CN114894200A - Position detection method, device, system, equipment and medium for automatic guided vehicle - Google Patents
Position detection method, device, system, equipment and medium for automatic guided vehicle Download PDFInfo
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- CN114894200A CN114894200A CN202210338359.4A CN202210338359A CN114894200A CN 114894200 A CN114894200 A CN 114894200A CN 202210338359 A CN202210338359 A CN 202210338359A CN 114894200 A CN114894200 A CN 114894200A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a position detection method, a position detection device, a position detection system, position detection equipment and a position detection medium of an automatic guided vehicle, wherein the automatic guided vehicle is provided with a first encoder and a second encoder; the first encoder is coaxially connected with a first wheel of the automatic guided vehicle and used for sending out a pulse signal when the first wheel rotates; the second encoder is coaxially connected with a second wheel of the automatic guided vehicle and used for sending out a pulse signal when the second wheel rotates; the first wheel and the second wheel are wheels on the left side and the right side of the automatic guided vehicle; the method comprises the following steps: receiving a pulse signal sent by a first encoder and a pulse signal sent by a second encoder; counting the first accumulated number and the second accumulated number in real time; determining the motion state of the automatic guided vehicle according to the first accumulated number and the second accumulated number; and determining the current position of the automatic guided vehicle according to the motion state, the first accumulated number and the second accumulated number. The invention can accurately and conveniently detect the real-time position of the automatic guided vehicle.
Description
Technical Field
The invention relates to the technical field of industrial control, in particular to a position detection method, a position detection device, a position detection system, position detection equipment and position detection media of an automatic guided vehicle.
Background
An automatic Guided Vehicle (AGV for short) is mainly applied to the field of industrial control, and is generally equipped with an automatic navigation device such as an electromagnetic or optical device. The automatic guided vehicle can travel along a prescribed navigation path, does not need a driver, and uses a rechargeable battery as a power source. The automatic guided vehicle needs to know the position of the automatic guided vehicle in real time during operation, so that a position determination scheme for the automatic guided vehicle is necessary.
Disclosure of Invention
The invention provides a position detection method, a device, a system, equipment and a medium of an automatic guided vehicle, which can detect the real-time position of the automatic guided vehicle.
In a first aspect, an embodiment of the present invention provides a position detection method for an automatic guided vehicle, where a first encoder and a second encoder are installed on the automatic guided vehicle; the first encoder is coaxially connected with a first wheel of the automatic guided vehicle and is used for sending out a pulse signal when the first wheel rotates; the second encoder is coaxially connected with a second wheel of the automatic guided vehicle and is used for sending out a pulse signal when the second wheel rotates; the first wheel and the second wheel are wheels on the left side and the right side of the automatic guided vehicle;
the method comprises the following steps:
receiving a pulse signal sent by the first encoder and a pulse signal sent by the second encoder;
counting the number of pulse signals sent by the first encoder in real time to obtain a first accumulated number updated in real time;
counting the number of pulse signals sent by the second encoder in real time to obtain a second accumulated number updated in real time;
determining the motion state of the automatic guided vehicle according to the first accumulated number and the second accumulated number;
and determining the current position of the automatic guided vehicle according to the motion state, the first accumulated number and the second accumulated number.
In some embodiments, the motion state comprises a first motion state; the first motion state comprises a forward state, a backward state and a stop state; correspondingly, the determining the motion state of the automatic guided vehicle according to the first accumulated number and the second accumulated number includes: determining a first motion state of the automatic guided vehicle according to the change of the first accumulated number and the second accumulated number;
and/or the motion state comprises a second motion state, and the second motion state comprises a straight motion state and a steering state; correspondingly, the determining the motion state of the automatic guided vehicle according to the first accumulated number and the second accumulated number includes: and determining a second motion state of the automatic guided vehicle according to the difference value between the first accumulated number and the second accumulated number.
In some embodiments, the determining the first motion state of the automated guided vehicle according to the change of the first accumulated number and the second accumulated number includes at least one of:
if the first accumulated number and the second accumulated number are increased in the last N times of statistics, the first running state of the automatic guided vehicle is a forward state;
if the first accumulated number and the second accumulated number are reduced in the last N times of statistics, the first running state of the automatic guided vehicle is a retreating state;
if the first accumulated number and the second accumulated number are kept unchanged in the last N times of statistics, the first running state of the automatic guided vehicle is a stop state; wherein N is a preset positive integer.
In some embodiments, the determining the second motion state of the automatically guided vehicle according to the difference between the first accumulated number and the second accumulated number includes at least one of:
if the difference value between the first accumulated number and the second accumulated number which is obtained currently is 0, the second motion state of the automatic guided vehicle at the current moment is a straight-going state;
if the difference value between the first accumulated number and the second accumulated number which is obtained currently is not zero and the difference value changes in the last M times of statistics, the second motion state of the automatic guided vehicle at the current moment is a steering state; wherein M is a preset positive integer;
and if the difference between the first accumulated number and the second accumulated number which is obtained currently is not 0 and the difference is not changed in the last M times of statistics, the second motion state of the automatic guided vehicle at the current moment is a straight-going state after at least one steering.
In some embodiments, the determining the current position of the automatically guided vehicle according to the motion state, the first accumulated number and the second accumulated number includes at least one of:
if the first motion state of the automatic guided vehicle is not a stop state and the second motion state of the automatic guided vehicle at the current moment is a straight-going state, determining the current position of the automatic guided vehicle according to the first accumulated number, the second accumulated number and the position of the automatic guided vehicle at the previous moment;
if the first motion state of the automatic guided vehicle is not a stop state and the second motion state of the automatic guided vehicle at the current moment is a steering state, taking the moment corresponding to the change of the difference value between the first accumulated number and the second accumulated number as the moment for starting steering and taking the moment corresponding to the non-change of the difference value between the first accumulated number and the second accumulated number as the moment for ending steering; and counting the change amplitude of the difference value between the first accumulated number and the second accumulated number compared with the previous moment in real time between the moment of starting steering and the moment of finishing steering, determining a corresponding real-time steering angle according to the change amplitude, and determining the current position of the automatic guided vehicle according to the position of the automatic guided vehicle at the previous moment and the real-time steering angle.
