Error correction control method of AGV

Abstract

The invention discloses a vehicle control method. A magnetic navigation sensor is used for calculating a deviation value of a vehicle and sending the deviation value to a main control system so as to determine the deviation angle of the vehicle. The main control system adjusts an angular velocity difference between a left wheel and a right wheel of the vehicle according to the deviation value so as to carry out error correction. A laser obstacle sensor is used for detecting obstacles. The main control system judges whether the AGV carries out the rectilinear motion or the curvilinear motion according to the deviation value. When deviation with the number of N is generated between the moving direction of the AGV and a set target direction, if the vehicle carries out the rectilinear motion, the angular velocity of the left wheel is reduced by N / 2, and the angular velocity of the right wheel is increased by N / 2. If the vehicle performs the curvilinear motion, the angular velocity of the left wheel is reduced by N and the angular velocity of the right wheel is unchanged, wherein N=A-B, A is the actual angular velocity difference value of the left wheel and the right wheel and the B is a target angular velocity difference value of the left wheel and the right wheel. Different angular velocity adjustment modes can be adopted for different moving traces, thereby facilitating the stability of the car.

Description

technical field [0001] The invention relates to the technical field of AGV trolleys, in particular to an AGV trolley deviation correction control method. Background technique [0002] AGV is characterized by wheeled movement. Compared with walking, crawling or other non-wheeled mobile robots, it has the advantages of fast action, high work efficiency, simple structure, strong controllability, and good safety. Compared with other equipment commonly used in material transportation, the activity area of ​​AGV does not need to lay track, support frame and other fixed devices, and is not limited by the site, road and space. Therefore, in the automated logistics system, its automation and flexibility can be fully reflected to realize efficient, economical and flexible unmanned production. [0003] The existing AGV trolley deviation correction mechanism is relatively simple. Whether the trolley is in a straight line movement, a curved movement or a cornering movement, etc., the un...

AI Technical Summary

Problems solved by technology

[0003] The existing AGV trolley deviation correction mechanism is relatively simple. Whether the trolley is in a straight line movement, a curved movement or a cornering movement, etc., the unified deviation correction is adopted, and most of the deviation correction is performed by adding or subtracting a certain angular velocity to the left and right wheels. and security risks

Images