CN114408057A - AGV navigation assembly attitude control device and control method thereof - Google Patents
AGV navigation assembly attitude control device and control method thereof Download PDFInfo
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- CN114408057A CN114408057A CN202210106458.XA CN202210106458A CN114408057A CN 114408057 A CN114408057 A CN 114408057A CN 202210106458 A CN202210106458 A CN 202210106458A CN 114408057 A CN114408057 A CN 114408057A
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- 238000005096 rolling process Methods 0.000 claims abstract description 7
- 238000005452 bending Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000001502 supplementing effect Effects 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 description 4
- 239000000969 carrier Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
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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
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an AGV navigation assembly attitude control device which comprises a second support, a third support, a rolling motor, a pitching motor, a gyroscope and a control system, wherein the second support is connected with the third support through a connecting rod; the second support and the third support are U-shaped plates; the gyroscope is fixedly connected with the third support; and the control system is electrically connected with the roll motor, the pitch motor and the gyroscope. The invention provides a navigation assembly attitude control device with a simple structure and an adjusting method based on the navigation assembly attitude control device, which can offset the deviation level of a navigation assembly caused by the deformation of a portal frame when passing a pit, climbing a slope, high-position forking and the like in the use process of an AGV (automatic guided vehicle), eliminate navigation errors, simultaneously eliminate errors caused by sharing one map among vehicles without excessively supplementing and arranging a working scene, and have the advantages of controllable use cost, high efficiency and the like.
Description
Technical Field
The invention relates to the field of industrial carrying vehicles with automatic guiding functions, in particular to an AGV navigation assembly attitude control device and a control method thereof.
Background
The field of industrial handling vehicles refers to trackless vehicles, also known as industrial vehicles, for short-distance handling of objects, and is a widely used material handling machine, including trolleys, tractors and trailers, lifting vehicles, electric carriers, internal combustion carriers, unmanned carriers, and the like. With the increasing level of automation and intelligence in various industries, industrial transportation vehicles with automatic guidance function, such as AGVs, are becoming more and more widely used. 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, and having safety protection and various transfer functions. The traveling path and behavior of the equipment are generally controlled by a computer, and the requirements on safety and accuracy in the use scene of the equipment are high. The vehicle control system needs to obtain vehicle state information all the time, and needs to ensure the stability of a navigation scanning environment in the advancing process so as to ensure the safety and reliability of vehicle running. Under the industrial application scene, the scanning service environment is one of the important bases of AGV operation, and the accuracy of scanning environment plays crucial effect to AGV operation precision, but AGV is advancing or in the use, if the condition such as appearing crossing the hole, climbing, vehicle portal deformation appears, easily causes the automobile body shake, and the navigation subassembly also can shake thereupon, slope. If the shake is too big, the navigation subassembly appears easily and scans positioning assistance (like the reflector), or because the slope leads to scanning state and builds the picture deviation too big, loses the location, and then leads to the unable normal work scheduling problem of AGV.
Aiming at the problem, at present, a specific scanning object is usually arranged in an environment, or the area of the specific scanning object is lengthened, such as a reflector, so that the vehicle navigation precision is calibrated, and the stability of the navigation precision is ensured; the difficulty of project implementation is increased; the consistency and the precision of multiple vehicles have the problems of difference and the like.
Disclosure of Invention
The invention aims to provide an AGV navigation assembly attitude control device and a control method thereof, which are used for solving the problems in the prior art. In order to achieve the purpose, the specific technical scheme of the invention is as follows:
an AGV navigation assembly attitude control device comprises a second support, a third support, a rolling motor, a pitching motor, a gyroscope and a control system; the second support is a U-shaped plate and comprises a middle part and a bending part which is bent towards the same direction along with the vertical surface of the middle part, the central axis area of the middle part is vertically and fixedly connected with an output shaft of the roll motor, the end part of the bending part at one side is vertically and fixedly connected with the pitch motor, and the other side is fixedly connected with the pitch rotating block; the third support is a U-shaped plate and comprises a navigation component mounting part and two wing parts which are vertically bent towards the same direction with the middle part, the wing part on one side is vertically and fixedly connected with an output shaft of the pitching motor, and the wing part on the other side is fixedly connected with the pitching rotating block; the navigation component is arranged on the navigation component installation part; the gyroscope is fixedly connected with the navigation component mounting part; and the control system is electrically connected with the roll motor, the pitch motor and the gyroscope.
