Automatic guiding control method, device and system

An automatic guidance and control method technology, applied in two-dimensional position/channel control and other directions, can solve problems such as difficult control parameter setting, difficult to deal with input constraints and state constraints, and achieve the effect of eliminating deviations

Inactive Publication Date: 2014-01-01
BEIJING UNIV OF POSTS & TELECOMM
View PDF5 Cites 33 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the AGV system based on vision guidance is a typical time-delay, nonlinear and unstable system, and has non-integrity constraints. When solving the path tracking problem of AGV, the above-mentioned traditional methods are limited to local deviation correction and can on

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Automatic guiding control method, device and system
  • Automatic guiding control method, device and system
  • Automatic guiding control method, device and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] refer to figure 1 , the present embodiment provides an automatic guidance control method, including:

[0032] Step S101, obtaining the angle deviation and position deviation of the AGV;

[0033] Step S102, according to the angle deviation and the position deviation, it is judged whether the current deviation state of the AGV is a terminal domain state;

[0034] Step S103, if the current deviation state is not the terminal domain state, then adopt the corresponding control strategy to control the AGV to enter the terminal domain state;

[0035] Step S104, controlling the AGV to move to a balance point in the terminal domain state to eliminate the angle deviation and position deviation.

[0036] Execute step S101 to obtain the angle deviation and position deviation of the AGV. The angle deviation is the deviation between the AGV movement direction and the path marking line direction, and the position deviation is the vertical distance between the AVG reference center an...

Embodiment 2

[0253] refer to Figure 9 , this embodiment provides an automatic guidance control device, including:

[0254] Deviation acquisition module 301, used to acquire the angle deviation and position deviation of AGV;

[0255] State judging module 302, for judging whether the current deviation state of AGV is terminal domain state according to described angle deviation and position deviation;

[0256] State conversion module 303, for when the current deviation state of the AGV is not the terminal domain state, control adopts corresponding control strategy to control the AGV to enter the terminal domain state;

[0257] The deviation elimination module 304 is configured to control the AGV to drive toward the balance point in the terminal domain state so as to eliminate the angle deviation and position deviation.

[0258] As an optional implementation, the deviation acquisition module 301 is used to control and obtain the deviation between the AGV motion direction and the direction o...

Embodiment 3

[0282] Such as Figure 10 As shown, the present embodiment provides an automatic guidance system, including:

[0283] The automatic guidance device 401 also includes an AGV 402 and a path marking line 403. The AGV is provided with a camera 404, and the camera 404 protrudes from the center line of the AGV 402 by a preset distance and is installed in front of the AGV 402.

[0284] The executive body of the automatic guidance control method in the present invention is the automatic guidance device 401; the automatic guidance control device 401 can be an independent equipment entity; or, the automatic guidance control device can be integrated in the AVG402 as a functional module ; In this regard, the embodiments of the present invention are not limited.

[0285] The automatic guidance system provided in this embodiment uses the angle deviation and position deviation of the AGV to calculate and plan the driving trajectory of the AVG for a period of time in the future to eliminate ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides an automatic guiding control method, device an system. The method comprises the steps of obtaining the angle deviation and the position deviation of an AGV; judging wether the current deviation state of the AGV is in a terminal domain state according to the angle deviation and the position deviation; adopting a corresponding control strategy to control the AGV to enter the terminal domain state if the current deviation state of the AGV is not in the terminal domain state; in the terminal domain state, controlling the AGV to move to a balance point so as to simultaneously remove the angle deviation and the position deviation; utilizing the angle deviation and the position deviation of the AGV to plan out the traveling track of the AGV in a future period through calculation so as to eradicate deviation, and handling the whole control process from the angle of the overall situation.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an automatic guidance control method, control device and system. Background technique [0002] Automated Guided Vehicle (AGV) refers to a transport vehicle equipped with an automatic guiding device, capable of driving along a prescribed guiding path, with safety protection and various transplanting functions. [0003] The AGV based on visual guidance obtains the guidance information of the road surface through the on-board camera to identify the path. It has many advantages such as simple path setting, easy maintenance and rerouting, free from electromagnetic field interference, and convenient identification of multi-station and path branches. Very fast development. Vision guidance is to obtain guidance information in the local field of view through the on-board camera, that is, the relative deviation between the AGV and the path marking line, and realize path tracking...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
Inventor 李忠明苏志远翁迅张经天
Owner BEIJING UNIV OF POSTS & TELECOMM
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap