A method for improving the horizontal movement precision of a magnetic navigation AGV

Abstract

The application provides a method for improving the lateral movement precision of a magnetic navigation AGV, wherein a gyroscope is installed on the AGV, the AGV acquires a lateral movement path command, and performs a lateral movement action according to the lateral movement path command; during the lateral movement, the fixed lateral movement posture angle when straight movement is converted into lateral movement and the real-time lateral movement posture angle during the lateral movement are acquired through the gyroscope; the vehicle body posture deviation during the lateral movement is acquired according to the difference between the fixed lateral movement posture angle and the real-time lateral movement posture angle; the target four-wheel speed of the AGV is acquired according to the vehicle body posture deviation, and the AGV is operated according to the target four-wheel speed, so that the AGV moves laterally stably. The above scheme controls the lateral movement posture through the gyroscope, significantly improves the stability and navigation positioning precision of the double-differential magnetic guide AGV during lateral movement, avoids the mutual pulling of the front and rear drives when the AGV moves laterally, improves the lateral movement precision of the AGV, and reduces the accident rate.

Description

Technical Field

[0001] This application relates to the field of AGV navigation technology, specifically to a method for improving the lateral movement accuracy of magnetically navigated AGVs. Background Technology

[0002] With the development of industrial automation and smart factories, AGVs (Automated Guided Vehicles) play an indispensable role in improving productivity and enhancing competitiveness. As a crucial core component of automation upgrades, AGVs are widely used in core business processes such as warehousing and production in manufacturing enterprises. Due to the development of AGV technology, the application scenarios of AGVs are becoming increasingly complex, and AGV tracks now involve multiple intersections and stations.

[0003] Due to factory space constraints, situations inevitably arise where lateral material transport is necessary. In such cases, AGVs must transport materials smoothly and evenly to designated locations. Since AGVs often dock with industrial robots, they need to maintain zero forward and backward deviation during lateral movement and in stopping areas, and complete stopping with specified precision so that the robot can grasp the materials. This requires the AGV's main controller to allocate the speed of the four wheels based on real-time sensor feedback to reduce lateral deviation. Currently, existing technology often uses only two potentiometers for independent front and rear drive correction during lateral navigation. However, when correcting deviation, the AGV's four wheels correct independently, which easily leads to mutual pulling, resulting in low lateral movement accuracy and a high failure rate. Summary of the Invention

[0004] This application provides a method to improve the lateral movement accuracy of a magnetically guided AGV, avoiding mutual pulling between the four wheels of the AGV, thereby improving the lateral movement accuracy of the AGV. The technical solution is as follows.

[0005] On one hand, a method for improving the lateral movement accuracy of a magnetically guided AGV is provided. The method is applied to the AGV, which is equipped with a gyroscope. The method includes:

[0006] Obtain the traverse path command and execute the traverse action according to the traverse path command;

[0007] The gyroscope is used to obtain the fixed lateral movement attitude angle of the AGV when it turns from straight to lateral movement, as well as the real-time lateral movement attitude angle during the lateral movement process.

[0008] The vehicle posture deviation of the AGV during the lateral movement is obtained based on the difference between the fixed lateral posture angle and the real-time lateral posture angle.

[0009] Based on the vehicle body posture deviation, the target four-wheel speed of the AGV is obtained, and the AGV operates according to the target four-wheel speed to make the AGV move laterally smoothly.

[0010] In one embodiment, obtaining the target four-wheel speed of the AGV based on the vehicle body posture deviation, and operating according to the target four-wheel speed to ensure smooth lateral movement of the AGV, includes:

[0011] When the vehicle body posture deviation is within the target deviation range, the current four-wheel speed of the AGV is maintained to ensure that the AGV moves smoothly laterally.

[0012] In one embodiment, the AGV includes a front drive unit and a rear drive unit, each equipped with a potentiometer; the step of obtaining the target four-wheel speed of the AGV based on the vehicle body attitude deviation, and operating according to the target four-wheel speed to ensure smooth lateral movement of the AGV includes:

[0013] When the vehicle body attitude deviation is not within the target deviation range, the wheel angle feedback value is obtained through the potentiometer;

[0014] Based on the vehicle body attitude deviation, the intermediate speed of the front drive unit and the intermediate speed of the rear drive unit are obtained respectively.

[0015] The target four-wheel speed of the AGV is obtained based on the intermediate speed of the front drive unit, the intermediate speed of the rear drive unit, and the wheel angle feedback value, and the AGV operates according to the target four-wheel speed to make the AGV move laterally smoothly.

[0016] In one implementation, obtaining the traverse path command and performing the traverse action according to the traverse path command includes:

[0017] Obtain the lateral movement path command sent by the host computer and obtain the position information of the AGV; the lateral movement path command includes the initial lateral movement position and the specified lateral movement position;

[0018] When the AGV reaches the initial lateral movement position, the initial value of the gyroscope angle of the AGV at the initial lateral movement position is obtained;

[0019] The lateral movement is executed based on the lateral path command, the initial gyroscope angle value, and the position information.

[0020] In one implementation, obtaining the lateral movement path command sent by the host computer and obtaining the position information of the AGV includes:

[0021] The system obtains the route for the material delivery task and waits in the waiting area for the lateral movement path command sent by the host computer; the route includes the waiting area, the starting path, the lateral movement area, the loading area, and the return route.

[0022] After receiving the traverse path command in the standby area, the device enters the traverse area via the starting path; the traverse area includes electronic tag cards.

[0023] Obtain the electronic tag value in the electronic tag card, and obtain the location information of the AGV based on the electronic tag value.

