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Automatic deviation rectification control method for magnetic guidance AGV

A control method and automatic deviation correction technology, applied in the field of robots, can solve the problems of unstable railway transportation system, unable to realize the inspection and maintenance of indoor equipment in traction substations in time, and reduce the labor participation rate, eliminate the deviation angle error, and make it easy to use. sexual effect

Active Publication Date: 2020-07-31
HEFEI UNIV OF TECH
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  • Abstract
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  • Claims
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Problems solved by technology

This method cannot realize the inspection and maintenance of the indoor equipment of the traction substation in time, and may cause unstable factors to the railway transportation system

Method used

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  • Automatic deviation rectification control method for magnetic guidance AGV
  • Automatic deviation rectification control method for magnetic guidance AGV
  • Automatic deviation rectification control method for magnetic guidance AGV

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0087] In this embodiment, an automatic deviation correction control method of a magnetically guided AGV is carried out in the following steps:

[0088] Step 1. Obtain the pose information of the magnetically guided AGV during demagnetization;

[0089] In this example, the chassis is a six-wheel differential magnetically guided AGV, with four universal wheels at the front and rear, and the middle two are driving wheels. The schematic diagram of the chassis is as follows figure 1 as shown, figure 1 Wheels 1, 2, 5, and 6 are four driven wheels, and wheels 3 and 4 are two driving wheels. The movement is flexible and can realize turning in situ.

[0090] The AGV realizes functions such as deviation correction and rotation through the differential speed of the left and right wheels. This AGV is mainly composed of PLC, car body part, landmark card positioning system, magnetic guide deviation correction system, safety anti-collision device, communication system, servo drive system...

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Abstract

The invention discloses an automatic deviation rectification control method for a magnetic guidance AGV. The method is used for realizing automatic deviation rectification operation by controlling theAGV to advance, retreat and rotate according to pose information during demagnetization of the magnetic guidance AGV. After the AGV is demagnetized, automatic deviation rectification and automatic driving recovery can be realized, so that real unattended operation of a railway traction substation can be realized.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an automatic deviation correction control method for a magnetically guided AGV of an unmanned indoor inspection and emergency operation robot. Background technique [0002] At present, domestic substations have introduced more power-related equipment, making the operating environment of substations more complex, which greatly increases the work intensity and difficulty of substation inspection personnel. The emergence of substation inspection robots is used to replace manual work. Using its airborne equipment to monitor, manage and operate various equipment in the substation in real time, which greatly improves the possibility of solving problems in a timely manner, reduces the work difficulty and danger of the substation staff, and is a development of the substation inspection work in the future trend. [0003] In order to realize the unmanned railway traction substa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0259
Inventor 吴焱明朱家诚孟凡喜赵士豪黄立宇
Owner HEFEI UNIV OF TECH
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