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Curve adjusting method in AGV laser navigation line calibration

A technology of laser navigation and adjustment method, applied in two-dimensional position/channel control, control/adjustment system, vehicle position/route/altitude control and other directions, which can solve the deviation, affect the efficiency of station operation, and affect the accuracy of station operation and other problems, to achieve the effect of attitude standard, reduce error and simple operation

Pending Publication Date: 2020-11-03
湖南驰众机器人有限公司
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Problems solved by technology

[0004] The present invention provides a method for adjusting curves in AGV laser navigation route calibration, which compensates the curves for the laser navigation routes that have been set, and solves the problem of unreliable curves when an AGV (such as an AGV forklift) retreats while turning in the prior art. Timely adjustments are prone to deviations that affect the accuracy of the station operation, and the need to stop and turn the rudder in the prior art affects the efficiency of the station operation.

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  • Curve adjusting method in AGV laser navigation line calibration
  • Curve adjusting method in AGV laser navigation line calibration
  • Curve adjusting method in AGV laser navigation line calibration

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specific Embodiment

[0032] A method for adjusting curves in AGV laser navigation route calibration of this embodiment includes the following steps: Step 1, determining the AGV turning angle and turning radius at the curve; Step 2, calculating the radius compensation after the AGV lateral offset; Step 3 , the radius compensation calculation after the AGV angle offset; finally, adjust the steering wheel angle of the AGV in real time according to the radius after the compensation calculation in step 3 to complete the curve.

[0033] see figure 1 , the specific process of compensation calculation in the AGV curve calibration in this embodiment is as follows: the recording starts to turn to the starting point position P 1 , the starting point position of the curve P 2 , the position of the end point of the curve P 3 and steering completion end position P 4 , and the coordinates of each location point are recorded as (X 1 ,Y 2 ), (X 2 ,Y 2 ), (X 3 ,Y 3 ), (X 4 ,Y 4 ), line segment P 1 P 2 ...

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Abstract

The invention discloses a curve adjusting method in AGV laser navigation line calibration. The curve adjusting method comprises the following steps: 1, determining the AGV turning angle and turning radius at a curve; step 2, carrying out radius compensation calculation after AGV lateral deviation; 3, performing radius compensation calculation after AGV angle offset; and finally, adjusting the steering wheel angle of the AGV in real time according to the radius obtained after compensation calculation in the third step, and completing curve advancing. The method provided by the invention can effectively compensate and calculate the turning radius of the AGV, plays a guiding role in AGV line calibration, and can effectively improve the line precision of the AGV.

Description

technical field [0001] The invention relates to the technical field of AGV line calibration, in particular to a method for adjusting curves in AGV laser navigation line calibration. Background technique [0002] Laser navigation system is a new navigation application technology developed with the continuous maturity of laser technology. It is suitable for operation navigation and field survey and orientation under poor line of sight. It is very desirable to use it as a means of civilian or military navigation. The laser ship navigation system is still in its infancy, and the integration of the system still needs to be further strengthened. However, it is foreseeable that with the continuous enrichment and improvement of laser navigation technology, it will definitely lead to a new round of upsurge in navigation technology research. At present, the laser-guided AGV mostly uses laser sensing instruments, and guides the laser signal returned by the laser sensing instrument to t...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0219G05D1/0221
Inventor 袁志勇李义邹攀
Owner 湖南驰众机器人有限公司
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