling tools, the AGV can automatically and repeatedly perform heavy transportation work, and the deterministic transportation work can effectively reduce manpower errors in the transportation process, and has extremely high working reliability.
With the development of agricultural technology, especially the investment of modern agricultural machinery, the problem of intensive labor and labor in agriculture is solved by an advanced farming mode and advanced technical equipment, and the agricultural mechanization and intellectualization has obvious economic and social benefits in the aspects of seeding, seedling raising, transplanting, pesticide application, irrigation and the like. Agricultural transportation AGV aims at realizing the automatic transportation of agricultural product, through AGV's automatic operation, transports the agricultural product automatic transportation of green house to the warehouse.
However, most AGVs need to continuously detect and determine the following navigation path during the operation process, and perform path planning in real time to ensure that the AGVs move to the designated location. Although this method can accurately control the AGV to move to a specific location for operation, it will take a lot of time to continue the path planning, resulting in low working efficiency of the AGV.
Disclosure of Invention
Accordingly, it is necessary to provide a method and a device for controlling an automatic guided vehicle and an automatic guided vehicle, which are directed to the problem of low operating efficiency of a conventional AGV.
An automatic guided vehicle control method comprising: planning according to the received destination instruction to obtain a driving path; controlling an automatic guided vehicle to move from a departure point to a destination corresponding to the destination instruction according to the driving path to perform operation, and recording the driving path; and controlling the automatic guided vehicle to return to the departure point according to the recorded driving path.
In one embodiment, after the step of controlling the automatic guided vehicle to return to the departure point according to the recorded driving path, the method further includes: and when the destination instruction is received again, controlling the automatic guided vehicle to move from the departure point to a destination corresponding to the destination instruction according to the recorded driving path to perform operation, and controlling the automatic guided vehicle to return to the departure point according to the recorded driving path when the operation is finished.
In one embodiment, the step of controlling the automatic guided vehicle to move from the departure point to the destination corresponding to the destination instruction according to the driving path to perform the operation includes: controlling the automatic guided vehicle to start running at a preset speed, and acquiring the position error of the automatic guided vehicle relative to the running path in real time; and steering control is carried out on the automatic guided vehicle according to the position error so that the automatic guided vehicle moves to a destination corresponding to the destination instruction along the traveling path to carry out operation.
In one embodiment, the step of controlling the automatic guided vehicle to move from the departure point to the destination corresponding to the destination instruction according to the driving path to perform the operation includes: detecting whether an obstacle exists in the moving direction of the automatic guided vehicle in real time; when the obstacle exists, controlling the automatic guided vehicle to stop running and returning to the step of detecting whether the obstacle exists in the moving direction of the automatic guided vehicle in real time; when no obstacle exists, detecting whether the electronic tag information of the path where the automatic guided vehicle is located is matched with the electronic tag information of the driving path; when the electronic tag information of the path where the automatic guided vehicle is located is not matched with the electronic tag information of the driving path, returning to the step of planning according to the received destination instruction to obtain the driving path; and when the electronic tag information of the path where the automatic guided vehicle is located is matched with the electronic tag information of the driving path, controlling the automatic guided vehicle to run at a preset speed until the automatic guided vehicle reaches the destination corresponding to the destination instruction to perform operation.
In one embodiment, the step of detecting whether an obstacle exists in the moving direction of the automatic guided vehicle in real time includes: acquiring ultrasonic reflection signals which are sent to the moving direction of the automatic guided vehicle by an ultrasonic detector of the automatic guided vehicle and are returned in real time; and obtaining distance information of the object in the moving direction of the automatic guided vehicle and the automatic guided vehicle according to the ultrasonic reflection signal, and when the distance information is smaller than a preset distance, indicating that an obstacle exists in the moving direction of the automatic guided vehicle.
An automatic guided vehicle control device comprising: the driving path planning module is used for planning according to the received destination instruction to obtain a driving path; the motion control module is used for controlling the automatic guided vehicle to move from a departure point to a destination corresponding to the destination instruction according to the driving path to perform operation, and recording the driving path; and the return control module is used for controlling the automatic guided vehicle to return to the departure point according to the recorded driving path.
The communication device, the magnetic navigation device and the driving device are connected with the controller respectively, the communication device is used for receiving a destination instruction and sending the destination instruction to the controller, and the controller is used for driving and controlling the automatic guided vehicle according to the method.
In one embodiment, the magnetic navigation device comprises a Schmitt trigger inverter and magnetic sensors, each magnetic sensor is respectively connected with the Schmitt trigger inverter, and the Schmitt trigger inverter is connected with the controller.
In one embodiment, the automated guided vehicle further comprises an electronic tag detector, the electronic tag detector being connected to the controller.
In one embodiment, the automated guided vehicle further comprises an ultrasonic detector, the ultrasonic detector being connected to the controller.
According to the automatic guided vehicle control method and device and the automatic guided vehicle, after the destination instruction is received, path planning can be carried out according to the destination instruction, and a driving path which is required correspondingly at present is obtained; and then the automatic guided vehicle can be controlled to move to a destination corresponding to the destination instruction for operation according to the planned driving path, and the driving path record is stored. After the automatic guided vehicle finishes the operation, the automatic guided vehicle can be controlled to directly return to the starting point only according to the driving path stored in the record, and one operation flow is finished. By the aid of the scheme, the path is planned only when the automatic guided vehicle moves from the departure point to the destination for the first time, the corresponding driving path is stored, and when the subsequent automatic guided vehicle moves between the departure point and the destination, the path is planned for a plurality of times without needing to be repeated again, so that the path planning time of the automatic guided vehicle is effectively saved, and the working efficiency of the automatic guided vehicle can be improved.
