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A kind of turning method and storage device for AGV dual-drive magnetic navigation

A storage device, magnetic navigation technology, applied in electric/hybrid, non-electric variable control, two-dimensional position/channel control and other directions, can solve the problems of AGV unable to travel, AGV unable to complete tasks, etc.

Active Publication Date: 2022-07-12
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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  • A kind of turning method and storage device for AGV dual-drive magnetic navigation
  • A kind of turning method and storage device for AGV dual-drive magnetic navigation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

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

[0032] a. The AGV travels to the fork at the speed of v1. After the land...

Embodiment 2

[0044] see figure 1 , the storage device of the present invention, the storage device stores a plurality of execution instructions, characterized in that the execution instructions are used to control the module to load 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 instruction to control the first drive unit 11 .

[0046] b. When the first magnetic tracking sensor reads the fork magnetic stripe, a feedback signal is sent to the control module to send a first turning instruction to the first driving unit 11 .

[0047] c. After the generation delay t=L / v1 of the first turning command, the control module generates a second turning command for controlling the second driving unit 12 .

[0048] d. When the second magnetic tracking sensor reads the fork magnetic stripe, a feedback signal is sent to the control module to send a second t...

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Abstract

The turning method and storage device of the AGV dual-drive magnetic navigation of the present invention includes the following steps: a. The AGV drives towards the fork at a speed of v1. After the landmark card reader reads the fork card, the control module generates a control module to control the first drive unit. b. When the first magnetic tracking sensor reads the magnetic strip of the fork, the feedback signal is sent to the control module to send the first turning command to the first drive unit; c. When the first turning command is generated, the control module detects After the second driving unit travels a distance of L, it generates a second turning command to control the second driving unit; d. When the second magnetic tracking sensor reads the magnetic stripe of the fork, the feedback signal is sent to the control module to send the second turning command to the second driving unit. Two turn instructions. In the turning method of the AGV dual-drive magnetic navigation of the present invention, when the first turning command is generated, the control module generates the second turning command after detecting that the second driving unit travels a distance of L, which effectively prevents the rear driving wheels of the AGV from being in the adjacent and nearer places. Turning the wrong turn at the fork, it is reliable to use.

Description

technical field [0001] The invention belongs to the technical field of automatic navigation trolleys, 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, AGVs are more and more widely used in factories, and AGVs play an increasingly important role in factories. Correspondingly, the scenarios of AGV applications are becoming more and more complex, and the requirements for the intelligence of AGVs are also getting higher and higher. In the past, AGVs were only simple, driving in one direction along the circular magnetic strip track, and walking in circles to carry the goods. Now, the driving track of AGV is already a multi-fork and multi-branch track. [0003] The magnetic navigation AGV relies on the RFID landmark card buried in the ground in advance to identify the fork in the front, and the station of the fork is allocated (ie, the left branch...

Claims

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Application Information

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