CN110030932A - AGV displacement measuring method and AGV offset measuring device - Google Patents
AGV displacement measuring method and AGV offset measuring device Download PDFInfo
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- CN110030932A CN110030932A CN201910444578.9A CN201910444578A CN110030932A CN 110030932 A CN110030932 A CN 110030932A CN 201910444578 A CN201910444578 A CN 201910444578A CN 110030932 A CN110030932 A CN 110030932A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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Abstract
The invention discloses a kind of AGV displacement measuring method and AGV offset measuring devices, are related to AGV field of locating technology.The AGV displacement measuring method includes: according to predetermined movement data control AGV trolley in moving on motion platform, wherein, acquisition part be set to motion platform, and make the point of irradiation of the positioning laser on AGV trolley stop on the acquisition part being set on motion platform or approach acquisition part；In point of irradiation when stopping on acquisition part or approach acquisition part, control positioning laser irradiation acquires part, and leaves actual motion data on part in acquiring；Difference according to actual motion data or actual motion data and predetermined movement data obtains offset accuracy data.The AGV displacement measuring method and AGV offset measuring device have the workload for simplifying gauger when measuring the offset accuracy of AGV trolley, and measurement error is small.
Description
Technical field
The present invention relates to AGV field of locating technology, survey in particular to a kind of AGV displacement measuring method and AGV offset
Measure device.
Background technique
The major function of independent navigation AGV (Automated Guided Vehicle, automated guided vehicle) is to realize
Cargo and material handling and carrying full process automatization, are widely used in warehousing industry and manufacturing industry etc..
AGV must produce and sell in strict accordance with the requirement of national standard, but produce in quality check process, we lack accurately
Data distinguish whether AGV meets national standard.The accuracy data of AGV is usually obtained by indirectly rough mode.Such as it is logical
Measurement AGV is crossed at a distance from fixed object to be judged, the disadvantage is that large error is generated if fixed object is too far,
AGV running precision is influenced if fixed object is too close, measures the precision being not normally operated come；In another example by being retouched with pen
When side, i.e. AGV stop, being judged with pen along the setting-out of the edge AGV somewhere, the disadvantage is that artificial repetitive operation, generates work fatigue,
It is easy to produce error during setting-out manually, and error all around can only be measured, is unable to measure offset error.
In view of this, R & D design goes out a kind of AGV displacement measuring method for being able to solve above-mentioned technical problem and AGV offset
Measuring device is particularly important.
Summary of the invention
The purpose of the present invention is to provide a kind of AGV displacement measuring method, the method simplifies gauger in measurement AGV
The workload when offset accuracy of trolley, and measurement error is small.
Another object of the present invention is to provide a kind of AGV offset measuring device, which simplifies gauger and is measuring
The workload when offset accuracy of AGV trolley, and measurement error is small.
The present invention provides a kind of technical solution:
In a first aspect, the embodiment of the invention provides a kind of AGV displacement measuring method, the AGV displacement measuring method packet
It includes:
According to predetermined movement data control AGV trolley in being moved on motion platform, wherein acquisition part is set to the movement
Platform, and the point of irradiation of the positioning laser on the AGV trolley is made to stop at the acquisition being set on the motion platform
Part is acquired on part or described in approach；
In point of irradiation acquisition part described in stopping on the acquisition part or approach, controls the positioning laser and shine
Penetrate acquisition part, and in leaving actual motion data on the acquisition part；
Difference according to the actual motion data or the actual motion data and the predetermined movement data is deviated
Accuracy data.
Second aspect, the embodiment of the invention provides a kind of AGV offset measuring devices, for measuring the AGV trolley
Offset accuracy data, the AGV offset measuring device include master controller, motion platform, are electrically connected with the master controller
Positioning laser and the acquisition part for being set to the motion platform；The master controller is described for being electrically connected with AGV trolley
Positioning laser is executed by operation computer program for being installed on the AGV trolley, the master controller according to default
Exercise data controls AGV trolley in moving on motion platform, and the point of irradiation of the positioning laser on the AGV trolley is stopped
It terminates on the acquisition part being set on the motion platform or acquires part described in approach；In the point of irradiation on the acquisition part
Stop or approach described in acquisition part when, control positioning laser irradiation acquisition part, and in leaving reality on the acquisition part
Exercise data；And the difference according to the actual motion data or the actual motion data and the predetermined movement data obtains
The step of offset accuracy data.
