Control method and device for automated guided vehicle
An automatic guided vehicle and speed control technology, applied in the computer field, can solve the problems of low fixed-point parking accuracy and limitations, and achieve the effect of strong practical application value, cost saving, and improvement of automatic parking accuracy.
Pending Publication Date: 2021-12-10
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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[0003] However, the existing schemes using speed planning for control is an open-loop control, and the precision of fixed-point parking is not high; other AGV position control based on AGV kinematics models or dynamic models requires the establishment of accurate mathematical models. restricted in
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[0035] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
[0036] In recent years, automated guided vehicles (AGVs) have been used more and more widely in industrial production processes to automate the transportation of goods, parts and other items. As an automatic carrier, AGV must have good speed control and high-precision fixed-point parking capabilities. When it can accurately dock at the desired position, it can cooperate w...
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The invention discloses a control method and device for an automated guided vehicle, and relates to the technical field of computers. A specific embodiment of the method comprises the steps of: generating a planning instruction according to a driving task, wherein the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position; controlling the automated guided vehicle to drive in a speed control mode according to the planned path based on the planned speed information; acquiring position information of the automated guided vehicle in real time, and calculating a real-time distance between the automated guided vehicle and the target position according to the position information; and in response to the real-time distance reaching a set deceleration distance, switching from the speed control mode to a position control mode, and controlling the automated guided vehicle to continuously drive until the automated guided vehicle reaches the target position. According to the control method and device, the fixed-point parking precision of the automated guided vehicle is improved, the practical application value is high, the cost is saved, and the user experience is improved.
Description
technical field [0001] The invention relates to the field of computer technology, in particular to a control method and device for an automatic guided vehicle. Background technique [0002] In recent years, automatic guided vehicles (AGV) are mainly used in the industrial production process to realize the automatic transportation of goods, parts and other items. As an automatic delivery tool, it must have good speed control and high-precision fixed-point parking capabilities. Only When it can accurately dock at the desired position, it can cooperate with other equipment. At present, most of the solutions are directly planning the speed of the AGV, and it is expected that the speed of the AGV when it reaches the target parking point is 0, that is, the fixed-point parking is completed. [0003] However, the existing schemes using speed planning for control is an open-loop control, and the precision of fixed-point parking is not high; other AGV position control based on AGV ki...
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IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0259G05D1/0223G05D1/0225G05D1/0221G05D1/028G05D1/0285
Inventor 甄硕
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD