CN107463178A - A kind of path detection and control device for automatic Guided Vehicle - Google Patents
A kind of path detection and control device for automatic Guided Vehicle Download PDFInfo
- Publication number
- CN107463178A CN107463178A CN201710823316.4A CN201710823316A CN107463178A CN 107463178 A CN107463178 A CN 107463178A CN 201710823316 A CN201710823316 A CN 201710823316A CN 107463178 A CN107463178 A CN 107463178A
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- guided vehicle
- automatic guided
- control device
- path detection
- steering
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- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000012545 processing Methods 0.000 claims description 9
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
- 230000003287 optical effect Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000002567 autonomic effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of path detection and control device for automatic Guided Vehicle, the path detection device and control device include automatic Guided Vehicle（1）, colour band（2）, beam launcher（3）, light wave record sensor（4）, steering power mechanism（5）, steering mechanical mechanism（6）.The present invention controls the direction of dolly by the way of optical sensing, it is remained on circuit set in advance and travels.The design of the device is simple, is easy to use flexibly, cost is relatively low and path orientation is accurate, and overall structure is easy to later period maintenance and replacing, has very wide application prospect.
Description
Technical field
The present invention relates to material flows automation field, homing guidance device is housed more particularly to one kind, can be along defined
Route, the carrying vehicle of path detection and control device is loaded with car body.
Background technology
The navigation mode of current domestic automatic Guided Vehicle mainly has following several：
1st, magnetic navigation mode：Magnetic navigation is magnetic stripe navigation, is by laying magnetic stripe on road surface, passing through magnetic navigation sensor
Magnetic signal caused by continual sensing magnetic stripe realizes navigation, and appointed task is completed by reading the RFID card of pre-plugged.
Magnetic navigation cost is relatively low, realizes relatively simple.But this navigation mode very flexible, AGV can only walk along magnetic stripe, and change path needs
Again magnetic stripe is laid, task can not be changed in real time by control system, and magnetic stripe is easily damaged, later maintenance cost is higher.
2nd, laser navigation mode：Laser navigation is the accurate laser reflection plate of installation site around AGV driving paths,
AGV gathers the laser beam by baffle reflection by launching laser beam, to determine its current position and direction, and leads to
Continuous triangle geometric operation is crossed to realize AGV navigation.Technique biggest advantage is AGV registrations；Ground need not
Other location facilities；Driving path can be flexible and changeable, can be adapted to various field environment, and it is current external many AGV productions
The advanced navigation mode that producer preferentially uses, shortcoming are that manufacturing cost is high, more relatively harsh to environmental requirement (ambient, ground
Face requirement, visibility requirement etc.).
3rd, inertial navigation mode：Inertial navigation is that gyroscope is installed on AGV, and positioning is installed on the ground of running region
Block, AGV can determine the position of itself and side by the calculating to gyroscope deviation signal and the collection of terrestrial positioning block signal
To, by integration and computing obtain speed and position, so as to reach the purpose to carrier navigator fix.Technique is in the military
Relatively early to use, its major advantage is advanced technology, and positioning accuracy is high, and flexibility is strong, is easy to combination and compatible, suitable application area
Extensively, used by many AGV manufacturers of foreign countries.Its shortcoming is that manufacturing cost is higher, the precision and reliability and top of guiding
The accuracy of manufacture and service life of spiral shell instrument are closely related.The equipment for forming inertial navigation system is all arranged in carrier, work
When independent of external information, also not outwardly emittance, is not easily susceptible to disturb, is a kind of autonomic navigation system.
4th, optical guidance mode：On AGV driving path paint or paste colour band, by ccd video camera is adopted into
Colour band picture intelligence carries out simple process and realizes navigation, and its flexibility is relatively good, and route setting in ground is simple and easy, but to color
The pollution of band and mechanical wear are very sensitive, too high to environmental requirement, and navigation reliability is poor, difficult to realize to be accurately positioned, and
And requirement of this mode to controller is higher, it is desirable to arithmetic speed than very fast, computing mode is more complicated, and uses
Ccd video camera and high-speed controller cause the cost of whole system too high, hardly result in universal application.
The content of the invention
In view of this, the invention provides a kind of path detection and control device for automatic Guided Vehicle, the device
Design is simple, is easy to use flexibly, and cost is relatively low and path orientation is accurate, and overall structure is easy to later period maintenance and more
Change.
