Four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation

A four-wheel steering and two-dimensional code technology, which is applied in two-dimensional position/channel control, steering mechanism, steering rod, etc., can solve the problem that feedback correction is not applicable, it is difficult to accurately calculate the AGV motion state, and it is impossible to obtain real-time and accurate information. Position information feedback and other issues

Active Publication Date: 2020-08-25
TSINGHUA UNIV +1
View PDF10 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method is not suitable for four-wheel steering and four-wheel drive AGVs. Since slippage may occur, it is difficult to accurately estimate the motion state of the AGV with known four-wheel states, so this feedback correction is not applicable
[

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
  • Four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation
  • Four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation
  • Four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0027] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0028] A four-wheel steering AGV trajectory correction method based on two-dimensional code navigation proposed according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0029] figure 1 It is a flowchart of a four-wheel steering AGV trajectory correction method based on two-dimensional code navigation according to an embodiment of the present invention.

[0030] Such as figure 1 As shown, the four-wheel steering AGV trajectory correction method based on two-dimens...

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 four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation. The method comprises: acquiring AGV attitude deviation data in a two-dimensional code; calculating a first angle offset when the AGV controls the steering motor to perform deflection angle correction and a first displacement offset when the AGV controls the steering motor to perform displacement correction; judging the AGV attitude deviation data and the first angle deviation, judging whether the turntable rotates back after keeping the maximum angle of the turntablefor a preset time, and generating a deflection angle correction motor speed control curve; according to the AGV attitude deviation data and the first displacement deviation, judging whether the turntable rotates back after keeping the maximum angle of the turntable for a preset time, and generating a deviation correction motor speed control curve; and controlling the speed of the motor by utilizing the speed curves of the steering motor and the driving motor and the speed control curve of the offset correction motor. According to the method, a proper deviation rectifying path can be planned according to initial deviation and inherent parameters of the AGV, four driving motors and speed curves of the four driving motors are obtained, and motion deviation rectifying is completed.

Description

technical field [0001] The invention relates to the technical field of motion control of mobile robots, in particular to a four-wheel steering AGV trajectory correction method based on two-dimensional code navigation. Background technique [0002] At present, AGV (Automated Guided Vehicle) has been widely used in warehousing logistics, intelligent parking and other fields due to its advantages of strong mobility, strong controllability, high work efficiency, time saving and human resources. According to its steering drive mode, it can be divided into differential drive AGV, Macram wheel AGV, steering wheel drive steering AGV, etc. Among them, the steering wheel drive steering AGV is similar to the steering mode of a car, and can be divided into front wheel steering, rear wheel steering and four-wheel steering. In other ways, the steering is realized by turning the wheel set. Since the angular velocity cannot be mutated during the movement of the AGV, its control is more diff...

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
IPC IPC(8): G05D1/02B62D63/02
CPCB62D63/02G05D1/0223B62D7/1509
Inventor 张涛韩斌杨思琪杨新陈学东董岩
Owner TSINGHUA UNIV
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