Preferably, the device further comprises a first bracket and a heading motor; the first support is an L-shaped plate, one end of the first support is vertically and fixedly connected with the course motor output shaft, and the other end of the first support is vertically and fixedly connected with the roll motor.
Preferably, the pitching rotating block comprises a bottom block, a through hole is formed in the center area of the bottom block, a rotating bearing is fixed in the through hole, a rotating shaft is fixed on the inner ring of the rotating bearing, and a top block is fixed at the end part of the rotating shaft; a plurality of bolt holes distributed in an array are formed in the surface of the bottom block; the top block is fixedly connected with the wing part, and the bottom block is fixedly connected with the bending part of the second support.
Preferably, the navigation assembly mounting part is symmetrically provided with two through grooves, and the through grooves are provided with a plurality of groups of regulating blocks which are connected with the through grooves in a sliding manner.
Preferably, AGV navigation subassembly gesture control device still includes the fixed extension board of navigation, fixed extension board one side of navigation is with navigation subassembly fixed connection the fixed extension board of navigation is provided with two at least logical grooves, inserts the fixed extension board of navigation through the groove and the navigation subassembly installation department leads to the groove and realizes the fixed of navigation subassembly with the third support through the regulating block.
Preferably, the course motor is connected with the first support, the second support is connected with the roll motor and the pitch motor through flexible connecting components, and a plurality of groups of parallel flexible connecting through grooves are arranged in the connecting area of the first support, the second support and the third support; the flexible connecting assembly comprises a connecting plate, one side of the connecting plate is fixedly connected with an output shaft of the heading motor, an output shaft of the roll motor, a bottom surface opposite to the output shaft, an output shaft of the pitch motor and a bottom surface opposite to the output shaft, a plurality of flexible connecting pieces are symmetrically distributed in an array mode on the other side of the connecting plate, and each flexible connecting piece comprises bolt holes and bolts, wherein the bolt holes are symmetrically distributed in an array mode on the connecting plate, and the bolts correspond to the bolt holes.
A control method of an AGV navigation assembly attitude control device comprises the following steps:
step 1) the control system acquires spatial position information of a navigation assembly through a gyroscope, and determines the offset angle of the navigation assembly in the direction of the axes of an aeronautical motor, a rolling motor and a pitching motor at the current moment;
step 2) if the deviation angle of a certain direction is less than plus or minus 3 degrees, the control system judges that the deviation of the navigation assembly is within the allowable range and the motor of the direction does not act;
and 3) if the deviation angle in a certain direction is more than plus or minus 3 degrees, the control system controls the corresponding course motor or the roll motor or the pitch motor to act according to the deviation angle in each direction, and rotates the opposite angle to realize the leveling in the direction.
Compared with the prior art, the navigation assembly posture control device with the simple structure and the adjusting method based on the navigation assembly posture control device can offset the deviation level of the navigation assembly caused by the deformation of the portal frame during pit crossing, slope climbing and high-position forking in the use process of the AGV, eliminate the navigation error, simultaneously eliminate the error caused by sharing one map among vehicles without excessively supplementing and arranging the working scene, and have the advantages of controllable use cost, high efficiency and the like.
In order to make the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall scheme of one embodiment of the present invention.
FIG. 2 is a schematic view of a heading motor or a roll motor or a pitch motor according to an embodiment of the invention.
FIG. 3 is a schematic view of another angle of the heading motor or the roll motor or the pitch motor according to an embodiment of the invention.
