CN207540557U - A kind of device pinpoint in short-term for AGV trolleies - Google Patents
A kind of device pinpoint in short-term for AGV trolleies Download PDFInfo
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- CN207540557U CN207540557U CN201721733697.9U CN201721733697U CN207540557U CN 207540557 U CN207540557 U CN 207540557U CN 201721733697 U CN201721733697 U CN 201721733697U CN 207540557 U CN207540557 U CN 207540557U
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- front wheel
- encoder
- counting device
- right hand
- steering
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Abstract
The utility model belongs to the field of locating technology of AGV trolleies, and disclose a kind of accurate positioning device in short-term that can be used for AGV trolleies, left front wheel drive counting device, left side steering driving counting device, off-front wheel driving counting device, right hand steering driving counting device and geomagnetic direction sensor, left front wheel drive counting device including being mounted in AGV car frames include the near front wheel driving motor and left front turns encoder；Left side turns to driving counting device and includes left side steering motor, left-hand diverter and left side steering encoder；Off-front wheel driving counting device includes off-front wheel driving motor and off-front wheel encoder；Right hand steering driving counting device includes right hand steering motor, right hand steering device and right hand steering encoder.The utility model finally calculates precise displacement information of the AGV trolleies within short time interval by carrying out fusion calculation to arranging multiple rotary encoders and a geomagnetic direction sensor on AGV trolleies, and by the data of these sensors.
Description
Technical field
The utility model belongs to the field of locating technology of AGV trolleies, more particularly, to a kind of essence for AGV trolleies
True positioning device.
Background technology
AGV (Automated Guided Vehicle) trolley is modern plant, Solid Warehouse in Flexible Manufacturing Workshop, intelligent compound
The core equipment of stream, unmanned storehouse and sortation hubs.
The navigation mode of AGV trolleies generally has the direct coordinate guidance mode of arrangement beacon, metal wire is arranged on path
Electromagnetic guide mode, on path arrange tape tape guidance mode, on path arrange colour band optical guidance mode
Navigation mode of real-time map etc. is built with laser radar (or vision) SLAM algorithms.The navigation of preceding 4 kinds of AGV trolleies belongs to road
The preset class guidance mode of beacon that diameter is planned in advance, there is change to be laid with difficult, letter with extended route complexity, beacon for which
Mark the problems such as maintenance cost is high.Laser radar (or vision) SLAM algorithms build map and carry out the mode of navigator fix increasingly
As the mainstream navigation mode of AGV trolleies.
It is as a result, building by the data progress fusion calculation to multisensor that SLAM algorithms, which build real-time map and positioning,
It needs to be accurately obtained the relative shift that AGV trolleies are moved in short time interval (generally in 1s to 3s) during figure.It is existing frequently-used in short-term
Pinpoint device has odometer, gyroscope and IMU etc..Above-mentioned device and method pinpoint in short-term is gone back in some aspects
Be there is certain deficiencies, as gyroscope and IMU there is appliance arrangement it is expensive, easily by external interference (such as in measurement process
Have larger temperature and vibration) the shortcomings that.
Utility model content
For the disadvantages described above or Improvement requirement of the prior art, the utility model provides one kind and is used for AGV trolleies in short-term
Pinpoint device, mainly by arranging multiple rotary encoders and a geomagnetic direction sensor in AGV car frames,
And the data of these sensors are subjected to fusion calculation, finally calculate precise displacement information of the AGV trolleies within short time interval.
