Omnidirectional mobile agv navigation deviation correction 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: 2019-06-18
BEIJING INST OF SPECIALIZED MACHINERY
View PDF10 Cites 0 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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
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
Login to View More Abstract
The invention relates to a navigation correction method for an omnidirectional mobile AGV, and belongs to the technical field of navigation and positioning of Mecanum wheel omnidirectional mobile AGVs. Based on the magnetic stripe position information fed back by the front and rear magnetic sensors, the present invention uses an information processing algorithm to analyze the obtained complex actual situation into two independent and easy-to-handle simple situations, which facilitates processing. In this way, the deviation can be corrected according to the characteristics of Mecanum wheel omnidirectional mobile AGV. The information fed back from the magnetic sensor will be processed in real time and used to calculate the degree of deviation, and the deviation correction speed will be assigned a value based on the degree of deviation. This achieves high-precision navigation and correction of the Mecanum wheel omnidirectional mobile AGV. This method is implemented based on the driving characteristics of Mecanum wheel omnidirectional mobile AGV, making full use of the omnidirectional mobile characteristics of the 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
Login to View More Patent Type & Authority Patents(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