[0024] In one embodiment, after performing the lateral movement according to the lateral path command and the initial value of the gyroscope angle, the method further includes:

[0025] Once the AGV has moved to the designated position and completed the material delivery, it returns to the standby area to await the next execution command.

[0026] In one implementation, the step of performing a lateral movement based on the lateral path command, the initial value of the gyroscope angle, and the position information includes:

[0027] Based on the lateral movement path command, the initial value of the gyroscope angle, and the position information, the lateral movement direction and lateral movement angle of the AGV are obtained;

[0028] The lateral movement is performed according to the lateral direction and the lateral angle.

[0029] In another aspect, an AGV is provided, which includes a front drive unit and a rear drive unit, and a gyroscope is installed on the AGV; a potentiometer is installed on the front drive unit and the rear drive unit respectively;

[0030] The AGV is used for:

[0031] Obtain the traverse path command and execute the traverse action according to the traverse path command;

[0032] The gyroscope is used to obtain the fixed lateral movement attitude angle of the AGV when it turns from straight to lateral movement, as well as the real-time lateral movement attitude angle during the lateral movement process.

[0033] The vehicle posture deviation of the AGV during the lateral movement is obtained based on the difference between the fixed lateral posture angle and the real-time lateral posture angle.

[0034] Based on the vehicle body posture deviation, the target four-wheel speed of the AGV is obtained, and the AGV operates according to the target four-wheel speed to make the AGV move laterally smoothly.

[0035] Furthermore, an apparatus for improving the lateral movement accuracy of a magnetically guided AGV is provided, the apparatus comprising:

[0036] A transverse path command acquisition module is used to acquire transverse path commands and execute transverse movements according to the transverse path commands;

[0037] The lateral attitude angle acquisition module is used to acquire the fixed lateral attitude angle of the AGV when it turns from straight to lateral movement and the real-time lateral attitude angle during the lateral movement process through the gyroscope.

[0038] The vehicle posture deviation acquisition module is used to acquire the vehicle posture deviation of the AGV during the lateral movement process based on the difference between the fixed lateral posture angle and the real-time lateral posture angle.

[0039] The smooth lateral movement module is used to obtain the target four-wheel speed of the AGV based on the vehicle body posture deviation, and to operate according to the target four-wheel speed so that the AGV moves smoothly laterally.

[0040] In another aspect, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, the at least one instruction being loaded and executed by the processor to implement a method for improving the lateral movement accuracy of a magnetically navigated AGV as described above.

[0041] In another aspect, a computer-readable storage medium is provided, wherein at least one instruction is stored therein, the at least one instruction being loaded and executed by a processor to implement a method for improving the lateral movement accuracy of a magnetically navigated AGV as described above.

[0042] The technical solution provided in this application may include the following beneficial effects:

[0043] The AGV is equipped with a gyroscope. It receives lateral movement path commands and executes lateral movements accordingly. During lateral movement, the gyroscope acquires the fixed lateral movement attitude angle when transitioning from straight to lateral movement, as well as the real-time lateral movement attitude angle. Based on the difference between the fixed and real-time lateral movement attitude angles, the AGV's body attitude deviation during lateral movement is calculated. Based on this deviation, the target four-wheel speed is determined, and the AGV operates according to this speed to ensure smooth lateral movement. This gyroscope-based lateral movement attitude control significantly improves the stability and navigation accuracy of the dual-differential magnetic guide AGV during lateral movement. It avoids the mutual pulling caused by the front and rear drives independently correcting their own deviations during lateral movement, thus improving AGV lateral movement accuracy and reducing the accident rate. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1 This is a flowchart illustrating a method for improving the lateral movement accuracy of a magnetically guided AGV, according to an exemplary embodiment.

[0046] Figure 2 This is a flowchart illustrating a method for improving the lateral movement accuracy of a magnetically guided AGV, according to an exemplary embodiment.

[0047] Figure 3 This is a flowchart illustrating a method for improving the lateral movement accuracy of a magnetically guided AGV, according to an exemplary embodiment.

[0048] Figure 4 This is a flowchart illustrating a method for improving the lateral movement accuracy of a magnetically guided AGV, according to an exemplary embodiment.

[0049] Figure 5 A detailed implementation roadmap of the AGV involved in the embodiments of this application is shown.

[0050] Figure 6 This is a structural block diagram illustrating an apparatus for improving the lateral movement accuracy of a magnetically guided AGV, according to an exemplary embodiment.

[0051] Figure 7 A structural block diagram of a computer device illustrated in an exemplary embodiment of this application is shown. Detailed Implementation

[0052] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] It should be understood that the term "instruction" mentioned in the embodiments of this application can be a direct instruction, an indirect instruction, or an indication of a relationship. For example, A instructing B can mean that A directly instructs B, such as B being able to obtain information through A; it can also mean that A indirectly instructs B, such as A instructing C, so B can obtain information through C; or it can mean that there is a relationship between A and B.

[0054] In the description of the embodiments of this application, the term "correspondence" may indicate that there is a direct or indirect correspondence between two things, or that there is an association between two things, or that there is a relationship of instruction and being instructed, configuration and being configured, etc.

[0055] In the embodiments of this application, "predefined" can be achieved by pre-storing corresponding codes, tables or other means that can be used to indicate relevant information in the device (e.g., including terminal devices and network devices). This application does not limit the specific implementation method.

[0056] Figure 1 This is a schematic diagram illustrating the structure of an AGV according to an exemplary embodiment. Figure 1 As shown, the AGV includes a front drive unit and a rear drive unit, and a gyroscope is installed on the AGV; potentiometers are respectively installed on the front drive unit and the rear drive unit.

[0057] This AGV is used for:

[0058] Obtain the traverse path command and execute the traverse action according to the traverse path command;

[0059] The gyroscope is used to obtain the fixed lateral movement attitude angle of the AGV when it turns from straight to lateral movement, as well as the real-time lateral movement attitude angle during the lateral movement process.

[0060] The vehicle posture deviation of the AGV during the lateral movement is obtained based on the difference between the fixed lateral posture angle and the real-time lateral posture angle.

[0061] Based on the vehicle's posture deviation, the target four-wheel speed of the AGV is obtained, and the AGV operates according to the target four-wheel speed to ensure smooth lateral movement.

[0062] Furthermore, such as Figure 1 As shown, a gyroscope is installed at the center of the AGV. This gyroscope is used to measure the vehicle's attitude. For example, when the AGV is moving in a straight line and then turning laterally, the gyroscope measures the current attitude of the vehicle to obtain the aforementioned fixed lateral attitude angle. During the lateral movement of the AGV, the gyroscope also measures the attitude of the vehicle in real time to obtain the aforementioned real-time lateral attitude angle, thereby enabling real-time monitoring of the vehicle's attitude. When attitude deviation occurs, it can be detected in time and feedback can be provided.

[0063] Furthermore, such as Figure 1As shown, the AGV includes a front drive unit (referring to the AGV's front two wheels, which are located on the right side of the vehicle body during lateral movement) and a rear drive unit (referring to the AGV's rear two wheels, which are located on the left side of the vehicle body during lateral movement). A potentiometer is installed on the front drive unit, and a potentiometer is also installed on the rear drive unit. The potentiometers are used to measure the wheel angles; that is, the potentiometer installed on the front drive unit measures the wheel angles of the two wheels of the front drive unit, and the potentiometer installed on the rear drive unit measures the wheel angles of the two wheels of the rear drive unit.

[0064] Furthermore, the front drive unit is the primary drive, and the rear drive unit is the driven wheel. Therefore, the front drive unit can be defined as the lateral navigation control unit, and the rear drive unit as the following control unit. The front drive unit runs along the magnetic strip to ensure the AGV's direction of travel, while the rear drive unit, as the driven wheel, dynamically adjusts with the primary wheel. This enables lateral navigation using a single magnetic strip. In contrast, the commonly used dual-magnetic-strip lateral navigation requires extremely high parallelism in the magnetic strip installation, and the independent control of the front and rear drive units makes it impossible to ensure consistent states, which can easily lead to slippage and pulling, causing the vehicle to tilt. The single-magnetic-strip lateral navigation scheme ensures that the states of the front and rear drive units remain consistent, and the gyroscope ensures that the vehicle maintains the same posture as its initial state during movement.

[0065] Furthermore, with the cooperation of a gyroscope and a potentiometer, the gyroscope monitors the vehicle's attitude during lateral movement. When an attitude deviation occurs, the target four-wheel speed of the AGV is calculated based on the deviation and then allocated accordingly to the four wheels of the AGV (front drive unit and rear drive unit), ensuring that each wheel moves laterally at its corresponding target speed, thus guaranteeing smooth lateral movement. In calculating the target four-wheel speed, wheel angle feedback values ​​measured by the potentiometer are also acquired. A comprehensive analysis of the vehicle attitude deviation and wheel angle feedback values ​​yields the final target four-wheel speed.

[0066] In summary, the above solution uses a gyroscope for lateral attitude control and a potentiometer for wheel angle measurement and control, which significantly improves the stability and navigation positioning accuracy of the dual differential magnetic AGV during lateral movement. It avoids the mutual pulling caused by the front and rear drives correcting their own deviations during lateral movement, thus improving the lateral movement accuracy of the AGV and reducing the accident rate.

[0067] The above solution uses a single magnetic strip for lateral navigation and an auxiliary gyroscope for lateral attitude control, which significantly improves the stability and navigation positioning accuracy of the dual differential magnetic AGV during lateral movement. It avoids the situation where the front and rear drives correct their own deviations during lateral movement of the dual magnetic strips, and the motion state does not meet the kinematic equations, resulting in a pulling situation.

[0068] Figure 2This is a flowchart illustrating a method for improving the lateral movement accuracy of a magnetically guided AGV, according to an exemplary embodiment. The method is applied to an AGV equipped with a gyroscope, and the AGV can be as follows: Figure 1 The AGV shown is an example. Figure 2 As shown, the method may include the following steps:

[0069] Step S201: Obtain the traverse path command and execute the traverse operation according to the traverse path command.

[0070] In one possible implementation, when the AGV receives a lateral movement path command sent by the host computer, it will enter the lateral movement area and perform lateral movement according to the lateral movement path command. The lateral movement path command should include an initial lateral movement position and a specified lateral movement position. The initial lateral movement position refers to the position where the AGV needs to start performing lateral movement, and the specified lateral movement position refers to the position where the AGV needs to stop performing lateral movement after performing lateral movement.

[0071] Furthermore, electronic tags should be installed along the lateral movement path of the AGV. These electronic tags correspond to landmarks and are used to identify the location of the AGV. The AGV is equipped with a reader corresponding to the electronic tag. During the journey, the AGV reads the electronic tag through the reader to identify the specific location of the AGV.

[0072] Step S202: Obtain the fixed lateral movement attitude angle of the AGV when it turns from straight to lateral movement and the real-time lateral movement attitude angle during the lateral movement process through the gyroscope.

[0073] In one possible implementation, when the AGV is moving from a straight line to a lateral movement, it uses a gyroscope to measure the current vehicle posture to obtain the aforementioned fixed lateral movement posture angle. Correspondingly, during the lateral movement, the AGV also uses a gyroscope to measure the vehicle posture in real time to obtain the aforementioned real-time lateral movement posture angle, thereby monitoring the vehicle posture in real time. When posture deviation occurs, it can be detected in time and feedback can be provided.

[0074] Step S203: Based on the difference between the fixed lateral attitude angle and the real-time lateral attitude angle, obtain the vehicle body attitude deviation of the AGV during the lateral movement process.

[0075] In one possible implementation, during the lateral movement, the gyroscope on the AGV monitors the vehicle's posture in real time, obtains the AGV's real-time lateral posture angle, and performs posture analysis based on the comparison between the fixed lateral posture angle and the real-time lateral posture angle to obtain the AGV's posture deviation during the lateral movement, thereby correcting the posture deviation.

[0076] Step S204: Based on the vehicle body attitude deviation, obtain the target four-wheel speed of the AGV, and run according to the target four-wheel speed to make the AGV move laterally smoothly.

[0077] In one possible implementation, when a posture deviation occurs, the correct speeds corresponding to the four wheels of the AGV can be calculated based on the posture deviation of the vehicle body, namely the target four-wheel speeds. At this time, the target four-wheel speeds of the AGV are calculated based on the posture deviation of the vehicle body, and the target four-wheel speeds are allocated to the four wheels of the AGV (front drive unit and rear drive unit) accordingly, so that the four wheels of the AGV move laterally according to the corresponding target speed, thereby ensuring that the AGV moves laterally smoothly.

[0078] In summary, the above-mentioned solution uses a gyroscope for lateral attitude control, which significantly improves the stability and navigation positioning accuracy of the dual differential magnetic guide AGV during lateral movement. It avoids the mutual pulling caused by the front and rear drives correcting their own deviations during lateral movement, thereby improving the lateral movement accuracy of the AGV and reducing the accident rate.

[0079] Figure 3 This is a flowchart illustrating a method for improving the lateral movement accuracy of a magnetically guided AGV according to an exemplary embodiment. The method is applied to an AGV equipped with a gyroscope. The AGV includes a front drive unit and a rear drive unit, each equipped with a potentiometer. The AGV can be as follows: Figure 1 The AGV shown is an example. Figure 3 As shown, the method may include the following steps:

[0080] Step S301: Obtain the traverse path command and execute the traverse operation according to the traverse path command.

[0081] In one possible implementation, step S301 includes: S3011, obtaining the lateral movement path command sent by the host computer and obtaining the position information of the AGV; the lateral movement path command includes the initial lateral movement position and the specified lateral movement position;

[0082] Step S3012: When the AGV reaches the initial lateral movement position, obtain the initial value of the gyroscope angle of the AGV at the initial lateral movement position;

[0083] Step S3013: Execute the lateral movement operation according to the lateral movement path command, the initial value of the gyroscope angle, and the position information.

[0084] In one possible implementation, step S3011 includes:

[0085] Obtain the route for the material delivery task and wait in the waiting area for the lateral movement path command sent by the host computer; the route includes the waiting area, the departure path, the lateral movement area, the loading area, and the return route;

[0086] After receiving the traverse path command in the standby area, the device enters the traverse area via the departure path; the traverse area includes electronic tag cards.

[0087] Obtain the electronic tag value from the electronic tag card, and obtain the location information of the AGV based on the electronic tag value.

[0088] In one possible implementation, step S3013 includes: obtaining the lateral movement direction and lateral movement angle of the AGV based on the lateral movement path command, the initial value of the gyroscope angle, and the position information;

[0089] Perform the lateral movement based on the lateral direction and the lateral angle.

[0090] In one possible implementation, after step S3013 is completed, step S301 further includes: when the AGV moves laterally to the designated laterally position and completes material delivery, it returns to the standby area to wait for the next execution command.

[0091] Furthermore, as mentioned above, the AGV's route includes a waiting area (which can be a charging point), a departure path, a lateral movement area, a loading area, and a return route. The lateral movement area contains electronic tags to determine whether the AGV has reached its designated position. During lateral movement, the AGV uses gyroscope angle feedback to determine whether adjusting the drive wheel speed is necessary to adjust the vehicle's posture and ensure stable and balanced operation. After reaching the designated position and completing material delivery, the AGV returns to the waiting area to charge and await the next command.

[0092] Please refer to the following at this time. Figure 4The flowchart illustrates a method for improving the lateral movement accuracy of a magnetically guided AGV. The AGV pre-acquires the route for a material delivery task and waits in a standby area for a lateral movement path command sent by a host computer. After receiving the lateral movement path command from the host computer in the standby area, the AGV moves to the lateral movement area and reads the electronic tag value (the electronic tag can use radio frequency identification technology, RFID) to determine the AGV's running position. When the AGV reaches the initial lateral movement position, the gyroscope angle at that initial lateral movement position is used as the initial value (i.e., the aforementioned acquisition of the initial gyroscope angle value). Based on the initial gyroscope angle value, the lateral movement direction and angle of the AGV are determined. The AGV's drive wheels (front drive unit and rear drive unit) are rotated to the initial lateral movement position in a lateral movement posture. After the AGV's lateral movement posture is prepared, the lateral movement operation is performed. After the lateral movement operation is completed, the AGV returns to the standby area to wait for subsequent commands from the host computer.

[0093] Step S302: Obtain the fixed lateral movement attitude angle of the AGV when it turns from straight to lateral movement and the real-time lateral movement attitude angle during the lateral movement process through the gyroscope.

