CN112180929A - A guidance control system for AGV - Google Patents
A guidance control system for AGV Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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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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- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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Abstract
The invention belongs to the technical field of AGV control, and particularly relates to a guidance control system for an AGV, which is characterized by comprising a main control system, a ground control system, a vehicle-mounted control system, an AGV guidance system and a position positioning system, wherein the central control system is respectively in one-way connection with the ground control system, the vehicle-mounted control system and the AGV guidance system, and the main control system is in two-way connection with the position positioning system; the ground control system comprises a task management unit, a vehicle management unit, a traffic management unit, a communication management unit and a vehicle driving unit, and the vehicle-mounted control system comprises an AGV navigation system. Has the advantages that: the invention adopts a mode of combining electromagnetic guidance and visual navigation to analyze the running path of the AGV in real time, can accurately position and guide the spatial position of the AGV, ensures the continuous transfer capability of the AGV in a large spatial range, and also ensures the high-precision assembly capability of the AGV.
Description
Technical Field
The invention relates to the technical field of AGV control, in particular to a guidance control system for an AGV.
Background
In the modern production process in which intellectualization and automation are increasingly popularized, automated transfer equipment commonly used is AGVs (automatic guided vehicles), which are transport vehicles capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and requiring no driver in practical industrial applications, and can follow marks or electric wires on the floor, or navigate using vision, magnets, or laser. AGVs are most commonly used in industrial applications to transport materials in a production facility or warehouse.
The AGV can use various guiding technologies to pass through a production facility, including using a magnetic tape or a magnetic strip installed on the ground, using a laser, using an optical sensor and using inertial guidance based on a magnet/gyroscope, the traditional guiding mode adopts a PID control and fuzzy control method, although the PID control has certain tracking accuracy, the PID control cannot simultaneously give consideration to tracking rapidity and control overshoot, once the outside has great interference on a control system, the left and right oscillation of the trolley in the tracking process, namely the left and right swing of the trolley can be caused, the phenomenon that the trolley is out of control can occur in serious situations, the tracking of the trolley is very unfavorable, in addition, the precision and the reliability of the guiding are closely related to the manufacturing accuracy and the service life of the gyroscope, the limitation on a complex path is large, and the precision of the guiding and determining of the position is reduced.
To this end, we propose a guidance control system for an AGV that solves the above problems.
Disclosure of Invention
The present invention is directed to overcoming the disadvantages of the prior art and providing a guidance control system for an AGV.
In order to achieve the purpose, the invention adopts the following technical scheme:
a guidance control system for an AGV is characterized by comprising a main control system, a ground control system, a vehicle-mounted control system, an AGV guidance system and a position positioning system, wherein the central control system is respectively in one-way connection with the ground control system, the vehicle-mounted control system and the AGV guidance system, and the main control system is in two-way connection with the position positioning system;
the ground control system comprises a task management unit, a vehicle management unit, a traffic management unit, a communication management unit and a vehicle driving unit, the vehicle-mounted control system comprises an AGV navigation system, the AGV navigation system can select one of inertial navigation, visual navigation or GPS navigation, the AGV guidance system can select one of an electromagnetic guidance module, a magnetic tape guidance module, an optical guidance module or a laser guidance module, and the AGV guidance system is in one-way connection with the position positioning system;
the ground control system is mainly responsible for task allocation, vehicle scheduling, path management, traffic management and automatic charging, and transmits command data into the main control system;
after receiving the instruction of the main control system, the vehicle-mounted control system transmits the instruction to the AGV navigation system again and is responsible for the navigation calculation of the AGV and the operation of vehicle walking;
the AGV guiding system provides absolute or relative position and course for the main control system, the AGV guiding system can transmit data to the position positioning system in real time and record the data, and meanwhile, the position positioning system can transmit the recorded position data to the main control system.
In the guidance control system for AGVs described above, the task management unit in the ground control system provides an interpretation execution environment for the AGV ground control program, provides scheduling operation according to task priority and start time, and provides various operations such as start, stop, cancel, etc. for the task; the vehicle management unit distributes and schedules the AGV to execute tasks according to the request of the material handling task, calculates the shortest walking path of the AGV according to the principle that the walking time of the AGV is shortest, controls and commands the walking process of the AGV and issues loading and unloading and charging commands in time; the traffic management unit provides AGV mutual automatic avoidance measures, and simultaneously avoids a deadlock method for mutual waiting of vehicles and a release method for deadlock; the communication management unit is used for providing communication between an AGV ground control system and an AGV single machine, and between a main control system and a vehicle-mounted control system; the vehicle driving unit is used for driving the AGV to acquire the state, sending a walking section allowing request to traffic management and simultaneously sending a confirmation section to the AGV.
In the guidance control system for the AGVs, the communication between the communication management unit and the AGVs uses a radio communication mode, a wireless network needs to be established, the AGVs only perform two-way communication with a ground system, and the AGVs do not perform communication with each other, the ground control system uses a polling mode and a plurality of AGVs to perform communication, and uses TCP or IP communication with the ground monitoring system, the vehicle-mounted control system and the upper computer.
In the guidance control system for the AGV, the inertial navigation in the AGV navigation system is to install a gyroscope on the AGV, and install a positioning block on the ground of a driving area, and the AGV can use a deviation signal to the gyroscope; the visual navigation is to adopt a CCD camera to shoot a road surface image and use machine vision and other related technologies to identify a path; the GPS navigation is to track and guide a control object in a non-fixed road system through a satellite.
In the guidance control system for the AGV, the AGV guidance system calculates the speed value and the steering angle value of the next cycle, i.e. the command value of the AGV motion, according to the current position, the current heading and the preset theoretical track.
In the guidance control system for the AGV, the AGV guidance system needs to use a camera unit for visual navigation in the AGV navigation system to shoot the position, and the data acquisition steps of the AGV guidance system are as follows:
s1, firstly, establishing a database of the whole operation process of the AGV;
s2, the database establishing process comprises the following steps:
a. running the path setting of the main control system to enable the AGV to run in the set path;
b. recording the complete process of the AGV in the path by using a camera unit in the visual navigation;
c. decomposing a video file of the complete process into a plurality of image files and marking the image files as A1, A2 and A3.. the motion speed and the motion direction of each pixel in the images A1, A2 and A3.. the motion speed and the motion direction of each pixel in the images are found, marking the pixels in the images as a, b and c.. n respectively, and determining the frame number of the pixels as t;
d. determining the position of the a, b, c.. n pixel point at the time of the t frame to be (x1, y1), finding the a, b, c.. n pixel point at the time of the t +1 frame, and if the position of the a, b, c.. n pixel point is (x2, y2), determining the motion of the a, b, c.. n pixel point: (ux, vy) ═ x2, y2) - (x1, y 1;
e. under the condition of determining time and a motion path, the speed value and the steering angle value of the pixel point can be calculated and marked as B1, B2 and B3.
In the guidance control system for an AGV as described above, the position positioning of the AGV guidance system is as follows:
s1, shooting the positioning location of the AGV to obtain a shot picture;
s2, setting a plane coordinate system in the shot picture, setting the position of the positioning point on the shot picture as a1, and calculating the position (X, Y) of a1 in the plane coordinate system;
s3, outputting data (X, Y);
and S4, comparing the output data with the data in the database, namely determining the position of the AGV.
In the guidance control system for AGVs described above, the process of comparing the data in the position positioning step S4 of the AGV guidance system is as follows:
1) receiving (X, Y) in the image processing module;
2) extracting data (xm, ym) in the position model setting module;
3) and comparing the data (X, Y) with the data (xm, ym), and marking and determining the position of the positioning target when the data (X, Y) is (xm, ym).
Compared with the prior art, the guidance control system for the AGV has the advantages that:
1. the invention adopts a mode of combining electromagnetic guidance and visual navigation to analyze the running path of the AGV in real time, can accurately position and guide the spatial position of the AGV, ensures the continuous transfer capability of the AGV in a large spatial range, and also ensures the high-precision assembly capability of the AGV.
2. The invention adopts a specific path planning and motion control model and algorithm, so that the positioning accuracy of the AGV is better than +/-0.5 mm, conditions are created for unmanned autonomous transfer and auxiliary assembly of the AGV, the position of the AGV in use can be accurately determined, and an operator can conveniently control the AGV in real time.
Drawings
FIG. 1 is a functional block diagram of a guidance control system for an AGV according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Examples
Referring to fig. 1, a guidance control system for an AGV, which is characterized by comprising a main control system, a ground control system, a vehicle-mounted control system, an AGV guidance system and a position positioning system, wherein the central control system is respectively in one-way connection with the ground control system, the vehicle-mounted control system and the AGV guidance system, and the main control system is in two-way connection with the position positioning system;
the ground control system comprises a task management unit, a vehicle management unit, a traffic management unit, a communication management unit and a vehicle driving unit, the vehicle-mounted control system comprises an AGV navigation system, the AGV navigation system can select one of inertial navigation, visual navigation or GPS navigation, the ground control system is based on the visual navigation, the AGV navigation system can select one of an electromagnetic guidance module, a magnetic tape guidance module, an optical guidance module or a laser guidance module, and the AGV guidance system is in one-way connection with the position positioning system.