Compared with prior art, AGV displacement measuring method and AGV offset measuring device provided in an embodiment of the present invention is beneficial
Effect is:
Successively according to predetermined movement data control AGV trolley in being moved on motion platform, and in point of irradiation on acquisition part
When stopping or approach acquisition part, control positioning laser irradiation acquisition part, and actual motion data are left on part in acquiring.And according to
Factually the difference of border exercise data or actual motion data and predetermined movement data obtains offset accuracy data.So, it is not necessarily to
Vehicle AGV trolley judges the offset accuracy data of AGV trolley with fixed reference, repeats without by retouching the modes such as side
Operation simplifies workload of the gauger when measuring the offset accuracy of AGV trolley, also, by being set to determining for AGV trolley
Position laser directly records actual motion data in the mode for drawing dotted line on acquisition part, to measure offset accuracy data, reduces
Measurement error.
To enable above-mentioned purpose of the invention, feature and advantage to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range.It for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the AGV offset measuring device structural schematic diagram that first embodiment of the invention provides.
Fig. 2 is measurement of the AGV offset measuring device that provides of first embodiment of the invention when measuring rotation offset precision
Schematic diagram.
Fig. 3 is that the AGV offset measuring device that first embodiment of the invention provides acquires part when measuring rotation offset precision
On actual operating data instrumentation plan.
Fig. 4 is that the AGV offset measuring device that first embodiment of the invention provides stops offset accuracy and a left side afterwards before measuring
Instrumentation plan when right stopping offset accuracy.
Fig. 5 is that the AGV offset measuring device that first embodiment of the invention provides stops offset accuracy and a left side afterwards before measuring
The instrumentation plan of the right actual operating data for stopping offset accuracy.
Fig. 6 is that the AGV offset measuring device that first embodiment of the invention provides is measuring measurement when running offset accuracy
Schematic diagram.
Fig. 7 is that the AGV offset measuring device that first embodiment of the invention provides is measuring reality when running offset accuracy
The instrumentation plan of operation data.
Fig. 8 is the flow diagram for the AGV displacement measuring method that second embodiment of the invention provides.
Icon: 10-AGV offset measuring device；12- master controller；15- motion platform；17- positioning laser；18- inhales
Disk；19- acquires part；900-AGV trolley.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Term " on ", "lower",
The orientation or positional relationship of the instructions such as "inner", "outside", "left", "right" be based on the orientation or positional relationship shown in the drawings, or
The invention product using when the orientation or positional relationship usually the put or orientation that usually understands of those skilled in the art
Or positional relationship, it is merely for convenience of description of the present invention and simplification of the description, rather than the equipment or element of indication or suggestion meaning
It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.Term
" first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.Term " includes ", " packet
Containing " or any other variant thereof is intended to cover non-exclusive inclusion, so that including the process of a series of elements, side
Method, article or equipment not only include those elements, but also including other elements that are not explicitly listed, or further include
For elements inherent to such a process, method, article, or device.In the absence of more restrictions, by sentence " including one
It is a ... " limit element, it is not excluded that there is also in addition in the process, method, article or apparatus that includes the element
Identical element.
It should also be noted that, unless otherwise clearly defined and limited, the terms such as " setting ", " connection " should do broad sense reason
Solution, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be mechanical connection,
It is also possible to be electrically connected；It can be and be directly connected to, can also be indirectly connected with by intermediary, be can be inside two elements
Connection.For the ordinary skill in the art, the tool of above-mentioned term in the present invention can be understood as the case may be
Body meaning.
With reference to the accompanying drawing, detailed description of the preferred embodiments.
First embodiment:
Referring to Fig. 1, Fig. 1 is 10 structural schematic diagram of AGV offset measuring device that first embodiment of the invention provides.
The embodiment of the present invention provides a kind of AGV offset measuring device 10, and the measuring mechanism is for measuring AGV trolley 900
Offset accuracy book data, and the workload which simplify gauger when measuring the offset accuracy of AGV trolley 900, and measure and miss
Difference is small.
