CN102890511A - Guide method for SD type automated guided vehicle (AGV) system under laser guidance - Google Patents
Guide method for SD type automated guided vehicle (AGV) system under laser guidance Download PDFInfo
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Abstract
The invention provides a guide method for an SD type automated guided vehicle (AGV) system under laser guidance and belongs to the technical field of AGV systems. The problems that a plurality of iterative operations are required, the processing period is long and a processor has high operational capability requirement because of an algorithm structure in the prior art are solved. The method comprises a linear guide control mode and a curve guide control mode, wherein the motion of the AGV system is taken as a mass point, namely, a reference point, and the method comprises the following steps of: (1) determining an offset value CD between the reference point and a target path; (2) calculating to obtain a control corner value by employing a sectioned PI adjustment mode, looking up a table to obtain specific numerical values of a current corresponding adjustment parameter P and I factors according to a specific numerical value of the offset value, and performing parameter operation to obtain a control corner value of a wheel; and (3) finishing periodical guide control. According to the method, the control value for controlling a corner of a front wheel of the AGV is obtained through simplified operation, the operational process is optimized, the operation amount of an algorithm is reduced, and the processing period of the algorithm is shortened.
Description
Technical field
The invention belongs to AGV systems technology field, relate to a kind of guidance method of SD type AGV system of laser guiding.
Background technology
AGV is the english abbreviation of automatical pilot transportation vehicle (Automated Guided Vehicle).Refer to be equipped with the homing guidance devices such as electromagnetism or optics, can travel along the guide path of regulation, have the transport vehicle of safeguard protection and various transfer functions, AGV belongs to the category of wheeled mobile robot.AGV is generally take battery as power, and at present also useful noncontact energy transmission system is power.AGV is equipped with the noncontact guidance device, can realize unpiloted hauling operation.Its major function shows as can be under computer monitoring, and by path planning and job requirements are accurately walked and be accommodated to the appointed place, finish a series of operation functions.Compare with other equipment commonly used in the mass transport, the zone of action of AGV need not to lay the stationary installations such as track, support saddle frame, is not subjected to the restriction in place, road and space.Therefore, in automatic Material Handling System, can embody fully its automatism and flexibility, realize efficient, economic, manless production flexibly.
The guiding of AGV system refers to the navigate positional information of resulting AGV according to AGV, and the desired value that provides by the path of AGV calculates the working control bid value of AGV, namely provides the steering angle of AGV, is the key of AGV control technology.At present in the AGV of SD type guidance method, " tracking guidance algorithm " used wider, the guiding calculating of just having recorded AGV such as the chapter 4 of the Engineering Master academic dissertation of Kunming University of Science and Technology in 2006 " research of AGV vehicle-mounted control principle " by name, this algorithm is exactly " tracking guidance algorithm ", need hypothesis that an impact point is arranged in car body the place ahead, then by calculating the relation when front of the car and impact point, thereby controlled value, when the method is guided at bend, because the algorithm structure relation needs to adopt a large amount of interative computations, until find satisfactory value, need like this computing of large amount of complex, treatment cycle is longer, and the arithmetic capability of processor is had relatively high expectations.
Summary of the invention
The present invention is directed to existing technology and have the problems referred to above, a kind of guidance method of SD type AGV system of laser guiding has been proposed, this method obtains controlling value that the corner of AGV front-wheel is controlled by simplified operation, calculating process is optimized processing, greatly reduce the operand of algorithm, can shorten the algorithm process cycle.
The present invention realizes by following technical proposal:
A kind of guidance method of SD type AGV system of laser guiding comprises linear pattern and curved road type guiding control mode, and it is reference point that the motion of AGV system is regarded as a particle, it is characterized in that, key step is as follows:
(1) determines the deviate CD of reference point and destination path
Determine the deviate of the current physical location of reference point of AGV system and the approximated position value on the destination path;
(2) adopt sectional type PI adjustment mode to calculate control corner value
Concrete numerical value according to deviate obtains the adjustment parameter P of current correspondence and the concrete numerical value of FI by the lattice of tabling look-up, and obtains the control corner value of wheel by the parameter computing;
(3) finish guiding control
Adopt corresponding controlling angle value control vehicle wheel rotation to corresponding position, finish the guiding control of one-period.
