CN105929829B - A kind of AGV trolley and its control method - Google Patents
A kind of AGV trolley and its control method Download PDFInfo
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- CN105929829B CN105929829B CN201610432040.2A CN201610432040A CN105929829B CN 105929829 B CN105929829 B CN 105929829B CN 201610432040 A CN201610432040 A CN 201610432040A CN 105929829 B CN105929829 B CN 105929829B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000000007 visual effect Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
Classifications
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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
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs in teaching experiment platform technical field, specifically provide a kind of AGV trolley and its control method.AGV trolley control method, comprising: the preparatory destination of input AGV trolley, and start AGV trolley；Detect the surrounding obstacles in AGV trolley traveling process；According to the obtained surrounding obstacles information of detection and preparatory destination, obtain AGV trolley it is current move horizontally distance Vx, vertical travel distance VyAnd rotation angle ω；According to moving horizontally distance Vx, vertical travel distance VyAnd rotation angle ω, carry out four-wheel differentia combination control；It is combined and is controlled according to four-wheel differentia, the traveling of driving AGV trolley or no-radius rotation on the basis of not needing rotation AGV trolley, until reaching preparatory destination.The present invention can realize the movement of AGV trolley in any direction in lesser space, reduce influence of the space to movement.
Description
Technical field
The invention belongs to teaching experiment platform technical fields, and in particular to a kind of AGV trolley and its control method.
Background technique
AGV (Automated Guided Vehicle, self-navigation platform), as unpiloted carrier, in work
Using very extensively in industry and experiment.However, existing AGV trolley, due to cannot achieve the functions such as no-radius turning, lesser
Space, limitation of movement system.
Summary of the invention
The object of the present invention is to provide a kind of AGV trolley and its control methods, can realize AGV trolley in lesser space
Movement in any direction, reduce influence of the space to movement.
For this purpose, the invention provides the following technical scheme:
A kind of AGV trolley control method, comprising:
Step S1: the preparatory destination of input AGV trolley, and start AGV trolley；
Step S2: the surrounding obstacles in detection AGV trolley traveling process；
Step S3: the surrounding obstacles information obtained according to detection and preparatory destination obtain the current level of AGV trolley and move
Dynamic distance Vx, vertical travel distance VyAnd rotation angle ω；
Step S4: according to moving horizontally distance Vx, vertical travel distance VyAnd rotation angle ω, carry out four-wheel differentia group
Close control；
Step S5: combining according to four-wheel differentia and control, and driving AGV is small on the basis of not needing rotation AGV trolley
Garage into or no-radius rotation, until reaching preparatory destination.
Preferably, the method for the four-wheel differentia combination control includes:
Step S41: according to AGV trolley it is current move horizontally distance Vx, vertical travel distance VyAnd rotation angle ω is obtained
To the rotation angle of the four wheels of AGV trolley；
Step S42: the driving frequency of each wheel is obtained according to the rotation angle of each wheel；
Step S43: it is moved according to each wheel of the driving frequency of wheel described in each driving.
Preferably, it is described according to AGV trolley it is current move horizontally distance Vx, vertical travel distance VyAnd rotation angle
The method that ω obtains the rotation angle of the four wheels of AGV trolley are as follows:
Wherein, θ1For the rotation angle of the near front wheel, θ2For the rotation angle of off-front wheel, θ3For the rotation angle of left rear wheel, θ4
For the rotation angle of off hind wheel, l1For the half of the length of AGV trolley, l2For the half of the width of AGV trolley, R is
The radius of wheel.
Preferably, the driving mechanism of each wheel is stepper motor, the rotation according to each wheel
The method that angle obtains the driving frequency of each wheel are as follows:
Wherein, M is the micro-stepping control amount of stepper motor, f1For the driving frequency of the near front wheel, f2For the driving frequency of off-front wheel
Rate, f3For the driving frequency of left rear wheel, f4For the driving frequency of off hind wheel, θ1For the rotation angle of the near front wheel, θ2For off-front wheel
Rotate angle, θ3The rotation angle of left rear wheel, θ4The rotation angle of off hind wheel.
