CN107168310A - Control device, system and method that a kind of AGV dollies precisely navigate - Google Patents
Control device, system and method that a kind of AGV dollies precisely navigate Download PDFInfo
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- CN107168310A CN107168310A CN201710332820.4A CN201710332820A CN107168310A CN 107168310 A CN107168310 A CN 107168310A CN 201710332820 A CN201710332820 A CN 201710332820A CN 107168310 A CN107168310 A CN 107168310A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 93
- 230000009184 walking Effects 0.000 claims abstract description 21
- 230000003993 interaction Effects 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 14
- 230000011664 signaling Effects 0.000 claims abstract description 14
- 238000004458 analytical method Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 12
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- 238000005538 encapsulation Methods 0.000 claims 1
- 238000000465 moulding Methods 0.000 claims 1
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- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
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- 238000005259 measurement Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
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- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000004807 localization Effects 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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Abstract
The invention discloses the control device that a kind of AGV dollies precisely navigate, including communication control module, laser sensing instrument, velocity feedback module, data acquisition module, data resolution module, State logic control module, data interaction module.The present invention discloses the control system that a kind of AGV dollies precisely navigate, including control device, host computer, the AGV carriage walking drivers that the AGV dollies precisely navigate.The present invention further simultaneously discloses the control method that a kind of AGV dollies precisely navigate, the method comprising the steps of S1 to 7：S1, system program enters navigation pattern, and S2 obtains position signalling, and S3 obtains motor message, and S4 is handled with motor message position, and S5 derives accurate navigation information.The present invention can improve precision and the intellectuality of AGV dolly laser navigations by laser sensor, encoder, the combination of processing module and the control using intelligent algorithm.
Description
Technical field
The present invention relates to AGV Navigation Control technical fields, and in particular to a kind of control device that AGV dollies precisely navigate,
System and method.
Background technology
At present, popular guidance mode has many kinds on the market, but simultaneously the method for not all can be answered in AGV system
With AGV dollies generally can be using several guidance modes once：
(1) electromagnetic guide
Metal wire, and bootload frequency are buried on the driving path of AGV dollies, its major advantage is that guide line is hidden
Cover, be difficult pollution and damaged, guiding principle is simple, is easy to control and communicates, noiseless to acousto-optic, has the disadvantage very flexible, changes
Become or extended route is cumbersome, there is interference to the ferromagnetic material near guide line, electric wire laying workload is big, difficult in maintenance.
(2) directly coordinate guiding
The running region of AGV dollies is divided into some coordinate fritters with locating piece, guiding is realized by counting, its advantage is
Environment can be had no special requirements with the modification of realizing route, the good reliability of guiding, have the disadvantage that ground survey installs complicated, work
Work amount is big, and guidance accuracy is low.
(3) inertial guidance
Gyroscope is housed on AGV dollies, guided according to the deviation of gyroscope, its major advantage is advanced technology,
The degree of accuracy is high, and flexibility is strong, is easy to combination and compatible, suitable application area is wide, has the disadvantage that cost is higher, the contingency question such as maintaining
Relatively it is difficult to resolve certainly, ground is also required to magnetic block and makees auxiliary positioning.
(4) image recognition is guided
Image recognition is carried out to the environment of AGV dolly running regions, intelligence traveling is realized, this is a kind of skill having great potentialities
Art, but still under study for action.
The content of the invention
In view of this, present invention is generally directed to current AGV dollies navigation mode it is single and not accurate the problem of, it is proposed that one
Control device, system and method that kind of AGV dollies precisely navigate, by the combination of laser sensor, encoder, processing module with
And using the control of intelligent algorithm, improve precision and the intellectuality of AGV dolly laser navigations, laser aiming technology more may be used
By safer property.
The present invention is solved the above problems by following technological means：
Compared with prior art, beneficial effects of the present invention are as follows：
The control device that a kind of AGV dollies precisely navigate, applied to traveling in answering with least one reflective guide thing
With the AGV dollies of occasion, including：
Communication control module, respectively with laser sensing instrument, velocity feedback module, State logic control device, data acquisition
Module is attached, for communications status to be checked or corrected with mode of operation, to laser sensing instrument carry out detection with
Control, is read out to movable information, control information and location information, handles with sending；
Laser sensing instrument, is installed on the reflective guide thing for making laser be irradiated to application scenario on AGV dollies, for passing through
Transmitting laser is scanned positioning to surrounding enviroment, detects the laser signal reflected from reflective guide thing, and pass through communication
The position signalling detected is sent to data acquisition module by control module；
Velocity feedback module, for detecting linear speed, angular speed, angle and the direction of AGV moving of car, and passes through
The motor message detected is sent to data acquisition module by communication control module；
Data acquisition module, for being received to position and motor message, frame analysis with data encapsulate and will be packaged
Navigation data be transferred to data resolution module, the order to data resolution module and State logic control module is used for again and is carried out
Receive, frame analysis is encapsulated with data；
Data resolution module, for being analyzed navigation data and being calculated, so as to draw accurate navigation information and by essence
Quasi- navigation information is transferred to data interaction module；
State logic control module, is communicated with communication control module, data acquisition module, data resolution module respectively
Connection, for the mode of operation of management system program, and command communication control module, data acquisition module and data resolution module
Into the mode of operation specified；
Data interaction module, precisely leads for being communicated with monitoring outlay, and by what data resolution module was exported
Information transmission of navigating is to monitoring outlay.
Further, the communication control module includes CPU control units, ethernet communication unit, serial communication unit
With CAN communication unit；
The CPU control units respectively with ethernet communication unit, serial communication unit, CAN communication unit, state
Logic control module, data acquisition module, velocity feedback module are attached, and for reading, processing data and send control
Signal；
The laser sensing instrument is led to ethernet communication unit or serial communication unit or CAN communication unit
Letter connection.
Further, the velocity feedback module includes speed encoder, angular speed encoder；
The speed encoder is in the walking mechanism of AGV dollies, for detecting AGV dollies linear speed and motion side
To；
The angular speed encoder located at AGV dollies steering mechanism on, for detect AGV dollies turn angular speed,
Angle is with turning to.
Further, the data interaction module includes WIFI communication units, bluetooth-communication unit, radio frequency units；
The WIFI communication units be used to realizing communication between different AGV dollies by WIFI communication protocols or realize and
Monitoring outlay is communicated；
The bluetooth-communication unit be used to realizing communication between different AGV dollies by Bluetooth communication protocol or realize and
Monitoring outlay is communicated；
The radio frequency units be used to realizing communication between different AGV dollies by wireless communication protocol or realize and
Monitoring outlay is communicated.
The control system that a kind of AGV dollies precisely navigate, including：The control dress that AGV dollies as described above precisely navigate
Put, host computer, AGV carriage walking drivers；
The control device that the AGV dollies precisely navigate is communicatively coupled by data interaction module with host computer, is led to
Communication control module is crossed to be communicatively coupled with AGV carriage walking drivers；
The host computer is using computer or tablet personal computer or mobile phone or wireless handheld controller or is installed on AGV dollies
Device for embedded control host computer, for the control device that the AGV dollies precisely navigate to be scheduled and monitored；
The AGV carriage walkings driver is installed on AGV dollies, for driving AGV carriage walkings and steering, according to logical
Believe the motor message of control module and AGV carriage walkings and stable direction are made using pid algorithm.
The control method that a kind of AGV dollies precisely navigate, comprises the following steps：
Step S1, State logic control module makes system program enter navigation pattern；
Step S2, under navigation pattern, laser sensing instrument carries out laser scanning to application scenario to obtain position letter
Number；
Step S3, velocity feedback module carries out detection to obtain motor message to the motion state of AGV dollies；
Step S4, data acquisition module is handled with motor message position, and the position after processing is believed with motion
Breath is sent to data resolution module；
Step S5, data resolution module carries out analysis with calculating to derive that precisely navigation is believed to position and movable information
Breath.
Further, the control method that the AGV dollies precisely navigate, in addition to step S6 and step S7；
Accurate navigation information is sent to host computer by step S6, data interaction module；
Step S7, host computer creates motion maps according to accurate navigation information, plans the movement locus of AGV dollies.
Further, step S4 comprises the following steps：
Step S41, data acquisition module is filtered processing to position signalling using limit filtration method；
Step S42, data acquisition module to position signalling disappear trembling processing, so as to obtain stable position signalling.
