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Method for measuring travelling distance of AGV (automatic guided vehicle)

A measurement method and distance technology, which can be applied to measurement devices, distance measurement, mapping and navigation, etc., can solve problems such as the influence of load weight measurement, and achieve the effect of simple measurement and simple method.

Active Publication Date: 2016-12-21
GUANGDONG JATEN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method requires an additional measuring device, and the up and down vibrations during AGV driving will have a greater impact on the measurement of the load weight

Method used

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  • Method for measuring travelling distance of AGV (automatic guided vehicle)
  • Method for measuring travelling distance of AGV (automatic guided vehicle)
  • Method for measuring travelling distance of AGV (automatic guided vehicle)

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] A method for measuring the travel distance of an AGV, comprising the following steps:

[0037] (1) Preprocessing steps:

[0038] a. Measuring the state of no load on the car body: the horizontal distance L between the front wheel and the rear wheel of the AGV c , the support force F of the ground on the front and rear wheels of the AGV a0 and F b0 , and the radius R of the two wheels 1 and R 2 ;

[0039] b. When the car body is placed under load: the horizontal distance L between the center of gravity of the load and the center of gravity of the car without load x ; The support force F of the ground on the front and rear wheels of the AGV a and F b ; The midpoint of the line between the center of gravity of the load and the two measured wheels is not in the same vertical direction, so that the load has different influences on the stress and deformation of the two wheels; the center of the load is not the same as the center of the wheel measured Vertically, let L...

Embodiment 2

[0083] see figure 2 , this embodiment discloses another measurement method, the difference from the embodiment is that: the measured wheels are multiple;

[0084] For determination of the measuring distance S by measuring the number of revolutions a and S b Method: select two rows of wheels for measurement respectively, and calculate the measured running distance S of the equivalent wheel of each row of wheels according to the measured number of revolutions of each wheel and the radius of the wheel a and S b ;

[0085] For the determination of the measured travel distance S by measuring the rotational speed and time a and S b Method: select two rows of wheels for measurement respectively, calculate the measured running distance S of the equivalent wheel of each row of wheels according to the measured rotational speed, running time T, and wheel radius of each wheel a and S b .

[0086] see figure 2 , the method for calculating the measured running distance of the equ...

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Abstract

The invention belongs to the AGV (automatic guided vehicle) travelling distance measurement field and in particular relates to a method for measuring the travelling distance of an AGV. The method comprises the following steps: (1) applying a measuring device for measuring measurement operation distances Sa and Sb of two vehicle wheels; (2) measuring a correction factor K of the actual operation distance and measurement operation distance of the AGV; and (3) solving the actual operation distance S of the AGV according to the measurement operation distances Sa and Sb of the two vehicle wheels and the correction factor K. According to the method provided by the invention, accurate correspondence of the actual operation distance and the measurement operation distances of the AGV is obtained by determining the correction factor K; and when the actual operation distance of the AGV is solved and calculated, only the measurement operation distance of the vehicle wheels need to be measured, a way is simple, and influence of a variable load on structure and form of the vehicle wheels can be neglected. Therefore, the method provided by the invention has the advantages of simple and accurate measurement compared with the prior art.

Description

technical field [0001] The invention belongs to the field of AGV travel distance measurement, in particular to an AGV travel distance measurement method. Background technique [0002] In the prior art, in order to measure the travel distance of the AGV, the following method is usually used: the rotation number measuring device is connected to the wheel of the AGV, and the number of rotations of the wheel of the rotation number measuring device is combined with the radius or circumference of the wheel to calculate the distance traveled by the wheel. distance. However, when the load of the AGV changes, the structure of the wheel will change to a certain extent. Simply use the number of revolutions of a single wheel and the original radius or circumference data of the wheel to calculate the travel distance of the wheel and calculate the travel distance of the AGV. The error will be relatively large. , especially in the navigation process, the accumulation of such errors will g...

Claims

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Application Information

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IPC IPC(8): G01C22/00
Inventor 霍伟祺
Owner GUANGDONG JATEN ROBOT & AUTOMATION
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