Guide method for SD type automated guided vehicle (AGV) system under laser guidance

Abstract

The invention provides a guide method for an SD type automated guided vehicle (AGV) system under laser guidance and belongs to the technical field of AGV systems. The problems that a plurality of iterative operations are required, the processing period is long and a processor has high operational capability requirement because of an algorithm structure in the prior art are solved. The method comprises a linear guide control mode and a curve guide control mode, wherein the motion of the AGV system is taken as a mass point, namely, a reference point, and the method comprises the following steps of: (1) determining an offset value CD between the reference point and a target path; (2) calculating to obtain a control corner value by employing a sectioned PI adjustment mode, looking up a table to obtain specific numerical values of a current corresponding adjustment parameter P and I factors according to a specific numerical value of the offset value, and performing parameter operation to obtain a control corner value of a wheel; and (3) finishing periodical guide control. According to the method, the control value for controlling a corner of a front wheel of the AGV is obtained through simplified operation, the operational process is optimized, the operation amount of an algorithm is reduced, and the processing period of the algorithm is shortened.

Description

technical field [0001] The invention belongs to the technical field of AGV systems, and relates to a guiding method of a laser-guided SD type AGV system. Background technique [0002] AGV is the English abbreviation of Automated Guided Vehicle. It refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guidance path, with safety protection and various transfer functions. AGV belongs to the category of wheeled mobile robots. AGVs are generally powered by batteries, and are currently powered by non-contact energy transmission systems. The AGV is equipped with a non-contact guidance device, which can realize unmanned transportation operations. Its main function is that it can accurately walk and stop at the designated place under the computer monitoring, according to the path planning and operation requirements, and complete a series of operation functions. Compared with other equipment ...

AI Technical Summary

Problems solved by technology

At present, in the SD-type AGV guidance method, the "tracking guidance algorithm" is widely used. For example, in 2006, the fourth chapter of the engineering master's degree thesis of Kunming University of Science and Technology named "Research on AGV Vehicle Control Principles" recorded the AGV. Guidance calculation, the algorithm is "tracking guidance algorithm", it is necessary to assume that there is a target point in front of the car body, and then calculate the relationship between the current car body and the target point to obtain the control value. Due to the structure of the algorithm, a large number of iterative operations are required until a value that meets the requirements is found, which requires a large number of complex operations, a longer processing cycle, and higher requirements for the computing power of the processor.

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