To achieve the above object, according to the one side of the utility model, providing a kind of can be used for AGV trolleies in short-term
Accurate positioning device, which is characterized in that including be mounted in AGV car frames left front wheel drive counting device, left side turn to
Counting device, off-front wheel driving counting device, right hand steering driving counting device and geomagnetic direction sensor are driven, wherein,
The left front wheel drive counting device includes the near front wheel driving motor and left front turns encoder, the left front wheel drive
Motor is fixedly connected with the near front wheel, and the left front turns encoder is mounted on the motor shaft of the near front wheel driving motor；
The left side turns to driving counting device and includes left side steering motor, left-hand diverter and left side steering encoder,
The left pivot movement motor is connect with the left-hand diverter, and the left side turns to encoder and is mounted on the left-hand diverter
On；
The off-front wheel driving counting device includes off-front wheel driving motor and off-front wheel encoder, the off-front wheel driving
Motor is fixedly connected with off-front wheel, and the off-front wheel encoder is mounted on the motor shaft of the off-front wheel driving motor；
The right hand steering driving counting device includes right hand steering motor, right hand steering device and right hand steering encoder,
The right side rotary electric machine is connect with the right hand steering device, and the right hand steering encoder is mounted on the right hand steering device
On；
The geomagnetic direction sensor is fixed at the geometric center of AGV car frames.
Preferably, the near front wheel driving motor is fixedly connected with the near front wheel by shaft coupling.
Preferably, the off-front wheel driving motor is fixedly connected with off-front wheel by shaft coupling.
In general, it can obtain down the above technical solutions conceived by the present invention are compared with the prior art,
Row advantageous effect：
The utility model by installing multiple rotary encoders and a geomagnetic sensor on AGV trolley specific structures,
It being capable of relative shift that is accurate in a short time and steadily calculating trolley.The embodiment of the utility model is compared to top
Spiral shell instrument and IMU schemes, cost can greatly reduce, and computational accuracy is not affected by the external environment.The implementation of the utility model
Compared to odometer scheme, odometer scheme is only capable of providing the distance that AGV trolleies move within short time interval roughly scheme, it is impossible to accurate
Direction and location information really are provided.
Description of the drawings
Fig. 1 is a kind of structure diagram of accurate positioning device for AGV trolleies of the utility model；
Fig. 2 moves along a straight line for AGV trolleies in a kind of accurate positioning method in short-term for AGV trolleies of the utility model
Computational methods schematic diagram；
Fig. 3 is the principle schematic of the AGV trolley divertical motions of the utility model；
Fig. 4 is AGV trolley divertical motions in a kind of accurate positioning method in short-term for AGV trolleies of the utility model
Computational methods schematic diagram；
Fig. 5 is a kind of for the accurate positioning device in short-term of AGV trolleies and a kind of specific reality of method of the utility model
Apply the exemplary plot of example.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention is further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.
Referring to Fig. 1, a kind of accurate positioning device in short-term that can be used for AGV trolleies, including being mounted in AGV car frames 4
Left front wheel drive counting device 2, left side turn to driving counting device 3, off-front wheel driving counting device 6, right hand steering driving
Counting device 5 and geomagnetic direction sensor 8, wherein,
The left front wheel drive counting device 2 includes the near front wheel driving motor and left front turns encoder, and described the near front wheel drives
Dynamic motor is fixedly connected with the near front wheel 1 by shaft coupling, and the left front turns encoder is mounted on the near front wheel driving motor
On motor shaft, for obtaining the rotational angle that described the near front wheel 1 is accumulated；
The left side turns to driving counting device 3 and includes left side steering motor, left-hand diverter and left side steering encoder,
The left pivot movement motor is connect with the left-hand diverter, for allowing left-hand diverter that AGV car frames 4 is driven to turn to,
The left side turns to encoder and is mounted on the left-hand diverter, for obtaining the angle of the left-hand diverter rotation,
And then obtain the angle that the near front wheel 1 rotates；
The off-front wheel driving counting device 6 includes off-front wheel driving motor and off-front wheel encoder, and the off-front wheel drives
Dynamic motor is fixedly connected with off-front wheel 7 by shaft coupling, and the off-front wheel encoder is mounted on the off-front wheel driving motor
On motor shaft, for obtaining the rotational angle that the off-front wheel 7 is accumulated；
The right hand steering driving counting device 5 includes right hand steering motor, right hand steering device and right hand steering encoder,
The right side rotary electric machine is connect with the right hand steering device, for allowing right hand steering device that AGV car frames 4 is driven to turn to,
The right hand steering encoder is mounted on the right hand steering device, for obtaining the angle of the right hand steering device rotation,
And then obtain the angle that off-front wheel 7 rotates；
The geomagnetic direction sensor 8 is fixed at the geometric center of AGV car frames 4, for measuring trolley vehicle
Body direction.
