Method for achieving accompanying by dragging SPS trolley through laser navigation AGV

Abstract

The invention discloses a method for achieving accompanying by dragging an SPS trolley through a laser navigation AGV. The method comprises the steps that S1, it is confirmed that the AGV exists in a waiting area; s2, determining the walking distance S1 of the line body; s3, the line body walking distance S1 is sent, the AGV obtains current position data S2, and if S1 is larger than S2, the AGV walks; wherein in the step S2, an absolute value encoder is matched with an encoding wheel to measure the walking distance of the line body; and a laser navigation system is arranged on the AGV. According to the method for achieving accompanying by dragging the SPS trolley through the laser navigation AGV, automatic accompanying of the AGV can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of AGV trolleys, and in particular, the present invention relates to a method for achieving accompanying travel by using a laser-guided AGV to pull an SPS trolley. Background Art

[0002] The complexity of automobile production logistics is recognized by the industry. Under the mixed production of multiple varieties, the number of models has increased, resulting in an increasing number of shelves on the line, crowded workshops and limited vision. Logistics under this mixed production method is also more complicated. The use of SPS system in the production workshop and the road of lean logistics are the development direction of automobile production logistics.

[0003] The SPS system consists of a plane layout, an AGV material transmission system, a material cart design, and a lighted distribution system. It is a material distribution method for group feeding of production lines in production logistics. Through systematic planning and layout of the area and location of the distribution area, design of appropriate material carts, optimization of the AGV material transmission system program, and warning of part errors through the lighted distribution system, errors can be prevented, thereby systematically improving material distribution efficiency.

[0004] There are two existing line-side SPS accompanying solutions. One is that the AGV is transported to the line side, and the material cart and the line structure are connected manually; the second is that the AGV is transported to the line side, and the line-side mechanism automatically transports the material cart to the skateboard line.

[0005] The first solution requires heavy manual labor, especially in high-speed automobile production lines, where dedicated personnel are needed to move the trolleys. The second solution is complex to implement and requires large investments. When the production line or logistics plan is adjusted, the corresponding mechanism needs to be re-debugged, and the debugging cycle is long.

[0006] It is hoped to provide a method for laser-guided AGV towing an SPS trolley to achieve following, especially how to realize automatic following by AGV. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a method for a laser-guided AGV towing an SPS trolley to achieve following, the purpose of which is to enable the AGV to automatically follow.

[0008] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a method for laser-guided AGV towing an SPS trolley to achieve accompanying travel, comprising the steps of:

[0009] S1. Confirm that there is an AGV in the waiting area;

[0010] S2, determination of the line body walking distance S1;

[0011] S3, send the line body walking distance S1, AGV obtains the current position data S2, if S1 is greater than S2, the AGV walks;

[0012] Wherein, in the step S2, an absolute encoder is used in conjunction with a coding wheel to measure the walking distance of the line body; and a laser navigation system is set on the AGV.

[0013] The communication method between the AGV and the line body adopts leaky wave wireless communication.

[0014] The laser navigation system includes a laser radar.

[0015] During the operation of the AGV, the laser radar collects data, and the Kalman filter algorithm is used to process the data collected by the laser radar.

[0016] In step S3, a laser radar is used to scan the environment to establish an initial map, and then the real-time scanned map is compared with the initial map according to an algorithm during the movement of the AGV to determine the current position of the AGV.

[0017] In step S1, if there is no AGV in the waiting area, the main line is suspended.

[0018] In step S3, if S1 is not greater than S2, the AGV is in a waiting state.

[0019] In the step S2, the line travel distance data is read by the scheduling system, and the acquired line travel distance data is sent to the AGV.

[0020] The dispatching system is connected with the AGV management module, the line control logic module and the encoder position calculation module.

[0021] The method of the laser-guided AGV of the present invention to tow the SPS trolley to achieve following can realize the AGV to automatically achieve following. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] This specification includes the following drawings, which show the following contents:

[0023] Figure 1 It is a flow chart of the method of the laser navigation AGV towing the SPS trolley to achieve accompanying travel of the present invention;

[0024] Figure 2 This is a schematic diagram of the AGV pulling the SPS trolley;

[0025] Figure 3 It is a software module and communication diagram. DETAILED DESCRIPTION

[0026] The specific implementation methods of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and facilitating its implementation.

[0027] like Figure 1 As shown, the present invention provides a method for laser navigation AGV towing SPS trolley to achieve accompanying, comprising the following steps:

[0028] S1. Confirm that there is an AGV in the waiting area;

[0029] S2, determination of the line body walking distance S1;

[0030] S3, send the line body walking distance S1, AGV obtains the current position data S2, if S1 is greater than S2, the AGV walks.

[0031] Specifically, in the above step S1, if there is no AGV in the waiting area, the main line is suspended.

[0032] In the above step S2, an absolute value encoder is used in conjunction with a coding wheel to measure the travel distance of the line body. The line body power is a friction wheel, which is driven by a motor to roll and generate a driving force. The friction wheel is easy to slip and the encoder value of the motor cannot be directly used to measure the travel distance of the line body. Therefore, in the present invention, an absolute value encoder is used in conjunction with a coding wheel to measure the travel distance of the line body.

[0033] The absolute encoder determines the encoding by mechanical position. It does not need to remember, find reference points, or count all the time. When the line position needs to be known, the data of the absolute encoder is read. In this way, the anti-interference characteristics of the encoder and the reliability of the data are greatly improved.

[0034] In the present invention, a laser navigation system is provided on the AGV. The laser navigation system includes a laser radar. The communication mode between the AGV and the line body adopts leaky wave wireless communication.

[0035] The AGV and the line body communicate using leaky wave wireless communication. Leaky wave communication technology is a linear antenna transmission technology that combines the characteristics of low signal feeder transmission loss and RF signal diffraction. When working, a cone-shaped signal area is radiated in the area around the leaky wave feeder cable. With the help of this signal area, the wireless client and the wireless access point can establish a stable and reliable communication link, realizing real-time communication without blind area coverage.

[0036] During the operation of AGV, the lidar collects data and the Kalman filter algorithm is used to process the data collected by the lidar.

[0037] In the above step S3, the laser radar is used to scan the environment to establish an initial map. Thereafter, during the movement of the AGV, the real-time scanned map is compared with the initial map according to an algorithm to determine the current position of the AGV.

[0038] Laser navigation and positioning: positioning navigation that uses the environmental contour information detected by the AGV laser radar as map features. The principle of laser navigation is that when applied in fixed scenes, the laser radar is usually used to scan the environment to establish the first map. In subsequent movements, the real-time scanned map is compared with the initial map according to the algorithm to determine the current position of the AGV. During the movement of the AGV, due to the error of the laser sensor and the interference of environmental noise, the laser radar data must be processed using algorithms such as Kalman filtering. Using algorithms with higher result accuracy often requires sacrificing the speed of data processing.

[0039] In the above step S3, if S1 is not greater than S2, the AGV is in a waiting state.

[0040] In the above step S2, the line travel distance data is read by the scheduling system, and the acquired line travel distance data is sent to the AGV.

[0041] like Figure 3 As shown, the scheduling system is connected with the AGV management module, the line control logic module and the encoder position calculation module.

[0042] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. The method of using a laser-guided AGV to pull an SPS trolley to achieve accompanying travel is characterized in that: Includes steps: S1. Confirm that there is an AGV in the waiting area; S2, determination of the line body walking distance S1; S3, send the line body walking distance S1, AGV obtains the current position data S2, if S1 is greater than S2, the AGV walks; Wherein, in the step S2, an absolute encoder is used in conjunction with a coding wheel to measure the walking distance of the line body; and a laser navigation system is set on the AGV.

2. The method for achieving accompanying travel by using a laser-guided AGV to pull an SPS trolley according to claim 1 is characterized in that: The communication method between the AGV and the line body adopts leaky wave wireless communication.

3. The method for achieving accompanying travel by using a laser-guided AGV to pull an SPS trolley according to claim 1 is characterized in that: The laser navigation system includes a laser radar.

4. The method for achieving accompanying travel by using a laser-guided AGV to pull an SPS trolley according to claim 3 is characterized in that: During the operation of the AGV, the laser radar collects data, and the Kalman filter algorithm is used to process the data collected by the laser radar.

5. The method for achieving accompanying travel by using a laser-guided AGV to pull an SPS trolley according to claim 3 is characterized in that: In step S3, a laser radar is used to scan the environment to establish an initial map, and then the real-time scanned map is compared with the initial map according to an algorithm during the movement of the AGV to determine the current position of the AGV.

6. The method for achieving accompanying travel by laser-guided AGV towing an SPS trolley according to any one of claims 1 to 5, characterized in that: In step S1, if there is no AGV in the waiting area, the main line is suspended.

7. The method for achieving accompanying travel by laser-guided AGV towing an SPS trolley according to any one of claims 1 to 5, characterized in that: In step S3, if S1 is not greater than S2, the AGV is in a waiting state.

8. The method for achieving accompanying travel by laser-guided AGV towing an SPS trolley according to any one of claims 1 to 7, characterized in that: In the step S2, the line travel distance data is read by the scheduling system, and the acquired line travel distance data is sent to the AGV.

9. The method for achieving accompanying travel by using a laser-guided AGV to pull an SPS trolley according to claim 8 is characterized in that: The dispatching system is connected with the AGV management module, the line control logic module and the encoder position calculation module.

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