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AGV track following method and device and processing equipment

A trajectory and target trajectory technology, applied in two-dimensional position/course control, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as high hardware requirements, high computing pressure, and low processing efficiency , to achieve the effects of improving processing efficiency, reducing the amount of calculation and pressure of calculation, reducing hardware cost and response delay

Active Publication Date: 2021-01-05
GUANGDONG JATEN ROBOT & AUTOMATION
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Problems solved by technology

[0004]However, in related technologies, multiple motion parameters of the AGV need to be controlled, and the hardware requirements for the control system are relatively high, which is prone to high computing pressure and low processing efficiency. Low, delayed response issues

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  • AGV track following method and device and processing equipment
  • AGV track following method and device and processing equipment
  • AGV track following method and device and processing equipment

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Embodiment Construction

[0063] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments.

[0064] Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0065] In the description of this application, it should be noted that if the orientation or positio...

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Abstract

The invention provides an AGV track following method and device and processing equipment, and relates to the technical field of intelligent control. The method comprises the following steps: acquiringdriving state information of the AGV at the current moment collected by a laser navigator of the AGV; acquiring a steering wheel angle acquired by a steering encoder of the AGV at the current moment;determining a driving state deviation of the AGV according to the driving state information and a preset target track of the AGV; according to the driving state deviation and the steering wheel angleat the current moment, acquiring a future output sequence, which comprises the control increment of a steering wheel angle at each control time point in the control time domain; and according to thesteering wheel angle at the current moment and the future output sequence, adjusting the steering wheel angle at each control time point. The driving state information and the steering wheel angle areused as state variables, and the steering wheel angle is used as a control variable, so that the hardware cost and the reaction delay are reduced, the calculation amount and the calculation pressureare reduced, and the processing efficiency is improved.

Description

technical field [0001] The present invention relates to the technical field of intelligent control, in particular to an AGV trajectory following method, device and processing equipment. Background technique [0002] AGV (Automated Guided Vehicle) refers to a transport vehicle that has an automatic navigation device, can drive along a prescribed navigation path, and has safety protection and various transfer functions. As AGV has received more and more popularity, the control of AGV has also become crucial. [0003] In related technologies, a plurality of motion parameters of the AGV are controlled through an MPC (Model Predictive Control, Model Predictive Control) algorithm, so that the AGV can drive along a prescribed navigation route. [0004] However, in related technologies, multiple motion parameters of the AGV need to be controlled, and the hardware requirements for the control system are relatively high, which is prone to problems such as high computing pressure, low...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0231
Inventor 曹杰华
Owner GUANGDONG JATEN ROBOT & AUTOMATION
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