Control method and device for unmanned truck
A technology of unmanned guided vehicles and control methods, which is applied in the field of control methods and devices of unmanned guided vehicles, can solve the problems of large impact and high cost of unmanned guided vehicles, and achieve strong adaptability to conditions such as vehicle speed and improve flexibility , cost reduction effect
Active Publication Date: 2021-01-26
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Problems solved by technology
However, the control method based on inertial navigation technology requires the use of an inertial navigation system, which leads to a higher cost of unmanned vans; the control method based on curve fitting is greatly affected by the flatness of the ground, vehicle speed, etc.
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[0029]The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.
[0030] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.
[0031] figure 1 An exemplary system architecture 100 to which the method for controlling an unmanned guided vehicle or the control device for an unmanned guided vehicle of the present application can be applied is shown.
[0032] Such as figure 1 As shown, the system archit...
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This application discloses a control method and device for an unmanned guided vehicle. A specific embodiment of the method includes: in response to receiving a straight-going control instruction for the unmanned guided vehicle, determining the pose information of the unmanned guided vehicle acquired in advance as the initial pose information, and performing the following control steps: acquiring the target The driving distance of each driving wheel of the unmanned guided vehicle within the time period; based on the initial pose information, the obtained driving distance and the pre-acquired axle length, determine the current pose information; based on the current pose information and the predicted Set the posture control coefficient to determine the differential speed control amount; control the speed of each driving wheel of the unmanned guided vehicle based on the differential speed control amount, and determine whether the unmanned guided vehicle is located in the preset area; In the preset area, the current pose information is used as the initial pose information, and the control step is continued. This embodiment reduces the cost of controlling the unmanned guided vehicle and improves the flexibility of control.
Description
technical field [0001] The present application relates to the field of computer technology, specifically to the field of control technology, and in particular to a control method and device for unmanned guided vehicles. Background technique [0002] Unmanned guided vehicle (Automated Guided Vehicle, AGV), also known as automatic guided transport vehicle, refers to equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along the prescribed guiding path, with safety protection and various transfer functions transport vehicle. Usually, it is necessary to control the unmanned guided vehicle to go straight, so that the unmanned guided vehicle can drive to the designated position. [0003] Existing control methods are usually based on inertial navigation technology, curve fitting methods, etc. to measure and adjust the pose of the car body. However, the control method based on inertial navigation technology requires the use of an inertial...
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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0238G05D1/0246
Inventor 阙兴涛
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD