CN114545937A - Automatic recharging device and method for AGV - Google Patents
Automatic recharging device and method for AGV Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
An automatic recharging device for an AGV is characterized in that a charging pile is provided with a charging pile MCU module and an infrared transmitting tube array module, three infrared transmitting tubes of the infrared transmitting tube array are positioned on the same horizontal plane and are as high as an infrared receiving device of the AGV; the three infrared transmitting tubes are controlled by the processor MCU to transmit infrared signals with different frequencies and 38KHz carriers in a time-sharing manner; the infrared receiver module comprises an infrared receiver, the infrared receiver is positioned right in front of the AGV and used for receiving infrared coding signals of the infrared transmitting tube array and collecting the infrared signals by utilizing a timer capturing function of the AGVMCU; the ultrasonic module is positioned right above the infrared receiver module and used for judging the linear distance information of the AGV from the charging pile; the AGVMCU is connected with the motion control module. And provides an AGV automatic recharging method. The invention realizes the recharging alignment function and effectively improves the recharging efficiency.
Description
Technical Field
The invention belongs to the technical field of AGV, and particularly relates to an AGV automatic recharging device and an alignment control method thereof.
Background
At present, the popularization of the AGV enables the work of people to be more convenient, especially relates to the intelligent AGV, and the functions of path planning, autonomous navigation, autonomous obstacle avoidance and the like can be realized through powerful processors, radars and the like. This type of robot mainly relies on the battery power supply to provide energy, need return when battery power is not enough and fill electric pile and charge, and autonomic charging can effectively use manpower sparingly, raises the efficiency. At present, the main solutions in the industry are: depending on visual positioning, radar positioning, laser navigation, ultrasonic detection, infrared navigation, etc. Chinese patent autonomous charging system of robot (patent No. CN201810042062.7) adopts a vision sensor to detect a road sign to provide movement guidance; china patent CN201820181232.5 discloses a reliable indoor omnidirectional mobile robot autonomous charging system which adopts radar navigation to realize remote docking and uses a vision sensor and infrared distance measurement to realize short-distance docking. Although the method can realize the recharging function, the structure is complex, and the use cost is high. Chinese patent automatic recharging control method, device, intelligent mobile equipment and charging pile (patent number: CN202011555810.5) establishes a field area by using an infrared sensor, has simple structure and low cost, but can not realize accurate posture alignment with the charging pile and can enter a charging endless loop area; chinese patent autonomous charging system and charging method of intelligent accompanying robot of family (patent number: CN201610948319.6) utilizes ultrasonic module to avoid the problem of entering the dead cycle area of charging, but the alignment process only depends on infrared field area, and the recharging efficiency is low.
Disclosure of Invention
In order to overcome the defects that the alignment process in the prior art only depends on an infrared field area and the recharging efficiency is low, the invention provides the automatic recharging device and method for the AGV.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an automatic recharging device for an AGV comprises a motion control module, an AGVMCU, a charging pile MCU, an infrared receiver module, an ultrasonic module, an infrared transmitting tube array module and a charging pile; a charging pile is provided with a charging pile MCU and an infrared transmitting tube array module, wherein the infrared transmitting tube array module comprises a first infrared transmitting tube, a second infrared transmitting tube and a third infrared transmitting tube, and the three infrared transmitting tubes are positioned on the same horizontal plane and have the same height as an AGV infrared receiving device; the three infrared transmitting tubes are controlled by the charging pile MCU to transmit infrared signals with different frequencies and 38KHz carriers in a time-sharing manner;
the infrared receiver module comprises an infrared receiver, the infrared receiver is positioned right in front of the AGV and used for receiving infrared coding signals of the infrared transmitting tube array and collecting the infrared signals by utilizing a timer capturing function of the AGVMCU;
the ultrasonic module is positioned right above the infrared receiver module and used for judging the linear distance information of the AGV from the charging pile;
the AGVMCU is connected with the motion control module.