The AGV offset measuring device 10 includes master controller 12, motion platform 15, the positioning being electrically connected with master controller 12
Laser 17 and the acquisition part 19 for being set to the motion platform 15, and master controller 12 with AGV trolley 900 for being electrically connected
It connects, positioning laser 17 controls AGV trolley 900 according to predetermined movement data for being installed on AGV trolley 900, master controller 12
Movement, and positioning laser 17 is controlled in drawing point or line on acquisition part 19, with the actual motion number left on acquisition part 19
According to convenient for obtaining offset accuracy data by the difference of actual motion data or predetermined movement data and actual motion data.
Specifically, master controller 12 is moved according to predetermined movement data control AGV trolley 900 on motion platform 15, and
And so that the point of irradiation of the positioning laser 17 on AGV trolley 900 stops on the acquisition part 19 being set on motion platform 15
Or approach acquire part 19, in other words, acquire part 19 setting position it is related to predetermined movement data so that AGV trolley 900 with
Predetermined movement data motion and drive positioning laser 17 move when, the acquisition part 19 being set on motion platform 15 can be determined
Position laser 17 aims at, i.e., point of irradiation is located at acquisition part 19.
It is moved under control of the AGV trolley 900 in master controller 12, and makes the point of irradiation of positioning laser 17 in acquisition
When stopping or approach acquire part 19 on part 19, master controller 12 also controls the irradiation acquisition part 19 of positioning laser 17, and to determine
Position laser 17 leaves a little or the actual motions data such as line on acquisition part 19, with foundation actual motion data or actual motion
The difference of data and predetermined movement data obtains offset accuracy data.
So, the offset accuracy data of AGV trolley 900 are judged without AGV trolley 900 and fixed reference,
Without simplifying work of the gauger when measuring the offset accuracy of AGV trolley 900 by retouching the modes such as side come repetitive operation
Amount, also, the positioning laser 17 being set to AGV trolley 900 directly records reality by way of drawing dotted line on acquisition part 19
Border exercise data reduces measurement error to measure offset accuracy data.
Further, positioning laser 17 is connected to by the way that the sucker 18 being set on positioning laser 17 is connector
On AGV trolley 900.
It should be noted that master controller 12 is the part of AGV offset measurement mechanism, it may be in AGV trolley 900
Controller, by data, i.e. predetermined movement data such as motion profiles needed for gauger's input measurement, by AGV trolley 900
Interior controller is independently completed according to predetermined movement data motion, and, control positioning laser 17 is got ready on acquisition part 19.This
Outside, acquisition part 19 is blank sheet of paper in the present embodiment, and in other embodiments, it may be the light sensors such as photoelectric sensor
Collection plate or photologging plate of device composition etc..
It is understood that above-mentioned master controller 12 is also possible to general processor, including central processing unit
(Central Processing Unit, CPU), network processing unit (Network Processor, NP), speech processor and
Video processor etc.；Can also be digital signal processor, specific integrated circuit, field programmable gate array or other can compile
Journey logical device, discrete gate or transistor logic, discrete hardware components.Master controller 12 is also possible to any conventional
Processor, such as PLC (Programmable Logic Controller, programmable logic controller (PLC)), single-chip microcontroller etc..Certainly, main
Controller 12 is also possible to relay-contactor control system, using the combination of the control electric appliance such as switch, relay and button, realizes
Receive signal, and the functions such as switching, switch and adjusting for making route.
Fig. 2 and Fig. 3 are please referred to, Fig. 2 is that the AGV offset measuring device 10 that first embodiment of the invention provides is rotated in measurement
Instrumentation plan when offset accuracy.Fig. 3 is that the AGV offset measuring device 10 that first embodiment of the invention provides is rotated in measurement
The instrumentation plan of the actual operating data on part 19 is acquired when offset accuracy.
Predetermined movement data may include the default point of rotation and default rotation angle corresponding with the default point of rotation, master control
Device 12 processed, on motion platform 15, rotates angle around the default point of rotation according to predetermined movement data control AGV trolley 900 with default
Rotation, in other words, the movement of AGV trolley 900 are to rotate around the default point of rotation, and rotate turned with default rotation angle each time
Dynamic, at this point, acquisition part 19 can be multiple, and multiple acquisition parts 19 are set on motion platform 15 around the distribution of the default point of rotation,
In order to which when AGV trolley 900 rotate in place, point of irradiation can be stopped on acquisition part 19.
