Multi-steering-wheel cooperative control method for omnidirectional mobile AGV

A collaborative control, omnidirectional movement technology, applied in electric controllers, non-electric variable control, control/regulation systems, etc., can solve problems such as force mismatch between gear trains, reduce asynchrony, improve motion accuracy and Operational efficiency, the effect of reducing internal force

Active Publication Date: 2020-06-19
NANJING CHENGUANG GRP +1
View PDF4 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for controlling the coordinated motion of omnidirectional mobile AGV wheel sets driven by multi-rudder wheels. The driving and steering control amount of each steering wheel is obtained through the inverse kinematics model and speed compensation, which effectively solves the problem of multi-rudder wheel drive. The problem of force mismatch between the wheel trains enables the AGV to move accurately and efficiently

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multi-steering-wheel cooperative control method for omnidirectional mobile AGV
  • Multi-steering-wheel cooperative control method for omnidirectional mobile AGV
  • Multi-steering-wheel cooperative control method for omnidirectional mobile AGV

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below taking an AGV with six steering wheels as an example. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other implementations obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

[0029] A wheel group cooperative motion control method for a steering wheel-driven AGV, the cooperative motion method obtains the driving and steering control quantities of each steering wheel through an inverse kinematics model and speed compensation, and controls the speed of the steering wheel drive motor and the steering motor The angular position control of the system effectively solves the problem of for...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a multi-steering-wheel cooperative control method for an omnidirectional mobile AGV. The multi-steering-wheel cooperative motion control comprises rotation speed control of a steering wheel driving motor and rotation angle position control of a steering motor. According to the target motion speed of an AGV body, the expected driving speed and deflection angle of each steering wheel are calculated through an inverse kinematics model, and then the driving speed is compensated by adopting a speed synchronization control method to obtain the actual control quantity of a steering wheel driving motor. According to the invention, the motion control problem of the multi-steering-wheel driving type omnidirectional mobile AGV is effectively solved, the AGV can accurately track a guide path, the internal force consumption between wheel sets can be reduced, the motion process is more coordinated, and the endurance time is prolonged.

Description

technical field [0001] The invention belongs to the technical field of AGV (Automatic Guided Vehicle) motion control, and more specifically relates to a control method capable of realizing omnidirectional motion of a multi-rudder wheel driven AGV. Background technique [0002] AGV (Automatic Guided Vehicle) is a wheeled mobile robot that can automatically drive along a prescribed path through a dispatch system or manual control, and it is widely used in the manufacturing and logistics industries. Many scenarios require the AGV to have omnidirectional mobility, that is, it can rotate around any point in the plane, or move in any direction without changing the posture of the car body. Existing omnidirectional mobile AGVs usually use mecanum wheel drive. The mecanum wheel has simple control and flexible movement, but its movement efficiency is low, and due to the limitation of structure and material, its single wheel bearing capacity is not large, and its price is relatively h...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42G05D1/02
CPCG05B11/42G05D1/0212G05D2201/0216
Inventor 胡亚南刘新新王博黄怡欣阚凯李鸿向
Owner NANJING CHENGUANG GRP
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap