CN112596521A - Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device - Google Patents

Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device Download PDF

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CN112596521A
CN112596521A CN202011476234.5A CN202011476234A CN112596521A CN 112596521 A CN112596521 A CN 112596521A CN 202011476234 A CN202011476234 A CN 202011476234A CN 112596521 A CN112596521 A CN 112596521A
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magnetic stripe
deviation
steering
magnetic
wheel
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CN112596521B (en
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陈胜利
郭磊
刘江波
刘玉平
王彬
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Beijing Hangxing Machinery Manufacturing Co Ltd
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Beijing Hangxing Machinery Manufacturing Co Ltd
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    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips

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Abstract

The invention discloses a double-rudder-wheel magnetic navigation AGV (automatic guided vehicle) deviation rectifying method and a double-rudder-wheel magnetic navigation AGV deviation rectifying device, wherein the method comprises the following steps: when the double-steering-wheel magnetic navigation AGV travels straight or turns, the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor are respectively used as reference points, and the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor are kept on the magnetic stripes in real time; respectively calculating a first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculating a second deviation between the center of the rear magnetic stripe sensor and the magnetic stripe according to the return value of the rear magnetic stripe sensor; performing straight-going deviation correction according to the first deviation and the second deviation; when the double-steering-wheel magnetic navigation AGV traverses, respectively setting the driving speeds of two steering wheels according to the values of a left magnetic stripe sensor and a right magnetic stripe sensor; and setting the steering angles of the two steering wheels according to the deviation between the center of the double-steering-wheel magnetic navigation AGV body and the magnetic strips so as to perform transverse movement deviation correction. The method disclosed by the invention can ensure that the double-rudder-wheel magnetic navigation AGV can stably and accurately run along the magnetic stripe.

Description

Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device
Technical Field
The invention belongs to the technical field of mobile robots, and particularly relates to a double-rudder-wheel magnetic navigation AGV deviation rectifying method and device.
Background
A conventional double-steering-wheel AGV (Automated Guided Vehicle) is small in Vehicle body, the center of the Vehicle body is mostly used as a reference point during control, calculation is carried out by means of a magnetic stripe sensor and a gyroscope, and high requirements are set on the arrangement of the magnetic stripe sensor and the magnetic stripe sensor. However, when the method for controlling the conventional double-steering-wheel AGV is applied to the double-steering-wheel AGV with a large appearance, the deviation angle of a vehicle body is small, large errors exist in front and rear parking spaces, a magnetic strip sensor is easy to separate from a magnetic strip and is out of control, and the requirements on the turning radius and the turning space are high.
It can be seen that the technical problems which are urgently needed to be solved by the technical personnel in the field are: the deviation is reduced in the large-scale double-steering-wheel magnetic navigation AGV, so that the magnetic stripe running can be stably and reliably prolonged.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the deviation is reduced in the magnetic navigation AGV of large-scale two rudder wheels traveles, makes it can extend the problem that the magnetic stripe moved steadily and reliably.
In order to solve the technical problem, the invention discloses a double-rudder-wheel magnetic navigation AGV deviation rectifying method, which comprises a front magnetic stripe sensor, a rear magnetic stripe sensor, a left magnetic stripe sensor, a right magnetic stripe sensor and magnetic stripes, wherein the method comprises the following steps:
when the double-steering-wheel magnetic navigation AGV travels straight or turns, respectively taking the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor as reference points, and keeping the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor on the magnetic stripes in real time;
respectively calculating a first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculating a second deviation between the center of the rear magnetic stripe sensor and the magnetic stripe according to the return value of the rear magnetic stripe sensor;
performing straight-going deviation correction according to the first deviation and the second deviation;
when the double-steering-wheel magnetic navigation AGV traverses, respectively setting the driving speeds of the two steering wheels according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor;
according to two steering wheel magnetic navigation AGV automobile body centers with the deviation of magnetic stripe sets for the angle of turning to of two steering wheels to carry out the sideslip and rectify, wherein, the angle of turning to of two steering wheels is the same.
Optionally, the step of performing a sideslip deviation correction according to the first deviation and the second deviation includes:
determining the steering angles of the two steering engines according to a fuzzy control principle, the first deviation and the second deviation;
and aiming at each steering engine, calculating the linear speed of the steering engine corresponding to the deviation according to the steering angle, and performing transverse movement deviation correction according to the linear speed.
