Simulation control method and system based on AGV

Abstract

The invention discloses a simulation control method based on an AGV (automated guided vehicle). The method comprises the following steps: establishing an AGV simulation testing trajectory planning path based on a topological map, and computing to acquire all point coordinates on the planning path and storing the same; establishing a motion model of an AGV chassis, acquiring the mobile state data of the AGV in real time through the movement model, and acquiring the corresponding AGV control reference point state data according to the mobile state data; computing according to preview point length to acquire the angle adjusting amount and the speed adjusting amount on a reference point on the planning path; inputting the angle adjusting amount and the speed adjusting amount into the movementmodel so as to adjust the mobile state of the AGV simulation vehicle. For the trajectory imitation on a virtual vehicle, the trajectory control parameter debugging for the AGV is realized completely based on the simulation, and cannot be limited by the real vehicle or an embedded controller; the debugging is convenient and fast, and the real vehicle hardware fault interference in the parameter setting process is overcome.

Description

technical field [0001] The invention relates to the technical field of control methods, in particular to an AGV-based simulation control method and system. Background technique [0002] Automated Guided Vehicle (AGV for short), also known as automatic guided vehicle, is an automatic guidance device with its own guidance module, which can drive along a pre-planned path according to different guidance methods, and can complete A series of functions such as turning and parking are one of the key equipment of modern industrial automation system. AGV has remarkable characteristics such as flexibility and intelligence, and can easily reorganize the system to achieve flexible transportation in the production process. Compared with traditional manual or semi-manual production methods, the AGV system reduces labor intensity, reduces danger, and improves production efficiency. Therefore, as the most automated product in logistics equipment, AGV is increasingly used in various indust...

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Problems solved by technology

[0006] The present invention aims at the problems in the prior art that the chassis kinematics model and trajectory control algorithm are not universal for AGV vehicles of various chassis types, the debugging workload is complicated and the hardware faults of the real vehicle are easily interfered, and a method based on The simulation control method of the AGV includes: establishing an AGV simulation test trajectory planning path based on a topological map, and calculating and obtaining the coordinates of all points on the planning path and storing them; establishing a motion model of the AGV chassis, and obtaining the AGV's position in real time through the motion model Move the state data, and obtain the corresponding AGV control reference point state data according to the moving state data; calculate and obtain the angle adjustment amount and the speed adjustment amount of the reference point on the planned path according to the length of the preview point; adjust the angle The amount and speed adjustment amount are input into the motion model to adjust the moving state of the AGV simulation vehicle

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