Further, in step S5, analysis and the calculating process of the positional information comprise the following steps：
Step S511, data resolution module is guided to the time of laser sensing instrument transmitting laser, angle and from reflective
The range information that thing is reflected is analyzed；
Step S512, the coordinate position at the laser rotary center for obtaining laser sensing instrument is calculated by data resolution module
With deviation angle；
The analysis of the movable information comprises the following steps with calculating process：
Step S521, data resolution module calculates AGV real-time speed and motion according to the output quantity of speed encoder
Direction；
Step S522, obtains mileage information of the AGV dollies in effective time interval, calculates program time loss mistake
Difference；
Step S523, data resolution module calculated according to the output quantity of angular speed encoder AGV real-time angle of turn,
Angular speed and steering.
Further, in step S5, the derivation of accurate navigation information comprises the following steps：
Step S531, the analysis of integrated data parsing module and result of calculation；
Step S532, sets up corresponding mathematical modeling and uses Kalman filtering algorithm, obtains AGV dynamic bit confidence
Breath.
The present invention can be carried by laser sensor, encoder, the combination of processing module and the control using intelligent algorithm
The precision of high AGV dolly laser navigations and intellectuality, make the more reliable safer property of laser aiming technology.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the structural representation for the control device that a kind of AGV dollies of the invention precisely navigate；
Fig. 2 is the structural representation for the control system that a kind of AGV dollies of the invention precisely navigate；
Fig. 3 is the structural representation of the communication control module of the present invention；
Fig. 4 is the structural representation of the velocity feedback module of the present invention；
Fig. 5 is the structural representation of the data interaction module of the present invention；
Fig. 6 is the workflow diagram for the control method that a kind of AGV dollies of the invention precisely navigate；
Fig. 7 is the workflow diagram of step S4 in the control method that a kind of AGV dollies of the invention precisely navigate；
Fig. 8 is analysis and the workflow diagram of calculating process of the positional information of the present invention；
Fig. 9 is analysis and the workflow diagram of calculating process of the movable information of the present invention；
Figure 10 is the workflow diagram of the derivation of the accurate navigation information of the present invention；
Figure 11 is the coordinate diagram on inertial navigation alignment system dead reckoning principle of the present invention.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with accompanying drawing and specifically
Embodiment technical scheme is described in detail.It is pointed out that described embodiment is only this hair
Bright a part of embodiment, rather than whole embodiments, based on the embodiment in the present invention, those of ordinary skill in the art are not having
There is the every other embodiment made and obtained under the premise of creative work, belong to the scope of protection of the invention.
As shown in figure 1, the control device that a kind of AGV dollies precisely navigate, applied to traveling reflective with least one
Guide the AGV dollies of the application scenario of thing, including communication control module, laser sensing instrument, velocity feedback module, data acquisition
Module, data resolution module and State logic control module：
The communication control module is adopted with laser sensing instrument, velocity feedback module, State logic control device, data respectively
Collection module is attached, and for communications status to be checked or corrected with mode of operation, laser sensing instrument is detected
With control, movable information, control information and location information are read out, handled with sending；
The laser sensing instrument is installed on the reflective guide thing for making laser be irradiated to application scenario on AGV dollies, is used for
Positioning is scanned by launching laser to surrounding enviroment, detects the laser signal reflected from reflective guide thing, and pass through
The position signalling detected is sent to data acquisition module by communication control module；
The velocity feedback module is used for linear speed, angular speed, angle and the direction for detecting AGV moving of car, and
The motor message detected is sent to by data acquisition module by communication control module；
The data acquisition module to position and motor message for being received, frame analysis is encapsulated with data and will be encapsulated
Good navigation data is transferred to data resolution module, is used to enter data resolution module and the order of State logic control module again
Row is received, frame analysis is encapsulated with data；
The data resolution module is used to navigation data is analyzed and calculated, so as to draw accurate navigation information and incite somebody to action
Accurate navigation information is transferred to data interaction module；
The State logic control module is carried out with communication control module, data acquisition module, data resolution module respectively
