The content of the invention
(1) technical problem to be solved
In order to solve the above mentioned problem of prior art presence, the invention provides a kind of areflexia plate laser navigation sensorDevice and method.The device is by fixed laser acceptor device, and combining with wireless sensor network technology, receives master controllerThe real-time position information of transmission, realizes laser navigation AGV Effec-tive Function.
(2) technical scheme
According to an aspect of the present invention, it is proposed that a kind of areflexia plate laser navigation sensor device, the device includesGenerating laser, laser pickoff, wireless senser and master controller.
It is preferred that, the generating laser is arranged on the car body of motion, is located at laser pickoff in same level,And generating laser carries out rotation sweep laser pickoff by the drive of motor with adjustable frequency.
Further, the car body prioritizing selection AGV car bodies and AGV dollies of described motion, can also select common machineTool car body.
It is preferred that, the laser pickoff is fixed on surrounding's wall in sport(s) car running body path or on fixed support, andRectangular coordinate system is set up into whole space motion position, and measures the geographical position coordinates of laser pickoff in advance, is stored inIn the memory of laser pickoff.
Further, laser pickoff receives laser signal by the way of linear array reception, even if generating laser is with swashingOptical receiver is not in same level, and the receiving portion of laser pickoff still can collect laser signal.
It is preferred that, RFID of the wireless senser based on CAN radio sensing network, by the ground of the laser pickoffIn position coordinates radio to master controller, while master controller record current encoder numerical value, according to advance codingThe positional information of rule query laser pickoff, and calculate the angle information between adjacent laser receiver.
It is preferred that, the master controller wirelessly receives laser receiver position data message, collects 4 positionsAfter information and corresponding 3 adjacent angle information, row write Nonlinear System of Equations, and it is non-to use least square method to iterate to calculate outThe coordinate information of the root of system of linear equations, i.e. present laser transmitter.
It is preferred that, the generating laser includes speculum, generating laser, transmitter top casing, generating laserMain rotating shaft, rotating shaft screw 1~4, slip ring, Laser Power Devices, turntable, thrust bearing, plain bearing, support, decelerator, motorAnd encoder.
Further, the speculum is used for the laser signal that reflection laser transmitter is sent, and laser signal is parallelThe laser pickoff projected around plane in.
Further, the laser transmitter projects laser signal, is projected in speculum first, is then reflexing to fourWeek.
Further, the generating laser main rotating shaft is used for horizontal rotation generating laser at the uniform velocity so that laserTransmission signal can send signal to surrounding, rather than only along same direction transmission signal.
Further, the rotating shaft screw fixes transmitter top casing, and four screws are detachable, work as Laser emissionWhen device breaks down, generating laser can be placed under repair by removing screw.
Further, the slip ring is used to be powered generating laser, and rim portion is carried out by turntable on slip ringRotation, and the mode that is combined by using thrust bearing and plain bearing of dynamic equilibrium of rotating part, thrust bearing are located atBelow turntable, thrust bearing is responsible for the pressure above carrying axle, reduces the radial load of center section main rotating shaft, plain bearingMain rotating shaft " can be then blocked ", prevents it from all around rocking, mechanical structure portion adds thrust bearing and bearing can be withBetter ensure that generating laser laser can in same level scanning laser receiver, it is ensured that signal it is effectiveProperty, reduce the Loss Rate of signal.
According to another aspect of the present invention, it is proposed that a kind of areflexia plate laser navigation sensor master controller method.
After methods described substantially initializes system reset, master controller receives the data letter of sub-controller transmissionBreath, wherein sub-controller is laser pickoff, and the RFID radio sensing networks based on CAN carry out wireless data transmission, master controlThe data message that device processed is wirelessly received is deposited into memory, and reads current storage numerical value, according to codingCorresponding relation determine the classification of laser pickoff, while add 1 by the count value for receiving data, judge whether to meet and require；WhenDuring backlog demand, sub-controller data reception operation is re-started, otherwise into next step, according to coordinate points and adjacent seatAngle information between punctuate, laser transmitter positions iterative calculation is carried out using least-squares iteration method.
According to a further aspect of the invention, it is proposed that a kind of areflexia plate laser navigation sensor method, methods describedComprise the following steps：
Step S101：Laser pickoff is encoded, sensor protocol；
Step S102：Master controller storage coding and positional information；
Step S103：Generating laser real time rotation launches laser signal；
Step S104：Laser pickoff receives laser signal and wireless transmission of location information；
Step S105：Master controller reception processing wireless signal.
