CN203350716U - Navigation control system of automatic guided vehicle - Google Patents
Navigation control system of automatic guided vehicle Download PDFInfo
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- CN203350716U CN203350716U CN 201320321196 CN201320321196U CN203350716U CN 203350716 U CN203350716 U CN 203350716U CN 201320321196 CN201320321196 CN 201320321196 CN 201320321196 U CN201320321196 U CN 201320321196U CN 203350716 U CN203350716 U CN 203350716U
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- guided vehicle
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Abstract
The utility model discloses a navigation control system of an automatic guided vehicle. The system comprises a central controller, sub-controllers that are disposed on each automatic guided vehicle and connected with the central controller, QR code positioning systems that are disposed on each automatic guided vehicle and connected with the sub-controllers, a grid path navigation system and a cargo registration system. The system utilizes QR acquisition sensing technology to collect coordinate information of the automatic guided vehicles in a warehouse, so as to facilitate unified monitoring and management. The system utilizes the grid path navigation system to determine deviation between the actual path and the preset trace of the automatic guided vehicles, so as to regulate differential motion bottom walls of two wheels for trace compensation, thereby ensuring the automatic guided vehicles to move as the planned path. The system is simple in structure, convenient to assemble, and facilitates navigation transport of the automatic guided vehicles.
Description
Technical field
The utility model relates to the automatic guided vehicle field, specifically a kind of automatic guided vehicle navigation control system.
Background technology
AGV is the english abbreviation of automatic guided vehicle (Automated Guided Vehicle); refer to homing guidance devices such as being equipped with electromagnetism or optics; can travel along the guide path of regulation; have the transport vehicle of safeguard protection and various transfer functions, AGV belongs to the category of wheeled mobile robot.Existing automatic guided vehicle is all to adopt the single track magnetic stripe to be transported, before transportation, and the on-the-spot single track magnetic stripe of laying on the path of plan, this means of transportation trouble, and occur in transportation that situation that offset track transports is also wayward and monitor.
The utility model content
The technical problems to be solved in the utility model is to provide a kind of automatic guided vehicle navigation control system, and it realizes the unified transportation navigation of controlling in conjunction with QR code identification location, grid magnetic stripe airmanship, has and is easy to dispose, the advantage of convenient management and operation.
The technical solution of the utility model is:
The automatic guided vehicle navigation control system, include central controller, be arranged on each automatic guided vehicle and the sub-controller be connected with central controller, and the QR code positioning system, navigational system and the goods registration system that are arranged on each automatic guided vehicle and connect with corresponding sub-controller respectively; Described QR code positioning system includes the QR code that is used to indicate coordinate that is arranged on the warehouse ceiling and is arranged on automatic guided vehicle and, towards the vision sensor of ceiling, described vision sensor is connected with sub-controller; Described navigational system includes the grid magnetic stripe that is arranged in warehouse, be installed on automatic guided vehicle and the Hall magnetic navigation sensor that is connected with sub-controller be installed on automatic guided vehicle on and the differential chassis of two-wheeled that is connected with sub-controller; Described goods registration system is the goods scanner that is arranged on automatic guided vehicle and is connected with sub-controller.
Described QR code positioning system also includes and is arranged at the electronic compass be connected with sub-controller on automatic guided vehicle.
Described navigational system also includes and is installed on around automatic guided vehicle and the IR evading obstacle sensors be connected with sub-controller.
All be connected with wireless communication module on described central controller and sub-controller.
Described sub-controller is selected the PID controller.
Described vision sensor is selected long burnt camera; Described goods scanner is selected RFID goods scanner.
Advantage of the present utility model:
(1), QR code of the present utility model is a kind of matrix two dimensional bar code symbol, it is except having the advantages such as the information capacity that bar code and other two-dimensional bar code have is large, reliability is high, can mean the kinds of words information such as Chinese character and image, security and antiforge purpose is strong, but also there are the portable database of hypervelocity response, the application of comprehensive recognition off-line, characteristics such as representative digit letter, Chinese character, image effectively, be convenient to vision sensor and accurately gather the elements of a fix, and be transferred to the unified locating and monitoring of central controller realization;
(2), grid magnetic stripe of the present utility model is different from the single track magnetic stripe that traditional magnetic guiding AGV lays, grid magnetic stripe one-time laying, be suitable for the flexible variation of guidance path; Itself and Hall magnetic navigation sensor are used in conjunction with, then the Hall magnetic navigation sensor is transferred to sub-controller by the magnetic signal of collection, the deviation of sub-controller judgement automatic guided vehicle actual motion and desired trajectory, thereby adjust the differential chassis of two-wheeled, carry out the track compensation, guaranteed that automatic guided vehicle travels by the path of planning;
(3), RFID goods scanner of the present utility model is connected with central control system by self network, be mainly used in goods registration and tracking when AGV transports goods, major advantage is not need manually to be scanned, as long as goods assigned address in AGV, just can scan registration automatically;
(4), because dolly may produce and jolts and turn in advancing, QR code in camera image certainly leads to skew and rotation to a certain degree, electronic compass of the present utility model is for fear of the image inclination of taking, affect identifying, can carry out vernier angle to image, guarantee the normal identification of image;
(5), the IR evading obstacle sensors on the utility model automatic guided vehicle gathers the environmental information around automatic guided vehicle, then is transferred to sub-controller, sub-controller is controlled the differential chassis of two-wheeled, prevents collision and the interference of automatic guided vehicle in transporting way.
The accompanying drawing explanation
Fig. 1 is theory diagram of the present utility model.
Embodiment
See Fig. 1, the automatic guided vehicle navigation control system, include central controller 1, be arranged on each automatic guided vehicle and the sub-controller 2 be connected with central controller 1, and the QR code positioning system 3, navigational system 4 and the RFID goods scanner 5 that are arranged on each automatic guided vehicle and connect with corresponding sub-controller 2 respectively; QR code positioning system 3 includes the QR code 31 that is used to indicate coordinate that is arranged on the warehouse ceiling, be arranged on automatic guided vehicle and towards the vision sensor 32 of ceiling, be arranged at the electronic compass 33 on automatic guided vehicle, vision sensor 32, electronic compass 33 all are connected with sub-controller 2; Navigational system 4 includes the grid magnetic stripe 41 that is arranged in warehouse, be installed on automatic guided vehicle and the Hall magnetic navigation sensor 42 be connected with sub-controller 2 with IR evading obstacle sensors 43, be installed on automatic guided vehicle and the differential chassis 44 of the two-wheeled be connected with sub-controller 2.
Wherein, all be connected with wireless communication module on central controller 1 and sub-controller 2; Sub-controller 2 is selected the PID controller; Vision sensor 32 is selected long burnt camera.
The navigation control method of automatic guided vehicle navigation control system includes following control step:
(1), at first the sub-controller 2 of a plurality of automatic guided vehicles given task and path transmission by central controller 1;
(2), goods is packed on the automatic guided vehicle of the task that is assigned with, during loading, adopt 5 pairs of goods of RFID goods scanner scanned and goods information is transferred to central controller 1 by sub-controller 2, central controller 2 carries out associated control by corresponding goods and automatic guided vehicle and distributes;
(3), after having freighted, a plurality of automatic guided vehicles are conveyed goods, in the way of transporting, vision sensor 32 on each automatic guided vehicle gathers the color lump of QR code, carrying out image according to electronic compass 33 more tentatively rotates, obtain preliminary image, after preliminary image finely tune identification, sub-controller 2 collects that vernier angles and electronic compass data message obtain dolly accurate towards after be transferred to again the coordinate setting that central controller 1 is realized each automatic guided vehicle; The grid magnetic stripe 41 that Hall magnetic navigation sensor 42 is responded in warehouses simultaneously, then the magnetic signal of collection is transferred to sub-controller 2, the deviation of sub-controller 2 judgement automatic guided vehicle actual motions and desired trajectory, thus the differential chassis 44 of two-wheeled adjusted, carry out the track compensation; Each automatic guided vehicle is in the way of transporting in addition, and the IR evading obstacle sensors 43 on its automatic guided vehicle gathers the environmental information around automatic guided vehicle, then is transferred to sub-controller 2, and sub-controller 2 is controlled the differential chassis 44 of two-wheeled.
Claims (6)
1. automatic guided vehicle navigation control system, it is characterized in that: include central controller, be arranged on each automatic guided vehicle and the sub-controller be connected with central controller, and the QR code positioning system, navigational system and the goods registration system that are arranged on each automatic guided vehicle and connect with corresponding sub-controller respectively; Described QR code positioning system includes the QR code that is used to indicate coordinate that is arranged on the warehouse ceiling and is arranged on automatic guided vehicle and, towards the vision sensor of ceiling, described vision sensor is connected with sub-controller; Described navigational system includes the grid magnetic stripe that is arranged in warehouse, be installed on automatic guided vehicle and the Hall magnetic navigation sensor that is connected with sub-controller be installed on automatic guided vehicle on and the differential chassis of two-wheeled that is connected with sub-controller; Described goods registration system is the goods scanner that is arranged on automatic guided vehicle and is connected with sub-controller.