In some embodiments, a sensing piece is arranged at an initial position of a motion track of the automatic guided vehicle, a proximity switch is arranged on the automatic guided vehicle, and the proximity switch is used for sending out a first signal when the automatic guided vehicle moves to the initial position and senses the sensing piece;
correspondingly, the method further comprises the following steps: and clearing the first accumulated number and the second accumulated number when the first signal is received.
In a second aspect, an embodiment of the present invention provides a position detecting apparatus for an automatic guided vehicle, the automatic guided vehicle having a first encoder and a second encoder mounted thereon; the first encoder is coaxially connected with a first wheel of the automatic guided vehicle and is used for sending out a pulse signal when the first wheel rotates; the second encoder is coaxially connected with a second wheel of the automatic guided vehicle and is used for sending out a pulse signal when the second wheel rotates; the first wheel and the second wheel are wheels on the left side and the right side of the automatic guided vehicle;
the device comprises:
the signal receiving module is used for receiving the pulse signals sent by the first encoder and the pulse signals sent by the second encoder;
the first counting module is used for counting the number of the pulse signals sent by the first encoder in real time to obtain a first accumulated number updated in real time;
the second counting module is used for counting the number of the pulse signals sent by the second encoder in real time to obtain a second accumulated number updated in real time;
the state determining module is used for determining the motion state of the automatic guided vehicle according to the first accumulated number and the second accumulated number;
and the position determining module is used for determining the current position of the automatic guided vehicle according to the motion state, the first accumulated number and the second accumulated number.
In a third aspect, an embodiment of the present invention provides a position detection system for an automatic guided vehicle, including a programmable control module, a first encoder, and a second encoder, where the first encoder and the second encoder are installed on the automatic guided vehicle; the first encoder is coaxially connected with a first wheel of the automatic guided vehicle and is used for sending out a pulse signal when the first wheel rotates; the second encoder is coaxially connected with a second wheel of the automatic guided vehicle and is used for sending out a pulse signal when the second wheel rotates; the first wheel and the second wheel are wheels on the left side and the right side of the automatic guided vehicle; the first encoder and the second encoder are both connected to the programmable control module, which is the position detection device provided by the second aspect.
In a fourth aspect, an embodiment of the present invention provides a computing device, including: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method provided by the first aspect.
In a fifth aspect, the present invention provides a computer-readable medium, on which computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute the method provided in the first aspect.
According to the position detection method, the position detection device, the position detection system, the position detection equipment and the position detection medium of the automatic guided vehicle provided by the embodiment of the invention, the first encoder is arranged on the first wheel, the second encoder is arranged on the second wheel, the first encoder sends out a pulse signal along with the rotation of the first wheel, and the second encoder sends out a pulse signal along with the movement of the second wheel. Based on the scene, the pulse signals sent by the two encoders are received, the number of the pulse signals sent by the two encoders is accumulated in real time to obtain a first accumulated number and a second accumulated number, the motion state of the automatic guided vehicle is determined according to the two accumulated numbers, and finally the real-time position of the automatic guided vehicle can be determined according to the motion state and the two accumulated numbers. Compared with the position detection mode adopting a laser range finder and a reflective film in the prior art, the embodiment of the invention has the advantages of simple installation and low hardware cost. In addition, the method provided by the embodiment of the invention is not easily interfered by the external environment, so that the position detection accuracy is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for detecting a position of an automatic guided vehicle according to an embodiment of the present invention;
fig. 2 is a block diagram of a position detecting device of an automatic guided vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic view of a position detection system installed on an automated guided vehicle in one embodiment of the present invention.
Description of reference numerals:
| S1～S5 | step (ii) of |
| 10 | |
| 11 | |
| 12 | First |
| 13 | Second |
| 14 | |
| 15 | |
| 100 | Automatic guiding |
| 200 | |
| 300 | |
| 400 | |
| 500 | |
| 600 | |
| 700 | |
| 800 | Safe |
| 900 | Conducting wire |
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
In a first aspect, an embodiment of the present invention provides a method for detecting a position of an automatic guided vehicle.
In the scenario where the method is applied, referring to fig. 3, the automatic guided vehicle 100 is installed with a first encoder 300 and a second encoder 400; the first encoder 300 is coaxially connected with the first wheel 200 of the automatic guided vehicle 100, and the first encoder 300 is used for sending out a pulse signal when the first wheel 200 rotates; the second encoder 400 is coaxially connected with a second wheel 500 of the automatic guided vehicle 100, and the second encoder 400 is used for sending out a pulse signal when the second wheel 500 rotates; the first wheel 200 and the second wheel 500 are wheels on the left and right sides of the automatic guided vehicle 100.
Since the first encoder 300 is disposed at the side of the first wheel 200 on the automatic guided vehicle 100 and coaxially connected to the first wheel 200, the first encoder 300 will send a pulse signal when the first wheel 200 rotates a certain angle and generates a certain displacement, so that the real-time displacement of the first wheel 200 can be determined according to the real-time accumulated number of the pulse signals. The second encoder 400 is disposed at a side of the second wheel 500 of the automatic guided vehicle 100 and coaxially connected to the second wheel 500, such that the second wheel 500 generates a pulse signal when rotating at a certain angle and generating a certain displacement, and such that the real-time displacement of the second wheel 500 can be determined according to the real-time accumulated number of the pulse signals. It can be seen that the first encoder 300 and the second encoder 400 convert the displacement into periodic pulse signals, and thus the magnitude of the displacement can be expressed in terms of the number of pulse signals.
