CN114115266B - AGV (automatic guided vehicle) magnetic tracking offset calculating method, storage medium and AGV - Google Patents
AGV (automatic guided vehicle) magnetic tracking offset calculating method, storage medium and AGV Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 23
- 230000008859 change Effects 0.000 claims abstract description 10
- 238000004364 calculation method Methods 0.000 claims description 16
- 230000006870 function Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 4
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims description 3
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
According to the AGV magnetic tracking offset calculating method, the storage medium and the AGV, the magnetic flux change relation between the width X of the magnetic stripe detected by the magnetic induction probe and the magnetic flux Y of the magnetic induction probe is introduced, the magnetic flux of the magnetic induction probe triggered at the outermost side of the running AGV is detected, the width occupied by the magnetic induction probe is obtained, the position offset of the AGV body when the AGV body runs along the magnetic stripe is calculated, the phenomenon of derailment of the AGV can be avoided by adjusting the position offset, and the tracking precision of the AGV can be improved to 1mm because the width precision of the detection range of the induction probe is 1mm. An additional accurate operation control can be realized.
Description
Technical Field
The invention belongs to the technical field of automatic guided vehicles, and particularly relates to an AGV magnetic tracking offset calculating method, a storage medium and an AGV.
Background
Along with the development of industrial automation, the AGVs are widely applied in various fields, the application scenes of the AGVs are more and more complex, and the requirements on the tracking accuracy of the AGVs are higher and higher. At present, the error of AGV seek can reach 1cm, and the circumstances of scraping, mistake and collision can appear in some more narrow regional operations. Derailment may also occur when traveling on annular magnetic stripe tracks of smaller radius.
Disclosure of Invention
The invention aims to solve the problem that the error of the existing AGV is large, and provides an AGV magnetic tracking offset calculating method, a storage medium and an AGV for improving the error precision of the AGV tracking.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The AGV comprises a vehicle body, a control module and a magnetic tracking sensor, wherein the magnetic tracking sensor is provided with a plurality of magnetic induction probes in parallel, the distance between the adjacent magnetic induction probes is D, the ground clearance of the magnetic tracking sensor is H, the detection width of the magnetic induction probes to the ground is W, and the width of the magnetic stripe is M; the calculation method comprises the following steps:
a. And slowly moving the magnetic stripe from one side of the detection range of the magnetic induction probe to the other side until the magnetic stripe leaves the detection range, obtaining the curve change relation between the width X of the magnetic stripe detected by the magnetic induction probe and the magnetic flux Y of the magnetic induction probe, sorting the obtained data into a regression equation, and obtaining a function expression Y=aX+b+ (n-1) D, wherein n represents the nth magnetic induction probe on magnetic tracking.
B. The control module monitors whether all magnetic sensing probes detect the magnetic strip.
C. And substituting the magnetic flux of the leftmost magnetic induction probe into a functional expression to calculate in the range of detecting the magnetic stripe, obtaining the offset y1 of the left edge of the magnetic stripe from the zero point of the magnetic induction probe, and subtracting M/2 from the offset y1 to obtain the offset of the opposite left side of the midpoint of the magnetic stripe.
Compared with the prior art, the AGV magnetic tracking offset calculating method has the advantages that the curve change relation between the width X of the magnetic stripe detected by the magnetic induction probe and the magnetic flux Y of the magnetic induction probe is introduced, the magnetic flux of the magnetic induction probe triggered at the outermost side of the running AGV is detected, the width occupied by the magnetic induction probe is obtained, the position offset of the AGV body when the AGV body runs along the magnetic stripe is calculated, the phenomenon of derailment of the AGV can be avoided by adjusting the position offset, and the tracking precision of the AGV can be improved to 1mm because the width precision of the detection range of the induction probe is 1mm. An additional accurate operation control can be realized.
Further, the calculation method further comprises the following steps: d. and substituting the magnetic flux of the rightmost magnetic induction probe into a functional expression for calculation, obtaining the offset y2 of the right edge of the magnetic stripe from the zero point of the magnetic induction probe, and adding M/2 to the offset y2 to obtain the offset of the midpoint of the magnetic stripe relative to the right side.
E. and adding y1 and y2 to obtain the final offset of the center point of the magnetic stripe by dividing 2.
By this arrangement, the calculated final offset is more accurate and reliable.
Further, the calculation method further comprises the following steps: f. the final offset of the last magnetic seek is recorded using variable ProLocation when running on a magnetic stripe.