FIG. 4 is a schematic view of a pitch rotor in cross section according to one embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention relates to an AGV navigation component attitude control device which comprises a first support 11, a second support 21, a third support 31, a heading motor 10, a roll motor 20, a pitch motor 30 and a control system (not shown in the figure)
The first support 11 is an L-shaped plate, one end of the first support is vertically and fixedly connected with an output shaft of the heading motor 10, and the other end of the first support is vertically and fixedly connected with the rolling motor 20;
the second support 21 is a U-shaped plate and comprises a middle part 210 and a bending part 211 which is bent towards the same direction with the vertical surface of the middle part, the axis region of the middle part 210 is vertically and fixedly connected with the output shaft of the roll motor 20, the end part of the bending part 211 at one side is vertically and fixedly connected with the pitch motor 30, and the other side is fixedly connected with the pitch rotating block 30 b;
the third bracket 31 is a U-shaped plate and includes a navigation component mounting part 310 and two wing parts 311 which are vertically bent toward the same direction with the middle part, the wing part 311 on one side is vertically and fixedly connected with the output shaft of the pitching motor 30, and the wing part 311 on the other side is fixedly connected with the pitching rotating block 30 b; the navigation module D is mounted to the navigation module mounting part 310.
The pitch rotating block 30b includes a bottom block 30b1, a through hole is provided in a central region of the bottom block 30b1, a rotating bearing 30b2 is fixed in the through hole, a rotating shaft 30b3 is fixed to an inner ring of the rotating bearing 30b2, and a top block 30b4 is fixed to an end of the rotating shaft 30b 3. A plurality of bolt holes distributed in an array are arranged on the surfaces of the bottom block 30b1 and the top block 30b 4. The top block 30b4 is fixedly connected to the wing 311, and the bottom block 30b1 is fixedly connected to the bent portion 211 of the second bracket 21.
The course motor 10 can drive the first bracket 11 to rotate, and further drive the navigation component D to rotate around the axis of the output shaft of the navigation component D; the roll motor 20 can drive the second bracket 21 to rotate, and further drive the navigation assembly D to rotate around the axis of the output shaft thereof; the two pitching motors 30 rotate synchronously to drive the third support 31 to rotate, and further drive the navigation assembly D to rotate around the axis of the output shaft thereof.
A gyroscope (not shown in the figure) is further included, and the gyroscope is fixedly connected with the navigation assembly mounting part 310, so that the spatial position information of the navigation assembly D can be obtained.
Two through grooves 310a are symmetrically formed in the navigation assembly mounting portion 310, a plurality of groups of regulating blocks 310b which are connected with the through grooves in a sliding mode are arranged on the through grooves, the gravity center position of the navigation assembly D does not necessarily coincide with the same axis, and after the navigation assembly D is mounted, the gravity center position of the navigation assembly D and the gravity center position of the third support 31 can coincide by adjusting the positions of the regulating blocks 310b on the through grooves 310 a. The adjusting block 310b may be a bolt.
A navigation fixing plate D1 may be disposed between the navigation module D and the navigation module mounting portion 310, and the navigation fixing plate D1 side is fixedly connected to the navigation module D. The navigation fixing support plate D1 is also provided with at least two through grooves, and the navigation component D and the third bracket 31 are stably fixed by inserting the adjusting block 310b into the through groove D1 and the through groove 310 a.
The flexible connecting assembly R comprises a connecting plate R1, one side of the connecting plate R1 is fixedly connected with the output shaft of the heading motor 10, the output shaft of the roll motor 20, the bottom surface opposite to the output shaft, the output shaft of the pitch motor 30 and the bottom surface opposite to the output shaft, a plurality of flexible connecting pieces R2 are distributed on the other side of the connecting plate R1 in a symmetrical array mode, and the flexible connecting pieces R2 comprise bolt holes which are arranged on the connecting plate R1 in a symmetrical array mode and bolts corresponding to the bolt holes.