The first encoder 300 may be an incremental encoder, an absolute encoder, or other encoders.
The first encoder 300 and the first wheel 200 may be coaxially connected through a coupler, that is, one end of the coupler is connected to the first encoder 300, and the other end is connected to the rotating shaft of the first wheel 200. Thereby, a coaxial connection is realized, and the second encoder 400 and the second wheel 500 may be connected by a coupling, thereby realizing a coaxial connection.
Based on the above scenario, referring to fig. 1 and fig. 3, the position detection method provided in the embodiment of the present invention includes the following steps S1 to S5:
s1, receiving the pulse signal sent by the first encoder 300 and the pulse signal sent by the second encoder 400;
it will be appreciated that the method may be implemented by a programmable control module 700 as described below, the programmable control module 700 being connected to both the first encoder 300 and the second encoder 400. When the first encoder 300 and the second encoder 400 send out pulse signals, the programmable control module 700 may receive the pulse signals sent by the two encoders.
S2, counting the number of pulse signals sent by the first encoder 300 in real time to obtain a first cumulative number updated in real time;
it is understood that the number of pulse signals that the first encoder 300 has emitted is counted in real time in S2, so as to obtain a first accumulated number updated in real time.
S3, counting the number of pulse signals sent by the second encoder 400 in real time to obtain a second cumulative number updated in real time;
it is understood that the number of pulse signals that have been sent out by the second encoder 400 is counted in real time in S3, so as to obtain a second accumulated number updated in real time.
S4, determining the motion state of the automatic guided vehicle 100 according to the first accumulated number and the second accumulated number;
the motion state of the automatic guided vehicle 100 may include various states such as straight movement, steering, forward movement, and backward movement. For the convenience of subsequent calculation and differentiation, the states of forward movement, backward movement, stopping and the like can be classified into a first motion state, and the states of straight movement, steering and the like can be classified into a second motion state.
That is, the motion state comprises a first motion state; the first motion state includes a forward state, a reverse state, and a stop state. Correspondingly, the step of determining the motion state of the automatic guided vehicle 100 according to the first accumulated number and the second accumulated number in S4 may include: and determining a first motion state of the automatic guided vehicle 100 according to the change of the first accumulated number and the second accumulated number.
For example, the first cumulative number and the second cumulative number do not change for a certain period of time, which indicates that the automatic guided vehicle 100 is not displaced during the certain period of time, that is, the automatic guided vehicle 100 is in a stopped state. For another example, the first cumulative number and the second cumulative number are increasing during a period of time, which indicates that the automatic guided vehicle 100 has displaced in the forward direction during the period of time, that is, the automatic guided vehicle 100 is moving forward. For another example, the first cumulative number and the second cumulative number decrease all the time during a period of time, which indicates that the automatic guided vehicle 100 has displaced in the negative direction during the period of time, that is, the automatic guided vehicle 100 is moving backward. It can be seen that the first motion state can be determined according to the change of the first accumulated number and the second accumulated number.
That is, the process of determining the first motion state of the automatic guided vehicle 100 according to the change of the first accumulated number and the second accumulated number may include at least one of the following:
(1.1) if the first accumulated number and the second accumulated number are increased in the last N times of statistics, the first running state of the automatic guided vehicle 100 is a forward running state;
(1.2) if the first accumulated number and the second accumulated number are both reduced in the last N times of statistics, the first running state of the automatic guided vehicle 100 is a reverse state;
(1.3) if the first accumulated number and the second accumulated number are kept unchanged in the last N times of statistics, the first running state of the automatic guided vehicle 100 is a stop state;
where N is a predetermined positive integer, for example, N is 5.
Of course, the motion state also includes a second motion state, which includes a straight-going state and a turning state; correspondingly, the step of determining the motion state of the automatic guided vehicle 100 according to the first accumulated number and the second accumulated number in S4 may include: and determining a second motion state of the automatic guided vehicle 100 according to the difference value between the first accumulated number and the second accumulated number.
For example, if the first cumulative number and the second cumulative number counted up at present are the same, that is, the difference between the two numbers is 0, it indicates that the automatic guided vehicle 100 is in a straight-ahead state all the time from the beginning to the present, or the automatic guided vehicle 100 is in a straight-ahead state after undergoing multiple turns, for example, 2 turns, the first cumulative number is 50 more than the second cumulative number after the first turn, and the increasing number of the second cumulative number is 50 more than the increasing number of the first cumulative number in total during the second turn, so that the first cumulative number and the second cumulative number are equal after undergoing two turns. In either case, the automatic guided vehicle 100 is in a straight-ahead state at this time.
For another example, if the first cumulative number and the second cumulative number obtained by the current statistics are different, that is, the difference between the two cumulative numbers is not 0, and the difference between the two cumulative numbers obtained by the last statistics is not changed, it indicates that the automatic guided vehicle 100 also handles the straight-ahead state at this time, but has undergone at least one turn before.
For another example, when the first cumulative number and the second cumulative number obtained by the current statistics are different, that is, the difference between the two cumulative numbers is not 0, and the difference between the two cumulative numbers obtained by the last statistics changes, it is described that the degree of change of the first cumulative number and the second cumulative number does not match, and the automatic guided vehicle 100 is in a steering state.
