CN111506075A - AGV attitude adjusting method and system - Google Patents
AGV attitude adjusting method and system Download PDFInfo
- Publication number
- CN111506075A CN111506075A CN202010391675.9A CN202010391675A CN111506075A CN 111506075 A CN111506075 A CN 111506075A CN 202010391675 A CN202010391675 A CN 202010391675A CN 111506075 A CN111506075 A CN 111506075A
- Authority
- CN
- China
- Prior art keywords
- carrier
- inclination angle
- length
- agv
- support frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000008859 change Effects 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000005070 sampling Methods 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 15
- 238000001914 filtration Methods 0.000 claims description 10
- 230000036544 posture Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an AGV attitude adjusting method and system, which relate to the field of guided transport vehicles and are used for acquiring the inclination angle of a carrier relative to a horizontal plane and the initial length of support frames on two sides of the carrier; acquiring the length of the supporting frame after the supporting frame is used for adjusting the carrier frame to be horizontal; the method comprises the steps of establishing a corresponding relation between the inclination angle of the object carrier and the length variation of a support frame behind the leveling object carrier, and through establishing the corresponding relation between the inclination angle of the object carrier and the length variation of the leveling support frame in advance, when the object carrier tilts in actual operation, the length of the support frame required to change can be obtained quickly, and a corresponding adjusting module is configured for adjusting, so that the aim of quickly recovering the horizontal state of the object carrier is fulfilled.
Description
Technical Field
The disclosure relates to the field of guided vehicles, and in particular relates to an AGV attitude adjusting method and system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The AGV trolley is provided with an electromagnetic or optical automatic guiding device and the like, can run along a specified guiding path and carries materials; the travelling line and the action of the trolley can be controlled by a computer generally, and the travelling line of part of trolleys is controlled by an electromagnetic track; the method is commonly used in the logistics transportation industry, and the AGV trolley is used for distribution, allocation and transportation of packages.
The inventor finds that the AGV runs on a flat ground when running in an indoor place, such as a logistics distribution center; but when outdoor work, AGV is when outdoor operations, especially to heavy AGV, the balance of its self gesture is very important, when meetting the great condition of topography undulation, AGV gesture slope probably appears, the condition such as delivery material landing, and do not lead to the relevant technical scheme that the material can not normally be carried because of the gesture slope especially to on the AGV at present, lead to AGV when outdoor work, its loading end is difficult to keep the horizontality in real time, the material is difficult to carry out the problem of steady output, can't satisfy current demand quick, steady transport to the material.
Disclosure of Invention
The invention aims to provide an AGV posture adjusting method and system aiming at the defects in the prior art, wherein the corresponding relation between the inclination angle of an objective table and the length variation of a leveling support frame is established in advance, so that the length of the support frame required to be changed can be quickly obtained when the object carrier is inclined in actual operation, and a corresponding adjusting module is configured for adjustment, so that the aim of quickly recovering the horizontal state of the object carrier is fulfilled.
The first purpose of the present disclosure is to provide an AGV posture adjustment method, which adopts the following technical scheme:
the method comprises the following steps:
acquiring the inclination angle of the carrier relative to the horizontal plane and the initial length of the supporting frames on the two sides of the carrier;
acquiring the length of the supporting frame after the supporting frame is used for adjusting the carrier frame to be horizontal;
establishing a corresponding relation between the inclination angle of the carrier and the length variation of the rear support frame for leveling the carrier;
and acquiring the inclination angle of the carrier in the running process in real time, and adjusting the length of at least one side of the support frame in real time according to the corresponding relation until the carrier is parallel to the horizontal plane.
Further, when the object carrier is parallel to the horizontal plane, the length of the supporting frames on the two sides is controlled to be unchanged.
Further, when the supporting frames on the two sides of the object carrier are located at different height positions of the operation area in the operation process, the inclination angle of the object carrier relative to the horizontal plane is adjusted by utilizing the length change of the supporting frames.
