CN114228864B - Path simulation method for turning characteristic of traction type AGV - Google Patents
Path simulation method for turning characteristic of traction type AGV Download PDFInfo
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- CN114228864B CN114228864B CN202111355756.4A CN202111355756A CN114228864B CN 114228864 B CN114228864 B CN 114228864B CN 202111355756 A CN202111355756 A CN 202111355756A CN 114228864 B CN114228864 B CN 114228864B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
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Abstract
The invention relates to a path simulation method for turning characteristics of a traction type AGV, which comprises the following steps: s, acquiring path information of the AGV trolley and the pulled primer when the AGV trolley and the pulled primer turn together in a stop state, wherein the method comprises the following steps of: s1, acquiring a contact central point A between a driving steering wheel of an AGV and the ground, and respectively acquiring contact central points B and C between two bearing wheels and the ground; acquiring a contact central point D between a fixed caster of a towed object and the ground; s2, obtaining a triangular BCD by taking the three points B, C and D as vertexes, and obtaining a centroid point O1 of the triangular BCD; s3, connecting points B and C to obtain a straight line BC and a passing point O 1 Making a line L parallel to line BC 1 (ii) a S4, when the driving steering wheel of the AGV trolley rotates for a certain angle, the driving steering wheel is used as the axial lead L of the driving steering wheel 2 And the axis L of the shaft 2 Passing through a point A; axial lead L 2 And a straight line L 1 Intersect at point X 1 Point X 1 Namely the turning center when the AGV trolley turns with the towed object.
Description
Technical Field
The invention relates to the technical field of automation industry equipment, in particular to a path simulation method for turning characteristics of a traction type AGV.
Background
An automated guided vehicle AGV is an automated guidance device equipped with electromagnetic or visual navigation, which belongs to the category of wheeled mobile robots. To logistics storage delivery system, optimize and arrange AGV passageway space and can improve storage efficiency. The more goods stored in the warehouse, the higher the utilization. Meanwhile, AGV uses more and more in warehouse and workshop, and will occupy more aisle space. The maximum effective storage area is obtained while ensuring enough AGV traveling passage, and more accurate path planning is required.
In the prior art, the towed objects have different shapes, and the arrangement of the casters of the towed objects is different. Therefore, most of the time, the turn process in the path planning of the traction AGV is estimated by the work experience of the planner. The result that causes is that either AGV turn space reserves too big, or the actual driving in-process takes place the friction accident with fixed facilities such as goods shelves.
Disclosure of Invention
In view of the above drawbacks of the prior art, the technical problem to be solved by the present invention is to provide a method for simulating a turn-characteristic path of a traction-type AGV, which can obtain a rotation center and a turn space when the AGV turns together with a towed object, improve accuracy of AGV path planning, and implement an efficient and easy logistics scheme.
In order to achieve the above object, the present invention provides a method for simulating a turning characteristic path of a traction-type AGV, which includes the following steps:
s, acquiring path information of the AGV trolley and the pulled primer when the AGV trolley and the pulled primer turn together in a stop state: AGV dolly rear end and towed thing front end rigid coupling, the AGV dolly has a drive steering wheel that is located the place ahead and is located symmetrical bearing wheel about two of rear, and drives the steering wheel and be located two bearing wheel center lines of symmetry, the thing has the fixed truckle at a rear by the traction, including following step:
s1, acquiring a contact central point A of a driving steering wheel of an AGV trolley and the ground, and respectively acquiring contact central points B and C of two bearing wheels and the ground; acquiring a contact central point D between a fixed caster of a towed object and the ground;
s2, obtaining a triangle BCD by taking the three points B, C and D as vertexes, and obtaining a centroid point O of the triangle BCD 1 ；
S3, connecting points B and C to obtain a straight line BC and a passing point O 1 Make a line L parallel to line BC 1 ；
S4, when the driving steering wheel of the AGV trolley rotates for a certain angle, the driving steering wheel is used as the axial lead L of the driving steering wheel 2 And the axis L of the shaft 2 Passing through a point A; axial line L 2 And a straight line L 1 Intersect at point X 1 Point X 1 Namely the turning center when the AGV trolley turns with the towed object.
Further, step S5 is included to rotate the center point X 1 Rotating the outline of the traction AGV and the drawn primer to obtain the envelope space of the outline, namely the envelope space of the outline required by turningThe space of (a).
Further, the method also comprises the following content T and path information for planning the AGV to independently turn in a stop state, and comprises the following steps:
t1, acquiring a contact central point A of a driving steering wheel of the AGV trolley and the ground, and respectively acquiring contact central points B and C of two bearing wheels and the ground;
connecting the T2 and the connection points B and C to obtain a straight line BC;
t3, when the driving steering wheel of the AGV rotates for a certain angle, the axial lead L of the driving steering wheel is taken as the axial lead 2 And the axial line L 2 Passing through a point A; axial lead L 2 Intersects straight line BC at point X 2 Point X 2 The center of rotation is the center of rotation when the AGV turns independently at this time.
Further, the method also comprises a step T4 of rotating the central point X 2 And rotating the outline of the AGV trolley as the circle center to obtain the envelope space of the outline, namely the space required by turning.
Furthermore, the fixed caster wheels of the towed object are exactly positioned on the symmetrical center line of the two bearing wheels of the AGV trolley, and the path simulation method has the following beneficial effects:
the method has the advantages that the center of rotation and the turning space of the AGV car and the towed object during turning can be obtained, the accuracy of AGV path planning is improved, the center of rotation and the turning space of the AGV car during turning independently can also be obtained, the whole method is simple and effective, the accuracy of the method can meet the requirements of site construction, and a high-efficiency and light logistics planning scheme is realized.
Drawings
FIG. 1 is a diagram illustrating a path simulation method according to the present invention.
Description of the element reference numerals
1 AGV Car
11. Driving steering wheel
12. Bearing wheel
2. Towed article
21. Fixed caster
22. Universal caster
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure of the present invention.
It should be understood that the structures, proportions, and dimensions shown in the drawings and described herein are for illustrative purposes only and are not intended to limit the scope of the present invention, which is defined by the claims, but rather by the claims. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for convenience of description only, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship thereof may be regarded as the scope of the present invention without substantial changes in the technical contents.
The invention provides a path simulation method for turning characteristics of a traction type AGV, which comprises the following steps:
s, obtaining path information of the AGV trolley 1 and the pulled primer 2 during turning together in a stop state, and referring to fig. 1, wherein the rear end of the AGV trolley 1 is fixedly connected with the front end of the pulled object 2, the AGV trolley 1 is provided with a driving steering wheel 11 positioned in front and two bearing wheels 12 positioned in rear and symmetrical left and right, the driving steering wheel 11 is positioned on the symmetrical central line of the two bearing wheels 12, the driving steering wheel 11 can roll and turn left and right to drive the AGV trolley 1 to walk and turn, and the bearing wheels 12 do not have a steering function; the towed object 2 is provided with a fixed caster 21 at the rear part, can only roll but can not rotate, and a universal caster 22 can be arranged at the front part, but the universal caster 22 has a flexible steering function and does not influence the simulation of a steering path; the content of the part comprises the following steps S1 to S5:
s1, acquiring a contact central point A of a driving steering wheel 11 of an AGV trolley 1 and the ground, and respectively acquiring contact central points B and C of two bearing wheels 12 and the ground; acquiring a contact central point D between a fixed caster 21 of the towed object 2 and the ground; wherein the contact center points a, B, and C are all points located at the center in the wheel width direction.
S2, obtaining a triangle BCD by taking the three points B, C and D as vertexes, and obtaining a centroid point O of the triangle BCD 1 And the rear end of the AGV trolley 1 is fixedly connected with the front end of the towed object 2, so the triangular BCD is stable and unchangeable.
S3, connecting point B and point C to obtain straight line BC, and passing through point O1 to form straight line L parallel to straight line BC 1 。
S4, when the driving steering wheel 11 of the AGV trolley 1 rotates for a certain angle, referring to the graph 1, the driving steering wheel 11 rotates for an angle theta to the right to serve as an axial lead L of the driving steering wheel 11 2 And the axis L of the shaft 2 Passing through a point A; axial line L 2 And a straight line L 1 Intersect at a point X 1 Point X 1 I.e. the centre of rotation when the AGV trolley 1 is turning together with the towed object 2. In particular, when the turning angle θ of the turning drive rudder wheel 11 is 90 °, the shaft axis L is set to be substantially equal to the rotation angle of the steering wheel 2 And a straight line L 1 Perpendicular to the center of mass point O 1 Overlap, with minimal space required for rotation.