That is, the process of determining the second motion state of the automatic guided vehicle 100 according to the difference between the first cumulative number and the second cumulative number includes at least one of the following:
(2.1) if the difference value between the first accumulated number and the second accumulated number which is obtained currently is 0, the second motion state of the automatic guided vehicle 100 at the current moment is a straight-going state;
(2.2) if the difference between the first accumulated number and the second accumulated number obtained currently is not zero and the difference changes in the last M times of statistics, the second motion state of the automatic guided vehicle 100 at the current moment is a steering state; wherein M is a preset positive integer;
(2.3) if the difference between the first accumulated number and the second accumulated number obtained currently is not 0 and the difference is not changed in the last M times of statistics, the second motion state of the automatic guided vehicle 100 at the current moment is a straight-going state after at least one steering.
The number of M may be set as required, for example, M is 8.
It can be seen that through the above process, it can be determined whether the automated guided vehicle 100 is currently traveling straight or turning, advancing forward, backing, or stopped. After the real-time motion state of the automated guided vehicle 100 is obtained, the real-time position can be determined.
And S5, determining the current position of the automatic guided vehicle 100 according to the motion state, the first accumulated number and the second accumulated number.
It can be understood that after the current motion state of the automated guided vehicle 100 is known, the corresponding real-time position can be calculated according to the first accumulated number and the second accumulated number under different motion states.
In a specific implementation, the determining the current position of the automatic guided vehicle 100 according to the motion state, the first accumulated number and the second accumulated number in S5 may include at least one of the following:
(3.1) if the first motion state of the automatic guided vehicle 100 is not the stop state and the second motion state of the automatic guided vehicle 100 at the current moment is the straight-going state, determining the current position of the automatic guided vehicle 100 according to the first accumulated number, the second accumulated number and the position of the automatic guided vehicle 100 at the previous moment;
it is understood that the first motion state of the automatic guided vehicle 100 is not a stop state, and may be a forward motion state or a backward motion state. The second motion state is a straight-going state, which may be a straight-going state from the beginning of the motion to the current time, or a straight-going state after the steering is performed, and at this time, the difference between the first accumulated number and the second accumulated number is 0 or a fixed value. Namely (2.1) and (2.3) above. The current position of the automated guided vehicle 100 may be determined according to the first cumulative number and the second cumulative number counted currently and the position of the automated guided vehicle 100 at the previous time, regardless of the forward state or the backward state, regardless of the (2.1) case or the (2.3) case.
It can be understood that when the automated guided vehicle 100 is at the initial position of the travel track, both the first cumulative number and the second cumulative number are 0. The position of each statistical time is calculated based on the position of the previous statistical time, for example, the position of the automatic guided vehicle 100 at the previous statistical time is a1, the first and second accumulated numbers corresponding to the previous statistical time are b1 and b2, respectively, the first and second accumulated numbers at the current time are c1 and c2, respectively, since the vehicle is in a straight-ahead state, the difference between c1 and b1 is equal to the difference between c2 and b2, the (c1-b1) is converted into the displacement a2 from the previous statistical time to the current statistical time, and the current position is the vector sum of the position a1 and the displacement a2 of the automatic guided vehicle 100 at the previous statistical time.
(3.2) if the first motion state of the automatic guided vehicle 100 is not the stop state and the second motion state of the automatic guided vehicle 100 at the current time is the turning state, setting the time corresponding to the change of the difference between the first cumulative number and the second cumulative number as the turning start time and setting the time corresponding to the non-change of the difference between the first cumulative number and the second cumulative number as the turning end time; and counting the change amplitude of the difference value between the first accumulated number and the second accumulated number compared with the previous moment in real time between the moment of starting steering and the moment of ending steering, determining a corresponding real-time steering angle according to the change amplitude, and determining the current position of the automatic guided vehicle 100 according to the position of the automatic guided vehicle 100 at the previous moment and the real-time steering angle.
It is understood that the first motion state of the automatic guided vehicle 100 is not a stop state, and may be a forward motion state or a backward motion state. The second motion state is a turning state. At this time, the difference between the first cumulative number and the second cumulative number is not 0 and changes.
It will be appreciated that when the difference between the first cumulative number and the second cumulative number begins to change, it is indicative that the automated guided vehicle 100 is beginning to turn, and therefore this time is defined as the time at which turning is beginning. When the difference between the first cumulative number and the second cumulative number starts not to change, the automatic guided vehicle 100 is described as ending the steering, and this time may be defined as the time of ending the steering. The automatic guided vehicle 100 is in a steered state during a period from the time when steering is started to the time when steering is finished.
In a steering state, when the current position at each moment is calculated, a steering angle needs to be determined first, and then the current position is determined according to the steering angle. When determining the steering angle, the change range of the difference value between the first cumulative number and the second cumulative number may be used to indicate that the turning angle of the automatically guided vehicle 100 is larger if the change range of the difference value is larger, and to indicate that the turning angle of the automatically guided vehicle 100 is smaller if the change range of the difference value is smaller. A functional relationship may be preset, which indicates a functional relationship between the magnitude of the change in the difference between two accumulated numbers at adjacent statistical moments and the rotation angle. The variation range of the difference value between two accumulated numbers at the adjacent statistics time can be input into the functional relation, and the corresponding rotation angle can be obtained.
After the steering angle is calculated, the displacement of the first wheel 200 can be obtained according to the change of the first accumulated number at two adjacent moments, and the displacement of the second wheel 500 can be obtained according to the change of the second accumulated number at two adjacent moments. On the basis of the position at the last statistical time, the current position can be obtained according to the displacement of the first wheel 200, the displacement of the second wheel 500 and the steering angle.
In specific implementation, a sensing member is arranged at an initial position of a motion track of the automatic guided vehicle 100, a proximity switch 600 is arranged on the automatic guided vehicle 100, and the proximity switch 600 is used for sending a first signal when the automatic guided vehicle 100 moves to the initial position and senses the sensing member; correspondingly, the method further comprises the following steps: and clearing the first accumulated number and the second accumulated number when the first signal is received.
That is to say, since the proximity switch 600 is disposed on the automatic guided vehicle 100, and the sensing element is disposed at an initial position, for example, disposed on the ground of the initial position, when the automatic guided vehicle 100 moves to the initial position, the proximity switch 600 is just above the sensing element, and at this time, the proximity switch 600 sends a first signal after sensing the sensing element, and the programmable control module 700 learns that the automatic guided vehicle 100 is located at the initial position after receiving the first signal, and clears the first accumulated number and the second accumulated number to allow the automatic guided vehicle 100 to execute a next task.
It will be appreciated that the incremental encoder is particularly suitable because the first cumulative number and the second cumulative number are cleared by means of the proximity switch 600 and the sensing element.
In practice, each component, for example, the first encoder 300, the second encoder 400, the proximity switch 600, the safety obstacle avoidance scanner 800, and the like, may be connected to the programmable control module 700 through a wire 900. Specifically, the high speed counter channel of the programmable control module 700 is connected to two encoders via line 900.
It can be understood that in the embodiment of the present invention, the first encoder 300 is disposed on the first wheel 200, the second encoder 400 is disposed on the second wheel 500, the first encoder 300 sends out a pulse signal along with the rotation of the first wheel 200, and the second encoder 400 sends out a pulse signal along with the movement of the second wheel 500. Based on the scene, the pulse signals sent by the two encoders are received, the number of the pulse signals sent by the two encoders is accumulated in real time to obtain a first accumulated number and a second accumulated number, the motion state of the automatic guided vehicle 100 is determined according to the two accumulated numbers, and finally the real-time position of the automatic guided vehicle 100 can be determined according to the motion state and the two accumulated numbers. Compared with the position detection mode adopting a laser range finder and a reflective film in the prior art, the embodiment of the invention has the advantages of simple installation and low hardware cost. In addition, the method provided by the embodiment of the invention is not easy to be interfered by the external environment, so the accuracy of position detection is high,
in a second aspect, an embodiment of the present invention provides a position detecting apparatus for an automatic guided vehicle 100, wherein a first encoder 300 and a second encoder 400 are mounted on the automatic guided vehicle 100; the first encoder 300 is coaxially connected with the first wheel 200 of the automatic guided vehicle 100, and the first encoder 300 is used for sending out a pulse signal when the first wheel 200 rotates; the second encoder 400 is coaxially connected with a second wheel 500 of the automatic guided vehicle 100, and the second encoder 400 is used for sending out a pulse signal when the second wheel 500 rotates; the first wheel 200 and the second wheel 500 are wheels on the left and right sides of the automatic guided vehicle 100;
referring to fig. 2 and 3, the apparatus 10 comprises:
a signal receiving module 11, configured to receive the pulse signal sent by the first encoder 300 and the pulse signal sent by the second encoder 400;
a first statistical module 12, configured to count, in real time, the number of pulse signals that have been sent by the first encoder 300, so as to obtain a first accumulated number that is updated in real time;
a second counting module 13, configured to count, in real time, the number of pulse signals that have been sent by the second encoder 400, so as to obtain a second accumulated number that is updated in real time;
a state determining module 14, configured to determine a motion state of the automatic guided vehicle 100 according to the first cumulative number and the second cumulative number;
a position determining module 15, configured to determine a current position of the automatic guided vehicle 100 according to the motion state, the first accumulated number, and the second accumulated number.
In some embodiments, the motion state comprises a first motion state; the first motion state comprises a forward state, a backward state and a stop state; correspondingly, the state determination module includes a first determination unit, and the first determination unit is configured to: determining a first motion state of the automatic guided vehicle 100 according to the change of the first accumulated number and the second accumulated number;
and/or the motion state comprises a second motion state, and the second motion state comprises a straight motion state and a steering state; correspondingly, the state determination module includes a second determination unit, and the second determination unit is configured to: and determining a second motion state of the automatic guided vehicle 100 according to the difference value between the first accumulated number and the second accumulated number.
Further, the first determining unit is specifically configured to perform at least one of the following:
if the first accumulated number and the second accumulated number are both increased in the last N times of statistics, the first running state of the automatic guided vehicle 100 is a forward running state;
if the first cumulative number and the second cumulative number are both reduced in the last N statistics, the first operating state of the automatic guided vehicle 100 is a reverse state;
if the first accumulated number and the second accumulated number are kept unchanged in the last N times of statistics, the first running state of the automatic guided vehicle 100 is a stop state; wherein N is a preset positive integer.
Further, the second determining unit is specifically configured to perform at least one of the following:
if the difference between the first accumulated number and the second accumulated number obtained at present is 0, the second motion state of the automatic guided vehicle 100 at the present moment is a straight-going state;
if the difference between the first accumulated number and the second accumulated number obtained currently is not zero and the difference changes in the last M times of statistics, the second motion state of the automatic guided vehicle 100 at the current moment is a steering state; wherein M is a preset positive integer;
if the difference between the first cumulative number and the second cumulative number obtained currently is not 0 and the difference is not changed in the last M times of statistics, the second motion state of the automatic guided vehicle 100 at the current time is a straight-ahead state after undergoing at least one steering.