And further, processing the inclination angle data acquired in real time through a first-order inertia filtering algorithm.
Furthermore, the fuzzy control operation is carried out by the angle set value and the inclination angle data sampling value, so as to control the adjustment of the support frame.
The second purpose of this disclosure is to provide an AGV attitude adjustment system, adopt following technical scheme:
the method comprises the following steps:
the two sides of the carrier are respectively matched with a supporting frame;
the inclination angle acquisition module is configured to acquire the inclination angle of the carrier frame relative to the horizontal plane in real time;
the adjusting module is configured to be matched with the supporting frame to change the length of the supporting frame;
the controller is preset with the corresponding relation between the inclination angle and the length of the support frame, and controls the length of the support frame according to the inclination angle data collected in real time so as to enable the object carrier to keep a horizontal state.
Furthermore, the lower end of the supporting frame is matched with a driving wheel, and the driving wheel rotates to drive the object carrier to move.
Furthermore, the inclination angle acquisition module comprises an inclination angle sensor and a sampling circuit, wherein the inclination angle sensor acquires inclination angle data of the carrier, and the inclination angle data is processed by the sampling circuit and then sent to the controller.
Furthermore, the adjusting module comprises a screw slider mechanism, the screw slider mechanism is matched with a driving mechanism, and the output end of the driving mechanism changes the length of the object carrier by driving the screw slider mechanism.
Further, the controller acquires the inclination angle of the carrier in real time, and obtains the variable quantity of the adjusting module according to the corresponding relation, so as to control the action of the driving mechanism.
Compared with the prior art, the utility model has the advantages and positive effects that:
(1) the response speed is fast, and the precision is high. By establishing a corresponding relation in advance, after the inclination angle is measured in real time, the adjusting mode can be quickly obtained, so that the adjusting mechanism is driven to realize quick adjustment, the deviation is reduced, and the carrier is quickly returned to balance;
(2) closed loop control is employed. The fuzzy control takes the inclination angle of the vehicle body detected by the inclination angle sensor as a feedback value and then as the system input, and the speed of the system deviation can be reduced; when the sensor numerical value is sampled, filtering processing is carried out, interference caused by shaking and vibration of a vehicle body or environment can be effectively inhibited, and the stability of the system is improved;
(3) the application environment of the AGV is expanded. The AGV has the advantages that the AGV is frequently applied indoors at present, the environment is good, when the AGV works outdoors, the capability of overcoming unevenness of the ground, the capability of protecting delivered materials, the capability of automatically returning to balance of postures and the like can be improved, and the application scene of the AGV is effectively expanded.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a schematic diagram of an overall structure of an AGV according to embodiments 1 and 2 of the present disclosure;
FIG. 2 is a simplified schematic diagram of a model in an AGV posture adjustment process according to embodiments 1 and 2 of the present disclosure;
fig. 3 is a schematic diagram of a tilt sensor sampling circuit in embodiments 1 and 2 of the present disclosure;
FIG. 4 is a schematic diagram of a fuzzy PID control scheme in embodiments 1 and 2 of the disclosure;
fig. 5 is a fuzzy logic table in embodiments 1, 2 of the present disclosure.
In the figure: the device comprises a left driving wheel 1, a left supporting frame 2, an inclination angle sensor 3, a carrier 4, a driving motor 5, a screw rod 6, a nut 7 and a right driving wheel 8.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in this disclosure, if any, merely indicate that the directions of movement are consistent with those of the figures themselves, and are not limiting in structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present disclosure.
As introduced in the background art, in the prior art, when an AGV operates outdoors, especially a heavy AGV, the balance of the posture of the AGV itself is very important, and when the AGV encounters a situation with large topographic relief, the situations that the posture of the AGV inclines, the delivered material slides off, and the like may occur.
Example 1
In an exemplary embodiment of the present disclosure, an AGV attitude adjustment method is provided, as shown in fig. 1-4.