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In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating an exemplary method for controlling an automated guided vehicle;
FIG. 2 is a schematic flow chart of an automatic guided vehicle control method in another embodiment;
FIG. 3 is a schematic diagram of a driving control process of the automatic guided vehicle according to an embodiment;
FIG. 4 is a schematic view of an embodiment of an automated guided vehicle;
FIG. 5 is a schematic view of a magnetic navigation device in one embodiment;
FIG. 6 is a schematic diagram of the driving process of the automatic guided vehicle in another embodiment;
FIG. 7 is a diagram illustrating a navigation stripe path setup in one embodiment;
FIG. 8 is a schematic diagram of an embodiment of obstacle detection;
FIG. 9 is a flow chart of an exemplary method for controlling an automated guided vehicle;
FIG. 10 is a schematic structural diagram of an exemplary embodiment of an automated guided vehicle control apparatus;
FIG. 11 is a schematic structural view of a control device of an automated guided vehicle according to another embodiment;
fig. 12 is a schematic structural view of an automatic guided vehicle in another embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, an automatic guided vehicle control method includes step S100, step S200, and step S300.
And S100, planning according to the received destination instruction to obtain a driving path.
Specifically, the destination instruction is an instruction including destination information, and the specific form is not unique, and may be only one destination information, or may include other information, such as information related to work content required by the automatic guided vehicle and information about movement parameters of the automatic guided vehicle during movement.
Likewise, the receiving manner of the destination command is not exclusive, and in one embodiment, the automatic guided vehicle may be provided with a corresponding interaction device (e.g., a display screen, a mechanical button, etc.), and the user may issue the destination command to the automatic guided vehicle directly through the interaction device. In another embodiment, the automatic guided vehicle and the external terminal equipment can perform information interaction to realize the sending and receiving operation of the destination instruction. For example, in one embodiment, the automatic guided vehicle is provided with a communication device (e.g., a WIFI communication device) through which the automatic guided vehicle can perform wireless communication with an external handheld terminal device (e.g., a mobile phone, etc.), a user can send a destination instruction to the automatic guided vehicle only through the handheld terminal device, the communication device is connected with the controller, and the communication device receives the destination instruction and then transmits the destination instruction to the controller, that is, the controller receives the destination instruction.
It should be noted that in the moving process of the automatic guided vehicle, the movement of the specific path is realized in a magnetic navigation mode, so that in the whole working area corresponding to the automatic guided vehicle, navigation magnetic stripes are paved on each path; the corresponding driving path will be composed of a plurality of different navigation magnetic stripes. After the controller receives the destination instruction, the controller plans by combining the current position of the automatic guided vehicle (specifically, the position can be obtained by user input or the automatic guided vehicle is provided with a positioning device for positioning), the destination corresponding to the destination instruction and the prestored electronic map, and directly obtains the optimal path required by the automatic guided vehicle to move from the current position (namely the departure point) to the destination, namely the driving path.
And S200, controlling the automatic guided vehicle to move from the departure point to the destination corresponding to the destination instruction to perform operation according to the driving path, and recording the driving path.
Specifically, the departure point is a placement position point when the automatic guided vehicle does not start to operate, and the destination point is a position point which the automatic guided vehicle finally reaches when moving. Taking an automatic guide vehicle for agricultural product transportation as an example, the starting point can be a warehouse, the destination can be a position point for carrying different agricultural products in the agricultural greenhouse, and the agricultural products can be moved from the agricultural greenhouse to the warehouse for storage through the automatic guide vehicle.
When the controller controls the automatic guided vehicle to successfully arrive at the destination from the departure point for operation according to the driving path, namely the driving path at the moment meets the current environmental requirements, the controller stores the current planning acquired driving path record, so that the driving path can be directly called for driving control when the vehicle subsequently moves between the same departure point and the destination without planning the path again.
And step S300, controlling the automatic guided vehicle to return to the departure point according to the recorded driving path.
Specifically, the automatic guided vehicle reaches a destination to perform work, and needs to return to the original departure point after the work is completed. At the moment, the driving path is recorded and stored, so that path planning is not needed to be carried out again in the returning process, and only the recorded driving path is called to control the automatic guided vehicle to return to the starting point.
Referring to fig. 2, in an embodiment, after step S300, the method further includes step S400.
And step S400, when the destination instruction is received again, controlling the automatic guided vehicle to move from the departure point to the destination corresponding to the destination instruction according to the recorded driving path to perform operation, and controlling the automatic guided vehicle to return to the departure point according to the recorded driving path when the operation is finished.
Specifically, considering that the automatic guided vehicle for other purposes such as agricultural transportation moves back and forth on a fixed path, namely the departure point and the destination are consistent, a method for recording the driving path can be adopted for the designed electronic map at the moment, so that the problem of continuously planning the path is effectively avoided, and the one-time effective and correct path planning on part of road sections is realized. Under the condition that the starting points are the same (the automatic guided vehicle returns to the starting point every time the operation is finished) and the received destination instructions are the same (namely, the destination to be reached is the same), the controller can directly call the corresponding driving path recorded before, directly control the automatic guided vehicle to move to the destination, and control the automatic guided vehicle to return to the starting point according to the recorded driving path after the operation is finished.
It should be noted that in one embodiment, different driving paths can be planned and recorded in combination with the electronic map for different destination instructions and different departure points. In the subsequent control operation, if the driving paths between the same departure point and the same destination have been recorded in the controller (the departure point can be used as the destination, the corresponding destination can be used as the departure point, and the two can be interchanged), the controller matches the corresponding driving paths according to the destination instruction, and directly performs motion control according to the recorded driving paths. Through the scheme of this embodiment, when the automatic guided vehicle round trip motion on same route, plan corresponding driving route when only needing the first motion, the driving route of direct call record can carry out motion control in the follow-up operation to avoid constantly detecting the condition emergence of planning the route, effectively guarantee the work efficiency of automatic guided vehicle.