Communication connection, for the mode of operation of management system program, and command communication control module, data acquisition module and data are parsed
Module enters the mode of operation specified；
The State logic control module is responsible for the mode of operation of system program, and the mode of operation includes navigation mould
Formula, initialization pattern, standby mode；
Under initialization pattern, a kind of state initialization of AGV dollies and the workflow of equipment self-inspection, state are performed
Logic control module electric initial stage on AGV dollies, read the parameter of communication control module, main control device to AGV dollies and
Ancillary equipment carries out initial work according to certain sequential, sets the original state parameter and the equipment method of operation of AGV dollies
Deng, after the completion of initialization, to important module carry out self-inspection one by one, using communication or IO feedback mode check that all modules are
It is no working properly, under initialization pattern, find the failure of important module Initialize installation or self-inspection not by when, send alarm
Information, and normal navigation pattern is rejected for entry into, solve normally to run after problem eliminates alarm after attendant；
In stand-by mode, the workflow that a kind of operation of AGV dollies low-power consumption prepares is performed, due to AGV dollies one
As use battery, electricity control ensures that continuation of the journey is also an important function, reached in AGV on certain time after electricity but not
When carrying out production operation, State logic control module can control AGV dollies and enter standby mode, and AGV dollies enter standby mode
When can close high current consuming apparatus, AGV dollies is entered energy saver mode, and AGV dollies can be waken up by button or PERCOM peripheral communication,
Receive after extraneous order, carry out normal production operation, under navigation pattern, perform the control that a kind of AGV dollies precisely navigate
The workflow of method；
The data interaction module be used for communicated with monitoring outlay, and by data resolution module export it is accurate
Navigation information is sent to monitoring outlay.
As shown in figure 3, communication control module include CPU control units, ethernet communication unit, serial communication unit and
CAN communication unit；
The CPU control units respectively with ethernet communication unit, serial communication unit, CAN communication unit, state
Logic control module, data acquisition module, velocity feedback module are attached, and for reading, processing data and send control
Signal；
The laser sensing instrument is led to ethernet communication unit or serial communication unit or CAN communication unit
Letter connection；
The ethernet communication unit includes multiple COM1s, can be attached with the instrument such as laser sensing instrument；
The serial communication unit includes multiple COM1s, can be attached with the instrument such as laser sensing instrument；
The CAN communication unit includes multiple COM1s, can be attached with the instrument such as laser sensing instrument.
As shown in figure 4, velocity feedback module includes speed encoder, angular speed encoder；
The speed encoder is in the walking mechanism of AGV dollies, for detecting AGV dollies linear speed and motion side
To；
The angular speed encoder located at AGV dollies steering mechanism on, for detect AGV dollies turn angular speed,
Angle is with turning to.
As shown in figure 5, the data interaction module includes WIFI communication units, bluetooth-communication unit, radio frequency units；
The WIFI communication units be used to realizing communication between different AGV dollies by WIFI communication protocols or realize and
Monitoring outlay is communicated；
The bluetooth-communication unit be used to realizing communication between different AGV dollies by Bluetooth communication protocol or realize and
Monitoring outlay is communicated；
The radio frequency units be used to realizing communication between different AGV dollies by wireless communication protocol or realize and
Monitoring outlay is communicated.
As shown in Fig. 2 the control system that a kind of AGV dollies precisely navigate, including：AGV dollies as described above are precisely led
Control device, host computer, the AGV carriage walking drivers of boat；
The control device that the AGV dollies precisely navigate is communicatively coupled by data interaction module with host computer, is led to
Communication control module is crossed to be communicatively coupled with AGV carriage walking drivers；
The host computer is using computer or tablet personal computer or mobile phone or wireless handheld controller or is installed on AGV dollies
Device for embedded control host computer, for the control device that the AGV dollies precisely navigate to be scheduled and monitored；
Operator realizes simple control, and realize basic quick behaviour using the APP control functions of mobile phone or tablet personal computer
Make prompt operations such as (including) startup, stopping, left-right rotations；
The AGV carriage walkings driver is installed on AGV dollies, for driving AGV carriage walkings and steering, according to logical
Believe the motor message of control module and AGV carriage walkings and stable direction are made using pid algorithm；
The AGV carriage walkings driver drives the steering-engine and movable motor of AGV dollies.
As shown in fig. 6, the control method that a kind of AGV dollies precisely navigate, comprises the following steps：
Step S1, State logic control module makes system program enter navigation pattern；
Step S2, under navigation pattern, laser sensing instrument carries out laser scanning to application scenario to obtain position letter
Number；
Step S3, velocity feedback module carries out detection to obtain motor message to the motion state of AGV dollies；
Step S4, data acquisition module is handled with motor message position, and the position after processing is believed with motion
Breath is sent to data resolution module；
Step S5, data resolution module carries out analysis with calculating to derive that precisely navigation is believed to position and movable information
Breath；
Accurate navigation information is sent to host computer by step S6, data interaction module；
Step S7, host computer creates motion maps according to accurate navigation information, plans the movement locus of AGV dollies.
As shown in fig. 7, step S4 comprises the following steps：
Step S41, data acquisition module is filtered processing to position signalling using limit filtration method；
Step S42, data acquisition module to position signalling disappear trembling processing, so as to obtain stable position signalling.
In step S5, as shown in fig. 7, the analysis of the positional information comprises the following steps with calculating process：
Step S511, data resolution module is guided to the time of laser sensing instrument transmitting laser, angle and from reflective
The range information that thing is reflected is analyzed；
Step S512, the coordinate position at the laser rotary center for obtaining laser sensing instrument is calculated by data resolution module
With deviation angle.
In step S5, as shown in figure 9, the analysis of the movable information comprises the following steps with calculating process：
Step S521, data resolution module calculates AGV real-time speed and motion according to the output quantity of speed encoder
Direction；
Step S522, obtains mileage information of the AGV dollies in effective time interval, calculates program time loss mistake
Difference；
Step S523, data resolution module calculated according to the output quantity of angular speed encoder AGV real-time angle of turn,
Angular speed and steering；
In step S5, as shown in Figure 10, the derivation of accurate navigation information comprises the following steps：
Step S531, the analysis of integrated data parsing module and result of calculation；
Step S532, sets up corresponding mathematical modeling and uses Kalman filtering algorithm, obtains AGV dynamic bit confidence
Breath；
Using Kalman filtering algorithm, the problems such as time error, inertial error, measurement error etc. can be eliminated, Kalman
Filtering is a kind of linear minimum-variance estimation algorithm of foundation in time domain space, and the characteristic with horizon state recursion is applicable
In carrying out state estimation or track anticipation to Multidimensional Processes (steady, non-stationary), the present invention is with stochastic linear discrete card
Kalman Filtering is theoretical foundation, and optimization is combined with actual physics motion model, and the real-time accurate motion pose for realizing AGV is determined
Position；
The derivation of accurate navigation information is combined using dynamic track and localization technology using laser navigation with inertial navigation
Mode, based on Kalman filtering algorithm, consider the exploitation of the Elements research such as time error, machine error, measurement error
A kind of dynamic track and localization technology；
Inertial navigation alignment system dead reckoning principle is as shown in figure 11, it is known that the initial point A elements of a fix (X0, Y0),
Navigation measurement angle θ 0 and photoelectric rotary coder measurement mileage S0 can calculate system subsequent time and estimate in the coordinate of B points
Value.Wherein, S0=KS1, S1 are to drive the girth of steering wheel diameter calculating (in the walking that i.e. encoder rotates a circle according to AGV
Journey), K counts (wheel, which often rotates a circle, carries out pulsatile once sampling) for the sampling pulse of rotary photoelectric displacement transducer, and S0 is then
In cycle effective time calculated for algorithm, AGV actual travel mileage.θ 1 represents AGV and cartesian product reference frame (Y
Direction of principal axis) corner dimension, this value by laser ranging gathered data and angular encoder sampling COMPREHENSIVE CALCULATING obtain, therefore,
On the premise of known AGV initial positions (X0, Y0), it can be solved by the computational methods and obtain AGV in X, the row of Y direction
Sail displacement.
The present invention can be controlled by laser sensor, encoder, the combination of processing module and utilization intelligent algorithm, be improved
The precision of AGV dolly laser navigations and intellectuality, make the more reliable safer property of laser aiming technology.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. the control device that a kind of AGV dollies precisely navigate, applied to traveling in the application with least one reflective guide thing
The AGV dollies of occasion, it is characterised in that including：
Communication control module, respectively with laser sensing instrument, velocity feedback module, State logic control device, data acquisition module
It is attached, for communications status to be checked or corrected with mode of operation, Detection ＆ Controling is carried out to laser sensing instrument,
Movable information, control information and location information are read out, handled with sending；
Laser sensing instrument, is installed on the reflective guide thing for making laser be irradiated to application scenario on AGV dollies, for passing through transmitting
Laser is scanned positioning to surrounding enviroment, detects the laser signal reflected from reflective guide thing, and pass through Control on Communication
The position signalling detected is sent to data acquisition module by module；
Velocity feedback module, linear speed, angular speed, angle and direction for detecting AGV moving of car, and pass through communication
The motor message detected is sent to data acquisition module by control module；
Data acquisition module, for being received to position and motor message, frame analysis with data encapsulation and packaged is led
Boat data are transferred to data resolution module, are used to connect data resolution module and the order of State logic control module again
Receive, frame analysis is encapsulated with data；
Data resolution module, for being analyzed navigation data and being calculated, so as to draw accurate navigation information and will precisely lead
Information transfer of navigating is to data interaction module；
State logic control module, carries out communication link with communication control module, data acquisition module, data resolution module respectively
Connect, for the mode of operation of management system program, and command communication control module, data acquisition module and data resolution module enter
Enter the mode of operation specified；
Data interaction module, for being communicated with monitoring outlay, and the accurate navigation that data resolution module is exported is believed
Breath is sent to monitoring outlay.
2. the control device that AGV dollies according to claim 1 precisely navigate, it is characterised in that the Control on Communication mould
Block includes CPU control units, ethernet communication unit, serial communication unit and CAN communication unit；
The CPU control units respectively with ethernet communication unit, serial communication unit, CAN communication unit, state logic
Control module, data acquisition module, velocity feedback module are attached, for reading data, processing data and sending control
Signal；
The laser sensing instrument carries out communication link with ethernet communication unit or serial communication unit or CAN communication unit
Connect.
3. the control device that AGV dollies according to claim 2 precisely navigate, it is characterised in that the velocity feedback mould
Block includes speed encoder, angular speed encoder；
The speed encoder is in the walking mechanism of AGV dollies, for detecting AGV dollies linear speed and the direction of motion；
The angular speed encoder is in the steering mechanism of AGV dollies, angular speed, angle for detecting the turning of AGV dollies
With steering.
4. the control device that AGV dollies according to claim 3 precisely navigate, it is characterised in that the data interaction mould
Block includes WIFI communication units, bluetooth-communication unit, radio frequency units；
The WIFI communication units are used to realize communication or realization and the outside between different AGV dollies by WIFI communication protocols
Monitoring device is communicated；
The bluetooth-communication unit is used to realize communication or realization and the outside between different AGV dollies by Bluetooth communication protocol
Monitoring device is communicated；
The radio frequency units are used to realize communication or realization and the outside between different AGV dollies by wireless communication protocol
Monitoring device is communicated.
5. the control system that a kind of AGV dollies precisely navigate, it is characterised in that including：As described in claim 1-4 is any
Control device that AGV dollies precisely navigate, host computer, AGV carriage walking drivers；
The control device that the AGV dollies precisely navigate is communicatively coupled by data interaction module with host computer, by logical
Letter control module is communicatively coupled with AGV carriage walking drivers；
The host computer is using computer or tablet personal computer or mobile phone or wireless handheld controller or is installed on embedding on AGV dollies
Enter the host computer of formula control device, for the control device that the AGV dollies precisely navigate to be scheduled and monitored；
The AGV carriage walkings driver is installed on AGV dollies, for driving AGV carriage walkings and steering, is controlled according to communication
The motor message of molding block simultaneously makes AGV carriage walkings and stable direction using pid algorithm.
6. the control method that a kind of AGV dollies precisely navigate, it is characterised in that comprise the following steps：
Step S1, State logic control module makes system program enter navigation pattern；
Step S2, under navigation pattern, laser sensing instrument carries out laser scanning to obtain position signalling to application scenario；
Step S3, velocity feedback module carries out detection to obtain motor message to the motion state of AGV dollies；
Step S4, data acquisition module is handled with motor message position, and the position after processing and movable information are passed
It is sent to data resolution module；
Step S5, data resolution module carries out analysis with calculating to derive accurate navigation information to position and movable information.
7. the control method that AGV dollies according to claim 6 precisely navigate, it is characterised in that also including step S6 with
Step S7；
Accurate navigation information is sent to host computer by step S6, data interaction module；
Step S7, host computer creates motion maps according to accurate navigation information, plans the movement locus of AGV dollies.
8. the control method that AGV dollies according to claim 7 precisely navigate, it is characterised in that step S4 includes following
Step：
Step S41, data acquisition module is filtered processing to position signalling using limit filtration method；
Step S42, data acquisition module to position signalling disappear trembling processing, so as to obtain stable position signalling.
9. the control method that AGV dollies according to claim 7 precisely navigate, it is characterised in that in step S5, institute's rheme
The analysis of confidence breath comprises the following steps with calculating process：
Step S511, data resolution module is anti-to the time of laser sensing instrument transmitting laser, angle and from reflective guide thing
The range information come is emitted back towards to be analyzed；
Step S512, by data resolution module calculate obtain laser sensing instrument laser rotary center coordinate position with partially
Move angle；
The analysis of the movable information comprises the following steps with calculating process：
Step S521, data resolution module calculates AGV real-time speed and the direction of motion according to the output quantity of speed encoder；
Step S522, obtains mileage information of the AGV dollies in effective time interval, calculates program time loss error；
Step S523, data resolution module calculates AGV real-time angle of turn, angle speed according to the output quantity of angular speed encoder
Degree and steering.
10. the control method that AGV dollies according to claim 9 precisely navigate, it is characterised in that in step S5, precisely
The derivation of navigation information comprises the following steps：
Step S531, the analysis of integrated data parsing module and result of calculation；
Step S532, sets up corresponding mathematical modeling and uses Kalman filtering algorithm, obtains AGV dynamic location information.
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| CN109916403A (en) * | 2017-12-13 | 2019-06-21 | 华中科技大学 | A device and method for short-term precise positioning of AGV trolley |
| CN109916403B (en) * | 2017-12-13 | 2023-12-05 | 华中科技大学 | Short-time accurate positioning device and method for AGV trolley |
| CN107915169A (en) * | 2017-12-15 | 2018-04-17 | 广东溢达纺织有限公司 | Automatic transportation mechanism |
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| CN110038807A (en) * | 2019-04-30 | 2019-07-23 | 沈阳航空航天大学 | A kind of intelligent sorting system and method for incorrect order books |
| CN110038807B (en) * | 2019-04-30 | 2021-06-29 | 沈阳航空航天大学 | An intelligent sorting system and method for out-of-order books |
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| CN110320908A (en) * | 2019-06-06 | 2019-10-11 | 华南农业大学 | A kind of AGV real-time emulation system |
| CN110320908B (en) * | 2019-06-06 | 2021-06-15 | 华南农业大学 | An AGV real-time simulation system |
| CN110455278A (en) * | 2019-08-20 | 2019-11-15 | 和县隆盛精密机械有限公司 | The localization method and positioning system of AGV trolley |
| CN111350393B (en) * | 2020-03-20 | 2022-03-25 | 北京大兆新元停车设备有限公司 | Special intelligent carrier of full-automatic car of AGV |
| CN111350393A (en) * | 2020-03-20 | 2020-06-30 | 北京大兆新元停车设备有限公司 | Special intelligent carrier of full-automatic car of AGV |
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| CN113093215B (en) * | 2021-04-01 | 2022-10-14 | 南京航空航天大学 | Mobile platform tracking method based on laser ranging |
| CN113093215A (en) * | 2021-04-01 | 2021-07-09 | 南京航空航天大学 | Mobile platform tracking method based on laser ranging |
| CN113999984A (en) * | 2021-12-01 | 2022-02-01 | 福州丹文科技有限公司 | Auxiliary copper refining system and method based on AGV trolley |
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| CN114721380A (en) * | 2022-03-25 | 2022-07-08 | 高斯机器人(深圳)有限公司 | AGV walking process stabilizing system |
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