CN109655074A - A kind of the AGV method for path navigation and AGV chassis structure of mechanical structure auxiliary - Google Patents
A kind of the AGV method for path navigation and AGV chassis structure of mechanical structure auxiliary Download PDFInfo
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- CN109655074A CN109655074A CN201811619978.0A CN201811619978A CN109655074A CN 109655074 A CN109655074 A CN 109655074A CN 201811619978 A CN201811619978 A CN 201811619978A CN 109655074 A CN109655074 A CN 109655074A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to the AGV method for path navigation and AGV chassis structure of a kind of mechanical structure auxiliary comprising chassis, chassis two sides are provided with solid rubber wheel, and chassis upper both ends are provided with the reduction gearbox for controlling solid rubber wheel speed；It is provided with electromagnetism code-disc in the middle part of chassis, is provided with protection shell above electromagnetism code-disc, is provided in protective shell body for ensuring the first non-slip pressure spring of electromagnetism code-disc；The chassis lower part in headstock direction is provided with first group of limit switch and second group of limit switch, first group of limit switch and second group of limit switch are respectively set to two rows；AGV with the chassis structure is travelled on the path pre-set, and groove and the website terrestrial reference slot for characterizing website are provided on the path ground, first group of limit switch is fallen into groove AGV when driving, second group of limit switch is fallen into website terrestrial reference slot, the controller of AGV is outputed signal to, which judges whether Omni-mobile or differential steering according to obtained information.
Description
Technical field
The present invention relates to a kind of AGV method for path navigation and chassis structures, especially with regard to one kind in logistics field storehouse
The AGV method for path navigation and AGV chassis structure of mechanical structure auxiliary of the library with goods.
Background technique
Automatic guiding carriage (AGV) is widely used as transfer robot, is removed applied to automated warehouse storage system, flexibility
The logistics systems such as fortune system and flexible assembly system.Trolley is to control its fortune with certain navigation mode using battery as power supply
The automatic intelligent haulage equipment of walking along the street line.System is mainly by trolley, guidance system, management system, communication system, stop work
The automated system of the compositions such as position and charging station.Managing system of above position machine is logical by the trolley in communication system and system
Letter, optimization operation process, the running route for controlling trolley, the operating status for carrying plan and monitoring trolley for formulating trolley.
And guidance system is divided into electromagnetism guiding (Wire Guidance), tape guidance (Magnetic Tape
Guidance), optical navigation (Optical Guidance) and las er-guidance (Laser Guidance) etc..Wherein, electromagnetism is led
Draw be on the form path of AGV bury metal wire, and metal wire load pilot frequency, by the identification to pilot frequency come
Realize the guiding of AGV；The disadvantage is that be difficult to change extension big to complicated path limitation in path.Tape guidance is used in road surface
Upper patch tape substitution sets metal wire in subsurface reason, is realized and is guided by magnetic strength induction signal, flexibility is relatively good；The disadvantage is that
Interference of this guide mode vulnerable to loop surrounding metal substance, tape is vulnerable to mechanical damage, therefore the reliability guided is by the external world
It is affected.Optical navigation be on the driving path of AGV paint or paste colour band, by video camera adopt into colour bar pattern as
Signal carries out simple process and realizes guiding, and flexibility is relatively good, and route setting in ground is simple and easy；The disadvantage is that colour band
Pollution and mechanical wear it is very sensitive, it is excessively high to environmental requirement, guiding reliability it is poor, precision is lower.Las er-guidance be
The accurate laser reflection plate of surrounding's installation site of AGV driving path, AGV emit laser beam by laser scanner, adopt simultaneously
Collect the laser beam by baffle reflection, to determine its current position and course, and by continuous triangle geometric operation come real
The guiding of existing AGV；The disadvantage is that manufacturing cost is high, more relatively harsh to environmental requirement to ambient, ground is required, visibility
It is required that etc., be not suitable for outdoor (influence especially vulnerable to rain, snow, mist).
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide the AGV method for path navigation and AGV of a kind of mechanical structure auxiliary
Chassis structure is able to achieve the cost for not only reducing traditional warehouse transformation, but also can realize the guiding of AGV very well.
