Complex magnetic marker correction-based deviation rectification control system and method for automatic guided vehicle (AGV)

Abstract

The invention relates to a complex magnetic marker correction-based deviation rectification control system and a complex magnetic marker correction-based deviation rectification control method for an automatic guided vehicle (AGV). The system comprises radio frequency identification (RFID) radio frequency tags, wherein the RFID radio frequency tags are laid in the vicinity of magnetic markers, and correspond to the magnetic markers. The AGV comprises an AGV body, electromagnetic scales and RFID card reading units, wherein the electromagnetic scales and the RFID card reading units are arranged on the front, rear, left and right sides of the AGV body; and a master controller connected with the electromagnetic scales and the RFID card reading units is arranged at the bottom of the AGV body, and is used for performing deviation rectification control on the AGV. The method comprises the following steps of 1, acquiring signals of the RFID radio frequency tags through the electromagnetic scales and the RFID card reading units by using the master controller; 2, calculating a current position deviation of the AGV; and 3, performing deviation rectification control on the AGV according to the current position deviation of the AGV by using an AGV driving module. According to the system and the method, the signals of the RFID radio frequency tags in the vicinity of the magnetic markers are automatically acquired to obtain absolute coordinate values of the magnetic markers, so that the problem that the absolute coordinate values of the magnetic markers cannot be synchronously acquired by a conventional method is effectively solved, and the working efficiency is greatly improved.

Description

technical field [0001] The invention belongs to the AGV technical system, in particular to an AGV deviation correction control system and method based on composite magnetic nail correction. Background technique [0002] In the process of AGV control, the electromagnetic scale and magnetic nail can be used to correct the driving process of the AGV. The realization method is: set a pair of magnetic nails with a fixed interval on the road section. Since the magnetic nails do not have directionality, the attitude of the AGV cannot be measured. Therefore, it is necessary to use double magnetic nails, double magnetic rulers or double magnetic nails. The method of magnetic nails and single magnetic ruler is realized, that is, the method of laying two magnetic nails in parallel. When the AGV is driving, two magnetic rulers are used to detect the position of the two magnetic nails buried on the path relative to the AGV. , and then perform "measurement and calculation" based on the d...

AI Technical Summary

Problems solved by technology

The above-mentioned manual teaching method is obviously time-consuming and labor-intensive for the laying of large-area magnetic nails, and has little practical significance

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