The application also provides a kind of AGV trolley, comprising:
Detection device: for detecting the surrounding obstacles in AGV trolley traveling process；
Processing system: for according to surrounding obstacles information and preparatory destination, obtain AGV trolley currently move horizontally away from
From Vx, vertical travel distance VyAnd rotation angle ω, and carry out four-wheel differentia control；
Control system: for inputting the preparatory destination of AGV trolley and the starting of AGV trolley, and according to four-wheel differentia
Control driving AGV moving of car.
Preferably, the detection device includes proximity sensor.
Preferably, the proximity sensor is equipped with 12, and along the circumferentially distributed of the car body of AGV trolley.
Preferably, the detection device further includes laser radar.
Preferably, the detection device further includes visual sensor.
It preferably, further include wireless module.
Technical effect of the invention:
The present invention is controlled by using four-wheel differentia, and AGV trolley can be realized no-radius turning, and do not rotated in car body
Under state, AGV trolley can be moved along any direction, therefore, even if AGV trolley can be realized arbitrarily in lesser space
The movement in direction reduces limitation of the space to movement, improves the flexibility of AGV movement.
Detailed description of the invention
Fig. 1 is a kind of control method flow chart of embodiment of AGV platform provided by the present invention；
Fig. 2 is a kind of control system figure of embodiment of AGV platform provided by the present invention；
Fig. 3 is a kind of concrete structure diagram of embodiment of AGV platform provided by the present invention.
Appended drawing reference:
In fig. 1-3:
1, detection device, 2, processing system, 3, control system, 4, wheel, 5, proximity sensor, 6, bluetooth module, 7, view
Feel sensor, 8, laser radar, 9, WI-FI module, 10, lithium battery.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
A kind of AGV trolley control method provided by the invention, as shown in Figure 1, comprising:
Step S1: the preparatory destination of input AGV trolley, and start AGV trolley；
Step S2: the surrounding obstacles in detection AGV trolley traveling process；
Step S3: the surrounding obstacles information obtained according to detection and preparatory destination obtain the current level of AGV trolley and move
Dynamic distance Vx, vertical travel distance VyAnd rotation angle ω, wherein moving horizontally the width side that distance refers to AGV trolley along itself
To distance, vertical travel distance refers to AGV trolley along the distance of the length direction of itself, since AGV trolley is along any direction
Moving distance can be decomposed into the width direction move horizontally distance and vertical travel distance along its length；
Step S4: according to moving horizontally distance Vx, vertical travel distance VyAnd rotation angle ω, carry out four-wheel differentia group
Close control；
Step S5: combining according to four-wheel differentia and control, and driving AGV is small on the basis of not needing rotation AGV trolley
Garage into or no-radius rotation, until reaching preparatory destination.
Above-described embodiment is controlled by using four-wheel differentia, and AGV trolley can be realized no-radius turning, and not turn in car body
In the state of dynamic, AGV trolley can be moved along any direction, therefore, even if AGV trolley can be realized in lesser space
The movement of any direction reduces limitation of the space to movement, improves the flexibility of AGV movement.
Wherein, the method for four-wheel differentia combination control includes:
Step S41: according to AGV trolley it is current move horizontally distance Vx, vertical travel distance VyAnd rotation angle ω is obtained
To the rotation angle of the four wheels 4 of AGV trolley；
Step S42: the driving frequency of each wheel 4 is obtained according to the rotation angle of each wheel 4；
Step S43: each wheel is driven to move according to the driving frequency of each wheel 4.
It, being capable of simplified control system by the above method.
Further, according to AGV trolley it is current move horizontally distance Vx, vertical travel distance VyAnd rotation angle ω
The method for obtaining the rotation angle of the four wheels of AGV trolley are as follows:
Wherein, θ1For the rotation angle of the near front wheel, θ2For the rotation angle of off-front wheel, θ3For the rotation angle of left rear wheel, θ4
For the rotation angle of off hind wheel, l1For the half of the length of AGV trolley, l2For the half of the width of AGV trolley, R is
The radius of wheel.
