CN103019240A - Automatic guided vehicle (AGV) trolley plane positioning navigation system and method - Google Patents
Automatic guided vehicle (AGV) trolley plane positioning navigation system and method Download PDFInfo
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Abstract
The invention relates to the field of positioning navigation and discloses an automatic guided vehicle (AGV) trolley plane positioning navigation system and an AGV trolley plane positioning navigation method. The system comprises an AGV trolley, a map database, an ultrasonic sensor module, a steering engine module, a steering angle sensor module and a microprocessor module, wherein the map database is stored in the microprocessor module; the ultrasonic sensor module is arranged at a front-end central position and a left-side central position of the AGV trolley; and the ultrasonic sensor module, the steering engine module and the steering angle sensor module are respectively and electrically connected with the microprocessor module. The front and lateral ultrasonic sensor information of the AGV trolley is received, the microprocessor module adopts a corresponding positioning algorithm after map database matching, and the AGV trolley is positioned and controlled to move. An ultrasonic distometer is used for measuring the distance, the cost is low, and the distance measurement is accurate; and moreover, a driving path of the AGV trolley can be optionally planned, the guide rail constraint is broken, the control is convenient, and the working efficiency is greatly improved.
Description
Technical Field
The invention relates to the field of positioning navigation, in particular to an AGV trolley plane positioning navigation system and method.
Background
The automatic Guided vehicle agv (automatic Guided vehicle) is an unmanned conveying device equipped with an automatic guiding system, automatically travels or pulls a loading platform to a designated place according to a set route, realizes automatic loading, unloading and carrying of materials, automatically interfaces with other logistics devices, and is automatic in the whole process.
AGVs are currently known that are equipped with electromagnetic or optical guides that guide the AGV cart over a predetermined track. When the workload is increased or the equipment is increased, a new track needs to be added to complete different tasks, which increases the cost and complicates the system.
Disclosure of Invention
The purpose of the invention is: in order to solve the technical problems in the prior art, the AGV car plane positioning navigation system and the AGV car plane positioning navigation method replace the traditional AGV guide track, and a map database in a target environment can be changed in real time according to the actual working condition without the need of guidance of the navigation track.
In order to achieve the purpose, the invention adopts the technical scheme that: there is provided an AGV car floor positioning navigation system comprising: the AGV comprises an AGV trolley 1, a map database, an ultrasonic sensor module 2, a steering engine module 3, a corner sensor module 4 and a microprocessor module 5.
The map database is stored in the microprocessor module 5 and used for providing coordinate information under a target environment, and the AGV trolley 1 is controlled to advance by means of the steering engine module 3 and the corner sensor module 4 through data processing of the microprocessor module 5; (ii) a The ultrasonic sensor module 2 is arranged at the front end center position and the left side center position of the AGV trolley 1 and is used for detecting the change of the distance between the front side and the side surface of the AGV trolley 1 and providing data to the microprocessor module 5 in real time; the steering engine module 3 is connected with a steering connecting rod of the AGV trolley 1 and is used for steering the AGV trolley 1; the microprocessor module is used for processing the received data in real time and realizing the positioning and navigation of the AGV trolley 1; the corner sensor module 4 is arranged on a steering shaft tube of the AGV trolley 1 and used for measuring the corner of the AGV trolley 1 and providing data to the microprocessor module 5; and the modules are respectively electrically connected with the microprocessor module 5.
Wherein the map database includes: and the origin-destination coordinate information, the inflection point coordinate information, the road slope information and the intersection coordinate information in the target environment are used for providing coordinate reference for positioning and navigation of the AGV trolley 1.
A plane positioning navigation method for an AGV comprises the following steps:
step 100: data acquisition: the front ultrasonic sensor module 2 and the side ultrasonic sensor module 2 of the AGV trolley 1 transmit sound waves and time, when the AGV trolley encounters an obstacle, the sound waves return, the time is stopped after the reflected waves are received, and the microprocessor module 5 calculates the distance between the AGV trolley 1 and the front side and the distance between the AGV trolley 1 and the side according to the time difference between the transmitting time and the receiving time; is calculated by the formula
(ii) a Wherein,
is the distance measured by the front-end ultrasonic sensor,
the distance measured by the left difference ultrasonic sensor;for the acoustic time difference of the front ultrasonic sensor,
the acoustic time difference of the left ultrasonic sensor.
Step 200: the microprocessor module 5 obtains the distance information as described in step 100 above
According to the initial information of the map database obtained by the current microprocessor module 5, the specific road section where the AGV trolley 1 is located currently is determined, and the coordinates of the AGV trolley 1 are calculated according to a calculation formula provided by the map database, wherein the calculation formula is different according to different road section information.
Step 300: and (3) processing the coordinate information of the AGV trolley 1 from the microprocessor module 5, determining the road section where the AGV trolley 1 is located, and controlling the AGV trolley 1 to turn or go straight according to different information provided by the map database until the destination is reached.
According to the invention, the information of the front ultrasonic sensor and the side ultrasonic sensor of the AGV is received, and after the matching of the map database, the microprocessor adopts a corresponding positioning algorithm to position the AGV and control the travel of the AGV.
Has the advantages that: the ultrasonic range finder is used for ranging, so that the cost is low and the ranging is accurate; the laying work of the complex road track is avoided, the cost is further reduced, the traveling path of the AGV trolley can be planned at will, the constraint of the guide track is eliminated, the control is more convenient, and the working efficiency is greatly improved.
Drawings
FIG. 1 is a schematic structural diagram of an AGV car plane positioning navigation system according to the present invention.
FIG. 2 is a schematic flow chart of an AGV car plane positioning navigation method according to the present invention.
FIG. 3 is a diagram of a possible map database in a target environment.
FIG. 4 is a schematic diagram of a coordinate system derived from a possible map database translation in a target environment.
The attached drawings are as follows: the system comprises an AGV (automatic guided vehicle), an ultrasonic sensor module, a steering engine module, a corner sensor module and a microprocessor module, wherein the AGV comprises 1-the AGV, 2-the ultrasonic sensor module, 3-the steering engine module, 4-the corner sensor module and 5-the microprocessor module.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1, the AGV car plane positioning navigation system of the present invention includes: the AGV comprises an AGV trolley 1, a map database, an ultrasonic sensor module 2, a steering engine module 3, a corner sensor module 4 and a microprocessor module 5. The ultrasonic sensor modules are two, one is arranged at the center position right in front of the AGV trolley 1, and the other is arranged at the left center position part of the AGV trolley 1. And the corner sensor module 4 is arranged on a steering shaft tube of the AGV. The steering engine module 3 is connected with a steering wheel connecting rod. The map database is stored in the microprocessor module 5 for the microprocessor module 5 to read the road information. The microprocessor module 5 performs algorithm processing according to the data of each party, positions the AGV trolley 1, and controls the AGV trolley 1 to advance.
Referring to FIG. 3, in a plant, there are three task points that require the AGV car 1 to go to perform a task.
FIG. 4 is a planar coordinate system translated from the map database of FIG. 3. The following detailed description, with reference to fig. 4, describes the principle of positioning navigation:
the initial position of the trolley in the workshop is positioned at the point A in the figure and is ready to run to the point B. At the moment, the map data matching data is 1, the driving road section: AB; 2. current coordinate (x)1，y1). The microprocessor module 5 provides the positioning algorithm of the section according to the information, the abscissa x of the AGV car 1AGV=x1Ordinate yAGV=y-ydisHere ydisIs the current position distance of the trolley
Length of (d). The AGV 1 thus travels in the AB section with the coordinates (x)1,y-ydis)。
When the AGV trolley 1 continues to move forward, the coordinate calculated by the microprocessor module 5 is (x)1，y1) When the AGV reaches the point B, namely the task point, the AGV 1 is explained. After the task is executed, the AGV trolley 1 needs to travel to the point C; the microprocessor module 5 should control the AGV cart 1 to turn 90 degrees to the right, the corner sensor module 4 measures and informs the microprocessor module 5 of the 90-degree rotation, and at this time, the microprocessor module 5 reads the map database information of the BC segment: 1. travel section: a BC section; 2. current coordinate (x)1,y2). Then the microprocessor module 5 obtains a corresponding positioning algorithm, and the AGV trolley 1 is in the BC section lineThe coordinates of travel are (x-x)dis,y2) Wherein x isdisThe distance from the front ultrasonic sensor module 2 to the front is the AGV 1.
After the AGV trolley 1 moves forward to the point C, the transition to the CD section is needed, and the microprocessor module 5 reads the map data of the CD section: 1. travel section: a CD segment; 2. current coordinate (x)2,y2) (ii) a 3, end point coordinate (x)3,y3). Accordingly, the microprocessor module 5 obtains the need for right steering of the AGV car 1 
. Since the CD segment is a segment of oblique line, the corresponding coordinate calculation formula will become slightly more complex. For the CD segment in the schematic diagram, the coordinate calculation is divided into two segments, the first half segment is CC', wherein
In this segment, the AGV Car 1 has coordinates of (x-x)discosθ,y-ydiscos θ); let the coordinate of D' be (x) according to known conditions5,y5) Then, then
The real-time coordinate of the AGV 1 in the segment is (x-x)discosθ,y5+xdissin θ) advances according to the coordinates and will eventually reach the end station E.
In the same way, different maps and corresponding databases can be designed according to different task requirements.
The above description is further detailed in connection with the preferred embodiments of the present invention, and it is not intended to limit the practice of the invention to these descriptions. It will be apparent to those skilled in the art that various modifications, additions, substitutions, and the like can be made without departing from the spirit of the invention.
Claims (3)
1. An AGV car floor positioning navigation system, comprising: the AGV comprises an AGV trolley (1), a map database, an ultrasonic sensor module (2), a steering engine module (3), a corner sensor module (4) and a microprocessor module (5);
the map database is stored in a microprocessor module (5); the ultrasonic sensor modules (2) are arranged at the front end center position and the left side center position of the AGV trolley (1); the steering engine module (3) is connected with a steering connecting rod of the AGV trolley (1); the corner sensor module (4) is arranged on a steering shaft tube of the AGV trolley (1); the modules are respectively electrically connected with the microprocessor module (5);
the specific process is as follows:
data acquisition: the front ultrasonic sensor module and the side ultrasonic sensor module (2) of the AGV trolley (1) transmit sound waves and time, the sound waves return when encountering a barrier, the time is stopped after the reflected waves are received, and the microprocessor module (5) calculates the distance between the AGV trolley (1) and the front and the side according to the time difference between the transmission and the reception; is calculated by the formula
(ii) a Wherein,
is the distance measured by the front-end ultrasonic sensor,
the distance measured by the left difference ultrasonic sensor;
for the acoustic time difference of the front ultrasonic sensor,
the acoustic time difference of the left ultrasonic sensor is shown;
the microprocessor module (5) obtains the distance information as described in step 100 aboveDetermining the concrete road section where the AGV trolley (1) is currently located according to the initial information of the map database obtained by the current microprocessor module (5), and carrying out calculation on the AGV trolley according to a calculation formula provided by the map database (1) The target of the road section is calculated, and the calculation formula is different according to the difference of the road section information;
and processing the coordinate information from the microprocessor module (5) to the AGV trolley (1), and after determining the road section where the AGV trolley (1) is located, controlling the AGV trolley (1) to turn or go straight according to different information provided by the map database until the destination is reached.
2. An AGV cart floor positioning navigation system according to claim 1, where said map database includes: and the coordinate information of the origin-destination point, the coordinate information of the inflection point, the slope information of the road and the coordinate information of the intersection under the target environment.
3. A plane positioning navigation method for an AGV comprises the following steps:
step 100: data acquisition: the front ultrasonic sensor module and the side ultrasonic sensor module (2) of the AGV trolley (1) transmit sound waves and time, the sound waves return when encountering a barrier, the time is stopped after the reflected waves are received, and the microprocessor module (5) calculates the distance between the AGV trolley (1) and the front and the side according to the time difference between the transmission and the reception; is calculated by the formula
(ii) a Wherein,
is the distance measured by the front-end ultrasonic sensor,
the distance measured by the left difference ultrasonic sensor;
for the acoustic time difference of the front ultrasonic sensor,is a left ultrasonic sensor sound waveA time difference;
step 200: the microprocessor module (5) obtains the distance information as described in step 100 above
According to initial information of a map database obtained by a current microprocessor module (5), a specific road section where the AGV trolley (1) is located at present is determined, and the coordinates of the AGV trolley (1) are calculated according to a calculation formula provided by the map database, wherein the calculation formula is different according to different road section information;
step 300: and processing the coordinate information from the microprocessor module (5) to the AGV trolley (1), and after determining the road section where the AGV trolley (1) is located, controlling the AGV trolley (1) to turn or go straight according to different information provided by the map database until the destination is reached.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103412566A (en) * | 2013-08-21 | 2013-11-27 | 广州动进精密机械科技有限公司 | Method and system enabling AGV to atomically search for destination station at multiple turnouts |
| CN104656084A (en) * | 2013-11-21 | 2015-05-27 | 现代自动车株式会社 | Obstacle Map Generation Apparatus And Method Using An Ultrasonic Sensor |
| CN104679004A (en) * | 2015-02-09 | 2015-06-03 | 上海交通大学 | Flexible path and fixed path combined automated guided vehicle and guide method thereof |
| CN104793619A (en) * | 2015-04-17 | 2015-07-22 | 上海交通大学 | Warehouse roadway automatic guided vehicle navigation device based on swing single-line laser radar |
| CN106843228A (en) * | 2017-03-23 | 2017-06-13 | 汕头大学 | Method and system based on mobile terminal line setting intelligent carriage walking path |
| CN107243900A (en) * | 2017-08-09 | 2017-10-13 | 苏州阿甘机器人有限公司 | A kind of finding automatic feeding method based on indoor navigation |
| CN107608266A (en) * | 2017-09-08 | 2018-01-19 | 中国计量大学 | Automatic send based on STM32 takes out cart system design |
| CN108572653A (en) * | 2018-06-05 | 2018-09-25 | 河南森源电气股份有限公司 | A kind of AGV ultrasonic waves guidance system and AGV navigation vehicles |
| TWI684084B (en) * | 2017-06-20 | 2020-02-01 | 日商日本電產新寶股份有限公司 | Mobile device |
| CN114663001A (en) * | 2022-05-25 | 2022-06-24 | 广州市广播电视台 | Prompt message generation method applied to relay vehicle and electronic equipment |
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| CN108572653A (en) * | 2018-06-05 | 2018-09-25 | 河南森源电气股份有限公司 | A kind of AGV ultrasonic waves guidance system and AGV navigation vehicles |
| CN114663001A (en) * | 2022-05-25 | 2022-06-24 | 广州市广播电视台 | Prompt message generation method applied to relay vehicle and electronic equipment |
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