CN105807771B - Station identifying system based on AGV and its control method - Google Patents
Station identifying system based on AGV and its control method Download PDFInfo
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- CN105807771B CN105807771B CN201610288473.5A CN201610288473A CN105807771B CN 105807771 B CN105807771 B CN 105807771B CN 201610288473 A CN201610288473 A CN 201610288473A CN 105807771 B CN105807771 B CN 105807771B
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- 239000000523 sample Substances 0.000 claims abstract description 50
- 230000002452 interceptive effect Effects 0.000 claims abstract description 21
- 230000003139 buffering effect Effects 0.000 claims abstract description 15
- 230000003993 interaction Effects 0.000 claims abstract description 10
- 238000012937 correction Methods 0.000 claims abstract description 7
- 230000014759 maintenance of location Effects 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 22
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- 238000001514 detection method Methods 0.000 description 4
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- 239000000463 material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
A kind of station identifying system and its control method based on AGV, including：Guide rail, station mark and center control interactive device, wherein：Station mark is set on corresponding station, AGV car bodies are run along guide rail between different operating area under the scheduling of center control interactive device, when at traveling to station mark, signal is passed to core board by infrared levels change-over panel and handled by the infrared probe of contact origin identification line in station recognition unit, and core board keeps low signal to carry out timing each infrared probe；It records time difference when each infrared probe contact buffers tag line and makes corrections；Each infrared probe is recorded successively by buffering tag line, section mark band and signal intensity when character string code value band and retention time, into row decoding, character string quantity and corresponding station information are obtained, and is shown on the human-computer interaction interface of center control interactive device；Reasonable design of the present invention saves efficient, raising automation level and productivity.
Description
Technical field
The present invention relates to a kind of technology of robot identification and control field, specifically a kind of stations based on AGV
Identifying system and its control method.
Background technology
Automated guided vehicle (Automated Guided Vehicle, AGV) is one kind of wheeled robot, usually quilt
Modern factories can be travelled for carrying material and identification station along specified Route guiding.Guiding form can be divided into optics and draw
It leads and is guided with magnetoelectricity, the former track is guided using the track different from ground color, and the latter is carried out by electromagnetic path
Guiding.Computer can send real-time working instruction to AGV.
By the retrieval discovery to the prior art, Chinese patent literature CN102854878A, publication date 2013.1.2 are public
It has opened a kind of infrared electro and has been oriented to AGV devices and its control method, in each one driven wheel of installation in the quadripolar corners position of vehicle bottom,
The intermediate position of vehicle bottom is equipped with one group of driving wheel being symmetric along longitudinal direction, and driving wheel drives with brshless DC motor
The inside of dynamic connection, every driving wheel is equipped with speed detector, and the intermediate position of vehicle bottom is transversely equipped with one group and is in
Symmetrical infrared electro guider is equipped with infrared Mark Detection device, car body on the inside of infrared electro guider
The quadripolar corners position of bottom is also respectively installed by one avoidance sensor；Using the infrared position detection for measuring position offset and deflection angle
Method, secondary line style optimum control and Kalman filter are combined guide path tracking strategy.But the technology is inclined using position
The method for detecting position of shifting amount and deflection angle, program is complicated, and operation is cumbersome, and is not easy to the coordinated management and spirit of more AGV
Setting living, increases control cost.
Invention content
The present invention is directed to deficiencies of the prior art, proposes a kind of station identifying system and its side based on AGV
Method by the way that infrared probe arranged side by side is arranged on AGV car bodies, and is set to matched station mark in the workspace of pavement branch sections
Know the automatic identification for carrying out station, the position of AGV car bodies, precise and high efficiency are indicated with character string quantity.
The present invention is achieved by the following technical solutions：
The station identifying system based on AGV that the present invention relates to a kind of, including：Guide rail, station mark and center control interaction
Device, wherein：Station mark is set on corresponding station, and the AGV car bodies are under the scheduling of center control interactive device
It is run between different operating area along guide rail, reads station and identify to obtain corresponding character string quantity, during character string quantity is transmitted to
Centre control interactive device simultaneously shows corresponding station information.