Referring to fig. 3, in one embodiment, step S200 includes step S210 and step S220.
Step S210, controlling the automatic guided vehicle to start running at a preset speed, and acquiring the position error of the automatic guided vehicle relative to a running path in real time; and step S220, performing steering control on the automatic guided vehicle according to the position error so that the automatic guided vehicle moves to a destination corresponding to the destination instruction along the driving path to perform operation.
Specifically, the automatic guided vehicle is provided with a driving device for carrying out power driving and steering driving of the automatic guided vehicle, and is also provided with a magnetic navigation device for carrying out position error detection of the automatic guided vehicle relative to a traveling path. After the controller receives the destination instruction to plan the driving path, the controller controls the automatic guided vehicle to start running at a certain speed through the driving device. In addition, in the running process of the automatic guided vehicle, the magnetic navigation device detects the position error of the automatic guided vehicle relative to the driving path (namely the corresponding laid navigation magnetic strip) in real time, and performs steering control according to the position error so as to realize lane keeping of the automatic guided vehicle, so that the automatic guided vehicle moves strictly according to the driving path obtained by planning.
The specific type of driving device is not exclusive, and in one embodiment, referring to fig. 4, the driving device 20 includes a driving wheel 4, a universal wheel 2, and a motor 5. The four universal wheels 2 are respectively arranged at four corners of the automatic guided vehicle; the number of the driving wheels 4 is two, and each driving wheel 4 is correspondingly provided with a motor 5 (specifically, a brushless motor). In the operation process of the automatic guided vehicle, the controller 3 receives the position error Δ d fed back by the magnetic navigation device 10 every 0.1s (in other embodiments, other sizes can be designed according to actual conditions), and generates different duty ratio adjustment quantities by using a fuzzy PID (proportional Integral Differential) algorithm according to different position errors Δ d and the change rate thereof, so as to realize the PWM (Pulse Width Modulation) speed regulation of the two brushless motors. For example, when the position error Δ d is a positive value, it indicates that the automatic guided vehicle is deflected to the right at this time, and at this time, the automatic guided vehicle needs to be controlled to turn to the left, so the controller 3 outputs a control command to make the duty ratio of the left brushless motor decrease by a and the duty ratio of the right brushless motor increase by a by using the duty ratio adjustment amount a generated by the fuzzy PID algorithm in the internal program calculation according to the current position error Δ d and the change rate thereof, so as to form differential speed adjustment of the two driving wheels 4, thereby realizing left turning control of the automatic guided vehicle. Similarly, when the position error Δ d is negative, it indicates that the automatic guided vehicle deviates to the left, and then the duty ratio of the left brushless motor is controlled to increase by b, and the duty ratio of the right brushless motor is controlled to decrease by b, so as to realize the right steering control of the automatic guided vehicle. The controller 3 is used for increasing and reducing the same duty ratio for the left brushless motor and the right brushless motor at the same time, so that the steering control of the automatic guided vehicle is realized under the condition that the linear speed of the automatic guided vehicle is kept unchanged in the operation process.
It should be noted that the particular type of magnetic navigation device 10 is not exclusive, and in one embodiment, the magnetic navigation device 10 includes a Schmitt trigger inverter and magnetic sensors, each magnetic sensor being coupled to the Schmitt trigger inverter, respectively, and the Schmitt trigger inverter being coupled to the controller. Further, the number of magnetic sensors is not exclusive, and in one embodiment, 11 magnetic sensors may be included, and each magnetic sensor is connected to the schmitt trigger inverter in the same manner, and one of the magnetic sensors is explained with reference to fig. 5. In this embodiment, the magnetic sensor may be of the MU253EUA type, and the schmitt trigger inverter may be of the 74HC14D type. The 1Y port of the Schmidt trigger inverter is connected to the I/O port of the controller through the second resistor and the LED, the power port of the magnetic sensor is connected to a 5V power supply, the grounding port is grounded, the output port is connected to the 1A port of the Schmidt trigger inverter, the 1A port of the Schmidt trigger inverter is also connected with one end of the first resistor and one end of the first capacitor, the other end of the first capacitor is grounded, the other end of the first resistor is connected with the 3.3V power supply, the VCC power port of the Schmidt trigger inverter is connected with the 3.3V power supply and one end of the second capacitor, and the other end of the second capacitor is grounded. It can be understood that the connection manner of the other magnetic sensors and the schmitt trigger inverter is the same as that of the illustrated magnetic sensor, and the schmitt trigger inverter is respectively connected to the ports 2A, 3A and the like of the schmitt trigger inverter, and when the ports of the schmitt trigger inverter are not enough to connect the magnetic sensors with the number required by the user, the number of the schmitt trigger inverters is properly increased, which is not described herein again.
In the above embodiment, the magnetic sensor input is 5V, and when the magnetic sensor detects an effective magnetic field, it outputs a low level; when the effective magnetic field is not detected, a high level is output. When connected with the Schmitt trigger inverter, the resistor is externally connected with a pull-up resistor (namely a first resistor). The working principle of the combination is as follows: when the sensor detects an effective magnetic field, a Schmidt trigger inverter outputs TTL high level at an IO port, and an LED indicator lamp is on; when the sensor does not detect an effective magnetic field, the inverter is triggered by Schmitt, TTL low level is output at an IO port, and the LED indicating lamp is turned off. When the automatic guided vehicle runs, the magnetic sensor close to the laid navigation magnetic stripe in the magnetic navigation device can detect an effective magnetic field, and the magnetic sensor far away from the navigation magnetic stripe can not detect the effective magnetic field. Therefore, the controller can determine the position error Δ d of the magnetic navigation device relative to the navigation magnetic stripe at the moment by detecting the different IO port information of the plurality of magnetic sensors. In order to realize the universality of indoor and outdoor magnetic navigation, the effective magnetic field of the magnetic sensor, namely the working point, is 30Gauss, and the distance between the magnetic navigation device and the ground is 4cm, so that when the outdoor road surface fluctuates up and down to a certain extent, the magnetic sensor can still detect the effective magnetic field of the laid navigation magnetic strip.