[0094] Furthermore, after taking the gyroscope angle of the AGV when it turns from straight to lateral movement at the initial lateral position as the initial value (i.e., the initial value of the gyroscope angle mentioned above), the drive wheel is rotated according to the initial value of the gyroscope angle to enter the lateral movement preparation and execute the lateral movement operation. The AGV moves laterally along the central magnetic strip of the front drive unit. During the lateral movement operation, the real-time lateral movement attitude angle of the AGV is also measured by the gyroscope to monitor the lateral movement attitude.

[0095] Step S303: Based on the difference between the fixed lateral attitude angle and the real-time lateral attitude angle, obtain the vehicle body attitude deviation of the AGV during the lateral movement process.

[0096] Step S304: When the vehicle body attitude deviation is within the target deviation range, maintain the current four-wheel speed of the AGV to ensure that the AGV moves smoothly laterally.

[0097] Furthermore, the target deviation range can be ±1°, so as to always keep the gyroscope angle within ±1° and ensure that the vehicle moves smoothly and evenly.

[0098] like Figure 4 As shown, when the vehicle body attitude deviation is within ±1°, the AGV maintains its current four-wheel speed (the current four-wheel speed of the AGV is the target four-wheel speed allocated to the AGV according to the standard) to make the AGV move laterally smoothly.

[0099] Step S305: When the vehicle body attitude deviation is not within the target deviation range, obtain the wheel angle feedback value through the potentiometer.

[0100] Furthermore, such as Figure 4 As shown, in order to ensure that the gyroscope angle is always maintained within ±1° and to ensure that the vehicle body moves smoothly and evenly, when the vehicle body attitude deviation is not within the target deviation range (±1°), the speed of the AGV's drive wheels can be adjusted according to the wheel angle feedback values ​​of the potentiometers of the front drive unit and the rear drive unit, so that the AGV runs smoothly without being pulled.

[0101] Step S306: Based on the vehicle body attitude deviation, obtain the intermediate speed of the front drive unit and the intermediate speed of the rear drive unit respectively.

[0102] Step S307: Based on the intermediate speed of the front drive unit, the intermediate speed of the rear drive unit, and the wheel angle feedback value, obtain the target four-wheel speed of the AGV, and run according to the target four-wheel speed to make the AGV move laterally smoothly.

[0103] Furthermore, such as Figure 4 As shown, the AGV distributes the center speed (i.e., the aforementioned intermediate speed) to the left and right drive wheels based on the vehicle body attitude deviation measured by the gyroscope. Then, based on the center speed and the wheel angle feedback value from the potentiometer, it distributes the speed to the four drive wheels (i.e., the aforementioned target four-wheel speed). This ensures that the rear drive unit of the AGV always maintains the same deviation angle as the front drive unit, thus maintaining balanced force on both sets of drive wheels and preventing pulling. After the AGV completes the correction, the gyroscope deviation angle is within ±1°. Afterward, the AGV operates at the standard distributed speed (the aforementioned target four-wheel speed). After the AGV completes its lateral movement, it awaits further commands from the host computer.

[0104] In practical implementation, when the AGV performs lateral movement, the front drive unit can be defined as the lateral navigation control unit, and the rear drive unit as the following control unit. When the AGV switches from straight-line to lateral movement mode, the front and rear drive units are first controlled to rotate in place to adjust the orientation. The adjustment is determined to be 90° or -90° depending on the lateral movement direction. The angle is calibrated using a polar coordinate system with the straight-line forward direction as 0°, the vehicle center as the origin, clockwise as positive angles, and counterclockwise as negative angles.

[0105] The current gyroscope angle during the straight-line to lateral movement is taken as the fixed attitude angle for lateral movement (i.e., the aforementioned fixed lateral movement attitude angle). During the lateral movement, the difference between the real-time gyroscope angle (i.e., the aforementioned real-time lateral movement attitude angle) and the fixed lateral movement attitude angle is the vehicle body attitude deviation during the lateral movement. The vehicle body attitude deviation is used to distribute the center speed of the front and rear drive units, thereby correcting the vehicle body attitude deviation.

[0106] The front drive unit of the AGV, as an independent differential correction model, can perform independent correction control. It can use a pre-aiming correction algorithm to convert the magnetic stripe deviation value d into the target heading angle θ, and then calculate the speeds of the left and right wheels of the front drive unit through the differential motion control equation. If the magnetic drive center distance is defined as L, the drive wheel wheel track as M, and the turning radius as R, given L, then R = L * tan(90° - ABS(θ)). According to the formula V = ω * r, i.e., linear velocity = angular velocity * radius, the drive wheel speeds are V1 = (RM / 2)R * V_f and V2 = (R + M / 2)R * V_f, where V_f is the center velocity of the front drive unit.

[0107] The rear drive unit of the AGV needs to follow the angle changes of the front drive unit. The principle is that in the linkage model of the dual differential vehicle body, the speed and angle of the front and rear drive units must satisfy the following relationship: V_f*Cos(A)=V_r*Cos(B). A and B represent the angles of the front and rear drive units, respectively.

[0108] It should be noted that ensuring that the front and rear drive units have the same angle A=B does not necessarily eliminate the pull between the centers of the front and rear drive units. This is because, depending on the vehicle's attitude deviation, the center speeds of the front and rear drive units are not equal, V_f≠V_r. However, if the attitude correction strength is sufficient, V_f≈V_r. Therefore, this angle-following method ensures that the motion control between the front and rear drive units is within an acceptable range.