The station information is workspace or road section information where AGV car bodies.
The AGV car bodies include：Core board, wireless communication unit, servo drive unit, universal wheel, chassis, loading are flat
Platform, station recognition unit and infrared tracking sensor, wherein：Universal wheel, core board and article carrying platform are set gradually from front to back
In chassis center, infrared tracking sensor is respectively arranged at the both sides of universal wheel, and it is flat that servo drive unit is respectively arranged at loading
The both sides of platform；Wireless communication unit and station recognition unit are respectively arranged at the both sides of core board, and core board drives with servo respectively
Moving cell, station recognition unit, wireless communication unit are connected with infrared tracking sensor.
The station recognition unit includes：Infrared levels change-over panel and four infrared probes, wherein：Four infrared probes
It is juxtaposed on the front of infrared levels change-over panel.
The infrared probe is located at below chassis, and perpendicular to the ground.
The wireless communication unit is ZigBee wireless communication units.
The servo drive unit includes driving wheel and corresponding driver.
The spacing of the infrared tracking sensor of the universal wheel both sides is more than the width of guide rail.
CPU, communication interface, power supply changeover device and I/O interface are provided on the core board.
The station identifies：The origin identification line that is from bottom to top set gradually along AGV car body travel directions, buffering
The character string code value band that tag line, section mark band and three are set up in parallel, wherein：Character string code value band is located at section mark band
Left side, origin identification line is identical as the buffering line width of tag line, and section mark band is identical with the bandwidth of character string code value band.
The length of the character string code value band and section mark band is set unit length 8 times.
The character string code value band and the bandwidth of section mark band and the spacing of infrared probe are equal.
Four infrared probes successively with the three character string code value bands and a section mark band one from left side
One corresponds to.
The present invention relates to a kind of control method based on above system, by when AGV car bodies are travelled to station mark,
In station recognition unit contact origin identification line infrared probe by signal by infrared levels change-over panel pass to core board into
Row processing, core board keep low signal to carry out timing each infrared probe；Core board records what each infrared probe was selected relatively
Benchmark infrared probe contacts time difference when buffering tag line and makes corrections；Core board records each infrared probe successively through too slow
Signal intensity and retention time when rushing tag line, section mark band and character string code value band obtain character string quantity into row decoding
And corresponding station information, and be shown on the human-computer interaction interface of center control interactive device.
The decoding refers to：The code value of the character string code value band of different scale codings and section mark band is converted to together
One system obtains character string quantity.
Technique effect
Compared with prior art, the present invention on AGV by being arranged infrared probe arranged side by side, and is set to workspace phase
The station of cooperation identifies, and allows AGV with low input but efficiently carries out station identification, will refer to the word of station and road section information
Symbol string quantity is uploaded to center control interactive device to be shown on human-computer interaction interface, and upload procedure is not required to transcoding and communication association
View provides facility for human-computer interaction, Multi computer cooperation scheduling navigation, the working condition of AGV is monitored convenient for administrator, operation is completed and appoints
Business distribution, solution of emergent event.
Description of the drawings
Fig. 1 is the station identifying system schematic diagram based on AGV；
Fig. 2 is chassis module schematic diagram；
Fig. 3 is drive module schematic diagram；
Fig. 4 is that station identifies schematic diagram；
Fig. 5 is human-computer interaction interface schematic diagram；
In figure：1 is AGV car bodies, and 2 be workspace, and 3 be guide rail, and 4 identify for station, and 5 be center control interactive device, and 6 are
Chassis, 7 be universal wheel, and 8 be wireless communication unit, and 9 be right wheel driver, and 10 be article carrying platform, and 11 be infrared tracking sensor,
12 be infrared probe, and 13 be infrared levels change-over panel, and 14 be core board, and 15 be revolver driver, and 16 be rear drive sprocket, and 17 be to watch
Driving unit is taken, 18 be station recognition unit, and 19 be character string code value band, and 20 be section mark band, and 21 be character string quantity, and 22 are
Origin identification line, 23 be buffering tag line.