In particular implementation, the location determination module is specifically configured to perform at least one of the following:
if the first motion state of the automatic guided vehicle 100 is not the stop state and the second motion state of the automatic guided vehicle 100 at the current moment is the straight-going state, determining the current position of the automatic guided vehicle 100 according to the first accumulated number, the second accumulated number and the position of the automatic guided vehicle 100 at the previous moment;
if the first motion state of the automatic guided vehicle 100 is not the stop state and the second motion state of the automatic guided vehicle 100 at the current time is the turning state, taking the time corresponding to the beginning of the change of the difference between the first accumulated number and the second accumulated number as the turning starting time and taking the time corresponding to the beginning of the non-change of the difference between the first accumulated number and the second accumulated number as the turning ending time; and counting the change amplitude of the difference value between the first accumulated number and the second accumulated number compared with the previous moment in real time between the moment of starting steering and the moment of ending steering, determining a corresponding real-time steering angle according to the change amplitude, and determining the current position of the automatic guided vehicle 100 according to the position of the automatic guided vehicle 100 at the previous moment and the real-time steering angle.
In some embodiments, a sensing member is disposed at an initial position of a motion track of the automatic guided vehicle 100, a proximity switch 600 is disposed on the automatic guided vehicle 100, and the proximity switch 600 is configured to send a first signal when the automatic guided vehicle 100 moves to the initial position and senses the sensing member; the device further comprises:
a number zero clearing module for: and clearing the first accumulated number and the second accumulated number when the first signal is received.
It can be understood that the position detection apparatus of the automatic guided vehicle 100 provided in the second aspect is a functional module of the position detection method provided in the first aspect, and can be specifically implemented by using the programmable control module 700, for example, code segments corresponding to each functional module in the position detection apparatus are set in the programmable control module 700.
It is understood that the apparatus provided by the second aspect corresponds to the method provided by the first aspect, and the explanation, the example, the beneficial effects, and the like of the related contents can be found in the corresponding parts of the first aspect.
In a third aspect, an embodiment of the present invention provides a position detection system for an automatic guided vehicle 100, including a programmable control module 700, a first encoder 300, and a second encoder 400, where the first encoder 300 and the second encoder 400 are installed on the automatic guided vehicle 100; the first encoder 300 is coaxially connected with the first wheel 200 of the automatic guided vehicle 100, and the first encoder 300 is used for sending out a pulse signal when the first wheel 200 rotates; the second encoder 400 is coaxially connected with a second wheel 500 of the automatic guided vehicle 100, and the second encoder 400 is used for sending out a pulse signal when the second wheel 500 rotates; the first wheel 200 and the second wheel 500 are wheels on the left and right sides of the automatic guided vehicle 100; the first encoder 300 and the second encoder 400 are both connected to the programmable control module 700, and the programmable control module 700 is the position detecting device 10 provided in the second aspect.
It will be appreciated that when the first wheel 200 and the second wheel 500 rotate, the first encoder 300 and the second encoder 400 will send out pulse signals, so that the programmable control module 700 will then perform the following steps: receiving the pulse signal sent by the first encoder 300 and the pulse signal sent by the second encoder 400; counting the number of pulse signals sent by the first encoder 300 in real time to obtain a first accumulated number updated in real time; counting the number of pulse signals sent by the second encoder 400 in real time to obtain a second accumulated number updated in real time; determining the motion state of the automatic guided vehicle 100 according to the first accumulated number and the second accumulated number; and determining the current position of the automatic guided vehicle 100 according to the motion state, the first accumulated number and the second accumulated number. The programmable control module 700 can calculate the real-time position of the automated guided vehicle 100 through the above steps.
Further, the position detection system of the automated guided vehicle 100 may further include: a proximity switch 600 provided on the automatic guided vehicle 100 and a sensing member provided at an initial position of a movement locus of the automatic guided vehicle 100; the proximity switch 600 is connected to the programmable control module 700, the proximity switch 600 is configured to send a first signal when the automatic guided vehicle 100 moves to the initial position and senses the sensing element, and the programmable control module 700 is configured to zero both the first cumulative number corresponding to the first encoder 300 and the second cumulative number corresponding to the second encoder 400 when receiving the first signal.
It can be understood that, since the proximity switch 600 is disposed on the automatic guided vehicle 100 and the sensing element is disposed at an initial position, for example, disposed on the ground at the initial position, when the automatic guided vehicle 100 moves to the initial position, the proximity switch 600 is just above the sensing element, and at this time, the proximity switch 600 sends a first signal after sensing the sensing element, and the programmable control module 700 learns that the automatic guided vehicle 100 is located at the initial position after receiving the first signal, and clears the first accumulated number and the second accumulated number to allow the automatic guided vehicle 100 to execute a next task.
It will be appreciated that the incremental encoder is particularly suitable because the first cumulative number and the second cumulative number are cleared by means of the proximity switch 600 and the sensing element.
Further, the position detection system of the automated guided vehicle 100 may further include: the safety obstacle avoidance scanner 800 is arranged on the automatic guided vehicle 100, the safety obstacle avoidance scanner 800 is connected with the programmable control module 700, and the safety obstacle avoidance scanner 800 is used for sending a second signal when an obstacle is scanned in a scanning range; the programmable control module 700 is configured to: and when receiving the second signal, sending a parking instruction to a controller of the automatic guided vehicle 100 to park the automatic guided vehicle 100.
That is, when the safety obstacle avoidance scanner 800 installed on the automatic guided vehicle 100 scans an obstacle, the second signal is sent out, and when the programmable control module 700 receives the second signal, the stop instruction is sent out to the controller of the automatic guided vehicle 100, so that the controller of the automatic guided vehicle 100 controls the automatic guided vehicle 100 to stop, and the collision with the obstacle is avoided.