Referring to fig. 6, in one embodiment, step S200 includes step S230, step S240, step S250 and step S260.
Step S230, detecting whether an obstacle exists in the movement direction of the automatic guided vehicle in real time; step S240, when an obstacle exists, controlling the automatic guided vehicle to stop running; returning to the step of detecting whether the obstacle exists in the moving direction of the automatic guided vehicle in real time; step S250, when no obstacle exists, detecting whether the electronic tag information of the path where the automatic guided vehicle is located is matched with the electronic tag information of the driving path; when the electronic tag information of the path where the automatic guided vehicle is located is not matched with the electronic tag information of the driving path, returning to the step of planning according to the received destination instruction to obtain the driving path; and step S260, when the electronic tag information of the path where the automatic guided vehicle is located is matched with the electronic tag information of the driving path, controlling the automatic guided vehicle to run at a preset speed until the automatic guided vehicle reaches a destination corresponding to the destination instruction to perform operation.
Specifically, the automatic guided vehicle is provided with the obstacle detector, and in the operation process of the automatic guided vehicle, whether the obstacle exists in the motion direction of the automatic guided vehicle or not can be detected in real time, namely whether the obstacle exists in the front of the automatic guided vehicle or not to obstruct the operation of the automatic guided vehicle. If the obstacle is detected, the automatic guided vehicle cannot continue to move, and the controller directly controls the automatic guided vehicle to stop and wait until the obstacle is cleared. It is understood that, in this case, the controller may further output a prompt message to the user, so that the user can perform the obstacle clearing operation in time.
If the automatic guided vehicle does not meet the obstacle, the controller controls the automatic guided vehicle to continue to operate, and the automatic guided vehicle is controlled to move strictly according to the driving path by combining the electronic tag information on the driving path in the process. Taking an automatic guided vehicle for agricultural use as an example, in order to realize the indoor and outdoor autonomous working operation of the automatic guided vehicle, the navigation magnetic stripe laid at the destination of the outdoor agricultural greenhouse and the like and the navigation magnetic stripe laid in the indoor warehouse jointly form a magnetic navigation path of the whole automatic guided vehicle, and reference can be specifically made to fig. 7. An RFID (Radio Frequency Identification) path tag (in other embodiments, other types of electronic tags may also be used) is laid on the edge of the magnetic stripe path, each path has unique corresponding electronic tag information, and when a driving path is determined, the electronic tag information at different sections of the driving path is also uniquely determined. When the automatic guided vehicle runs, an electronic tag detector (specifically, an RFID detection detector or the like) arranged on the automatic guided vehicle detects the path tag information and feeds the path tag information back to the controller so as to verify and check the current road information. The navigation magnetic stripe and the RFID path tag information jointly form basic information of an indoor path and an outdoor path of the automatic guided vehicle, and the information is encoded and converted into an electronic map and stored in the controller.
In the operation process, the controller receives the electronic tag information collected and sent by the electronic tag detector in real time, and performs matching analysis on the electronic tag information and the electronic tags corresponding to all road sections under the current driving path. If the received electronic tag information is not matched with the electronic tag under the current driving path, the automatic guided vehicle is considered to deviate from the driving path, at the moment, the step of planning according to the received destination instruction to obtain the driving path is returned, and path planning and driving control are carried out again. If the received electronic tag information is matched with the electronic tag under the current driving path, the automatic guided vehicle is considered to move on the driving path at the moment, and only the automatic guided vehicle needs to be driven to move continuously.
Further, in an embodiment, please refer to fig. 8 in combination, step S230 includes step S231 and step S232.
Step S231, acquiring an ultrasonic reflection signal which is sent to the moving direction of the automatic guided vehicle by the ultrasonic detector of the automatic guided vehicle and is returned in real time; and step S232, obtaining distance information of the object in the moving direction of the automatic guided vehicle and the automatic guided vehicle according to the ultrasonic reflection signal, and indicating that an obstacle exists in the moving direction of the automatic guided vehicle when the distance information is smaller than a preset distance.
Specifically, the detection method of the obstacle is not exclusive, and may be ultrasonic detection, infrared detection, or the like, and the present embodiment is explained by ultrasonic detection. In this embodiment, the obstacle detector is an ultrasonic detector, and sends out an ultrasonic wave of 40kHz at the transmitting end of the ultrasonic detector under the control of the controller every 0.1s (specifically, the obstacle detector can be set to other sizes according to the user's requirements), and if there is an obstacle at the front end of the ultrasonic detector, the ultrasonic wave is reflected back, and the reflected ultrasonic information is received at the receiving end and converted into a TTL high level, where the duration t of the high level is the time difference between the sending of the ultrasonic wave from the transmitting end and the receiving of the ultrasonic wave at the receiving end. The distance D between the ultrasonic detector and the obstacle is t 340/2 meters. The distance information is fed back to the controller, the controller sets a threshold value X (namely a preset distance), and if D < X, the controller controls the brushless motor to stop.
In order to facilitate an understanding of the various embodiments of the present application, the following description is made in conjunction with the detailed description.