Specific implementation mode
It elaborates below to the embodiment of the present invention, the present embodiment is carried out lower based on the technical solution of the present invention
Implement, gives detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
Embodiment 1
As shown in Figure 1, the present embodiment is related to a kind of station identifying system based on AGV, including：AGV car bodies 1, guide rail 3,
Station mark 4 and center control interactive device 5, wherein：Station mark 4 is set on corresponding station, and AGV car bodies 1 are in center
It controls and is run between different operating area 2 along guide rail 3 under the scheduling of interactive device 5, read station mark 4 and obtain corresponding character
Character string quantity 21 is transmitted to center control interactive device and shows the information of corresponding station by string quantity 21.
The guide rail 3 is preferably black hair side band.
The AGV car bodies 1 include：Core board 14, wireless communication unit 8, servo drive unit 17, universal wheel 7, chassis
6, article carrying platform 10, station recognition unit 18 and infrared tracking sensor 11, wherein：Universal wheel 7, core board 14 and article carrying platform
10 are set in turn in 6 center of chassis from front to back, and infrared tracking sensor 11 is respectively arranged at the both sides of universal wheel 7, and servo is driven
Moving cell 17 is respectively arranged at the both sides of article carrying platform 10；Wireless communication unit 8 and station recognition unit 18 are respectively arranged at core
The both sides of core 14, core board 14 respectively with servo drive unit 17, station recognition unit 18, wireless communication unit 8 and infrared
Tracking sensor 11 is connected.
The station recognition unit 18 includes：Infrared levels change-over panel 13 and four infrared probes 12, wherein：Four red
Outer probe 12 is juxtaposed on the front of infrared levels change-over panel 13.
The infrared probe 12 is located at 6 lower section of chassis, and perpendicular to the ground.
The wireless communication unit 8 is ZigBee wireless communication units 8.
The servo drive unit 17 includes driving wheel 16 and corresponding driver, and the driver in left side drives for revolver
The driver of device 15, right side is right wheel driver 9.
The spacing of the infrared tracking sensor 11 of 7 both sides of universal wheel is more than the width of guide rail 3.
As shown in figure 3, being provided with CPU, communication interface, power supply changeover device and I/O interface on the core board 14.
Shown in Fig. 4, station mark 4 includes：The starting from bottom to top set gradually along 1 travel direction of AGV car bodies
Tag line 22, buffering tag line 23, section mark band 20 and three character string code value bands 19 being set up in parallel, wherein：Character string
Code value band 19 is located at 20 left side of section mark band, and origin identification line 22 is identical as the buffering line width s of tag line 23, section mark band
20 is identical with the bandwidth w of character string code value band 19.
The length of the character string code value band 19 and section mark band 20 is set unit length d 8 times.
The bandwidth w of the character string code value band 19 and section mark band 20 is equal with the spacing of infrared probe 12.
Four infrared probes 12 successively with from left side three character string code value bands 19 and section identify
Band 20 corresponds.
The station mark 4 and guide rail 3 is same material, and is affixed at 3 left side fixed range of guide rail.
The core board 14 realizes that voltage conversion is supported with power supply by power supply changeover device.
The central axes of the station mark 4 pass through the axis of four infrared probes 12 at a distance from the central axes of guide rail 3
The distance between line and the central axes of AGV car bodies 1 determine.
The present embodiment is related to a kind of control method based on above system, specifically includes following steps：
Step 1 sets AGV car bodies 1 and at the uniform velocity travels, and segmentation life is carried out to travel route of the AGV car bodies 1 in factory area
Name, when at the traveling of AGV car bodies 1 to station mark 4, the infrared probe 12 of contact origin identification line 22 in station recognition unit 18
Signal is passed to core board 14 by infrared levels change-over panel 13 to handle, core board 14 enters station identification preparation mould
Formula starts to keep low signal to carry out timing each infrared probe 12 on origin identification line 22.