S5, rotating the central point X 1 Rotating the outline of the traction AGV and the drawn primer to obtain an envelope space of the outline, referring to fig. 1, wherein the envelope space is arc-shaped, and the radius of the envelope space is denoted as R 1 I.e. the space required for turning.
In particular, when the fixed caster 21 of the towed object 2 is located exactly on the center line of symmetry of the two load-bearing wheels 12 of the AGV 1, as shown in fig. 1, i.e., the line between point a and point D is perpendicular to the line between point B and point C, the simulation of the AGV 1 turning to the left and right is consistent, and thus, the path simulation and planning are further simple and efficient.
The path simulation method of the present invention further includes the following contents: t, acquiring path information when the AGV trolley 1 turns independently in a stop state, wherein the AGV trolley 1 does not carry the towed object 2, and the partial content comprises the following steps:
t1, obtaining a contact central point A of a driving steering wheel 11 of the AGV trolley 1 and the ground, and obtaining contact central points B and C of two bearing wheels 12 and the ground respectively.
And connecting the T2 with the connecting points B and C to obtain a straight line BC.
T3, when the driving steering wheel 11 of the AGV trolley 1 rotates for a certain angle, the axis L of the driving steering wheel 11 is used as the axis line 2 And the axis L of the shaft 2 Passing through a point A; axial lead L 2 Intersects straight line BC at point X 2 Point X 2 I.e. the centre of rotation of the AGV trolley 1 when it is turned alone. In particular, the center point between point B and point C is point O 2 When the turning angle theta of the over-drive steering wheel 11 is 90 degrees, the axial lead L 2 Perpendicular to the straight line BC, with its intersection point at the center point O 2 Overlap, with minimal space required for rotation.
T4, at the center point of rotation X 2 Rotating the outline of the AGV trolley 1 as a circle center to obtain an envelope space of the outline, namely the space required by turning, referring to the figure 1, wherein the envelope space is in the shape of a circular arc, and the radius of the envelope space is recorded as R 2 I.e. the space required for turning.
It should be noted that in the path simulation method of the present invention, the difference between the two bearing wheels 12 of the AGV cart 1 is ignored, and the friction force caused by the bearing force on the casters 22 of the towed object 2 is also ignored, but the influence caused by the difference is small, and in engineering, the rotation center and the turning space obtained by using the path simulation method of the present invention still have high accuracy, and can meet the actual needs.
In the path simulation method of the present invention, considering the characteristic that the AGV rotates and drives the steering wheel 11 to make a turn in a stopped state, in an engineering practice, when the AGV enters a passage perpendicular to the passage from a traveling passage, the AGV decelerates to a very low speed and then makes a right-angle turn. At this time, the simulation method of the invention is used for planning the channel width, and the engineering requirement in the situation can be met.
The path simulation method can acquire the rotation center and the turning space when the AGV trolley 1 turns together with the towed object 2, improve the accuracy of AGV path planning, and also can acquire the rotation center and the turning space when the AGV trolley 1 turns independently.
In conclusion, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (5)
1. A path simulation method for turning characteristics of a traction type AGV is characterized by comprising the following steps: the method comprises the following steps:
s, acquiring path information when the AGV trolley (1) and the towed object (2) turn together in a stopped state: AGV dolly (1) rear end and towed thing (2) front end rigid coupling, AGV dolly (1) have one drive steering wheel (11) that are located the place ahead and be located two bilateral symmetry's at rear bearing wheel (12), and drive steering wheel (11) are located two bearing wheel (12) centre of symmetry lines, towed thing (2) have the fixed truckle (21) at a rear, including following step:
s1, acquiring a contact central point A of a driving steering wheel (11) of an AGV trolley (1) and the ground, and respectively acquiring contact central points B and C of two bearing wheels (12) and the ground; acquiring a contact central point D between a fixed caster (21) of a towed object (2) and the ground;
s2, obtaining a triangle BCD by taking the three points B, C and D as vertexes, and obtaining a centroid point O of the triangle BCD 1 ；
S3, connecting points B and C to obtain a straight line BC and a passing point O 1 Making a line L parallel to line BC 1 ；
S4, driving steering wheel (11) of AGV trolley (1) to rotateWhen passing a certain angle, the axial lead L of the steering wheel (11) is driven 2 And the axis L of the shaft 2 Passing through a point A; axial line L 2 And a straight line L 1 Intersect at point X 1 Point X 1 Namely the turning center when the AGV trolley (1) and the towed object (2) turn together.
