CN110989572B - Accurate transfer control method suitable for AGV - Google Patents
Accurate transfer control method suitable for AGV Download PDFInfo
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- CN110989572B CN110989572B CN201911055752.7A CN201911055752A CN110989572B CN 110989572 B CN110989572 B CN 110989572B CN 201911055752 A CN201911055752 A CN 201911055752A CN 110989572 B CN110989572 B CN 110989572B
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- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 238000006073 displacement reaction Methods 0.000 claims abstract description 11
- 210000001503 joint Anatomy 0.000 claims abstract description 6
- 230000007723 transport mechanism Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses an accurate transfer control method suitable for an AGV, which is characterized in that an image acquisition unit is arranged on an AGV carrier with a conveying mechanism, a two-dimensional code is arranged at a target position, three-dimensional data of the two-dimensional code is read through the image acquisition unit, the deviation between the conveying mechanism and a butt joint conveying point is calculated through the three-dimensional data, and the deviation is used as the transverse displacement of the conveying mechanism.
Description
Technical Field
The invention relates to the technical field of unmanned carrying, in particular to an accurate transfer control method suitable for an AGV.
Background
In the application of AGVs, for unmanned vehicles which need to be docked and convey cargoes, in the moving process of the unmanned vehicles, a conveyor mechanism on the vehicles cannot face a receiving mechanism of a docking point, so that the cargoes cannot be conveyed normally. Because the navigation and positioning technology is interfered by the environment and the precision defect thereof, the technical requirement of the docking precision within 2mm is difficult to realize, and the conveying precision can not be ensured.
Disclosure of Invention
In order to solve the above problems, the present invention proposes an accurate transfer control method suitable for an AGV.
Specifically, an image acquisition unit is arranged on an AGV carrier with a conveying mechanism, a two-dimensional code is arranged at a target position, three-dimensional data of the two-dimensional code is read through the image acquisition unit, and the deviation between the conveying mechanism and a butt joint conveying point is calculated through the three-dimensional data to serve as the transverse displacement of the conveying mechanism.
Further, the three-dimensional data comprises a distance L between the image acquisition unit and the two-dimensional code along the conveying direction, a distance S between the image acquisition unit and the two-dimensional code perpendicular to the conveying direction and an included angle theta between the opposite direction of the image acquisition unit and the conveying direction.
Further, the calculation formula of the lateral displacement is as follows: lateral displacement = S x cos θ + L x sin θ.
Further, AGV carrier include the carrier body, be provided with on the carrier body and can do horizontal movement's conveying mechanism.
Further, conveying mechanism include conveying mechanism A and conveying mechanism B, conveying mechanism A and conveying mechanism B all include two belt conveyor who sets up side by side, and two belt conveyor pass through the link and link to each other, all be provided with the rack on conveying mechanism A's the link, rack and be fixed in the epaxial gear engagement of servo motor output, and conveying mechanism A link and carrier body sliding connection.
Further, the carrier body on be provided with the slide rail, be provided with the slider on the link, be provided with the spout with slide rail looks adaptation on the slider.
Further, conveying mechanism B pass through mount and carrier body coupling, make conveying mechanism A and conveying mechanism B vertical distribution, conveying mechanism B's link and mount sliding connection, conveying mechanism B passes through the connecting rod and is connected with conveying mechanism A.
Further, the two ends of the connecting rod are respectively fixed on the connecting frames of the conveying mechanism A and the conveying mechanism B.
Further, the belt conveyor is provided with an infrared sensor for detecting the quantity of the transported goods.
The invention has the beneficial effects that: this design can utilize two-dimensional code data as error input to lower cost makes up the low defect of AGV positioning accuracy, realizes the accurate transport of AGV.
Drawings
FIG. 1 is a left side view of a conveyor mechanism;
FIG. 2 is a front view of the transport mechanism;
fig. 3 is a schematic structural view of the conveying mechanism a;
FIG. 4 is a schematic diagram of a coordinate system established with a camera and a two-dimensional code as origins;
FIG. 5 is a schematic illustration of the relative positions of the AGV transport mechanism relative to the alignment points;
FIG. 6 is a schematic view of three-dimensional data acquired by the image acquisition unit;
FIG. 7 is a schematic illustration of the AGV after lateral displacement;
FIG. 8 is a schematic calculation of lateral displacement;
in the figure, a 1-conveying mechanism A, a 2-conveying mechanism B, a 3-belt conveying device, a 4-connecting frame, a 5-rack, a 6-gear, a 7-sliding rail, an 8-sliding block, a 9-fixing frame, a 10-connecting rod, an 11-image acquisition unit and a 12-two-dimensional code are arranged.
