CN114935342A - AGV and navigation method thereof - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The utility model provides a AGV and navigation method thereof, belongs to logistics technical field for solve continuous guidance formula AGV manufacturing cost height, intermittent guidance formula AGV precision and poor stability's problem, include the automobile body, install steering wheel, the symmetry of bottom of the body front side and install two from driving wheel, install two magnetic navigation sensor between the driving wheel, install magnetic navigation sensor keeps away from gyro in the steering wheel direction with install card reader behind the gyro at the rear side of the automobile body. The navigation method of the AGV is that the magnetic navigation sensor detects magnetic nails which are preset on a planned path, and reads path values stored in the magnetic nails, so that the actual traveling direction of the AGV is continuously adjusted, and the normal deviation between the actual traveling direction of the AGV and the planned path is always kept in a preset range. By adopting the method of combining the gyroscope, the magnetic navigation sensor and the integral algorithm, the AGV can be switched on different paths timely, randomly and stably.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to an automatic navigation vehicle (AGV).
Background
In recent years, research and development of Automatic Guided Vehicles (AGV) in China present a thriving scene, which is mainly related to logistics heat in the years. Navigation is one of key technologies, and in popular terms, "navigation" is a technology and a study for determining a path when a mobile robot passes through an environment. At present, the guidance mode of the AGV includes a continuous guidance mode and an intermittent guidance mode, and the difference between the continuous guidance mode and the intermittent guidance mode is that the former is a continuous setting mark, and the intermittent guidance mode AGV has a free travel time period, so that the AGV travels more flexibly and with less investment, but the autonomous performance requirement of the AGV is improved. Therefore, the cost is high for obtaining good guiding effect of the AGV; to reduce the manufacturing cost of an AGV, accurate and flexible guidance cannot be obtained.
Disclosure of Invention
In view of the above problems of high manufacturing cost of the AGV with continuous guidance and low accuracy of the AGV with intermittent guidance, it is necessary to provide an AGV and a navigation method thereof, which achieve stable and accurate navigation and relatively low manufacturing cost of the AGV.
An AGV comprises a vehicle body, a steering wheel arranged on the front side of the bottom of the vehicle body, two driven wheels symmetrically arranged on the rear side of the bottom of the vehicle body, a magnetic navigation sensor arranged between the two driven wheels, a gyroscope arranged in the direction, away from the steering wheel, of the magnetic navigation sensor, and a card reader arranged behind the gyroscope;
the steering wheel is an assembly of a walking wheel and a steering wheel and is mainly used for controlling the walking and steering of the vehicle body;
the driven wheels are symmetrically arranged on two sides of the rear end of the bottom of the vehicle body and form a three-wheel supporting structure with the steering wheel, so that the vehicle body is supported; namely, the two driven wheels are symmetrically arranged on two sides of the main shaft of the vehicle body and form a triangular support structure with a steering wheel arranged on the main shaft of the front side of the bottom of the vehicle body so as to support the vehicle body;
the magnetic navigation sensor is arranged on a main axis of the vehicle body and is arranged between the two driven wheels, and is used for detecting the normal deviation between the actual traveling direction of the AGV and the planned path;
the gyroscope is installed on a main axis of the vehicle body and arranged in the direction of the steering wheel, the magnetic navigation sensor is far away from the steering wheel, and the heading angle of the AGV is detected.
Preferably, the AGV still includes the card reader, the card reader is installed on automobile body main axis, and arranges in the gyroscope is kept away from magnetic navigation sensor's direction for read the data in the radio frequency card, in order to realize the smooth switching of AGV between different routes.
The navigation method of the AGV is that the magnetic nail which is preset on the planned path is detected through the magnetic navigation sensor, the path value stored in the magnetic nail is read, and the actual traveling direction of the AGV is continuously adjusted according to the path value, so that the normal deviation between the actual traveling direction of the AGV and the planned path is always kept in a preset range. Preferably, the actual travel direction of the AGV is continuously adjusted according to the path value, so that the normal deviation between the actual travel direction of the AGV and the planned path tends to zero, and the actual travel path is consistent with the planned path. Through setting up the magnetism nail with the method of magnetic navigation sensor kind detection AGV normal direction deviation can promote the sensitivity of actual path, has avoided the problem of the guide inefficacy that leads to because outdoor environment like rain, snow, sand and dust etc..
Preferably, in order to conveniently adjust the actual traveling direction of the AGV, the planned path of the AGV is set in a map having an X-Y coordinate system, and the map is drawn according to an operation area where the AGV actually operates, so that the AGV can be well guided to operate to a proper and designated position.
Preferably, in order to make the course angle of AGV is more accurate, will the course angle that gyro detection's course angle and integral calculated fuses, can obtain and be suitable for different functioning speed the course angle of AGV has avoided because the course skew that AGV advancing speed caused has improved AGV's operation precision and stability.
Preferably, in order to adapt the AGV to different paths, a radio frequency card is provided at a place where the path changes, and the card reader provided on the AGV reads information in the radio frequency card, so as to guide the AGV to travel on the changed path. Through the use of the radio frequency card, the AGV can be accurately and efficiently stopped at a preset position, so that the running efficiency or the operation efficiency and the like of the AGV are improved.
As an optimization of the technical scheme, in order to avoid deviation caused by accumulated errors in the process of the AGV traveling, on the basis of the X-Y coordinate system, deviation compensation is further provided for the traveling direction of the AGV, wherein the deviation compensation comprises angle deviation compensation and coordinate deviation compensation, and the angle deviation compensation is used for compensating the deviation between the actual traveling direction of the AGV and a preset course angle, so that the problem that the traveling direction of the AGV deviates from a preset path due to the deviation between the actual traveling direction of the AGV and the preset course angle is solved; and the coordinate deviation compensation is used for compensating the normal deviation detected by the magnetic navigation sensor by modifying the X-Y coordinate system, so that the deviation of the AGV from the preset path is avoided.
Preferably, the angle deviation compensation is through magnetic navigation sensor detection AGV's normal direction deviation compensates, perhaps says through on the preset route the magnetic nail with AGV is right from the distance deviation between the driving wheel center the angle deviation compensation is carried out to AGV's course angle, thereby solves because of the deviation of AGV actual advancing direction causes the incessant increase of course angle that causes of magnetic navigation sensor detection is the course angle deviation of the fusion.
The technical scheme of the invention has the beneficial effects that: by adopting a method of combining a gyroscope, a magnetic navigation sensor and an integral algorithm, the AGV can be switched in different paths timely, randomly and stably; meanwhile, the course angle of the AGV detected through the gyroscope and the normal deviation detected by the magnetic navigation sensor can be accurately controlled according to the advancing direction of the AGV.
Drawings
FIG. 1 is a schematic diagram of an AGV arrangement;
FIG. 2 is a magnetic navigation schematic;
FIG. 3 is a schematic view of a coordinate system X-Y;
FIG. 4 is a schematic diagram of a planned path;
FIG. 5 is a schematic of offset compensation;
wherein, 1-vehicle body; 2-a steering wheel; 3-driven wheel; 301-a first driven wheel; 302-a second driven wheel; 4-magnetic navigation sensors; 5-a gyroscope; 6-a card reader; 7-magnetic nail; 8-radio frequency card; the included angle between the alpha-steering wheel and the main axis of the vehicle body; the included angle between the main axis of the beta-body and the X axis of the coordinate system.
Detailed Description
In order to more clearly illustrate the technical solutions of the present invention, the technical solutions of the present invention are described in detail with reference to the accompanying drawings, and it is obvious that the following descriptions are some exemplary embodiments of the present invention, and it is obvious for those skilled in the art that other solutions can be obtained according to the embodiments without creative efforts.
The invention aims to solve the problems that an AGV with a continuous navigation mode has high manufacturing cost, and an AGV with an intermittent navigation mode has inaccurate and unstable navigation effect, and provides the AGV and the navigation method thereof.
As shown in fig. 1, an AGV includes a vehicle body 1, a steering wheel 2 installed at the front side of the bottom of the vehicle body, two driven wheels 3 symmetrically installed at the rear side of the bottom of the vehicle body, a magnetic navigation sensor 4 installed between the two driven wheels 3, a gyroscope 5 installed in the direction of the magnetic navigation sensor 4 away from the steering wheel 2, and a card reader 6 installed behind the gyroscope 5;
the steering wheel 2 is an assembly of a walking wheel and a steering wheel and is mainly used for controlling the walking and steering of the vehicle body 1;
the driven wheels 3 comprise a first driven wheel 301 and a second driven wheel 302, the first driven wheel 301 and the second driven wheel 302 are symmetrically arranged on two sides of the rear side of the bottom of the vehicle body 1, and form a three-wheel supporting structure with the steering wheel 2, so that the three-wheel supporting structure can support the vehicle body 1; specifically, the first driven wheel 301 and the second driven wheel 302 are symmetrically installed on both sides of the main axis of the car body 1, and form a triangular support structure with the steering wheel 2 installed on the front side of the car body 1 and arranged on the main axis, so as to support the car body 1 of the AGV and play a role in guiding and traveling;
the magnetic navigation sensor 4 is mounted on a main axis of the car body 1, is arranged between the first driven wheel 301 and the second driven wheel 302, and is used for detecting the normal deviation between the actual traveling direction of the AGV and a planned path;
As an optimization of this embodiment, the AGV further includes a card reader 6, the card reader 6 is installed on the main axis of the vehicle body 1 and is arranged in the direction in which the gyroscope 5 is far away from the magnetic navigation sensor 4, so as to read data in the radio frequency card 8, and realize smooth switching of the AGV between different paths.
The navigation method of the AGV is characterized in that the magnetic navigation sensor 4 is used for detecting the magnetic nails 7 which are preset on the planned path, and reading the path values stored in the magnetic nails 7, so that the actual traveling direction of the AGV is continuously adjusted, and the normal deviation between the actual traveling direction of the AGV and the planned path is always kept in a preset range. Specifically, as shown in fig. 2, the arrow at the upper part in the drawing is the traveling direction of the AGV, three magnetic nails 7 are provided, and the traveling direction of the AGV is from far to near, and the magnetic navigation sensor 4 detects that the normal deviation corresponding to the magnetic nail 7 closer to the arrow direction is closer to a zero value, that is, the actual traveling path of the AGV is closer to the planned path, or the traveling path of the AGV is more correct, so that the traveling accuracy and stability of the AGV are improved, and the operation efficiency of the AGV is improved.
Preferably, in order to conveniently adjust the actual traveling direction of the AGV, as shown in fig. 3, the planned path of the AGV is set in a map having an X-Y coordinate system according to the AGV actually operatingThe AGV can be guided to a proper and designated position. For example, in the X-Y coordinate system, the AGV issues from point a to point B, and in order to accurately obtain the position of the AGV, an integration algorithm is used to obtain the coordinate C (X) of the position of the AGV c ，y c ) The calculation method of the coordinate C is as follows:
x c ＝x c +v×cosα×cosβ×CycleTime
y c ＝y c +v×cosα×sinβ×CycleTime
wherein, v is the traveling speed of the AGV; the included angle between the alpha-steering wheel and the main axis of the vehicle body; the included angle between the main axis of the beta-vehicle body and the X axis of the coordinate system (namely the course angle of the AGV); CycleTime-controller sampling period; l-front and rear wheel base.
Additionally, when calculating the coordinate C, the course angle β of the AGV at the coordinate C is also calculated at the same time c Therefore, the AGV can be guaranteed to move to a proper position according to a preset path, namely, the AGV can be guaranteed to adjust the angle when being proper and turn to a specified direction and position.
Further, in order to make the course angle of the AGV more accurate, the course angle β detected by the gyroscope 5 and the course angle β calculated by integration are used c The fusion can obtain the course angle of the AGV, which is suitable for different running speeds, and avoids course deviation caused by the traveling speed of the AGV, thereby improving the running accuracy and stability of the AGV. For example, the blended heading angle β Melt The calculation method comprises the following steps:
β fusion ＝K×β+(1-K)×β c
Wherein, beta Fusion -a fused heading angle; beta-the course angle of the AGV; beta is a c -integrating the calculated heading angle; k-scale factor.
Furthermore, the proportional factor K is proportional to the running speed of the AGV, that is, the faster the AGV runs, the larger the proportional factor K is; the higher the speed of the AGV is, the larger the influence of the course angle detected by the gyroscope 5 on the fused course angle is, so that the AGV is suitable for the AGV running at high speed; the lower the speed of the AGV is, the greater the influence of the course angle calculated by the integral on the integrated course angle is, so that the integrated course angle is suitable for the AGV travelling at low speed; through the integrated course angle, the AGV can be switched at random in different states of high speed and low speed and adjusted in time, and the AGV can stably and accurately advance.
As another supplement to this embodiment, as shown in fig. 4, in order to adapt the AGV to different routes, a radio frequency card 8 is provided where the route changes, and the card reader 6 provided on the AGV reads information in the radio frequency card 8, thereby guiding the AGV to travel on the changed route. Specifically, the radio frequency card 8 stores various information such as the start coordinate, the end coordinate, the traveling speed, the traveling direction, the turning radius, the turning angle, and the like of the changed path; card reader 6 has obtained above-mentioned information after, according to the smooth switching between the different routes of realization that above-mentioned information can be quick, and can be on new route accurate, stable, quick marcing, promoted AGV's operating efficiency.
As another optimization of this embodiment, as shown in fig. 5, in order to avoid deviation of the AGV caused by accumulated errors during the traveling process, on the basis of the X-Y coordinate system, deviation compensation is further provided for the traveling direction of the AGV, where the deviation compensation includes angle deviation compensation and coordinate deviation compensation, and the angle deviation compensation is used to compensate for a deviation between the actual traveling direction of the AGV and a preset course angle, so as to solve the problem that the traveling direction of the AGV deviates from a preset path due to a deviation between the actual traveling direction of the AGV and the preset course angle; and the coordinate deviation compensation is used for compensating the normal deviation detected by the magnetic navigation sensor by modifying the X-Y coordinate system, so that the deviation of the AGV from the preset path is avoided.
Additionally, the angular deviation compensation is to compensate for the normal deviation of the AGV detected by the magnetic navigation sensor, or by pre-calibrationEstablish on the route the magnetism nail with the AGV is right from the distance deviation between the driving wheel center the angle deviation compensation is carried out to AGV's course angle to solve because of the deviation of AGV actual advancing direction causes the course angle that the continuous increase of magnetic navigation sensor detection caused the course angle deviation of fusing. For example, the normal deviation detected by the magnetic navigation sensor is l, and the angular deviation compensation is β Compensation value (ii) a In particular, beta Compensation value F (l) k × l + b, where k and b are compensation coefficients.
Additionally, the specific implementation method of the coordinate deviation compensation is to remove l × sin β from the original X coordinate difference, and add l × cos β to the original Y coordinate, that is, the corrected X '-Y' coordinate system has:
X`＝x-l×sinβ
Y`＝y+l×cosβ
wherein x and y are coordinate values; l is the normal deviation of the AGV; beta is the AGV heading angle.
By implementing the scheme, the continuous guiding effect of the AGV is realized, and the problem of high manufacturing cost of the AGV caused by the conventional continuous guiding mode is solved; meanwhile, the accuracy and the stability of AGV navigation are realized, the running efficiency and the operating efficiency of the AGV are improved, and the delay in time caused by the fact that deviation of the AGV needs to be adjusted again or control software needs to be refreshed or ground guidance is avoided.
The above embodiment is only a description of a typical application of the technical solution of the present invention, and may be reasonably expanded without creative efforts.
Claims (10)
1. An AGV is characterized by comprising a vehicle body, a steering wheel, two driven wheels, a magnetic navigation sensor, a gyroscope and a card reader, wherein the steering wheel is installed on the front side of the bottom of the vehicle body;
the steering wheel is an assembly of a walking wheel and a steering wheel and is mainly used for controlling the walking and steering of the vehicle body;
the driven wheels are symmetrically arranged on two sides of the rear end of the bottom of the vehicle body and form a three-wheel supporting structure with the steering wheel, so that the driven wheels can support the vehicle body;
the magnetic navigation sensor is arranged on a main axis of the vehicle body and is arranged between the two driven wheels, and is used for detecting the normal deviation between the actual traveling direction of the AGV and the planned path;
the gyroscope is installed on a main axis of the vehicle body and arranged in the direction of the steering wheel, the magnetic navigation sensor is far away from the steering wheel, and the heading angle of the AGV is detected.
2. The AGV of claim 1 further including a reader mounted on the main axis of the body and positioned in a direction away from the magnetic navigation sensor for reading data from the radio frequency card.
3. The AGV navigation method according to claim 2, including:
through magnetic navigation sensor detects the magnetism nail of setting in advance on planning the route, and reads the path value of storage in the magnetism nail, the basis the path value constantly adjusts AGV's actual direction of travel makes AGV's actual direction of travel and the normal direction deviation between the planning route remain throughout in the within range of predetermineeing.
4. The AGV navigation method according to claim 3, further comprising:
and setting the planned path of the AGV in a map with an X-Y coordinate system, wherein the map is drawn according to the actual operation area of the AGV.
5. The AGV navigation method according to claim 4, further comprising:
and fusing the course angle detected by the gyroscope and the course angle calculated by integration to obtain the course angle of the AGV suitable for different running speeds.
6. The AGV navigation method according to claim 5, wherein said step of merging the heading angle detected by said gyroscope with the integrated heading angle is performed by:
β fusion ＝K×β+(1-K)×β c And K is a proportional factor, the proportional factor K is in direct proportion to the running speed of the AGV, and the integrated course angle realizes the random switching and timely adjustment of the AGV at high speed and low speed in different states.
7. A method for navigating an AGV according to any one of claims 3 to 5 wherein said method further comprises:
the method comprises the steps that a radio frequency card is arranged at a path change place, the card reader arranged on the AGV reads information in the radio frequency card, and the AGV is guided to travel on a changed path according to the acquired information.
8. The AGV navigation method according to claim 7, further comprising:
on the basis of the X-Y coordinate system, deviation compensation for the AGV advancing direction is arranged, and the deviation compensation comprises angle deviation compensation and coordinate deviation compensation; the angle deviation compensation is used for compensating the deviation between the actual advancing direction of the AGV and a preset course angle; and the coordinate deviation compensation is used for compensating the normal deviation detected by the magnetic navigation sensor by modifying the X-Y coordinate system.
9. The AGV navigation method according to claim 8, wherein said angular deviation compensation is performed to compensate for the AGV normal deviation detected by said magnetic navigation sensor by: beta is a beta Compensation value F (l) k × l + b, where k and b are compensation coefficients.
10. The AGV navigation method according to claim 8, wherein said coordinate deviation compensation is performed by subtracting lxsin β from the original X coordinate difference and adding lxcos β to the original Y coordinate.
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Cited By (1)
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| CN117415858A (en) * | 2023-12-18 | 2024-01-19 | 上海仙工智能科技有限公司 | Rudder angle compensation calibration method and system for single steering wheel mobile robot and storage medium |
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