CN207799464U - A kind of hybrid navigation AGV system - Google Patents
A kind of hybrid navigation AGV system Download PDFInfo
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- CN207799464U CN207799464U CN201721888883.XU CN201721888883U CN207799464U CN 207799464 U CN207799464 U CN 207799464U CN 201721888883 U CN201721888883 U CN 201721888883U CN 207799464 U CN207799464 U CN 207799464U
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- agv
- magnetic stripe
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Abstract
A kind of hybrid navigation AGV system, including laser navigation sensor（1）, Magnetic Sensor（2）, tape structure（3）With AGV vehicles（4）；The tape structure（3）It include the traveling magnetic stripe along direction of travel（31）With perpendicular to the traveling magnetic stripe（31）Horizontal school position magnetic stripe（32）；The horizontal school position magnetic stripe（32）Center and the traveling magnetic stripe（31）Center overlaps, for calibrating the AGV vehicles（4）Position in the horizontal direction；The utility model improves the local positioning precision of the hybrid navigation AGV system based on laser tape, and the application scenarios of AGV are expanded to narrow space transport or need the scene docked with target object high-precision, at low cost and algorithm simple and practicable.
Description
Technical field
The utility model is related to arrive the fields AGV, a kind of hybrid navigation AGV system is refered in particular to.
Background technology
The guide mode of AGV determines the reliability when flexibility and system operation for the transportation system being made from it.According to
The guide mode of the form of AGV guide lines, current AGV can be divided into fixed_path guided and free path guides two kinds of sides
Formula, the former has special path track similar to train transport, high stability when operation, though path is limited overall cost phase
It is slightly higher to relatively low and positioning accuracy；The latter's path changeover is flexible, flexible, but its positioning accuracy is by device therefor and Navigation Control
The influence of algorithm causes in the positioning accuracy same with fixed_path guided mode, and the overall cost of AGV greatly promotes.
Since in numerous environmental applications, the scene of high position precision is usually applied to partial duty place, for example applies
Accurate positioning is needed when mainly reaching station when factory, thus currently derives the hybrid navigation for combining a variety of navigation modes
AGV system, the navigation of laser navigation combination magnetic stripe is one such mode.Which is adopted when being moved between partial duty place
With the higher low-cost laser positioning of flexibility, degree of precision is used after reaching the partial duty place for needing degree of precision
Magnetic stripe navigator fix.But when AGV vehicles are needed into accurate with the approximate narrow space of car body size or needs and target object
When docking, the navigation accuracy of current existing hybrid navigation AGV system is still relatively low, especially because car body perpendicular to
Relatively large deviation is still suffered from the direction that magnetic stripe is laid with, car body narrow space more difficult to get access or can not be correctly right with target object
It connects.
Invention content
For the above deficiency, the utility model proposes a kind of hybrid navigation AGV systems to carry in view of the drawbacks of the prior art
For a kind of system significantly improving hybrid navigation AGV system local positioning precision.
The purpose of this utility model is achieved through the following technical solutions：
A kind of hybrid navigation AGV system, including laser navigation sensor, Magnetic Sensor, tape structure and AGV vehicles；It is described
Tape structure includes the traveling magnetic stripe along direction of travel and the horizontal school position magnetic stripe perpendicular to the traveling magnetic stripe；The level
School position magnetic stripe center is overlapped with traveling magnetic stripe center, for calibrating the AGV vehicles position in the horizontal direction.
Under laser navigation pattern, the Magnetic Sensor sends a signal to the AGV vehicles after detecting magnetic stripe signal
AGV is switched to magnetic navigation pattern by the control process system of control process system, the AGV vehicles；The control process of the AGV vehicles
Magnetic sensor data described in system acquisition, the deviation value based on the data Yu magnetic stripe center adjust the AGV vehicles along the traveling
The center of magnetic stripe travels.
Under magnetic navigation pattern, the Magnetic Sensor sends a signal to the AGV vehicles after can't detect magnetic stripe signal
AGV is switched to laser navigation pattern by the control process system of control process system, the AGV vehicles；At the control of the AGV vehicles
Reason system controls the AGV vehicles movement after receiving the information of the laser navigation sensor.
The Magnetic Sensor includes preposition Magnetic Sensor and postposition Magnetic Sensor；When the AGV vehicles leave destination, institute
State the data of preposition Magnetic Sensor described in the control process system acquisition of AGV vehicles；It is described when the AGV vehicles are close to destination
The data of postposition Magnetic Sensor described in the control process system acquisition of AGV vehicles.
The utility model improves the local positioning precision of the hybrid navigation AGV system based on laser tape, by answering for AGV
Narrow space transport is expanded to scene or needs the scene docked with target object high-precision, at low cost and algorithm simply easy
Row.
Description of the drawings
Attached drawing 1 is the structural schematic diagram of the utility model.
Specific implementation mode
The utility model is described further below in conjunction with the accompanying drawings.