The ground control system is mainly responsible for task allocation, vehicle scheduling, path management, traffic management and automatic charging, and transmits command data to the main control system, specifically, a task management unit in the ground control system provides an interpretation execution environment for an AGV ground control program, provides scheduling operation according to task priority and starting time, and provides various operations such as starting, stopping, canceling and the like for the tasks; the vehicle management unit distributes and schedules the AGV to execute tasks according to the request of the material handling task, calculates the shortest walking path of the AGV according to the principle that the walking time of the AGV is shortest, controls and commands the walking process of the AGV and issues loading and unloading and charging commands in time; the traffic management unit provides AGV mutual automatic avoidance measures, and simultaneously avoids a deadlock method for mutual waiting of vehicles and a release method for deadlock; the communication management unit is used for providing communication between the AGV ground control system and the AGV single machine, and between the main control system and the vehicle-mounted control system; the vehicle driving unit is used for driving and taking charge of the acquisition of the AGV state, sending a walking section permission request to traffic management, and simultaneously sending a confirmation section to the AGV.
Furthermore, the communication between the communication management unit and the AGVs is in a radio communication mode, a wireless network is required to be established, the AGVs only carry out two-way communication with the ground system, the AGVs do not carry out communication, the ground control system carries out communication with the AGVs in a polling mode, and TCP or IP communication is used for communication with the ground monitoring system, the vehicle-mounted control system and the upper computer.
After receiving the instruction of the main control system, the vehicle-mounted control system transmits the instruction to the AGV navigation system again and is responsible for navigation calculation and vehicle traveling operation of the AGV; the visual navigation is to adopt a CCD camera to shoot a road surface image and use related technologies such as machine vision and the like to identify a path; the GPS navigation is to track and guide a control object in a non-fixed road system through a satellite.
The AGV guiding system provides absolute or relative position and course for the main control system, the AGV guiding system can transmit data to the position positioning system in real time and record the data, and meanwhile, the position positioning system can transmit the recorded position data to the main control system.
Furthermore, the AGV guidance system needs to use a camera unit for visual navigation in the AGV guidance system to shoot the position, and the data acquisition steps of the AGV guidance system are as follows:
s1, firstly, establishing a database of the whole operation process of the AGV;
s2, the database establishing process comprises the following steps:
a. running the path setting of the main control system to enable the AGV to run in the set path;
b. recording the complete process of the AGV in the path by using a camera unit in the visual navigation;
c. decomposing a video file of the complete process into a plurality of image files and marking the image files as A1, A2 and A3.. the motion speed and the motion direction of each pixel in the images A1, A2 and A3.. the motion speed and the motion direction of each pixel in the images are found, marking the pixels in the images as a, b and c.. n respectively, and determining the frame number of the pixels as t;
d. determining the position of the a, b, c.. n pixel point at the time of the t frame to be (x1, y1), finding the a, b, c.. n pixel point at the time of the t +1 frame, and if the position of the a, b, c.. n pixel point is (x2, y2), determining the motion of the a, b, c.. n pixel point: (ux, vy) ═ x2, y2) - (x1, y 1;
e. under the condition of determining time and a motion path, the speed value and the steering angle value of the pixel point can be calculated and marked as B1, B2 and B3.
Further, the position positioning steps for the AGV guidance system are as follows:
s1, shooting the positioning location of the AGV to obtain a shot picture;
s2, setting a plane coordinate system in the shot picture, setting the position of the positioning point on the shot picture as a1, and calculating the position (X, Y) of a1 in the plane coordinate system;
s3, outputting data (X, Y);
s4, comparing the output data with the data in the database to determine the AGV position, specifically, the process of comparing the data in the step S4 of locating the position of the AGV guidance system is:
1) receiving (X, Y) in the image processing module;
2) extracting data (xm, ym) in the position model setting module;
3) and comparing the data (X, Y) with the data (xm, ym), and marking and determining the position of the positioning target when the data (X, Y) is (xm, ym).
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. A guidance control system for an AGV is characterized by comprising a main control system, a ground control system, a vehicle-mounted control system, an AGV guidance system and a position positioning system, wherein the central control system is respectively in one-way connection with the ground control system, the vehicle-mounted control system and the AGV guidance system, and the main control system is in two-way connection with the position positioning system;
the ground control system comprises a task management unit, a vehicle management unit, a traffic management unit, a communication management unit and a vehicle driving unit, the vehicle-mounted control system comprises an AGV navigation system, the AGV navigation system can select one of inertial navigation, visual navigation or GPS navigation, the AGV guidance system can select one of an electromagnetic guidance module, a magnetic tape guidance module, an optical guidance module or a laser guidance module, and the AGV guidance system is in one-way connection with the position positioning system;
the ground control system is mainly responsible for task allocation, vehicle scheduling, path management, traffic management and automatic charging, and transmits command data into the main control system;
after receiving the instruction of the main control system, the vehicle-mounted control system transmits the instruction to the AGV navigation system again and is responsible for the navigation calculation of the AGV and the operation of vehicle walking;
the AGV guiding system provides absolute or relative position and course for the main control system, the AGV guiding system can transmit data to the position positioning system in real time and record the data, and meanwhile, the position positioning system can transmit the recorded position data to the main control system.
2. The guidance control system for AGV according to claim 1, wherein the task management unit in the floor control system provides an interpretation execution environment for the floor control program of AGV, provides scheduled operation according to task priority and start time, and provides various operations such as start, stop, cancel, etc. for the task; the vehicle management unit distributes and schedules the AGV to execute tasks according to the request of the material handling task, calculates the shortest walking path of the AGV according to the principle that the walking time of the AGV is shortest, controls and commands the walking process of the AGV and issues loading and unloading and charging commands in time; the traffic management unit provides AGV mutual automatic avoidance measures, and simultaneously avoids a deadlock method for mutual waiting of vehicles and a release method for deadlock; the communication management unit is used for providing communication between an AGV ground control system and an AGV single machine, and between a main control system and a vehicle-mounted control system; the vehicle driving unit is used for driving the AGV to acquire the state, sending a walking section allowing request to traffic management and simultaneously sending a confirmation section to the AGV.
3. The guidance control system for AGVs according to claim 2, wherein the communication between the communication management unit and the AGVs uses a radio communication method, a radio network is required to be established, the AGVs only perform two-way communication with the ground system, no communication is performed between the AGVs, the ground control system uses a polling method to communicate with the AGVs, and the communication with the ground monitoring system, the vehicle-mounted control system and the upper computer uses TCP or IP communication.
4. The guidance control system for an AGV according to claim 1, wherein the inertial navigation in the AGV navigation system is implemented by installing a gyroscope on the AGV and a positioning block on the ground of the travel area, the AGV being operable to provide a gyroscope bias signal; the visual navigation is to adopt a CCD camera to shoot a road surface image and use machine vision and other related technologies to identify a path; the GPS navigation is to track and guide a control object in a non-fixed road system through a satellite.
5. The guidance control system for an AGV according to claim 4, wherein the AGV guidance system calculates the speed value and the steering angle value of the next cycle, i.e. the command value of the AGV movement, according to the current position, the current heading and the preset theoretical track.
6. The guidance control system for AGV according to claim 5, wherein the AGV guidance system needs to capture the position by using a camera unit for visual navigation in the AGV navigation system, and the data acquisition steps of the AGV guidance system are as follows:
s1, firstly, establishing a database of the whole operation process of the AGV;
s2, the database establishing process comprises the following steps:
a. running the path setting of the main control system to enable the AGV to run in the set path;
b. recording the complete process of the AGV in the path by using a camera unit in the visual navigation;
c. decomposing a video file of the complete process into a plurality of image files and marking the image files as A1, A2 and A3.. the motion speed and the motion direction of each pixel in the images A1, A2 and A3.. the motion speed and the motion direction of each pixel in the images are found, marking the pixels in the images as a, b and c.. n respectively, and determining the frame number of the pixels as t;
d. determining the position of the a, b, c.. n pixel point at the time of the t frame to be (x1, y1), finding the a, b, c.. n pixel point at the time of the t +1 frame, and if the position of the a, b, c.. n pixel point is (x2, y2), determining the motion of the a, b, c.. n pixel point: (ux, vy) ═ x2, y2) - (x1, y 1;
e. under the condition of determining time and a motion path, the speed value and the steering angle value of the pixel point can be calculated and marked as B1, B2 and B3.
7. A guidance control system for an AGV according to claim 6 wherein the positioning of the AGV guidance system position is as follows:
s1, shooting the positioning location of the AGV to obtain a shot picture;
s2, setting a plane coordinate system in the shot picture, setting the position of the positioning point on the shot picture as a1, and calculating the position (X, Y) of a1 in the plane coordinate system;
s3, outputting data (X, Y);
and S4, comparing the output data with the data in the database, namely determining the position of the AGV.
8. The guidance control system for an AGV of claim 7 wherein the comparison of the data in the AGV guidance system position locating step S4 is:
1) receiving (X, Y) in the image processing module;
2) extracting data (xm, ym) in the position model setting module;
3) and comparing the data (X, Y) with the data (xm, ym), and marking and determining the position of the positioning target when the data (X, Y) is (xm, ym).
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| CN202011062875.6A CN112180929A (en) | 2020-09-30 | 2020-09-30 | A guidance control system for AGV |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113286266A (en) * | 2021-05-24 | 2021-08-20 | 和县隆盛精密机械有限公司 | AGV dolly location calling system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113286266A (en) * | 2021-05-24 | 2021-08-20 | 和县隆盛精密机械有限公司 | AGV dolly location calling system |
| CN113286266B (en) * | 2021-05-24 | 2024-02-20 | 和县隆盛精密机械有限公司 | AGV dolly location calling system |
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Application publication date: 20210105 |
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