CN113504776A - AGV parking control method and device and AGV transport vehicle - Google Patents
AGV parking control method and device and AGV transport vehicle Download PDFInfo
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- CN113504776A CN113504776A CN202110646807.2A CN202110646807A CN113504776A CN 113504776 A CN113504776 A CN 113504776A CN 202110646807 A CN202110646807 A CN 202110646807A CN 113504776 A CN113504776 A CN 113504776A
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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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
- G05D1/0212—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
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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 is suitable for the technical field of unmanned transport vehicles, and provides an AGV parking control method, an AGV parking control device and an AGV transport vehicle, wherein the method comprises the steps of acquiring the position information of positioning magnetic stripes acquired when the AGV transport vehicle runs on a guide rail, wherein at least one positioning magnetic stripe is arranged beside the guide rail, and a preset angle is formed between each positioning magnetic stripe and the guide rail; calculating error information of the position relation between the positioning magnetic strip and the magnetic sensor group according to the position information, wherein the magnetic sensor group is arranged on the AGV transport vehicle; and adjusting the pose of the AGV according to the error information so as to stop the AGV in the preset parking position. This application is through setting up many location magnetic stripes by the guide rail, through gathering the error message of the position relation between the magnetic sensor group on location magnetic stripe and the AGV transport vechicle to adjust the position appearance of AGV transport vechicle according to this error message, so that the AGV transport vechicle accuracy stops at the position of parking, can effectively improve the precision of parking of AGV transport vechicle.
Description
Technical Field
The invention belongs to the technical field of unmanned transport vehicles, and particularly relates to an AGV parking control method and device and an AGV transport vehicle.
Background
An AGV (automated Guided vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation path, having safety protection and various transfer functions, and is equipped with a magnetic stripe automatic guidance device, and capable of traveling along a predetermined magnetic stripe guidance path without driver's control. Compared with other equipment commonly used in material conveying, the AGV has the advantages that the movable area of the AGV does not need to be paved with fixing devices such as rails and supporting frames, the limitation of places, roads and spaces is avoided, and the AGV is widely applied to an automatic logistics system.
The AGV transport vechicle need park at the operation in-process and berth to appointed position of parking to can accurately receive and shift article, however, the navigation precision of parking of current AGV transport vechicle is lower, and the AGV transport vechicle is getting the distance of deviating the guide rail magnetic stripe of in-process of putting goods far away in the operation, makes the skew appear in position and the angle that the AGV transport vechicle berthhed, and the article can't accurately be got to the AGV transport vechicle.
Disclosure of Invention
The embodiment of the invention provides an AGV parking control method, and aims to solve the problem that an existing AGV transporting vehicle is low in parking navigation precision.
The embodiment of the invention is realized in such a way that an AGV parking control method comprises the following steps:
acquiring position information of positioning magnetic stripes acquired when an AGV (automatic guided vehicle) runs on a guide rail, wherein at least one positioning magnetic stripe is arranged beside the guide rail, and a preset angle is formed between each positioning magnetic stripe and the guide rail;
calculating error information of the position relation between the positioning magnetic strip and the magnetic sensor group according to the position information, wherein the magnetic sensor group is arranged on the AGV transport vehicle;
and adjusting the pose of the AGV according to the error information so as to stop the AGV in the preset parking position.
In a second aspect, the present application further provides an AGV parking control apparatus, including:
the AGV comprises an information acquisition module, a positioning module and a control module, wherein the information acquisition module is used for acquiring the position information of positioning magnetic stripes acquired when the AGV runs on a guide rail, at least one positioning magnetic stripe is arranged beside the guide rail, and a preset angle is formed between each positioning magnetic stripe and the guide rail;
the information calculation module is used for calculating error information of the position relation between the positioning magnetic stripe and the magnetic sensor group according to the position information, wherein the magnetic sensor group is arranged on the AGV transport vehicle;
and the pose adjusting module is used for adjusting the pose of the AGV according to the error information so as to stop the AGV in the preset parking position.
In a third aspect, the present application further provides an AGV transport vehicle including the AGV parking control device as described above.
The embodiment of the application is through the positional information who gathers the location magnetic stripe, the AGV transport vechicle removes along the guide rail at the operation in-process, the location magnetic stripe is used for the location of AGV transport vechicle to park, be provided with many location magnetic stripes on the next door of guide rail, and each location magnetic stripe is the angle setting with the guide rail, calculate the error message of the position relation between the magnetic sensor group on location magnetic stripe and the AGV transport vechicle according to the positional information of location magnetic stripe, then adjust the position appearance of AGV transport vechicle according to this error message, so that the AGV transport vechicle accurately parks at the position of parking, can effectively improve the precision of parking of AGV transport vechicle.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating an exemplary AGV parking control method according to the present invention;
FIG. 2 is a schematic flow chart diagram illustrating another embodiment of an AGV parking control method according to the present application;
FIG. 3 is a block diagram of an exemplary AGV parking control apparatus according to the present invention;
FIG. 4 is a block diagram of an information acquisition module according to an embodiment of the AGV parking control apparatus of the present application;
FIG. 5 is a block diagram of a pose adjustment module of an embodiment of an AGV parking control apparatus according to the present application;
FIG. 6 is a block diagram of a pose adjustment module of another embodiment of an AGV parking control apparatus according to the present application;
FIG. 7 is a schematic view of the magnetic sensor and positioning strip configuration according to one embodiment of the present application;
FIG. 8 is a schematic view of a magnetic sensor and a positioning strip according to another embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The parking navigation precision of the existing AGV transport vehicle is low, and the position and the angle of the AGV transport vehicle parked in the process of picking and placing goods are easy to deviate. This application is provided with many location magnetic stripes through the next door at the guide rail, and each location magnetic stripe is the angle setting with the guide rail, according to the position adjustment AGV position of location magnetic stripe position to make the AGV transport vechicle accuracy stop at the position of parking, can effectively improve the precision of parking of AGV transport vechicle.
Example one
In some alternative embodiments, referring to fig. 1, fig. 1 is a flowchart illustrating an exemplary AGV parking control method according to the present invention.
As shown in fig. 1, a first aspect of the present application provides an AGV parking control method, including:
s1100, acquiring position information of positioning magnetic stripes acquired when an AGV runs on a guide rail, wherein at least one positioning magnetic stripe is arranged beside the guide rail, and each positioning magnetic stripe and the guide rail are arranged at a preset angle;
s1200, calculating error information of the position relation between the positioning magnetic stripe and the magnetic sensor group according to the position information, wherein the magnetic sensor group is arranged on the AGV transport vehicle;
and S1300, adjusting the pose of the AGV according to the error information so as to stop the AGV at the preset parking position.
When implementing, the guide rail sets up in subaerial, be used for guiding AGV transport vechicle removal operation, in some embodiments, the guide rail can adopt the magnetic stripe form to lay subaerial, the guide rail next door is provided with the location magnetic stripe, be the angle of predetermineeing between location magnetic stripe and the guide rail, wherein, 0 < predetermineeing angle < 90, the location magnetic stripe can be provided with many, each magnetic stripe includes multiple compound mode, for example many location magnetic stripes set up in the guide rail with one side and respectively fix a position the magnetic stripe the same with the contained angle of guide rail, perhaps many location magnetic stripes set up in the guide rail with one side and respectively fix a position the contained angle of magnetic stripe and guide rail different or partly fix a position the magnetic stripe and the contained angle of guide rail different, of course, the both sides of guide rail also can set up one or more than one location magnetic stripe, can be the angle setting with the guide rail and be used for fixing a position parking can.
The AGV transportation vehicle is provided with a controller, the steps of the method are implemented by the controller, a magnetic sensor group is installed on the AGV transportation vehicle, in the running process of the AGV transportation vehicle, the magnetic sensor group detects and identifies a guide rail magnetic strip and moves along the guide rail magnetic strip, an RFID landmark is pasted on the ground and used for identifying a parking space, the AGV transportation vehicle is provided with an RFID card reader, when the RFID card reader reads the RFID landmark on the ground and identifies the parking label, the identification and judgment of the positioning magnetic strip are carried out, the magnetic sensor group detects a magnetic field of the positioning magnetic strip at the moment so as to trigger a sensing point in the magnetic sensor group, in the implementation, the position information of the positioning magnetic strip can be determined by the magnetic field intensity of the sensing point of the magnetic sensor group, as shown in figure 7, the magnetic sensor group adopts a magnetic sensor T, the magnetic sensor T is installed at the front end of the vehicle head of the AGV transportation vehicle, and comprises a plurality of sensing points, for example, the magnetic sensor T is divided into an area A, an area B and an area C, wherein the area A comprises a sensing point A1, a sensing point A2 and a sensing point A3, the area B comprises a sensing point B1, a sensing point B2 and a sensing point B3, the area C comprises a sensing point C1, a sensing point C2 and a sensing point C3, when the AGV transport vehicle runs along the guide rail, the sensing point B2 is opposite to the magnetic strip of the guide rail, the positioning magnetic strip is obliquely attached to the guide rail, and when the AGV transport vehicle runs along the guide rail, the sensing points of the area A and the area C can trigger different sensing points along with the movement of the AGV transport vehicle.
In some embodiments, as shown in FIG. 7, the direction of the arrow indicates the direction of travel of the AGV transport, and in particular implementations, the AGV transport may move forward in the direction of the arrow or may reverse backward in the direction of the arrow. The induction point that regards the guide rail right side as the example C district with location magnetic stripe D setting can detect location magnetic stripe D, for example when induction point C1 is just to fixing a position magnetic stripe D in AGV transport vehicle operation process, induction point C1's magnetic field intensity satisfies predetermined magnetic field condition, induction point C1 is the trigger state, magnetic field condition can be selected according to the magnetic field intensity of fixing a position magnetic stripe directly over certain distance, AGV transport vehicle continues to move and makes induction point C1's magnetic field begin to weaken, and induction point C3's magnetic field intensity strengthens gradually until induction point C3 is just to fixing a position magnetic stripe D, trigger induction point C3, the position of the induction point of trigger state is the positional information of the location magnetic stripe that magnetic sensor gathered promptly.
In other embodiments, the magnetic sensor set includes two sets of magnetic sensors, namely a first magnetic sensor T1 and a second magnetic sensor T2, wherein the first magnetic sensor T1 and the second magnetic sensor T2 are respectively disposed at the front end and the rear end of the AGV transport vehicle, for example, the first magnetic sensor T1 is disposed at the front end of the AGV transport vehicle, the second magnetic sensor T2 is disposed at the rear end of the AGV transport vehicle, the parking accuracy can be effectively improved by disposing the magnetic sensors at the front end and the rear end of the AGV transport vehicle, the AGV transport vehicle can be opened forwards or backwards, two positioning magnetic strips are disposed at one side of the guide rail, as shown in fig. 8, the AGV transport vehicle includes a positioning magnetic strip D1 and a positioning magnetic strip D2, during the forward movement of the AGV transport vehicle along the arrow direction, the sensing point B2 is directly opposite to the guide rail magnetic strip, the sensing point C3 of the first magnetic sensor T1 is triggered by the positioning magnetic strip D1, the AGV transport vehicle is moved forwards via the positioning D1, so that the magnetic field at the sensing point C3 of the first magnetic sensor T1 starts to weaken, the magnetic field at the sensing point C2 and the sensing point C1 of the first magnetic sensor T1 gradually become stronger, and the sensing point C2 of the first magnetic sensor T1 is triggered before the sensing point C1 of the first magnetic sensor T1 is triggered; the AGV transport continues moving, each sensing point of the first magnetic sensor T1 is far from the positioning magnetic strip D1 and cannot sense the magnetic field of the positioning magnetic strip D1, the sensing point C3, the sensing point C2 and the sensing point C1 of the second magnetic sensor T2 are sequentially triggered by the positioning magnetic strip D1, and when the sensing point C1 of the second magnetic sensor T2 is triggered by the positioning magnetic strip D1, the sensing point C1 of the first magnetic sensor T1 is triggered by the positioning magnetic strip D2.
It should be noted that, the division of the magnetic sensor into the area a, the area B, and the area C is an illustration of an embodiment of the present application, and in implementation, the magnetic sensor may also adopt other partition manners, and the sensing point of each partition may be set according to an actual usage scenario, for example, each partition includes 4 sensing points or 5 sensing points, which is not limited herein.