Further, in the infrared transmitting tube array module, according to the transmitting time length, the following is defined: the method comprises the steps of firstly sending a guide code, a low level signal with the time length of 600us and a high level signal with the time length of 1500us, and then sending an infrared signal with coded information, wherein the low level signal with the time length of 600us and the high level signal with the time length of 600us, the low level signal with the time length of 600us and the high level signal with the time length of 1000us respectively represent '0' and '1', and four coding schemes can be formed;
furthermore, in the infrared receiver module, considering that hardware cannot completely capture infrared signals and certain time is consumed when software program processing is carried out, determining to carry out fault-tolerant processing on the time of the acquired infrared signals, namely when the difference between the received infrared action time and the specified coding time is not more than 250us, considering that effective signals are received;
further, in the ultrasonic module, a first threshold value is defined at a distance of 30cm, and a second threshold value is defined at a distance of 50 cm.
Preferably, the transmitting tube is externally provided with a non-light-transmitting shade, infrared signals transmitted by the infrared transmitters are transmitted to the three fields through the shade, the first infrared transmitter transmits '00' codes, the second infrared transmitter transmits '01' codes, the third infrared transmitter transmits '10' codes and sequentially corresponds to the first field, the second field and the third field, and the signals between the three fields are not overlapped or are rarely overlapped.
More preferably, the non-light-transmitting shade is a rectangular cuboid, the left side and the right side of the non-light-transmitting shade are not provided with partition plates, the upper part and the lower part of the non-light-transmitting shade are provided with partition plates, and the middle of the non-light-transmitting shade is provided with a hole; the first infrared transmitting tube transmits coded infrared information from the left side, the second infrared transmitting tube transmits coded infrared information from the middle opening, and the third infrared transmitting tube transmits coded infrared information from the right side; the middle opening is respectively away from the left side and the right side by a distance, and the non-light-transmitting shade is used for shielding, so that the infrared coded information cannot be interfered with each other as much as possible.
An automatic recharge control method comprises the following steps:
1) acquiring a recharging instruction, starting recharging action, rotating for one circle to search infrared coding information, and determining the current position;
2) judging an initial movement direction according to the infrared coding information and the ultrasonic information, and starting to move until the pile aligning area is reached;
3) and after the pile is determined to enter the pile aligning area based on the infrared coding information, the speed is reduced according to the ultrasonic information until the pile stops moving and the charging is started after the pile is contacted with the charging pole piece.
Further, a non-light-transmitting shade is arranged outside the transmitting tube, infrared signals transmitted by the infrared transmitters are transmitted to three field regions through the shade, the first infrared transmitter transmits a '00' code, the second infrared transmitter transmits a '01' code, and the third infrared transmitter transmits a '10' code, and the three field regions correspond to the first field region, the second field region and the third field region in sequence;
when receiving the infrared signal of the second field, judging whether the infrared signal is larger than a first threshold value by combining ultrasonic distance information, if so, judging that the infrared signal is currently in the second far field, and if not, judging that the infrared signal is in the second near field;
and when the infrared signal of the third field is received, judging whether the infrared signal is greater than a first threshold value by combining ultrasonic distance information, if so, judging that the infrared signal is currently in the third far field, and otherwise, judging that the infrared signal is in the third near field.
Preferably, the AGV motion control will operate according to the following logic rules: the AGV firstly judges whether the infrared coding signals are received or not, and if not, the AGV adjusts the differential speed of the two wheels and automatically rotates to continuously search the infrared coding signals until the infrared coding signals are obtained.
After receiving the infrared coding signal, the AGV judges whether the AGV is currently in a near field or a far field according to the ultrasonic information, if the AGV is in the near field, the AGV judges which of the three fields is currently in according to the current coding information, and if the AGV is in the first near field, the AGV adjusts the speed of the automobile to move backwards towards the inner side and the right side; if the vehicle is in the third near field area, the vehicle speed is adjusted to move backwards towards the inner left side; and starting to do forward action until entering a second field area or entering a non-first near field area and a third near field area.
If the vehicle is in the far field, judging which of the three fields is currently in according to the current coding information, and if the vehicle is in the first far field, adjusting the vehicle speed to move forward inwards and rightwards; if the vehicle is in the third near field area, adjusting the vehicle speed to move forwards towards the inner left side; and (4) performing backward movement according to the previous logic if the mobile terminal enters the near field and the second field. Once entering the second field, starting straight-moving, then judging whether to enter the second near field according to the ultrasonic information, if so, adjusting the vehicle speed to move slowly until contacting the charging pole piece, and stopping moving.
