CN107450549A - A kind of AGV control systems and control method, AGV system - Google Patents
A kind of AGV control systems and control method, AGV system Download PDFInfo
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- CN107450549A CN107450549A CN201710744040.0A CN201710744040A CN107450549A CN 107450549 A CN107450549 A CN 107450549A CN 201710744040 A CN201710744040 A CN 201710744040A CN 107450549 A CN107450549 A CN 107450549A
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000001514 detection method Methods 0.000 claims description 37
- 230000000875 corresponding effect Effects 0.000 description 21
- 230000009471 action Effects 0.000 description 17
- 230000008859 change Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000008034 disappearance Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000035484 reaction time Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of AGV control systems and control method, AGV system.Control system is controlled to operating in the AGV on magnetic stripe guide rail, and at least one station is provided with magnetic stripe guide rail, and control system includes control unit, magnetic navigation sensor, RFID card reader, RFID label tag and station magnetic stripe；According to AGV traffic direction, RFID label tag is arranged between AGV starting point and station and is arranged at apart from station pre-determined distance, station magnetic stripe in the preset range of station；Control unit, magnetic navigation sensor and RFID card reader are mounted on AGV, and magnetic navigation sensor and RFID card reader communicate to connect with control unit；RFID card reader is used to detect the label information for identifying RFID label tag, and magnetic navigation sensor is used to detect identification station magnetic stripe, and control unit positions AGV position according to station magnetic stripe, and controls control instructions of the AGV in execution FRID label information at station.AGV control systems provided by the invention, AGV can be carried out precisely and location control, to improve control accuracy.
Description
Technical field
The present invention relates to the control field of Automatic Guided Vehicle, and in particular to a kind of AGV control systems and control method, AGV
System.
Background technology
With human cost more and more higher, and labor management is complicated, and increasing manual operation is gradually automated machine
Device is substituted, and automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV) is magnetically or optically waited certainly equipped with electricity
Dynamic guiding device, can be travelled along defined guide path, had the transport vehicle of safeguard protection and various transfer functions, be one
Kind is not required to the carrier of driver in commercial Application.
AGV is worked by the way of magnetic navigation more, and its operating process is specially：Laid on the default travel paths of AGV
There is magnetic stripe guide rail, AGV will be run along the magnetic stripe guide rail of the setting.Also, multiple stations can be provided with the magnetic stripe guide rail,
AGV can make corresponding action change, such as AGV stoppings or steering etc. at the station of setting according to instruction.
A kind of AGV control mode is disclosed in the prior art, there are multiple stations on magnetic stripe guide rail, AGV is corresponding
Default action change, such as stopping or steering etc. can be carried out at station.Set in the program before each station of magnetic stripe guide rail
Multiple RFID label tags are put, label information includes the distance of the corresponding station of the position coordinates of RFID label tag, distance and corresponding
Control instruction, for example, AGV cutoff commands, AGV turn left instruction, AGV turn around instruction etc., and simultaneously on AGV install RFID Card Readers
Device, for detecting and receiving the information in RFID label tag.When AGV is run to close to RFID, RFID card reader can detect
Information in RFID label tag simultaneously passes it to AGV control unit, control unit according to control instruction, and AGV with it is corresponding
The information such as the distance of station and AGV present speed is adjusted to AGV so that AGV makes phase when reaching at corresponding station
The action change answered.
But in such scheme, because the scope of RFID card reader reading label is excessive, it is in estimation AGV and corresponding station
The distance between when and it is inaccurate, meanwhile, AGV can enter according to distance to AGV speed again after respective labels information is read
Row adjustment, it is expected that AGV reaches at corresponding station, whole adjustment process all relies on the estimation of control unit, has calculating and misses
Difference is present.Therefore, because the presence of above-mentioned range error and calculation error so that the program can not ensure that AGV can just exist
Action change is carried out at corresponding station, the control for AGV is simultaneously inaccurate.
The content of the invention
It is an object of the present invention to provide a kind of AGV control systems and control method, AGV system, and AGV can be carried out
It is accurately controlled, can not meets the defects of AGV carries out action change at corresponding station in the prior art to overcome.
In order to solve the above technical problems, the invention provides a kind of AGV control systems, to operating on magnetic stripe guide rail
AGV is controlled, and at least one station is provided with the magnetic stripe guide rail, and the control system includes control unit, magnetic navigation
Sensor, RFID card reader, RFID label tag and station magnetic stripe；According to AGV traffic direction, the RFID label tag is arranged at institute
State between AGV starting point and the station and be arranged at the station apart from the station pre-determined distance, the station magnetic stripe
Preset range in；Described control unit, the magnetic navigation sensor and the RFID card reader are mounted on the AGV,
The magnetic navigation sensor and the RFID card reader communicate to connect with described control unit；The RFID card reader is used to examine
The label information for identifying the RFID label tag is surveyed, the magnetic navigation sensor, which is used to detect, identifies the station magnetic stripe, the control
Unit processed is accurately positioned AGV position according to the station magnetic stripe, and controls described in the AGV performed at the station
Control instruction in FRID label information.
Further, the station magnetic stripe is vertically sticked the formed cross crossing on magnetic stripe guide rail, for realizing
The accurate control that the AGV is turned to.
Further, four wheels of the AGV are Mecanum wheel, and each Mecanum wheel is by an independent setting
In the power set driving on the AGV, described control unit controls the working condition of four power set respectively.
Further, along the traffic direction of the AGV, on the front and left and right side of the AGV at least provided with
One magnetic navigation sensor, the magnetic navigation sensor in front, which is used to detect, identifies the magnetic stripe guide rail, left and right side
On the magnetic navigation sensor be used to detect and identify the station magnetic stripe.
Present invention also offers a kind of method being controlled using above-mentioned AGV control systems to AGV, including following step
Suddenly：
S1：AGV advances along magnetic stripe guide rail, the label information of RFID card reader detection identification RFID label tag.
S2：When RFID card reader detection recognizes the label information, described control unit control magnetic navigation passes
Sensor is opened.
S3：When magnetic navigation sensor detection recognizes station magnetic stripe, described control unit is according to the station magnetic
Bar positions the position of the AGV, and the control for controlling the AGV to be performed at the station in the FRID label information refers to
Order.
Further, according to AGV direct of travel, magnetic navigation sensor is provided with four sides of the AGV,
AGV direct of travels side for front magnetic navigation sensor, be left side magnetic navigation sensor corresponding to other three sides, right side
Magnetic navigation sensor and rear magnetic navigation sensor, in the S1, described control unit controls the front magnetic navigation sensing
Device is opened, and magnetic navigation sensor detection identifies that the position of the magnetic stripe guide rail carries out tracking, for making the AGV along shown
Magnetic stripe guide rail moves；In the S2, described control unit controls the left side magnetic navigation sensor and/or the right side magnetic navigation
Sensor is opened, in the S3, described in the left side magnetic navigation sensor and/or right side magnetic navigation sensor detection identification
Station magnetic stripe.
Further, in the S3, the Rule of judgment that the magnetic navigation sensor detection recognizes station magnetic stripe is：a-b
≤|d1-d2|≤a+b, wherein, | d1-d2| when detecting station magnetic stripe for magnetic navigation sensor, the centre bit of the station magnetic stripe
Put the distance between center of the magnetic navigation sensor；A is offset；B for setting error amount, wherein, a according to
Instantly the distance between the speed per hour of the AGV and the AGV and described station obtain, and the b senses according to the magnetic navigation
The accuracy of detection and sample frequency of device obtain.
Further, when the control instruction of the label information stops for AGV, the S3 includes：When the left side magnetic
When navigation sensor and/or right side magnetic navigation sensor detection recognize station magnetic stripe, described in described control unit control
AGV is positioned at station and stopping, and closes the left side magnetic navigation sensor and/or the right side magnetic navigation sensor.
When the control instruction of the label information is AGV traversing, advance or retreated, the control method also includes S4：
Described control unit closes other magnetic navigation sensors in addition to the magnetic navigation sensor of the side where AGV direct of travels, and
The magnetic navigation sensor of side where opening AGV direct of travels, to carry out the tracking of magnetic stripe guide rail, described control unit control
The AGV is traversing, advances or retreats.
When the control instruction of the label information turns to for AGV, the control method also includes S4：Described control unit
Other magnetic navigation sensors in addition to the magnetic navigation sensor of front are closed, the front magnetic navigation sensor detection recognize magnetic stripe is led
Rail, to carry out the tracking of magnetic stripe guide rail, described control unit controls the AGV to turn to.
Present invention also offers a kind of AGV system, including an AGV and above-mentioned AGV control systems.
Compared with prior art, AGV control systems provided by the invention, detected by RFID card reader and identify and receive mark
Information is signed, obtains the control instruction at station, meanwhile, AGV can make pretreatment, including open after label information is detected
Magnetic navigation sensor detects identification station magnetic stripe with this, accurately to be positioned so that AGV can precise motion to work
Action conversion is carried out at position, improves control accuracy.
AGV uses Mecanum wheel as wheel in the present invention simultaneously, can be accurately real with the cooperation of above-mentioned control system
Any action changes of the existing AGV at station, including it is traversing, turn to and turn around.
In addition, the decision condition also by optimizing magnetic navigation sensor detection identification station magnetic stripe so that AGV is navigated to
Station is more accurate.
AGV provided by the invention control method, control operation is simple, can accurately realize to AGV at station
Positioning, and action changes of the AGV at station.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram for AGV control systems that one embodiment of the invention provides；
Fig. 2 is the structural representation of AGV in a kind of AGV control systems that one embodiment of the invention provides；
Fig. 3 is a kind of system architecture diagram for AGV control systems that one embodiment of the invention provides；
Fig. 4 is a kind of flow chart of the control method for AGV that one embodiment of the invention provides；
Fig. 5 is the row of four wheels when AGV advances are controlled in a kind of control method for AGV that one embodiment of the invention provides
Enter directional diagram；
Fig. 6 is the row of four wheels when AGV retrogressings are controlled in a kind of control method for AGV that one embodiment of the invention provides
Enter directional diagram；
Fig. 7 is four wheels when controlling AGV left traversing in a kind of control method for AGV that one embodiment of the invention provides
Direct of travel figure；
Fig. 8 is four wheels when controlling AGV right traversing in a kind of control method for AGV that one embodiment of the invention provides
Direct of travel figure；
Fig. 9 is the row of four wheels when AGV left-hand rotations are controlled in a kind of control method for AGV that one embodiment of the invention provides
Enter directional diagram；
Figure 10 is four wheels when AGV right-hand rotations are controlled in a kind of control method for AGV that one embodiment of the invention provides
Direct of travel figure；
Figure 11 is to control AGV dextrorotations to turn right in a kind of control method for AGV that one embodiment of the invention provides to turn around
When four wheels direct of travel figure；
Figure 12 is to control an AGV rotate counterclockwises left side to turn around in a kind of control method for AGV that one embodiment of the invention provides
When four wheels direct of travel figure.
Figure 13 be a kind of AGV that one embodiment of the invention provides control method in station magnetic stripe and magnetic stripe guide rail parallel when
Schematic diagram；
Figure 14 be one embodiment of the invention provide a kind of AGV control method in station magnetic stripe be cross be in magnetic stripe
Schematic diagram during guide rail side；
Figure 15 is AGV to be controlled and utilized prior art using AGV control systems provided in an embodiment of the present invention and method
Deviation schematic diagram when controlling AGV between AGV center and station center.
Wherein, 10- magnetic stripes guide rail；20- stations；30- station magnetic stripes；40-RFID labels；50- magnetic navigation sensors；60-
Control unit；70-RFID card reader；80- Mecanum wheels.
Embodiment
Below in conjunction with the drawings and specific embodiments to a kind of AGV control systems proposed by the present invention and control method, AGV systems
System is described in further detail.According to following explanation and claims, advantages and features of the invention will become apparent from.Need to illustrate
, accompanying drawing use using very simplified form and non-accurately ratio, only to it is convenient, lucidly aid in illustrating originally
The purpose of inventive embodiments.
Fig. 1 is a kind of schematic diagram for AGV control systems that one embodiment of the invention provides.Fig. 2 is one embodiment of the invention
AGV structural representation in a kind of AGV control systems provided；Fig. 3 is a kind of AGV controls system that one embodiment of the invention provides
The system architecture diagram of system；Fig. 4 is a kind of flow chart of the control method for AGV that one embodiment of the invention provides；Fig. 5 is the present invention
The direct of travel figure of four wheels when AGV advances are controlled in a kind of control method for AGV that one embodiment provides；Fig. 6 is this hair
The direct of travel figure of four wheels when AGV retrogressings are controlled in a kind of control method for AGV that a bright embodiment provides；Fig. 7 is this
Invent the direct of travel figure of four wheels when controlling AGV left traversing in a kind of AGV of embodiment offer control method；Fig. 8
The direct of travel of four wheels when controlling AGV right traversing in the control method for being a kind of AGV that one embodiment of the invention provides
Figure；Fig. 9 is the traveling side of four wheels when AGV left-hand rotations are controlled in a kind of control method for AGV that one embodiment of the invention provides
Xiang Tu；Figure 10 is the row of four wheels when AGV right-hand rotations are controlled in a kind of control method for AGV that one embodiment of the invention provides
Enter directional diagram；Figure 11 is to control AGV dextrorotations to turn right in a kind of control method for AGV that one embodiment of the invention provides
The direct of travel figure of four wheels during head；Figure 12 is to control AGV in a kind of control method for AGV that one embodiment of the invention provides
The direct of travel figure of four wheels when a rotate counterclockwise left side is turned around.
Fig. 1 to Fig. 3 is refer to, the invention provides a kind of AGV control systems, to operating in the AGV on magnetic stripe guide rail 10
It is controlled, at least one station 20 is provided with the magnetic stripe guide rail 10, the control system includes control unit 60, magnetic conductance
Navigate sensor 50, RFID card reader 70, RFID labels 40 and station magnetic stripe 30；According to AGV traffic direction, the RFID
Label 40 is arranged between the starting point of the AGV and the station 20 and apart from the pre-determined distance of station 20, this it is default away from
From presence be to give AGV one end buffer distance, i.e., when AGV recognizes the information in RFID label tag 40, can make corresponding
Pretreatment, next to set station and to carry out corresponding action change, the pre-determined distance by AGV speed per hour and
AGV operation vehicle condition is determined, also, the RFID label tag 40 can be arranged on magnetic stripe guide rail 10, can also be not arranged in
Its side is provided on magnetic stripe guide rail 10, as long as its RFID card reader 70 can be detected and recognized AGV in the process of running
RFID label tag 40, wherein being preferably provided on magnetic stripe guide rail 10, so in order to which AGV on magnetic stripe guide rail 10 when running
The scope that RFID label tag 40 is detected identification is wider, is more easy to be captured by RFID card reader 70.The station magnetic stripe 30 is arranged at institute
In the preset range for stating station 20, specifically, station magnetic stripe 30 can intersect with the magnetic stripe guide rail 10, and intersection point is described
At station 20, and the angle between the station magnetic stripe 30 and the magnetic stripe guide rail 10 can be 0-90 degree.That is station magnetic stripe
30 can vertically be sticked the formed cross crossing on magnetic stripe guide rail 10, to facilitate the accurate control for realizing that the AGV is turned to
System, in addition, station magnetic stripe 30 can also form an angle with magnetic stripe guide rail 10.In addition, the station magnetic stripe 30 can also be set
Into parallel with the magnetic stripe guide rail 10, i.e., not with the station 20 is intersecting contacts, it is but spaced apart, the preset range away from
From depending on the accuracy of detection of the magnetic navigation sensor 50, in the distance range, the AGV can detect the work
Position magnetic stripe 30 simultaneously positions AGV position, i.e. quovis modo, as long as magnetic navigation sensor 50, which can detect, recognizes the station
Magnetic stripe 30, so as to navigate to the position of station 20；Described control unit 60, the magnetic navigation sensor 50 and described
RFID card reader 70 is mounted on the AGV, the magnetic navigation sensor 50 and the RFID card reader 70 with the control
Unit 60 processed communicates to connect, wherein, control unit 60 can be single-chip microcomputer, and RFID card reader 70 uses RS232 interface and monolithic
Machine connects, and magnetic navigation sensor 50 can select its accuracy of detection as needed, such as can be the magnetic navigation sensor of 16
50, magnetic navigation sensor 50 can be connected using RS485 interfaces with single-chip microcomputer；The RFID card reader 70 is used to detect identification institute
The label information of RFID label tag 40 is stated, label information includes control instruction, and the control instruction is the AGV in the station 20
The action change instruction at place, in addition, label information also includes the position coordinates of RFID label tag 40, and itself and station 20 it
Between the information such as distance；The magnetic navigation sensor 50, which is used to detect, identifies the station magnetic stripe 30, described control unit 60
AGV position is accurately positioned according to the station magnetic stripe 30, and controls the AGV to perform the RFID label tag at the station 20
Control instruction in information.In this programme, detected by RFID card reader 70 and identify and receive label information, obtain station
Control instruction at 20, meanwhile, AGV can make pretreatment, including open magnetic navigation sensor after label information is detected
50 identify station magnetic stripe 30 with this to detect, accurately to be positioned so that AGV can enter at precise motion to station 20
Action converts, and improves control accuracy.
Fig. 3 is refer to, in the scheme of the present embodiment, four wheels of the AGV are (or universal for Mecanum wheel 80
Wheel), each Mecanum wheel 80 is driven by the independent power set being arranged on the AGV, described control unit 60
Control the working condition of four power set respectively, wherein, each power set may each comprise an independent motor with
And motor driver, motor driver unidirectionally connects motor, and is connected simultaneously with control unit 60, and control unit 60 passes through motor
Driver control motor rotates, and motor rotates drives Mecanum wheel 80 to move again, by controlling four Mecanum wheels 80 each
From motion state, it is possible to achieve AGV advance, retrogressing, transverse moving left and right, left and right are turned and turned around.