The segmentation refers to：Using station mark as the terminal in section, it is arranged in face of two adjacent workspaces
Station identifies, and three station marks are uniformly arranged between the two workspaces, i.e., has four between two adjacent workspaces
A section.
The name refers to：Referred to as section is named with the serial number counterclockwise in section with initial station.
It is at least spaced a workspace between the two neighboring AGV car bodies 1.
The signal is height when infrared probe 12 does not touch station mark 4, after touching station mark 4, is located at station
It is low when on the black region of mark 4, is height when being located on white area.
Step 2, core board 14 record the relatively selected contact buffering mark of benchmark infrared probe 12 of each infrared probe 12
Time difference when line 23 simultaneously makes corrections.
The correction refers to：Under normal circumstances, four infrared probes 12 arranged side by side identify 4 into certain angle with station
Degree, core board 14 records four infrared probes 12 and passes through the time and time difference of origin identification line 22, and makes corrections, to disappear
Except 1 traffic direction of AGV car bodies does not identify the error that 4 perfect match are brought with station.
The benchmark infrared probe 12 is the infrared probe 12 of edge.
The time difference is followed successively by from benchmark infrared probe 12：0, Δ T1, Δ T2 and Δ T3.
The infrared probe 12 passes through the time of starting mark beginning band to be denoted as T.
Step 3, core board 14 record each infrared probe 12 successively by buffering tag line 23, section mark band 20 and character
Signal intensity when string code value band 19 and retention time obtain the timing node that accurate infrared probe 12 enters code value area, lead to
Core board 14 is crossed into row decoding, obtains character string quantity 21 and corresponding station information, and be shown in center control interactive device 5
Human-computer interaction interface on.
The decoding refers to：The code value of the character string code value band 19 of different scale codings and section mark band 20 is converted
For same system, character string quantity 21 is obtained.
The station information is 1 place workspace 2 of AGV car bodies or road section information.
The infrared probe 12 is that T+ Δ Ti- Δ T3, Δ Ti (i=1,2,3) are by the time of buffering tag line 23
Time difference of i-th of probe across origin identification line 22.
The character string code value band 19 encodes for quinary, and The English alphabet letter is corresponding in turn to from quinary 00 to 44
Measure a~y.
The section mark band 20 be binary coding, from Binary Zero 0 to 10 be corresponding in turn to two workspaces between edge
Counterclockwise adjacent section after three station marks.Binary one 1 corresponds to adjacent road after the initial station of workspace
Section.
The length of the character string code value band 19 and section mark band 20 is 8d, 12 inswept unit length of infrared probe
Required time is fixed intervals t.It is then encoded by low level of the lower section 4d length of section mark band 20, with the character of top 4d length
Code value band 19 of going here and there is high coding, by taking benchmark infrared probe 12 as an example, after passing fully through buffering tag line and being maked corrections, and detection
To signal be followed successively by the low levels of 3t durations, the high level of 1t durations, the high level of the low level and 1t durations of 3t durations, and
It is corresponding in turn to black region, white area, black region and the white area of 2d long.The length of black region corresponds to its corresponding code
Value, the quinary code value that white area is calculated as 0, therefore obtains are 22.The code value that then other infrared probes 12 obtain is followed successively by five
System 02, quinary 31 and binary one 0.
In the present embodiment, the decimal system code value of character string code value band 19 is followed successively by from 12 corresponding position of benchmark infrared probe
12,2 and 16.
The decimal system code value of the section mark band 20 is corresponding in turn to first section, second section, from 0~3
Three sections and workspace station.
Since higher requirement is located for AGV car bodies 1 in workspace, work can be made by corresponding to terminal using code value 3
Make when the section mark band 20 at area identifies to be completely black band, helps to position when AGV car bodies 1 cross.
To sum up, 12 in the character string code value band 19 refer to m, and 2 refer to c, and 16 refer to q, the code of section mark band 20
Value is denoted as 2, and second section between corresponding two workspaces, obtained character string quantity 21 is mcq3, that is, the station identified is
Using grinding machine area as the section after the third station of section starting point mark.
The English alphabet z is the special letter that the quinary of character string code value band 19 encodes, with chequered with black and white, i.e. 1d
Black region, the band that 1d white areas are repeated 4 times composition determine.
As shown in figure 5, the human-computer interaction interface includes：Communications parameter configured board, control instruction transmitting-receiving window,
AGV starts panel, each regional work state instruction panel of separate unit AGV state displaying panels and factory.
The communications parameter configured board includes：Communication port, baud rate, data bit, check bit, stop position and flow control
System, can complete center control interactive system and the communications parameter of every AGV configures.
The control instruction transmitting-receiving window includes reception window and sends window, wherein：Center can be shown by receiving window
The Serial Port Information that control interactive device 5 receives sends window and sends control instruction to corresponding AGV for administrator.
The AGV starts panel and is made of the start button of four AGV, and it is corresponding that administrator can utilize start button to control
AGV works.
The separate unit AGV state displaying panels include：AGV switching push buttons, six section indicator lights and six workspaces
Indicator light, administrator can select the AGV states to be checked by AGV switching push buttons, if AGV is in certain a road section, corresponding road section
Indicator light can be lighted, remaining indicator light is OFF state, if AGV is in a certain workspace 2, corresponding to workspace indicator light can point
Bright, remaining indicator light is OFF state.
Each regional work state instruction panel of the factory includes circular orbit, six section indicator lights and six work
Area's indicator light, when there are AGV in respective stretch or workspace 2, then the section or indicator light light at work, and administrator can pass through work
The indicator light of each regional work state of factory lights the distribution of the current AGV of situation awareness.
The blackness of 7 both sides of infrared tracking sensor 11 detection universal wheel, and testing result is fed back into core board
14；Core board 14 judges tracking situation according to testing result, and real-time control servo drive unit 17 carries out two-wheel differential motion,
It is communicated simultaneously with transform mode control through wireless communication unit 8 and each AGV automatic network-buildings.
The center control interactive device 5 realizes the division in 2 path of entire workspace, while passing through reception of wireless signals
The character string quantity 21 of each AGV car bodies 1 obtains running position, working condition and the working time of corresponding AGV, passes through computer
Processing is shown on the human-computer interaction interface of center control interactive device 5, and administrator can issue AGV controls according to the information of display
System instruction, to realize that the center to every AGV controls.
The present embodiment can add station or new station mark 4 on the circuit of guide rail 3 as needed, can not change
Realize that the identification of station, display are accurate on the basis of 1 Internal Control Procedure of AGV car bodies and center control 5 central program of interactive device
Really, flexibility is strong.
Claims (6)
1. a kind of control method of the station identifying system based on AGV, which is characterized in that the system comprises：Guide rail, station mark
Know and center controls interactive device, wherein：Station mark is set on corresponding station, and the AGV car bodies control in center
It is run between different operating area along guide rail under the scheduling of interactive device, reads station and identify to obtain corresponding character string quantity, it will
Character string quantity is transmitted to center control interactive device and shows corresponding station information；
The station information is workspace or road section information where AGV car bodies；
The control method, by the way that when AGV car bodies are travelled to station mark, origin identification is contacted in station recognition unit
Signal is passed to core board by infrared levels change-over panel and handled by the infrared probe of line, and core board protects each infrared probe
It holds low signal and carries out timing；When core board records each infrared probe relatively selected benchmark infrared probe contact buffering tag line
Time difference and make corrections；Core board records each infrared probe successively by buffering tag line, section mark band and character string
Signal intensity when code value band and retention time obtain character string quantity and corresponding station information, and be shown in into row decoding
On the human-computer interaction interface of center control interactive device；
The decoding refers to：By the code value of the character string code value band of different scale codings and section mark band be converted to it is same into
System, obtains character string quantity.
2. according to the method described in claim 1, it is characterized in that, the guide rail be black line guide rail.
3. according to the method described in claim 1, it is characterized in that, the AGV car bodies include：Core board, wireless communication unit,
Servo drive unit, universal wheel, chassis, article carrying platform, station recognition unit and infrared tracking sensor, wherein：Universal wheel, core
Core and article carrying platform are set in turn in chassis center from front to back, and infrared tracking sensor is respectively arranged at the two of universal wheel
Side, servo drive unit are respectively arranged at the both sides of article carrying platform；Wireless communication unit and station recognition unit are respectively arranged at
The both sides of core board, core board are sensed with servo drive unit, station recognition unit, wireless communication unit and infrared tracking respectively
Device is connected.
4. according to the method described in claim 3, it is characterized in that, the station recognition unit includes：Infrared levels change-over panel
With four infrared probes, wherein：Four infrared probes are juxtaposed on the front of infrared levels change-over panel.
5. according to the method described in claim 1, it is characterized in that, the station mark includes：Along AGV car bodies travel direction by
Origin identification line, buffering tag line, section mark band and the three character string code value bands being set up in parallel set gradually on down,
Wherein：Character string code value band is located on the left of the mark band of section, and origin identification line is identical as the buffering line width of tag line, section mark
Band is identical with the bandwidth of character string code value band.
6. according to the method described in claim 4, it is characterized in that, described four infrared probes successively with three from left side
Character string code value band and a section mark band correspond.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6495874B2 (en) * | 2016-09-08 | 2019-04-03 | 株式会社東芝 | Automated vehicle control system |
| CN107085426A (en) * | 2017-05-10 | 2017-08-22 | 成都优威骐翼教育科技有限公司 | Interactive robot motion's track coded system |
| CN108214507A (en) * | 2017-12-28 | 2018-06-29 | 安徽三联机器人科技有限公司 | A kind of magnetic navigation care bed goes out Input System and goes out storage method |
| CN108726071A (en) * | 2018-06-12 | 2018-11-02 | 芜湖乐创电子科技有限公司 | A kind of workpiece placement machine people based on infrared sensing |
| CN109634208A (en) * | 2018-12-28 | 2019-04-16 | 天津泰美科科技有限公司 | A kind of Automatic survey flexibility cooperative system |
| CN111099293B (en) * | 2019-12-27 | 2021-09-03 | 广东嘉腾机器人自动化有限公司 | AGV guide rail system and using method thereof |
| CN113651049B (en) * | 2021-08-20 | 2022-11-11 | 张熙 | Operation method of intelligent unmanned back-end logistics processing system |
| CN116833862A (en) * | 2023-08-31 | 2023-10-03 | 沈阳明禾石英制品有限责任公司 | Ceramic core intelligent robot polishing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2003012470A2 (en) * | 2001-08-02 | 2003-02-13 | Siemens Aktiengesellschaft | Material handling systems with high frequency radio location devices |
| CN1438138A (en) * | 2003-03-12 | 2003-08-27 | 吉林大学 | Vision guiding method of automatic guiding vehicle and automatic guiding electric vehicle |
| US20130054129A1 (en) * | 2011-08-26 | 2013-02-28 | INRO Technologies Limited | Method and apparatus for using unique landmarks to locate industrial vehicles at start-up |
| CN202711064U (en) * | 2012-01-09 | 2013-01-30 | 谢朝京 | AGV guiding sensing device |
| CN102854878B (en) * | 2012-09-14 | 2015-07-22 | 苏州工业园区永动工业设备有限公司 | Infrared photoelectric guiding automatic guided vehicle (AGV) device and control method thereof |
| CN102997910B (en) * | 2012-10-31 | 2016-04-13 | 上海交通大学 | A kind of based on road of ground surface target location guidance system and method |
| CN103064417B (en) * | 2012-12-21 | 2016-06-01 | 上海交通大学 | A kind of Global localization based on many sensors guiding system and method |
| CN105511466B (en) * | 2015-12-03 | 2019-01-25 | 上海交通大学 | AGV localization method and system based on two dimensional code band |
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