CN107065949A - A kind of AGV dollies method for control speed - Google Patents
A kind of AGV dollies method for control speed Download PDFInfo
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- CN107065949A CN107065949A CN201710256269.XA CN201710256269A CN107065949A CN 107065949 A CN107065949 A CN 107065949A CN 201710256269 A CN201710256269 A CN 201710256269A CN 107065949 A CN107065949 A CN 107065949A
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- dolly
- control system
- barrier
- master control
- scanning area
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000004888 barrier function Effects 0.000 claims abstract description 26
- 239000000969 carrier Substances 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 claims description 10
- 230000008034 disappearance Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000036461 convulsion Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 206010054949 Metaplasia Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000015689 metaplastic ossification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of AGV dollies method for control speed, using the deviant of magnetic navigation sensor counting of carriers, deviant is sent to master control system, the angle of dolly skew is determined, master control system is rectified a deviation according to the angular velocity difference between piece deviant adjustment dolly left and right wheels；Barrier is detected using laser obstacle sensor；Two-stage detection of obstacles is set, first slows down and confirms that barrier whether there is again, carries out stopping the operation of dolly again after second accurate scan confirms that obstruction is implicitly present in, it is to avoid dolly is stopped transport caused by wrong identification；And preliminary scan can give certain deceleration distance, the generation of collision accident is effectively reduced.
Description
Technical field
The present invention relates to AGV dolly technical fields, and in particular to a kind of AGV dollies method for control speed.
Background technology
AGV is characterized with wheel type mobile, than walking, is creeped or other non-wheeled mobile robots have action fast
The prompt, advantage such as operating efficiency is high, simple in construction, controllability is strong, security is good.The other equipment phase commonly used in being conveyed with material
Than AGV zone of action need not lay the fixing devices such as track, support saddle frame, not limited by place, road and space.Therefore,
In automatic Material Handling System, its automaticity and flexibility most can be fully embodied, efficient, economic, flexible unmanned metaplasia is realized
Production.
Existing AGV dollies method for control speed is simple, and the accident such as often collide when dolly runs into obstacle, is this
Also dolly employs the barrier of laser scan type, then which, which often makes a mistake, recognizes and influence the normal work of dolly
Make.
The content of the invention
The technical problem to be solved in the present invention is that there is provided a kind of small vehicle speed controls of AGV for the above-mentioned the deficiencies in the prior art of solution
Method processed.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：A kind of AGV dollies method for control speed,
Using the deviant of magnetic navigation sensor counting of carriers, deviant is sent to master control system, the angle of dolly skew is determined, it is main
Control system is rectified a deviation according to the angular velocity difference between piece deviant adjustment dolly left and right wheels；Examined using laser obstacle sensor
Barrier is surveyed, laser obstacle sensor is provided with two-stage scan region, when there is barrier, master control system in first order scanning area
System reduces operational objective linear velocity by controlled motor, if barrier is persistently present, when also synchronous in the scanning area of the second level
When there is the barrier, master control system control dolly triggering cutoff command, dolly jerk, while target linear velocity is set to 0；Deng barrier
Hinder thing after the disappearance of the second scanning area, master control system controlled motor makes dolly accelerate since 0 m/min, and acceleration is a1,
Wherein the scope of the second scanning area is contained in the scope of the first scanning area in synchronization.
Further, wait barrier after the disappearance of the second scanning area, master control system controlled motor makes dolly from 0 m/min
Clock starts to accelerate, and waits barrier after the disappearance of the first scanning area, master control system controlled motor makes dolly continue to accelerate, until plus
Speed is to the target velocity of setting, and acceleration is a2, and wherein a2 is more than a1.
Further, zigbee modules are set to realize that the signal of main controller and external equipment is transmitted under low frequency mode.
Further, the wheel of AGV dollies is using four Mecanum wheels, each Mecanum wheel configure a direct current without
Brush motor is independently driven, and each DC brushless motor uses independent control chip, and the enable pin of four control chips are total to
Connect, braking pin connect altogether, carry out centralized Control, the rotating of each DC brushless motor is then independently controlled by controller.
Further, the master control system dumps to ROM data register by the action sequence of a set of completion by coding
These data are read among device, then by the mutual conversion between ROM and RAM, then after decoding, often runs through after one, then leads to
The mode tabled look-up is crossed, by mark position after current action sequence.
From above-mentioned technical proposal it can be seen that the present invention has advantages below：Two-stage detection of obstacles is set, first slowed down again
Confirm that barrier whether there is, confirm that obstruction carries out stopping the fortune of dolly again after being implicitly present in second of accurate scan
OK, it is to avoid dolly is stopped transport caused by wrong identification；And preliminary scan can give certain deceleration distance, collision is effectively reduced
The generation of accident；Before tasks interrupt is carried every time.Just in time preserve current task, the action sequence of remaining workflow,
Even if equipment accident power-off, restarting equipment in 365 days still ensure that automatic execution last time is not complete after start button is pressed
Into work, improve AGV degree of intelligence and convenient degree, allow user to accomplish a key operation, it is to avoid cumbersome.