Preferably, the AGV constantly receives infrared coding signal and ultrasonic information with the high frequency in the motion process, later according to logic rule in time adjusts the speed of a motor vehicle and guarantees that the AGV moves to the direction that fills electric pile, and the action of returning back is added, has guaranteed that the AGV can be close to with almost vertically angle and fills electric pile.
The invention has the following beneficial effects: the AGV starts autorotation to search for an infrared signal after receiving a recharging instruction, judges a current field area by combining infrared information and ultrasonic information, and judges an initial movement direction. Moving along the initial direction and modifying the moving direction in real time according to the infrared signals and the ultrasonic data. The automatic recharging method is suitable for recharging angles in a wider range, the infrared signals are combined with ultrasonic ranging, positioning can be guaranteed to be more accurate, recharging efficiency is higher, and the posture after recharging can be perpendicular to the charging pile within a certain error.
Drawings
FIG. 1 is a system block diagram.
Fig. 2 is a circuit diagram of an infrared guide signal.
FIG. 3 is a diagram showing the relative position of the AGV infrared receiver and the ultrasonic waves, wherein (a) is a side view and (b) is a front view.
FIG. 4 is a time sequence chart of the generation of three IR encoding signals.
FIG. 5 is a diagram of an environment in which the automatic recharge control method is applied, and a schematic diagram of an infrared emitter and a light shield.
FIG. 6 is a flow chart of AGV autonomous recharge.
FIG. 7 is a diagram of an AGV autonomous loop charging route in one embodiment.
FIG. 8 is a diagram of an AGV autonomous loop charging route in one embodiment.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 8, an AGV automatic recharging device includes a motion control module, an AGVMCU, a charging pile MCU, an infrared receiver module, an ultrasonic module, an infrared transmitting tube array module, and a charging pile;
the charging pile MCU uses STM32F103 series, an infrared emission circuit diagram is shown in figure 2, a PA6 pin of the charging pile MCU controls and outputs a PWM signal with a 38KHz duty ratio of 1/3 to drive a triode S9013, so that the infrared emission tube array normally works, and the infrared emission tube array corresponds to a 38kHzPWM pin in the diagram.
The pins PA2, PA3 and PA4 of the charging pile MCU output high and low levels at fixed time, so that the triode S9013 is switched on and off at fixed time to trigger an infrared coding signal with certain coding information, and the three pins correspond to the pins LCD1, LCD2 and LCD3 in sequence in the figure. The three encoding signals are respectively represented by encoding '00', '01', '10' from top to bottom, and sequentially correspond to pins PA2, PA3 and PA4 as shown in the fourth drawing.
The infrared receiving module adopts an integrated infrared receiving head, and after receiving the infrared signal with the coding information, the AGVMCU processes the infrared signal to obtain the approximate position of the AGV.
The ultrasonic module can combine infrared receiver to obtain AGV and fill electric pile's distance information at the robot alignment in-process.
The motion control module adopts a permanent magnet synchronous motor, comprises a motor driving module and a motor controller, and directly sends a speed signal to drive the motor to work by adopting a CAN communication instruction so as to realize the operations of advancing, retreating, left turning, right turning and the like.
The relationship between the infrared receiver 102 and the ultrasonic module 101 of the AGV automatic recharging device of the present invention is shown in fig. 3, and the height of the infrared receiver needs to be consistent with the height of the infrared transmitting tube array.
The application environment and field layout of the present invention are shown in fig. 5, where three infrared emission heads are separated into three fields by opaque masks 206, 207 and 208, the first field 301, the second field 302 and the third field 303 are recharged sequentially from left to right, the fields are divided into a near field and a far field according to the first threshold signal 204, and the field 205 is the second threshold signal, and the second threshold signal is triggered to generate a forward signal during backward movement. The first threshold signal is defined as the position of the AGV, which is 30cm away from the charging pile, and the second threshold signal is defined as the position of the AGV, which is 50cm away from the charging pile.
An AGV automatic recharging method is characterized in that a flow chart is shown in FIG. 6, firstly, an AGV searches infrared coding signals to judge the current position, if the AGV does not search, the differential speed between two wheels is adjusted, the moving radius of the AGV is increased, the searching range is expanded until the infrared coding signals are searched, the current area and the advancing direction are determined, a motor is controlled to enable the AGV to move to an infrared second area, the current position is continuously judged according to infrared coding information and ultrasonic information in the moving process, if the AGV is located in a non-second area, the AGV moves to the second area, and otherwise, the AGV executes a straight-moving action.
The description will be described in terms of two different initial positions of the AGV:
the first condition is as follows: as shown in fig. 7, when the AGV is at the initial position 301, which is at the first far field area, the AGV starts to turn right to enter the second far field area, which starts to go straight forward, and when entering the third far field area along the recharging second field area 302, the AGV will turn left to enter the second far field area along the track 303, which continues to go straight, and if entering the third far field area, the AGV will enter the second field area along the track 307, which starts to go straight, and the AGV will move closer to the charging post along the track 307 and then reach the target point after moving along the track 306 for a short distance.
Case two: when the AGV initial position is at 401, as shown in FIG. 8, which is in the first near field region, a reverse motion is triggered, as shown in 401, until the second field region is entered. Then, the AGV travels straight along 402 until entering a third field area, if the AGV is located in a far field area, the first field area is the case, because the range of a second field area close to a charging pile is small, the AGV enters the third near field area, a backward movement action is triggered, a track is 403, the AGV enters the second field area after rotating, and the AGV starts to travel straight forward after exceeding a second threshold value; since the distance to the charging pile is short, the target point can be reached after the charging pile moves for a short distance along the line 404.
When the AGV is located in the second field area, the forward movement action is generated until the AGV contacts the charging pile, and the wheels are locked to stop moving to reach a target point.
Claims (10)
1. An automatic AGV recharging device is characterized by comprising a motion control module, an AGVMCU, a charging pile MCU, an infrared receiver module, an ultrasonic module, an infrared transmitting tube array module and a charging pile; a charging pile is provided with a charging pile MCU and an infrared transmitting tube array module, wherein the infrared transmitting tube array module comprises a first infrared transmitting tube, a second infrared transmitting tube and a third infrared transmitting tube, and the three infrared transmitting tubes are positioned on the same horizontal plane and have the same height as an AGV infrared receiving device; the three infrared transmitting tubes comprise an infrared receiver through a charging pile MCU and the infrared receiver module comprises an infrared receiver, the infrared receiver is positioned right in front of the AGV and used for receiving infrared coding signals of an infrared transmitting tube array, and the infrared signals are collected by utilizing a timer capturing function of the AGVMCU;
the ultrasonic module is positioned right above the infrared receiver module and used for judging the linear distance information of the AGV from the charging pile;
the AGVMCU is connected with the motion control module.
2. The AGV automatic recharging device of claim 1, wherein said infrared transmitting tube array module is defined as follows according to the length of transmitting time: four encoding schemes can be assembled by providing for the transmission of a high level as an active level, first a pilot code, a low signal for a time duration of 600us and a high signal for 1500us, and then an infrared signal with encoded information, 600us low and 600us high, 600us low and 1000us high, respectively, representing '0' and '1'.
3. An automatic AGV recharging device according to claim 1 or 2, wherein said infrared receiver module determines to perform fault-tolerant processing on the time of the collected infrared signals considering that the hardware cannot completely capture the infrared signals and a certain time is consumed for processing by the software program, that is, when the difference between the infrared action time and the prescribed encoding time is not more than 250us, it is considered that a valid signal is received.
4. An AGV automatic recharging device according to claim 1 or 2, wherein said ultrasonic module defines a first threshold value at a distance of 30cm and a second threshold value at a distance of 50 cm.
5. An automatic recharging device for an AGV according to claim 1 or 2, wherein a non-transparent shade is provided outside the transmitting tube, infrared signals transmitted from the infrared transmitters are transmitted to three fields through the shade, the first infrared transmitter transmits a '00' code, the second infrared transmitter transmits a '01' code, and the third infrared transmitter transmits a '10' code, which correspond to the first field, the second field, and the third field in sequence, and the signals in the three fields are not overlapped or are slightly overlapped.