Since the automated guided vehicle 100 can move forward and backward, two safety obstacle avoidance scanners 800 can be provided on the automated guided vehicle 100, one for scanning the front area and one for scanning the rear area. For example, the safety obstacle avoidance scanner for scanning the front area is used for scanning in the forward state, and the safety obstacle avoidance scanner for scanning the rear area is used for scanning in the backward state, so that the obstacle avoidance can be realized in any state.
It can be appreciated that since the programmable control module 700 is connected to the controller of the automated guided vehicle 100, the programmable control module 700 can not only calculate the position of the automated guided vehicle 100 in real time, but also control acceleration, deceleration, stopping, etc. of the automated guided vehicle 100.
It can be understood that the position detection system provided by the embodiment of the invention has the advantages of low cost, good communication real-time performance, high sensitivity and simple application. The embodiment of the invention adopts a mode of combining the encoder (for example, an incremental encoder) and the programmable control module 700, namely, the encoder is adopted to replace a laser range finder and other devices, and the position calculation process of the programmable control module 700 is realized by software programming, so that the real-time performance is better, and the price is very low. The signals are directly acquired and sent to the programmable control module 700, the operation is relatively simple, the interference is less, the response sensitivity of the equipment is high, and the whole process is very rapid.
It can be understood that, for the explanation, the specific implementation, the beneficial effects, the examples and the like of the relevant contents in the position detection system provided in the embodiment of the present invention, reference may be made to the corresponding parts in the method provided in the first aspect, and details are not described here.
In a fourth aspect, an embodiment of the present invention provides a computing device, where the apparatus includes: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor is configured to invoke the machine-readable program to perform the method provided by the first aspect.
It is to be understood that for the explanation, the detailed description, the beneficial effects, the examples and the like of the related contents in the computing device provided by the embodiment of the present invention, reference may be made to corresponding parts in the method provided by the first aspect, and details are not described here.
In a fifth aspect, the present invention provides a computer-readable medium, on which computer instructions are stored, and when executed by a processor, the computer instructions cause the processor to execute the method provided in the first aspect.
Specifically, a system or an apparatus equipped with a storage medium on which software program codes that realize the functions of any of the above-described embodiments are stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program codes stored in the storage medium.
In this case, the program code itself read from the storage medium can realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.
Examples of the storage medium for supplying the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD + RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.
Further, it should be clear that the functions of any one of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform a part or all of the actual operations based on instructions of the program code.
Further, it is to be understood that the program code read out from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then causes a CPU or the like mounted on the expansion board or the expansion module to perform part or all of the actual operations based on instructions of the program code, thereby realizing the functions of any of the above-described embodiments.
It is to be understood that for the explanation, the detailed description, the beneficial effects, the examples and the like of the contents in the computer-readable medium provided in the embodiment of the present invention, reference may be made to the corresponding parts in the method provided in the first aspect, and details are not described here.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Those skilled in the art will recognize that, in one or more of the examples described above, the functions described in this disclosure may be implemented in hardware, software, hardware, or any combination thereof. When implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present invention should be included in the scope of the present invention.
Claims (12)
1. A position detection method of an automatic guided vehicle is characterized in that a first encoder (300) and a second encoder (400) are installed on the automatic guided vehicle (100); the first encoder (300) is coaxially connected with a first wheel (200) of the automatic guided vehicle (100), and the first encoder (300) is used for sending out a pulse signal when the first wheel (200) rotates; the second encoder (400) is coaxially connected with a second wheel (500) of the automatic guided vehicle (100), and the second encoder (400) is used for sending out a pulse signal when the second wheel (500) rotates; the first wheel (200) and the second wheel (500) are wheels on the left side and the right side of the automatic guided vehicle (100);
the method comprises the following steps:
receiving a pulse signal from the first encoder (300) and a pulse signal from the second encoder (400) (S1);
counting the number of the pulse signals sent by the first encoder (300) in real time to obtain a first accumulated number updated in real time (S2);
counting the number of the pulse signals sent by the second encoder (400) in real time to obtain a second accumulated number updated in real time (S3);
determining the motion state of the automatic guided vehicle (100) according to the first accumulated number and the second accumulated number (S4);
and determining the current position of the automatic guided vehicle (100) according to the motion state, the first accumulated number and the second accumulated number (S5).
2. The method of claim 1,
the motion state comprises a first motion state; the first motion state comprises a forward state, a backward state and a stop state; correspondingly, the determining the motion state of the automatic guided vehicle (100) according to the first accumulated number and the second accumulated number comprises: determining a first motion state of the automatic guided vehicle (100) according to the change of the first accumulated number and the second accumulated number;
and/or the motion state comprises a second motion state, and the second motion state comprises a straight motion state and a steering state; correspondingly, the determining the motion state of the automatic guided vehicle (100) according to the first accumulated number and the second accumulated number comprises: and determining a second motion state of the automatic guided vehicle (100) according to the difference value between the first accumulated number and the second accumulated number.
3. The method according to claim 2, wherein said determining a first movement state of said automated guided vehicle (100) as a function of a change in said first and second cumulative number comprises at least one of:
if the first accumulated number and the second accumulated number are increased in the last N times of statistics, the first running state of the automatic guided vehicle (100) is a forward running state;
if the first accumulated number and the second accumulated number are reduced in the last N times of statistics, the first running state of the automatic guided vehicle (100) is a retreating state;
if the first accumulated number and the second accumulated number are kept unchanged in the last N times of statistics, the first running state of the automatic guided vehicle (100) is a stop state; wherein N is a preset positive integer.