[0109] The angle of the rear drive unit can be adjusted proportionally using the difference between the front and rear angles. The speeds of the two drive wheels of the rear drive unit are V3=(1+K*(AB) / 90.0)*V_r and V4=(1-K*(AB) / 90.0)*V_r, respectively; K is the proportional adjustment coefficient and V_r is the center speed of the rear drive unit.

[0110] It should be noted that in the actual programming process, it is necessary to limit the value range of some parameters to avoid drastic changes caused by the denominator being 0 or externally acquired values ​​being incorrect.

[0111] For further details, please refer to Figure 5 The diagram shows the specific implementation route of the AGV. The AGV enters the machine entrance based on the location information identified by the electronic tag card, adjusts its lateral movement posture at the initial lateral movement position, and prepares to perform lateral movement. After the lateral movement is completed, the AGV arrives at the unloading area to process the materials. Figure 5 The individual values ​​in the table represent landmark values ​​used to identify locations, such as... Figure 5In the text, 15 / 24 / 25 represents the RFID tag's location value, 24 represents the position value that the AGV sends back to the host computer based on the current location value and in the positioning state, and 25 represents the position value that the AGV sends back to the host computer based on the location value and in the release state (other location values ​​are similar and will not be elaborated here).

[0112] In summary, the above solution uses a gyroscope for lateral attitude control and a potentiometer for wheel angle measurement and control, which significantly improves the stability and navigation positioning accuracy of the dual differential magnetic AGV during lateral movement. It avoids the mutual pulling caused by the front and rear drives correcting their own deviations during lateral movement, thus improving the lateral movement accuracy of the AGV and reducing the accident rate.

[0113] The above solution uses a single magnetic strip for lateral navigation and an auxiliary gyroscope for lateral attitude control, which significantly improves the stability and navigation positioning accuracy of the dual differential magnetic AGV during lateral movement. It avoids the situation where the front and rear drives correct their own deviations during lateral movement of the dual magnetic strips, and the motion state does not meet the kinematic equations, resulting in a pulling situation.

[0114] Figure 6 This is a structural block diagram illustrating an apparatus for improving the lateral movement accuracy of a magnetically guided AGV, according to an exemplary embodiment. The apparatus includes:

[0115] The lateral path command acquisition module 601 is used to acquire lateral path commands and perform lateral movement operations according to the lateral path commands;

[0116] The lateral attitude angle acquisition module 602 is used to acquire the fixed lateral attitude angle of the AGV when it turns from straight to lateral movement and the real-time lateral attitude angle during the lateral movement process through a gyroscope.

[0117] The vehicle posture deviation acquisition module 603 is used to acquire the vehicle posture deviation of the AGV during the lateral movement process based on the difference between the fixed lateral posture angle and the real-time lateral posture angle.

[0118] The smooth lateral movement module 604 is used to obtain the target four-wheel speed of the AGV based on the vehicle body posture deviation, and to operate according to the target four-wheel speed so that the AGV moves smoothly laterally.

[0119] In one possible implementation, the smooth lateral movement module 604 is further configured to:

[0120] When the vehicle body posture deviation is within the target deviation range, the current four-wheel speed of the AGV is maintained to ensure that the AGV moves smoothly laterally.

[0121] In one possible implementation, the AGV includes a front drive unit and a rear drive unit, each equipped with a potentiometer; the smooth lateral movement module 604 is further configured to:

[0122] When the vehicle body attitude deviation is not within the target deviation range, the wheel angle feedback value is obtained through the potentiometer;

[0123] Based on the vehicle body attitude deviation, the intermediate speed of the front drive unit and the intermediate speed of the rear drive unit are obtained respectively.

[0124] The target four-wheel speed of the AGV is obtained based on the intermediate speed of the front drive unit, the intermediate speed of the rear drive unit, and the wheel angle feedback value, and the AGV operates according to the target four-wheel speed to make the AGV move laterally smoothly.

[0125] In one possible implementation, the traverse path command acquisition module 601 is further configured to:

[0126] Obtain the lateral movement path command sent by the host computer and obtain the position information of the AGV; the lateral movement path command includes the initial lateral movement position and the specified lateral movement position;

[0127] When the AGV reaches the initial lateral movement position, the initial value of the gyroscope angle of the AGV at the initial lateral movement position is obtained;

[0128] The lateral movement is executed based on the lateral path command, the initial gyroscope angle value, and the position information.

[0129] In one possible implementation, the traverse path command acquisition module 601 is further configured to:

[0130] The system obtains the route for the material delivery task and waits in the waiting area for the lateral movement path command sent by the host computer; the route includes the waiting area, the starting path, the lateral movement area, the loading area, and the return route.

[0131] After receiving the traverse path command in the standby area, the device enters the traverse area via the starting path; the traverse area includes electronic tag cards.

[0132] Obtain the electronic tag value in the electronic tag card, and obtain the location information of the AGV based on the electronic tag value.

[0133] In one possible implementation, the device is further used to:

[0134] Once the AGV has moved to the designated position and completed the material delivery, it returns to the standby area to await the next execution command.

[0135] In one possible implementation, the traverse path command acquisition module 601 is further configured to:

[0136] Based on the lateral movement path command, the initial value of the gyroscope angle, and the position information, the lateral movement direction and lateral movement angle of the AGV are obtained;

[0137] The lateral movement is performed according to the lateral direction and the lateral angle.

[0138] In summary, the above-mentioned solution uses a gyroscope for lateral attitude control, which significantly improves the stability and navigation positioning accuracy of the dual differential magnetic guide AGV during lateral movement. It avoids the mutual pulling caused by the front and rear drives correcting their own deviations during lateral movement, thereby improving the lateral movement accuracy of the AGV and reducing the accident rate.