In order to achieve the above object, the present invention provides following technical scheme：
A kind of path detection and control device for automatic Guided Vehicle, the path detection device include self-navigation
Dolly, colour band, beam launcher, light wave record sensor, steering power mechanism, steering mechanical mechanism.The present invention uses light
The mode for learning sensing controls the direction of dolly, it is remained on circuit set in advance and travels.In advance in self-navigation
The colour band for being different from road surface is coated on the road surface that dolly travels in advance, the colour band is the travel route of dolly.It is provided with dolly
Beam launcher, light wave record sensor, using a period set as the cycle, light wave record sensor sensing light wave leads to
Time difference t1 and t2 caused by colour band is crossed, so as to which whether there occurs position skew to judge dolly.If t1>T2 then dolly then to
T1 directions are offset, and now need to change direction to t2 directions, signal is transferred to steering power by light wave record sensor
On the signal processing apparatus of mechanism, control steering mechanical mechanism is to t2 directional steerings, until dolly is adjusted to colour band center section；
Dolly traveling now continues to move ahead, without changing direction among t1 and t2 sections if t1=t2；If t1<T2 is then small
Car is then offset to t2 directions, is now needed to t1 directions adjustment direction, and light wave, which records sensor and signal is transferred to, to be turned
To on the signal processing apparatus of actuating unit, control steering mechanical mechanism is to t1 directional steerings until dolly is adjusted in colour band
Between.By t1 and t2 comparison, whether this dolly of we can be detailed confirmation is inclined in the event of position there occurs position skew
Move then light wave record sensor and corresponding signal is transferred to the signal processing apparatus in steering power mechanism, signal processing apparatus
According to the signal control steering mechanical mechanism received to the left or adjustment direction, and then control dolly to return to correct row to the right
Sail path.
Preferably, in the path detection of automatic Guided Vehicle and control device, the color of colour band is to be different from the depth on road surface
Color, such as the color of black system.
Preferably, in the path detection of automatic Guided Vehicle and control device, steering power mechanism is by the electricity that is separately provided
Machine drives.
Preferably, in the path detection of automatic Guided Vehicle and control device, steering mechanism is crank and rocker mechanism.
So present invention design is simple, it is easy to use flexibly, cost is relatively low and path orientation is accurate, overall structure
It is easy to later period maintenance and replacing.
Brief description of the drawings
In order to illustrate the embodiments of the present invention more clearly, the required accompanying drawing used makees letter in being described below to embodiment
Singly introduce, it should be apparent that, drawings in the following description are only embodiments of the invention, for ordinary skill people
For member, on the premise of not paying creative work, other accompanying drawings can also be obtained according to the accompanying drawing of offer.
It is a kind of for the path detection of automatic Guided Vehicle and the schematic diagram of control device that Fig. 1 is that the present invention supplies.
In figure mark for：
1st, automatic Guided Vehicle；2nd, colour band；3rd, beam launcher；4th, light wave record sensor；5th, steering power mechanism；
6th, steering mechanical mechanism.
Embodiment
Described in order to make it easy to understand, carrying out clearly and completely embodiment to technical scheme below in conjunction with the accompanying drawings,
Obviously, described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.Based in the present invention
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made,
Belong to the scope of protection of the invention.
It is a kind of path detection and control device for automatic Guided Vehicle provided by the invention referring to Fig. 1, including from
Dynamic navigation dolly 1, colour band 2, beam launcher 3, light wave record sensor 4, steering power mechanism 5, steering mechanical mechanism 6.
Along the route running pre-set, the route pre-set is shown automatic Guided Vehicle 1 by the colour band 2 for being different from road surface color
Go out, light wave record sensor 4 transfers signals to the signal processing apparatus in steering power mechanism 5 after detecting offset signal
On, steering power mechanism 5 directly distributes the driving power of dolly, receives control turn after the signal that signal processing apparatus is sent
Turned to mechanical structure 6, and then control dolly adjustment direction.
It is a kind of path detection and control device for automatic Guided Vehicle provided by the invention referring to Fig. 1, including from
Dynamic navigation dolly 1, colour band 2, beam launcher 3, light wave record sensor 4, steering power mechanism 5, steering mechanical mechanism 6.
Along the route running pre-set, the route pre-set is shown automatic Guided Vehicle 1 by the colour band 2 for being different from road surface color
Go out, light wave record sensor 4 transfers signals to the signal processing apparatus in steering power mechanism 5 after detecting offset signal
On, steering power mechanism 5 is driven by the motor being separately provided, and steering is controlled after receiving the signal that signal processing apparatus is sent
The left and right turn of mechanical structure 6, and then control dolly adjustment direction.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to embodiment will be apparent for those skilled in the art, as defined herein general
Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention will not
Embodiment illustrated herein can be restricted to, and is to fit to consistent with principles disclosed herein and features of novelty most wide
Scope.