2. The path simulation method according to claim 1, characterized in that: further comprising a step S5 of rotating the center point X 1 And rotating the outline of the traction type AGV and the dragged object (2) as a circle center to obtain an envelope space of the outline, namely the space required by turning.
3. The path simulation method according to claim 1, characterized in that: the method also comprises the following steps: t, acquiring path information when the AGV trolley (1) turns independently in a stop state, and comprising the following steps:
t1, acquiring a contact central point A of a driving steering wheel (11) of the AGV trolley (1) and the ground, and respectively acquiring contact central points B and C of two bearing wheels (12) and the ground;
connecting the T2 and the connection points B and C to obtain a straight line BC;
t3, when the driving steering wheel (11) of the AGV trolley (1) rotates for a certain angle, the driving steering wheel (11) is driven to rotate by the axial lead L 2 And the axis L of the shaft 2 Passing through a point A; axial lead L 2 Intersects straight line BC at point X 2 Point X 2 Namely the center of rotation when the AGV trolley (1) turns independently at the moment.
4. The path simulation method according to claim 3, characterized in that: further comprising a step T4 of rotating the center point X 2 And rotating the outline of the AGV trolley (1) as a circle center to obtain an envelope space of the outline, namely the space required by turning.
5. The path simulation method according to claim 1, characterized in that: the fixed caster wheels (21) of the towed object (2) are exactly positioned on the symmetrical center line of the two bearing wheels (12) of the AGV trolley (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111355756.4A CN114228864B (en) | 2021-11-16 | 2021-11-16 | Path simulation method for turning characteristic of traction type AGV |
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| CN202111355756.4A CN114228864B (en) | 2021-11-16 | 2021-11-16 | Path simulation method for turning characteristic of traction type AGV |
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| CN114228864B true CN114228864B (en) | 2023-02-17 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003241837A (en) * | 2002-02-14 | 2003-08-29 | Nippon Yusoki Co Ltd | Automated guided vehicle |
| JP2011220842A (en) * | 2010-04-09 | 2011-11-04 | Yaskawa Electric Corp | Mobile body and turn radius calculation method thereof |
| CN107463173A (en) * | 2017-07-31 | 2017-12-12 | 广州维绅科技有限公司 | AGV air navigation aids of storing in a warehouse and device, computer equipment and storage medium |
| CN111267837A (en) * | 2020-03-10 | 2020-06-12 | 东风商用车有限公司 | Curve control method and control system |
| CN112180925A (en) * | 2020-09-28 | 2021-01-05 | 广东嘉腾机器人自动化有限公司 | AGV track following method and device and processing equipment |
| CN212484158U (en) * | 2020-08-28 | 2021-02-05 | 浙江德马科技股份有限公司 | Overhead visual navigation robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9389613B2 (en) * | 2014-11-14 | 2016-07-12 | International Truck Intellectual Property Company, Llc | Determining turning radius of coupled vehicles |
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- 2021-11-16 CN CN202111355756.4A patent/CN114228864B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003241837A (en) * | 2002-02-14 | 2003-08-29 | Nippon Yusoki Co Ltd | Automated guided vehicle |
| JP2011220842A (en) * | 2010-04-09 | 2011-11-04 | Yaskawa Electric Corp | Mobile body and turn radius calculation method thereof |
| CN107463173A (en) * | 2017-07-31 | 2017-12-12 | 广州维绅科技有限公司 | AGV air navigation aids of storing in a warehouse and device, computer equipment and storage medium |
| CN111267837A (en) * | 2020-03-10 | 2020-06-12 | 东风商用车有限公司 | Curve control method and control system |
| CN212484158U (en) * | 2020-08-28 | 2021-02-05 | 浙江德马科技股份有限公司 | Overhead visual navigation robot |
| CN112180925A (en) * | 2020-09-28 | 2021-01-05 | 广东嘉腾机器人自动化有限公司 | AGV track following method and device and processing equipment |
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