[0139] Please see Figure 7 This is a schematic diagram of a computer device provided according to an exemplary embodiment of the present application. The computer device includes a memory and a processor. The memory is used to store a computer program. When the computer program is executed by the processor, it implements the above-described method for improving the lateral movement accuracy of a magnetic navigation AGV.

[0140] The processor can be a central processing unit (CPU). It can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof.

[0141] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods in the embodiments of this application. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and modules stored in the memory, thereby implementing the methods in the above-described embodiments.

[0142] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0143] In one exemplary embodiment, a computer-readable storage medium is also provided for storing at least one computer program, which is loaded and executed by a processor to implement all or part of the steps in the above-described method. For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, or optical data storage device, etc.

[0144] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0145] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for improving the lateral movement accuracy of a magnetically guided AGV, characterized in that, The method is applied to the AGV, which is equipped with a gyroscope. The AGV includes a front drive unit and a rear drive unit, and potentiometers are respectively installed on the front drive unit and the rear drive unit. The method includes: Obtain the traverse path command and execute the traverse action according to the traverse path command; The gyroscope is used to obtain the fixed lateral movement attitude angle of the AGV when it turns from straight to lateral movement, as well as the real-time lateral movement attitude angle during the lateral movement process. The vehicle posture deviation of the AGV during the lateral movement is obtained based on the difference between the fixed lateral posture angle and the real-time lateral posture angle. Based on the vehicle body posture deviation, the target four-wheel speed of the AGV is obtained, and the AGV operates according to the target four-wheel speed to make the AGV move laterally smoothly; The step of obtaining the target four-wheel speed of the AGV based on the vehicle body posture deviation, and operating according to the target four-wheel speed to ensure smooth lateral movement of the AGV includes: When the vehicle body attitude deviation is not within the target deviation range, the wheel angle feedback value is obtained through the potentiometer; Based on the vehicle body attitude deviation, the intermediate speed of the front drive unit and the intermediate speed of the rear drive unit are obtained respectively. Based on the intermediate speed of the front drive unit, the intermediate speed of the rear drive unit, and the wheel angle feedback value, the target four-wheel speed of the AGV is obtained, and the AGV operates according to the target four-wheel speed to make the AGV move laterally smoothly. The speed of the dual drive wheels of the front drive unit is obtained using the following formula: R = L * tan(90° - ABS(θ)); V1=(RM / 2)R*V_f; V2 = (R + M / 2)R * V_f; The speed and angle of the front and rear drive units satisfy the following relationship: V_f*Cos(A)=V_r*Cos(B); The rear drive unit's angle is adjusted proportionally using the difference in angle between the front and rear wheels. The speeds of the two drive wheels of the rear drive unit are as follows: V3 = (1 + K * (AB) / 90.0) * V_r; V4 = (1 - K * (AB) / 90.0) * V_r; Where θ is the target heading angle, L is the magnetic drive center distance, V1 and V2 represent the speeds of the dual drive wheels of the front drive unit, R represents the turning radius, M represents the drive wheel wheelbase, V_f represents the intermediate speed of the front drive unit, V3 and V4 represent the speeds of the dual drive wheels of the rear drive unit, K represents the proportional adjustment coefficient, A represents the angle of the front drive unit, B represents the angle of the rear drive unit, and V_r represents the intermediate speed of the rear drive unit. Among them, the angle A of the front drive unit and the angle B of the rear drive unit are calibrated in a polar coordinate system with the straight forward direction as 0° and the center of the vehicle body as the origin.

2. The method according to claim 1, characterized in that, The step of obtaining the target four-wheel speed of the AGV based on the vehicle body posture deviation, and operating according to the target four-wheel speed to ensure smooth lateral movement of the AGV includes: When the vehicle body posture deviation is within the target deviation range, the current four-wheel speed of the AGV is maintained to ensure that the AGV moves smoothly laterally.

3. The method according to claim 1 or 2, characterized in that, The step of obtaining the traverse path command and executing the traverse action according to the traverse path command includes: Obtain the lateral movement path command sent by the host computer and obtain the position information of the AGV; the lateral movement path command includes the initial lateral movement position and the specified lateral movement position; When the AGV reaches the initial lateral movement position, the initial value of the gyroscope angle of the AGV at the initial lateral movement position is obtained; The lateral movement is executed based on the lateral path command, the initial gyroscope angle value, and the position information.

4. The method according to claim 3, characterized in that, The step of obtaining the lateral movement path command sent by the host computer and obtaining the position information of the AGV includes: The system obtains the route for the material delivery task and waits in the waiting area for the lateral movement path command sent by the host computer; the route includes the waiting area, the starting path, the lateral movement area, the loading area, and the return route. After receiving the traverse path command in the standby area, the device enters the traverse area via the starting path; the traverse area includes electronic tag cards. Obtain the electronic tag value in the electronic tag card, and obtain the location information of the AGV based on the electronic tag value.

5. The method according to claim 4, characterized in that, After performing the lateral movement based on the lateral path command and the initial gyroscope angle value, the method further includes: Once the AGV has moved to the designated position and completed the material delivery, it returns to the standby area to await the next execution command.

6. The method according to claim 3, characterized in that, The step of performing a lateral movement based on the lateral movement path command, the initial value of the gyroscope angle, and the position information includes: Based on the lateral movement path command, the initial value of the gyroscope angle, and the position information, the lateral movement direction and lateral movement angle of the AGV are obtained; The lateral movement is performed according to the lateral direction and the lateral angle.