To achieve the above object, the present invention takes following technical scheme: a kind of AGV chassis structure comprising chassis, solid
Rubber wheel, reduction gearbox, electromagnetism code-disc, the first pressure spring, first group of limit switch and second group of limit switch；The chassis two sides point
It is not provided with two pairs of solid rubber wheels, is correspondingly arranged on positioned at the chassis upper both ends and the solid rubber wheel described
Reduction gearbox, for controlling the revolving speed of the solid rubber wheel；It is provided with the electromagnetism code-disc in the middle part of the chassis, and in the electricity
Protection shell is provided with above magnetic code disk, the protection shell setting is provided in the chassis upper, the protective shell body
For ensuring non-slip first pressure spring of the electromagnetism code-disc；It is provided with positioned at the chassis lower part in headstock direction described
First group of limit switch and second group of limit switch, first group of limit switch and second group of limit switch are respectively set to two
Row；AGV with the chassis structure is travelled on the path pre-set, and is provided with groove on the path ground and is used for
The website terrestrial reference slot of website is characterized, first group of limit switch is fallen into the groove AGV when driving, and described second group
Limit switch is fallen into the website terrestrial reference slot, outputs signal to the controller of the AGV, and the controller is according to obtained information
Judge whether Omni-mobile or differential steering.
Further, two rows of first group of limit switch are staggered in the middle part of chassis in parallel, two rows of second group of limit
Bit switch is separately positioned at left and right sides of the chassis at near-car head.
Further, the groove is arranged along path direction, and the website terrestrial reference slot is vertical setting with the groove.
Further, in first group of limit switch limit switch quantity be greater than second group of limit switch in limit
The quantity of switch.
Further, each limit switch all includes the second pressure spring and button；Second pressure spring one end and the bottom
Disk connection, the other end are connect with the button, the end of the button and ground face contact.
Further, the end face of the button is set as hemisphere face structure.
Further, the groove and website terrestrial reference slot all use conventional portable porcelain slice cutting machine to be cut on the ground
Groove out.
A kind of AGV method for path navigation of the mechanical structure auxiliary based on above-mentioned AGV chassis structure comprising following step
Rapid: 1) by the controller in path transmission to AGV pre-planned, collected signal is also transmitted to by each limit switch
In controller；2) data and real road information of the controller according to each limit switch groove detected and website terrestrial reference slot,
The tracking of orbital path is compared in conjunction with AGV driving difference in wheel, judges whether AGV entreats in the paths, carry out the correction in path with
Adjustment；If AGV is entreated in the paths, enter step 3), otherwise enters step 4)；3) continue to travel by current path, and by each
A limit switch continuous collecting signal is transmitted to controller；4) correction and adjustment in path are carried out, and sends a signal to solid rubber
The driver of rubber tire drives solid rubber wheel omnidirectional or differential steering by the motor of solid rubber wheel；It then proceedes to by each limit
Bit switch continuous collecting signal is transmitted to controller.
Further, in the step 1), using limit switch sampled point, the position where groove and website terrestrial reference slot is detected
It sets, each sampled point has the corresponding output of signal all the way, and when sampled point collects grooved position, which will be exported
Low level, the signal without collecting groove export then as high level.
Further, in the step 4), 4.1) correction and the method for adjustment in path are the following steps are included: rectify a deviation: by two groups
Limit switch continuous collecting signal, as the input of path clustering, in trolley travelling, wherein one in one group of limit switch limits
Bit switch can be fallen into groove, to export low level signal；Similarly, controller judges that two low levels are believed to another group of limit switch
Number be located at any side of row's formula limit switch midline position, and then make the judgement of steering or straight trip: offset in left or right side, if
Peak excursion is greater than 1, then to the right or left correction, otherwise keeps straight on；Offset is not ipsilateral, if first row is to the right or left, to the left or
Right correction；4.2) it turns to: shorter second group of limit switch of row's formula being installed in chassis lower part, for detecting bend line, if left side
Or there is one to be released in the short row's formula limit switch in right side, and detection is released duration, if shorter than duration caused by website terrestrial reference slot,
Then execute right-hand rotation or left-hand rotation；4.3) website terrestrial reference slot, the station that controller is passed through by judgement real time position feedback: are cut on ground
Points and the steering turned every time, judge AGV real time position roughly, are only capable of judging between certain two website；It is accurate in real time
Position is measured by electromagnetism code-disc, and electromagnetism code-disc Following Car body rotates forward, calculates exact position of the car body between two websites；
Real time position is constituted by rough position and exact position, path planning is carried out according to the AGV real time position, completes navigation.
The invention adopts the above technical scheme, which has the following advantages: 1, of the invention utilize will not be to AGV on ground
The shallow grooves that normal walking has an impact change the state of the limit switch in entire row limit switch on certain position, to judge to lead
To whether deviateing, it is easier to realize relative to embedded conducting wire and magnetic stripe.2, the present invention is not have to Overall Reconstruction on the basis of former warehouse
It can be realized, and the air navigation aid of AGV robot cost can be reduced, detect ground using the limit switch of entire row dense arrangement
The mode of face guide channel carrys out realizing route guiding, sensor is replaced using simple and reliable limit switch, using shallower
Groove reduces the transformation to warehouse floor, to realize the cost for not only having reduced traditional warehouse transformation, but also can realize leading for AGV very well
Draw.3, the present invention uses simple and reliable limit switch, and advantage is clear to compared with expensive sensor.4, the present invention is directed to China
Numerous medium and small storehouse mechanization transformations, extensive market is more cheap relative to existing navigation mode, high reliablity, on existing basis
Upper transformation, Feasible degree are high.
Detailed description of the invention
Fig. 1 is chassis side view of the invention；
Fig. 2 is chassis bottom view of the invention；
Fig. 3 is groove of the invention/limit switch actual working state schematic diagram；
Fig. 4 is air navigation aid flow diagram of the invention.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1 and Figure 2, the object of the present invention is to provide a kind of AGV chassis structure, which utilizes existing base
In the identical guiding strategy of magnetic guidance AGV of fuzzy control, improved for the drawbacks of magnetic guidance, and then goods kept in stock outside account in realization
Cheap reliable automatic improving.AGV chassis structure includes chassis, solid rubber wheel 1, reduction gearbox 2, the pressure of electromagnetism code-disc 3, first
4, first groups of limit switches 5 of spring and second group of limit switch 6.
Chassis two sides are respectively arranged with two pairs of solid rubber wheels 1, set positioned at chassis upper both ends are corresponding with solid rubber wheel 1
It is equipped with reduction gearbox 2, for controlling the revolving speed of solid rubber wheel 1.It is provided with electromagnetism code-disc 3 in the middle part of chassis, and on electromagnetism code-disc 3
Side is provided with protection shell, and protection shell setting is provided in chassis upper, and in protective shell body for ensuring electromagnetism code-disc 3
The first non-slip pressure spring 4.The chassis lower part in headstock direction is provided with first group of limit switch 5 and second group of limit switch
6, first group of limit switch 5 and second group of limit switch 6 are respectively set to two rows；Two ranked first group limit switch 5 in parallel staggeredly
It is arranged in the middle part of chassis, two ranked second at left and right sides of the chassis that group limit switch 6 is separately positioned at near-car head.With the bottom
The AGV of dish structure is travelled on the path pre-set, and groove 7 is provided on the path ground and for characterizing website
Website terrestrial reference slot, first group of limit switch 5 is fallen into groove 7 AGV when driving, and second group of limit switch 6 falls into website terrestrial reference slot
It is interior (as shown in Figure 3), output signal to the controller of AGV, the controller according to obtained information judge whether Omni-mobile or
Person's differential steering.Wherein, groove 7 is arranged along path direction, and website terrestrial reference slot is vertical setting with groove 7, that is, is horizontally installed on
On path.
In above-described embodiment, the quantity of limit switch is greater than in second group of limit switch 6 and limits in first group of limit switch 5
The quantity of switch.
In the various embodiments described above, each limit switch all includes the second pressure spring 8 and button 9.Second pressure spring one end and chassis
Connection, the other end are connect with button 9, the end of button 9 and ground face contact.
It wherein, will be by guarantee that the button 9 of limit switch can swimmingly slide into and out from groove 7 and website terrestrial reference slot
The end face of button 9 is set as hemisphere face structure.
In above-described embodiment, to guarantee the cutting of groove 7 and website terrestrial reference slot and the convenience of later period modification route and maintenance,
Groove 7 and website terrestrial reference slot all use conventional portable porcelain slice cutting machine to carry out being cut into groove on the ground.
In use, two ranked second the detection website terrestrial reference slot of group limit switch 6, electromagnetism code-disc 3 is driven when chassis moves forward
Rotation, the distance between two websites locating for turnning circle rough calculation of electromagnetism code-disc 3, and second group of limit switch 6 of two sides
Website is detected, electromagnetism code-disc 3 and website detection combination realize that the tracking to path, the correction and tracking in path can improve systematicness
The measure of energy is to reduce the accumulative of error.When normally travel, is squeezed with the button 9 of ground face contact by ground, pass through second spring 7
Limit switch is depressed.Normal ground can make the elastic force of second spring 7 beat presetting in range, set in advance as long as being greater than
Definite value is it is ensured that limit switch is depressed, and passes through slight improved warehouse floor, and there are tiny groove 7 and website terrestrial references
Slot, second spring 7 can be released after button 9 is fallen into groove 7 and website terrestrial reference slot, and limit switch also unclamps therewith, output
Low level signal is to controller.
