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AGV force control method and device, electronic equipment and storage medium

A technology of virtual force and control force, applied in two-dimensional position/channel control, transportation and packaging, non-electric variable control, etc., can solve problems such as AGV force imbalance, AGV deviation, and target parameter differences, and achieve Improve the anti-interference performance and enhance the control effect

Active Publication Date: 2021-10-19
JIHUA LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] For the two-wheel differential AGV with two driving sources, the AGV travels according to the planned route, and the AGV is controlled to drive to the target position at the target speed by setting the output parameters of the driving source. It is inevitable that there will be interference in the process, such as uneven road surface, unbalanced AGV force and AGV being disturbed by the outside world, etc., resulting in differences between the actual speed of the AGV, the actual trajectory and other motion parameters and the target parameters, which will eventually cause the AGV to deviate from the planned route. Inability to drive to target location without error
[0003] For the above problems, there is no effective technical solution

Method used

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  • AGV force control method and device, electronic equipment and storage medium
  • AGV force control method and device, electronic equipment and storage medium
  • AGV force control method and device, electronic equipment and storage medium

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Embodiment Construction

[0066] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. 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 of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

[0067] It should ...

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Abstract

The invention relates to the field of AGV control, and particularly provides an AGV force control method and device, electronic equipment and a storage medium. The method is applied to a two-wheel differential AGV provided with two driving sources. The method comprises the following steps that obtaining motion parameters of the AGV; calculating virtual force and virtual torque according to the motion parameters of the AGV; calculating a control force and a control torque required by the AGV according to the virtual force and the virtual torque; calculating the driving torques of the two driving sources according to the control force and the control torque; according to the driving torques of the two driving sources, controlling the two driving sources to work, so that the output torques of the two driving sources are equal to the corresponding driving torques; according to the method, the AGV can be effectively ensured to move to the target position at the target speed according to the planned route under the condition that the AGV is interfered.

Description

technical field [0001] The invention relates to the field of AGV control, in particular to an AGV force control method, device, electronic equipment and storage medium. Background technique [0002] For the two-wheel differential AGV with two driving sources, the AGV travels according to the planned route, and the AGV is controlled to drive to the target position at the target speed by setting the output parameters of the driving source. It is inevitable that there will be interference in the process, such as uneven road surface, unbalanced AGV force and AGV being disturbed by the outside world, etc., resulting in differences between the actual speed of the AGV, the actual trajectory and other motion parameters and the target parameters, which will eventually cause the AGV to deviate from the planned route. Unable to drive to target location without error. [0003] For the above problems, there is no effective technical solution at present. Contents of the invention [0...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0278G05D1/0276
Inventor 雷成林刘家骏何嘉臻矫日华
Owner JIHUA LAB