After the controller acquires the position information of the positioning magnetic strip collected by the magnetic sensor group, the controller calculates error information of the position relationship between the positioning magnetic strip and the magnetic sensor group according to the position information, in some embodiments, taking an example that a sensing point B2 is opposite to a guide rail, when a sensing point C1 detects the positioning magnetic strip, the position relationship between the positioning magnetic strip and the magnetic sensor group is determined to be a distance between a sensing point B2 and a sensing point C1, the controller calculates error information of the distance between the positioning magnetic strip and the magnetic sensor group and a preset reference distance x1 according to the position relationship, the reference distance x1 can be preset in the controller, then the AGV transporting vehicle is controlled to perform posture adjustment according to the error information, taking the reference distance x1 as the distance between the sensing point B2 and the sensing point C2 as an example, when the sensing point C2 is triggered in the process that the AGV transports to the parking position, the controller calculates the distance between the positioning magnetic strip and the magnetic sensor group to be X1 according to the position of the positioning magnetic strip acquired by the sensing point C2, when the distance difference between X1 and the reference distance X1 is within a set range S1, the AGV transport vehicle is determined to park accurately without adjustment, and the set range S1 can be selected according to the safety error range when the AGV transport vehicle can park accurately to the parking position. When the induction point C3 is triggered, the controller calculates the distance between the positioning magnetic strip and the magnetic sensor group to be X2 according to the position of the positioning magnetic strip acquired by the induction point C3, the distance difference between the X2 and the reference distance X1 is larger than a set range S1, and the AGV transport vehicle is controlled to move rightwards to be adjusted; when the induction point C1 is triggered in the running process of the AGV, the controller calculates the distance between the positioning magnetic strip and the magnetic sensor group to be X3 according to the position of the positioning magnetic strip acquired by the induction point C1, the distance difference between the X3 and the reference distance X1 is smaller than a set range S1, and the AGV is controlled to move leftwards and be adjusted.
In other embodiments, the position relationship includes distance information and magnetic field information, the magnetic field information includes a magnetic field direction and a magnetic field strength, the controller converts the magnetic field strength and the magnetic field direction of the positioning magnetic stripe sensed by the magnetic sensor set into a distance difference between the position of the positioning magnetic stripe and the position of the magnetic sensor set, and adjusts the position and orientation of the AGV transport vehicle according to the distance difference. Taking the magnetic field direction as an example, in implementation, the angle between the positioning magnetic stripe and the guide rail is fixed, the information of the magnetic field direction of the positioning magnetic stripe is arranged on the controller, for example, the angle between the positioning magnetic stripe and the guide rail is 20 degrees, when the AGV transport vehicle stops at the parking position, the induction point C2 enters a trigger state just facing the positioning magnetic stripe, the controller calculates the distance difference between the distance between the positioning magnetic stripe and the magnetic sensor group and the reference distance x1 according to the position of the positioning magnetic stripe acquired by the induction point C2, the distance difference is within a set range S1, the angle between the positioning magnetic stripe and the magnetic sensor is 60 degrees at the moment, it is determined that the AGV transport vehicle stops askew, the controller controls the AGV transport vehicle to rotate 10 degrees clockwise, the angle between the positioning magnetic stripe and the magnetic sensor is 70 degrees, at the moment, the magnetic sensor is perpendicular to the guide rail, it is determined that the AGV transport vehicle accurately stops at the parking position, and goods taking and placing and taking of the AGV transport vehicle are facilitated, the distance and the angle deviation when the goods are taken and placed are reduced, and therefore the running speed and the running efficiency of the AGV transporting vehicle are improved.
The embodiment of the application is through the positional information who gathers the location magnetic stripe, the AGV transport vechicle removes along the guide rail at the operation in-process, the location magnetic stripe is used for the location of AGV transport vechicle to park, be provided with many location magnetic stripes on the next door of guide rail, and each location magnetic stripe is the angle setting with the guide rail, calculate the error message of the position relation between the magnetic sensor group on location magnetic stripe and the AGV transport vechicle according to the positional information of location magnetic stripe, then adjust the position appearance of AGV transport vechicle according to this error message, so that the AGV transport vechicle accurately parks at the position of parking, can effectively improve the precision of parking of AGV transport vechicle.
Example two
In some alternative embodiments, please refer to fig. 2, and fig. 2 is a basic flow diagram of another embodiment of the present application.
As shown in fig. 2, the step of adjusting the pose of the AGV transport according to the error information includes the following steps:
s1310, determining whether the error information satisfies a predetermined error condition.
An error condition may be set in the controller, in practice, taking the positioning magnetic stripe D of fig. 7 as an example, the sensing point C1 is triggered when the AGV transport vehicle accurately stops at the parking position, and the error condition is the distance ± D between the sensing point C1 and the sensing point B2, where D may be selected according to the actual parking safety distance. When an RFID reader on the AGV transport vehicle reads an RFID ground mark, entering identification and judgment of a positioning magnetic strip, enabling a sensing point B2 of a first magnetic sensor to be opposite to a guide rail magnetic strip, enabling a sensing point C1 to be triggered by the positioning magnetic strip D, enabling a controller to calculate the distance difference between the positioning magnetic strip D and a distance Y1 of the magnetic sensor and a reference distance Y1 to be Y2 according to the position information of the positioning magnetic strip D collected by the sensing point C1, judging whether Y2 is smaller than D, judging that a preset error condition is met when Y2 is smaller than D, executing step S1300, and adjusting the position and the posture of the AGV according to the error information.
EXAMPLE III
In some optional embodiments, as shown in fig. 2, after the step of determining whether the error information satisfies the preset error condition, the AGV parking control method provided by the present application further includes:
when the execution of step S1310 determines that the error information does not satisfy the error condition, step S1400 is executed.
And S1400, stopping the operation and feeding back the error information to the server.
When the position error of the AGV transport vehicle is too large to cause adjustment, or the error condition is taken as the distance +/-d between the induction point C1 and the induction point B2 as an example, when the y2 is larger than d, the error information is judged not to meet the preset error condition, the AGV transport vehicle is controlled to stop operating, then the error information is fed back to the server, and the AGV transport vehicle is prevented from sending errors to articles or damaging the AGV transport vehicle when continuously taking and placing the articles.
Example four
In some alternative embodiments, as shown in FIG. 3, the present application further provides an AGV parking control apparatus comprising:
the AGV comprises an information acquisition module 100, a control module and a control module, wherein the information acquisition module is used for acquiring the position information of positioning magnetic strips acquired when the AGV runs on a guide rail, at least one positioning magnetic strip is arranged beside the guide rail, and a preset angle is formed between each positioning magnetic strip and the guide rail;
an information calculating module 200, configured to calculate error information of a positional relationship between the positioning magnetic stripe and a magnetic sensor group according to the position information, where the magnetic sensor group is disposed on the AGV transport vehicle;
and a pose adjusting module 300, configured to adjust a pose of the AGV transport vehicle according to the error information, so that the AGV transport vehicle stops at a preset parking position.
This application passes through information acquisition module 100 and gathers the positional information of location magnetic stripe, the AGV transport vechicle removes along the guide rail at the operation in-process, the location magnetic stripe is used for the location of AGV transport vechicle to park, be provided with many location magnetic stripes on the next door of guide rail, and each location magnetic stripe is angle setting with the guide rail, then calculate the error message of the position relation between the magnetic sensor group on location magnetic stripe and the AGV transport vechicle according to the positional information of location magnetic stripe through information calculation module 200, then adjust the position appearance of AGV transport vechicle according to this error message through position appearance adjustment module 300, so that the AGV transport vechicle accuracy is stopped at the position of parking, can effectively improve the precision of parking of AGV transport vechicle.
In some alternative embodiments, as shown in fig. 4, the AGV parking control apparatus provided by the present application further includes:
and the position determining module 110 is used for determining the position information of the positioning magnetic stripe according to the magnetic field intensity of the induction points of the magnetic sensor group.
In some optional embodiments, the magnetic sensor set of the AGV parking control device provided by the present application includes a first magnetic sensor and a second magnetic sensor, the first magnetic sensor is disposed at the front end of the car head of the AGV transport car, and the second magnetic sensor is disposed at the rear end of the car tail of the AGV transport car.
In some alternative embodiments, as shown in fig. 5, the AGV parking control apparatus provided by the present application further includes:
an error determining module 310, configured to determine whether the error information satisfies a preset error condition;
and the adjusting execution module 320 is configured to adjust the pose of the AGV according to the error information when the error information is determined to meet the error condition.