6. An AGV automatic recharging device according to claim 5, wherein said non-transparent shade is a rectangular parallelepiped having no partition on the left and right sides, partitions on the upper and lower sides, and an opening in the middle; the first infrared transmitting tube transmits coded infrared information from the left side, the second infrared transmitting tube transmits coded infrared information from the middle opening, and the third infrared transmitting tube transmits coded infrared information from the right side; the middle opening is respectively away from the left side and the right side by a distance, and the non-light-transmitting shade is used for shielding, so that the infrared coded information cannot be interfered with each other as much as possible.
7. An automatic recharging control method implemented by an AGV automatic recharging apparatus according to claim 1, said method comprising the steps of:
1) acquiring a recharging instruction, starting recharging action, rotating for one circle to search infrared coding information, and determining the current position;
2) judging an initial movement direction according to the infrared coding information and the ultrasonic information, and starting to move until the pile aligning area is reached;
3) and after the pile is determined to enter the pile aligning area based on the infrared coding information, the speed is reduced according to the ultrasonic information until the pile stops moving and the charging is started after the pile is contacted with the charging pole piece.
8. The automatic recharging control method of claim 7, wherein a non-transparent shade is arranged outside the transmitting tube, infrared signals transmitted by the infrared transmitters are transmitted to three fields through the shade, the first infrared transmitter transmits a '00' code, the second infrared transmitter transmits a '01' code, and the third infrared transmitter transmits a '10' code, and the three fields correspond to a field I, a field II, and a field III in sequence, when the infrared signals of the field I are received, whether the infrared signals are greater than a first threshold value is judged by combining ultrasonic distance information, if so, the infrared signals are judged to be in a far field I, and if not, the infrared signals are in a near field I;
when receiving the infrared signal of the second field, judging whether the infrared signal is larger than a first threshold value by combining ultrasonic distance information, if so, judging that the infrared signal is currently in the second far field, otherwise, judging that the infrared signal is in the second near field;
and when the infrared signal of the third field is received, judging whether the infrared signal is greater than a first threshold value by combining ultrasonic distance information, if so, judging that the infrared signal is currently in the third far field, and otherwise, judging that the infrared signal is in the third near field.
9. The automatic recharge control method of claim 8, wherein the AGV motion control operates according to the following logic rules: the AGV firstly judges whether an infrared coding signal is received or not, if not, the AGV adjusts the differential speed of two wheels and automatically rotates to continuously search the infrared coding signal until the infrared coding signal is obtained;
after receiving the infrared coding signal, the AGV judges whether the AGV is currently in a near field or a far field according to the ultrasonic information, if the AGV is in the near field, the AGV judges which of the three fields is currently in according to the current coding information, and if the AGV is in the first near field, the AGV adjusts the speed of the automobile to move backwards towards the inner side and the right side; if the vehicle is in the third near field area, the vehicle speed is adjusted to move backwards towards the inner left side; starting to move forward until entering a second field or entering a non-first near field and a non-third near field;
if the vehicle is in the far field, judging which of the three fields is currently in according to the current coding information, and if the vehicle is in the first far field, adjusting the vehicle speed to move forward inwards and rightwards; if the vehicle is in the third near field area, adjusting the vehicle speed to move forwards towards the inner left side; and (4) performing backward movement according to the previous logic if the mobile terminal enters the near field and the second field. Once entering the second field, starting straight-moving, then judging whether to enter the second near field according to the ultrasonic information, if so, adjusting the vehicle speed to move slowly until contacting the charging pole piece, and stopping moving.
10. The automatic recharging control method of claim 9, wherein the AGV continuously receives the infrared coded signal and the ultrasonic information at a high frequency during the moving process, and then adjusts the speed of the vehicle in time according to the logic rules to ensure that the AGV moves towards the charging pile and adds the rollback action.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115067841A (en) * | 2022-07-14 | 2022-09-20 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and cleaning robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115067841A (en) * | 2022-07-14 | 2022-09-20 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and cleaning robot system |
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