Four-wheel drive steering control method and device

A technology of four-wheel drive and control method, applied in non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., can solve problems such as poor driving effect, improve driving effect and avoid rollover , to meet the effect of flexibility
CN107783540AInactive Publication Date: 2018-03-09河南森源中锋智能制造有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
河南森源中锋智能制造有限公司
Publication Date
2018-03-09
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a four-wheel drive steering control method and device. The control method comprises the following steps: acquiring turning radius of a vehicle body of an AGV and speed of onedriving wheel; calculating speeds of other driving wheels according to the turning radius of the vehicle body and speed of one driving wheel acquired, wherein a mathematical expression is described inthe specification, Vout is speed of a front outside driving wheel or a rear outside driving wheel of the AGV, Vin is speed of a front inside driving wheel or a rear inside driving wheel of the AGV, Wand L are distance between an inner driving wheel and an outer driving wheel and distance between a front driving wheel and a rear driving wheel of the AVG, respectively, and R is the turning radiusof the vehicle body; and according to the speeds of all the driving wheels, adjusting the speeds of all the driving wheels accordingly, so as to complete steering. The control method provided by the invention has the advantages that the turning radius of the vehicle body of the AGV and the speed of one driving wheel are acquired in real time, and the speeds of other driving wheels are calculated accordingly and are adjusted, so that steady steering of all the driving wheels is achieved, driving effect is improved, and a rollover phenomenon is avoided.
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Description

technical field

[0001] The invention relates to a four-wheel drive steering control method and device, belonging to the technical field of AGV motion control. Background technique

[0002] With the continuous development of industrial automation, the logistics and warehousing system has also improved and improved. Among them, the automatic logistics vehicle (AGV), as a member of the field of mobile robots, has gradually been applied in the field of logistics and warehousing. AGV is equipped with automatic guidance devices such as electromagnetic or optical. Under the control of the host computer, it drives along the prescribed guidance path and completes a series of tasks such as automatic parking.

[0003] The AGV car needs to adapt to the complex factory environment. The traditional AGV car generally adopts double differential drive or single wheel drive. The double differential drive method completely relies on the speed difference between the inner and outer wheels to a...

Claims

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