7. An AGV, characterized in that, The AGV includes a front drive unit and a rear drive unit, and a gyroscope is installed on the AGV; a potentiometer is installed on the front drive unit and the rear drive unit respectively; The AGV is used for: Obtain the traverse path command and execute the traverse action according to the traverse path command; The gyroscope is used to obtain the fixed lateral movement attitude angle of the AGV when it turns from straight to lateral movement, as well as the real-time lateral movement attitude angle during the lateral movement process. The vehicle posture deviation of the AGV during the lateral movement is obtained based on the difference between the fixed lateral posture angle and the real-time lateral posture angle. Based on the vehicle body posture deviation, the target four-wheel speed of the AGV is obtained, and the AGV operates according to the target four-wheel speed to make the AGV move laterally smoothly; The step of obtaining the target four-wheel speed of the AGV based on the vehicle body posture deviation, and operating according to the target four-wheel speed to ensure smooth lateral movement of the AGV includes: When the vehicle body attitude deviation is not within the target deviation range, the wheel angle feedback value is obtained through the potentiometer; Based on the vehicle body attitude deviation, the intermediate speed of the front drive unit and the intermediate speed of the rear drive unit are obtained respectively. Based on the intermediate speed of the front drive unit, the intermediate speed of the rear drive unit, and the wheel angle feedback value, the target four-wheel speed of the AGV is obtained, and the AGV operates according to the target four-wheel speed to make the AGV move laterally smoothly. The speed of the dual drive wheels of the front drive unit is obtained using the following formula: R = L * tan(90° - ABS(θ)); V1=(RM / 2)R*V_f; V2 = (R + M / 2)R * V_f; The speed and angle of the front and rear drive units satisfy the following relationship: V_f*Cos(A)=V_r*Cos(B); The rear drive unit's angle is adjusted proportionally using the difference in angle between the front and rear wheels. The speeds of the two drive wheels of the rear drive unit are as follows: V3 = (1 + K * (AB) / 90.0) * V_r; V4 = (1 - K * (AB) / 90.0) * V_r; Where θ is the target heading angle, L is the magnetic drive center distance, V1 and V2 represent the speeds of the dual drive wheels of the front drive unit, R represents the turning radius, M represents the drive wheel wheelbase, V_f represents the intermediate speed of the front drive unit, V3 and V4 represent the speeds of the dual drive wheels of the rear drive unit, K represents the proportional adjustment coefficient, A represents the angle of the front drive unit, B represents the angle of the rear drive unit, and V_r represents the intermediate speed of the rear drive unit. Among them, the angle A of the front drive unit and the angle B of the rear drive unit are calibrated in a polar coordinate system with the straight forward direction as 0° and the center of the vehicle body as the origin.

8. A device for improving the lateral movement accuracy of a magnetically guided AGV, characterized in that, The device is applied to the AGV, which is equipped with a gyroscope. The AGV includes a front drive unit and a rear drive unit, and potentiometers are respectively installed on the front drive unit and the rear drive unit. The device includes: A transverse path command acquisition module is used to acquire transverse path commands and execute transverse movements according to the transverse path commands; The lateral attitude angle acquisition module is used to acquire the fixed lateral attitude angle of the AGV when it turns from straight to lateral movement and the real-time lateral attitude angle during the lateral movement process through the gyroscope. The vehicle posture deviation acquisition module is used to acquire the vehicle posture deviation of the AGV during the lateral movement process based on the difference between the fixed lateral posture angle and the real-time lateral posture angle. The smooth lateral movement module is used to obtain the target four-wheel speed of the AGV based on the vehicle body posture deviation, and to operate according to the target four-wheel speed so that the AGV moves smoothly laterally; The smooth lateral movement module is also used for: When the vehicle body attitude deviation is not within the target deviation range, the wheel angle feedback value is obtained through the potentiometer; Based on the vehicle body attitude deviation, the intermediate speed of the front drive unit and the intermediate speed of the rear drive unit are obtained respectively. Based on the intermediate speed of the front drive unit, the intermediate speed of the rear drive unit, and the wheel angle feedback value, the target four-wheel speed of the AGV is obtained, and the AGV operates according to the target four-wheel speed to make the AGV move laterally smoothly. The speed of the dual drive wheels of the front drive unit is obtained using the following formula: R = L * tan(90° - ABS(θ)); V1=(RM / 2)R*V_f; V2 = (R + M / 2)R * V_f; The speed and angle of the front and rear drive units satisfy the following relationship: V_f*Cos(A)=V_r*Cos(B); The rear drive unit's angle is adjusted proportionally using the difference in angle between the front and rear wheels. The speeds of the two drive wheels of the rear drive unit are as follows: V3 = (1 + K * (AB) / 90.0) * V_r; V4 = (1 - K * (AB) / 90.0) * V_r; Where θ is the target heading angle, L is the magnetic drive center distance, V1 and V2 represent the speeds of the dual drive wheels of the front drive unit, R represents the turning radius, M represents the drive wheel wheelbase, V_f represents the intermediate speed of the front drive unit, V3 and V4 represent the speeds of the dual drive wheels of the rear drive unit, K represents the proportional adjustment coefficient, A represents the angle of the front drive unit, B represents the angle of the rear drive unit, and V_r represents the intermediate speed of the rear drive unit. Among them, the angle A of the front drive unit and the angle B of the rear drive unit are calibrated in a polar coordinate system with the straight forward direction as 0° and the center of the vehicle body as the origin.

9. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one instruction, which is loaded and executed by the processor to implement a method for improving the lateral movement accuracy of a magnetically navigated AGV as described in any one of claims 1 to 6.

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