G. And calculating offset amounts y1 and y2 in the next cycle, when the difference value of y1 and y2 is larger than M-5, judging that the current magnetic tracking sensor detects two magnetic stripes, and performing step h, otherwise, the magnetic tracking sensor detects one magnetic stripe, and performing step f.
H. Subtracting variables ProLocation from y1 and y2 to obtain differences x1 and x2, comparing x1 and x2, judging the magnetic stripe with smaller difference as the magnetic stripe which is driven currently according to the instruction of the central control dispatching system, and assigning y1 and y2 to the left magnetic stripe and the right magnetic stripe respectively; or the magnetic stripe with larger difference is judged as the magnetic stripe which runs at present, the other magnetic stripe is the magnetic stripe which is branched, and y1 and y2 are respectively assigned to the left magnetic stripe and the right magnetic stripe.
I. the offset of the magnetic stripe determined to be currently traveling is updated to variable ProLocation and the data is sent to the control module.
Through the arrangement, the magnetic track can be enabled to know which magnetic stripe is currently driven, and the situation that an AGV swings when the bifurcation road is combined and passes through the bifurcation road, particularly when the bifurcation road is combined in a turning way can be avoided. Both the in-bend and the out-bend appear smoother.
The storage medium is stored with a computer program, and the computer program is configured to realize the AGV magnetic tracking offset calculating method when being called by a processor.
The AGV comprises a vehicle body, a processor and a memory, wherein the processor and the memory are arranged on the vehicle body, the processor and the memory are communicated with each other, and the memory is used for storing executable instructions, so that the AGV magnetic tracking offset calculating method is realized when the processor executes the instructions.
Drawings
FIG. 1 is a schematic diagram of a magnetic tracking sensor and a magnet
FIG. 2 is a graphical representation of the width X of the magnetic stripe detected by the magnetically susceptible probe as a function of the magnetic flux Y of the magnetically susceptible probe
FIG. 3 is a flow chart of an AGV magnetic tracking offset calculation method of the present invention
FIG. 4 is a flowchart for determining the number of magnetic stripes
FIG. 5 is a flow chart of an AGV fly height and offset function adaptation process
Detailed Description
The technical scheme of the invention is described below with reference to the accompanying drawings:
Embodiment one:
Referring to fig. 1 to 5, the AGV magnetic tracking offset calculating method of the present invention relates to an AGV including a vehicle body, a control module and a magnetic tracking sensor, wherein the magnetic tracking sensor is provided with a plurality of magnetic sensing probes in parallel, the distance between adjacent magnetic sensing probes is D, the ground clearance of the magnetic tracking sensor is H, the detection width of the magnetic sensing probes to the ground is W, the width of the magnetic stripe is M, wherein W is equal to or greater than D, in this embodiment, the distance between adjacent magnetic sensing probes is set to d=20 mm, the ground clearance of the magnetic tracking sensor is set to h=40 mm, the detection width of the magnetic sensing probes to the ground is set to w=20 mm, and the width of the magnetic stripe is set to m=30; the calculation method comprises the following steps:
a. The magnetic stripe is slowly moved from one side of the detection range of the magnetic induction probe to the other side until the magnetic stripe leaves the detection range, for example, the magnetic stripe is moved from the left side of the detection range of the magnetic induction probe to the right side until the magnetic stripe leaves the detection range, the curve change relation between the width X of the magnetic stripe detected by the magnetic induction probe and the magnetic flux Y of the magnetic induction probe is obtained, the obtained data are arranged into a regression equation, the function expression Y=ax+b+ (n-1) is obtained, n represents the nth magnetic induction probe on magnetic tracking, the parameters D=20 mm, H=40 mm and W=20 mm are used as the data set by the magnetic induction probe for magnetic flux test, the function image shown in fig. 2 is obtained, and the obtained function expression is Y=ax+b+ (n-1) d=587.48x+19446+ (n-1) X20.
B. The control module monitors whether all magnetic sensing probes detect the magnetic strip.
The detection range of the magnetic induction probe is 20mm, but the width of the magnetic strip is 30mm, and the width of the magnetic strip exceeds the detection range. After the magnetic strip fills the detection range of the magnetic induction probe, the magnetic flux will not change any more. Therefore, in order to ensure the accuracy of data, the magnetic induction probes of the magnetic stripe are recorded and detected by one byte_MAGIC_SENSOR_BIT, namely all the magnetic induction probes are monitored, and after the magnetic induction probes detect the magnetic stripe, the BIT in the corresponding_MAGIC_SENSOR_BIT is set to be 1, otherwise, the BIT is set to be 0. And setting the magnetic tracking center point as zero point, and performing the step c.
