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AGV offset weight distribution method, electronic equipment and storage medium

A technology of weight distribution and offset, applied in two-dimensional position/course control, navigation calculation tools, etc., can solve the problem that the AGV offset is not suitable for large AGV, etc., to increase the radius of the curve and improve the smoothness , The effect of reducing the swing situation

Pending Publication Date: 2022-07-22
GUANGDONG JATEN ROBOT & AUTOMATION
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AI Technical Summary

Problems solved by technology

[0004] The first object of the present invention is to overcome the problem that the existing method for correcting AGV offset is not suitable for large AGV, and to provide a method for weight distribution of AGV offset

Method used

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  • AGV offset weight distribution method, electronic equipment and storage medium
  • AGV offset weight distribution method, electronic equipment and storage medium
  • AGV offset weight distribution method, electronic equipment and storage medium

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Embodiment Construction

[0016] Below according to accompanying drawing, further illustrate the technical scheme of the present invention:

[0017] see figure 1 As shown, the present invention discloses a weight distribution method for AGV offset. The magnetic tracking sensor detects the offset a, and the AGV substitutes the offset a into the formula b=a^(1+ln1.1 / lnp) to calculate The control amount b is obtained, and the driver adjusts the speed of the driving wheel according to the control amount b to correct the offset, and p is the weight coefficient.

[0018] Existing magnetic tracking sensors generally include 6 magnetic tracking sensors, 18-bit magnetic tracking sensors and 18 long magnetic tracking sensors, whose tracking lengths are respectively 140mm, 190mm, and 330mm. The tracking length of the tracking sensor is adjusted, and the value of P ranges from 140 to 330.

[0019] The above offset a is the straight-line distance between the midpoint of the front drive wheel of the AGV and the ma...

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Abstract

The invention discloses an AGV offset weight distribution method, an electronic device and a storage medium. The method comprises the steps that a magnetic tracing sensor detects an offset a, an AGV substitutes the offset a into a formula b = a (1 + ln1.1 / lnp) to calculate a control quantity b, and a driver adjusts the speed of a driving wheel according to the control quantity b so as to correct the offset. Compared with the prior art, the control quantity b is obtained through calculation by adopting a continuous nonlinear control function formula, compared with an existing linear control mode, the driving smoothness of the AGV at different curves is improved, the swinging condition of curve driving is reduced, and particularly, adjustment for large vehicles is more obvious; the radius range of the curve where the AGV runs is increased, and the AGV can adapt to the smaller radius of the curve.

Description

technical field [0001] The present invention relates to the field of industrial robots, in particular to a weight distribution method for AGV offset, an electronic device and a storage medium. Background technique [0002] With the development of industrial automation, magnetic tracking AGV is more and more widely used in various fields. Since magnetic tracking follows the magnetic strip, the laying of the magnetic strip is different in different scenarios. When using the same control method When walking with different curve radii, the AGV will swing with different amplitudes, which may cause the walking to be unsmooth. When the curve radius is too small, it will lead to derailment. [0003] In order to make the AGV drive more smoothly on the curve, the existing technology uses a linear control method to correct the offset of the AGV, and the correction formula is: b=a(a<point / 2), b=1.2a(a>point / 2 ), where a is the offset transmitted by the magnetic tracking, b is the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/0259
Inventor 廖博轩李伟丰刘锦安
Owner GUANGDONG JATEN ROBOT & AUTOMATION
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