In this way, control program can be further simplified.
The driving mechanism of each wheel is stepper motor, obtains each wheel 4 according to the rotation angle of each wheel
Driving frequency method are as follows:
Wherein, M is the micro-stepping control amount of stepper motor, f1For the driving frequency of the near front wheel, f2For the driving frequency of off-front wheel
Rate, f3For the driving frequency of left rear wheel, f4For the driving frequency of off hind wheel, θ1For the rotation angle of the near front wheel, θ2For off-front wheel
Rotate angle, θ3The rotation angle of left rear wheel, θ4The rotation angle of off hind wheel.
According to above-mentioned algorithm, can simplified control program and algorithm, convenient for control operation.
The driving frequency of the above method, can also be by directly inputting different frequencies, to be adjusted.
The application also provides a kind of AGV trolley, as shown in Figure 2, comprising:
Detection device 1: for detecting the surrounding obstacles in AGV trolley traveling process；
Processing system 2: for obtaining according to surrounding obstacles information and preparatory destination, AGV trolley is current to be moved horizontally
Distance Vx, vertical travel distance VyAnd rotation angle ω, and carry out four-wheel differentia control；
Control system 3: for inputting the preparatory destination of AGV trolley and the starting of AGV trolley, and according to four-wheel differentia
Control driving AGV moving of car.
The processing system controlled by four-wheel differentia, in lesser space, AGV trolley can realize the fortune of any direction
It is dynamic, reduce limitation of the space to movement, improves the flexibility of AGV movement.
Specifically, as shown in figure 3, detection device 1 includes proximity sensor 5, which can facilitate the biography of system signal
Pass the detection with ambient enviroment.
Proximity sensor 5 can be equipped with one, two or more, 12 are preferably provided with, and along the vehicle of AGV trolley
Body it is circumferentially distributed, preferably to obtain the information of periphery obstacle.
Detection device 1 further includes laser radar 8, preferably to obtain the information of periphery obstacle.
Detection device 1 further includes visual sensor 7, preferably to obtain the information of periphery obstacle.
Detection device 1 can also only include one of proximity sensor 5, laser radar 8 and visual sensor 7 or two
Person can also include with three, it is of course also possible to further include other sensors.
AGV trolley further includes wireless module, such as bluetooth module 6 and WI-FI module 9, is communicated with facilitating with extraneous.
AGV trolley further includes lithium battery 10, to facilitate power supply.Its certain power supply can also pass through cable power, Huo Zheqi
Its power battery.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more, unless separately
There is clearly specific restriction.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (8)
1. a kind of AGV trolley control method characterized by comprising
Step S1: the preparatory destination of input AGV trolley, and start AGV trolley；
Step S2: the surrounding obstacles in the AGV trolley traveling process are detected；
Step S3: the surrounding obstacles information obtained according to detection and the preparatory destination obtain the current water of the AGV trolley
Flat moving distance Vx, vertical travel distance VyAnd rotation angle ω；
Step S4: distance V is moved horizontally according to describedx, the vertical travel distance VyAnd the rotation angle ω, carry out four
Take turns differential combination control；
Step S5: combining according to four-wheel differentia and control, on the basis of not needing to rotate the AGV trolley described in driving
AGV trolley is advanced or no-radius rotation, until reaching preparatory destination；
Wherein, the method for the four-wheel differentia combination control includes:
Step S41: according to the AGV trolley it is current move horizontally distance Vx, vertical travel distance VyAnd rotation angle ω is obtained
To the rotation angle of the four wheels of AGV trolley:
Wherein, θ1For the rotation angle of the near front wheel, θ2For the rotation angle of off-front wheel, θ3For the rotation angle of left rear wheel, θ4For the right side
The rotation angle of rear-wheel, l1For the half of the length of AGV trolley, l2For the half of the width of AGV trolley, R is wheel
Radius；
Step S42: the driving frequency of each wheel is obtained according to the rotation angle of each wheel；
Step S43: it is moved according to each wheel of the driving frequency of wheel described in each driving.