Referring to fig. 9, for AGVs waiting in the warehouse, the operator performs WIFI wireless communication with the AGVs at the destination location via the handheld device, and sends a destination instruction to the AGVs. After receiving a destination instruction, the AGV starts preparation work, firstly, a driving path is planned according to the destination, and the controller controls the brushless motor to enable the AGV to run at a rated speed and start from a warehouse; in the operation process, on one hand, the magnetic navigation device continuously detects the current position error relative to the navigation magnetic strip and feeds the current position error back to the controller so as to execute motion control such as steering and tracking. On the other hand, the transmitting end of the ultrasonic detector continuously sends out ultrasonic waves, the receiving end receives the feedback ultrasonic wave reflection signals, converts the ultrasonic wave reflection signals into distance information with the front obstacle of the AGV body, and feeds the distance information back to the controller, and when the distance is smaller than the threshold value set in the controller, the controller controls the brushless motor to stop until the distance between the obstacles is larger than the set threshold value. In the operation process, the RFID detector continuously detects the current path label information to be matched with the planned path, if and only if the path is matched without errors, the current road is continuously driven, and if not, the path is re-planned; finally, the AGV reaches the destination, and in the process, a controller of the AGV records the path information of the movement process; after the loading of the goods is finished, the controller of the AGV drives the brushless motor to enable the AGV to return to the warehouse according to the recorded path information, so that the time of path planning in the returning process of the controller can be effectively reduced, and the returning path can be set correctly at one time. Similarly, in the process that the AGV returns to the warehouse, the driving control, the obstacle detection and the electronic tag information matching analysis operation which are the same as those in the process of moving to the destination are carried out, the parking waiting is also carried out when the obstacle exists, and the driving path which is saved before is called again when the electronic tag information is not matched until the AGV returns to the warehouse to unload the goods, and the next command is waited for parking in the warehouse.
According to the automatic guided vehicle control method, after the destination instruction is received, path planning can be carried out according to the destination instruction, and a driving path which is required correspondingly at present is obtained; and then the automatic guided vehicle can be controlled to move to a destination corresponding to the destination instruction for operation according to the planned driving path, and the driving path record is stored. After the automatic guided vehicle finishes the operation, the automatic guided vehicle can be controlled to directly return to the starting point only according to the driving path stored in the record, and one operation flow is finished. By the aid of the scheme, the path is planned only when the automatic guided vehicle moves from the departure point to the destination for the first time, the corresponding driving path is stored, and when the subsequent automatic guided vehicle moves between the departure point and the destination, the path is planned for a plurality of times without needing to be repeated again, so that the path planning time of the automatic guided vehicle is effectively saved, and the working efficiency of the automatic guided vehicle can be improved.
Referring to fig. 10, an automatic guided vehicle control apparatus includes a driving path planning module 100, a motion control module 200, and a return control module 300.
The driving path planning module 100 is configured to plan according to the received destination instruction to obtain a driving path; the motion control module 200 is configured to control the automatic guided vehicle to move from a departure point to a destination corresponding to the destination instruction according to the driving path to perform work, and record the driving path; the return control module 300 is used for controlling the automatic guided vehicle to return to the departure point according to the recorded driving path.
Referring to fig. 11, in one embodiment, the automatic guided vehicle control apparatus further includes a re-operation control module 400. The re-operation control module 400 is configured to, when the destination instruction is received again, control the automatic guided vehicle to move from the departure point to the destination corresponding to the destination instruction according to the recorded driving path to perform the operation, and control the automatic guided vehicle to return to the departure point according to the recorded driving path when the operation is completed.
In one embodiment, the motion control module 200 is further configured to control the automatic guided vehicle to start running at a preset speed, and obtain a position error of the automatic guided vehicle relative to a driving path in real time; and steering control is carried out on the automatic guided vehicle according to the position error so that the automatic guided vehicle moves to a destination corresponding to the destination instruction along the driving path to carry out operation.
In one embodiment, the motion control module 200 is further configured to detect whether an obstacle exists in the moving direction of the automated guided vehicle in real time; when an obstacle exists, controlling the automatic guided vehicle to stop running; returning to the operation of detecting whether the obstacle exists in the moving direction of the automatic guided vehicle in real time; when no obstacle exists, detecting whether the electronic tag information of the path where the automatic guided vehicle is located is matched with the electronic tag information of the driving path; when the electronic tag information of the path where the automatic guided vehicle is located is not matched with the electronic tag information of the driving path, controlling the driving path planning module 100 to execute an operation of planning according to the received destination instruction to obtain the driving path; and when the electronic tag information of the path where the automatic guided vehicle is located is matched with the electronic tag information of the driving path, controlling the automatic guided vehicle to run at a preset speed until the automatic guided vehicle reaches the destination corresponding to the destination instruction to perform operation.
In one embodiment, the motion control module 200 is further configured to obtain, in real time, an ultrasonic reflection signal sent by the ultrasonic detector of the automatic guided vehicle to the motion direction of the automatic guided vehicle and returned; and obtaining distance information of the object in the moving direction of the automatic guided vehicle and the automatic guided vehicle according to the ultrasonic reflection signal, and indicating that an obstacle exists in the moving direction of the automatic guided vehicle when the distance information is smaller than a preset distance.
For specific limitations of the control device of the automatic guided vehicle, reference may be made to the above limitations of the control method of the automatic guided vehicle, and details thereof are not repeated here. The modules in the automatic guided vehicle control device may be implemented in whole or in part by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The automatic guided vehicle control device can perform path planning according to the destination instruction after receiving the destination instruction to obtain a driving path which is currently and correspondingly required; and then the automatic guided vehicle can be controlled to move to a destination corresponding to the destination instruction for operation according to the planned driving path, and the driving path record is stored. After the automatic guided vehicle finishes the operation, the automatic guided vehicle can be controlled to directly return to the starting point only according to the driving path stored in the record, and one operation flow is finished. By the aid of the scheme, the path is planned only when the automatic guided vehicle moves from the departure point to the destination for the first time, the corresponding driving path is stored, and when the subsequent automatic guided vehicle moves between the departure point and the destination, the path is planned for a plurality of times without needing to be repeated again, so that the path planning time of the automatic guided vehicle is effectively saved, and the working efficiency of the automatic guided vehicle can be improved.