Brief description of the drawings
Fig. 1 is the pinouts of master control system in the present invention；
Fig. 2 is magnetic navigation sensor pinouts in the present invention；
Fig. 3 is the circuit theory diagrams of Zigbee module in the present invention
Fig. 4 is the circuit theory diagrams of the transfer mechanism of vehicle body in the present invention.
Embodiment
The embodiment of the present invention is elaborated below in conjunction with accompanying drawing.
As illustrated, the AGV dollies method for control speed of the present invention includes following means.
Using the deviant of magnetic navigation sensor counting of carriers, deviant is sent to master control system, determines that dolly is offset
Angle, master control system rectified a deviation according to the angular velocity difference between piece deviant adjusts dolly left and right wheels.Specific mode
It is as follows：As shown in Fig. 1 institutes and Fig. 2, by 600,601,2 road magnetic navigation sensors are connected, magnetic navigation sensor power unit is total to
Power supply and ground connection are enjoyed, suppresses DM EMI, sensor internal is equiped with 16 OC and corresponding 16 high sensitivity are partly led
Body Hall sensor, when magnetic stripe produces 0.5mT magnetic flux, then can trigger the OC door open collectors of current location, when one
Or during multiple open collectors, magnetic stripe sensor is then converted linear mould electric signal by internal MCU.When navigation magnetic stripe position
When angle setting degree changes, 0~10V of voltage of magnetic stripe sensor internal output also changes, and by offseting value-based algorithm, can obtain
To current AGV traveling targets direction and the differential seat angle of actual direction.So as to provide rationally real modified basis for movement locus.
By 1026,1027, the biasing selection of 2 road magnetic stripe sensors of connection, magnetic navigation sensor can by the intervention of external signal,
In the case of branch road, curved selection was forced to left and right.
As shown in 1 and Fig. 4, the transfer mechanism of vehicle body can be combined execution by multiple motors, also can be complete by single motor
Into, by the 1004 of controller, 1,005 two digital quantity interfaces, by driving auxiliary reclay, to reach motor, progress
The requirement of transfer operation.
Barrier is detected using laser obstacle sensor；Laser obstacle sensor is provided with two-stage scan region, when first
There is barrier in level scanning area, master control system reduces operational objective linear velocity by controlled motor, if barrier continues
In the presence of, when also synchronously there is the barrier in the scanning area of the second level, master control system control dolly triggering cutoff command, dolly
Jerk, while target linear velocity is set to 0, in the scope of the second scanning area the model of the first scanning area is contained in synchronization
Enclose；Deng barrier after the disappearance of the second scanning area, master control system controlled motor makes dolly accelerate since 0 m/min, accelerates
Spend for a1, wait barrier after the disappearance of the first scanning area, master control system controlled motor makes dolly continue to accelerate, until accelerating to
The target velocity of setting, acceleration is a2, and wherein a2 is more than a1.
Two-stage detection of obstacles is set, first slows down and confirms that barrier whether there is again, after second of accurate scan confirms
Barrier carries out stopping the operation of dolly again after being implicitly present in, it is to avoid dolly is stopped transport caused by wrong identification；And preliminary scan
Certain deceleration distance can be given, the generation of collision accident is effectively reduced.
Zigbee modules are set to realize that the signal of main controller and external equipment is transmitted under low frequency mode.Zigbee module master
It is used for network channel congestion, live High-frequency Interference is serious, or 2.4Ghz frequency ranges user is excessive, what network bandwidth capabilities were not enough
Under environment.Controller will need long-range automatically-controlled door, elevator, and the remote-controled digital amount signal of the ancillary equipment such as roller pipeline passes through
MCU is read out and stored, then passes through zigbee low frequencies modules and carry out transparent transmission, it is to avoid High-frequency Interference and signal congestion are asked
Topic, prevents section from wrapping, packet loss.
Zigbee module is divided into two groups, each other transceiver, as shown in figure 3, the transmitter module of dolly is by 1200,
1201,1206,1207,1232,1233,1234,1235 this 8 access points, the output signal of Read Controller, so as to control outer
The running of peripheral equipment.
The wheel of AGV dollies is using four Mecanum wheels, and it is only that each Mecanum wheel configures a DC brushless motor
It is vertical to be driven.As shown in figure 3, each DC brushless motor uses independent control chip, the enable pin of four control chips
Connect altogether, braking pin connect altogether, carry out centralized Control, single or multiple motor rotation blockages can be prevented.Each DC brushless motor
Rotating is then independently controlled by controller.
The master control system by the action sequence of a set of completion by coding, among the data register for dumping to ROM, then
These data are read by the mutual conversion between ROM and RAM, then after decoding, are often run through after one, then the side by tabling look-up
Formula, by mark position after current action sequence.Before tasks interrupt is carried every time.Current task is just preserved in time, is remained
The action sequence of remaining workflow, even if equipment accident power-off, restarting equipment in 365 days still ensure that and press startup
The work that automatic execution last time does not complete after button, improves AGV degree of intelligence and convenient degree, allows user to accomplish a key
Operation, it is to avoid cumbersome.