The guiding of AGV system refers to that according to the navigate positional information of resulting AGV of AGV be the current physical location of reference point, the destination path value that provides by the path of AGV simultaneously calculates the deviate CD of the approximated position of current AGV system reference point position to the destination path, adjust the enquiry form of mode by searching default PI according to the concrete numerical value of deviate CD, correspondence inquires adjustment parameter P and the FI value on the PI adjustment control mode best on the current highway section, according to the P of the known correspondence of tabling look-up, the I value obtains the control corner value of wheel corresponding to this deviate by the parameter computing
, and obtain the working control bid value of AGV system, namely provide the steering angle of AGV system.Adopt corresponding controlling angle value control vehicle wheel rotation to corresponding position, finish the guiding control of one-period.And step is carried out the periodicity computing in real time, the deviate of the proximal most position on current physical location and destination path after the guiding control in a cycle changes, adjustment parameter P and I value that PI after then tabling look-up adjusts on the control mode also can adjust accordingly, and have namely realized the guiding of AGV system on straight line path and bend path through a plurality of periodic stepless controls.
In the guidance method of the SD type AGV system that above-mentioned laser is guided, the sectional type PI adjustment mode under described step (2) the cathetus type guiding control mode calculates control corner value
Concrete formula be
Wherein CD1 is the current deviation value, and CD2 was the deviate in a upper moment.Navigate resulting AGV current location and destination path for through the linear pattern destination path time at AGV, directly calculate control corner value by above-mentioned PI adjustment formula and be
Calculating process is optimized processing, greatly reduces the operand of algorithm, can shorten the algorithm process cycle.
In the guidance method of the SD type AGV system that above-mentioned laser is guided, the sectional type PI adjustment mode in the described step (2) under the curved road type guiding control mode calculates control corner value
Concrete formula be
Wherein CD1 is the deviate of current reference point and destination path, and CD2 is the deviate of a upper moment reference point and destination path, wherein
Be wheel steering angle corresponding to target turning radius that to turn, can obtain according to size and the turning target turning radius of car body
Wherein, Rx is the size that car body drives the mid point of the line that takes turns to next two scroll wheels, and R is the radius of destination path bend.
Navigate resulting AGV current location and destination path for through the curved road type destination path time at AGV, directly calculate control corner value by above-mentioned PI adjustment formula and be
Duoed a wheel steering angle corresponding to target turning turning radius than the control corner formula on the linear pattern destination path in this control corner value formula
Because car body size and target turning radius are known parameters, calculating process has been realized large optimization, greatly reduces the operand of algorithm, can shorten the algorithm process cycle.
In the guidance method of the SD type AGV system that above-mentioned laser is guided, determine current adjustment parameter P and FI value in the described step (2) by tabling look-up, wherein P is scale factor, I is integrating factor, and wherein the formulation of above table obtains after adjusting parameter and oneself's adjustment by the PI in the analogue simulator guiding control procedure.The PI adjustment mode that the AGV system is described here is to realize with the PI controller of self-correcting function, and after repeatedly the circulation guiding was controlled, control procedure and control result can be more perfect.
In the guidance method of the SD type AGV system that above-mentioned laser is guided, the current physical location of reference point in the described step (1) calculates guiding reference point coordinate data when front vehicle body by feedback coder under the linear pattern control mode, this moment the AGV system the current physical location of reference point and the deviate of the approximated position on the destination path be the vertical range that reference point arrives destination path.Under the linear pattern control mode, as long as know the position coordinates of actual reference point and the arbitrfary point on the destination path, just can draw reference point and namely obtain deviate to the vertical range of destination path, these easy computing method are well adjusted control mode to PI Data support are provided.
In the guidance method of the SD type AGV system of above-mentioned laser guiding, the current physical location of reference point in the described step (1) calculates guiding reference point coordinate data and vehicle body orientation values when front vehicle body by feedback coder under the curved road type control mode.
In the guidance method of the SD type AGV system that above-mentioned laser is guided, described step (1) is passed through formula under the curved road type control mode
Calculate the line tangential direction in current AGV system reference point and the bend center of circle, then judge that destination path circular arc place quadrant is that the turn direction of which quadrant and current AGV system is counterclockwise or clockwise: a, if turn counterclockwise in the clockwise turning of the 2nd quadrant or the 4th quadrant, then this moment, car body desirable orientation value was β; B, if the 2nd quadrant is turned counterclockwise, the 4th quadrant is turned clockwise, then this moment, car body desirable orientation value was 180 °+β; C, if the 1st quadrant is turned clockwise, the 3rd quadrant is turned counterclockwise, then this moment, car body desirable orientation value was 360 °-β; D, if the 1st quadrant is turned counterclockwise, the 3rd quadrant is turned clockwise, then this moment, car body desirable orientation value was 180 °-β; Wherein the bend central coordinate of circle is (X0, Y0), and the current coordinate of car body is (X1, Y1).Calculate when front vehicle body to the orientation values of destination path, namely when the line tangential direction in front vehicle body reference point and the bend center of circle, provide Data support for calculating reference point under the curved road type control mode and the deviate of destination path.
In the guidance method of the SD type AGV system of above-mentioned laser guiding, determine in the described step (1) that the deviate of determining reference point and destination path under the curved road type control mode passes through formula
Realize, wherein CD represents the deviate of reference point and destination path, and wherein D is the reference point of AGV system, and the coordinate that D is ordered is (X
D, Y
D), the P point is that the central coordinate of circle of destination path is (X
P, Y
P), R represents the radius of destination path.The algorithm by here obtains under curved road type control mode reference point and has namely obtained deviate to the bee-line of destination path, and these easy computing method are adjusted control mode well for curved road type PI Data support is provided.
In the guidance method of the SD type AGV system that above-mentioned laser is guided, the current location feedback is carried out in real time with the comparison operation of given destination path in the described guiding control procedure, and forms a PI closed-loop control flow process.The cycle control of property performance period is adjusted in closed-loop control.
In the guidance method of the SD type AGV system that above-mentioned laser is guided, described guidance method calculates the working control bid value of AGV by the PLC controller of AGV system, and provides the steering angle of AGV system.Provide the final guiding of the steering angle realization AGV system of AGV system by the steering order of PLC controller.
Prior art is compared, and the present invention has the following advantages:
1, the controlling value that directly obtains by computing of the present invention is exactly the controlling angle value to the AGV front-wheel, adopts this controlling value that front-wheel is regulated in real time, just can realize controlling AGV along the guiding control of set path automatic running.
2, the present invention adopts sectional type PI regulative mode, calculating process is optimized processing, greatly reduce the operand of algorithm, can shorten the algorithm process cycle, the calculated performance of processor is required can relative reduce, thereby improve the scope of application of algorithm, can be applied to better various processors.
Description of drawings
Fig. 1 is straight-line target route guidance control schematic diagram of the present invention;
Fig. 2 is bend destination path guiding control schematic diagram of the present invention;
Fig. 3 is wheel steering angle corresponding to target turning radius of the present invention
Geometric representation;
Fig. 4 is that AGV of the present invention system is along straight line path run trace figure;
Fig. 5 is that the present invention adopts the AGV system along the trajectory diagram of bend path walking;
Fig. 6 is the enquiry form of inquiring about P, FI in the sectional type PI adjustment mode of the present invention.
Embodiment
Below be specific embodiments of the invention and by reference to the accompanying drawings, technical scheme of the present invention is further described, but the present invention be not limited to these embodiment.
Shown in Fig. 1,2,3 and 6, the method is the AGV system for the SD type drives structure of laser guiding, the AGV of SD type drives structure is a kind of driving wheel band turning function that utilizes, the drives structure that cooperates two engaged wheels, the movement locus of the AGV of the type is only relevant with front wheel angle, therefore as long as the corner of front-wheel is controlled, just can realize the Trajectory Tracking Control to AGV.The controlling value that obtains by computing is exactly the controlling angle value to the AGV front-wheel, adopts this controlling value that front-wheel is regulated in real time, just can realize controlling AGV along the set path automatic running.
The guidance method of the SD type AGV system of this laser guiding comprises linear pattern and curved road type guiding control mode, and it is reference point that the motion of AGV system is regarded as a particle, and key step is as follows:
(1) determines the deviate CD of reference point and destination path
Determine the deviate of the current physical location of reference point of AGV system and the approximated position value on the destination path;
(2) adopt sectional type PI adjustment mode to calculate control corner value
To adjusting the design parameter of parameter P and FI, P is scale factor according to deviate, and I is integrating factor, has by tabling look-up to obtain, and wherein the formulation of above table obtains after adjusting by the guiding of the simulation in analogy control procedure control procedure oneself; Concrete numerical value according to deviate obtains the adjustment parameter P of current correspondence and the concrete numerical value of FI by the lattice of tabling look-up, and obtains the control corner value of wheel by the parameter computing;
(3) finish guiding control
Adopt corresponding controlling angle value control vehicle wheel rotation to corresponding position, finish the guiding control of one-period.
The current location feedback is carried out in real time with the comparison operation of given destination path in the above-mentioned guiding control procedure, and forms a PI closed-loop control flow process.It is that deviation is consisted of controlled quentity controlled variable by P ratio, I integration by linear combination that PI adjusts control, with this controlled quentity controlled variable controlled device is controlled, and realizes by the PI controller.Wherein in the PI control procedure, the P scale operation is that deviation moment is made a response.In a single day deviation produces controller and produces immediately control action, so that controlled quentity controlled variable changes to the direction that reduces deviation, the power of control action depends on scale factor P, scale factor P is larger, control action is stronger, and then transient process is faster, and the static deviation of control procedure is also just less; But P is larger, also more easily produces vibration, destroys Systems balanth, and therefore, the selection of scale factor P appropriately ability is few transit time, the effect that static difference is little and stable.
And integrating factor I can constantly increase because of the existence of deviation, and integrating factor I is used for the deviation of elimination system, and eliminates static error, but also can reduce the response speed of system simultaneously, increases the overshoot of system.The cumulative function of the larger then integration of integrating factor I is also more weak.At this moment system can not produce vibration when transition.But it is also longer to eliminate simultaneously the required time of deviation.Extremely important for selecting properly scale factor P and integrating factor I according to above analysis.This guidance method calculates the working control bid value of AGV by the programmed instruction of the PLC controller of AGV system simultaneously, and provides the guided procedure of the steering angle realization AGV system of AGV system.
The guiding of AGV system refers to that according to the navigate positional information of resulting AGV of AGV be the current physical location of reference point, the destination path value that provides by the path of AGV simultaneously calculates the deviate CD of the approximated position of current AGV system reference point position to the destination path, adjust the enquiry form of mode by searching default PI according to the concrete numerical value of deviate CD, correspondence inquires adjustment parameter P and the FI value on the PI adjustment control mode best on the current highway section, according to the P of the known correspondence of tabling look-up, the I value obtains the control corner value of wheel corresponding to this deviate by the parameter computing
And obtain the working control bid value of AGV system, namely provide the steering angle of AGV system.Adopt corresponding controlling angle value control vehicle wheel rotation to corresponding position, finish the guiding control of one-period.And above-mentioned steps is carried out computing in real time, the deviate of the proximal most position on current physical location and destination path after the guiding control in a cycle changes, adjustment parameter P and I value that PI after then tabling look-up adjusts on the control mode also can adjust accordingly, and have namely realized the guiding of AGV system on straight line path and bend path through a plurality of periodic stepless controls.
Lower mask body is separately set forth the concrete steps of the guide mode of AGV system in straight-line target path and the different driving paths of bend destination path two classes:
One, is shown in the linear pattern guiding control mode of travelling on the linear pattern destination path such as Fig. 1,6
1, calculates guiding reference point coordinate data when front vehicle body by feedback coder;
The current physical location of reference point calculates guiding reference point coordinate data when front vehicle body by feedback coder under the linear pattern control mode.