The off hind wheel 9 and left rear wheel 10 of AGV trolleies follow movement.
AGV moving of car is divided into linear motion and divertical motion, and pinpoint computational methods are also classified into straight line fortune in short-term
Dynamic computational methods and divertical motion computational methods.
AGV trolleies pinpoint linear motion computational methods in short-term, referring to Fig. 2, A points are trolley starting point, and B points are small
Vehicle moves along a straight line end point, and the origin of coordinate system is done from the point of view of A, the initial direction of vehicle body is measured by geomagnetic direction sensor, obtains AGV
Trolley vehicle body and the angle theta of X-axis forward direction0, cumulative angle α is rotated according to the near front wheel that left front turns encoder records1(unit conversion
Into radian), the distance for obtaining AGV trolleies linear motion traveling is S=α1× r, r is AGV car wheel radiuses in formula, B points
Coordinate is (S × sin (θ0), S × cos (θ0)), wherein, X-axis positive direction is the positive east orientation of ground level, and Y-axis positive direction is ground level
Positive north orientation, the coordinate system that X-axis and Y-axis are formed is the absolute location coordinates system during entire AGV moving of car.
The principle of AGV trolley divertical motions, referring to Fig. 3, in order to realize that AGV car wheels are non-slip in steering procedure,
Need the front-wheel of left and right two that there is specific steering angle η1And η2, the normal meeting of the near front wheel, off-front wheel and the trailing wheel three center of circle at this time
(i.e. the O of Fig. 3 points) is met in same point, the left-hand diverter rotational angle η measured according to left side steering encoder1And the right side
Side turns to the right hand steering device rotational angle η that encoder measures2, turning center of circle O can be obtained with respect to AGV car frames geometry
The coordinate value of the relative position of center G points isThe turning radius of AGV trolley geometric centers
For
AGV trolleies pinpoint divertical motion computational methods in short-term, referring to Fig. 4, A points are trolley starting point, and B points are small
Vehicle divertical motion end point, O points turn to the center of circle for trolley, the origin of coordinate system are done from the point of view of A, vehicle is measured by geomagnetic direction sensor
The initial direction of body obtains the angle theta of AGV trolleies vehicle body and X-axis forward direction0.It is rotated according to the near front wheel that left front turns encoder records
Cumulative angle α1(unit conversion into radian), it is α to obtain revolver around the move in a circle arc length of traveling of center of circle O1× r, r is in formula
AGV car wheel radiuses.Therefore revolver is around the center of circle O angles being moved throughWhereinIt is revolver around the center of circle
The radius of turn of O.The left-hand diverter rotational angle η measured according to left side steering encoder1It is surveyed with right hand steering encoder
The right hand steering device rotational angle η measured2, according to fig. 3 with the conclusion of AGV trolley steering principles, AGV trolley geometric centers G's
Turning radius isAGV trolley geometric center G are around the angle that the center of circle turns to(trolley geometric center with trolley left wheel around the rotational angle in the center of circle as),2 points of chord length is Angle with respect to X-axis positive direction isThe coordinate of B is (d × cos (θ '), d
× sin (θ ')), wherein, X-axis positive direction is the positive east orientation of ground level, and Y-axis positive direction is the positive north orientation of ground level, X-axis and Y-axis
The coordinate system of composition is the absolute location coordinates system during entire AGV moving of car.
The exemplary plot of a kind of specific embodiment for being accurately positioned computational methods in short-term of AGV trolleies, referring to Fig. 5, Yi Jixiang
The calculating step answered is：
First, needed according to set by AGV trolleies laser (or vision) SLAM algorithms be accurately positioned short time period when it is a length of
Duration T is divided into n parts by time T, each derivative time section when a length of dt=T/n；
Then, AGV trolleies are when each differential section starts, and first turn to encoder and right hand steering encoder according to left side
Value judges that trolley is moved along a straight line or divertical motion, if regarding as moving along a straight line, according to linear motion calculating side
Method calculates relative displacement coordinate value (the Δ Px of derivative time sectioni,ΔPyi), if regarding as divertical motion, basis turns
Relative displacement coordinate value (the Δ P'x of derivative time section is calculated to movement calculation methodi,ΔP'yi)；
Finally, the differential section coordinate value that n computations go out is added up, you can obtain the relative displacement of short time period T.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principles of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (3)
1. a kind of accurate positioning device in short-term that can be used for AGV trolleies, which is characterized in that including being mounted in AGV car frames
Left front wheel drive counting device, left side turn to driving counting device, off-front wheel driving counting device, right hand steering driving count
Device and geomagnetic direction sensor, wherein,
The left front wheel drive counting device includes the near front wheel driving motor and left front turns encoder, the near front wheel driving motor
It is fixedly connected with the near front wheel, the left front turns encoder is mounted on the motor shaft of the near front wheel driving motor；
The left side turns to driving counting device and includes left side steering motor, left-hand diverter and left side steering encoder, described
Left pivot movement motor is connect with the left-hand diverter, and the left side turns to encoder and is mounted on the left-hand diverter；
The off-front wheel driving counting device includes off-front wheel driving motor and off-front wheel encoder, the off-front wheel driving motor
It is fixedly connected with off-front wheel, the off-front wheel encoder is mounted on the motor shaft of the off-front wheel driving motor；
The right hand steering driving counting device includes right hand steering motor, right hand steering device and right hand steering encoder, described
Right side rotary electric machine is connect with the right hand steering device, and the right hand steering encoder is mounted on the right hand steering device；
The geomagnetic direction sensor is fixed at the geometric center of AGV car frames.
2. a kind of accurate positioning device in short-term that can be used for AGV trolleies according to claim 1, which is characterized in that described
The near front wheel driving motor is fixedly connected with the near front wheel by shaft coupling.
3. a kind of accurate positioning device in short-term that can be used for AGV trolleies according to claim 1, which is characterized in that described
Off-front wheel driving motor is fixedly connected with off-front wheel by shaft coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721733697.9U CN207540557U (en) | 2017-12-13 | 2017-12-13 | A kind of device pinpoint in short-term for AGV trolleies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721733697.9U CN207540557U (en) | 2017-12-13 | 2017-12-13 | A kind of device pinpoint in short-term for AGV trolleies |
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| Publication Number | Publication Date |
|---|---|
| CN207540557U true CN207540557U (en) | 2018-06-26 |
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ID=62618308
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721733697.9U Expired - Fee Related CN207540557U (en) | 2017-12-13 | 2017-12-13 | A kind of device pinpoint in short-term for AGV trolleies |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955012A (en) * | 2019-04-12 | 2019-07-02 | 哈工大机器人系统（佛山）有限公司 | A kind of intelligent transport trolley of energy fine positioning |
| CN110789606A (en) * | 2019-10-16 | 2020-02-14 | 合肥搬易通科技发展有限公司 | Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof |
-
2017
- 2017-12-13 CN CN201721733697.9U patent/CN207540557U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955012A (en) * | 2019-04-12 | 2019-07-02 | 哈工大机器人系统（佛山）有限公司 | A kind of intelligent transport trolley of energy fine positioning |
| CN110789606A (en) * | 2019-10-16 | 2020-02-14 | 合肥搬易通科技发展有限公司 | Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180626 Termination date: 20211213 |
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| CF01 | Termination of patent right due to non-payment of annual fee |