Claims (5)
1. a kind of AGV dollies method for control speed,
Using the deviant of magnetic navigation sensor counting of carriers, deviant is sent to master control system, the angle of dolly skew is determined
Degree, master control system is rectified a deviation according to the angular velocity difference between piece deviant adjustment dolly left and right wheels；
Barrier is detected using laser obstacle sensor；
It is characterized in that：Laser obstacle sensor is provided with two-stage scan region, when there is barrier in first order scanning area,
Master control system reduces operational objective linear velocity by controlled motor, if barrier is persistently present, when in the scanning area of the second level
When also synchronously there is the barrier, master control system control dolly triggering cutoff command, dolly jerk, while target linear velocity is put
0；Deng barrier after the disappearance of the second scanning area, master control system controlled motor makes dolly accelerate since 0 m/min, accelerates
Spend for a1, wherein the scope of the second scanning area is contained in the scope of the first scanning area in synchronization.
2. AGV dollies method for control speed according to claim 1, it is characterised in that：Deng barrier from the second scanning area
After domain disappears, master control system controlled motor makes dolly accelerate since 0 m/min, waits barrier to be disappeared from the first scanning area
Afterwards, master control system controlled motor makes dolly continue to accelerate, until accelerating to the target velocity of setting, acceleration is a2, wherein a2Greatly
In a1。
3. the AGV dolly method for control speed according to claims 1 or 2, it is characterised in that：Zigbee modules are set to exist
Realize that the signal of main controller and external equipment is transmitted under low frequency mode.
4. the AGV dolly method for control speed according to claims 1 or 2, it is characterised in that：The wheel of AGV dollies is adopted
With four Mecanum wheels, each Mecanum wheel configures a DC brushless motor and is independently driven, each brush DC
Motor uses independent control chip, and the enable pin of four control chips connect altogether, and braking pin connect altogether, carries out centralized Control, often
The rotating of individual DC brushless motor is then independently controlled by controller.
5. the AGV dolly method for control speed according to claims 1 or 2, it is characterised in that：The master control system is by one
The action sequence completed is covered by coding, among the data register for dumping to ROM, then passes through mutually turning between ROM and RAM
Change, then read these data after decoding, often run through after one, then by way of tabling look-up, by mark position in current action
After sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710256269.XA CN107065949A (en) | 2017-04-19 | 2017-04-19 | A kind of AGV dollies method for control speed |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710256269.XA CN107065949A (en) | 2017-04-19 | 2017-04-19 | A kind of AGV dollies method for control speed |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108681322A (en) * | 2018-04-13 | 2018-10-19 | 汇专科技集团股份有限公司 | AGV carriage walkings and avoidance obstacle method and system |
| CN108732925A (en) * | 2017-11-01 | 2018-11-02 | 北京猎户星空科技有限公司 | Traveling control method, device and the smart machine of smart machine |
| CN109165830A (en) * | 2018-08-10 | 2019-01-08 | 安徽库讯自动化设备有限公司 | A kind of Intelligentized regulating and controlling system of AGV trolley travelling state |
| CN109190185A (en) * | 2018-08-10 | 2019-01-11 | 安徽库讯自动化设备有限公司 | A kind of operating status regulation method of the AGV trolley with Parameter analysis function |
| CN110221612A (en) * | 2019-06-12 | 2019-09-10 | 珠海格力智能装备有限公司 | Two-wheeled robot walking route correction method and two-wheeled robot |
| CN110694813A (en) * | 2019-10-08 | 2020-01-17 | 闫东波 | Autonomous walking intelligent spraying device, deviation rectifying method and spraying quality monitoring method |
| CN112596520A (en) * | 2020-12-15 | 2021-04-02 | 广东智源机器人科技有限公司 | Method and device for controlling descending of meal delivery equipment, meal delivery equipment and storage medium |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108732925A (en) * | 2017-11-01 | 2018-11-02 | 北京猎户星空科技有限公司 | Traveling control method, device and the smart machine of smart machine |
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| CN109165830A (en) * | 2018-08-10 | 2019-01-08 | 安徽库讯自动化设备有限公司 | A kind of Intelligentized regulating and controlling system of AGV trolley travelling state |
| CN109190185A (en) * | 2018-08-10 | 2019-01-11 | 安徽库讯自动化设备有限公司 | A kind of operating status regulation method of the AGV trolley with Parameter analysis function |
| CN110221612A (en) * | 2019-06-12 | 2019-09-10 | 珠海格力智能装备有限公司 | Two-wheeled robot walking route correction method and two-wheeled robot |
| CN110694813A (en) * | 2019-10-08 | 2020-01-17 | 闫东波 | Autonomous walking intelligent spraying device, deviation rectifying method and spraying quality monitoring method |
| CN112596520A (en) * | 2020-12-15 | 2021-04-02 | 广东智源机器人科技有限公司 | Method and device for controlling descending of meal delivery equipment, meal delivery equipment and storage medium |
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