Further, in the step S102, master controller prestores the coding and positional information of laser pickoff, itThe definite information of laser pickoff can be confirmed according to the information of wireless receiving afterwards.
Further, in the step S103, in trolley traveling process, the transmitting of generating laser real time rotation swashsOptical signal so that the laser pickoff real-time reception signal on periphery.
Further, in the step S104, after the laser transmitter projects laser signal of trolley top, laserReceiver receives signal, differentiates the validity of signal, and useful signal is radioed into master controller.
Further, in the step S105, master controller is received after the signal of generating laser transmission, according toThe statistical value of count counters, can calculate the positional information of generating laser in trolley, according to most when reaching 4Small square law finally calculates the positional information of transmission signal.
(3) beneficial effect
Areflexia plate laser navigation sensor device and method proposed by the present invention can produce positive beneficial effect, wholeIndividual device is met under high-precision requirement, and strong robustness and cost performance are high, with stronger engineering application value.
Embodiment
To make the object, technical solutions and advantages of the present invention of greater clarity, with reference to embodiment and joinAccording to accompanying drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hairBright scope.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring thisThe concept of invention.
Fig. 1 shows areflexia plate laser navigation sensor structural representation proposed by the present invention.As shown in figure 1, this hairThe areflexia plate laser navigation sensor of bright proposition includes generating laser, laser pickoff, wireless senser and master controllerThe generating laser is arranged on the car body of motion, limited selection AGV car bodies, with AGV car bodies in the specific embodiment of the inventionExemplified by, be located at laser pickoff in same level, and generating laser by the drive of motor with adjustable frequency, for example5~10Hz, carries out rotation sweep laser pickoff.The laser pickoff is fixed on surrounding's wall of AGV operating paths or solidOn fixed rack, and rectangular coordinate system is set up into whole space motion position, and measure the geographical position of laser pickoff in advanceCoordinate, is stored in the memory of laser pickoff.In addition, laser pickoff receives laser letter by the way of linear array receptionNumber, even if generating laser is not in same level with laser pickoff, in ± 0.5 meter of allowed band, laserThe receiving portion of receiver still can collect laser signal.The present invention needs extra, it is noted that when system starts firstInitialization is needed, because the geographical location information without last moment, the present apparatus can not introduce " angle window ", initializeCheng Wei, master controller can at least calculate 3 identical geographical position values (close in permissible range), and just outside can be setStandby (such as AGV) exports geographical location information.After laser pickoff receives laser signal, laser pickoff passes through master controllerT at the time of the last moment collection signal of notice1, it is T at the time of laser pickoff receives signal this moment2, introduce the general of time windowRead for judging that laser signal is useful signal or interference signal.The fundamental mechanism of judgement is by the position seat of all receiversMark is all deposited into the memory of master controller, and master controller is received after a valid data, and master controller can basisThe current position coordinates of oneself, when can calculate following several laser pickoff return datas, the anglec of rotation of generating laserDegree, can be according to " an angle window " for being similar to time window be added centered on this moment angle, main controller judges Laser emissionThe anglec of rotation of device, without when " angle window " is inner herein, master controller can not receive the data of laser pickoff, go to perform itHis task, the error rate of transmission data can be reduced by introducing " angle window ", improved the efficiency of master controller, made full use of resource.After useful signal is determined as, by wireless senser, such as the RFID radio sensing networks based on CAN, the filtering of CAN identifiersThe presence of device group reduces CPU expense., improve the real-time of computing.Position coordinates in the ground of the laser pickoffThe coding information of (x, y) radios to master controller, while master controller is carried out according to the data of the sub-controller receivedAddress is decoded, and geocoding is corresponding with laser pickoff protocol related as shown in table 1 below.
The encoder numerical value of table 1 is corresponding with laser pickoff protocol related
| Receiver is numbered | A | B | C | D |
| Geocoding | 00000000 | 00000001 | 00000010 | 00000011 |
As shown in Table 1, geocoding uses binary coding mode, and is carried out adaptively according to laser pickoff quantityRegulation, using 8bit coded systems, can at most be expressed as 2^8=256 laser pickoff, and since 00000000, withThis analogizes, and maximum encoding value is 255 in 11111111, the i.e. decimal system.In the specific embodiment of the invention, with 4 receiversExemplified by.In addition, the data segment of the RFID transmission based on CAN includes wireless transmission protocol as shown in Fig. 2 order sends m every timeGrouped data, each grouped data is made up of guiding frame head, destination address, source address, grouped data, CRC check, guides frame headIt is preferential to use 0X55 or 0XAA, 2 bytes (byte) are taken, destination address represents the address of master controller, includes 8 bits(bit), source address represents the address of each laser pickoff, and is corresponded with the advance numbering in table 1, occupies8bits, grouped data represents the position coordinates of laser pickoff in a coordinate system, comprising 8bytes information, using IEEE bis-Scale coding float mode carries out real-coded GA coding, and the laser receiver position of transmission can be accurate to 1cm.FinallyIt is that CRC check is verified to whole data by parity check bit, judges that whether correct the data of system transmission are complete.ThisOutside, in the present invention, radio sensing network host-host protocol can be expanded according to laser pickoff quantity and position etc., and agreement is simultaneouslyOther parts explanation can be increased, such as frame head, trailer information, the extension content of the present invention is belonged to.In a particular embodiment,Assuming that master controller have received 4 laser receiver positions data message A, B, C, D, the position between laser pickoff is adjacentAngle is respectively α, β, γ, and the concept row for introducing vector write out 3 binary quadratic equation groups, are iterated to calculate using least square methodGo out the coordinate of equation root, i.e. present laser transmitter, positioning precision reaches 1cm.In addition, if AGV is moved, we can rootThe AGV speed of service and direction is judged according to result of calculation not in the same time.
Fig. 3 shows areflexia plate laser navigation sensor principle schematic proposed by the present invention.
As shown in figure 3, in the specific embodiment of the invention, it is assumed that master controller have received 4 laser pickoffs and wirelessly passDefeated position data A, B, C, D, in the direct coordinate system XoY of plane, corresponding coordinate is respectively A (a1, a2), B (b1,B2), the angle between C (c1, c2) and D (d1, d2), and A (a1, a2) and B (b1, b2) is α, between B (b1, b2 with) C (c1, c2)Angle be β, the angle between C (c1, c2) and D (d1, d2) is γ, and the position coordinates of AGV dollies is O (x1, x2), then solvesThe base of AGV dolly position coordinateses
This algorithm is as follows：
Vector
Similarly
Then, nonlinear equation is constructed
Finally, nonlinear equation is solved
F (x)=[F1(x),F2(x),F3(x) solution]=0
NoteThen Taylor's formula expansion is carried out, is removed after higher-order shear deformation item, least square method iterative methodConcretely comprise the following steps：
(1) primary election x0；
(2) according to below equation iteration, untill meeting default precision, and precision is typically chosen for Δ=10-5m；
xk+1=xk-(JkTJk)-1JkF(xk)
Wherein F (xk) for F (x) in point xkFunctional value, JkIt is vector valued function F (x) in point xkJacobin matrixes.
When | F (xk) | stop iteration during ＜=eps=0.01, now obtain the solution of nonlinear equation.
The position coordinates that dolly coordinate o (x1, x2) is generating laser is calculated using least square method iterative method.
Fig. 4 shows transmitter mechanical structure schematic diagram in areflexia plate laser navigation sensor proposed by the present invention.
As shown in figure 4, transmitter includes speculum, laser hair in areflexia plate laser navigation sensor proposed by the present inventionEmitter, transmitter top casing, generating laser main rotating shaft, rotating shaft screw 1~4, slip ring, Laser Power Devices, turntable, thrustBearing, plain bearing, support, decelerator, motor and encoder.Speculum is used for the laser letter that reflection laser transmitter is sentNumber, and by the parallel laser pickoff projected around plane of laser signal；Laser transmitter projects laser signal, firstProject in speculum, then reflexing to surrounding；Generating laser main rotating shaft is used for horizontal rotation Laser emission at the uniform velocityDevice so that laser firing signals can send signal to surrounding, rather than only along same direction transmission signal；Rotating shaft screw1~4 fixes transmitter top casing, and four screws are detachable, when generating laser breaks down, by removing screwGenerating laser can be placed under repair；Slip ring is used to be powered generating laser, and rim portion passes through turntable on slip ringIt can be rotated, but the dynamic balancing of rotating part is not easy to ensure, main rotating shaft or so or preceding can be caused after overlong timeAfter rock, so as to cause the laser that generating laser is sent not in same level, cause the dropout of receiver.Laser Power Devices use dual power supply mode, improve the reliability of power supply.In the present invention, thrust bearing and plain shaft are introducedThe mode being combined is held, thrust bearing is located at below turntable, and thrust bearing is responsible for the pressure above carrying axle, reduces pars intermediaDivide the radial load of main rotating shaft, plain bearing " can then block " main rotating shaft, prevent it from all around rocking.Mechanical structurePart adds thrust bearing and bearing and can better ensure that the laser of generating laser can be scanned in same level and swashOptical receiver, it is ensured that the validity of signal, reduces the Loss Rate of signal.In addition, by selecting suitable decelerator can be withMain rotating shaft is set to obtain the torque of appropriate rotating speed.Motor provides rotational power, it is ensured that the normal operation of system.Encoder is usedIn calculate rotate angle, encoder use 500 lines, AB phase rising edge trailing edge counting modes, (main rotating shaft rotates a circle,The rising edge and trailing edge of encoder output amount to 2000.), rotation can both be calculated by the numerical difference for recording encoderAngle.It may also be noted that master controller is installed together with generating laser in the specific embodiment of the invention, main controlDevice main task includes as follows：1st, motor rotates；2nd, capturing and coding device numerical value and convert angled；3rd, carry and be based on CANRFID wireless senser, receive the geographical location information that sends back of laser pickoff；4th, supplied using 24~36V wide powersElectricity；5th, by the RS485 interfaces based on modbus agreements to external equipment (such as AGV) output position information.
Fig. 5 shows master controller method flow in the areflexia plate laser navigation sensor of the preferred embodiment of the present inventionFigure.
As shown in figure 5, system master controller basic procedure is after system reset is initialized, master controller receives sub-controlDevice processed be laser pickoff transmission data message, wherein sub-controller is laser pickoff, and the RFID based on CAN protocol withoutLine sensing network carries out wireless data transmission, and the data message that master controller is wirelessly received is deposited into memoryIn, and current storage numerical value is read, the classification of laser pickoff is determined according to the corresponding relation of table 1, while data will be receivedCount value count add 1, i.e. count=count+1, and judge whether count values reach 4, when backlog demand, againSub-controller data reception operation is carried out, otherwise into next step, according to the folder between 4 coordinate points and adjacent coordinates pointAngle, laser transmitter positions iterative calculation is carried out using least-squares iteration method, until meeting required precision.
Fig. 6 shows areflexia plate laser navigation sensor method flow diagram proposed by the present invention.
Connect as shown in fig. 6, areflexia plate laser navigation sensor proposed by the present invention mainly includes generating laser, laserDevice, wireless senser and master controller are received, calculating AGV dolly position coordinateses comprise the following steps that shown：
Step S101：Laser pickoff is encoded, sensor protocol；According to the basic format of table 1, according to the actual requirementsLaser pickoff coding is carried out, and the agreement for meeting actual scene demand is designed according to Fig. 2 basic agreement.
Step S102：Master controller storage coding and positional information；Master controller prestores the coding of laser pickoffAnd positional information, the information crossed afterwards according to wireless receiving can confirm the definite information of laser pickoff.
Step S103：Generating laser real time rotation launches laser signal；In AGV dolly traveling process, generating laserThe transmitting laser signal of real time rotation so that the laser pickoff real-time reception signal on periphery, so can real-time judge AGV it is smallThe position coordinates of car.
Step S104：Laser pickoff receives signal and wireless transmission of location information；The generating laser of AGV dollies topLaunch after laser signal, laser pickoff receives signal, and differentiates the validity of signal, is then entered according to wireless transmission protocolRow information is sent.
Step S105：Master controller reception processing wireless signal；Master controller receives the signal of generating laser transmissionAfterwards, according to the statistical value of count counters, the position letter of generating laser in AGV dollies can be calculated when reaching 4Breath, the positional information of transmission signal is finally calculated according to least square method.
In summary, the present invention proposes a kind of areflexia plate laser navigation sensor device and method, belongs to embeddedElectronic design art.The device includes generating laser, laser pickoff, wireless senser and master controller.Substantially it is squareMethod is encoded including laser pickoff, sensor protocol；Master controller storage coding and positional information；Generating laser is real-timeRotate transmission signal；Laser pickoff receives signal and wireless transmission information；Master controller reception processing wireless signal.The deviceBy customized coding method and protocol rule, the validity that " angle window " concept improves signal is introduced, according to least squareMethod accurately solves AGV dolly positional informations, realizes laser navigation AGV Effec-tive Function.Whole device meets high-precision wantAsk down, strong robustness and cost performance are high, with stronger engineering application value.
It should be appreciated that the above-mentioned embodiment of the present invention is used only for exemplary illustration or explains the present invention'sPrinciple, without being construed as limiting the invention.Therefore, that is done without departing from the spirit and scope of the present invention is anyModification, equivalent substitution, improvement etc., should be included in the scope of the protection.In addition, appended claims purport of the present inventionCovering the whole changes fallen into scope and border or this scope and the equivalents on border and repairingChange example.