Also, it is moved in positioning laser 17 with AGV trolley 900, and in AGV trolley 900 with default rotation angular turn
When in place, control positioning laser 17 is drawn a little on acquisition part 19, repeats aforesaid operations, can formation include on acquisition part 19
The actual operating data of point.
Further, offset accuracy data further include rotation offset precision, compare practical rotation angle and default rotation angle
Degree makees rotation offset precision, wherein practical rotation angle to obtain the difference between practical rotation angle and default rotation angle
Degree is the angle in a plurality of line formed by presetting the point on point of rotation line acquisition part 19 between adjacent lines, for example, AGV
Trolley 900 before the rotation of the default point of rotation one default rotation angle, get ready on corresponding acquisition part 19 by positioning laser 17,
And after completing above-mentioned default rotation angular turn, positioning laser 17 is to get ready on corresponding acquisition part 19, such one
Come, by preset the point of rotation line acquisition part 19 on point be formed by the angle between adjacent line just with default rotation angle pair
It answers, can be used for comparing default rotation angle to obtain rotation offset precision.
Default rotation angle may be the angle less than 180 degree, and can divide exactly 180 degree, such as 90 degree, 60 as divisor
Degree, 30 degree, the result when 180 degree is divided by default rotation angle is integer.
Master controller 12 can control AGV trolley 900 the default point of rotation respectively with default rotation angular turn one circle with
On, that is to say, that AGV trolley 900 rotate repeatedly after, rotation angle be greater than 360 degree, equally, acquire part 19 for it is multiple simultaneously
It is set to motion platform 15 around the distribution of the default point of rotation, so that point of irradiation can stop at when AGV trolley 900 rotate in place
It acquires on part 19；
Master controller 12 can also control positioning laser 17 and rotate in place in AGV trolley 900 with default rotation angle
When in acquisition part 19 on draw a little, with acquisition part 19 on formed include point actual operating data.
Further, the practical rotation angle of same comparison and default rotation angle, make rotation offset essence with the difference of the two
Degree, wherein the practical rotation angle is adjacent two in a plurality of line of two lines formation opposite in actual operating data
Angle between lines, and two opposite points are the point drawn when rotateing in place twice that AGV trolley 900 is spaced 180 degree.
For example, in the present embodiment, presetting rotation angle is 90 degree, and acquiring part 19 is four, is respectively arranged at default
The surrounding of the point of rotation, AGV trolley 900 is before the rotation of the default point of rotation one default rotation angle, and positioning laser 17 is in correspondence
Acquisition part 19 on get ready, and positioning laser 17 is got ready on another acquisition part 19 after 90 degree of completion of rotation, is rotated further by
Positioning laser 17 is got ready on another acquisition part 19 after 90 degree, and point at this time is got ready opposite with first time, and is divided into
180 degree, AGV trolley 900 are rotated further by 90 degree, and positioning laser 17 is got ready on another acquisition part 19, point at this time with second
That gets ready is opposite, and is divided into 180 degree, then line is for the first time and the point got ready of third time, and gets ready for second and the 4th time
Point, just form two lines, and the angle of two lines and default rotation angle are corresponding, can be used for comparing the default angle that rotates and come
To rotation offset precision, the position got ready according to multiple rotary is measured, and error is smaller.
Please refer to Fig. 4 and Fig. 5, Fig. 4 be the AGV offset measuring device 10 that provides of first embodiment of the invention before measuring after
Stop instrumentation plan when offset accuracy and left and right stopping offset accuracy.Fig. 5 is that the AGV that first embodiment of the invention provides is inclined
Measuring system 10 stops the measurement signal of the actual operating data of offset accuracy and left and right stopping offset accuracy afterwards before measuring
Figure.
Predetermined movement data can also include default parking path, master controller 12 can Repetitive controller AGV trolley 900 by
Same direction is moved along default parking path and is stopped in default parking path endpoint, and in other words, AGV trolley 900 is stopped as default
Bus or train route diameter completes parking movement, likewise, acquisition part 19 is set to the endpoint of default parking path, and AGV trolley 900 is stopped
Point of irradiation can stop on acquisition part 19 when only.
