摘要
以往的AGV(Automatic Guided Vehicle)多采用电磁感应技术、机器视觉技术和激光技术进行定位。其电磁感应技术更改路径困难;机器视觉定位算法复杂,实时性差;激光技术定位电路复杂,成本较高。为此,基于超声传感器设计了自动引导车辆的定位系统,提出了一种高精度测量超声信号传播时间的方法。该方法采用双超声发射传感器依照一定的时序进行工作,解决了信号相互干扰问题,在得到AGV位置信息的同时得到其姿态信息,简化了AGV的机械结构。设计了低噪声放大电路抑制噪声干扰;利用自动增益调整电路提高系统的测量精度;采用声速补偿方法消除环境温度变化对定位精度的影响。实验结果表明,该系统可以在300 cm×400 cm的范围内对AGV的车头和车尾精确、实时定位,定位精度达±3 mm。
Navigation and control of AGV （Automatic Guided Vehicle） is based on the accurate positioning information. Formerly AGV adopted electromagnetic inductive technology, machine vision technology or laser technology to position itself. It is difficult to modify the path when using electromagnetic inductive technology. The algorithm of machine vision technology is complex and has high expense. The circuit is complex and has high expense with the laser technology. A positioning system for AGV is designed based on the ultrasonic sensor. A method for measuring the TOF （Time of Flight） of ultrasonic signal accurately is presented. The position information and angle information of AGV can be obtained accurately at the same time by two ultrasonic emitting transducers working according to correct scheduling which settles the problem of signal disturbance. This simplified the machine structure. The trial shows that the system can position the AGV accurately in 2-D area. The experiments show that the system can position the head and the tail of the AGV with the precision ± 3 mm in an area of 300 cm × 400 cm exactly and real time.
出处
《吉林大学学报（信息科学版）》
CAS
2007年第6期577-581,共5页
Journal of Jilin University（Information Science Edition）
基金
国家863计划基金资助项目(20020602)
关键词
自动引导车辆
超声红外定位
传播时间
automatic guided vehicle
localization by ultrasonic and infrared ray
time of flight （TOF）
