CN111176280A - AGV path guidance improved control method based on switching value magnetic navigation sensor - Google Patents
AGV path guidance improved control method based on switching value magnetic navigation sensor Download PDFInfo
- Publication number
- CN111176280A CN111176280A CN201911420024.1A CN201911420024A CN111176280A CN 111176280 A CN111176280 A CN 111176280A CN 201911420024 A CN201911420024 A CN 201911420024A CN 111176280 A CN111176280 A CN 111176280A
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- agv
- sensor
- navigation sensor
- magnetic navigation
- control method
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000009434 installation Methods 0.000 abstract description 8
- 238000007796 conventional method Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an AGV path guidance improved control method based on a switching value magnetic navigation sensor, which comprises the following steps: the 16-bit switching values of the magnetic navigation sensor are sequentially encoded, a plurality of codes corresponding to the output signals are extracted, and an average value of the plurality of codes is calculated. The method adopts an average value method to process the sensor signals and determine the position of the AGV relative to the magnetic tape, can effectively avoid the interference of the sensor signal change caused by the installation height change of the magnetic navigation sensor relative to the magnetic tape on the judgment of the deviation condition of the AGV from the path, and improves the adaptability to the installation position of the sensor and the running stability of the AGV along the path of the magnetic tape.
Description
Technical Field
The invention relates to an improved AGV path guiding method, in particular to an improved AGV path guiding control method based on a switching value magnetic navigation sensor.
Background
When the AGV trolley travels along the magnetic stripe path, 16-bit switching value signals are obtained by the magnetic navigation sensor according to the position relative to the magnetic stripe, whether the AGV trolley deviates from the path and the deviation degree is further analyzed, the speed of the left wheel and the right wheel is adjusted, and the AGV trolley is guided to travel along the preset path. The output of each switching value point of the magnetic navigation sensor is 1 when deviating from the magnetic strip, and is 0 when facing the magnetic strip (the output signal is 0 bit, so that the signal output is realized), and the sensor points of the output signal are connected.
The change in the mounting height of the magnetic navigation sensor with respect to the magnetic tape causes a change in the number of dots whose sensor output signal is 0. At present, most of AGV trolleys are used for judging the deviation path condition of the AGV trolleys according to the intermediate positions of continuous point positions of output signals on the premise that the relative heights of a sensor and a magnetic strip are fixed and the number of the point positions with 0 output is fixed. The method has higher requirement on the accuracy of the installation position of the sensor. And under the condition of uneven ground, the relative height of the sensor and the magnetic strip changes, the point position quantity of output signals changes, and the path guidance of the AGV trolley is interfered.
Disclosure of Invention
The above purpose of the invention is realized by the following technical scheme:
an AGV path guidance improved control method based on a switching value magnetic navigation sensor comprises the following steps: the 16-bit switching values of the magnetic navigation sensor are sequentially encoded, a plurality of codes corresponding to the output signals are extracted, and an average value of the plurality of codes is calculated.
The AGV route guidance improvement control method based on the switching value magnetic navigation sensor as described above, wherein the average value is compared with the set value, and if the average value is within the set value, the adjustment is not performed, and if the average value is outside the set value, the adjustment is performed on both driving wheels.
The AGV path guidance improvement control method based on the switching value magnetic navigation sensor as described above is set to a value of 6.5.
In conclusion, due to the adoption of the technical scheme, the sensor signals are processed by adopting an average value method, the position of the AGV relative to the magnetic tape is determined, the interference of the sensor signal change caused by the installation height change of the magnetic navigation sensor relative to the magnetic tape on the judgment of the deviation path condition of the AGV trolley can be effectively avoided, and the adaptability to the installation position of the sensor and the running stability of the AGV trolley along the path of the magnetic tape are improved.
Detailed Description
The invention is further described below with reference to examples:
the invention discloses an AGV path guidance improved control method based on a switching value magnetic navigation sensor, which comprises the following steps: the 16-bit switching values of the magnetic navigation sensor are sequentially encoded, a plurality of codes corresponding to the output signals are extracted, and an average value of the plurality of codes is calculated.
Further, the average value is compared with a set value, and if the average value is within the set value, the average value is not adjusted, and if the average value is outside the set value, the average value is adjusted for the two driving wheels.
Further, the value is set to 6.5.
Specifically, in the implementation process of the invention, when the height of the sensor relative to the magnetic stripe is fixed and the number of the point positions of the output signal of the sensor is 3, the judgment is directly carried out according to the output signal of the point positions of the sensor according to the conventional method, so that two situations a and b can be distinguished, if the installation position of the sensor is inaccurate or the ground is uneven, the height of the sensor relative to the magnetic stripe changes, and when 4 signals are output, the situation a and b cannot be distinguished, and the accurate deviation rectifying function under the situations a and b cannot be executed. When the novel algorithm is adopted, the average number is summed and averaged for the code values of the three situations of a, b and c, the three situations can be accurately distinguished, the sensor can be adapted to the situation of height change of the magnetic stripe, and the path guidance of the AGV trolley is accurately finished.
The method adopts an average value method to process the sensor signals and determine the position of the AGV relative to the magnetic tape, can effectively avoid the interference of the sensor signal change caused by the installation height change of the magnetic navigation sensor relative to the magnetic tape on the judgment of the deviation condition of the AGV from the path, and improves the adaptability to the installation position of the sensor and the running stability of the AGV along the path of the magnetic tape.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that many modifications and variations can be made by those skilled in the art in light of the above teachings without the use of inventive faculty, or by software programming. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (3)
1. An AGV path guidance improved control method based on a switching value magnetic navigation sensor is characterized by comprising the following steps: the 16-bit switching values of the magnetic navigation sensor are sequentially encoded, a plurality of codes corresponding to the output signals are extracted, and an average value of the plurality of codes is calculated.
2. The AGV path guidance improvement control method based on-off magnetic navigation sensor according to claim 1, characterized in that the average value is compared with a set value, and if within the set value, no adjustment is made, and if outside the set value, both driving wheels are adjusted.
3. The AGV path guidance improvement control method based on the switching value magnetic navigation sensor according to claim 2, wherein the value is set to 6.5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911420024.1A CN111176280A (en) | 2019-12-30 | 2019-12-30 | AGV path guidance improved control method based on switching value magnetic navigation sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911420024.1A CN111176280A (en) | 2019-12-30 | 2019-12-30 | AGV path guidance improved control method based on switching value magnetic navigation sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111176280A true CN111176280A (en) | 2020-05-19 |
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| CN201911420024.1A Pending CN111176280A (en) | 2019-12-30 | 2019-12-30 | AGV path guidance improved control method based on switching value magnetic navigation sensor |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5650703A (en) * | 1990-06-28 | 1997-07-22 | Hk Systems, Inc. | Downward compatible AGV system and methods |
| CN104597905A (en) * | 2015-01-13 | 2015-05-06 | 广西大学 | Route tracking method for magnetic navigation AGV |
| CN107065873A (en) * | 2017-04-13 | 2017-08-18 | 浙江工业大学 | A kind of multi-curvature circular path tracking control method based on tape guidance AGV |
| CN109062199A (en) * | 2018-07-03 | 2018-12-21 | 厦门大学嘉庚学院 | Magnetic navigation sensor system and its control method |
-
2019
- 2019-12-30 CN CN201911420024.1A patent/CN111176280A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5650703A (en) * | 1990-06-28 | 1997-07-22 | Hk Systems, Inc. | Downward compatible AGV system and methods |
| US5650703B1 (en) * | 1990-06-28 | 1999-03-02 | Hk Systems Inc | Downward compatible agv system and methods |
| CN104597905A (en) * | 2015-01-13 | 2015-05-06 | 广西大学 | Route tracking method for magnetic navigation AGV |
| CN107065873A (en) * | 2017-04-13 | 2017-08-18 | 浙江工业大学 | A kind of multi-curvature circular path tracking control method based on tape guidance AGV |
| CN109062199A (en) * | 2018-07-03 | 2018-12-21 | 厦门大学嘉庚学院 | Magnetic navigation sensor system and its control method |
Non-Patent Citations (3)
| Title |
|---|
| 林义忠 等: "基于PLC的磁导航AGV路径跟踪模糊控制研究", 《装备制造技术》 * |
| 王帆 等: "基于RFID的集装箱码头AGV定位误差补偿方法", 《自动化与仪表》 * |
| 石含飞 等: "STM32F103ZET6单片机的叉车式AGV的寻迹算法", 《单片机与嵌入式系统应用》 * |
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Application publication date: 20200519 |