In some alternative embodiments, as shown in fig. 6, the AGV parking control apparatus provided by the present application further includes:
and a job stopping module 330, configured to stop the job and feed back the error information to the server when it is determined that the error information does not satisfy the error condition.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.
EXAMPLE five
In some alternative embodiments, an embodiment of the present application further provides an AGV transport that includes an AGV parking control as described above.
When implementing, subaerial laying is equipped with guide rail magnetic stripe, RFID ground mark and many location magnetic stripes, and the guide rail magnetic stripe is used for guiding AGV transport vechicle removal operation, is the angle of predetermineeing between location magnetic stripe and the guide rail, and in some embodiments, the guide rail magnetic stripe can be pre-buried underground with the location magnetic stripe to prevent that the magnetic stripe from damaging. The AGV transport vehicle is provided with an RFID card reader, a controller and a magnetic sensor group, when the RFID card reader reads an RFID ground mark during the operation of the AGV transport vehicle, the AGV transport vehicle is determined to enter a parking position, and enters the identification and judgment of a positioning magnetic strip, at the moment, the magnetic sensor group detects a magnetic field of the positioning magnetic strip, so as to trigger a sensing point in the magnetic sensor group, as shown in FIG. 7, the magnetic sensor group adopts a first magnetic sensor T1, the first magnetic sensor T1 is installed at the front end of the AGV transport vehicle head, the first magnetic sensor T1 comprises a plurality of sensing points, for example, the magnetic sensor is divided into an A area, a B area and a C area, wherein the A area comprises a sensing point A1, a sensing point A2 and a sensing point A3, the B area comprises a sensing point B1, a sensing point B2 and a sensing point B3, the C area comprises a sensing point C1, a sensing point C2 and a sensing point C3, wherein when the AGV transport vehicle operates along a guide rail, the sensing point B2 is opposite to the magnetic strip, the relative guide rail of location magnetic stripe pastes to one side, and when the AGV transport vechicle was traveling along the guide rail, the induction point in A district and C district can trigger different induction points along with the removal of AGV transport vechicle.
In some embodiments, for example, when the positioning magnetic stripe is disposed on the right side of the guide rail, the sensing point in the C region may detect the positioning magnetic stripe, for example, when the sensing point C1 is directly facing the positioning magnetic stripe during the operation of the AGV, the magnetic field strength of the sensing point C1 satisfies a preset magnetic field condition, the sensing point C1 is a trigger state, the magnetic field condition may be selected according to the magnetic field strength at a certain distance directly above the positioning magnetic stripe, the AGV continues to move so that the magnetic field of the sensing point C1 starts to weaken, the magnetic field strength of the sensing point C3 gradually increases until the sensing point C3 is directly facing the positioning magnetic stripe, the sensing point C3 is triggered, and the position of the sensing point in the trigger state is the position information of the positioning magnetic stripe collected by the magnetic sensor.
It should be noted that, the division of the magnetic sensor into the area a, the area B, and the area C is an illustration of an embodiment of the present application, and in implementation, the magnetic sensor may also adopt other partition manners, and the sensing point of each partition may be set according to an actual usage scenario, for example, each partition includes 4 sensing points or 5 sensing points, which is not limited herein.
After the controller acquires the position information of the positioning magnetic strip acquired by the magnetic sensor group, the controller calculates error information of the position relationship between the positioning magnetic strip and the magnetic sensor group according to the position information, in some embodiments, taking an example that a sensing point B2 is opposite to a guide rail, when a sensing point C1 is triggered, the position relationship between the positioning magnetic strip and the magnetic sensor group is determined to be a distance between a sensing point B2 and a sensing point C1, the controller calculates error information of the distance between the positioning magnetic strip and the magnetic sensor group and a preset reference distance according to the position relationship, the reference distance can be stored in the controller in advance, then the AGV transporting vehicle is controlled to carry out pose adjustment according to the error information, when the distance between the positioning magnetic strip and the magnetic sensor group and the distance difference between the reference distance x1 are within a set range S1, the transporting vehicle is determined to park accurately without adjustment, and when the AGV transporting vehicle deviates to the left, the distance difference is larger than the set range S1, and the controller controls the AGV transport vehicle to move rightwards for adjustment; and when the AGV transport vehicle is inclined to the right, the distance difference is smaller than the set range S1, the controller controls the AGV transport vehicle to move leftwards and adjust, so that the AGV transport vehicle can accurately stop at the parking position, the AGV transport vehicle can conveniently take and place goods, the distance and the angle deviation when the goods are taken and placed are reduced, and the running speed and the running efficiency of the AGV transport vehicle are improved.
