CN106950972A - A kind of automatic guided vehicle AGV and its route method for correcting error - Google Patents
A kind of automatic guided vehicle AGV and its route method for correcting error Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The present invention relates to automatic transporting field, a kind of automatic guided vehicle AGV and its route method for correcting error are disclosed.Method includes：The imaging sensor for obtaining the transport vehicle AGV shoots the image obtained；If it is determined that the route guiding mark in described image is not in predeterminated position；Position relationship between horizontal range value, the velocity amplitude of transport vehicle AGV central points operation needs holding and each driving groups of transport vehicle AGV run according to needed for the vertical range value, arrival dbjective state, determines that the transport vehicle AGV is run to the control information needed for the dbjective state from current state；The transport vehicle AGV is run according to the control information, until the transport vehicle AGV reaches the dbjective state.In the present invention, AGV is run under the control of control information, may be such that AGV is run to dbjective state, so as to realize the correction to AGV, AGV handling efficiency is improved, and enable to AGV smoothly to return to dbjective state.
Description
Technical field
The present invention relates to automatic transporting field, more particularly to a kind of automatic guided vehicle AGV and its route method for correcting error.
Background technology
The field such as existing automatic parking garage and full-automatic logistics carrying, commonly uses automatic guided vehicle (Automated
Guided Vehicle, AGV), the AGV accurate, efficient, flexible can complete carrying task, and AGV is required in carrier (goods
Frame, pallet etc.) run below.Existing AGV guidance mode mainly has：Electromagnetic induction guiding, laser aiming and vision guide
Deng.
Electromagnetic induction guiding is usually to bury antenna along preset travel route on the ground, when flowing through high frequency electric in antenna
When wire around produce electromagnetic field, AGV dollies can be on embedded antenna by scheduled circuit traveling equipped with electromagnetic inductor.
Laser aiming is the laser positioning that high reflective reflecting plate is provided with operating path wall on the way or pillar
Mark, AGV dollies are equipped with laser scanner, and AGV launches laser beam by laser scanner, then received by surrounding witness marker
The laser beam being reflected back, car-mounted computer calculates the current position of vehicle and the direction of motion, realizes automatic transporting function.
Vision guide is that video camera and sensor are housed on AGV dollies, and AGV is provided with car-mounted computer and is intended to travel
Path surrounding environment image database.AGV traveling during, video camera dynamic access vehicle-periphery image information and with figure
As database is compared, so that it is determined that current location and being made a policy to next step traveling.
Inventor has found during the present invention is realized, existing very popular automatic parking garage, express delivery goods to people
It is preceding sorting, auto production line and some be frequently necessary to change guidance path field in, AGV is required in carrier (shelf, pallet
Deng) run below, the AGV of electromagnetic induction guiding is easily disturbed by loop surrounding metal material, and construction is difficult, and not easy care；Swash
The laser beam of the AGV laser scanning heads transmitting of light guiding is easily blocked, it is impossible to recognize the positioning reflector on periphery well, and
And laser ranging needs to irradiate the reflecting plate for being arranged in periphery, such condition is unable to reach in many environment；Vision guided navigation
AGV dollies when there occurs path deviations in the running of this environment, be to carry out body gesture for the type of skew
Adjustment, is adjusted to the unmigrated state of original position, adds haulage time.
In consideration of it, before automatic parking garage, express delivery goods to people sorting, auto production line and some be frequently necessary to change and lead
How the field of bit path, when selecting the AGV dollies of vision guide, continue to transport in the running of AGV dollies in AGV dollies
Carry out correcting skew pose adjustment in row, to realize that smooth correction is that those skilled in the art is of interest.
The content of the invention
It is an object of the invention to provide a kind of automatic guided vehicle AGV and its route method for correcting error so that AGV was being transported
Occur to return to target route after rectifying a deviation in time during circuit deflection in journey.