Optionally, when the dual-rudder wheel magnetic navigation AGV travels straight, the distance between the two rudder wheels in the length direction is 2L, the distance between the two rudder wheels in the width direction is 2W, the distance between the two rudder wheel centers is H, an included angle between a connecting line of the two rudder wheel centers and the vehicle body axis is Ψ, and then tan Ψ is W/L,
Figure BDA0002835529390000021
alternatively, the turning radius of the front steering wheel and the turning radius of the rear steering wheel are respectively calculated by the following formulas:
Figure BDA0002835529390000022
wherein alpha is the deflection angle of the front steering wheel, and beta is the deflection angle of the rear steering wheel; r1Radius of rotation, R, of the front steering wheel2The rotation radius of the rear steering wheel;
the double-steering-wheel magnetic navigation AGV body center is obtained by calculation through the following formula:
Rm 2＝R1 2+H2/4-R1 ＊H＊sin(ψ-a)；
wherein R ismIs the center of the vehicle body.
Alternatively, the driving speed of the front steering wheel is calculated by the following formula:
Figure BDA0002835529390000023
the driving speed of the rear steering wheel is calculated by the following formula:
Figure BDA0002835529390000031
wherein, VmIs the driving speed, V, of the center of the vehicle body1For the driving speed of the front steering wheel, V2The rotational angular velocity of the vehicle body is W, which is the driving velocity of the rear steering wheel.
Alternatively, the deflection angle of the front steering wheel and the deflection angle of the rear steering wheel are respectively determined by calculating according to the following formulas:
alpha is the direction of the front wheel deviation correction＊[K1 ＊Front magnetic stripe sensor deviation absolute value + K2 ＊(highest vehicle speed-vehicle set speed)]；
Beta is the direction of the rear wheel deviation correction＊[K1 ＊Deviation absolute value + K of rear magnetic stripe sensor2 ＊(highest vehicle speed-vehicle set speed)]；
Wherein, K1And K2Is a control coefficient.
Optionally, when the double-rudder-wheel magnetic navigation AGV traverses, the value of the left magnetic stripe sensor is S1The value of the right magnetic strip sensor is S2Then S is3＝S1-S2，S4＝(S1+S2) -central values of the left and right magnetic stripe sensors;
when S is3When the driving speed of the front steering wheel is larger than the preset allowable error, the driving speed of the front steering wheel is equal to the vehicle speed set-K4 ＊S3，
Rear steering wheel drive speed + K vehicle speed setting4 ＊S3Wherein, K is4Is a deviation correction coefficient;
when S is4When the steering angle is larger than the preset allowable error, the front steering engine turns to a sideslip angle + K5 ＊Correcting the direction;
wherein the deviation correcting direction is composed of a traversing direction and S4Determination of said K5The rotation angle of the front steering engine is the same as that of the rear steering engine for the correction coefficient.
In order to solve the technical problem, the invention also discloses a double-rudder-wheel magnetic navigation AGV deviation correcting device, which is applied to the double-rudder-wheel magnetic navigation AGV and comprises a front magnetic stripe sensor, a rear magnetic stripe sensor, a left magnetic stripe sensor, a right magnetic stripe sensor and magnetic stripes, wherein the double-rudder-wheel magnetic navigation AGV comprises:
the first control module is used for respectively taking the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor as reference points when the double-steering-wheel magnetic navigation AGV moves straight or turns, and keeping the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor on the magnetic stripes in real time;
the calculation module is used for calculating a first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor and calculating a second deviation between the center of the rear magnetic stripe sensor and the magnetic stripe according to the return value of the rear magnetic stripe sensor;
the first deviation rectifying module is used for carrying out straight deviation rectifying according to the first deviation and the second deviation;
the speed setting module is used for respectively setting the driving speeds of the two steering wheels according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor when the double-steering-wheel magnetic navigation AGV traverses;
and the second deviation rectifying module is used for setting the steering angle of the two steering wheels according to the center of the double-steering-wheel magnetic navigation AGV body and the deviation of the magnetic stripe so as to perform transverse deviation rectifying, wherein the steering angles of the two steering wheels are the same.