Detailed Description
For a clearer understanding of technical features, objects, and effects of the present invention, a specific embodiment of the present invention will be described with reference to the accompanying drawings.
An accurate transfer control method suitable for an AGV comprises a carrier body, wherein a conveying mechanism capable of horizontally moving is arranged on the carrier body as shown in figures 1-3. The conveying mechanism comprises a conveying mechanism A1 and a conveying mechanism B2, the conveying mechanism A1 and the conveying mechanism B respectively comprise two belt conveying devices 3 which are arranged in parallel, and the two belt conveying devices 3 are connected through a connecting frame 4, so that the carrier is provided with 4 conveying channels for conveying cargoes. All be provided with rack 5 on conveying mechanism A's the link 4, rack 5 meshes with the gear 6 that is fixed in on the servo motor output shaft, and conveying mechanism A1's link 4 and carrier body sliding connection. Specifically, be provided with slide rail 7 on the carrier body, be provided with slider 8 on the link 4, be provided with the spout with slide rail 7 looks adaptation on the slider 8. The servo motor rotates to drive the gear 6 to rotate, so that the connecting frame of the conveying device A1 moves left and right, and the two belt conveying devices 3 move horizontally. The conveying mechanism B2 is connected with the carrier body through a fixing frame 9, so that the conveying mechanism A1 and the conveying mechanism B2 are vertically distributed and have an upper conveying structure and a lower conveying structure; the connecting frame 4 of the conveying mechanism B2 is in sliding connection with the fixing frame 9, specifically, a sliding rail is arranged on the fixing frame 9, a sliding block is arranged on the connecting frame of the conveying mechanism B, a sliding groove is arranged on the sliding block, and the sliding rail is matched with the sliding groove. The conveying mechanism B2 is connected with the conveying mechanism A1 through a connecting rod 10, and two ends of the connecting rod 10 are respectively fixed on the connecting frames 4 of the conveying mechanism A1 and the conveying mechanism B2, so that the servo motor rotates and drives the 4 belt conveying devices 3 to horizontally move. The middle part of the belt conveyor 3 at the same height is provided with a camera 11. As shown in fig. 4, a two-dimensional code 12 is provided between two belt conveyors of a receiving mechanism that cooperates with the conveying mechanism. The belt conveyor 3 is provided with a sensor for detecting the quantity of the transported goods, and whether the goods meet the requirement of the transported quantity is detected by the infrared sensor. The belt conveying device comprises a driving wheel, a driven wheel and a synchronous belt, wherein the driving wheel is connected with the driven wheel through the synchronous belt, and the driving wheel is connected with a motor. The AGV carrier still has the controller, and the controller is connected with sensor, camera respectively, and simultaneously, the controller is connected with the motor, the operating condition of control motor to control conveying mechanism's lateral shifting and belt conveyor conveying goods.
As shown in fig. 4, a coordinate system is established by taking the camera 11 as an origin, the coordinate system is a left-hand coordinate system, an X-axis is parallel to the ground and perpendicular to the center line of the AGV, and a Y-axis is the center line of the AGV; and installing the two-dimensional code 12 on the target point, wherein the surface of the two-dimensional code 12 is flush with the end surface of the belt conveying device, and establishing a coordinate system by adopting the same method by taking the center of the two-dimensional code 12 as the origin.
Under the condition that errors are not considered, the relative position of the AGV and the receiving mechanism after being in butt joint is shown in fig. 5, the distance between the two conveyor belt end faces is D, the distance between the camera 11 and the conveyor belt end face of the AGV is H, the angle between the center line of the AGV and the center line of the receiving target point is 0 degrees, and the distance in the X direction is 0mm.
In practical engineering application, when the AGV stops at the target point, the relative position is shown in FIG. 6, and three-dimensional data is read through the two-dimensional code 12, wherein the three-dimensional data comprises a distance L between the camera 11 and the two-dimensional code 12 in the Y-axis direction, a distance S between the X-axis direction and the Y-axis direction, and an angle theta between the X-axis direction and the Y-axis direction. Namely, the camera 11 acquires a distance L between the camera 11 and the two-dimensional code 12 along the conveying direction, a distance S between the camera 11 and the two-dimensional code 12 perpendicular to the conveying direction, and an included angle theta between the opposite direction of the camera 11 and the conveying direction. When the AGV carrier conveys goods to the target point, in order to ensure smooth goods conveying, the intersection point of the AGV center line and the target point track center line (namely the center lines of two belt conveying devices of the receiving mechanism) is moved to the center of the target point track end surface after the horizontal movement of the conveying mechanism is ensured. Since the center line of the camera 11 is parallel to the center line of the AGV belt conveyor 3, the distance δ from the intersection point a of the center line of the camera 11 and the plane of the two-dimensional code 12 to the center B of the two-dimensional code 12 is the required horizontal movement amount, δ=s+l×tan θ. By coordinate conversion, the distance that the conveying mechanism needs to move is epsilon, epsilon=delta, cos θ=s, cos θ+l, sin θ in fig. 8, and epsilon is the lateral displacement amount of the transfer movement, and after displacement, epsilon is shown in fig. 7. The main controller controls the servo motor to rotate, drives the conveying mechanism to horizontally move, reads two-dimensional code data to form closed-loop control after moving in place, and realizes the precise butt joint of the whole transfer mechanism and the target point receiving mechanism; and the controller controls the conveying motor to rotate after the conveying mechanism is transversely in place, and drives the belt conveying device to start conveying cargoes.
Claims (6)
1. The utility model provides a be applicable to accurate control method that moves of AGV, its characterized in that, AGV carrier includes the carrier body, is provided with the conveying mechanism that can do horizontal motion on the carrier body, sets up the image acquisition unit on the AGV carrier that has conveying mechanism, sets up the two-dimensional code in the target position, reads the three-dimensional data of two-dimensional code through the image acquisition unit, calculates the deviation volume of conveying mechanism and butt joint delivery point through three-dimensional data, as conveying mechanism 'S transverse displacement volume, three-dimensional data include the image acquisition unit and the distance L of two-dimensional code along conveying direction, the image acquisition unit and the perpendicular to conveying direction' S of two-dimensional code distance S and the image acquisition unit just to direction and conveying direction 'S contained angle theta, transverse displacement volume' S calculation formula is: lateral displacement = S x cos θ+l x sin θ; the AGV carrier is provided with a controller, the controller controls the servo motor to rotate, drives the conveying mechanism to horizontally move, reads two-dimensional code data to form closed-loop control after moving in place, and realizes the accurate butt joint of the whole transfer mechanism and the target point receiving mechanism; and the controller controls the conveying motor to rotate after the conveying mechanism is transversely in place, and drives the belt conveying device to start conveying cargoes.
2. The precise transfer control method for the AGV according to claim 1 wherein the conveying mechanism comprises a conveying mechanism A and a conveying mechanism B, wherein the conveying mechanism A and the conveying mechanism B comprise two belt conveying devices which are arranged in parallel, the two belt conveying devices are connected through a connecting frame, a rack is arranged on the connecting frame of the conveying mechanism A, the rack is meshed with a gear fixed on an output shaft of the servo motor, and the connecting frame of the conveying mechanism A is in sliding connection with the carrier body.
3. The precise transfer control method suitable for the AGV according to claim 2 wherein the carrier body is provided with a slide rail, the connecting frame is provided with a slide block, and the slide block is provided with a slide groove matched with the slide rail.
4. The precise transfer control method for the AGV according to claim 2 wherein the conveying mechanism B is connected with the carrier body through a fixing frame, so that the conveying mechanism A and the conveying mechanism B are vertically distributed, a connecting frame of the conveying mechanism B is slidably connected with the fixing frame, and the conveying mechanism B is connected with the conveying mechanism A through a connecting rod.
5. The precise transfer control method for an AGV according to claim 4 wherein the connecting rods are fixed at both ends to the connecting frames of the transport mechanism A and the transport mechanism B, respectively.
6. The precise transfer control method for an AGV according to claim 2, wherein the belt conveyor is provided with an infrared sensor for detecting the amount of the transferred load.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911055752.7A CN110989572B (en) | 2019-10-31 | 2019-10-31 | Accurate transfer control method suitable for AGV |
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| CN201911055752.7A CN110989572B (en) | 2019-10-31 | 2019-10-31 | Accurate transfer control method suitable for AGV |
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| CN110989572B true CN110989572B (en) | 2023-08-04 |
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