Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

AGV path tracking method

A path tracking and path technology, applied in vehicle position/route/height control, non-electric variable control, instruments, etc., can solve problems such as reducing the efficiency of AGV travel, and achieve the effect of improving travel efficiency

Active Publication Date: 2017-11-24
GUANGDONG JATEN ROBOT & AUTOMATION
View PDF11 Cites 42 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the random deviation of the position of the AGV calculated by the sensor of the navigation mechanism, and the deviation and delay between the actual control angle and speed of the drive mechanism and the preset value at a certain position of the preset motion path, the AGV along the When the preset motion path travels, there is a large deviation between the actual motion path and the preset motion path, which reduces the travel efficiency of the AGV

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • AGV path tracking method
  • AGV path tracking method
  • AGV path tracking method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach

[0055] See Figure 1 to Figure 5 , AGV includes a car body, a navigation mechanism and a driving mechanism. The driving mechanism includes a steering wheel arranged at the front of the car body to control the direction of the AGV, and two rear wheels arranged at the rear of the car body to drive the direction of the AGV; point N Is the center point of the steering wheel.

[0056] An AGV path tracking method of this embodiment includes the following steps:

[0057] (a) Preset the route map in the navigation mechanism of the AGV, and set the route point and the rectangular coordinate system of the AGV on the route map; generate the route curve equation S according to the set route point;

[0058] (b) The driving mechanism in the AGV drives the AGV to travel according to the preset path curve equation S, and uses the center point between the two rear wheels of the AGV body as the reference point O to track the path curve equation S;

[0059] (c) The navigation agency performs dead reckon...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an AGV path tracking method. The method comprises steps: (a) a path map, path points and a right angle coordinate system are preset in an AGV navigation mechanism, and according to the set path points, a path curve equation S is generated; (b) the AGV moves according to the path curve equation S; (c) the navigation mechanism tracks the path curve equation S with a reference point O; (d) coordinates of the current reference point O and the current heading angle alpha of the vehicle body are calculated; (e) coordinates of the current reference point O to the nearest point P on the path curve equation S are calculated; (f) the theoretical heading angle beta of the AGV is calculated; (g) a lateral deviation value e is calculated; (h) a deviation angle delta is calculated; (i) whether the AGV body is derailed is judged; and (j) a steering wheel angle A is calculated, a driving mechanism corrects a driving path according to the steering wheel angle A, and one path tracking period is completed. According to the AGV path tracking method of the invention, the AGV can move along the preset path curve equation S with few deviations.

Description

Technical field [0001] The invention relates to the field of AGV control methods, in particular to an AGV path tracking method. Background technique [0002] With the rapid development of the domestic manufacturing industry, people's demand for automated material conveying systems is also increasing, and AGVs are widely used in automated material conveying systems because of their high degree of automation, which can greatly reduce production costs. [0003] Common AGVs include a car body, a navigation mechanism, and a driving mechanism set at the bottom of the car body. The driving mechanism drives the car body along a preset motion path according to the position information obtained by the navigation mechanism, and automatically at the starting point under load Multiple round trips between and destination. Especially when the AGV is turning, it is the key to the AGV control technology that the navigation mechanism accurately calculates the steering angle of the body of the AGV a...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 胡政钟杰辉
Owner GUANGDONG JATEN ROBOT & AUTOMATION
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com