Optionally, the first deviation rectifying module includes:
the first submodule is used for determining the steering angles of the two steering engines according to a fuzzy control principle, the first deviation and the second deviation;
and the second submodule is used for calculating the linear speed of the steering engine corresponding to the deviation according to the steering angle and performing transverse movement deviation correction according to the linear speed.
The invention has the following advantages:
the embodiment of the invention discloses a deviation rectifying method for a double-rudder-wheel magnetic navigation AGV, which divides the omnidirectional operation of the double-rudder-wheel magnetic navigation AGV into two control modes of straight movement and transverse movement, wherein the straight movement is respectively carried out by taking the centers of front and rear magnetic stripe sensors as reference points to carry out single rudder-wheel deviation rectifying control, the transverse movement is carried out by combining the center deviation of a vehicle body and the left and right swinging amount of the vehicle body to carry out integral deviation rectifying control, and the straight movement and the transverse movement are combined with a fuzzy control rule and are matched with the law of driving the vehicle, so that the large double-rudder-wheel magnetic navigation AGV can simply, stably.
Drawings
FIG. 1 is a flowchart illustrating steps of an AGV deviation rectifying method for double-rudder-wheel magnetic navigation according to an embodiment of the present invention;
FIG. 2 is an installation layout diagram of a double-rudder magnetic navigation AGV body control part according to an embodiment of the invention;
FIG. 3 is a schematic diagram illustrating deviation of a dual-rudder magnetic navigation AGV according to an embodiment of the present invention during straight or turning;
FIG. 4 is a schematic diagram illustrating a lateral shift deviation condition of a dual-rudder magnetic navigation AGV according to an embodiment of the present invention;
fig. 5 is a block diagram of a double-rudder-wheel magnetic navigation AGV deviation correcting device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments and with reference to the attached drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a flowchart of steps of an AGV deviation rectifying method for double-rudder-wheel magnetic navigation according to an embodiment of the present invention.
The double-rudder-wheel magnetic navigation AGV deviation rectifying method provided by the embodiment of the invention comprises the following steps of:
step 101: when the double-steering-wheel magnetic navigation AGV travels straight or turns, the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor are respectively used as reference points, and the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor are kept on the magnetic stripes in real time.
The deviation rectifying method for the double-rudder-wheel magnetic navigation AGV provided by the embodiment of the invention can be applied to a large double-rudder-wheel magnetic navigation AGV. An exemplary dual-rudder wheel magnetic navigation AGV body control installation layout is shown in FIG. 2, the dual-rudder wheel magnetic navigation AGV includes a front magnetic stripe sensor, a rear magnetic stripe sensor, a left magnetic stripe sensor, a right magnetic stripe sensor, and magnetic stripes. An AGV is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions.
Step 102: and respectively calculating a first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculating a second deviation between the center of the rear magnetic stripe sensor and the magnetic stripe according to the return value of the rear magnetic stripe sensor.
Step 103: and performing straight-line deviation correction according to the first deviation and the second deviation.
In an optional embodiment, the step of performing straight deviation rectification according to the first deviation and the second deviation comprises the following sub-steps:
the first substep: determining the steering angles of the two steering engines according to a fuzzy control principle, a first deviation and a second deviation;
and a second substep: and aiming at each steering engine, calculating the linear speed of the steering engine corresponding to the deviation according to the steering angle, and performing straight-line deviation correction according to the linear speed.
Step 104: when the double-steering-wheel magnetic navigation AGV traverses, the driving speeds of the two steering wheels are respectively set according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor.
Step 105: and setting the steering angles of the two steering wheels according to the deviation between the center of the double-steering-wheel magnetic navigation AGV body and the magnetic strips so as to perform transverse movement deviation correction.
Wherein the steering angles of the two steering wheels are the same.
