Four-wheel driving AGV (Automatic Guided Vehicle) tracking method based on Ackermann steering principle

Abstract

The invention provides a four-wheel driving AGV (Automatic Guided Vehicle) tracking method based on an Ackermann steering principle, can effectively improve the operation stability and the operation speed of the AGV, reduce a turning radius and improve loading capacity. By use of the method, the bottom surface of the AGV is provided with double cameras to realize the high angle shot of a color zone in an AGV advancing direction, and the image of the color zone is obtained. After the image is processed, the current position and pose of the AGV is obtained, driving steering wheels meet an Ackermann principle operator, so that the synchronization problem and the overloading problem of four-wheel driving can be solved, meanwhile, the trajectory radius of a circular arc under circular arc seeking application is reduced, dependency on place openness is reduced, and therefore, the reliable and stable color zone trajectory seeking movement of the AGV is realized. The method can be applied to the field of automation equipment.

Description

Technical field [0001] The invention relates to the field of automation equipment, in particular to a four-wheel drive AGV tracking method based on the Ackerman steering principle. Background technique [0002] With the continuous improvement of automation and intelligence in the manufacturing and logistics industries, the traditional point-to-point fixed material transmission method can no longer meet the requirements of flexibility. AGV (Automatic Navigation Vehicles) has developed rapidly to adapt to this flexibility. . As one of the core technologies of AGV, the drive system has been extensively studied in the entire AGV technology. Common driving methods include independent steering wheel, differential gear system drive and interactive MECANUM wheel (Mecanum wheel) drive. . At present, the differential gear system drive is an automatic drive technology applied in automobile technology. This drive method cannot achieve any angular translation of the vehicle body and in-situ...

AI Technical Summary

Problems solved by technology

[0003] However, the four-wheel drive MECANUM wheeled AGV can generally also be used in the heavy-duty field. The advantage is that it can move in any direction and the control method is relatively simple, but the running speed of this wheel pair is limited to a low level (generally less than 1.8r / s), otherwise the rollers on it will have edge cracks and gradually develop into degumming, and the vibration problem caused by the high-speed operation of the driving wheel has not been well solved.

AGVs driven by single and double steering wheels generally use universal wheels to assist in forming a supporting wheel train. After the driving wheels form the instantaneous center of speed, the universal wheel can passively follow. There is a unique instantaneous center of speed for the entire wheel train, and there is no difference between the wheel trains. The mismatch of speed (vector) leads to the problem of overloading of the driving wheels; but due to the problem of power capacity, the double-drive and single-drive in the heavy-duty field cannot meet the power demand

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