In order to solve the above technical problems, embodiments of the present invention provide a kind of automatic guided vehicle AGV routes correction side
Method, is comprised the steps of：
The imaging sensor for obtaining the AGV shoots the image obtained, wherein, the position that described image sensor is shot is
The underface of the AGV bottom centre positions；
If it is determined that the route guiding mark in described image is not in predeterminated position, then according to route guiding mark in described image
Position where will determines the vertical range value of the AGV central points and straight line where the predeterminated position；
According to the vertical range value, reach dbjective state needed for run horizontal range value, the AGV central points operation
Need keep velocity amplitude and each driving groups of the AGV between position relationship, determine the AGV from current state run to
Control information needed for the dbjective state, wherein, described image sensor shoots the image obtained under the dbjective state
Described in route guiding mark be located at the predeterminated position；
The AGV is run according to the control information, until the AGV reaches the dbjective state.
Embodiments of the present invention additionally provide a kind of automatic guided vehicle AGV, including：Multiple driving groups, imaging sensor
And processor, wherein, comprising steering wheel assembly and encoder in each driving group, and wrapped in driving described at least two
The wheel assembly containing walking, the steering wheel assembly includes deflecting roller, deflecting roller motor and deflecting roller electric machine controller, institute
Stating walking wheel assembly includes road wheel, traction drive motor and road wheel electric machine controller, and the encoder is used to record
The shift value of the driving group walking and the angle value turned to；
Described image sensor shoots the image obtained immediately below the AGV bottom centre positions；
The processor obtains described image sensor and shoots the image obtained；
The processor is not if it is determined that the route guiding mark in described image is in predeterminated position, then according in described image
Position where route guiding mark determines the vertical range value of the AGV central points and straight line where the predeterminated position；
The processor according to the vertical range value, reach dbjective state needed for run horizontal range value, the AGV
Central point operation needs the position relationship between the velocity amplitude kept and each driving groups of the AGV, determines the AGV from current
State is run to the control information needed for the dbjective state, wherein, described image sensor is shot under the dbjective state
Route guiding mark described in the image of acquisition is located at the predeterminated position；
The processor drives each driving group according to the control information respectively, until the AGV reach it is described
Dbjective state.
Embodiment of the present invention in terms of existing technologies, shoots what is obtained in present embodiment by imaging sensor
Image, it is vertical according to this by analyzing the vertical range that the image shot determines AGV central point and straight line where predeterminated position
Position between distance, the horizontal range value for reaching dbjective state needs operation, AGV speeds of service value and each drive components of AGV
Relation, you can determine that AGV runs the control information needed to dbjective state from current state, transported under the control of the control information
Row AGV, you can so that AGV is run to dbjective state, so as to realize the correction to AGV, improve AGV handling efficiency, and can
So that AGV is smooth must to return to dbjective state.
In addition, in the route method for correcting error of the AGV dollies, it is described according to the vertical range value, arrival dbjective state institute
Between horizontal range value, the velocity amplitude of AGV central points operation needs holding and each driving groups of the AGV that need to run
Position relationship, determines that the AGV is run to the control information needed for the dbjective state from current state, including：
According to the position relationship between the coordinate of the AGV central points and each driving groups of the AGV, determine described current
The coordinate of each driving groups of AGV under state；
According to each driving groups of AGV under the vertical range value, the horizontal range value and the current state
Coordinate, determine the coordinate of each driving groups of AGV under the dbjective state；
Velocity amplitude, the vertical range value and the horizontal range for needing to keep are run according to the AGV central points
Value, determines the control information, wherein, each required operation is fast for each driving group of the control information including the AGV
The respective required rotation angle value of angle value and each driving group.
It is each required by determining the respective speed of service value of each driving group and each driving group in the embodiment
Rotation angle value, enabling ensure that the overall speed of AGV dollies is consistent so that each driving group can synthetic operation extremely
Dbjective state.
In addition, in the route method for correcting error of the AGV, the relation between each driving groups of AGV includes：The AGV respectively drives
Dynamic group composition rectangle, the length of side of the rectangle each edge and the rectangular diagonal and the folder at least one side
Angle.
In addition, in the route method for correcting error of the AGV, the horizontal range value run needed for dbjective state that reaches is advance
Configuration is obtained.In the embodiment, the horizontal range value run needed for dbjective state is reached by setting so that control information
Determination process is simplified, and can further improve correction efficiency.
In addition, in the route method for correcting error of the AGV, the horizontal range value for reaching the required operation of dbjective state is at least big
In the length of the AGV car bodies.In the embodiment, length of the distance value at least above AGV car bodies of dbjective state is chosen, is protected
Card AGV corrections can be smoothed out, and ensure the flatness of correction process.
