Error correction control method of AGV

A control method and car technology, applied in two-dimensional position/channel control, etc., can solve problems such as stability and safety hazards, improve intelligence and convenience, contribute to safety and stability, avoid cumbersome effect

Inactive Publication Date: 2017-07-04
无锡新创力工业设备有限公司
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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

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  • Error correction control method of AGV
  • Error correction control method of AGV
  • Error correction control method of AGV

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Embodiment Construction

[0015] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0016] As shown in the figure, the AGV trolley deviation correction control method of the present invention includes the following means.

[0017] The magnetic navigation sensor is used to calculate the offset value of the trolley, and the offset value is sent to the main control system to determine the angle of the trolley offset. The main control system adjusts the angular velocity difference between the left and right wheels of the trolley according to the offset value to correct the deviation. The specific way is as follows: figure 1 so and figure 2 As shown, 2 magnetic navigation sensors are connected through 600 and 601. The power supply of the magnetic navigation sensor shares power supply and grounding to suppress differential mode interference. The sensor is equipped with 16 OC gates and corresponding 16 high-sensitiv...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/024
Inventor 陈耀
Owner 无锡新创力工业设备有限公司
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