2, the deviate of calculating reference point and destination path, CD as shown in fig. 1;
The deviate of the approximated position value on the current physical location of the reference point of AGV system and the destination path is reference point to the vertical range of destination path is CD.
AB is the linear pattern destination path among Fig. 1, and wherein the A point is starting point, and the D point is the reference point of AGV system, and the subpoint from the D point to the AB straight line is that the point of vertical AB is the C point, and then CD is that the D point is to the proximal most position of AB straight line path, i.e. deviate.Wherein the A point coordinate is (X
A, Y
A), the C point coordinate is (X
C, Y
C), the D point coordinate is (X
D, Y
D); Then can draw
In the situation that AD and AC are known, can draw the CD value according to the geometrical principle of right-angle triangle.
3, adopt sectional type PI to adjust mode, according to the size of deviate, obtain corresponding adjustment parameter P and the design parameter value of FI by look-up table, by the current P that finds, the control corner value that the computing of I parameter value obtains wheel
Computing formula is:
Wherein CD1 is the deviate of current reference point and destination path, and CD2 is the deviate of a upper moment reference point and destination path.
4, forward the relevant position to according to this controlling angle value control wheel, then finish the guiding control of one-period.
Two, be shown in the curved road type guiding control mode of travelling on the curved road type destination path such as Fig. 2,3,6
1, calculates guiding reference point coordinate data and vehicle body orientation values when front vehicle body by feedback coder.
2, calculate orientation values when the front vehicle body ideal position, namely go to the orientation values on the destination path.The line tangential direction of namely working as front vehicle body reference point and the bend center of circle.
Computing formula is:
Then the orientation values of judging destination path circular arc place is which quadrant and turn direction are counterclockwise or clockwise, deterministic process is as follows: a, if the 2nd quadrant is turned clockwise, the 4th quadrant is turned counterclockwise, then this moment, car body desirable orientation value was β; B, if the 2nd quadrant is turned counterclockwise, the 4th quadrant is turned clockwise, then this moment, car body desirable orientation value was 180 °+β; C, if the 1st quadrant is turned clockwise, the 3rd quadrant is turned counterclockwise, then this moment, car body desirable orientation value was 360 °-β; D, if the 1st quadrant is turned counterclockwise, the 3rd quadrant is turned clockwise, then this moment, car body desirable orientation value was 180 °-β; Wherein the bend central coordinate of circle is (X0, Y0), and the current coordinate of car body is (X1, Y1).
3, the deviate of calculating reference point and current ideal position
CD as shown in Figure 2, specific formula for calculation is
The AB circular arc is the destination path of guiding, and the P point is the center of circle of circular arc, and CD is that the line of D and P is with the intersection point of circular arc AB.Be the deviate that CD represents reference point and destination path, wherein D is the reference point of AGV system, and wherein R=PC is the radius of circular arc AB, and the D point coordinate is (X
D, Y
D), the P point coordinate is (X
P, Y
P).
4, judge the deviation of working as front of the car orientation values and desirable orientation value
When deviation in setting range, then continue the adjustment control mode of step 5 ~ 6; If deviation is arranging outside the scope, then keep current wheel steering angle constant, withdraw from and this time adjust control.
5, adopt sectional type PI to adjust mode
According to the size of deviate, obtain corresponding adjustment parameter P, FI by look-up table, adopt this parameter computing to obtain the control corner value of wheel
Computing formula is:
Wherein CD1 is the deviate of current reference point and destination path, and CD2 is the deviate of a upper moment reference point and destination path; As shown in Figure 3, wherein
Wheel steering angle corresponding to target turning radius for turning can obtain according to the size of car body and the radius of turning destination path
Wherein, Rx is the size that car body drives the mid point of the line that takes turns to next two scroll wheels, specifically selects RX=1140mm in the present embodiment, and R is the radius of destination path bend.
Wherein release wheel steering angle according to radius of turn R
Method as shown in Figure 3, driving wheel is front-wheel, two wheels in back are engaged wheel, then the radius of turn of movement locus is OO1=R, i.e. the mid point O1 of two wheels in back is take the O point as the center of circle, R is the radius of destination path bend, can get according to geometric relationship: the wheel steering angle that radius of turn R is corresponding
Relation be:
Wherein Rx is the car body known dimensions.
6, adopt this controlling angle value control wheel to forward the relevant position to, then finish the guiding control of one-period.
Fig. 6 is a kind of P that provides applicable this method, the enquiry form of FI, this form can obtain according to repeatedly simulating guiding adjustment control analogy integration according to those skilled in the art, and undertaken perfectly by the check and correction process of PI controller self, not necessarily just be confined to this a kind of pattern that Fig. 6 provides.As can be seen from Figure 6 select corresponding P, the design parameter value of FI according to the deviate that calculates scope in the drawings, as deviate CD during less than or equal to 50 millimeters, selecting the P factor is 0.06, is 0.03 to the FI of usefulness; When deviate CD greater than 50 millimeters and during less than or equal to 100 millimeters, selecting the P factor is 0.10, is 0.05 to the FI of usefulness; When deviate CD greater than 100 millimeters and during less than or equal to 200 millimeters, selecting the P factor is 0.16, is 0.08 to the FI of usefulness; When deviate CD greater than 200 millimeters and during less than or equal to 500 millimeters, selecting the P factor is 0.20, is 0.10 to the FI of usefulness.
According to above-mentioned straight line path under guiding control modes different on upper and the bend path, and quoted the P among Fig. 6, FI enquiry form, finally drawn trajectory diagram such as the Fig. 5 along straight line path run trace figure such as Fig. 4 and AGV system along the walking of bend path of AGV system.
The starting point A1 coordinate that is illustrated in figure 4 as the AGV system is the driving trace of (3000,150) for (500,190) drive to coordinate of ground point, and the destination path of driving process is the straight-line segment of y=150; Rectifying effect for verification algorithm, deliberately be located at the place at the 40mm place, path that departs from objectives in the starting point of AGV system, be that the A1 coordinate is (500,190) locate, the driving trace of the AGV system from figure can be found out, wherein reference point is when the A1 point coordinate is (500,190), corresponding controlling angle value
Reference point thinks that slowly the B1 point is close; Wherein the B1 coordinate of ordering is (750,160), corresponding controlling angle value when reference point is approached the B1 point
Wherein the C1 point coordinate is (1500,150), after reference point arrives the C1 point, and corresponding controlling angle value
As seen AGV can adjust on the destination path fast, and travel along destination path, and the phenomenon of overshoot not occur in the correction adjustment process, proves that the regulating effect of this algorithm in the straight-line segment guided procedure is good.
As shown in Figure 5, the destination path that the AGV system need to walk among the figure is (x-x
0)
2+ (y-y
0)
2=R
2At the run trace figure of the curve bend type of the second quadrant, wherein (x
0, y
0)=(1500,500), R=1500mm.Can find out from the graph, reference point is corresponding controlling angle value when an A2 coordinate is (100,1000)
The control reference point thinks that the B2 point travels, and the B2 point coordinate is (382,1500), when reference point during at the B2 point, and corresponding controlling angle value
The control reference point is approached to C2 point, and when reference point during at the C2 point, the C2 point coordinate is (500,1623), the controlling angle value of correspondence
As seen utilize this guidance mode, the AGV system can be good at being transitioned on next bar straight line path by bend.When straight line path and bend path in conjunction with by the time, can control the whole circulation guided procedure of AGV system.
Specific embodiment described herein only is to the explanation for example of the present invention's spirit.Those skilled in the art can make various modifications or replenish or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (10)
1. the guidance method of the SD type AGV system of a laser guiding comprises linear pattern and curved road type guiding control mode, and it is reference point that the motion of AGV system is regarded as a particle, it is characterized in that, key step is as follows:
(1) determines the deviate CD of reference point and destination path
Determine the deviate of the current physical location of reference point of AGV system and the approximated position value on the destination path;
(2) adopt sectional type PI adjustment mode to calculate control corner value
Concrete numerical value according to deviate obtains the adjustment parameter P of current correspondence and the concrete numerical value of FI by the lattice of tabling look-up, and obtains the control corner value of wheel by the parameter computing;
(3) finish guiding control
Adopt corresponding controlling angle value control vehicle wheel rotation to corresponding position, finish the guiding control of one-period.
2. the bootstrap technique of the SD type AGV system of laser aiming according to claim 1 is characterized in that, the sectional type PI adjustment mode under described step (2) the cathetus type guiding control mode calculates control corner value
Concrete formula be
Wherein CD1 is the current deviation value, and CD2 was the deviate in a upper moment.
3. the bootstrap technique of the SD type AGV system of laser aiming according to claim 1 is characterized in that, the sectional type PI adjustment mode in the described step (2) under the curved road type guiding control mode calculates control corner value
Concrete formula be
Wherein CD1 is the deviate of current reference point and destination path, and CD2 is the deviate of a upper moment reference point and destination path, wherein
Be wheel steering angle corresponding to target turning radius that to turn, can obtain according to size and the turning target turning radius of car body
Wherein, Rx is the size that car body drives the mid point of the line that takes turns to next two scroll wheels, and R is the radius of destination path bend.
4. according to claim 1 and 2 or the bootstrap technique of the SD type AGV system of 3 described laser aimings, it is characterized in that, determine current adjustment parameter P and FI value in the described step (2) by tabling look-up, wherein P is scale factor, I is integrating factor, and wherein the formulation of above table obtains after adjusting parameter and oneself's adjustment by the PI in the analogue simulator guiding control procedure.
5. the bootstrap technique of the SD type AGV system of laser aiming according to claim 4, it is characterized in that, the current physical location of reference point in the described step (1) calculates guiding reference point coordinate data when front vehicle body by feedback coder under the linear pattern control mode, at this moment, the deviate of the approximated position on the current physical location of the reference point of AGV system and the destination path is the vertical range that reference point arrives destination path.
6. the bootstrap technique of the SD type AGV system of laser aiming according to claim 5, it is characterized in that, the current physical location of reference point in the described step (1) calculates when guiding reference point coordinate data and the vehicle body of front vehicle body by feedback coder under the curved road type control mode and puts place value.
7. the bootstrap technique of the SD type AGV system of laser aiming according to claim 6 is characterized in that, described step (1) is passed through formula under the curved road type control mode
Calculate the line tangential direction in current AGV system reference point and the bend center of circle, then judge that destination path circular arc place quadrant is that the turn direction of which quadrant and current AGV system is counterclockwise or clockwise: a, if turn counterclockwise in the clockwise turning of the 2nd quadrant or the 4th quadrant, then this moment, car body desirable orientation value was β; B, if the 2nd quadrant is turned counterclockwise, the 4th quadrant is turned clockwise, then this moment, car body desirable orientation value was 180 °+β; C, if the 1st quadrant is turned clockwise, the 3rd quadrant is turned counterclockwise, then this moment, car body desirable orientation value was 360 °-β; D, if the 1st quadrant is turned counterclockwise, the 3rd quadrant is turned clockwise, then this moment, car body desirable orientation value was 180 °-β; Wherein the bend central coordinate of circle is (X0, Y0), and the current coordinate of car body is (X1, Y1).
8. the bootstrap technique of the SD type AGV system of laser aiming according to claim 7 is characterized in that, determines in the described step (1) that the deviate of determining reference point and destination path under the curved road type control mode passes through formula
Realize, wherein CD represents the deviate of reference point and destination path, and wherein D is the reference point of AGV system, and the coordinate that D is ordered is (X
D, Y
D), the P point is that the central coordinate of circle of destination path is (X
P, Y
P), R represents the radius of destination path.
9. the bootstrap technique of the SD type AGV system of laser aiming according to claim 8 is characterized in that, the current location feedback is carried out in real time with the comparison operation of given destination path in the described guiding control procedure, and forms a PI closed-loop control flow process.
10. the bootstrap technique of the SD type AGV system of laser aiming according to claim 9 is characterized in that, described bootstrap technique calculates the working control bid value of AGV by the PLC controller of AGV system, and provides the steering angle of AGV system.
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| CN103488174A (en) * | 2013-09-16 | 2014-01-01 | 北京邮电大学 | Automatic guiding control method, device and system |
| CN105573321A (en) * | 2016-01-05 | 2016-05-11 | 国家电网公司 | Transformer station inspection robot navigation method based on laser track |
| CN105867380A (en) * | 2016-04-19 | 2016-08-17 | 北京九星智元科技有限公司 | Method for robot trolley path following |
| CN106406359A (en) * | 2016-08-30 | 2017-02-15 | 南京航空航天大学 | Virtual object-based guidance method used for fixed wing unmanned aerial vehicle to track ground object |
| CN106909160A (en) * | 2015-12-23 | 2017-06-30 | 广东科达洁能股份有限公司 | A kind of SD types AGV reversing attitude angle control device and methods based on two-loop system |
| CN107390691A (en) * | 2017-07-28 | 2017-11-24 | 广东嘉腾机器人自动化有限公司 | A kind of AGV path following methods |
| CN108152827A (en) * | 2017-09-28 | 2018-06-12 | 北京卫星制造厂 | A kind of omnidirectional's intelligent mobile equipment positioning and air navigation aid based on laser ranging |
| CN109552417A (en) * | 2018-12-27 | 2019-04-02 | 华晟（青岛）智能装备科技有限公司 | A kind of calibration method and system of driving wheel angle zero bias |
| CN109991968A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | Method for controlling robot to circle, robot and computer readable storage medium |
| CN110045723A (en) * | 2018-01-15 | 2019-07-23 | 北京京东尚科信息技术有限公司 | A kind of guidance unmanned machine reaches the method and system of target position |
| CN110221597A (en) * | 2019-04-18 | 2019-09-10 | 河北汉光重工有限责任公司 | A kind of paths planning method and device for unmanned target |
| CN112224793A (en) * | 2020-12-14 | 2021-01-15 | 湖南中拓信息科技有限公司 | Intelligent logistics selection path planning system |
| CN112859863A (en) * | 2021-01-15 | 2021-05-28 | 北京科技大学 | Prediction-based path tracking control key reference point selection method and system |
| CN113741526A (en) * | 2021-09-13 | 2021-12-03 | 北京微纳星空科技有限公司 | Method and device for correcting deviation of unmanned aerial vehicle from running track and readable storage medium |
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| CN107390691B (en) * | 2017-07-28 | 2020-09-04 | 广东嘉腾机器人自动化有限公司 | AGV path tracking method |
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| CN108152827A (en) * | 2017-09-28 | 2018-06-12 | 北京卫星制造厂 | A kind of omnidirectional's intelligent mobile equipment positioning and air navigation aid based on laser ranging |
| CN109991968A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | Method for controlling robot to circle, robot and computer readable storage medium |
| CN110045723A (en) * | 2018-01-15 | 2019-07-23 | 北京京东尚科信息技术有限公司 | A kind of guidance unmanned machine reaches the method and system of target position |
| CN109552417A (en) * | 2018-12-27 | 2019-04-02 | 华晟（青岛）智能装备科技有限公司 | A kind of calibration method and system of driving wheel angle zero bias |
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| CN112224793A (en) * | 2020-12-14 | 2021-01-15 | 湖南中拓信息科技有限公司 | Intelligent logistics selection path planning system |
| CN112224793B (en) * | 2020-12-14 | 2021-03-02 | 湖南中拓信息科技有限公司 | Intelligent logistics selection path planning system |
| CN112859863A (en) * | 2021-01-15 | 2021-05-28 | 北京科技大学 | Prediction-based path tracking control key reference point selection method and system |
| CN112859863B (en) * | 2021-01-15 | 2022-02-25 | 北京科技大学 | Prediction-based path tracking control key reference point selection method and system |
| CN113741526A (en) * | 2021-09-13 | 2021-12-03 | 北京微纳星空科技有限公司 | Method and device for correcting deviation of unmanned aerial vehicle from running track and readable storage medium |
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