AGV automatic guiding system and method thereof

Abstract

The invention provides an AGV automatic guiding system and a method thereof. The system includes a center control system (1), an on-site controller (2), a communication module (3), a motor driving module (4), a walking mechanism (5), a guiding mechanism (6), four magnetic sensors (7) and two magnetic guide rails (8). According to the invention, two magnetic guide rails of different frequencies are arranged, and under a normal operation state, the four magnetic sensors are disposed on an AGV bottom disc in a rectangular shape and separately reads the frequencies of the left magnetic guide rail and the right magnetic guide rail so as to prevent extra interference; when a small vehicle drives offset a rail, an offset angle can be calculated in combination with the time when a magnetic sensor loses a signal, the velocity of the small vehicle and the distance between the guide rails. The low complexity of the calculation can effectively lower operation task volume of the controller. Therefore, under same hardware conditions, the system and the method can effectively shorten control delay and lower guiding errors.

Description

technical field [0001] The invention relates to conveying machinery, in particular to an AGV automatic guidance system and a method thereof. Background technique [0002] AGV is an automatic navigation vehicle, which refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can drive along a prescribed guidance path. [0003] The current magnetic navigation system AGV generally consists of a single or double row of magnetic sensor arrays mounted on the AGV chassis and a magnetic strip guide rail attached to the work area. Such a navigation system, during operation, can also be an AGV It runs along the magnetic track, but due to the distance of the Hall element on the sensor, there is a certain error between the calculated distance deviation and angle deviation and the actual deviation. Increasing the number of magnetic sensors can reduce the distance deviation and angle deviation to a certain extent The error between th...

AI Technical Summary

Problems solved by technology

[0003] The current magnetic navigation system AGV generally consists of a single or double row of magnetic sensor arrays mounted on the AGV chassis and a magnetic strip guide rail attached to the work area. Such a navigation system, during operation, can also be an AGV It runs along the magnetic track, but due to the distance of the Hall element on the sensor, there is a certain error between the calculated distance deviation and angle deviation and the actual deviation. Increasing the number of magnetic sensors can reduce the distance deviation and angle deviation to a certain extent The error between the actual deviation and the actual deviation, but this increases the amount of computing tasks of the controller, and in the process of operation, due to the large number of magnetic sensors, it is easy to generate interference between them, resulting in errors in the reading results

When a single-row sensor is used, when the AGV is in the middle position, there is no accurate mark to reflect the angle deviation of the AGV at this time. It is likely that the AGV has crossed the magnetic strip guide rail, causing the AGV to make a slight swing near the magnetic guide rail, and eventually lead to the AGV's failure. The rapid wear of the guide mechanism reduces the stability of AGV operation

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