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AGV dual-drive magnetic navigation turning method and storage device

A storage device and magnetic navigation technology, applied in electric/hybrid, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as AGV cannot drive, AGV cannot complete tasks, etc., and achieve reliable results

Active Publication Date: 2020-05-08
GUANGDONG JATEN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As a result, the first drive unit 11 turns at the fork A21, and the second drive unit 12 also turns at the fork B22, and the AGV travels in parallel at the bends of the fork A21 and the fork B22 at the same time, so that The AGV cannot travel according to the originally planned path, causing the AGV to fail to complete the assigned task

Method used

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  • AGV dual-drive magnetic navigation turning method and storage device
  • AGV dual-drive magnetic navigation turning method and storage device
  • AGV dual-drive magnetic navigation turning method and storage device

Examples

Experimental program
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Effect test

Embodiment 1

[0031] see figure 1 , the turning method of the AGV dual-drive magnetic navigation of the present invention, the AGV includes a car body, a control module arranged on the car body, a landmark card reader, a first drive unit 11 and a second drive unit arranged at the front and back of the AGV car body On the drive unit 12, the first magnetic tracking sensor corresponding to the first drive unit 11 and the second magnetic tracking sensor corresponding to the second drive unit 12, the first drive unit 11 and the second drive unit 12 are preferably steering wheels Mechanisms or differential drive wheels, etc., the distance between the first drive unit 11 and the second drive unit 12 is L, and the distance L refers to the distance between the centers of the first drive unit 11 and the second drive unit 12 ; The method comprises the following steps:

[0032] a. The AGV travels to the fork at the speed of v1. After the landmark card reader reads the fork card, the control module ge...

Embodiment 2

[0044] see figure 1 , the storage device of the present invention, the storage device stores a plurality of execution instructions, wherein the execution instructions are used to control the loading of the module and perform the following operations:

[0045] a. The AGV travels to the fork at the speed of v1. After the landmark card reader reads the fork card, the control module generates a first turning command to control the first drive unit 11 .

[0046] b. When the first magnetic tracking sensor reads the branch magnetic strip, the feedback signal is sent to the control module to send the first turning command to the first drive unit 11 .

[0047] c. After the first turning instruction is generated with a delay of t=L / v1, the control module generates a second turning instruction to control the second driving unit 12 .

[0048] d. When the second magnetic tracking sensor reads the branch magnetic strip, the feedback signal is sent to the control module to send the second ...

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Abstract

The invention discloses an AGV dual-drive magnetic navigation turning method and a storage device. The method comprises the following steps: step a, enabling an AGV to drive towards a fork at a speedv1, enabling a landmark card reader to read a fork card, and enabling a control module to generate a first turning instruction for controlling a first drive unit; step b, under the condition that a first magnetic tracing sensor reads a fork magnetic stripe, feeding back a signal to the control module, and sending a first turning instruction to the first driving unit; step c, when the first turninginstruction is generated, generating a second turning instruction for controlling a second driving unit after detecting that the second driving unit travels at an L distance by the control module ; and step d, when a second magnetic tracing sensor reads the fork magnetic stripe, feeding back a signal to the control module, and sending out a second turning instruction to the second driving unit. According to the AGV dual-drive magnetic navigation turning method, when the first turning instruction is generated, the control module generates the second turning instruction only after detecting that the second driving unit travels at the L distance, so that the AGV rear driving wheel is effectively prevented from turning mistakenly at an adjacent fork road, and the AGV dual-drive magnetic navigation turning method is reliable to use.

Description

technical field [0001] The invention belongs to the technical field of automatic navigation cars, and in particular relates to a turning method and a storage device for AGV dual-drive magnetic navigation. Background technique [0002] With the development of industrial automation, AGV is more and more widely used in factories, and the role of AGV in factories is becoming more and more important. Correspondingly, the application scenarios of AGV are becoming more and more complex, and the requirements for the intelligence of AGV are also getting higher and higher. In the past, AGV was just simple, driving in one direction along the circular magnetic strip track, and walking in circles to carry goods, but now, the driving track of AGV is already a track with many forks and branches. [0003] The magnetic navigation AGV relies on the RFID landmark card buried in the ground in advance to identify the fork in front of the road and the station assignment of the fork (that is, the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0263Y02P90/60
Inventor 刘锦安
Owner GUANGDONG JATEN ROBOT & AUTOMATION