The method mainly comprises the following steps:
measuring the inclination angle of the carrier 4 relative to the horizontal plane in an inclined state, and measuring the length of the support frames connected to the two sides of the carrier;
measuring the length of the support frame after the support frame is used for adjusting the carrier frame to be in a horizontal state;
repeating the above process for multiple times, and establishing a corresponding relation between the inclination angle of the carrier relative to the horizontal plane and the length variation of the carrier by using multiple groups of data;
and acquiring the inclination angle of the carrier in the running process of the carrier in real time, and bringing the inclination angle into the established corresponding relation to obtain the variable quantity of the length of the carrier required by leveling until the carrier is adjusted to be in a horizontal state.
Specifically, in the initial measuring process, the lengths of the support frames on the two sides of the carrier frame are the same, when the carrier frame runs to an inclined area, the relative heights of the two support frames are changed, and the carrier frame and a horizontal plane generate an inclination angle;
when the article carrier is parallel to the horizontal plane, the length of the support frames on the two sides is controlled to be unchanged;
in the operation process, when the supporting frames on the two sides of the object carrier are positioned at different height positions in the operation area, the inclination angle of the object carrier relative to the horizontal plane is adjusted by utilizing the length change of the supporting frames.
For the structure of the AGV, as shown in FIG. 1, two sides of a carrier 4 are respectively connected with a left support frame 2 and a right support frame, the lower ends of the support frames are respectively matched with a left driving wheel 1 and a right driving wheel 8, and the left driving wheel and the right driving wheel drive the AGV to integrally move together;
in order to adjust the angle of the object carrier, in the embodiment, the supporting frame is matched with a corresponding telescopic mechanism, so that the length of the supporting frame can be changed by telescopic movement, the purpose of respectively adjusting the height of the left side and the right side of the supporting frame relative to the ground is achieved, and the requirement of adjusting the inclination angle of the object carrier is further met.
When the state of the support frames is adjusted, the two support frames can be correspondingly adjusted at the same time, or one support frame can be unchanged and the other support frame can be adjusted;
of course, it can be understood that the essence of the adjustment of the inclination angle is that the height difference of the bottoms of the left and right support frames is equal to the height difference of the positions of the left and right driving wheels, so that when the support frames on the two sides are adjusted at the same time, the difference of the length variation of the two support frames after adjustment is ensured to meet the corresponding relationship;
when the extension amount of the support frame at one side exceeds the required adjustment amount, the support frame at the other side is properly extended, so that the difference of the extension amounts at the two sides is still equal to the height difference of the positions of the left driving wheel and the right driving wheel; when the elongation of the support frame on one side is smaller than the required adjustment amount, the support frame on the other side is properly shortened, and the difference value between the two can be adjusted to the required value;
for the adjustment manner in other cases, similar to the above process, the detailed description is omitted here.
In this embodiment, the description of the adjustment process is performed by taking the adjustment of only the right support frame as an example;
a simplified schematic diagram of an AGV cart is created, as shown in fig. 2:
in the figure, point A is the central point of the joint of the left support frame and the carrier frame, point B (B') is the central point of the joint of the right drive wheel and the right support frame, and point C is the connecting point of the right support frame and the carrier frame;
when the carrier is horizontal, the cosine theorem can obtain:
when the luggage carrier is inclined, the same can be obtained:
the relation between the inclination angle of the object carrier and the elongation of the right supporting frame can be obtained by the formulas (1) and (2):
in the above formula, /)0-length of the carrier l1Initial length of right support bar,/2Length of right supporting rod after levelling of carrier on inclined ground,/3Distance from the connection point of the left support frame to the article carrier to the connection point of the right drive wheel to the right support frame, l4Distance from left support frame to carrier frame connection point to right drive wheel to right support frame connection point when vehicle body is on inclined ground, α1Angle between carrier and AB line when carrier is horizontal, α2-the angle between the carrier and the AB line when the carrier is on an inclined ground,α -inclination angle of the carrier.