As preferable, along the traffic direction of the AGV, on the front and left and right side of the AGV at least provided with
There is a magnetic navigation sensor 50, the magnetic navigation sensor in front, which is used to detect, identifies the magnetic stripe guide rail, left and right
The magnetic navigation sensor on side, which is used to detect, identifies the station magnetic stripe.It is furthermore preferred that in four sides of the AGV
On at least provided with a magnetic navigation sensor 50.At least one is all around respectively provided with four direction in AGV
Individual magnetic navigation sensor 50, according to AGV direct of travel, AGV direct of travels side for front magnetic navigation sensor, other three
It is left side magnetic navigation sensor, right side magnetic navigation sensor and rear magnetic navigation sensor corresponding to individual side.Using four
Magnetic navigation sensor 50 can open wherein one or more magnetic navigation sensors 50 as needed to be carried out to station magnetic stripe 30
Detection identification.
The method that the AGV control systems provided using the present embodiment are controlled to AGV, as shown in Fig. 4, including it is as follows
Step：
S1：AGV advances along magnetic stripe guide rail, and described control unit controls the front magnetic navigation sensor to open, the magnetic
Navigation sensor detection identifies that the position of the magnetic stripe guide rail carries out tracking, to ensure that the AGV moves along the magnetic stripe guide rail,
The label information of RFID card reader detection identification RFID label tag.
S2：When RFID card reader detection recognizes the label information, described control unit control magnetic navigation passes
Sensor is opened, and the magnetic navigation sensor that side is opened when wherein AGV advances to station magnetic stripe carries out detection identification, i.e. control is single
Member can control the left side magnetic navigation sensor and/or the right side magnetic navigation sensor to open.
S3：When magnetic navigation sensor detection recognizes station magnetic stripe, described control unit is according to the station magnetic
Bar differentiates positioning AGV position, and the control for controlling the AGV to be performed at the station in the FRID label information refers to
Order.Should be noted when, the purpose of the magnetic navigation sensor of side in S2 mainly detects identification station magnetic stripe, when in S3
After AGV is navigated at station, control unit then controls the magnetic navigation sensor of side to close.And the magnetic navigation sensor in front is then
Tracking function is played, is opened all the time during AGV advances, if direct of travel does not paste magnetic stripe guide rail, dolly can alarm, no
It can travel.When AGV performs control instruction at station makes action change, corresponding magnetic navigation can be also opened as needed and is passed
Sensor.
Specifically, in the S3, the Rule of judgment that the magnetic navigation sensor detection recognizes station magnetic stripe is：a-b
≤|d1-d2|≤a+b.Wherein, | d1-d2| when detecting station magnetic stripe for magnetic navigation sensor, the centre bit of the station magnetic stripe
Put the distance between center of the magnetic navigation sensor；A is offset；B is setting error amount.A is according to institute instantly
State the distance between AGV speed per hour and the AGV and described station to obtain, b is according to the detection essence of the magnetic navigation sensor
Degree and sample frequency obtain.
In above-mentioned formula, | d1-d2| represent the center of the station magnetic stripe and the center of the magnetic navigation sensor
The distance between position.When the magnetic navigation sensor detects station magnetic stripe, the width information of station magnetic stripe can project to
On magnetic navigation sensor, such as when the width of station magnetic stripe is 3cm, magnetic navigation sensor is 16, and its numbering is the 16 of 0-15
When the detection identification range of individual point is 16cm, when station magnetic stripe is located exactly between numbering 6-9, then the center of station magnetic stripe
Position overlaps with the center of magnetic navigation sensor, because when detection identifies station, unlatching is side magnetic navigation sensing
Device, in general, side magnetic navigation sensor are provided in the centre of AGV side, in the magnetic navigation sensor of side
In the same horizontal line, therefore, AGV center is by the center with station magnetic stripe for heart position and AGV center
And in the same horizontal line, i.e., now AGV is theoretically just moved at station；When station magnetic stripe is in other
During position, the center of its center and magnetic navigation sensor has a segment distance, and the distance is | d1-d2|, work as distance
Be worth for 0 when, represent now AGV just move at station magnetic stripe, i.e. at AGV just precise motions to station.
A is then offset, is moved to due to detecting that station magnetic stripe is made a response to AGV from magnetic navigation sensor at station
Certain reaction time is needed, if when the center of station magnetic stripe and the center of magnetic navigation sensor are completely superposed
Afterwards, AGV reacts again, and now, AGV needs one section of reaction time and buffer distance from stopping is moved to, when AGV stops completely
After only, it will break through station so that AGV can not carry out action change at station again, cause mistake, it is therefore necessary to set
Certain buffer distance, i.e., described magnetic navigation sensor detection, which is recognized in the Rule of judgment of station magnetic stripe, must set a benefit
Value is repaid, this offset is according to the speed per hours instantly of AGV in practical application and the distance between the AGV and the station
Arrive.
B is setting error amount, and because the accuracy of detection and sample frequency of the magnetic navigation sensor limit, magnetic navigation passes
Sensor will not be all the time carry out sample detecting identification station magnetic stripe, can so cause some moment magnetic navigation sensor not
Sampled, but in fact, plus after offset in above-mentioned formula | d1-d2| just equal to 0, that is, optimal sampled point is missed,
Therefore need to set certain error amount, when | d1-d2| when within error allowed band, it all can be regarded as magnetic navigation sensor detection
Station magnetic stripe is recognized, AGV needs to carry out processing accordingly so that AGV is navigated on station.Sensed with the magnetic navigation of 16
Exemplified by device, its sample frequency is 100ms, then it can be 2cm or so to set error amount b.
In such scheme, AGV precise positionings are realized to station by the magnetic navigation sensor of side, except this it
Outside, when action change is made in the instruction of AGV response controls at station, it can equally open magnetic navigation sensor auxiliary AGV and enter
Action work changes, and reaches the purpose of accurate control AGV motions.Wherein, the control instruction of the label information can be that AGV stops
Only, AGV advances or retrogressing, AGV transverse moving left and rights, AGV turn to or turned around, and different control instructions is, it is necessary to open different magnetic
Navigation sensor is to aid in the corresponding control instructions of AGV to make action.It is situated between so that station magnetic stripe is vertical with magnetic stripe guide rail as an example
Continue.
When the control instruction of the label information stops for AGV, now, the step of directly performing above-mentioned S1-S3, make
Obtain AGV and navigate at station and stop, and close the magnetic navigation sensor of side.
When the control instruction of the label information is traversing for AGV, AGV is set to navigate to work except above-mentioned S1-S3 steps are performed
At position, and close outside all magnetic navigation sensors, it is also necessary to perform S4 described in following step：Described in described control unit control
The magnetic navigation sensor of side where the traversing directions of AGV, to carry out the tracking of magnetic stripe guide rail, described in described control unit control
AGV is traversing；Specifically, when traversing or right traversing to the left, can open corresponding to left side or right side magnetic navigation sensing
Device, magnetic navigation sensor can detect recognize magnetic stripe guide rail in real time and carry out tracking, to ensure AGV accurately traversing actions.Wherein,
The direct of travel of each Mecanum wheel can be respectively with reference to shown in figure 7 and Fig. 8 when AGV is traversing.
When the control instruction of the label information is advanced or retreated for AGV, determine AGV except above-mentioned S1-S3 steps are performed
Position is closed outside other magnetic navigation sensors in addition to the magnetic navigation sensor of the side where AGV direct of travels at station,
Also need to perform S4 described in following step：The magnetic navigation sensor of side where described control unit control AGV traffic directions
Open, to carry out the tracking of magnetic stripe guide rail, described control unit controls the AGV to advance or retreat；Specifically, when marching forward
Or when retreating, corresponding front or behind magnetic navigation sensor can be opened, to carry out the tracking of magnetic stripe guide rail, to ensure AGV
It is accurate to advance and retreat.Wherein, the direct of travel of each Mecanum wheel can be respectively with reference to the He of figure 5 when AGV advances or retreated
Shown in Fig. 6.
When the control instruction of the label information turns to for AGV, AGV steerings specifically include an AGV left sides and turn 90 degrees, turn right
90 degree, the turnback that turns around and left and right turn are arbitrarily spent, and control method makes AGV navigate to work except the above-mentioned S1-S3 steps of execution
At position, and close outside other magnetic navigation sensors in addition to the magnetic navigation sensor of front, it is also necessary to perform S4 described in following step：
Described control unit controls the front magnetic navigation sensor detection recognize magnetic stripe guide rail, to carry out the tracking of magnetic stripe guide rail, institute
Stating control unit controls the AGV to turn to.When AGV is turned to, its direction of motion is that AGV head is moved at first all the time, therefore
Now front magnetic navigation sensor can carry out auxiliary monitoring, for example, a left side turn 90 degrees or when the right side is turn 90 degrees, front magnetic navigation sensor
Can detect magnetic stripe guide rail from the visual field to disappearance, then to the process for detecting magnetic stripe guide rail, i.e., when front magnetic navigation senses
After device detects said process, that is, show that AGV successfully turns to 90 degree.Similarly, during the turnback that turns around, front magnetic navigation passes
Sensor can detect that magnetic stripe guide rail occurs to disappearance from the visual field, then arrive and occur, arrive the process for disappearing and occurring again.Wherein, AGV
During rotation, including turn left, turn right, dextrorotation turn right turn around and when a rotate counterclockwise left side is turned around each Mecanum wheel traveling
Direction can be respectively with reference to shown in figure 9 to Figure 12.