2. AGV trolley control method according to claim 1, which is characterized in that the driving mechanism of each wheel
The method for obtaining the driving frequency of each wheel for stepper motor, the rotation angle according to each wheel are as follows:
Wherein, M is the micro-stepping control amount of stepper motor, f1For the driving frequency of the near front wheel, f2For the driving frequency of off-front wheel, f3
For the driving frequency of left rear wheel, f4For the driving frequency of off hind wheel, θ1For the rotation angle of the near front wheel, θ2For the rotation of off-front wheel
Angle, θ3The rotation angle of left rear wheel, θ4The rotation angle of off hind wheel.
3. a kind of AGV trolley controlled using AGV trolley control method described in as claimed in claim 1 or 22, which is characterized in that described
AGV trolley includes:
Detection device: for detecting the surrounding obstacles in AGV trolley traveling process；
Processing system: for according to surrounding obstacles information and preparatory destination, obtain the AGV trolley currently move horizontally away from
From Vx, vertical travel distance VyAnd rotation angle ω, and carry out four-wheel differentia control；
Control system: for inputting the preparatory destination of AGV trolley and the starting of the AGV trolley, and according to four-wheel differentia
Control drives the AGV moving of car.
4. AGV trolley according to claim 3, which is characterized in that the detection device includes proximity sensor.
5. AGV trolley according to claim 4, which is characterized in that the proximity sensor is equipped with 12, and along AGV
The car body of trolley it is circumferentially distributed.
6. AGV trolley according to claim 4, which is characterized in that the detection device further includes laser radar.
7. according to the described in any item AGV trolleies of claim 3-6, which is characterized in that the detection device further includes that vision passes
Sensor.
8. AGV trolley according to claim 3, which is characterized in that further include wireless module.
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| CN201610432040.2A CN105929829B (en) | 2016-06-15 | 2016-06-15 | A kind of AGV trolley and its control method |
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| CN201610432040.2A CN105929829B (en) | 2016-06-15 | 2016-06-15 | A kind of AGV trolley and its control method |
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| CN106741265A (en) * | 2017-01-04 | 2017-05-31 | 芜湖德力自动化装备科技有限公司 | A kind of AGV platforms |
| CN106886222B (en) * | 2017-03-29 | 2021-01-26 | 北京京东乾石科技有限公司 | Control method and device for automated guided vehicle |
| CN109839931A (en) * | 2019-01-30 | 2019-06-04 | 斯坦德机器人（深圳）有限公司 | The picking method, apparatus and computer equipment of automated guided vehicle |
| CN111766856B (en) * | 2019-03-28 | 2024-06-21 | 北京京东振世信息技术有限公司 | Automatic guiding transport vehicle, auxiliary positioning method and system thereof and vehicle-mounted controller |
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| EP0226386A2 (en) * | 1985-12-06 | 1987-06-24 | NDC Technologies, Inc. | Automatically guided vehicle having steering mechanism for enabling vehicle to follow guidance wire |
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| CN203667453U (en) * | 2013-12-03 | 2014-06-25 | 北京物资学院 | AGV device |
| CN104773200A (en) * | 2014-05-22 | 2015-07-15 | 西南交通大学 | Hub motor-based electric automobile omni-directional steering system |
| CN204713933U (en) * | 2014-01-16 | 2015-10-21 | 广州科力新能源有限公司 | Intelligence AGV Automatic Track Finding transport trolley |
| CN105235756A (en) * | 2015-10-19 | 2016-01-13 | 广西大学 | Compact AGV with zero turning radius and shock absorption function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0226386A2 (en) * | 1985-12-06 | 1987-06-24 | NDC Technologies, Inc. | Automatically guided vehicle having steering mechanism for enabling vehicle to follow guidance wire |
| CN101813943A (en) * | 2010-02-08 | 2010-08-25 | 吉林大学 | Intelligent navigation vehicle and control method thereof |
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| CN204713933U (en) * | 2014-01-16 | 2015-10-21 | 广州科力新能源有限公司 | Intelligence AGV Automatic Track Finding transport trolley |
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