CN103268119A - Automatic guided vehicle navigation control system and navigation control method thereof - Google Patents
Automatic guided vehicle navigation control system and navigation control method thereof Download PDFInfo
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- CN103268119A CN103268119A CN2013102207416A CN201310220741A CN103268119A CN 103268119 A CN103268119 A CN 103268119A CN 2013102207416 A CN2013102207416 A CN 2013102207416A CN 201310220741 A CN201310220741 A CN 201310220741A CN 103268119 A CN103268119 A CN 103268119A
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Abstract
The invention discloses an automatic guided vehicle navigation control system and a navigation control method thereof. The automatic guided vehicle navigation control system comprises a central controller, sub controllers, a QR (Quick Response) code positioning system, a grid path navigation system and a goods register system, wherein the sub controllers are arranged on each automatic guided vehicle and connected with the central controller; and the QR code positioning system, the grid path navigation system and the goods register system are arranged on each automatic guided vehicle and respectively connected with the corresponding sub controller. According to the automatic guided vehicle navigation control system and the navigation control method thereof disclosed by the invention, the QR acquisition sensing technology is adopted for acquiring coordinate information of the automatic guided vehicle in a storehouse, so that unified monitoring and management are convenient; the grid path navigation system is adopted for judging the deviation between the practical operation track of the automatic guided vehicle and the predetermined track, so that two wheel differential base plates are adjusted to carry out track compensation, and therefore, the automatic guided vehicle is enabled to drive according to the planned path. Moreover, the structure is simple, the installation is convenient and the navigation transportation of the automatic guided vehicle is convenient.
Description
Technical field
The present invention relates to the automatic guided vehicle field, specifically is a kind of automatic guided vehicle navigation control system and navigation control method thereof.
Background technology
AGV is the english abbreviation of automatic guided vehicle (Automated Guided Vehicle); refer to be equipped with homing guidance devices such as electromagnetism or optics; can travel along the guide path of regulation; have the transport vehicle of safeguard protection and various transfer functions, AGV belongs to the category of wheeled mobile robot.Existing automatic guided vehicle all is to adopt the single track magnetic stripe to transport, and namely before transportation, is planning the on-the-spot single track magnetic stripe of laying on the path well, this means of transportation trouble, and the also wayward and monitoring of situation that offset track transports appears in transporting.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of automatic guided vehicle navigation control system and navigation control method thereof, it is in conjunction with QR sign indicating number identification location, grid magnetic stripe airmanship, the unified control transportation of realization navigation has the deployment of being easy to, the advantage of convenient management and operation.
Technical scheme of the present invention is:
The automatic guided vehicle navigation control system, include central controller, be arranged on each automatic guided vehicle and the sub-controller that is connected with central controller, and the QR sign indicating number positioning system, navigational system and the goods registration system that are arranged on each automatic guided vehicle and connect with corresponding sub-controller respectively; Described QR sign indicating number positioning system includes the QR sign indicating number that is used to indicate coordinate that is arranged on the warehouse ceiling and is arranged on the automatic guided vehicle and towards the vision sensor of ceiling, described vision sensor is connected with sub-controller; Described navigational system includes the grid magnetic stripe that is arranged in the warehouse, be installed on the automatic guided vehicle and the Hall magnetic navigation sensor that is connected with sub-controller be installed on automatic guided vehicle on and the differential chassis of two-wheeled that is connected with sub-controller; Described goods registration system is the goods scanner that is arranged on the automatic guided vehicle and is connected with sub-controller.
Described QR sign indicating number positioning system also includes and is arranged at the electronic compass that is connected with sub-controller on the automatic guided vehicle.
Described navigational system also includes and is installed on around the automatic guided vehicle and the infrared obstacle avoidance sensor that is connected with sub-controller.
All be connected with wireless communication module on described central controller and the sub-controller.
Described sub-controller is selected the PID controller for use.
Described vision sensor is selected long burnt camera for use; Described goods scanner is selected RFID goods scanner for use.