Master controller 12 also control positioning laser 17 AGV trolley 900 every time stop when in acquisition part 19 on draw a little, with
The actual operating data including multiple points is formed on acquisition part 19.
Further, offset accuracy data can also include that front and back stops offset accuracy and left and right stopping offset accuracy, with
The distance between front and back two o'clock is that front and back stops offset accuracy, wherein front and back two o'clock is that multiple points stop default on acquisition part 19
The only farthest two o'clock of distance on the extending direction of path is formed by point cloud data in other words for the point on multiple acquisition parts 19
Maximum distance of the formed figure on 900 traffic direction of AGV trolley.
It also, can also be that left and right stops offset accuracy with the distance between left and right two o'clock, wherein left and right two o'clock is acquisition
The farthest two o'clock of distance, person say on multiple points direction vertical on the extending direction of preset stopping path on part 19, adopt to be multiple
Point on collection part 19 is formed by the maximum of formed figure left and right sides on 900 traffic direction of AGV trolley of point cloud data
Distance.
In the present embodiment, preset stopping path is the halt on kidney-shaped path, and AGV trolley 900 is according to kidney-shaped path
Movement, and stop in halt, and got ready on the acquisition part 19 on halt position, to collect the point cloud number with multiple points
According to.
Fig. 6 and Fig. 7 are please referred to, Fig. 6 is that the AGV offset measuring device 10 that first embodiment of the invention provides is run in measurement
Instrumentation plan when offset accuracy.Fig. 7 is that the AGV offset measuring device 10 that first embodiment of the invention provides is run in measurement
The instrumentation plan of actual operating data when offset accuracy.
Predetermined movement data can also include predetermined movement path, and master controller 12 being capable of 900 edge of Repetitive controller AGV trolley
Predetermined movement path movement, wherein acquisition part 19 is arranged along predetermined movement path, and enables point of irradiation with AGV trolley
900 approach acquire part 19.
Also, master controller 12 also controls positioning laser 17 in each approach acquisition part 19 of point of irradiation in acquisition part 19
Upper setting-out, to form the actual operating data for including a plurality of lines on acquisition part 19.
Further, offset accuracy data can also include operation offset accuracy, be operation offset accuracy with maximum angle,
Wherein, maximum angle be a plurality of lines in, it is maximum in the angle data between lines two-by-two.
In the present embodiment, predetermined movement path is multistage on kidney-shaped path, and AGV trolley 900 is moved according to kidney-shaped path,
And got ready on the acquisition part 19 on predetermined movement path, to collect the acquisition part 19 with a plurality of lines.
The working principle for the AGV offset measuring device 10 that first embodiment of the invention provides is:
It includes master controller 12, motion platform 15, the positioning laser 17 being electrically connected with master controller 12 and setting
In the acquisition part 19 of the motion platform 15, and master controller 12, for being electrically connected with AGV trolley 900, positioning laser 17 is used
In being installed on the AGV trolley 900, master controller 12 is according to predetermined movement data control AGV trolley 900 on motion platform 15
Movement, also, the point of irradiation of the positioning laser 17 on AGV trolley 900 is stopped at and is set to adopting on motion platform 15
Collect on part 19 or approach acquires part 19, and acquires part 19 in stopping or approach on acquisition part 19 in the point of irradiation of positioning laser 17
When, master controller 12 also controls the irradiation acquisition part 19 of positioning laser 17, and positioning laser 17 is stayed on acquisition part 19
The actual motions data such as lower point or line are obtained with the difference according to actual motion data or actual motion data and predetermined movement data
To offset accuracy data.So, the offset of AGV trolley 900 is judged without vehicle AGV trolley 900 and fixed reference
Accuracy data simplifies gauger in the offset essence of measurement AGV trolley 900 without by retouching the modes such as side come repetitive operation
Workload when spending, also, the positioning laser 17 by being set to AGV trolley 900 is directly in picture dotted line on acquisition part 19
Mode records actual motion data, to measure offset accuracy data, reduces measurement error.
In summary:
The embodiment of the present invention provides a kind of AGV offset measuring device 10, which simplifies gauger in measurement AGV trolley
Workload when 900 offset accuracy, and measurement error is small.
Second embodiment:
Referring to Fig. 8, Fig. 8 is the flow diagram for the AGV displacement measuring method that second embodiment of the invention provides.