Brief description of the drawings
Fig. 1 is the AGV route method for correcting error flow charts with autopilot in first embodiment of the invention；
Fig. 2 is the AGV route method for correcting error flow charts with autopilot in second embodiment of the invention；
Fig. 3 is path deviations figure during a concrete implementation in second embodiment of the invention；
Fig. 4 a are a specific offset type figures in second embodiment of the invention；
Fig. 4 b are a specific offset type figures in second embodiment of the invention；
Fig. 5 is the structural representation of the AGV with autopilot in third embodiment of the invention；
Fig. 6 is the modular structure schematic diagram of processor in four embodiment of the invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with each reality of the accompanying drawing to the present invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the invention,
In order that reader more fully understands the application and proposes many ins and outs.But, even if without these ins and outs and base
Many variations and modification in following embodiment, can also realize each claim of the application technical side claimed
Case.
The first embodiment of the present invention is related to a kind of AGV routes method for correcting error, applied on AGV.Idiographic flow such as Fig. 1
It is shown.
Step 101：The imaging sensor for obtaining AGV shoots the image obtained, wherein, the position that imaging sensor is shot is
The underface of AGV bottom centre positions；
Step 102：If it is determined that the route guiding mark in the image shot is not in predeterminated position, then according to route in image
Position where guiding mark determines the vertical range value of the AGV central points and straight line where predeterminated position；
Step 103：According to the vertical range value, reach dbjective state needed for run horizontal range value, AGV central points fortune
Row needs the position relationship between the velocity amplitude kept and each driving groups of AGV, determines that AGV is run to target-like from current state
Control information needed for state, wherein, imaging sensor shoots route guiding mark in the image obtained when AGV is under dbjective state
Positioned at predeterminated position；
Step 104：AGV is run according to control information, until AGV reaches dbjective state.
In one specific implementation, imaging sensor is arranged on AGV bottom centre, and the center of shooting area is to be somebody's turn to do
The underface of AGV bottom centre.
In one specific implementation, imaging sensor can be with the underface of captured in real-time AGV bottom centre positions, can also be by
The underface of AGV bottom centre positions is shot according to predetermined period.Wherein, the predetermined period completely disengages from guide to be not more than AGV
Duration needed for mark is advisable.
In terms of existing technologies, to be that route occurs in travel route for carrier inclined for first embodiment of the invention
During shifting, the image shot by analyzing imaging sensor determines offsets of the AGV under shift state, includes AGV central point
With predeterminated position where straight line vertical range and reach dbjective state need run horizontal range, according to the vertical range with
The control information of the offset that the horizontal range is determined and the dbjective state to be reached, AGV makes to remove under control information effect
The operation of car smoothly is transported to dbjective state.Method for correcting error relative to prior art present embodiment improves AGV carrying effect
Rate, and ensure that what AGV can be smooth returns to dbjective state.
Specifically, present embodiment middle finger tendering will can be colour band, Quick Response Code or function control code etc..Wherein, color
Band can be used cooperatively with function control code, and function control code, color are set in the point for needing to turn or the direction of motion changes
Band have the advantages that it is easy to implement, safeguard simply, cost it is small.It should be noted simultaneously that, the selection for guiding mark is only herein
Citing, is not limited to colour band, Quick Response Code or Function Identification code, as long as vision sensor can indicate that determination is advanced according to guiding
Route and determine whether to shift during traveling, within protection scope of the present invention.Colour band in specific implementation
It is easier to change with Quick Response Code, cost is lower.
For example, in the case of guiding mark to be Quick Response Code, then angle can be read when reading offset in vision sensor
The scope of deviation is 0 ° to 360 °；The deviation range that can be read in AGV route traffic directions is -45mm (millimeter) to+45mm (super
Cross scope unreadable)；The deviation range that can be read in the vertical direction of AGV running routes is that -70mm to+70mm (exceedes
Scope is unreadable).
Second embodiment of the present invention is related to a kind of AGV routes method for correcting error.Second embodiment and the first embodiment party
Formula is roughly the same, is in place of the main distinction：Relative in first embodiment, in second embodiment of the invention, specifically
Illustrate that determination AGV runs the process of the control information to needed for dbjective state from current state.Idiographic flow is as shown in Figure 2.
Step 201：The imaging sensor for obtaining AGV shoots the image obtained, wherein, the position that the imaging sensor is shot
For the underface of AGV bottom centre positions；
Step 202：If it is determined that the route guiding mark in image is not in predeterminated position, then according to route guiding in the image
Position where mark determines the vertical range value of AGV central points and straight line where predeterminated position；
Step 203：According to the position relationship between each driving group of coordinate and AGV of AGV central points, current state is determined
The coordinate of the lower each driving groups of AGV；
Step 204：According to the coordinate of each driving groups of AGV under vertical range value, horizontal range value and current state, really
The coordinate of each driving groups of AGV under the state that sets the goal；
Step 205：Velocity amplitude, vertical range value and the horizontal range value for needing to keep are run according to AGV central points, really
Determine control information, wherein, the respective required speed of service value and each driving group of each driving group of control information including AGV
Respective required rotation angle value；
Step 206：AGV is run according to control information, until AGV reaches dbjective state.
During one based on the above first or second embodiment implements, AGV respectively drives in the AGV route method for correcting error
Relation between dynamic group includes：Each driving groups of AGV composition rectangle, and the length of side of the rectangle each edge and rectangular right
Linea angulata and the angle at least one side.In addition, it is to be pre-configured with that AGV, which reaches the horizontal range value run needed for dbjective state,
Arrive.Length of the horizontal range value at least above AGV car bodies of operation needed for reaching dbjective state.
In one specific embodiment, as shown in figure 3, when AGV is run along on using colour band as the route for guiding mark
When, if occurring the path deviations shown in Fig. 3, with reference to the description in the first and second embodiments, if according to imaging sensor
The amount of the analysis result angle skew of shooting image is θ, then AGV vertical range value is h；When AGV four-wheel aligner point is determined
The AGV is now uniquely determined afterwards, 4 points of A, B, C, D in such as Fig. 3, wherein, 4 points of A, B, C, D represents the position of AGV four-wheel respectively,
A, B, C, D constitute the rectangle of a determination.As shown in figure 3, as a reference point with AGV central point Z, Z points are the origin of coordinates,
Using the straight line parallel to colour band where Z as X-axis, AGV is along the positive direction that mark traffic direction is X-axis is guided, with perpendicular to X-axis
Direction be Y-axis, using perpendicular to X-axis upwardly direction as Y-axis positive direction.Fig. 3 is only to give a kind of coordinate representation, is not limited to
The definition mode of the coordinate system represented in Fig. 3, when the coordinate system set up using the sensing parallel to guide mark as X-axis is equal
Can, and may be referred to the calculation of the coordinate of each following point and the deviation angle of each point.AGV current states and target
Horizontal range value between state obtains to be pre-configured with, and specifically represents the central point and target-like of current state with m herein
Horizontal range value (m is at least above the AGV vehicle commander) between the central point of state, the speed for keeping AGV central points Z is V.
By taking the shift state in Fig. 3 as an example, in a specific implementation, the image middle finger tendering of imaging sensor captured in real-time
Will guides mark to be not in the center of shooting image not in predeterminated position, is guided with the central point of the image into the image
The vertical range of straight line where mark, the vertical range is multiplied by after predetermined coefficient the value of gained as AGV in route operation
Vertical offset.Distance as shown in h in Fig. 3 is that the position in image where route guiding mark determines the AGV centers
The vertical range value of point and straight line where predeterminated position.Wherein, predetermined coefficient being more than with shooting gained for actual photographed region
Image size ratio.
If the coordinate representation of Z points is (XZ, YZ), Fig. 3 is a kind of representation of coordinate, and wherein z is the coordinate of origin, then Z
For (0,0) because A, B, C, D constitute rectangle, and the known AB and BC length of side, the seat of tetra- points of A, B, C, D can be thus calculated
Mark.Angle before AC and AB can be expressed as expression formula 1：
φ=arcsin (AB/AC) (1)
Then in the rectangular coordinate system A points coordinate (XA, YA) expression formula 2 and expression formula 3 can be expressed as：
X in expression formula 2ARepresent the abscissa of A points, XZFor the abscissa of Z points, θ represents that AGV is inclined in angle in figure 3
Shifting amount (sets when AGV is offset downward θ as negative, θ is positive number when offsetting up).
Y in expression formula 3ARepresent the ordinate of A points, YZFor the ordinate of Z points,Represent the rectangle that A points are determined in AGV
In angle, θ represents that the offset of AGV in figure 3 in angle (sets when AGV is offset downward that θ is negative, upwards partially
θ is positive number when shifting).
It is dbjective state after route correction, as shown in figure 3, Z1 is the central point of dbjective state, coordinate representation is (XZ+ m,
YZ- h), 4 points of A, B, C, D coordinate after being rectified a deviation according to dbjective state, wherein A1 is the A coordinates (X after correctionA1, YA1),
Represented with expression formula 4 and expression formula 5：
XZFor the abscissa of Z points, XA1For the abscissa of A1 points, YA1For the ordinate of A1 points.
Therefore the dbjective state of AGV routes correction, reaches target as shown in figure 3, the speed for keeping AGV central points Z is V
The time of state is expressed as with expression formula 6：
The time that AGV reaches dbjective state is Δ t, then A points reach A1 points in the Δ t times, the speed of A points during correction
Spend VAIt is expressed as with expression formula 7：
X in expression formula 7A、YA、XA1、YA1, Δ t made expression in above-mentioned expression formula 2 to 6.
If there is the deviation of directivity equally to answer the deviation of calculated direction, A rotation angle value αARepresented with expression formula 8：
αA=arc tan [(YA1-YA)/(XA1-XA)]+θ (8)
X in expression formula 8A、YA、XA1、YA1Expression is made in above-mentioned expression formula 2 to 5, θ represents that AGV is at angle in figure 3
Offset on degree (if θ is negative when AGV is offset downward, this expression formula is still applicable).
B, C, D angle value can be similarly inferred, B angle value isC angle value is：D angle
It is worth and isB, C, D speed of travel and deflection angle can be extrapolated respectively with above-mentioned reckoning step, no longer gone to live in the household of one's in-laws on getting married here
State.
In a specific embodiment, AGV does not consider the inclined of X-direction in the colour band line-of-road movement that Fig. 3 is represented
Difference, the deviation range of Y-direction is -45mm (millimeter) to+45mm (overruning unreadable)；The scope of angular deviation is -45 ° and arrived
+ 45 ° (overruning unreadable).This is for example, deviation range is defined by the identification range of vision sensor.
Based on more than in first or second embodiment, the skew that AGV occurs may be direction zero deflection hour angle
Spend deviation；Deviation of directivity during angle zero deflection.Control algolithm is same as described above, the angular deviation during zero deflection of direction in such as Fig. 4 a,
Same reasoning is then done with h=0 situation；Deviation of directivity during angle zero deflection, the then same reasoning with above-mentioned A in such as Fig. 4 b
Cheng Xiangtong.
The step of various methods are divided above, be intended merely to description it is clear, can be merged into when realizing a step or
Some steps are split, multiple steps are decomposed into, as long as including identical logical relation, all protection domain in this patent
It is interior；To adding inessential modification in algorithm or in flow or introducing inessential design, but its algorithm is not changed
Core design with flow is all in the protection domain of the patent.
Third embodiment of the invention is related to a kind of AGV, as shown in figure 5, comprising：Imaging sensor 501, processor 502
With driving group 503.AGV is included：Multiple driving groups, imaging sensor and processor, wherein, comprising steering in each driving group
Comprising walking wheel assembly in wheel assembly and encoder, and at least two drivings, turning to wheel assembly includes deflecting roller, turns to wheel driving
Dynamic motor and deflecting roller electric machine controller, walking wheel assembly include road wheel, traction drive motor and walking turbin generator
Controller, encoder is used for the angle value for recording the shift value of driving group walking and turning to；
Imaging sensor shoots the image obtained immediately below the AGV bottom centre positions；
Wherein, had program stored therein in processor, for performing following steps：
Processor obtains described image sensor and shoots the image obtained；
Processor is not if it is determined that the route guiding mark in described image is in predeterminated position, then according to route in described image
Position where guiding mark determines the vertical range value of the AGV central points and straight line where the predeterminated position；
Processor according to the vertical range value, reach dbjective state needed for run horizontal range value, the AGV centers
Point operation needs the position relationship between the velocity amplitude kept and each driving groups of the AGV, determines the AGV from current state
Run to the control information needed for the dbjective state, wherein, described image sensor, which is shot, under the dbjective state obtains
Image described in route guiding mark be located at the predeterminated position；
Processor drives each driving group according to the control information respectively, until the AGV reaches dbjective state.
It is seen that, present embodiment is the system embodiment corresponding with first embodiment, and present embodiment can be with
First embodiment is worked in coordination implementation.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, is repeated no more here.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
Specifically, in the 3rd embodiment, processor, imaging sensor and driving group are connected using bus mode, bus
The bus and bridge of any number of interconnection can be included, bus is by the one or more processors including being represented by processor and drive
The various circuits for multiple driving groups that dynamic group is represented are linked together.Bus can also be by such as ancillary equipment, voltage-stablizer and work(
Various other circuits of rate management circuit or the like are linked together, and these are all it is known in the art, therefore, herein no longer
It is described further.EBI provides interface between bus and imaging sensor.Imaging sensor can be one
Individual element or multiple element, for obtaining shooting image.Processor is responsible for bus and common processing, may be used also
To provide various functions, including timing, peripheral interface, voltage-regulation, power management and other control functions.
The fourth embodiment of the present invention is related to a kind of AGV, and the 4th embodiment is roughly the same with the 3rd embodiment, such as schemes
It is in place of the main distinction shown in 6：In four embodiment of the invention, processor mainly includes：Acquisition module 601, computing
Module 602, sending module 603.
Acquisition module 601：For obtaining the position relationship between each driving group of coordinate and AGV according to AGV central points,
The coordinate of each driving groups of AGV under current state is determined, is additionally operable to according to vertical range value, horizontal range value and current state
The coordinate of the lower each driving groups of AGV, determines the coordinate of each driving groups of AGV under dbjective state；
Computing module 602：For running the velocity amplitude, vertical range value and the level that need to keep according to AGV central points
Distance value, determines control information, wherein, each driving group of control information including AGV each required speed of service value and
The respective required rotation angle value of each driving group；
Sending module 603：For sending control information to each driving group, until AGV reaches dbjective state.
Because second embodiment is mutually corresponding with present embodiment, therefore present embodiment can be mutual with second embodiment
It is engaged implementation.The relevant technical details mentioned in second embodiment are still effective in the present embodiment, implement second
The technique effect that can be reached in mode can similarly be realized in the present embodiment, in order to reduce repetition, no longer be gone to live in the household of one's in-laws on getting married here
State.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in second embodiment.
In a specific embodiment, AGV four wheels are driving wheel, comprising 4 driving groups, a kind of preferred
Embodiment in, in AGV four wheels comprising turn to wheel assembly, can be shared in cornerwise two road wheels
One walking wheel assembly.
It is noted that each module involved in present embodiment is logic module, in actual applications, one
Individual logic unit can be a part for a physical location or a physical location, can also be with multiple physics lists
The combination of member is realized.In addition, will not be with solving institute of the present invention in the innovative part in order to protrude the present invention, present embodiment
The technical problem relation of proposition less close unit is introduced, but this be not intended that in present embodiment be not present it is other single
Member.
It will be appreciated by those skilled in the art that realizing that all or part of step in above-described embodiment method can be by
Program instructs the hardware of correlation to complete, and the program storage is in a storage medium, including some instructions are to cause one
Individual equipment (can be single-chip microcomputer, chip etc.) or processor (processor) perform each embodiment methods described of the application
All or part of step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of automatic guided vehicle AGV route method for correcting error, it is characterised in that including：
The imaging sensor for obtaining the AGV shoots the image obtained, wherein, the position that described image sensor is shot is described
The underface of AGV bottom centre positions；
If it is determined that the route guiding mark in described image is not in predeterminated position, then according to route guiding mark institute in described image
Position determine the vertical range value of the AGV central points and straight line where the predeterminated position；
According to the vertical range value, reach dbjective state needed for run horizontal range value, the AGV central points operation needs
Position relationship between the velocity amplitude of holding and each driving groups of the AGV, determines that the AGV is run to described from current state
Control information needed for dbjective state, wherein, described image sensor shoots institute in the image obtained under the dbjective state
Route guiding mark is stated positioned at the predeterminated position；
The AGV is run according to the control information, until the AGV reaches the dbjective state.