For the process of acquiring the inclination angle of the carrier in real time, acquiring the inclination angle of the carrier and inhibiting input interference and jitter;
specifically, in this embodiment, adopt tilt sensor 3 to cooperate the collection that sampling circuit realized the inclination, adopt the STM32 singlechip to sample tilt sensor input with the ADC mode, the resolution ratio is 12 bits. The sampling circuit establishes a relation model between a sampling digital value and a vehicle body inclination angle as shown in fig. 3:
where D is the digital value sampled by the microprocessor and α is the output body lean angle.
In consideration of the large fluctuation of the output signal value of the tilt sensor caused by factors such as the fluctuation of the ground, the vibration of the machine and the like, a filtering algorithm is introduced to filter the sampling value, the first-order inertial filtering algorithm is adopted to process the sampling data of the tilt sensor, the input interference and the jitter are inhibited, and the formula is as follows:
Y(n)＝αX(n)+(1-α)Y(n-1) (5)
wherein Y (n) is the output value of this filtering, α is the filtering coefficient, 0.66 is taken, X (n) is the sampling value, and Y (n-1) is the output value of the last filtering.
Carrying out fuzzy control operation on the angle set value and the inclination angle data sampling value; after first-order inertial filtering, outputting the difference between the inclination angle of the vehicle body and an angle target value preset in advance by a user to obtain an input deviation;
the input deviation and the differential value thereof are used as the input value of the fuzzy logic, and the coefficient change value of the PID control algorithm is obtained through fuzzy reasoning, so that the adjustment of the support frame is controlled.
Example 2
In another exemplary embodiment of the present disclosure, as shown in FIGS. 1-5, an AGV attitude adjustment system is provided.
The AGV comprises an AGV trolley and an attitude adjusting element, wherein the AGV trolley comprises a carrier and support frames arranged on two sides of the carrier, and the lower ends of the support frames are matched with driving wheels;
the posture adjustment member includes: the inclination angle acquisition module is configured to acquire the inclination angle of the carrier frame relative to the horizontal plane in real time; the adjusting module is configured to be matched with the supporting frame to change the length of the supporting frame; the controller is preset with the corresponding relation between the inclination angle and the length of the support frame, and controls the length of the support frame according to the inclination angle data collected in real time so as to enable the object carrier to keep a horizontal state.
Referring to the adjustment process of example 1, the attitude of the AGV cart is adjusted using an attitude adjusting element.
Specifically, in the embodiment, the adjusting module selects a ball screw mechanism to cooperate with the driving motor 5, the ball screw mechanism can be directly used as a supporting frame to adjust the distance between the driving wheel and the object carrier, or a telescopic rod structure can be additionally configured as the supporting frame to drive the telescopic rod to extend and retract by using the ball screw mechanism, so as to change the overall length of the object carrier;
as shown in fig. 1, the driving motor is installed on the article carrier, the output end of the driving motor is connected with a screw rod 6 of the ball screw mechanism, the screw rod is matched with a nut 7, and a right driving wheel is installed on the nut and driven by the rotation of the screw rod to ascend or descend along the axis of the screw rod along with the nut;
the posture adjustment of the object carrier is completed by a ball screw, a screw is connected with an output shaft of a driving motor through a key, the motor is fixed at the lower end of the frame through a bolt, when the object carrier is positioned on an inclined ground, the motor drives the screw to rotate, a nut is meshed with the screw to drive a right driving wheel to move up and down, and the balance of the vehicle body is kept.
It should be understood that, in the present embodiment, a single left support frame and a single right support frame are taken as an example, in an actual operation process, the number of the left support frames and the number of the right support frames may be configured to be multiple, and the support frames on the same side may be cooperatively adjusted, so as to ensure the stability of the entire carrier.
In addition, the inclination angle acquisition module comprises an inclination angle sensor and a sampling circuit, wherein the inclination angle sensor acquires inclination angle data of the carrier, and the inclination angle data is processed by the sampling circuit and then is sent to the controller; the relevant features of the structure are the same as those described in embodiment 1, and can be adjusted accordingly as required, for example, the number of tilt sensors is increased to be distributed at different positions of the carrier frame to adapt to different ways of tilting of the carrier frame;
the type, kind and precision of the tilt sensor can also be adaptively adjusted, which is not described herein again.
In the process that the driving motor drives the ball screw to adjust, processing data and sending a control instruction through the controller;
specifically, the driving motor is a servo motor, the servo motor is matched with an encoder, and the number of rotation turns of the output end of the servo motor can be fed back to the controller;
the posture balance of the carrier is mainly completed by a ball screw arranged at the right part of the carrier, when the AGV is in the undulating terrain, two driving wheels do not keep the same horizontal line any more, an inclination angle sensor arranged on a frame detects the inclination degree of the carrier, analog values obtained by the sensor are input and sampled by an ADC (analog to digital converter) of the MCU, the inclination angle of the carrier is output after first-order inertial filtering, and the angle is differed with an angle target value preset by a user to obtain input deviation;
the input deviation and the differential value thereof are used as input values of fuzzy logic, a coefficient change value of a PID control algorithm is obtained through fuzzy reasoning, the number of turns of the servo motor which should rotate is obtained through calculation of a newly obtained coefficient value, then the motor drives the screw rod to rotate, rotary motion is converted into linear motion of the nut along the axis, the right driving wheel is controlled to move up and down, and the right driving wheel and the left driving wheel are kept horizontal, so that the balance of the AGV carrier is guaranteed.
Specifically, as shown in FIG. 4, a fuzzy PID controller is used to set the value θ at an angle0(k) The difference between the sampling value theta (k) of the inclination angle sensor and the sampling value theta (k) of the inclination angle sensor is used as an input deviation E (k), and the input deviation E (k) (namely E) and a differential value EC thereof are used as input values of the fuzzy controller;
as shown in FIG. 5, the coefficient variation value △ k of the PID control algorithm is obtained after fuzzy logic table reasoningp、△ki、△kdTo be updatedAnd calculating the data as a PID control algorithm coefficient, obtaining the number of rotation turns of the servo motor by combining with a feedback value of the encoder, and controlling the moving distance of the ball screw nut along the axis, so that the vehicle body is kept in a horizontal state.
The double closed-loop control is adopted, the fuzzy PID control takes the inclination angle of the vehicle body detected by the inclination angle sensor as a feedback value to be used as the system input again, and the speed of the system deviation can be reduced; meanwhile, the rotation position of the motor takes the measured value of the encoder as a feedback value, so that the movement precision of the actuating mechanism can be improved.
The application environment of the AGV can be expanded. Present AGV often uses indoor, and the environment is comparatively good, and when AGV was at outdoor operation, can improve AGV and overcome the ability that ground undulation is uneven, the ability of protection delivery material, gesture automatic return balanced ability etc. has effectively expanded AGV's application scene.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. An AGV posture adjusting method is characterized by comprising the following steps:
acquiring the inclination angle of the carrier relative to the horizontal plane and the initial length of the supporting frames on the two sides of the carrier;
acquiring the length of the supporting frame after the supporting frame is used for adjusting the carrier frame to be horizontal;
establishing a corresponding relation between the inclination angle of the carrier and the length variation of the rear support frame for leveling the carrier;
and acquiring the inclination angle of the carrier in the running process in real time, and adjusting the length of at least one side of the support frame in real time according to the corresponding relation until the carrier is parallel to the horizontal plane.
2. The AGV attitude adjusting method according to claim 1, wherein the length of the supporting frames on both sides is controlled to be constant when the rack is parallel to the horizontal plane.
3. The AGV attitude adjusting method according to claim 2, wherein the inclination angle of the rack with respect to the horizontal plane is adjusted by using the change in the length of the supports when the supports on both sides of the rack are located at different height positions in the travel area during the travel.