C. and in the range of detecting the magnetic stripe, one or more magnetic induction probes are found, the leftmost magnetic induction probe (the highest BIT of the MAGIC_SENSOR_BIT) is found, the magnetic flux of the leftmost magnetic induction probe is substituted into the functional expression to be calculated, the offset y1 of the left edge of the magnetic stripe from the zero point of the magnetic induction probe is obtained, and the offset y1 is subtracted by M/2=30/2=15 mm, so that the offset of the midpoint of the magnetic stripe on the opposite left side is obtained.
Compared with the prior art, the AGV magnetic tracking offset calculating method has the advantages that the curve change relation between the width X of the magnetic stripe detected by the magnetic induction probe and the magnetic flux Y of the magnetic induction probe is introduced, the magnetic flux of the magnetic induction probe triggered at the outermost side of the running AGV is detected, the width occupied by the magnetic induction probe is obtained, the position offset of the AGV body when the AGV body runs along the magnetic stripe is calculated, the phenomenon of derailment of the AGV can be avoided by adjusting the position offset, and the tracking precision of the AGV can be improved to 1mm because the width precision of the detection range of the induction probe is 1mm. An additional accurate operation control can be realized.
Referring to fig. 4, in one embodiment, the computing method further comprises the steps of:
d. finding the rightmost magnetic induction probe (the lowest BIT of the MAGIC_SENSOR_BIT), substituting the magnetic flux of the rightmost magnetic induction probe into a functional expression for calculation, obtaining the offset y2 of the right edge of the magnetic stripe from the zero point of the magnetic induction probe, and adding M/2=30/2=15 mm to the offset y2 to obtain the offset of the midpoint of the magnetic stripe relative to the right side.
E. and adding y1 and y2 to obtain the final offset of the center point of the magnetic stripe by dividing 2.
By this arrangement, the calculated final offset is more accurate and reliable.
In one embodiment, the steps a to e are applicable to the situation that the AGV runs along one magnetic stripe, and the situations of bifurcation, bifurcation merging, bifurcation passing and the like can occur in the actual laying of the magnetic stripe in the engineering. Therefore, magnetic tracking requires a method of identifying and calculating the offset of one magnetic stripe and two magnetic stripes. The calculation method thus further comprises the steps of:
f. The final offset of the last magnetic seek is recorded using variable ProLocation when running on a magnetic stripe.
G. And calculating offset amounts y1 and y2 in the next cycle, when the difference value of y1 and y2 is larger than M-5=30-5=25 mm, judging that the current magnetic tracking sensor detects two magnetic stripes, and performing step h, otherwise, the magnetic tracking sensor detects one magnetic stripe, and performing step f.
H. Subtracting variables ProLocation from y1 and y2 to obtain differences x1 and x2, comparing x1 and x2, judging the magnetic stripe with smaller difference as the magnetic stripe which is driven currently according to the instruction of the central control dispatching system, and assigning y1 and y2 to the left magnetic stripe and the right magnetic stripe respectively; or the magnetic stripe with larger difference is judged as the magnetic stripe which runs at present, the other magnetic stripe is the magnetic stripe which is branched, and y1 and y2 are respectively assigned to the left magnetic stripe and the right magnetic stripe.
I. the offset of the magnetic stripe determined to be currently traveling is updated to variable ProLocation and the data is sent to the control module.
Through the arrangement, the magnetic track can be enabled to know which magnetic stripe is currently driven, and the situation that an AGV swings when the bifurcation road is combined and passes through the bifurcation road, particularly when the bifurcation road is combined in a turning way can be avoided. Both the in-bend and the out-bend appear smoother.
Referring to FIG. 5, different AGVs may differ in mounting height, which is as standard as 35mm to 45mm, so that different heights cannot use the same function, otherwise an offset may be subject to error. Therefore, the height needs to be determined first to accurately calculate the offset. And judging the height by using the magnetic flux, wherein the magnetic flux reaches the maximum value when the magnetic stripe completely covers the detection range of the magnetic induction probe. However, because the heights are different, the maximum values detected by the magnetic induction probes are different, an array is used, the maximum values which can be detected by each 1mm magnetic induction probe under the conditions of 35mm to 45mm are recorded, magnetic tracking is carried out, the magnetic fluxes detected by all the magnetic induction probes are compared, the maximum values are taken out and are compared with the values in the array one by one, a threshold value is found, and then the height corresponding to the magnetic tracking at the moment is determined. Since the current position of the magnetic stripe is not determined, an auto-adapt process is added and a variable ProMaxFlux is set to record the maximum value of the magnetic flux detected by the magnetic tracking. And (3) taking out the maximum value of the magnetic flux detected by all the magnetic induction probes in each cycle, comparing the maximum value with the variable, if the maximum value is larger than the variable ProMaxFlux, assigning the current value to the variable, carrying out one-time height judgment and redetermination of the offset function, and otherwise, not acting. Thus, the magnetic tracking ground clearance can be continuously and accurately performed along with time.
Since regression is a linear function, the offset is calculated by using the linear function during processing, and different parameters corresponding to different heights are obtained through measurement as follows.
When the regression equation is prepared using the data of the above table, for example, the AGV body ground clearance is set to H=40 mm, the corresponding "1mm corresponding magnetic flux variation" value is 580, and the corresponding "magnetic flux when the magnetic stripe edge coincides with the detection edge" value is 19000; thus, the regression equation is set to y=ax+b+ (n-1) ×d=580x+19000+ (n-1) ×d (the deviation of the table data set by the function image from the actual measurement is negligible), and as for example, the ground clearance of the AGV body is set to h=35 mm, the corresponding "1mm corresponding magnetic flux change" value is 740, and the corresponding "magnetic flux when the magnetic stripe edge coincides with the detection edge" value is 20000; thus, the regression equation is worked out as y=ax+b+ (n-1) d=740x+20000+ (n-1) D.
The magnetic stripe has two types of N pole and S pole, the upper table is the detected value when the N pole magnetic stripe, and the S pole magnetic stripe value and the N pole magnetic stripe value are symmetrical about the zero point through verification. Therefore, when the S-pole magnetic stripe is used, the parameter is only required to be taken as a negative number. The magnetic tracking is added with an N pole and S pole automatic identification function. When the magnetic tracking is electrified, the magnetic tracking continuously and circularly acquires the magnetic flux value detected by each magnetic induction probe, and the magnetic stripe is judged to be the N pole when the magnetic flux value of one magnetic induction probe exceeds the N pole magnetic stripe threshold value, and the magnetic stripe is judged to be the S pole otherwise. The magnetic tracking can work normally only after the polarity is determined, and the polarity cannot be changed after the magnetic tracking works normally.
Embodiment two:
The main object of the present embodiment is to provide a storage medium to which the AGV magnetic tracking offset amount calculation method of the first embodiment is applied, the storage medium storing a computer program configured to implement the AGV magnetic tracking offset amount calculation method when called by a processor.
Compared with the prior art, the storage medium provided by the invention detects the curve change relation of the width X of the magnetic stripe detected by the magnetic induction probe and the magnetic flux Y of the magnetic induction probe, detects the magnetic flux of the magnetic induction probe triggered at the outermost side of the AGV in running, and obtains the width occupied by the magnetic stripe by the magnetic induction probe, so that the position offset of the AGV body in running along the magnetic stripe is calculated, the phenomenon of derailment of the AGV can be avoided by adjusting the position offset, and the tracking precision of the AGV can be improved to 1mm because the width precision of the detection range of the induction probe is 1mm. An additional accurate operation control can be realized.
Example III
The main purpose of this embodiment is to provide an AGV to which the method for calculating a magnetic tracking offset of an AGV according to the first embodiment is applied, the AGV includes a vehicle body, and a processor and a memory that are disposed on the vehicle body, the processor and the memory are in communication with each other, and the memory is configured to store executable instructions, so that the method for calculating a magnetic tracking offset of an AGV is implemented when the processor executes the instructions.
Compared with the prior art, the AGV detects the curve change relation of the width X of the magnetic stripe detected by the magnetic induction probe and the magnetic flux Y of the magnetic induction probe, detects the magnetic flux of the magnetic induction probe triggered at the outermost side of the AGV in running, and obtains the width occupied by the magnetic stripe by the magnetic induction probe, so that the position offset of the AGV body in running along the magnetic stripe is calculated, the phenomenon of derailment of the AGV can be avoided by adjusting the position offset, and the tracking precision of the AGV can be improved to 1mm because the width precision of the detection range of the induction probe is 1mm. An additional accurate operation control can be realized.
Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (3)
- The AGV comprises a vehicle body, a control module and a magnetic tracking sensor, wherein the magnetic tracking sensor is provided with a plurality of magnetic induction probes in parallel, the distance between the adjacent magnetic induction probes is D, the ground clearance of the magnetic tracking sensor is H, the detection width of the magnetic induction probes to the ground is W, and the width of the magnetic stripe is M; the calculation method is characterized by comprising the following steps of:a. slowly moving the magnetic stripe from one side of the detection range of the magnetic induction probe to the other side until the magnetic stripe leaves the detection range, obtaining a curve change relation between the width X of the magnetic stripe detected by the magnetic induction probe and the magnetic flux Y of the magnetic induction probe, sorting the obtained data into a regression equation, and obtaining a function expression Y=aX+b+ (n-1) D, wherein n represents an nth magnetic induction probe on magnetic tracking;b. The control module monitors whether all magnetic induction probes detect the magnetic stripes;c. Substituting the magnetic flux of the leftmost magnetic induction probe into a functional expression to calculate in the range of detecting the magnetic stripe, obtaining the offset y1 of the magnetic stripe left edge from the zero point of the magnetic induction probe, and subtracting M/2 from the offset y1 to obtain the offset of the opposite left side of the midpoint of the magnetic stripe;the calculation method further comprises the following steps:d. substituting the magnetic flux of the rightmost magnetic induction probe into a functional expression for calculation, obtaining the offset y2 of the right edge of the magnetic stripe from the zero point of the magnetic induction probe, and adding M/2 to the offset y2 to obtain the offset of the midpoint of the magnetic stripe relative to the right side;e. adding y1 and y2 to obtain the final offset of the center point of the magnetic stripe by dividing 2;the calculation method further comprises the following steps:f. the final offset of the last magnetic seek is recorded using variable ProLocation while running on a magnetic stripe;g. calculating offset amounts y1 and y2 in the next cycle, judging that the current magnetic tracking sensor detects two magnetic stripes when the difference value of y1 and y2 is larger than M-5, and performing step h, otherwise, the magnetic tracking sensor detects one magnetic stripe, and performing step f;h. Subtracting variables ProLocation from y1 and y2 to obtain differences x1 and x2, comparing x1 and x2, judging the magnetic stripe with smaller difference as the magnetic stripe which is driven currently according to the instruction of the central control dispatching system, and assigning y1 and y2 to the left magnetic stripe and the right magnetic stripe respectively; or judging the magnetic stripe with larger difference as the magnetic stripe which runs at present, wherein the other magnetic stripe is the magnetic stripe which is branched, and y1 and y2 are respectively assigned to the left magnetic stripe and the right magnetic stripe;i. the offset of the magnetic stripe determined to be currently traveling is updated to variable ProLocation and the data is sent to the control module.
- 2. A storage medium storing a computer program configured to implement the AGV magnetic tracking offset calculation method of claim 1 when called by a processor.
- An AGV comprising a vehicle body, a processor and a memory disposed on the vehicle body, wherein the processor and the memory are in communication with each other, and the memory is configured to store executable instructions that, when executed by the processor, implement the method for calculating a magnetic tracking offset of the AGV according to claim 1.
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| JP2001109518A (en) * | 1999-10-04 | 2001-04-20 | Toyota Motor Corp | Vehicle position detecting device |
| CN108445888A (en) * | 2018-05-03 | 2018-08-24 | Tcl王牌电器(惠州)有限公司 | AGV trolleies, the offset method for determination of amount of AGV trolleies and control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0756628A (en) * | 1993-08-20 | 1995-03-03 | Toyota Motor Corp | Shift extent detecting device for unmanned vehicle |
| CN112109706B (en) * | 2019-06-21 | 2022-06-24 | 华为技术有限公司 | Apparatus and method for vehicle control based on magnetic induction communication |
| CN112644984A (en) * | 2019-10-10 | 2021-04-13 | 松下知识产权经营株式会社 | Control method, control system, conveying device and component mounting system |
| CN111103878A (en) * | 2019-12-06 | 2020-05-05 | 云南昆船智能装备有限公司 | Reset guide sensor and method for intelligent parking system |
| CN112987746A (en) * | 2021-03-04 | 2021-06-18 | 无锡职业技术学院 | Method and system for wirelessly controlling AGV |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001109518A (en) * | 1999-10-04 | 2001-04-20 | Toyota Motor Corp | Vehicle position detecting device |
| CN108445888A (en) * | 2018-05-03 | 2018-08-24 | Tcl王牌电器(惠州)有限公司 | AGV trolleies, the offset method for determination of amount of AGV trolleies and control system |
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