Referring to fig. 12, the automatic guided vehicle includes a communication device 8, a magnetic navigation device 10, a controller 3 and a driving device 20, the communication device 8, the magnetic navigation device 10 and the driving device 20 are respectively connected to the controller 3, the communication device 8 is configured to receive a destination instruction and send the destination instruction to the controller 3, and the controller 3 is configured to perform driving control on the automatic guided vehicle according to the above method.
Specifically, the destination instruction is an instruction including destination information, and the specific form is not unique, and may be only one destination information, or may include other information, such as information related to work content required by the automatic guided vehicle and information about movement parameters of the automatic guided vehicle during movement.
Likewise, the receiving manner of the destination command is not exclusive, and in one embodiment, the automatic guided vehicle may be provided with a corresponding interaction device (e.g., a display screen, a mechanical button, etc.), and the user may issue the destination command to the automatic guided vehicle directly through the interaction device. In another embodiment, the automatic guided vehicle and the external terminal equipment can perform information interaction to realize the sending and receiving operation of the destination instruction. For example, in one embodiment, the automatic guided vehicle is provided with a communication device 8, the automatic guided vehicle can perform wireless communication with an external handheld terminal device (e.g., a mobile phone, etc.) through the communication device 8 (e.g., the WIFI communication device 8), a user can send a destination instruction to the automatic guided vehicle only through the handheld terminal device, the communication device 8 is connected with the controller 3, and after receiving the destination instruction, the communication device 8 transmits the destination instruction to the controller 3, that is, the controller 3 receives the destination instruction.
Referring to fig. 4, it should be noted that in the moving process of the automatic guided vehicle, the movement of the specific path is realized in a magnetic navigation manner, so that a navigation magnetic stripe 7 is laid on each path in the whole working area corresponding to the automatic guided vehicle; the corresponding driving path will be constituted by a plurality of different navigation magnetic stripes 7. After the controller 3 receives the destination instruction, the controller can plan by combining the current position of the automatic guided vehicle (specifically, the position can be obtained by user input or the automatic guided vehicle is provided with a positioning device for positioning), the destination corresponding to the destination instruction and the prestored electronic map, and directly obtain the optimal path required by the automatic guided vehicle to move from the current position (namely, the departure point) to the destination, namely, the driving path.
The starting point is a placing position point when the automatic guided vehicle does not start to run, and the destination is a position point which the automatic guided vehicle finally reaches when moving. Taking an automatic guide vehicle for agricultural product transportation as an example, the starting point can be a warehouse, the destination can be a position point for carrying different agricultural products in the agricultural greenhouse, and the agricultural products can be moved from the agricultural greenhouse to the warehouse for storage through the automatic guide vehicle.
When the controller 3 controls the automatic guided vehicle to successfully arrive at the destination from the departure point for operation according to the driving path, namely the driving path at the moment meets the current environmental requirements, the controller 3 stores the current planning obtained driving path record, so that the driving path can be directly called for driving control when the vehicle moves between the same departure point and the destination in the following process without planning the path again.
The automatic guided vehicle reaches the destination to perform work, and needs to return to the original departure point after the work is completed. At the moment, the driving path is recorded and stored, so that path planning is not needed to be carried out again in the returning process, and only the recorded driving path is called to control the automatic guided vehicle to return to the starting point.
The automatic guided vehicle is provided with a driving device 20 for driving the automatic guided vehicle by power and steering, and a magnetic navigation device 10 for detecting a position error of the automatic guided vehicle with respect to a traveling path. After the controller 3 receives the destination command to plan the driving path, the controller 3 will control the automatic guided vehicle to start running at a certain speed through the driving device 20. In addition, in the running process of the automatic guided vehicle, the magnetic navigation device 10 detects the position error of the automatic guided vehicle relative to the driving path (i.e. the corresponding navigation magnetic stripe laid) in real time, and performs steering control according to the position error to realize lane keeping of the automatic guided vehicle, so that the automatic guided vehicle moves strictly according to the driving path obtained by planning.
The specific type of the driving device 20 is not exclusive, and in one embodiment, referring to fig. 4, the driving device 20 includes a driving wheel 4, a universal wheel 2, and a motor 5. The four universal wheels 2 are respectively arranged at four corners of the automatic guided vehicle; the number of the driving wheels 4 is two, and each driving wheel 4 is correspondingly provided with a motor 5 (specifically, a brushless motor). In the operation process of the automatic guided vehicle, the controller 3 receives the position error Δ d fed back by the magnetic navigation device 10 every 0.1s (in other embodiments, other sizes can be designed according to actual conditions), and generates different duty ratio adjustment quantities by using a fuzzy PID (proportional Integral Differential) algorithm according to different position errors Δ d and the change rate thereof, so as to realize the PWM (Pulse Width Modulation) speed regulation of the two brushless motors. For example, when the position error Δ d is a positive value, it indicates that the automatic guided vehicle is deflected to the right at this time, and at this time, the automatic guided vehicle needs to be controlled to turn to the left, so the controller 3 outputs a control command to make the duty ratio of the left brushless motor decrease by a and the duty ratio of the right brushless motor increase by a by using the duty ratio adjustment amount a generated by the fuzzy PID algorithm in the internal program calculation according to the current position error Δ d and the change rate thereof, so as to form differential speed adjustment of the two driving wheels 4, thereby realizing left turning control of the automatic guided vehicle. Similarly, when the position error Δ d is negative, it indicates that the automatic guided vehicle deviates to the left, and then the duty ratio of the left brushless motor is controlled to increase by b, and the duty ratio of the right brushless motor is controlled to decrease by b, so as to realize the right steering control of the automatic guided vehicle. The controller 3 is used for increasing and reducing the same duty ratio for the left brushless motor and the right brushless motor at the same time, so that the steering control of the automatic guided vehicle is realized under the condition that the linear speed of the automatic guided vehicle is kept unchanged in the operation process.
It should be noted that the particular type of magnetic navigation device 10 is not exclusive and in one embodiment the magnetic navigation device 10 comprises a schmitt trigger inverter and magnetic sensors, each magnetic sensor being connected to the schmitt trigger inverter, respectively, which is connected to the controller 3. Further, the number of magnetic sensors is not exclusive, and in one embodiment, 11 magnetic sensors may be included, and each magnetic sensor is connected to the schmitt trigger inverter in the same manner, and one of the magnetic sensors is explained with reference to fig. 5. In this embodiment, the magnetic sensor may be of the MU253EUA type, and the schmitt trigger inverter may be of the 74HC14D type. The 1Y port of the Schmidt trigger inverter is connected to the I/O port of the controller 3 through the second resistor R2 and the LED, the power port of the magnetic sensor is connected with a 5V power supply, the grounding port is grounded, the output port is connected to the 1A port of the Schmidt trigger inverter, the 1A port of the Schmidt trigger inverter is further connected with one end of the first resistor R1 and one end of the first capacitor C1, the other end of the first capacitor C1 is grounded, the other end of the first resistor R1 is connected with a 3.3V power supply, the VCC power port of the Schmidt trigger inverter is connected with a 3.3V power supply and one end of the second capacitor C2, and the other end of the second capacitor C2 is grounded. It can be understood that the connection manner of the other magnetic sensors and the schmitt trigger inverter is the same as that of the illustrated magnetic sensor, and the schmitt trigger inverter is respectively connected to the ports 2A, 3A and the like of the schmitt trigger inverter, and when the ports of the schmitt trigger inverter are not enough to connect the magnetic sensors with the number required by the user, the number of the schmitt trigger inverters is properly increased, which is not described herein again.
In the above embodiment, the magnetic sensor input is 5V, and when the magnetic sensor detects an effective magnetic field, it outputs a low level; when the effective magnetic field is not detected, a high level is output. When connected with the Schmitt trigger inverter, the resistor is externally connected with a pull-up resistor (namely a first resistor). The working principle of the combination is as follows: when the sensor detects an effective magnetic field, a Schmidt trigger inverter outputs TTL high level at an IO port, and an LED indicator lamp is on; when the sensor does not detect an effective magnetic field, the inverter is triggered by Schmitt, TTL low level is output at an IO port, and the LED indicating lamp is turned off. When the automatic guided vehicle is running, the magnetic sensor near the navigation magnetic stripe laid in the magnetic navigation device 10 can detect the effective magnetic field, and the magnetic sensor far from the navigation magnetic stripe can not detect the effective magnetic field. Therefore, the controller 3 can determine the position error Δ d of the magnetic navigation device 10 with respect to the navigation magnetic stripe at this time by detecting the IO port information different from the plurality of magnetic sensors. In order to realize the universality of indoor and outdoor magnetic navigation, the effective magnetic field of the magnetic sensor, namely the working point, is 30Gauss, and the distance between the magnetic navigation device 10 and the ground is 4cm, so that when the outdoor road surface fluctuates up and down to a certain extent, the magnetic sensor can still detect the effective magnetic field of the laid navigation magnetic strip.
Referring to fig. 4, in one embodiment, the automated guided vehicle further includes an ultrasonic detector 11, and the ultrasonic detector 11 is connected to the controller 3 (not shown).
Further, referring to fig. 4, in an embodiment, the automatic guided vehicle further includes an electronic tag detector 9, and the electronic tag detector 9 is connected to the controller 3 (not shown).
Specifically, the automatic guided vehicle is provided with the ultrasonic detector 11, and in the running process of the automatic guided vehicle, whether an obstacle exists in the moving direction of the automatic guided vehicle or not can be detected in real time, namely whether an obstacle exists in front of the automatic guided vehicle or not to obstruct the running of the automatic guided vehicle or not. If the obstacle is detected, the automatic guided vehicle cannot continue to move, and the controller 3 directly controls the automatic guided vehicle to stop and wait until the obstacle is cleared. It is understood that, in this case, the controller 3 may further output a prompt message to the user, so that the user can perform the obstacle clearing operation in time.
If the automatic guided vehicle does not meet the obstacle, the controller 3 controls the automatic guided vehicle to continue to operate, and the automatic guided vehicle is controlled to move strictly according to the driving path by combining the electronic tag information on the driving path in the process. Taking an automatic guided vehicle for agricultural use as an example, in order to realize the indoor and outdoor autonomous working operation of the automatic guided vehicle, the navigation magnetic stripe laid at the destination of the outdoor agricultural greenhouse and the like and the navigation magnetic stripe laid in the indoor warehouse jointly form a magnetic navigation path of the whole automatic guided vehicle, and reference can be specifically made to fig. 7. An RFID (Radio Frequency Identification) path tag 1 (in other embodiments, other types of electronic tags may also be used) is laid on a magnetic stripe path edge, each path has unique corresponding electronic tag information, and when a driving path is determined, electronic tag information in different sections of the driving path is also uniquely determined. When the automatic guided vehicle is in operation, the electronic tag detector 9 (specifically, an RFID detection detector or the like) provided in the automatic guided vehicle detects the path tag information and feeds the path tag information back to the controller 3 to verify and check the current road information. The navigation magnetic stripe 7 and the RFID path tag 1 jointly form basic information of an indoor path and an outdoor path of the automatic guided vehicle, and the information is encoded and converted into an electronic map and stored in the controller 3.
In the operation process, the controller 3 receives the electronic tag information acquired and sent by the electronic tag detector 9 in real time, and performs matching analysis on the electronic tag information and the electronic tags corresponding to all road sections in the current driving path. If the received electronic tag information is not matched with the electronic tag under the current driving path, the automatic guided vehicle is considered to deviate from the driving path, at the moment, the step of planning according to the received destination instruction to obtain the driving path is returned, and path planning and driving control are carried out again. If the received electronic tag information is matched with the electronic tag under the current driving path, the automatic guided vehicle is considered to move on the driving path at the moment, and only the automatic guided vehicle needs to be driven to move continuously.
After the automatic guided vehicle receives the destination instruction, path planning can be carried out according to the destination instruction, and a driving path which is required correspondingly at present is obtained; and then the automatic guided vehicle can be controlled to move to a destination corresponding to the destination instruction for operation according to the planned driving path, and the driving path record is stored. After the automatic guided vehicle finishes the operation, the automatic guided vehicle can be controlled to directly return to the starting point only according to the driving path stored in the record, and one operation flow is finished. By the aid of the scheme, the path is planned only when the automatic guided vehicle moves from the departure point to the destination for the first time, the corresponding driving path is stored, and when the subsequent automatic guided vehicle moves between the departure point and the destination, the path is planned for a plurality of times without needing to be repeated again, so that the path planning time of the automatic guided vehicle is effectively saved, and the working efficiency of the automatic guided vehicle can be improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An automatic guided vehicle control method, characterized by comprising:
planning according to the received destination instruction to obtain a driving path;
controlling an automatic guided vehicle to move from a departure point to a destination corresponding to the destination instruction according to the driving path to perform operation, and recording the driving path;
and controlling the automatic guided vehicle to return to the departure point according to the recorded driving path.
2. The method as claimed in claim 1, further comprising, after the step of controlling the automated guided vehicle to return to the departure point according to the recorded driving route:
and when the destination instruction is received again, controlling the automatic guided vehicle to move from the departure point to a destination corresponding to the destination instruction according to the recorded driving path to perform operation, and controlling the automatic guided vehicle to return to the departure point according to the recorded driving path when the operation is finished.
3. The method according to claim 1, wherein the step of controlling the automatic guided vehicle to move from the departure point to the destination corresponding to the destination command according to the travel path includes:
controlling the automatic guided vehicle to start running at a preset speed, and acquiring the position error of the automatic guided vehicle relative to the running path in real time;
and steering control is carried out on the automatic guided vehicle according to the position error so that the automatic guided vehicle moves to a destination corresponding to the destination instruction along the traveling path to carry out operation.
4. The automatic guided vehicle control method according to any one of claims 1 to 3, wherein the step of controlling the automatic guided vehicle to move from the departure point to the destination corresponding to the destination instruction according to the travel path to perform the work includes:
detecting whether an obstacle exists in the moving direction of the automatic guided vehicle in real time;
when the obstacle exists, controlling the automatic guided vehicle to stop running and returning to the step of detecting whether the obstacle exists in the moving direction of the automatic guided vehicle in real time;
when no obstacle exists, detecting whether the electronic tag information of the path where the automatic guided vehicle is located is matched with the electronic tag information of the driving path;
when the electronic tag information of the path where the automatic guided vehicle is located is not matched with the electronic tag information of the driving path, returning to the step of planning according to the received destination instruction to obtain the driving path;
and when the electronic tag information of the path where the automatic guided vehicle is located is matched with the electronic tag information of the driving path, controlling the automatic guided vehicle to run at a preset speed until the automatic guided vehicle reaches the destination corresponding to the destination instruction to perform operation.
5. The automated guided vehicle control method according to claim 4, wherein the step of detecting whether an obstacle exists in the moving direction of the automated guided vehicle in real time includes:
acquiring ultrasonic reflection signals which are sent to the moving direction of the automatic guided vehicle by an ultrasonic detector of the automatic guided vehicle and are returned in real time;
and obtaining distance information of the object in the moving direction of the automatic guided vehicle and the automatic guided vehicle according to the ultrasonic reflection signal, and when the distance information is smaller than a preset distance, indicating that an obstacle exists in the moving direction of the automatic guided vehicle.
6. An automated guided vehicle control apparatus, comprising:
the driving path planning module is used for planning according to the received destination instruction to obtain a driving path;
the motion control module is used for controlling the automatic guided vehicle to move from a departure point to a destination corresponding to the destination instruction according to the driving path to perform operation, and recording the driving path;
and the return control module is used for controlling the automatic guided vehicle to return to the departure point according to the recorded driving path.
7. An automatic guided vehicle, characterized by comprising a communication device, a magnetic navigation device, a controller and a driving device, wherein the communication device, the magnetic navigation device and the driving device are respectively connected with the controller, the communication device is used for receiving a destination instruction and sending the destination instruction to the controller, and the controller is used for driving and controlling the automatic guided vehicle according to the method of any one of claims 1-5.
8. The automated guided vehicle of claim 8, wherein the magnetic navigation device comprises a Schmitt trigger inverter and magnetic sensors, each of the magnetic sensors is connected to the Schmitt trigger inverter, and the Schmitt trigger inverter is connected to the controller.
9. The automated guided vehicle of claim 8, further comprising an electronic tag detector, the electronic tag detector coupled to the controller.
10. The automated guided vehicle of claim 8, further comprising an ultrasonic detector, the ultrasonic detector coupled to the controller.
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