In an alternative embodiment, when the dual-steering-wheel magnetic navigation AGV travels straight, the distance between the two steering wheels in the length direction is 2L, the distance between the two steering wheels in the width direction is 2W, and the two steering wheels are arranged in parallelThe central distance of each steering wheel is H, the included angle between the central connecting line of the two steering wheels and the axis of the vehicle body is phi, and then the tan phi is W/L,
Figure BDA0002835529390000061
fig. 3 is a schematic diagram of the deviation of a dual-rudder magnetic navigation AGV during straight or turning. In an alternative embodiment, the turning radius of the front steering wheel and the turning radius of the rear steering wheel are respectively calculated by the following formulas:
Figure BDA0002835529390000062
wherein alpha is the deflection angle of the front steering wheel, and beta is the deflection angle of the rear steering wheel; r1Radius of rotation, R, of the front steering wheel2The rotation radius of the rear steering wheel;
the double-rudder-wheel magnetic stripe navigation AGV body center is obtained by calculation through the following formula:
Rm 2＝R1 2+H2/4-R1 ＊H＊sin(ψ-a)；
wherein R ismIs the center of the vehicle body.
In an alternative embodiment, the driving speed of the front steering wheel is calculated by the following formula:
Figure BDA0002835529390000063
the driving speed of the rear steering wheel is calculated by the following formula:
Figure BDA0002835529390000064
wherein, VmIs the driving speed of the center of the vehicle body, V1For the driving speed of the front steering wheel, V2The rotation angular velocity of the vehicle body is W, V for the driving velocity of the rear steering wheelm＝Rm*W，V1＝R1*W，V2＝R2*W。
In an alternative embodiment, the deflection angle of the front steering wheel and the deflection angle of the rear steering wheel are respectively determined by calculating according to the following formulas:
alpha is the direction of the front wheel deviation correction＊[K1 ＊Front magnetic stripe sensor deviation absolute value + K2 ＊(highest vehicle speed-vehicle set speed)]；
Beta is the direction of the rear wheel deviation correction＊[K1 ＊Deviation absolute value + K of rear magnetic stripe sensor2 ＊(highest vehicle speed-vehicle set speed)]；
Wherein, K1And K2And is determined according to the driving speed of the vehicle body for controlling the coefficient.
When the steering wheel is in the central position, the angle is a negative value when the steering wheel rotates clockwise, and the angle is a positive straight angle when the steering wheel rotates anticlockwise. The deviation rectifying direction of the steering wheel is comprehensively determined by the running direction (advancing and retreating) of the vehicle body and the central deviation direction of the magnetic stripe sensor. The highest vehicle speed and the set vehicle speed are as follows: m/s.
FIG. 4 is a schematic illustration of a double-rudder magnetic guided AGV lateral deviation. When the double-steering-wheel magnetic navigation AGV traverses, the value of the left magnetic stripe sensor is S1The value of the right magnetic strip sensor is S2Then S is3＝S1-S2， S4＝(S1+S2) -central values of the left and right magnetic stripe sensors; when S is3When the driving speed of the front steering wheel is larger than the preset allowable error, the driving speed of the front steering wheel is equal to the vehicle speed set-K4 ＊S3The driving speed of the rear steering wheel is set as + K4 ＊S3Wherein, K is4Is a deviation correction coefficient; when S is4When the steering angle is larger than the preset allowable error, the front steering engine turns to a sideslip angle + K5 ＊Correcting the direction;
wherein the deviation correcting direction is composed of a traversing direction and S4Determination of K5The rotation angle of the front steering engine is the same as that of the rear steering engine for the correction coefficient.
The invention discloses a deviation rectifying method for a double-rudder-wheel magnetic navigation AGV, which divides the omnidirectional operation of the double-rudder-wheel magnetic navigation AGV into two control modes of straight movement and transverse movement, wherein the centers of front and rear magnetic stripe sensors are respectively used as reference points to carry out independent deviation rectifying control during the straight movement, the center deviation of a vehicle body and the left and right swinging amount of the vehicle body are combined to carry out integral deviation rectifying control during the transverse movement, and the straight movement and the transverse movement are combined with a fuzzy control rule and are matched with the law of driving the vehicle, so that the large double-rudder-wheel magnetic navigation AGV can simply, stably and accurately operate along the magnetic stripes.
Fig. 5 is a block diagram of a double-rudder-wheel magnetic navigation AGV deviation correcting device according to an embodiment of the present invention.