In addition, when station magnetic stripe is set parallel to the magnetic stripe guide rail, when realizing positioning of the AGV at station, specifically
Operation is as follows：As shown in figure 13, so that AGV advances as an example, when AGV advance detections recognize RFID label tag, in RFID label tag
Information include station magnetic stripe position and station magnetic stripe in the information such as the which side of magnetic stripe guide rail, now, control unit meeting
Magnetic navigation sensor on the AGV of side where control station magnetic stripe is opened, for example, using AGV directions of advance as reference, works as work
When position magnetic stripe is arranged on the right side of magnetic stripe guide rail, described control unit controls the right side magnetic navigation sensor to open, right side magnetic
Navigation sensor detection identifies the station magnetic stripe, to carry out AGV precise positioning.When AGV drives in the wrong direction to station mentioned above
When at magnetic stripe, due to being not turned on the magnetic navigation sensor of the side, now AGV operation is not influenceed by the station magnetic stripe.I.e.
AGV can according in RFID label tag information open corresponding to magnetic navigation sensor go identify FRID label information in corresponding to
Station magnetic stripe, being precisely controlled for AGV, rather than simple dependence station magnetic stripe control AGV operations are realized, is so avoided
AGV drive in the wrong direction etc. non-setting form state when AGV influenceed by station magnetic stripe.
In another embodiment of the invention, station magnetic stripe can also be that orthogonal two are arranged on magnetic stripe guide rail
Side, i.e., now, one criss-cross station magnetic stripe is set in the side of the travel path of a magnetic stripe guide rail, for example, as schemed
Shown in 14, according to AGV traffic direction, one criss-cross station magnetic stripe is set on the right side of the progress path of magnetic stripe guide rail,
The station magnetic stripe is as can be as the allocation control points of a loading and unloading, to carry out the carrying up and down of material, now, control
Unit can open right side magnetic navigation sensor, right side magnetic navigation sensor when detection recognizes corresponding FRID label information
After detecting the criss-cross station magnetic stripe, AGV can be controlled to be stopped in this place, carry out material and carry up and down, it is thus real
AGV fixed point location control is showed.
Applicant is by the AGV controls in the application with identifying RFID label tag then using RFID card reader in the prior art
Positional stations are contrasted, and the application is experimental group, and prior art is control group, obtain being utilized respectively two schemes to AGV
When being controlled, the deviation map between AGV center and the center of station, as shown in figure 15.
It can be seen that AGV is controlled using the AGV of the application control system and control method when being, in AGV
Deviation fluctuation between heart position and the center of station will be far smaller than prior art, show the control system using the application
The control accuracy and stability of system and control method when being controlled to AGV are greatly improved compared to prior art.
The embodiment of the present invention additionally provides a kind of AGV system, including an AGV and AGV control systems as described above.
The invention provides a kind of AGV control systems, are detected by RFID card reader and identify and receive label information, obtained
Control instruction at station, meanwhile, AGV can make pretreatment, including open magnetic navigation sensor after label information is detected
Station magnetic stripe is identified to detect with this, accurately to be positioned so that AGV can be acted at precise motion to station
Conversion, improves control accuracy.
AGV uses Mecanum wheel as wheel in the present invention simultaneously, can be accurately real with the cooperation of above-mentioned control system
Any action changes of the existing AGV at station, including it is traversing, turn to and turn around.
In addition, the decision condition also by optimizing magnetic navigation sensor detection identification station magnetic stripe so that AGV navigates to work
Position is more accurate.
AGV provided by the invention control method, control operation is simple, can accurately realize to AGV at station
Positioning, and action changes of the AGV at station.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Scope.
Claims (10)
1. a kind of AGV control systems, be controlled to operating in the AGV on magnetic stripe guide rail, be provided with the magnetic stripe guide rail to
A few station, it is characterised in that the control system includes control unit, magnetic navigation sensor, RFID card reader, RFID marks
Label and station magnetic stripe；
According to AGV traffic direction, the RFID label tag is arranged between the starting point of the AGV and the station and apart from institute
Station pre-determined distance is stated, the station magnetic stripe is arranged in the preset range of the station；
Described control unit, the magnetic navigation sensor and the RFID card reader are mounted on the AGV, the magnetic navigation
Sensor and the RFID card reader communicate to connect with described control unit；
The RFID card reader is used to detect the label information for identifying the RFID label tag, and the magnetic navigation sensor is used to detect
The station magnetic stripe is identified, described control unit positions AGV position according to the station magnetic stripe, and controls the AGV in institute
State the control instruction performed at station in the FRID label information.
2. AGV control systems according to claim 1, it is characterised in that the station magnetic stripe is vertically sticked leads in magnetic stripe
Formed cross crossing on rail, the control turned to for realizing the AGV.
3. AGV control systems according to claim 1, it is characterised in that four wheels of the AGV are Mecanum
Wheel, each Mecanum wheel are driven by the independent power set being arranged on the AGV, and described control unit is controlled respectively
Make the working condition of four power set.
4. AGV control systems according to claim 1, it is characterised in that along the traffic direction of the AGV, the AGV's
It is used on front and left and right side at least provided with a magnetic navigation sensor, the magnetic navigation sensor in front
Detect and identify the magnetic stripe guide rail, the magnetic navigation sensor on the side of left and right, which is used to detect, identifies the station magnetic stripe.
5. a kind of method that AGV control systems using as described in claim any one of 1-4 are controlled to AGV, its feature
It is, comprises the following steps：
S1：AGV advances along magnetic stripe guide rail, the label information of RFID card reader detection identification RFID label tag；
S2：When RFID card reader detection recognizes the label information, described control unit control magnetic navigation sensor
Open；
S3：When magnetic navigation sensor detection recognizes station magnetic stripe, described control unit is determined according to the station magnetic stripe
Position AGV position, and control control instructions of the AGV in the execution FRID label information at the station.
6. a kind of AGV according to claim 5 control method, it is characterised in that described according to AGV direct of travel
Be provided with magnetic navigation sensor on AGV four sides, AGV direct of travels side for front magnetic navigation sensor, other
It is left side magnetic navigation sensor, right side magnetic navigation sensor and rear magnetic navigation sensor corresponding to three sides, the S1
In, described control unit controls the front magnetic navigation sensor to open, and the magnetic navigation sensor detection identifies the magnetic stripe
The position of guide rail carries out tracking, for making the AGV be moved along the magnetic stripe guide rail；In the S2, described control unit control
The left side magnetic navigation sensor and/or the right side magnetic navigation sensor are opened, in the S3, the left side magnetic navigation sensing
Device and/or right side magnetic navigation sensor detection identify the station magnetic stripe.
A kind of 7. AGV according to claim 6 control method, it is characterised in that in the S3, the magnetic navigation sensing
Device detection recognizes the Rule of judgment of station magnetic stripe and is：a-b≤|d1-d2|≤a+b, wherein, | d1-d2| it is magnetic navigation sensor
When detecting station magnetic stripe, between the center of the station magnetic stripe and the center of the magnetic navigation sensor away from
From；A is offset；B is setting error amount, wherein, a according to the speed per hour of the AGV instantly and the AGV and the station it
Between distance obtain, the b obtains according to the accuracy of detection and sample frequency of the magnetic navigation sensor.
8. a kind of AGV according to claim 6 control method, it is characterised in that when the control of the label information refers to
Make for AGV it is traversing, advance or retreat when, the control method also includes S4：Described control unit is closed and removes AGV direct of travels institute
Side magnetic navigation sensor outside other magnetic navigation sensors, and open the magnetic conductance of the side where AGV direct of travels
Navigate sensor, and to carry out the tracking of magnetic stripe guide rail, described control unit controls the AGV traversing, advance or retreated.
9. a kind of AGV according to claim 6 control method, it is characterised in that when the control of the label information refers to
Make when being turned to for AGV, the control method also includes S4：Described control unit closes other in addition to the magnetic navigation sensor of front
Magnetic navigation sensor, the front magnetic navigation sensor detects recognize magnetic stripe guide rail, to carry out the tracking of magnetic stripe guide rail, the control
Unit processed controls the AGV to turn to.
10. a kind of AGV system, including an AGV, it is characterised in that also include the AGV as any one of Claims 1-4
Control system.
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| TW106135159A TWI676875B (en) | 2017-08-25 | 2017-10-13 | AGV control system and control method, AGV system |
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| TWI676875B (en) | 2019-11-11 |
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