4. The AGV attitude adjustment method of claim 1, wherein the tilt data acquired in real time is processed by a first order inertial filtering algorithm.
5. The AGV attitude adjusting method according to claim 4, wherein the fuzzy control operation is performed on the angle setting value and the tilt data sampling value, thereby controlling the adjustment of the supporting frame.
6. An AGV attitude adjustment system comprising:
the two sides of the carrier are respectively matched with a supporting frame;
the inclination angle acquisition module is configured to acquire the inclination angle of the carrier frame relative to the horizontal plane in real time;
the adjusting module is configured to be matched with the supporting frame to change the length of the supporting frame;
the controller is preset with the corresponding relation between the inclination angle and the length of the support frame, and controls the length of the support frame according to the inclination angle data collected in real time so as to enable the object carrier to keep a horizontal state.
7. An AGV attitude adjustment system according to claim 6 wherein said support frame is fitted at its lower end with drive wheels which rotate to drive movement of the load carrier.
8. The AGV attitude adjustment system of claim 6, wherein said tilt angle acquisition module comprises a tilt angle sensor and a sampling circuit, wherein said tilt angle sensor acquires rack tilt angle data, and said rack tilt angle data is processed by said sampling circuit and then sent to said controller.
9. The AGV attitude adjustment system of claim 6, wherein said adjustment module includes a lead screw slider mechanism that incorporates a drive mechanism, said drive mechanism output varying the length of the carrier rack by driving the lead screw slider mechanism.
10. The AGV attitude adjustment system of claim 9 wherein the controller obtains the inclination of the carrier in real time and derives the variation of the adjustment module based on the corresponding relationship to control the operation of the drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010391675.9A CN111506075A (en) | 2020-05-11 | 2020-05-11 | AGV attitude adjusting method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010391675.9A CN111506075A (en) | 2020-05-11 | 2020-05-11 | AGV attitude adjusting method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111506075A true CN111506075A (en) | 2020-08-07 |
Family
ID=71865064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010391675.9A Pending CN111506075A (en) | 2020-05-11 | 2020-05-11 | AGV attitude adjusting method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111506075A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112835367A (en) * | 2021-01-05 | 2021-05-25 | 海门市帕源路桥建设有限公司 | Control method for automatically compensating inclination to horizontal walking |
| CN113183708A (en) * | 2021-05-27 | 2021-07-30 | 北京博清科技有限公司 | Crawling machine, control method and control device thereof, and crawling system |
| CN114291174A (en) * | 2021-12-30 | 2022-04-08 | 中山小神童创新科技有限公司 | Anti-falling adjusting system based on transporting equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264629A (en) * | 2013-05-29 | 2013-08-28 | 西北农林科技大学 | Vehicle body leveling device for mountain agricultural robot |
| CN106080085A (en) * | 2016-07-11 | 2016-11-09 | 安庆新景技电子科技有限公司 | Car load attitude control method |
| CN107554227A (en) * | 2017-08-14 | 2018-01-09 | 歌尔股份有限公司 | Mobile robot's height adaptive chassis and adaptive approach |
| CN207917009U (en) * | 2017-12-28 | 2018-09-28 | 广州赛特智能科技有限公司 | A kind of AGV robots from main modulation climbing balance |
| KR20190017857A (en) * | 2019-02-13 | 2019-02-20 | 최유라 | Automatic Transportation vehicle |
| CN110293808A (en) * | 2019-06-27 | 2019-10-01 | 北京机械设备研究所 | Vehicle twin-tub levelling device based on position control mode |
| CN110936782A (en) * | 2019-12-31 | 2020-03-31 | 山东大学 | Method for adjusting body balance of potato combined harvester |