The AGV displacement measuring method can be applied to the AGV offset measuring device 10 in first embodiment, AGV offset
Measurement method includes:
S101: it is moved according to predetermined movement data control AGV trolley 900 on motion platform 15.
It should be noted that AGV trolley 900 when on motion platform 15, may make the positioning laser on AGV trolley 900
The point of irradiation of device 17 stops on the acquisition part 19 being set on motion platform 15 or approach acquisition part 19.
S102: in point of irradiation when stopping on acquisition part 19 or approach acquires part 19, the control irradiation of positioning laser 17 is adopted
Collect part 19, and leaves actual motion data on part 19 in acquiring.
S103: the difference according to actual motion data or actual motion data and predetermined movement data obtains offset accuracy number
According to.
So, the offset accuracy data of AGV trolley 900 are judged without AGV trolley 900 and fixed reference,
Without simplifying work of the gauger when measuring the offset accuracy of AGV trolley 900 by retouching the modes such as side come repetitive operation
Amount, also, the positioning laser 17 being set to AGV trolley 900 directly records reality by way of drawing dotted line on acquisition part 19
Border exercise data reduces measurement error to measure offset accuracy data.
Further, step S101 is specifically as follows: control AGV trolley 900 is in the default point of rotation with default rotation angle
Rotation, wherein acquisition part 19 is multiple, and is set to motion platform 15 around the distribution of the default point of rotation, and at 900 turns of AGV trolley
It is dynamic in place when, point of irradiation can stop on acquisition part 19, in addition, predetermined movement data can also include the default point of rotation and
Default rotation angle corresponding with the default point of rotation.
Step S102 is specifically as follows: control positioning laser 17 is turned in AGV trolley 900 with default rotation angle
In being drawn on acquisition part 19 a little when position, to form the actual operating data for including point on acquisition part 19.
Step S103 is specifically as follows: the practical rotation angle of comparison and default rotation angle, to generate rotation offset precision,
Practical rotation angle is the folder in a plurality of line formed by presetting the point on point of rotation line acquisition part 19 between adjacent lines
Angle.In addition, offset accuracy data can also include rotation offset precision.
Further, step S101 is specifically as follows: control AGV trolley 900 is in the default point of rotation respectively with default rotation
More than the circle of angular turn one, wherein predetermined movement data equally may include the default point of rotation and corresponding with the default point of rotation
Default rotation angle, also, default rotation angle is less than 180 degree, and can divide exactly 180 degree as divisor, in addition, acquisition part 19
To be multiple, and it is set to motion platform 15 around the distribution of the default point of rotation, and when AGV trolley 900 rotate in place, point of irradiation can
It stops on acquisition part 19.
Step S102 is specifically as follows: control positioning laser 17 is turned in AGV trolley 900 with default rotation angle
In being drawn on acquisition part 19 a little when position, to form the actual operating data for including point on acquisition part 19.
Step S103 is specifically as follows: the practical rotation angle of comparison and default rotation angle, to generate rotation offset precision,
Wherein, offset accuracy data can also include rotation offset precision, in addition, practical rotation angle is opposite in actual operating data
The a plurality of line that is formed of two lines in angle between adjacent two lines item, two opposite points are that AGV trolley 900 is spaced
The point drawn when rotateing in place twice of 180 degree.
Further, step S101 is specifically as follows: Repetitive controller AGV trolley 900 is by same direction along default parking road
Diameter movement is simultaneously stopped in default parking path endpoint, wherein predetermined movement data can also include default parking path, furthermore adopt
Collection part 19 is set to the endpoint of default parking path, and point of irradiation stops at acquisition part 19 when AGV trolley 900 is stopped
On.
Step S102 is specifically as follows: control positioning laser 17 is when AGV trolley 900 stops every time on acquisition part 19
Point is drawn, to form the actual operating data for including multiple points on acquisition part 19.
Step S103 is specifically as follows: the distance between measurement front and back two o'clock, and is denoted as front and back and stops offset accuracy, measurement
The distance between left and right two o'clock, and be denoted as left and right and stop offset accuracy, wherein it is inclined that offset accuracy data are also possible that front and back stops
It moves precision and left and right stops offset accuracy, in addition, front and back two o'clock is multiple points on acquisition part 19 in preset stopping path extension side
Upwards apart from farthest two o'clock, left and right two o'clock is to acquire the side that multiple points are vertical on the extending direction of preset stopping path on part 19
Upwards apart from farthest two o'clock.
Further, step S101 is specifically as follows: Repetitive controller AGV trolley 900 is moved along predetermined movement path,
In, predetermined movement data can also include predetermined movement path, furthermore acquire part 19 and be arranged along predetermined movement path, and to shine
Exit point can acquire part 19 with 900 approach of AGV trolley.
Step S102 is specifically as follows: control positioning laser 17 is in each approach acquisition part 19 of point of irradiation in acquisition part
It draws lines on 19, wherein to form the actual operating data for including a plurality of lines on acquisition part 19.
Step S103 is specifically as follows: measurement maximum angle, and is denoted as operation offset accuracy, wherein offset accuracy data
It can also include operation offset accuracy, in addition, maximum angle is the angle of the maximum two lines item of angle in a plurality of lines.
The working principle for the AGV displacement measuring method that second embodiment of the invention provides is:
It is successively moved according to predetermined movement data control AGV trolley 900 on motion platform 15, and in point of irradiation in acquisition
When stopping or approach acquire part 19 on part 19, the control irradiation acquisition part 19 of positioning laser 17, and reality is left on part 19 in acquiring
Border exercise data.And the difference according to actual motion data or actual motion data and predetermined movement data obtains offset accuracy number
According to.So, the offset accuracy data of AGV trolley 900 are judged without vehicle AGV trolley 900 and fixed reference, also not
With by retouching the modes such as side come repetitive operation, workload of the gauger when measuring the offset accuracy of AGV trolley 900 is simplified,
Also, the positioning laser 17 being set to AGV trolley 900 directly records practical fortune by way of drawing dotted line on acquisition part 19
Dynamic data reduce measurement error to measure offset accuracy data.
In summary:
The embodiment of the present invention provides a kind of AGV displacement measuring method, and the method simplifies gauger in measurement AGV trolley
Workload when 900 offset accuracy, and measurement error is small.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, in the absence of conflict, the feature in the above embodiments be can be combined with each other, and the present invention can also have respectively
Kind change and variation.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should all wrap
Containing within protection scope of the present invention.Also, it should regard embodiment as exemplary, and be non-limiting, this hair
Bright range is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are included within the present invention.It should not treat any reference in the claims as involved by limitation
And claim.
Claims (10)
1. a kind of AGV displacement measuring method, which is characterized in that the AGV displacement measuring method includes:
According to predetermined movement data control AGV trolley in being moved on motion platform, wherein it is flat that acquisition part is set to the movement
Platform, and the point of irradiation of the positioning laser on the AGV trolley is made to stop at the acquisition part being set on the motion platform
Part is acquired described in upper or approach；
In point of irradiation acquisition part described in stopping on the acquisition part or approach, controls the positioning laser irradiation and adopt
Collect part, and in leaving actual motion data on the acquisition part；
Difference according to the actual motion data or the actual motion data and the predetermined movement data obtains offset accuracy
Data.
2. AGV displacement measuring method according to claim 1, which is characterized in that the predetermined movement data include default
The point of rotation and default rotation angle corresponding with the default point of rotation, it is described according to described in predetermined movement data control
AGV trolley on the motion platform move the step of include:
The AGV trolley is controlled in the default point of rotation with default rotation angular turn, wherein the acquisition part be it is multiple,
And it is set to the motion platform around the default point of rotation distribution, and when the AGV trolley rotate in place, the point of irradiation
It can stop on the acquisition part；
The control positioning laser irradiates the step of acquiring part and includes:
The positioning laser is controlled to draw when rotateing in place with default rotation angle on the acquisition part in the AGV trolley
Point, to form the actual operating data for including point on the acquisition part.
3. AGV displacement measuring method according to claim 2, which is characterized in that the offset accuracy data include rotation
Offset accuracy, the difference according to the actual motion data and the predetermined movement data obtain the offset accuracy data
Step includes:
Comparison reality rotates angle and default rotation angle, to generate rotation offset precision, wherein the reality rotates angle and is
Angle in a plurality of line for acquiring the point on part described in the default point of rotation line to be formed between adjacent lines.
