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AGV robot guide deviation correction method

A correction method and robot technology, applied in the field of robotics, can solve the problems such as the inability to obtain the robot offset angle, the robot offset RFID center point distance, the wrong robot position information, etc., to reduce the probability of lost poses, the correction method is simple, and the efficiency is improved. sexual effect

Inactive Publication Date: 2015-03-11
SHANGHAI ELECTRICAL APPLIANCES RES INSTGROUP +3
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

Generally, AGV robots only use RFID tags to realize path navigation, such as the utility model patent CN 203405960 U, the non-directionality of RFID tags makes it impossible for the path navigation system to obtain the robot offset angle and the robot offset RFID center point distance; and the AGV robot only Use two-dimensional code labels to realize path navigation, such as the invention patent application CN 103268119 A, then two-dimensional code labels get wrong robot position information when the AGV is running at high speed

Method used

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  • AGV robot guide deviation correction method

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Experimental program
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Effect test

Embodiment 1

[0065] like Figure 6d As shown, assume that the current position of the robot is the path information contained in the two-dimensional code A, take the center point of the two-dimensional code A as the origin, and take the connection between the next destination two-dimensional code B and the current two-dimensional code A in the robot's planned path For the positive direction of the Y axis, establish a two-dimensional coordinate system.

[0066] The position of the robot pose and the two-dimensional code A is shown in the figure: the distance between the center point O of the robot and the center point of the two-dimensional code A in the horizontal direction is , the vertical distance is , the deviation angle between the current direction of the robot and the preset path is α. Assume that the linear velocity of the robot’s left wheel is V L , the linear velocity of the right wheel of the robot is V R , the linear velocity of the center point of the robot is V, the ang...

Embodiment 2

[0080] like Figure 7 As shown, when α is not less than 15°, the center of the robot is located in the fourth quadrant (the center of the robot is located in the third quadrant and the center of the robot is located in the fourth quadrant), then the AGV robot needs to stop the current movement, first correct the current deviation, and then continue to execute The specific implementation of the task is as follows:

[0081] Position ① The left wheel of the robot is ahead, and the right wheel is behind. ,

[0082] The first step is to correct the offset angle, the left wheel is backward, the right wheel is forward, and the angle a is rotated to reach the position ②, and the rotation arc length is ;

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Abstract

The invention relates to an AGV robot guide deviation correction method and belongs to the robot technology field. The AGV robot guide deviation correction method comprises steps that: step 1, Nth two-dimensional code label information and Nth RFID label information are employed; step 2, the Nth two-dimensional code label information and the Nth RFID label information are read and analyzed; step 3, the present geographic position of a robot is determined; step 4, a deviation state of the robot is determined, if the deviation state does not exist, the step 1 restarts; step 5, a path of the robot is adjusted to control a servo motor system for correcting a walking direction of the robot, after correction, when the robot walks to an N+1 two-dimensional code label or an N+1 RFID label, the step 1 restarts. The guide deviation correction method is applicable to AGV robot path navigation systems including multiple two-dimensional code labels, multiple RFID labels, a two-dimensional image acquisition system, an RFID reading system, a servo motor system, a communication system and an embedded industrial control board, is simple and easy to enforce, can automatically correct the walking direction of the robot and guarantees that the robot smoothly travels along a self path.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an AGV robot guidance deviation correction method. Background technique [0002] Unmanned guided vehicle (AGV robot for short) refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed path, with safety protection and various transfer functions. For AGV robots with autonomous path planning functions, it is very important to confirm their position on the map, and to correct the direction of the robot in real time, which is conducive to improving the efficiency of the transportation industry. Generally, AGV robots only use RFID tags to realize path navigation, such as the utility model patent CN 203405960 U, the non-directionality of RFID tags makes it impossible for the path navigation system to obtain the robot offset angle and the robot offset RFID center point distance; and the AGV robot o...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 何瑶瑶赵永胜余渊陈云雷曹克江施颖涌张颖潘吉亮
Owner SHANGHAI ELECTRICAL APPLIANCES RES INSTGROUP
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