As shown in figure 4, being based on above-mentioned AGV chassis structure, the present invention also provides a kind of paths AGV of mechanical structure auxiliary to lead
Boat method comprising following steps:
1) by the controller in path transmission to AGV pre-planned, each limit switch is by collected signal
It is transmitted in controller；
Using limit switch sampled point, it is capable of detecting when the position where groove 7 and website terrestrial reference slot, each sampled point
There is the corresponding output of signal all the way, when sampled point collects grooved position, which will export low level, without adopting
The signal for integrating groove exports then as high level.
2) data and real road information of the controller according to each limit switch groove 7 detected and website terrestrial reference slot,
The tracking of orbital path is compared in conjunction with AGV driving difference in wheel, judges whether AGV entreats in the paths, carry out the correction in path with
Adjustment；If AGV is entreated in the paths, enter step 3), otherwise enters step 4)；
3) continue to travel by current path, and controller is transmitted to by each limit switch continuous collecting signal；
4) correction and adjustment in path are carried out, and sends a signal to the driver of solid rubber wheel 1, by solid rubber wheel 1
Motor drive 1 omnidirectional of solid rubber wheel or differential steering；It then proceedes to be transmitted to by each limit switch continuous collecting signal
Controller.
Above-mentioned steps 4) in, the correction in path and method of adjustment the following steps are included:
4.1) it rectifies a deviation: by two groups of limit switch continuous collecting signals, as the input of path clustering, with wherein one group of limit
For switch, in trolley travelling, a limit switch in the row can be fallen into groove, to export low level signal；It is another
Similarly, controller judges two low level signals are located at which side of row's formula limit switch midline position to group limit switch, and then makes
The judgement for turning to or keeping straight on:
Offset is in left or right side, if peak excursion is greater than 1, to the right or left correction, otherwise keeps straight on；
Offset is not ipsilateral, if first row is to the right or left, rectifies a deviation to left or right；
4.2) it turns to: shorter second group of limit switch 6 of row's formula being installed in chassis lower part, for detecting bend line, if left
There is one to be released in the short row's formula limit switch in side or right side, detection be released duration, if shorter than caused by website terrestrial reference slot when
It is long, then execute right-hand rotation or left-hand rotation；
4.3) real time position feedback: cutting website terrestrial reference slot on ground, and detection method is identical with the identification of bend line trenches, but
It is steering longer than the duration that turning identification slot is released, that controller passes through the website number of judgement process and turns every time, comes thick
Slightly judge AGV real time position, is only capable of judging between certain two website.Real-time exact position is measured by electromagnetism code-disc 3, electromagnetic code
Disk 3 follows car body to rotate forward, calculates exact position of the car body between two websites；It is made of rough position and exact position
Real time position, according to the AGV real time position carry out path planning, complete navigation, can effectively improve whole system safety and
Efficiency.
The various embodiments described above are merely to illustrate the present invention, and structure and size, setting position and the step of each component are all can be with
It is varied, based on the technical solution of the present invention, all principles according to the present invention change individual part and step
Into and equivalents, should not exclude except protection scope of the present invention.
Claims (10)
1. a kind of AGV chassis structure, it is characterised in that: including chassis, solid rubber wheel, reduction gearbox, electromagnetism code-disc, the first pressure
Spring, first group of limit switch and second group of limit switch；
The chassis two sides are respectively arranged with two pairs of solid rubber wheels, are located at the chassis upper both ends and the solid rubber
Rubber tire is correspondingly arranged on the reduction gearbox, for controlling the revolving speed of the solid rubber wheel；It is provided in the middle part of the chassis described
Electromagnetism code-disc, and protection shell is provided with above the electromagnetism code-disc, the protection shell is arranged in the chassis upper, institute
It states and is provided in protective shell body for ensuring non-slip first pressure spring of the electromagnetism code-disc；Described in headstock direction
Chassis lower part is provided with first group of limit switch and second group of limit switch, first group of limit switch and second group of limit
Bit switch is respectively set to two rows；AGV with the chassis structure is travelled on the path pre-set, and the path ground
On be provided with groove and the website terrestrial reference slot for characterizing website, first group of limit switch falls into institute to the AGV when driving
It states in groove, second group of limit switch is fallen into the website terrestrial reference slot, outputs signal to the controller of the AGV, should
Controller judges whether Omni-mobile or differential steering according to obtained information.