The double-rudder-wheel magnetic navigation AGV deviation correcting device provided by the embodiment of the invention is applied to a double-rudder-wheel magnetic navigation AGV, the double-rudder-wheel magnetic navigation AGV comprises a front magnetic stripe sensor, a rear magnetic stripe sensor, a left magnetic stripe sensor, a right magnetic stripe sensor and magnetic stripes, and the double-rudder-wheel magnetic navigation AGV deviation correcting device comprises the following modules:
the first control module 501 is configured to, when the dual-steering-wheel magnetic navigation AGV is going straight or turning, respectively use respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor as reference points to keep the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor on the magnetic stripes in real time;
a calculating module 502, configured to calculate a first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculate a second deviation between the center of the rear magnetic stripe sensor and the magnetic stripe according to the return value of the rear magnetic stripe sensor;
the first deviation rectifying module 503 is configured to perform straight deviation rectifying according to the first deviation and the second deviation;
a speed setting module 504, configured to set driving speeds of the two steering wheels according to values of the left magnetic stripe sensor and the right magnetic stripe sensor when the dual-steering-wheel magnetic navigation AGV moves laterally;
and a second deviation rectifying module 505, configured to set the steering angle of the two steering wheels according to the center of the double-steering-wheel magnetic navigation AGV body and the deviation of the magnetic stripe, so as to perform sideslip deviation rectification, where the steering angles of the two steering wheels are the same.
Optionally, the first deviation rectifying module includes: the first submodule is used for determining the steering angles of the two steering engines according to a fuzzy control principle, the first deviation and the second deviation; and the second submodule is used for calculating the linear speed of the steering engine corresponding to the deviation according to the steering angle and performing transverse movement deviation correction according to the linear speed.
The invention discloses a deviation correcting device for a double-steering-wheel magnetic navigation AGV, which divides the omnidirectional operation of the double-steering-wheel magnetic navigation AGV into two control modes of straight movement and transverse movement, wherein the straight movement is respectively carried out independent steering wheel deviation correcting control by taking the centers of front and rear magnetic stripe sensors as reference points, the transverse movement is carried out by combining the center deviation of a vehicle body and the left and right swinging amount of the vehicle body to carry out integral deviation correcting control, and the straight movement and the transverse movement are combined with a fuzzy control rule and are matched with the law of driving the vehicle, so that the large double-steering-wheel magnetic navigation AGV can simply, stably and accurately operate along the.
For the method embodiment, since it corresponds to the apparatus embodiment, the description is relatively simple, and for the relevant points, refer to the description of the apparatus embodiment section.
It should be noted that the above description is only a preferred embodiment of the present invention, and it should be understood that various changes and modifications can be made by those skilled in the art without departing from the technical idea of the present invention, and these changes and modifications are included in the protection scope of the present invention.
Those skilled in the art will appreciate that the details of the invention not described in detail in this specification are well within the skill of those in the art.

Claims (9)

1. The utility model provides a two helm magnetic navigation AGV method of rectifying, two helm magnetic navigation AGV include preceding magnetic stripe sensor, back magnetic stripe sensor, left magnetic stripe sensor, right magnetic stripe sensor and magnetic stripe, its characterized in that, the method includes:
when the double-steering-wheel magnetic navigation AGV travels straight or turns, respectively taking the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor as reference points, and keeping the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor on the magnetic stripes in real time;
respectively calculating a first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculating a second deviation between the center of the rear magnetic stripe sensor and the magnetic stripe according to the return value of the rear magnetic stripe sensor;
performing straight-going deviation correction according to the first deviation and the second deviation;
when the double-steering-wheel magnetic navigation AGV traverses, respectively setting the driving speeds of the two steering wheels according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor;
according to two steering wheel magnetic navigation AGV automobile body centers with the deviation of magnetic stripe sets for the angle of turning to of two steering wheels to carry out the sideslip and rectify, wherein, the angle of turning to of two steering wheels is the same.
2. The method of claim 1, wherein the step of performing straight-line deviation correction according to the first deviation and the second deviation comprises:
determining the steering angles of the two steering engines according to a fuzzy control principle, the first deviation and the second deviation;
and aiming at each steering engine, calculating the linear speed of the steering engine corresponding to the deviation according to the steering angle, and performing straight-line deviation correction according to the linear speed.