A kind of hybrid navigation AGV system provided by the utility model, as shown in Figure 1, including laser navigation sensor 1, magnetic
Sensor 2, tape structure 3 and AGV vehicles 4；The tape structure 3 includes along the traveling magnetic stripe 31 of direction of travel and perpendicular to institute
State the horizontal school position magnetic stripe 32 of traveling magnetic stripe 31；Horizontal school position 32 center of magnetic stripe is overlapped with 31 center of traveling magnetic stripe,
For calibrating 4 position in the horizontal direction of the AGV vehicles.
Under laser navigation pattern, the Magnetic Sensor 2 sends a signal to the AGV vehicles 4 after detecting magnetic stripe signal
Control process system, AGV is switched to magnetic navigation pattern by the control process system of the AGV vehicles 4；The control of the AGV vehicles 4
Processing system acquires 2 data of Magnetic Sensor, and the deviation value based on the data Yu magnetic stripe center adjusts the AGV vehicles 4 along institute
State the center traveling of traveling magnetic stripe 31.
Under magnetic navigation pattern, the Magnetic Sensor 2 sends a signal to the AGV vehicles 4 after can't detect magnetic stripe signal
Control process system, AGV is switched to laser navigation pattern by the control process system of the AGV vehicles 4；The control of the AGV vehicles 4
Processing system processed, which receives to control the AGV vehicles 4 after the information of the laser navigation sensor 1, to be moved.
The Magnetic Sensor 2 includes preposition Magnetic Sensor 21 and postposition Magnetic Sensor 22；When the AGV vehicles 4 leave purpose
When ground, the data of preposition Magnetic Sensor 21 described in the control process system acquisition of the AGV vehicles 4；When the AGV vehicles 4 are close to mesh
Ground when, the data of postposition Magnetic Sensor 22 described in the control process system acquisition of the AGV vehicles 4.
Compared with prior art, a kind of hybrid navigation AGV system provided by the utility model, improves based on laser magnetic
The application scenarios of AGV are expanded to narrow space transport or needs and mesh by the local positioning precision of the hybrid navigation AGV system of band
The scene of object high-precision docking is marked, at low cost and algorithm is simple and practicable.
Claims (2)
1. a kind of hybrid navigation AGV system, which is characterized in that including laser navigation sensor（1）, Magnetic Sensor（2）, tape knot
Structure（3）With AGV vehicles（4）；The tape structure（3）It include the traveling magnetic stripe along direction of travel（31）With perpendicular to the traveling
Magnetic stripe（31）Horizontal school position magnetic stripe（32）；The horizontal school position magnetic stripe（32）Center and the traveling magnetic stripe（31）Center weight
It closes, for calibrating the AGV vehicles（4）Position in the horizontal direction；
Under laser navigation pattern, the Magnetic Sensor（2）The AGV vehicles are sent a signal to after detecting magnetic stripe signal（4）
Control process system, the AGV vehicles（4）Control process system AGV is switched to magnetic navigation pattern；The AGV vehicles（4）'s
Magnetic Sensor described in control process system acquisition（2）Data, the deviation value based on the data Yu magnetic stripe center, adjust the AGV
Vehicle（4）Along the traveling magnetic stripe（31）Center traveling；
Under magnetic navigation pattern, the Magnetic Sensor（2）The AGV vehicles are sent a signal to after can't detect magnetic stripe signal（4）
Control process system, the AGV vehicles（4）Control process system AGV is switched to laser navigation pattern；The AGV vehicles（4）
Control process system receive the laser navigation sensor（1）Information after control the AGV vehicles（4）Movement.
2. a kind of hybrid navigation AGV system as described in claim 1, which is characterized in that the Magnetic Sensor（2）Including preposition
Magnetic Sensor（21）With postposition Magnetic Sensor（22）；When the AGV vehicles（4）When leaving destination, the AGV vehicles（4）Control
Processing system acquires the preposition Magnetic Sensor（21）Data；When the AGV vehicles（4）When close to destination, the AGV vehicles
（4）Control process system acquisition described in postposition Magnetic Sensor（22）Data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721888883.XU CN207799464U (en) | 2017-12-29 | 2017-12-29 | A kind of hybrid navigation AGV system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721888883.XU CN207799464U (en) | 2017-12-29 | 2017-12-29 | A kind of hybrid navigation AGV system |
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| CN207799464U true CN207799464U (en) | 2018-08-31 |
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| CN201721888883.XU Active CN207799464U (en) | 2017-12-29 | 2017-12-29 | A kind of hybrid navigation AGV system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343545A (en) * | 2018-12-21 | 2019-02-15 | 深圳科卫机器人服务有限公司 | Robot |
-
2017
- 2017-12-29 CN CN201721888883.XU patent/CN207799464U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343545A (en) * | 2018-12-21 | 2019-02-15 | 深圳科卫机器人服务有限公司 | Robot |
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