4. AGV displacement measuring method according to claim 1, which is characterized in that the predetermined movement data include default
The point of rotation and default rotation angle corresponding with the default point of rotation, the default rotation angle are less than 180 degree, and can
As divisor divide exactly 180 degree, it is described to control the AGV trolley in moving on the motion platform according to the predetermined movement data
Step includes:
The AGV trolley is controlled more than the default point of rotation is enclosed respectively with default rotation angular turn one, wherein described to adopt
It is multiple for collecting part, and is set to the motion platform around the default point of rotation distribution, and rotate in place in the AGV trolley
When, the point of irradiation can stop on the acquisition part；
The control positioning laser irradiates the step of acquiring part and includes:
The positioning laser is controlled to draw when rotateing in place with default rotation angle on the acquisition part in the AGV trolley
Point, to form the actual operating data for including point on the acquisition part.
5. AGV displacement measuring method according to claim 4, which is characterized in that the offset accuracy data include rotation
Offset accuracy, the difference according to the actual motion data and the predetermined movement data obtain the offset accuracy data
Step includes:
Comparison reality rotates angle and default rotation angle, to generate rotation offset precision, wherein the reality rotates angle and is
Angle in a plurality of line that two opposite lines are formed in the actual operating data between adjacent two lines item, the phase
Pair two points be the AGV small workshop every 180 degree point drawn when rotateing in place twice.
6. AGV displacement measuring method according to claim 1, which is characterized in that the predetermined movement data include default
Parking path, it is described to be wrapped according to the predetermined movement data control AGV trolley in the step of movement on the motion platform
It includes:
AGV trolley described in Repetitive controller is moved along the default parking path by same direction and at the default parking path end
Point parking, wherein the acquisition part is set to the endpoint of the default parking path, so that described in when the AGV trolley stops
Point of irradiation can stop on the acquisition part；
The control positioning laser irradiates the step of acquiring part and includes:
It controls the positioning laser to draw a little when the AGV trolley stops every time on the acquisition part, in the acquisition
The actual operating data including multiple points is formed on part.
7. AGV displacement measuring method according to claim 6, which is characterized in that stop before and after the offset accuracy data
Offset accuracy and left and right stop offset accuracy, the step of obtaining offset accuracy data according to actual motion data packet
It includes:
The distance between measurement front and back two o'clock, and be denoted as the front and back and stop offset accuracy, wherein the front and back two o'clock is described
Acquire multiple points farthest two o'clock of distance on the extending direction of the preset stopping path on part；
The distance between left and right two o'clock is measured, and is denoted as the left and right and stops offset accuracy, wherein the left and right two o'clock is described
Acquire the two o'clock that distance is farthest on the direction that multiple points are vertical on the extending direction of the preset stopping path on part.
8. AGV displacement measuring method according to claim 1, which is characterized in that the predetermined movement data include default
Motion path, it is described to be wrapped according to the predetermined movement data control AGV trolley in the step of movement on the motion platform
It includes:
AGV trolley described in Repetitive controller is moved along the predetermined movement path, wherein the acquisition part is along the predetermined movement road
Diameter setting, and the point of irradiation is enabled to acquire part with described in the AGV trolley approach；
The control positioning laser irradiates the step of acquiring part and includes:
Control when the positioning laser acquires part described in each approach of the point of irradiation and draw lines on the acquisition part, with
The actual operating data including a plurality of lines is formed on the acquisition part.
9. AGV displacement measuring method according to claim 8, which is characterized in that the offset accuracy data include operation
Offset accuracy, described the step of obtaining offset accuracy data according to the actual motion data include:
Maximum angle is measured, and is denoted as the operation offset accuracy, wherein the maximum angle is folder in a plurality of lines
The angle of the maximum two lines item in angle.
10. a kind of AGV offset measuring device, which is characterized in that described for measuring the offset accuracy data of the AGV trolley
AGV offset measuring device includes master controller, motion platform, the positioning laser being electrically connected with the master controller and setting
In the acquisition part of the motion platform；
For the master controller for being electrically connected with AGV trolley, the positioning laser is described for being installed on the AGV trolley
Master controller is by operation computer program to execute AGV displacement measuring method as described in any one of claims 1-9.
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