When the device is used, the bolt penetrates through the flexible connecting through groove RT and is screwed into the bolt hole, the relative positions of the connecting plate R1 relative to the flexible connecting through groove RT are adjusted to realize the position relations among the course motor 10, the first support 11, the second support 21, the rolling motor 20, the pitching motor 30 and the second support 21, and the pitching motor 30, so that the motors do not work, and the components are kept balanced at any position under the condition that the output shaft rotates freely.
The adjusting method of the AGV navigation assembly attitude control device comprises the following steps:
step 1) the control system acquires the spatial position information of the navigation component D, and determines the offset angles of the navigation component in the directions of the axes of the heading motor, the roll motor and the pitch motor at the current moment, as shown in the attached drawing, the directions of the axes of the heading motor, the roll motor and the pitch motor can be respectively counted as a Y axis, an X axis and a Z axis.
And step 2) if the deviation angles of the X axis, the Y axis and the Z axis are all less than plus or minus 3 degrees, the control system judges that the deviation of the navigation component D is within an allowable range and the heading motor, the roll motor and the pitch motor do not act.
And 3) if the deviation angle of one or more of the X-axis direction, the Y-axis direction and the Z-axis direction is more than plus or minus 3 degrees, the control system controls the corresponding course motor, the roll motor and the pitch motor to act according to the deviation angle in each direction, and rotates the opposite angle to realize the leveling in the direction and finally realize the leveling of the navigation component D.
In the use scene of AGV navigation, the rotation of the navigation assembly in the direction of the axis of the heading motor shown in the figure, namely the Y axis, is not common in general, the heading motor 10 can be omitted, and the first support 11 is directly fixed on the AGV body. Correspondingly, the adjustment method does not include the adjustment of the heading motor (Y axis).
Certain terms are used throughout the description and following claims to refer to particular products. One of ordinary skill in the art will appreciate that manufacturers may refer to a component by different names. This document does not intend to distinguish between components that differ in function but not name. In the following description and claims, the terms "including," comprising, "and" including "are used in an open-ended fashion, and thus should be interpreted to mean" including, but not limited to.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (7)
1. An AGV navigation assembly attitude control device is characterized by comprising a second support, a third support, a rolling motor, a pitching motor, a gyroscope and a control system;
the second support is a U-shaped plate and comprises a middle part and a bending part which is bent towards the same direction along with the vertical surface of the middle part, the central axis area of the middle part is vertically and fixedly connected with an output shaft of the roll motor, the end part of the bending part at one side is vertically and fixedly connected with the pitch motor, and the other side is fixedly connected with the pitch rotating block;
the third support is a U-shaped plate and comprises a navigation component mounting part and two wing parts which are vertically bent towards the same direction with the middle part, the wing part on one side is vertically and fixedly connected with an output shaft of the pitching motor, and the wing part on the other side is fixedly connected with the pitching rotating block; the navigation component is arranged on the navigation component installation part;
the gyroscope is fixedly connected with the navigation component mounting part;
and the control system is electrically connected with the roll motor, the pitch motor and the gyroscope.
2. The AGV navigation assembly attitude control of claim 1 further including a first bracket, a heading motor; the first support is an L-shaped plate, one end of the first support is vertically and fixedly connected with the course motor output shaft, and the other end of the first support is vertically and fixedly connected with the roll motor.
3. The AGV navigation assembly attitude control of claim 1 wherein said pitch rotation block includes a bottom block, a through hole is provided in a central region of said bottom block, a rotation bearing is fixed in said through hole, a rotation shaft is fixed to an inner race of said rotation bearing, and a top block is fixed to an end of said rotation shaft; a plurality of bolt holes distributed in an array are formed in the surface of the bottom block; the top block is fixedly connected with the wing part, and the bottom block is fixedly connected with the bending part of the second support.
4. An attitude control device for an AGV navigation assembly according to claim 1, wherein said navigation assembly mounting portion is symmetrically provided with two through slots, and said through slots are provided with a plurality of sets of adjusting blocks slidably connected to said through slots.
5. The AGV navigation assembly attitude control device of claim 4, further comprising a navigation fixing support plate, wherein one side of the navigation fixing support plate is fixedly connected with the navigation assembly, the navigation fixing support plate is provided with at least two through grooves, and the navigation assembly is fixed with the third support by inserting an adjusting block into the through groove of the navigation fixing support plate and the through groove of the navigation assembly mounting portion.
6. The AGV navigation assembly attitude control device of claim 1 or 2, wherein the course motor is connected with the first bracket, the second bracket is connected with the roll motor and the pitch motor, and the second bracket is connected with the pitch motor through flexible connecting components, and a plurality of groups of parallel flexible connecting through grooves are arranged in the connecting area of the first bracket, the second bracket and the third bracket; the flexible connecting assembly comprises a connecting plate, one side of the connecting plate is fixedly connected with an output shaft of the heading motor, an output shaft of the roll motor, a bottom surface opposite to the output shaft, an output shaft of the pitch motor and a bottom surface opposite to the output shaft, a plurality of flexible connecting pieces are symmetrically distributed in an array mode on the other side of the connecting plate, and each flexible connecting piece comprises bolt holes and bolts, wherein the bolt holes are symmetrically distributed in an array mode on the connecting plate, and the bolts correspond to the bolt holes.
7. A method of controlling an attitude control of an AGV navigation module according to claim 2, including the steps of:
step 1) the control system acquires spatial position information of a navigation assembly through a gyroscope, and determines the offset angle of the navigation assembly in the direction of the axes of an aeronautical motor, a rolling motor and a pitching motor at the current moment;
step 2) if the deviation angle of a certain direction is less than plus or minus 3 degrees, the control system judges that the deviation of the navigation assembly is within the allowable range and the motor of the direction does not act;
and 3) if the deviation angle in a certain direction is more than plus or minus 3 degrees, the control system controls the corresponding course motor or the roll motor or the pitch motor to act according to the deviation angle in each direction, and rotates the opposite angle to realize the leveling in the direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210106458.XA CN114408057A (en) | 2022-01-28 | 2022-01-28 | AGV navigation assembly attitude control device and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210106458.XA CN114408057A (en) | 2022-01-28 | 2022-01-28 | AGV navigation assembly attitude control device and control method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599914A (en) * | 2016-01-05 | 2016-05-25 | 零度智控（北京）智能科技有限公司 | Cradle head |
| CN205396568U (en) * | 2016-03-03 | 2016-07-27 | 零度智控（北京）智能科技有限公司 | Holder |
| CN108235702A (en) * | 2016-10-09 | 2018-06-29 | 深圳市道通智能航空技术有限公司 | A kind of holder, unmanned plane and its control method |
| CN110617822A (en) * | 2019-09-27 | 2019-12-27 | 浙江大华机器人技术有限公司 | Navigator, vehicle and automatic leveling method of navigator |
| CN213109832U (en) * | 2021-03-25 | 2021-05-04 | 成都睿铂科技有限责任公司 | Aerial camera and aerial camera device |
-
2022
- 2022-01-28 CN CN202210106458.XA patent/CN114408057A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599914A (en) * | 2016-01-05 | 2016-05-25 | 零度智控（北京）智能科技有限公司 | Cradle head |
| CN205396568U (en) * | 2016-03-03 | 2016-07-27 | 零度智控（北京）智能科技有限公司 | Holder |
| CN108235702A (en) * | 2016-10-09 | 2018-06-29 | 深圳市道通智能航空技术有限公司 | A kind of holder, unmanned plane and its control method |
| CN110617822A (en) * | 2019-09-27 | 2019-12-27 | 浙江大华机器人技术有限公司 | Navigator, vehicle and automatic leveling method of navigator |
| CN213109832U (en) * | 2021-03-25 | 2021-05-04 | 成都睿铂科技有限责任公司 | Aerial camera and aerial camera device |
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Application publication date: 20220429 |