Trajectory deviation rectification method and device and automatic driving guide vehicle

A technology for guiding vehicles and trajectories, which is applied to motor vehicles, transportation and packaging, non-electric variable control, etc., and can solve problems such as vehicle derailment and wheel slippage

Active Publication Date: 2021-03-19
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a track deviation correction method and device, and an automatic driving guided vehicle, so as to at least solve the technical problem that the wheels of the automatic guided vehicle are easy to slip during the navigation process in the related art, which may easily cause the vehicle to derail

Method used

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  • Trajectory deviation rectification method and device and automatic driving guide vehicle
  • Trajectory deviation rectification method and device and automatic driving guide vehicle

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Embodiment 1

[0025] According to an embodiment of the present invention, an embodiment of a trajectory correction method is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and, although in The flowcharts show a logical order, but in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0026] figure 1 is a flow chart of an optional trajectory correction method according to an embodiment of the present invention, such as figure 1 As shown, the method includes the following steps:

[0027] Step S102, when detecting that the autonomous guided vehicle is in a state of deviating from the route, determine the driving wheel speed and driving wheel center distance value of the vehicle;

[0028] Step S104, based on the driving wheel speed and the driving wheel center distance value, determine the tr...

Embodiment 2

[0053] The embodiment of the present invention relates to a track deviation correction device, and the multiple implementation units included in the device correspond to the implementation steps in the first embodiment above.

[0054] figure 2 is a schematic diagram of an optional trajectory correction device according to an embodiment of the present invention, such as figure 2 As shown, the trajectory correction device may include: a first determination unit 21, a second determination unit 23, and a control unit 25, wherein,

[0055] The first determination unit 21 is used to determine the driving wheel speed and driving wheel center distance value of the vehicle when detecting that the autonomous guided vehicle is in a state of deviating from the route;

[0056] The second determination unit 23 is used to determine the trajectory correction parameter based on the driving wheel speed and the driving wheel center distance value;

[0057] The control unit 25 is used to cont...

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Abstract

The invention discloses a trajectory deviation rectification method and device and an automatic driving guide vehicle. The trajectory deviation rectification method comprises the steps: when it is detected that an autonomous guide vehicle is in a deviation route state, determining the driving wheel speed and the driving wheel center distance value of the vehicle; based on the driving wheel speed and the driving wheel center distance value, determining a trajectory deviation rectification parameter; and controlling the autonomous guide vehicle to perform deviation rectification operation according to the trajectory deviation rectification parameter so as to return to a preset trajectory route. According to the invention, the technical problem that in the prior art, wheels of an automatic guided vehicle are prone to slipping in the navigation process, and derailment of the vehicle is prone to being caused is solved.

Description

technical field [0001] The invention relates to the technical field of vehicle control, in particular to a track deviation correction method and device, and an automatic driving guided vehicle. Background technique [0002] In related technologies, a large number of automatic guided vehicles have begun to be used in logistics transportation and factory automation production. At present, after planning the driving route of the automatic guided vehicle, it will control the automatic guided vehicle to navigate according to the planned route. The navigation methods of the automatic guided vehicle include : Tape navigation, two-dimensional code inertial and SLAM (referring to real-time positioning and map construction) navigation. At present, the automatic guided vehicle is controlled by visual SLAM navigation, so it has high flexibility, high automation, and high obstacle avoidance. favored by more and more fields. However, if the current visual SLAM navigation method operates ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0223G05D2201/0207
Inventor 傅后益张喜斌李卫华任涛马勇军
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD
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