The embodiment of the application is through the positional information who gathers the location magnetic stripe, the AGV transport vechicle removes along the guide rail at the operation in-process, the location magnetic stripe is used for the location of AGV transport vechicle to park, be provided with many location magnetic stripes on the next door of guide rail, and each location magnetic stripe is the angle setting with the guide rail, calculate the error message of the position relation between the magnetic sensor group on location magnetic stripe and the AGV transport vechicle according to the positional information of location magnetic stripe, then adjust the position appearance of AGV transport vechicle according to this error message, so that the AGV transport vechicle accurately parks at the position of parking, can effectively improve the precision of parking of AGV transport vechicle.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An AGV parking control method, comprising:
the method comprises the steps of acquiring position information of positioning magnetic stripes acquired when an AGV runs on a guide rail, wherein at least one positioning magnetic stripe is arranged beside the guide rail, and a preset angle is formed between each positioning magnetic stripe and the guide rail;
calculating error information of the position relation between the positioning magnetic strip and a magnetic sensor group according to the position information, wherein the magnetic sensor group is arranged on the AGV transport vehicle;
and adjusting the pose of the AGV according to the error information so that the AGV stops at a preset parking position.
2. The AGV parking control method according to claim 1, wherein the step of obtaining the position information of the positioning magnetic stripe collected while the AGV is running on the guide rail includes the steps of;
and determining the position information of the positioning magnetic strip through the magnetic field intensity of the induction points of the magnetic sensor group.
3. The AGV parking control method of claim 1, wherein the magnetic sensor group includes a first magnetic sensor disposed at a front end of a head of the AGV transport vehicle and a second magnetic sensor disposed at a rear end of the tail of the AGV transport vehicle.
4. The AGV parking control method of claim 1 wherein the step of adjusting the pose of the AGV transport based on the error information comprises the steps of:
judging whether the error information meets a preset error condition or not;
and when the error information is judged to meet the error condition, adjusting the pose of the AGV according to the error information.
5. An AGV parking control method according to claim 4 wherein, after said step of determining whether the error information satisfies a predetermined error condition, the method further comprises:
and when the error information is judged not to meet the error condition, stopping the operation and feeding the error information back to the server.
6. An AGV parking control apparatus, comprising:
the AGV comprises an information acquisition module, a positioning module and a control module, wherein the information acquisition module is used for acquiring the position information of positioning magnetic stripes acquired when the AGV runs on a guide rail, at least one positioning magnetic stripe is arranged beside the guide rail, and a preset angle is formed between each positioning magnetic stripe and the guide rail;
the information calculation module is used for calculating error information of the position relation between the positioning magnetic stripe and the magnetic sensor group according to the position information, wherein the magnetic sensor group is arranged on the AGV transport vehicle;
and the pose adjusting module is used for adjusting the pose of the AGV according to the error information so that the AGV stops at the preset parking position.
7. An AGV parking control apparatus as recited in claim 6 wherein said apparatus further comprises:
and the position determining module is used for determining the position information of the positioning magnetic stripe through the magnetic field intensity of the induction points of the magnetic sensor group.
8. The AGV parking control of claim 6 wherein the set of magnetic sensors includes a first magnetic sensor disposed at a front end of a head of the AGV transport and a second magnetic sensor disposed at a rear end of a rear of the AGV transport.
9. An AGV parking control apparatus as recited in claim 6 wherein said apparatus further comprises:
the error judgment module is used for judging whether the error information meets a preset error condition or not;
and the adjusting execution module is used for adjusting the pose of the AGV according to the error information when the error information is judged to meet the error condition.
10. An AGV transport comprising an AGV parking control of any of claims 6 to 9.
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| CN202110646807.2A CN113504776A (en) | 2021-06-10 | 2021-06-10 | AGV parking control method and device and AGV transport vehicle |
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