4. The method according to claim 2, wherein said determining a second motion state of said automated guided vehicle (100) based on a difference between said first cumulative number and said second cumulative number comprises at least one of:
if the difference value between the first accumulated number and the second accumulated number which is obtained currently is 0, the second motion state of the automatic guided vehicle (100) at the current moment is a straight-going state;
if the difference value between the first accumulated number and the second accumulated number which is obtained currently is not zero and the difference value changes in the last M times of statistics, the second motion state of the automatic guided vehicle (100) at the current moment is a steering state; wherein M is a preset positive integer;
and if the difference between the first accumulated number and the second accumulated number which is obtained currently is not 0 and the difference is not changed in the last M times of statistics, the second motion state of the automatic guided vehicle (100) at the current moment is a straight-going state after at least one steering.
5. The method of claim 4, wherein said determining a current location of said automated guided vehicle (100) based on said motion state, said first cumulative number and said second cumulative number comprises at least one of:
if the first motion state of the automatic guided vehicle (100) is not a stop state and the second motion state of the automatic guided vehicle (100) at the current moment is a straight-going state, determining the current position of the automatic guided vehicle (100) according to the first accumulated number, the second accumulated number and the position of the automatic guided vehicle (100) at the previous moment;
if the first motion state of the automatic guided vehicle (100) is not a stop state and the second motion state of the automatic guided vehicle (100) at the current moment is a steering state, taking the moment corresponding to the change of the difference value between the first accumulated number and the second accumulated number as the moment for starting steering and taking the moment corresponding to the non-change of the difference value between the first accumulated number and the second accumulated number as the moment for ending steering; and counting the change amplitude of the difference value between the first accumulated number and the second accumulated number compared with the previous moment in real time between the moment of starting steering and the moment of ending steering, determining a corresponding real-time steering angle according to the change amplitude, and determining the current position of the automatic guided vehicle (100) according to the position of the automatic guided vehicle (100) at the previous moment and the real-time steering angle.
6. The method according to claim 1, characterized in that a sensing member is provided at an initial position of the movement track of the automatic guided vehicle (100), a proximity switch (600) is provided on the automatic guided vehicle (100), and the proximity switch (600) is used for sending out a first signal when the automatic guided vehicle (100) moves to the initial position and senses the sensing member;
correspondingly, the method further comprises the following steps: and clearing the first accumulated number and the second accumulated number when the first signal is received.
7. A position detecting device of an automatic guided vehicle, characterized in that a first encoder (300) and a second encoder (400) are mounted on the automatic guided vehicle (100); the first encoder (300) is coaxially connected with a first wheel (200) of the automatic guided vehicle (100), and the first encoder (300) is used for sending out a pulse signal when the first wheel (200) rotates; the second encoder (400) is coaxially connected with a second wheel (500) of the automatic guided vehicle (100), and the second encoder (400) is used for sending out a pulse signal when the second wheel (500) rotates; the first wheel (200) and the second wheel (500) are wheels on the left side and the right side of the automatic guided vehicle (100);
the device (10) comprises:
a signal receiving module (11) for receiving the pulse signal from the first encoder (300) and the pulse signal from the second encoder (400);
a first statistical module (12) for counting the number of pulse signals sent by the first encoder (300) in real time to obtain a first accumulated number updated in real time;
a second counting module (13) for counting the number of pulse signals sent by the second encoder (400) in real time to obtain a second accumulated number updated in real time;
a state determination module (14) for determining the motion state of the automated guided vehicle (100) based on the first cumulative number and the second cumulative number;
a position determining module (15) for determining the current position of the automatic guided vehicle (100) according to the motion state, the first accumulated number and the second accumulated number.
8. A position detection system of an automatic guided vehicle, comprising a programmable control module (700), a first encoder (300) and a second encoder (400), the first encoder (300) and the second encoder (400) being mounted on the automatic guided vehicle (100); the first encoder (300) is coaxially connected with a first wheel (200) of the automatic guided vehicle (100), and the first encoder (300) is used for sending out a pulse signal when the first wheel (200) rotates; the second encoder (400) is coaxially connected with a second wheel (500) of the automatic guided vehicle (100), and the second encoder (400) is used for sending out a pulse signal when the second wheel (500) rotates; the first wheel (200) and the second wheel (500) are wheels on the left side and the right side of the automatic guided vehicle (100); the first encoder (300) and the second encoder (400) are both connected to the programmable control module (700), the programmable control module (700) being the position detection apparatus (10) of claim 7.
9. The system of claim 8, further comprising: a proximity switch (600) provided on the automatic guided vehicle (100) and a sensing member provided at an initial position of a movement trajectory of the automatic guided vehicle (100); the proximity switch (600) is connected with the programmable control module (700), the proximity switch (600) is used for sending a first signal when the automatic guided vehicle (100) moves to the initial position and senses the sensing piece, and the programmable control module (700) is used for clearing a first accumulated number corresponding to the first encoder (300) and a second accumulated number corresponding to the second encoder (400) when receiving the first signal.
10. The system of claim 8, further comprising: the safety obstacle avoidance scanner (800) is arranged on the automatic guided vehicle (100), the safety obstacle avoidance scanner (800) is connected with the programmable control module (700), and the safety obstacle avoidance scanner (800) is used for sending a second signal when an obstacle is scanned in a scanning range; the programmable control module (700) is configured to: and sending a parking instruction to a controller of the automatic guided vehicle (100) when the second signal is received so as to park the automatic guided vehicle (100).
11. A computing device, wherein the apparatus comprises: at least one memory and at least one processor;
the at least one memory to store a machine readable program;
the at least one processor, configured to invoke the machine readable program, to perform the method of any of claims 1-6.
12. A computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1 to 6.
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| CN202210338359.4A CN114894200A (en) | 2022-04-01 | 2022-04-01 | Position detection method, device, system, equipment and medium for automatic guided vehicle |
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