Claims (4)
1. a kind of path detection and control device for automatic Guided Vehicle, it is characterised in that including automatic Guided Vehicle
(1), colour band (2), beam launcher (3), light wave record sensor (4), steering power mechanism (5), steering mechanical mechanism
(6), the beam launcher (3) be arranged on the automatic Guided Vehicle (1) bottom and with the automatic Guided Vehicle (1)
Direction of advance it is vertical, light wave record sensor (4) is arranged on the bottom centerline of the automatic Guided Vehicle (1) simultaneously
It is consistent with the direction of advance of the automatic Guided Vehicle (1), setting signal processing unit on the steering power mechanism (5), point
It is not connected with the light wave sensor (4) and the steering mechanical mechanism (5).
2. the path detection and control device according to claim 1 for automatic Guided Vehicle, it is characterised in that described
Steering power mechanism (5) distributes from the driving power of automatic Guided Vehicle (1), is connected with the steering mechanical mechanism (6).
3. the path detection and control device according to claim 1 for automatic Guided Vehicle, it is characterised in that described
Steering power mechanism (5) is driven by the motor being separately provided, and is connected with the steering mechanical structure (6).
4. the path detection and control device according to claim 1 for automatic Guided Vehicle, it is characterised in that described
Steering mechanical mechanism (6) is crank and rocker mechanism, is connected with the deflecting roller of automatic Guided Vehicle (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710823316.4A CN107463178A (en) | 2017-09-13 | 2017-09-13 | A kind of path detection and control device for automatic Guided Vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710823316.4A CN107463178A (en) | 2017-09-13 | 2017-09-13 | A kind of path detection and control device for automatic Guided Vehicle |
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| Publication Number | Publication Date |
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| CN107463178A true CN107463178A (en) | 2017-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710823316.4A Pending CN107463178A (en) | 2017-09-13 | 2017-09-13 | A kind of path detection and control device for automatic Guided Vehicle |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07287616A (en) * | 1994-04-19 | 1995-10-31 | Toyota Motor Corp | Unmanned vehicle guiding device |
| JPH11202936A (en) * | 1998-01-12 | 1999-07-30 | Iseki & Co Ltd | Straight travel controller by laser light for four-wheel steering working vehicle |
| CN101907895A (en) * | 2010-08-06 | 2010-12-08 | 上海交通大学 | Beam rider type laser navigation unit |
| CN103019238A (en) * | 2012-11-26 | 2013-04-03 | 苏州工业园区职业技术学院 | Automatic guided vehicle system based on programmable controller and control method thereof |
| CN103294059A (en) * | 2013-05-21 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Hybrid navigation belt based mobile robot positioning system and method thereof |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
| CN106292660A (en) * | 2016-08-05 | 2017-01-04 | 上海电力学院 | Balance car course corrections device and method based on speedometer and gray-scale sensor |
| CN107084716A (en) * | 2017-05-16 | 2017-08-22 | 苏州艾吉威机器人有限公司 | A kind of localization method of the areflexia plate laser navigation of use adminicle |
-
2017
- 2017-09-13 CN CN201710823316.4A patent/CN107463178A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07287616A (en) * | 1994-04-19 | 1995-10-31 | Toyota Motor Corp | Unmanned vehicle guiding device |
| JPH11202936A (en) * | 1998-01-12 | 1999-07-30 | Iseki & Co Ltd | Straight travel controller by laser light for four-wheel steering working vehicle |
| CN101907895A (en) * | 2010-08-06 | 2010-12-08 | 上海交通大学 | Beam rider type laser navigation unit |
| CN103019238A (en) * | 2012-11-26 | 2013-04-03 | 苏州工业园区职业技术学院 | Automatic guided vehicle system based on programmable controller and control method thereof |
| CN103294059A (en) * | 2013-05-21 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Hybrid navigation belt based mobile robot positioning system and method thereof |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
| CN106292660A (en) * | 2016-08-05 | 2017-01-04 | 上海电力学院 | Balance car course corrections device and method based on speedometer and gray-scale sensor |
| CN107084716A (en) * | 2017-05-16 | 2017-08-22 | 苏州艾吉威机器人有限公司 | A kind of localization method of the areflexia plate laser navigation of use adminicle |
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Application publication date: 20171212 |