3. The method of claim 1, wherein:
when the double-rudder-wheel magnetic navigation AGV travels straight, the distance between the two rudder wheels in the length direction is 2L, the distance between the two rudder wheels in the width direction is 2W, the distance between the centers of the two rudder wheels is H, an included angle between the central connecting line of the two rudder wheels and the axis of the AGV body is psi, and then tan psi is W/L,
Figure FDA0002835529380000011
4. the method of claim 3, wherein: the turning radius of the front steering wheel and the turning radius of the rear steering wheel are respectively calculated by the following formulas:
Figure FDA0002835529380000021
wherein alpha is the deflection angle of the front steering wheel, and beta is the deflection angle of the rear steering wheel; r1Radius of rotation, R, of the front steering wheel2The rotation radius of the rear steering wheel;
the double-rudder-wheel magnetic stripe navigation AGV body center is obtained by calculation through the following formula:
Rm 2＝R1 2+H2/4-R1*H*sin(ψ-a)；
wherein R ismIs the center of the vehicle body.
5. The method of claim 4, wherein:
the driving speed of the front steering wheel is calculated by the following formula:
Figure FDA0002835529380000022
the driving speed of the rear steering wheel is calculated by the following formula:
Figure FDA0002835529380000023
wherein, VmIs the driving speed, V, of the center of the vehicle body1For the driving speed of the front steering wheel, V2The rotational angular velocity of the vehicle body is W, which is the driving velocity of the rear steering wheel.
6. The method of claim 5,
the deflection angle of the front steering wheel and the deflection angle of the rear steering wheel are respectively determined according to the following formulas:
alpha is front wheel deviation correcting direction1Absolute value of deviation + K of front magnetic stripe sensor2Speed of vehicle (speed of vehicle-speed set)]；
Beta-rear wheel deviation rectifying direction K1Back magnetic stripe sensor deviation absolute value + K2Speed of vehicle (speed of vehicle-speed set)]；
Wherein, K1And K2Is a control coefficient.
7. The method of claim 1, wherein:
when the double-rudder-wheel magnetic navigation AGV traverses, the numerical value of the left magnetic stripe sensor is S1The value of the right magnetic strip sensor is S2Then S is3＝S1-S2，S4＝(S1+S2) -central values of the left and right magnetic stripe sensors;
when S is3When the driving speed of the front steering wheel is larger than the preset allowable error, the driving speed of the front steering wheel is equal to the vehicle speed set-K4*S3，
Rear steering wheel drive speed + K vehicle speed setting4*S3Wherein, K is4Is a deviation correction coefficient;
when S is4When the steering angle is larger than the preset allowable error, the front steering engine turns to a sideslip angle + K5Correcting the direction;
wherein the deviation correcting direction is composed of a traversing direction and S4Determination of said K5The rotation angle of the front steering engine is the same as that of the rear steering engine for the correction coefficient.
8. The utility model provides a two helm magnetic navigation AGV deviation correcting device, the device is applied to two helm magnetic navigation AGV, two helm magnetic navigation AGV includes preceding magnetic stripe sensor, back magnetic stripe sensor, left magnetic stripe sensor, right magnetic stripe sensor and magnetic stripe, its characterized in that, the device includes:
the first control module is used for respectively taking the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor as reference points when the double-steering-wheel magnetic navigation AGV moves straight or turns, and keeping the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor on the magnetic stripes in real time;
the calculation module is used for calculating a first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor and calculating a second deviation between the center of the rear magnetic stripe sensor and the magnetic stripe according to the return value of the rear magnetic stripe sensor;
the first deviation rectifying module is used for carrying out straight deviation rectifying according to the first deviation and the second deviation;
the speed setting module is used for respectively setting the driving speeds of the two steering wheels according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor when the double-steering-wheel magnetic navigation AGV traverses;
and the second deviation rectifying module is used for setting the steering angle of the two steering wheels according to the center of the double-steering-wheel magnetic navigation AGV body and the deviation of the magnetic stripe so as to perform transverse deviation rectifying, wherein the steering angles of the two steering wheels are the same.
9. The apparatus of claim 8, wherein the first deskew module comprises:
the first submodule is used for determining the steering angles of the two steering engines according to a fuzzy control principle, the first deviation and the second deviation;
and the second submodule is used for calculating the linear speed of the steering engine corresponding to the deviation according to the steering angle and performing transverse movement deviation correction according to the linear speed.
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