2. automatic guided vehicle navigation control system according to claim 1, it is characterized in that: described QR code positioning system also includes and is arranged at the electronic compass be connected with sub-controller on automatic guided vehicle.
3. automatic guided vehicle navigation control system according to claim 1 is characterized in that: described navigational system also includes and is installed on around automatic guided vehicle and the IR evading obstacle sensors be connected with sub-controller.
4. automatic guided vehicle navigation control system according to claim 1, is characterized in that: all be connected with wireless communication module on described central controller and sub-controller.
5. automatic guided vehicle navigation control system according to claim 1, it is characterized in that: described sub-controller is selected the PID controller.
6. automatic guided vehicle navigation control system according to claim 1 is characterized in that: described vision sensor is selected long burnt camera; Described goods scanner is selected RFID goods scanner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320321196 CN203350716U (en) | 2013-06-05 | 2013-06-05 | Navigation control system of automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320321196 CN203350716U (en) | 2013-06-05 | 2013-06-05 | Navigation control system of automatic guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203350716U true CN203350716U (en) | 2013-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320321196 Expired - Lifetime CN203350716U (en) | 2013-06-05 | 2013-06-05 | Navigation control system of automatic guided vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103268119A (en) * | 2013-06-05 | 2013-08-28 | 合肥凌翔信息科技有限公司 | Automatic guided vehicle navigation control system and navigation control method thereof |
| CN103979026A (en) * | 2014-05-04 | 2014-08-13 | 中山明杰自动化科技有限公司 | Differential self-navigation motor tractor |
| CN105574695A (en) * | 2015-12-16 | 2016-05-11 | 西安科技大学 | Two-dimensional code navigation based logistics delivery system and delivery method thereof |
| CN107390701A (en) * | 2017-09-07 | 2017-11-24 | 南京昱晟机器人科技有限公司 | A kind of small space mobile robot orientation management method |
| TWI707752B (en) * | 2016-12-15 | 2020-10-21 | 日商大福股份有限公司 | Goods carrier |
| CN112327877A (en) * | 2020-11-23 | 2021-02-05 | 山东建筑大学 | Steel pipe warehouse inspection robot system and steel pipe warehouse management system |
| CN116880472A (en) * | 2023-06-30 | 2023-10-13 | 西安建筑科技大学 | Intelligent detection system for travel obstacle of open-air unmanned mine car |
-
2013
- 2013-06-05 CN CN 201320321196 patent/CN203350716U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103268119A (en) * | 2013-06-05 | 2013-08-28 | 合肥凌翔信息科技有限公司 | Automatic guided vehicle navigation control system and navigation control method thereof |
| CN103979026A (en) * | 2014-05-04 | 2014-08-13 | 中山明杰自动化科技有限公司 | Differential self-navigation motor tractor |
| CN105574695A (en) * | 2015-12-16 | 2016-05-11 | 西安科技大学 | Two-dimensional code navigation based logistics delivery system and delivery method thereof |
| TWI707752B (en) * | 2016-12-15 | 2020-10-21 | 日商大福股份有限公司 | Goods carrier |
| CN107390701A (en) * | 2017-09-07 | 2017-11-24 | 南京昱晟机器人科技有限公司 | A kind of small space mobile robot orientation management method |
| CN107390701B (en) * | 2017-09-07 | 2018-10-02 | 南京昱晟机器人科技有限公司 | A kind of small space mobile robot orientation management method |
| CN112327877A (en) * | 2020-11-23 | 2021-02-05 | 山东建筑大学 | Steel pipe warehouse inspection robot system and steel pipe warehouse management system |
| CN116880472A (en) * | 2023-06-30 | 2023-10-13 | 西安建筑科技大学 | Intelligent detection system for travel obstacle of open-air unmanned mine car |
| CN116880472B (en) * | 2023-06-30 | 2024-06-11 | 西安建筑科技大学 | Intelligent detection system for travel obstacle of open-air unmanned mine car |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131218 |