2. AGV routes method for correcting error according to claim 1, it is characterised in that it is described according to the vertical range value, arrive
Horizontal range value, the velocity amplitude of AGV central points operation needs holding and the AGV run needed for up to dbjective state is each
Position relationship between driving group, determines that the AGV is run to the control information needed for the dbjective state, bag from current state
Include：
According to the position relationship between the coordinate of the AGV central points and each driving groups of the AGV, the current state is determined
Under each driving groups of AGV coordinate；
According to the seat of each driving groups of AGV under the vertical range value, the horizontal range value and the current state
Mark, determines the coordinate of each driving groups of AGV under the dbjective state；
Velocity amplitude, the vertical range value and the horizontal range value for needing to keep are run according to the AGV central points, really
The fixed control information, wherein, the control information include each driving group of the AGV each required speed of service value with
And the respective required rotation angle value of each driving group.
3. AGV routes method for correcting error according to claim 2, it is characterised in that the relation between each driving groups of AGV
Including：Each driving group composition rectangle of the AGV, the length of side of the rectangle each edge and the rectangular diagonal with
The angle at least one side.
4. the AGV route method for correcting error according to any one of claims 1 to 3, it is characterised in that the arrival dbjective state
The horizontal range value of required operation obtains to be pre-configured with.
5. AGV routes method for correcting error according to claim 4, it is characterised in that run needed for the arrival dbjective state
Length of the horizontal range value at least above the AGV car bodies.
6. a kind of automatic guided vehicle AGV, it is characterised in that including：
Multiple driving groups, imaging sensor and processor, wherein, comprising steering wheel assembly and coding in each driving group
Comprising walking wheel assembly in device, and driving described at least two, the steering wheel assembly includes deflecting roller, turns to wheel drive electricity
Machine and deflecting roller electric machine controller, the walking wheel assembly include road wheel, traction drive motor and walking turbin generator
Controller, the encoder is used for the angle value for recording the shift value of the driving group walking and turning to；
Described image sensor shoots the image obtained immediately below the AGV bottom centre positions；
The processor obtains described image sensor and shoots the image obtained；
The processor is not if it is determined that the route guiding mark in described image is in predeterminated position, then according to route in described image
Position where guiding mark determines the vertical range value of the AGV central points and straight line where the predeterminated position；
The processor according to the vertical range value, reach dbjective state needed for run horizontal range value, the AGV centers
Point operation needs the position relationship between the velocity amplitude kept and each driving groups of the AGV, determines the AGV from current state
Run to the control information needed for the dbjective state, wherein, described image sensor, which is shot, under the dbjective state obtains
Image described in route guiding mark be located at the predeterminated position；
The processor drives each driving group according to the control information respectively, until the AGV reaches the target
State.
7. AGV according to claim 6, it is characterised in that the processor specifically for：
According to the position relationship between the coordinate of the AGV central points and each driving groups of the AGV, the current state is determined
Under each driving groups of AGV coordinate；
According to the seat of each driving groups of AGV under the vertical range value, the horizontal range value and the current state
Mark, determines the coordinate of each driving groups of AGV under the dbjective state；
Velocity amplitude, the vertical range value and the horizontal range value for needing to keep are run according to the AGV central points, really
The fixed control information, wherein, the control information include each driving group of the AGV each required speed of service value with
And the respective required rotation angle value of each driving group.
8. AGV according to claim 7, it is characterised in that the relation between each driving groups of AGV includes：The AGV
Each driving group constitutes rectangle, the length of side and the rectangular diagonal and at least one side per the rectangle each edge
Angle.
9. the AGV according to any one of claim 6 to 8, it is characterised in that the water of operation needed for the arrival dbjective state
Flat distance value obtains to be pre-configured with.
10. AGV according to claim 9, it is characterised in that the horizontal range value of operation needed for the arrival dbjective state
At least above the length of the AGV car bodies.
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