2. AGV chassis structure as described in claim 1, it is characterised in that: two rows of first group of limit switch are staggeredly set in parallel
It sets in the middle part of chassis, two rows of second group of limit switch are separately positioned at left and right sides of the chassis at near-car head.
3. AGV chassis structure as described in claim 1, it is characterised in that: the groove is arranged along path direction, the website
Mark slot is vertical setting with the groove.
4. AGV chassis structure as described in claim 1, it is characterised in that: the number of limit switch in first group of limit switch
Amount is greater than the quantity of limit switch in second group of limit switch.
5. the AGV chassis structure as described in claim 1 or 4, it is characterised in that: each limit switch all includes the second pressure spring
And button；Second pressure spring one end is connect with the chassis, and the other end is connect with the button, the end and ground of the button
Face contact.
6. AGV chassis structure as claimed in claim 5, it is characterised in that: the end face of the button is set as hemisphere face structure.
7. AGV chassis structure as described in claim 1, it is characterised in that: the groove and website terrestrial reference slot all use commonly just
Ceramic chip cutting machine is taken to carry out being cut into groove on the ground.
8. a kind of AGV path navigation based on the mechanical structure auxiliary of AGV chassis structure as described in any one of claim 1 to 7
Method, it is characterised in that the following steps are included:
1) by the controller in path transmission to AGV pre-planned, each limit switch also transmits collected signal
To controller；
2) data and real road information of the controller according to each limit switch groove detected and website terrestrial reference slot, in conjunction with
AGV driving difference in wheel compares the tracking of orbital path, judges whether AGV entreats in the paths, carries out the correction and adjustment in path；
If AGV is entreated in the paths, enter step 3), otherwise enters step 4)；
3) continue to travel by current path, and controller is transmitted to by each limit switch continuous collecting signal；
4) correction and adjustment in path are carried out, and sends a signal to the driver of solid rubber wheel, by the motor of solid rubber wheel
Drive solid rubber wheel omnidirectional or differential steering；It then proceedes to be transmitted to controller by each limit switch continuous collecting signal.
9. air navigation aid as claimed in claim 8, it is characterised in that: in the step 1), utilize limit switch sampled point, detection
Groove and the position where website terrestrial reference slot out, each sampled point has the corresponding output of signal all the way, when sampled point collects
When grooved position, which will export low level, and the signal without collecting groove exports then as high level.
10. the air navigation aid as described in claim 8 or 9, it is characterised in that: in the step 4), the correction in path and adjustment side
Method the following steps are included:
4.1) it rectifies a deviation: by two groups of limit switch continuous collecting signals, as the input of path clustering, in trolley travelling, wherein one
A limit switch in group limit switch can be fallen into groove, to export low level signal；Another group of limit switch similarly,
Controller judges that two low level signals are located at which side of row's formula limit switch midline position, and then makes sentencing for steering or straight trip
It is disconnected:
Offset is in left or right side, if peak excursion is greater than 1, to the right or left correction, otherwise keeps straight on；
Offset is not ipsilateral, if first row is to the right or left, rectifies a deviation to left or right；
4.2) it turns to: shorter second group of limit switch of row's formula being installed in chassis lower part, for detecting bend line, if left side or the right side
There is one to be released in the short row's formula limit switch in side, detection is released duration, if shorter than duration caused by website terrestrial reference slot, holds
Row turns right or turns left；
4.3) real time position feedback: website terrestrial reference slot is cut on ground, the website number and turn every time that controller is passed through by judgement
Curved steering judges AGV real time position roughly, is only capable of judging between certain two website；Real-time exact position is by electromagnetic code
Disk measurement, electromagnetism code-disc Following Car body rotate forward, calculate exact position of the car body between two websites；By rough position with
Exact position constitutes real time position, carries out path planning according to the AGV real time position, completes navigation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811619978.0A CN109655074B (en) | 2018-12-28 | 2018-12-28 | AGV path navigation method assisted by mechanical structure and AGV chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811619978.0A CN109655074B (en) | 2018-12-28 | 2018-12-28 | AGV path navigation method assisted by mechanical structure and AGV chassis structure |
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| Publication Number | Publication Date |
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| CN109655074A true CN109655074A (en) | 2019-04-19 |
| CN109655074B CN109655074B (en) | 2022-09-09 |
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| CN109655074B (en) | 2022-09-09 |
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