Path deviation correction method for AGV based on double PID control

A car and controller technology, applied in the direction of attitude control, non-electric variable control, control/adjustment system, etc., can solve problems such as difficult and retrograde changes, high cost, and increase peripheral auxiliary magnetic nails to cooperate with positioning functions, etc., to achieve increased Stability and operational flexibility, small error, and the effect of suppressing its own defects

Active Publication Date: 2019-03-26
CHUTIAN INTELLGENT ROBOT CHANGSHA CO LTD
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Problems solved by technology

This method increases the coordination and positioning effect of peripheral auxiliary magnetic nails, which is costly and difficult to change retrogradely

Method used

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  • Path deviation correction method for AGV based on double PID control
  • Path deviation correction method for AGV based on double PID control
  • Path deviation correction method for AGV based on double PID control

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Embodiment Construction

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0032] The embodiment of the present invention provides a path correction method for an AGV trolley based on dual PID control to solve the error accumulation problem existing in the existing single AGV control technology based on inertial navigation correction. The AGV system of the present invention uses inertial elements as the main Navigation a...

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Abstract

The invention relates to a path deviation correction method for an AGV based on double PID control. According to the novel double-PID controller structure and the novel visual sensor positioning method, the control precision can be greatly improved, the AGV operation stability and operation flexibility can be improved, the AGV linear operation and curvilinear motion precision is enhanced, and theAGV complex capability is enhanced. The precision can be controlled within 5 mm, the movement track of any transformation can be flexibly and accurately tracked, long-time stable operation can be realized in the aspect of stability, the defects of hardware sensors are inhibited, and the error is small.

Description

technical field [0001] The invention relates to the field of automatic navigation, in particular to a path correction method for an AGV trolley based on dual PID control. Background technique [0002] The automatic guided vehicle (AGV) system is currently mainly used in warehousing and logistics transportation. The storage area on the industrial site is connected to the flexible station material in the production area. The early AGV was only used in the transportation of groceries in the workshop. At present, AGV is widely used in all walks of life. , Including non-industrial production environments are also actively using AGVs to replace and reduce manual work, including mail and post transportation, delivery of packages and information in the office, delivery of food and laundry in hospitals, etc. [0003] AGV usually adopts a single continuous correction track guidance method such as magnetic guidance and visual guidance. Since a single inertial navigation system will acc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D1/08
CPCG05D1/0231G05D1/027G05D1/0891
Inventor 周正张亦弛龙小军黄科科欧璐崔冠冠
Owner CHUTIAN INTELLGENT ROBOT CHANGSHA CO LTD
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