Unlock instant, AI-driven research and patent intelligence for your innovation.

Omnidirectional mobile AGV navigation rectification method

An omnidirectional movement and deviation correction technology, which is applied in the direction of motor vehicles, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of no AGV driving characteristic design, etc., and achieve high-precision navigation deviation correction and convenient handling.

Active Publication Date: 2017-03-22
BEIJING INST OF SPECIALIZED MACHINERY
View PDF10 Cites 24 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, AGV (Automatic Guided Transport Vehicle) is mainly aimed at the navigation and positioning scheme of AGV in the form of steering wheel using magnetic strip guidance and landmark positioning. When correcting the deviation of the car, this scheme often uses one or two magnetic sensors in front to correct the deviation. Design according to the driving characteristics of the omnidirectional mobile AGV with mecanum wheels

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
  • Omnidirectional mobile AGV navigation rectification method
  • Omnidirectional mobile AGV navigation rectification method
  • Omnidirectional mobile AGV navigation rectification method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0020] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0021] The embodiment of the present invention provides an omnidirectional mobile AGV navigation deviation correction method, comprising the following steps:

[0022] Such as figure 1 As shown, if the AGV car body has the first deviation, that is, the center point of the car body is on the magnetic strip path of the magnetic strip under the car body, and at the same time, the central axis of the car body has a non-zero angle with the magnetic strip path, then According to the value returned by the magnetic sensor, analyze the degree of deviation between the car body and the magnetic strip, and calculate the rotation speed ω to adjust the body posture to achieve deviation correction; the position of the magnetic sensor ...

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 relates to an omnidirectional mobile AGV navigation rectification method, which belongs to the technical field of McNamull wheel omnidirectional mobile AGV navigation and positioning. According to the invention, an information processing algorithm is used to analyze complicated actual situations into two kinds of simple situations which are independent and convenient to handle according to magnetic stripe position information fed back by front and rear magnetic sensors, which is convenient to handle; deviation correction is carried out for McNamull wheel omnidirectional mobile AGV characteristics; information fed back from the magnetic sensors is handled in real time and is used to calculate the deviation degree; the deviation correction speed is assigned according to the deviation degree; and high precision navigation rectification of the McNamull wheel omnidirectional mobile AGV is realized. The method is realized according to the driving characteristics of the McNamull wheel omnidirectional mobile AGV, and makes full use of the omnidirectional mobile characteristics of a chassis platform.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning of an omnidirectional mobile AGV with a mecanum wheel, in particular to a navigation correction method for an omnidirectional mobile AGV. Background technique [0002] As a flexible carrier platform solution, the Mecanum wheel omnidirectional mobile platform is widely used in various fields such as aviation, aerospace, education, medical treatment, industry, and logistics. At present, the AGV (Automatic Guided Transport Vehicle) mainly uses the navigation and positioning scheme of magnetic strip guidance and landmark positioning for the AGV in the form of steering wheel. This kind of scheme often uses one or two magnetic sensors in front to correct the deviation of the car, and there is no It is designed according to the driving characteristics of the omnidirectional mobile AGV with mecanum wheels. Contents of the invention [0003] (1) Technical problems to be solved [000...

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
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0263
Inventor 李远桥李明李波段三军宋策
Owner BEIJING INST OF SPECIALIZED MACHINERY