The navigation control method of automatic guided vehicle navigation control system includes following control step:
(1), at first transport task is imported central controller, central controller carries out mission planning and path planning, and central controller will be planned the sub-controller that good task and path are transferred to a plurality of automatic guided vehicles;
(2), goods is packed on the automatic guided vehicle of the task of being assigned with, during loading, employing goods scanner scans goods and goods information is transferred to central controller by sub-controller, and central controller carries out related control with corresponding goods and automatic guided vehicle and distributes;
(3), after loading is finished, a plurality of automatic guided vehicles convey goods, and in the way of transporting, the vision sensor on each automatic guided vehicle is gathered the QR sign indicating number, be transferred to corresponding sub-controller then, sub-controller is transferred to the coordinate setting that central controller is realized each automatic guided vehicle again; Grid magnetic stripe in the Hall magnetic navigation sensor sensing warehouse is transferred to sub-controller with the magnetic signal of gathering then simultaneously, and sub-controller is judged the deviation of automatic guided vehicle actual motion and desired trajectory, thereby adjusts the differential chassis of two-wheeled, carries out the track compensation.
The concrete steps of described mission planning and path planning are: at first central controller decomposes task, by the dependence between the task, makes up a width of cloth dependency graph, adopts topological sorting algorithm in the drawings, and figure is divided into corresponding connection sheet; Each is communicated with sheet as a subtask, according to the AGV dolly position configuration in current warehouse, these subtasks is assigned to the idle dolly of a plurality of close together; In the path planning process, central controller is concentrated the positional information of all dollies and reached at the information of trellis paths, generate a search graph, according to task type, use the A* algorithm that each dolly is searched in the drawings afterwards, and mark the path that obtains, when the path has when overlapping mutually, corresponding task is further added dependence, make it timesharing to carry out, further avoid the phase mutual interference between dolly.
Described each automatic guided vehicle is in the way of transporting, and the infrared obstacle avoidance sensor on its automatic guided vehicle is gathered the environmental information around the automatic guided vehicle, is transferred to sub-controller then, the differential chassis of sub-controller control two-wheeled.
Described vision sensor at first carries out color lump to the QR sign indicating number and extracts, and carries out image according to electronic compass again and tentatively rotates, and obtains preliminary image, after preliminary image is finely tuned identification, sub-controller is collected fine setting angle and electronic compass data message, merges calculating, obtain dolly accurately towards.
Advantage of the present invention:
(1), QR sign indicating number of the present invention is a kind of matrix two dimensional bar code symbol, it is except having advantages such as the information capacity that bar code and other two-dimensional bar code have is big, reliability is high, can represent kinds of words information such as Chinese character and image, security and antiforge purpose is strong, but also have portable database that hypervelocity response, comprehensive recognition off-line use, can represent characteristics such as digital alphabet, Chinese character, image effectively, be convenient to vision sensor and accurately gather the elements of a fix, and be transferred to the unified locating and monitoring of central controller realization;
(2), grid magnetic stripe of the present invention is different with the single track magnetic stripe that traditional magnetic guiding AGV lays, the disposable laying of grid magnetic stripe is suitable for the flexible variation of guidance path; Itself and Hall magnetic navigation sensor are used, Hall magnetic navigation sensor is transferred to sub-controller with the magnetic signal of gathering then, sub-controller is judged the deviation of automatic guided vehicle actual motion and desired trajectory, thereby adjust the differential chassis of two-wheeled, carry out the track compensation, guaranteed that automatic guided vehicle travels by the path of planning;
(3), RFID goods scanner of the present invention links to each other with central control system by self network, be mainly used in goods registration and tracking when AGV transports goods, major advantage is not need manually to scan, as long as goods assigned address in AGV just can scan registration automatically;
(4), since dolly in advancing, may produce and jolt and turn to, QR sign indicating number in camera image certainly leads to skew and rotation to a certain degree, electronic compass of the present invention is for fear of the image inclination of taking, influence identifying, can finely tune angle to image, guarantee the normal identification of image;
(5), the infrared obstacle avoidance sensor on the automatic guided vehicle of the present invention gathers the environmental information around the automatic guided vehicle, is transferred to sub-controller then, the differential chassis of sub-controller control two-wheeled prevents collision and the interference of automatic guided vehicle in transporting the way.
Description of drawings
Fig. 1 is the theory diagram of automatic guided vehicle navigation control system of the present invention.
Embodiment
The automatic guided vehicle navigation control system, include central controller 1, be arranged on each automatic guided vehicle and the sub-controller 2 that is connected with central controller 1, and the QR sign indicating number positioning system 3, navigational system 4 and the RFID goods scanner 5 that are arranged on each automatic guided vehicle and connect with corresponding sub-controller 2 respectively; QR sign indicating number positioning system 3 includes the QR sign indicating number 31 that is used to indicate coordinate that is arranged on the warehouse ceiling, be arranged on the automatic guided vehicle and towards the vision sensor 32 of ceiling, be arranged at the electronic compass 33 on the automatic guided vehicle, vision sensor 32, electronic compass 33 all are connected with sub-controller 2; Navigational system 4 includes the grid magnetic stripe 41 that is arranged in the warehouse, be installed on the automatic guided vehicle and the Hall magnetic navigation sensor 42 that is connected with sub-controller 2 with infrared obstacle avoidance sensor 43, be installed on the automatic guided vehicle and the differential chassis 44 of the two-wheeled that is connected with sub-controller 2.
Wherein, all be connected with wireless communication module on central controller 1 and the sub-controller 2; Sub-controller 2 is selected the PID controller for use; Vision sensor 32 is selected long burnt camera for use.
The navigation control method of automatic guided vehicle navigation control system includes following control step:
(1), at first transport task is imported central controller 1, central controller 1 carries out mission planning and path planning, and central controller 1 will be planned the sub-controller 2 that good task and path are transferred to a plurality of automatic guided vehicles; Wherein, the concrete steps of mission planning and path planning are: at first central controller 1 decomposes task, by the dependence between the task, makes up a width of cloth dependency graph, adopts topological sorting algorithm in the drawings, and figure is divided into corresponding connection sheet; Each is communicated with sheet as a subtask, according to the AGV dolly position configuration in current warehouse, these subtasks is assigned to the idle dolly of a plurality of close together; In the path planning process, central controller 1 is concentrated the positional information of all dollies and reached at the information of trellis paths, generate a search graph, according to task type, use the A* algorithm that each dolly is searched in the drawings afterwards, and mark the path that obtains, when the path has when overlapping mutually, corresponding task is further added dependence, make it timesharing to carry out, further avoid the phase mutual interference between dolly;
(2), goods is packed on the automatic guided vehicle of the task of being assigned with, during loading, 5 pairs of goods of employing RFID goods scanner scan and goods information are transferred to central controller 1 by sub-controller 2, and central controller 2 carries out related control with corresponding goods and automatic guided vehicle and distributes;
(3), after loading is finished, a plurality of automatic guided vehicles convey goods, in the way of transporting, vision sensor 32 on each automatic guided vehicle at first carries out color lump to QR sign indicating number 31 and extracts, carrying out image according to electronic compass 33 more tentatively rotates, obtain preliminary image, after preliminary image is finely tuned identification, sub-controller 2 is collected fine setting angle and electronic compass 33 data messages, merge calculating, obtain dolly accurately towards, be transferred to corresponding sub-controller 2 then, sub-controller 2 is transferred to the coordinate setting that central controller 1 is realized each automatic guided vehicle again; Grid magnetic stripe 41 in the while Hall magnetic navigation sensor 42 induction warehouses, then the magnetic signal of gathering is transferred to sub-controller 2, sub-controller 2 is judged the deviation of automatic guided vehicle actual motion and desired trajectory, thereby adjusts the differential chassis 44 of two-wheeled, carries out the track compensation; Each automatic guided vehicle is in the way of transporting in addition, and the infrared obstacle avoidance sensor 43 on its automatic guided vehicle is gathered the environmental information around the automatic guided vehicle, is transferred to sub-controller 2 then, the differential chassis 44 of sub-controller 2 control two-wheeleds.
Claims (10)
1. automatic guided vehicle navigation control system, it is characterized in that: include central controller, be arranged on each automatic guided vehicle and the sub-controller that is connected with central controller, and the QR sign indicating number positioning system, navigational system and the goods registration system that are arranged on each automatic guided vehicle and connect with corresponding sub-controller respectively; Described QR sign indicating number positioning system includes the QR sign indicating number that is used to indicate coordinate that is arranged on the warehouse ceiling and is arranged on the automatic guided vehicle and towards the vision sensor of ceiling, described vision sensor is connected with sub-controller; Described navigational system includes the grid magnetic stripe that is arranged in the warehouse, be installed on the automatic guided vehicle and the Hall magnetic navigation sensor that is connected with sub-controller be installed on automatic guided vehicle on and the differential chassis of two-wheeled that is connected with sub-controller; Described goods registration system is the goods scanner that is arranged on the automatic guided vehicle and is connected with sub-controller.
2. automatic guided vehicle navigation control system according to claim 1, it is characterized in that: described QR sign indicating number positioning system also includes and is arranged at the electronic compass that is connected with sub-controller on the automatic guided vehicle.
3. automatic guided vehicle navigation control system according to claim 1 is characterized in that: described navigational system also includes and is installed on around the automatic guided vehicle and the infrared obstacle avoidance sensor that is connected with sub-controller.
4. automatic guided vehicle navigation control system according to claim 1 is characterized in that: all be connected with wireless communication module on described central controller and the sub-controller.
5. automatic guided vehicle navigation control system according to claim 1, it is characterized in that: described sub-controller is selected the PID controller for use.
6. automatic guided vehicle navigation control system according to claim 1 is characterized in that: described vision sensor is selected long burnt camera for use; Described goods scanner is selected RFID goods scanner for use.
7. the navigation control method of automatic guided vehicle navigation control system according to claim 1 is characterized in that: include following control step:
(1), at first transport task is imported central controller, central controller carries out mission planning and path planning, and central controller will be planned the sub-controller that good task and path are transferred to a plurality of automatic guided vehicles;
(2), goods is packed on the automatic guided vehicle of the task of being assigned with, during loading, employing goods scanner scans goods and goods information is transferred to central controller by sub-controller, and central controller carries out related control with corresponding goods and automatic guided vehicle and distributes;
(3), after loading is finished, a plurality of automatic guided vehicles convey goods, and in the way of transporting, the vision sensor on each automatic guided vehicle is gathered the QR sign indicating number, be transferred to corresponding sub-controller then, sub-controller is transferred to the coordinate setting that central controller is realized each automatic guided vehicle again; Grid magnetic stripe in the Hall magnetic navigation sensor sensing warehouse is transferred to sub-controller with the magnetic signal of gathering then simultaneously, and sub-controller is judged the deviation of automatic guided vehicle actual motion and desired trajectory, thereby adjusts the differential chassis of two-wheeled, carries out the track compensation.
8. the navigation control method of automatic guided vehicle navigation control system according to claim 7, it is characterized in that: the concrete steps of described mission planning and path planning are: at first central controller decomposes task, by the dependence between the task, make up a width of cloth dependency graph, adopt topological sorting algorithm in the drawings, figure is divided into corresponding connection sheet; Each is communicated with sheet as a subtask, according to the AGV dolly position configuration in current warehouse, these subtasks is assigned to the idle dolly of a plurality of close together; In the path planning process, central controller is concentrated the positional information of all dollies and reached at the information of trellis paths, generate a search graph, according to task type, use the A* algorithm that each dolly is searched in the drawings afterwards, and mark the path that obtains, when the path has when overlapping mutually, corresponding task is further added dependence, make it timesharing to carry out, further avoid the phase mutual interference between dolly.
9. the navigation control method of automatic guided vehicle navigation control system according to claim 7, it is characterized in that: described each automatic guided vehicle is in the way of transporting, infrared obstacle avoidance sensor on its automatic guided vehicle is gathered the environmental information around the automatic guided vehicle, be transferred to sub-controller then, the differential chassis of sub-controller control two-wheeled.
10. the navigation control method of automatic guided vehicle navigation control system according to claim 7, it is characterized in that: described vision sensor at first carries out color lump to the QR sign indicating number and extracts, carrying out image according to electronic compass more tentatively rotates, obtain preliminary image, after preliminary image is finely tuned identification, sub-controller is collected fine setting angle and electronic compass data message, merges calculating, obtain dolly accurately towards.
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