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
-
2020
- 2020-05-11 CN CN202010391675.9A patent/CN111506075A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264629A (en) * | 2013-05-29 | 2013-08-28 | 西北农林科技大学 | Vehicle body leveling device for mountain agricultural robot |
| CN106080085A (en) * | 2016-07-11 | 2016-11-09 | 安庆新景技电子科技有限公司 | Car load attitude control method |
| CN107554227A (en) * | 2017-08-14 | 2018-01-09 | 歌尔股份有限公司 | Mobile robot's height adaptive chassis and adaptive approach |
| CN207917009U (en) * | 2017-12-28 | 2018-09-28 | 广州赛特智能科技有限公司 | A kind of AGV robots from main modulation climbing balance |
| KR20190017857A (en) * | 2019-02-13 | 2019-02-20 | 최유라 | Automatic Transportation vehicle |
| CN110293808A (en) * | 2019-06-27 | 2019-10-01 | 北京机械设备研究所 | Vehicle twin-tub levelling device based on position control mode |
| CN110936782A (en) * | 2019-12-31 | 2020-03-31 | 山东大学 | Method for adjusting body balance of potato combined harvester |
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
Non-Patent Citations (3)
| Title |
|---|
| 彭凯: "基于倾角传感器的旋耕机具调平策略研究", 《中国优秀硕士学位论文全文数据库》 * |
| 杨红军: "基于PLC的模糊PID自动调平控制系统的研究", 《制造业自动化》 * |
| 秦敬贤: "基于模糊PID的高空作业平台自动调平系统", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112835367A (en) * | 2021-01-05 | 2021-05-25 | 海门市帕源路桥建设有限公司 | Control method for automatically compensating inclination to horizontal walking |
| CN113183708A (en) * | 2021-05-27 | 2021-07-30 | 北京博清科技有限公司 | Crawling machine, control method and control device thereof, and crawling system |
| CN114291174A (en) * | 2021-12-30 | 2022-04-08 | 中山小神童创新科技有限公司 | Anti-falling adjusting system based on transporting equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111506075A (en) | AGV attitude adjusting method and system | |
| US10525784B2 (en) | Self-leveling mechanism and method for wheeled mobility device | |
| CN108382473B (en) | Active balancing device for non-road operation chassis and using method thereof | |
| CN108422825B (en) | Pre-detection active leveling system and method for agricultural vehicle operation platform | |
| CN107554227A (en) | Mobile robot's height adaptive chassis and adaptive approach | |
| CN201891999U (en) | Electrically controlled telescopic rocker | |
| CN110576922B (en) | Biped walking robot with speed equalizer and control method thereof | |
| DE202013103503U1 (en) | System for reducing the rolling and pitching of a moving vehicle | |
| CN114084845B (en) | Submarine AGV capable of reversing in suspended state of chassis without turning radius | |
| CN204137153U (en) | A kind ofly adapt to the wheel leg mechanism that two of complex-terrain takes turns balance wheel legged mobile robot | |
| CN110509991A (en) | A kind of method and device adjusting revolving speed | |
| CN106976496B (en) | Balanced telescopic machanism and contain its balance car | |
| CN207190706U (en) | Mobile robot's height adaptive chassis | |
| CN109941375B (en) | All-round self-balancing mobile robot based on infrared sensor | |
| Hasanah et al. | Two wheels line following balancing robot control using fuzzy logic and PID on sloping surface | |
| CN211893450U (en) | Bearing platform, chassis device, mobile device and robot | |
| CN112356757B (en) | Carriage extension system for mobile operation vehicle | |
| CN116161583A (en) | Crawler-type unmanned cross-country stacking forklift | |
| CN113146619B (en) | Self-stabilization objective table control method, objective table and moving device | |
| CN115319738A (en) | Control method for an arm assembly, work apparatus, processor, and storage medium | |
| CN112158273B (en) | Step self-adaptive walking method and device | |
| CN208468369U (en) | A kind of intelligent robot pedestal | |
| CN108437733B (en) | High-speed agricultural vehicle platform pre-detection active leveling system and leveling method | |
| JP2017043222A (en) | Moving device and control method of moving device | |
| CN105599761A (en) | Method and device for controlling advancing posture of mobile scanning car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |