CN109144071B - 一种狭窄车道内agv行车控制方法 - Google Patents
一种狭窄车道内agv行车控制方法 Download PDFInfo
- Publication number
- CN109144071B CN109144071B CN201811162088.1A CN201811162088A CN109144071B CN 109144071 B CN109144071 B CN 109144071B CN 201811162088 A CN201811162088 A CN 201811162088A CN 109144071 B CN109144071 B CN 109144071B
- Authority
- CN
- China
- Prior art keywords
- reflector
- laser
- agv
- preset value
- control mode
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000003137 locomotive effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000006467 substitution reaction 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
Description
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811162088.1A CN109144071B (zh) | 2018-09-30 | 2018-09-30 | 一种狭窄车道内agv行车控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811162088.1A CN109144071B (zh) | 2018-09-30 | 2018-09-30 | 一种狭窄车道内agv行车控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109144071A CN109144071A (zh) | 2019-01-04 |
CN109144071B true CN109144071B (zh) | 2021-06-25 |
Family
ID=64810474
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811162088.1A Active CN109144071B (zh) | 2018-09-30 | 2018-09-30 | 一种狭窄车道内agv行车控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN109144071B (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110109450A (zh) * | 2019-04-01 | 2019-08-09 | 深圳市女娲机器人科技有限公司 | 一种机器人自动回充方法、装置及终端设备 |
CN110954911B (zh) * | 2019-11-29 | 2023-03-24 | 青岛港国际股份有限公司 | 自动导引车定位装置及定位方法 |
CN111809949A (zh) * | 2020-06-16 | 2020-10-23 | 北京德威佳业科技有限公司 | 载车agv行走和准确定位的方法 |
CN114383547B (zh) * | 2020-10-21 | 2024-03-22 | 广东博智林机器人有限公司 | 固定模台生产线的上料方法、装置、电子设备及存储介质 |
CN114397883A (zh) * | 2021-11-11 | 2022-04-26 | 安徽昌永得机械有限公司 | 全向多轴重载agv小车的控制系统 |
CN115818139B (zh) * | 2022-11-10 | 2024-04-19 | 广东海洋大学 | 一种港口生产agv搬运用物流车 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3316841B2 (ja) * | 1998-08-06 | 2002-08-19 | 村田機械株式会社 | 無人搬送車システム |
CN106318412B (zh) * | 2015-06-30 | 2019-09-17 | 上海梅山钢铁股份有限公司 | 轨道大车自动纠偏方法 |
CN205294284U (zh) * | 2016-01-07 | 2016-06-08 | 上海海镭激光科技有限公司 | 集装箱码头流动设备自动化行走系统 |
CN106772319B (zh) * | 2016-12-19 | 2023-05-16 | 上海振华重工电气有限公司 | Agv激光防撞传感器偏转角自动标定装置及标定方法 |
CN108189844B (zh) * | 2017-12-28 | 2020-06-26 | 东风商用车有限公司 | 一种车道偏离预警系统的报警方法 |
CN207718229U (zh) * | 2018-02-02 | 2018-08-10 | 福建(泉州)哈工大工程技术研究院 | 一种自主导航的全向移动agv |
-
2018
- 2018-09-30 CN CN201811162088.1A patent/CN109144071B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN109144071A (zh) | 2019-01-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109144071B (zh) | 一种狭窄车道内agv行车控制方法 | |
RU2720138C2 (ru) | Способ автоматического подведения к погрузочно-разгрузочной площадке для применения в грузовых автомобилях большой грузоподъемности | |
CN107179530B (zh) | 用于求取固定在车辆上的探测设备的失调的装置 | |
US9193387B2 (en) | Automatic forward parking in perpendicular parking spaces | |
CN106843212B (zh) | 自动驾驶基于偏航角修正的车辆应急辅助定向系统及方法 | |
US8170739B2 (en) | Path generation algorithm for automated lane centering and lane changing control system | |
CN108032859B (zh) | 自动变道控制方法、装置和汽车 | |
US8280573B2 (en) | Guided control device for unmanned vehicle | |
CN106347351A (zh) | 一种带有自动紧急制动的自适应巡航方法及系统 | |
CN106843223A (zh) | 一种智能化避障agv小车系统及避障方法 | |
CN108562881A (zh) | 一种雷达标定系统及方法 | |
WO2020135772A1 (zh) | 车辆自动驾驶时动态目标线的生成方法、生成系统及车辆 | |
JP2009096306A (ja) | 駐車支援方法 | |
JP2007156576A (ja) | 走行台車のオドメトリ(車輪距離計)パラメータ調整方法及び装置 | |
CN112987734B (zh) | 机器人行驶方法、装置及电子设备、存储介质及程序产品 | |
JP2016197081A (ja) | 運搬車両 | |
KR102011663B1 (ko) | 차선 유지 보조 시스템의 시험 평가 장치 및 방법 | |
CN105487510A (zh) | 一种垛区环境中移动扫描车的轨迹引导方法及装置 | |
CN102231083B (zh) | 三轮无轨agv定位停车控制方法 | |
JP2017151726A (ja) | 衝突予測装置 | |
CN203490506U (zh) | 一种车载激光自动导向控制系统 | |
CA2875313A1 (en) | Method and system for manoeuvring a mobile mining machine in a tunnel and a mobile mining machine. | |
US9925978B2 (en) | Vehicle pivot technique | |
KR101285350B1 (ko) | 어댑티브 타입 레이저센서를 구비한 차량용 충돌방지장치 및 이를 이용한 충돌방지방법 | |
US20190243378A1 (en) | Radar-based guidance and wireless control for automated vehicle platooning and lane keeping on an automated highway system |
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 | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Zhang Liangang Inventor after: Li Yongcui Inventor after: Zhang Changjiang Inventor after: Wang Wei Inventor after: Tang Lihui Inventor after: Xie Pengpeng Inventor after: Xu Chengsan Inventor after: Shao Xiaoming Inventor before: Zhang Liangang Inventor before: Zhang Changjiang Inventor before: Wang Wei Inventor before: Tang Lihui Inventor before: Xie Pengpeng Inventor before: Xu Chengsan Inventor before: Shao Xiaoming |
|
CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: No.12 Jingba Road, Huangdao District, Qingdao City, Shandong Province Applicant after: QINGDAO PORT INTERNATIONAL Co.,Ltd. Applicant after: QINGDAO NEW QIANWAN CONTAINER TERMINAL Co.,Ltd. Address before: 266100 Shandong province Qingdao City, Hong Kong and China Road No. 7 Applicant before: QINGDAO PORT INTERNATIONAL Co.,Ltd. Applicant before: QINGDAO NEW QIANWAN CONTAINER TERMINAL Co.,Ltd. |
|
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Zhang Liangang Inventor after: Sun Xiuliang Inventor after: Li Yongcui Inventor after: Yin Jian Inventor after: Zhang Changjiang Inventor after: Wang Wei Inventor after: Tang Lihui Inventor after: Xie Pengpeng Inventor after: Xu Chengsan Inventor after: Shao Xiaoming Inventor before: Zhang Liangang Inventor before: Li Yongcui Inventor before: Zhang Changjiang Inventor before: Wang Wei Inventor before: Tang Lihui Inventor before: Xie Pengpeng Inventor before: Xu Chengsan Inventor before: Shao Xiaoming |
|
GR01 | Patent grant | ||
GR01 | Patent grant |