CN110154787A - A kind of Twin Rudders wheel automatic guided vehicle and its control method - Google Patents
A kind of Twin Rudders wheel automatic guided vehicle and its control method Download PDFInfo
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- CN110154787A CN110154787A CN201910567020.XA CN201910567020A CN110154787A CN 110154787 A CN110154787 A CN 110154787A CN 201910567020 A CN201910567020 A CN 201910567020A CN 110154787 A CN110154787 A CN 110154787A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of Twin Rudders wheel automatic guided vehicle and its control method, this method comprises: obtaining the travel speed V and Path error of automatic guided vehicle；The travel speed V of steering wheel before being calculated according to the travel speed V and Path error of automatic guided vehicle1, steering angle θ1With the travel speed V of rear steering wheel2, steering angle θ2；According to the travel speed V of preceding steering wheel1, steering angle θ1With the travel speed V of rear steering wheel2With steering angle θ2Control automatic guided vehicle movement.By automatic guided vehicle travel speed using the two steering wheel lines of centres as X-axis, the vertical direction of the two steering wheel lines of centres be Y-axis coordinate system under decomposed, the travel speed and steering angle of two steering wheels are calculated in a coordinate system, it need to only know automatic guided vehicle travel speed V and Path error, without paying close attention to the radius of turn in automatic guided vehicle driving process, control is simple, and convenient for operation, accuracy is good.
Description
Technical field
The present invention relates to automatic guided vehicle control technology fields, and in particular to a kind of Twin Rudders wheel automatic guided vehicle and its control
Method.
Background technique
Automatic guided vehicle (Automated Guided Vehicles, abbreviation AGV), automatic navigation vehicle, laser navigation vehicle.
Its distinguishing feature be it is unmanned, on automatic guided vehicle be equipped with automatic guiding system, very important person can be not required to safeguards system
Cargo or material can be transported to purpose from starting point automatically along scheduled route automatic running in the case where work pilotage
Ground.
Currently, automatic guided vehicle has several classical field formalisms, single steering wheels such as spider gear, single steering wheel, Twin Rudders wheel, four steering wheels general
Load-carrying hereinafter, single steering wheel and spider gear can only move ahead and turn round, cannot be translated in 1.5T.It is unable to satisfy demand, there have been double
Steering wheel.But Twin Rudders wheel control algolithm used at present, needs to know the radius of turn of automatic guided vehicle, and existing control algolithm
In, radius of turn has obtained following two mode: first is that by giving angular velocity, to calculate radius of turn, but this
Mode will have a direct impact on the motion profile of car.Another kind is given trace route, and radius can be by several on full curve
A point calculates, but in this manner, since trolley is dynamic operation, the motion profile of vehicle and given track
For route there are deviation, the movement of vehicle in Dynamic Regulating Process, can't be overlapped with track based on the response to deviation,
Influence accuracy.
In conclusion there are difficult points for the calculating of the radius R in path, and can not because current control algorithm model is complicated
Find out the relationship between R and actual motion deviation, very big computational burden is caused to control system, personnel are also not easy to use
It grasps, causes practice inefficiency.
Summary of the invention
To solve the above problems, this application provides a kind of Twin Rudders wheel automatic guided vehicle and its control method, the controlling party
Method operation is simple, operation efficiency is high, accuracy is good, it is only necessary to know that the current location deviation of trolley and small vehicle speed can be controlled
System.
In view of the above-mentioned problems, according in a first aspect, being wrapped this application provides a kind of Twin Rudders wheel automatic guided vehicle control method
Include following steps:
Obtain the travel speed V and Path error of automatic guided vehicle；
The travel speed V of steering wheel before being calculated according to the travel speed V and Path error of automatic guided vehicle1, steering angle θ1
With the travel speed V of rear steering wheel2, steering angle θ2；
According to the travel speed V of preceding steering wheel1, steering angle θ1With the travel speed V of rear steering wheel2With steering angle θ2Control
Automatic guided vehicle movement.
In some embodiments, the travel speed of steering wheel before being calculated according to the travel speed V and Path error of automatic guided vehicle
V1, steering angle θ1With the travel speed V of rear steering wheel2, steering angle θ2The step of include:
Establish coordinate system: the direction of forward and backward steering wheel line is X-direction, and the direction perpendicular to forward and backward steering wheel line is the side Y
To establishing coordinate system；
It decomposes: automatic guided vehicle travel speed V is decomposed into V with Y-direction in X directionxAnd Vy, by the traveling speed of preceding steering wheel
Spend V1V is decomposed into Y-direction in X direction1xAnd V1y, by the travel speed V of rear steering wheel2V is decomposed into Y-direction in X direction2xWith
V2y；
It calculates: according to Vx、Vy、V1x、V1y、V2xAnd V2yThe travel speed V of steering wheel before calculating1, steering angle θ1With rear rudder
The travel speed V of wheel2, steering angle θ2。
In some embodiments, the calculating step includes:
According to rigid principle, V is obtained1xAnd V2x；
Based on automatic guided vehicle differential deviating correcting principle, V is obtained according to Path error1yAnd V2y；
By V1xAnd V1yIt is synthesized, the travel speed V of steering wheel before calculating1, by V2xAnd V2yIt is synthesized, steering wheel after calculating
Travel speed V2；
According to V1x、V1y、V2xAnd V2yThe steering angle θ of steering wheel before calculating1With the steering angle θ of rear steering wheel2。
In some embodiments, according to V1x、V1y、V2xAnd V2yThe steering angle θ of steering wheel before calculating1With the steering of rear steering wheel
Angle, θ2The step of include:
According to V1xAnd V1yCalculate angle A of the line of centres of forward and backward steering wheel relative to preceding steering wheel central axes1, according to V2x
And V2yCalculate angle A of the line of centres of forward and backward steering wheel relative to rear steering wheel central axes2；
According to A, A1And A2The steering angle θ of steering wheel before calculating1, the steering angle θ of rear steering wheel2；
Wherein, A indicates angle of the line of centres of forward and backward steering wheel relative to automatic guided vehicle central axes.
According to second aspect, this application provides a kind of Twin Rudders wheel automatic guided vehicles, comprising: bottom plate, sensor, front rudder
Wheel, rear steering wheel and controller；
Be provided with battery, steering wheel mounting plate, universal wheel and card reader on the bottom plate, the battery be used for Twin Rudders wheel without
The power supply of people's carrier；The steering wheel mounting plate is provided on the steering wheel mounting plate for installing the preceding steering wheel and rear steering wheel
Spring shaft, the spring shaft are used for damping；The card reader is for reading site location information；
The sensor is electrically connected with the controller, and Xiang Suoshu controller is fed back apart from detection data；
The preceding steering wheel, rear steering wheel are electrically connected with the controller, the controller drive preceding steering wheel, the movement of rear steering wheel with
So that the Twin Rudders wheel automatic guided vehicle movement.
In some embodiments, the controller is used for travel speed V and Path error according to preset automatic guided vehicle
The travel speed V of steering wheel before calculating1, steering angle θ1With the travel speed V of rear steering wheel2, steering angle θ2, further according to front rudder
The travel speed V of wheel1, steering angle θ1With the travel speed V of rear steering wheel2With steering angle θ2Front/rear steering wheel is driven to move, control
Automatic guided vehicle movement processed.
Battery mounting bracket and card reader rack, the battery installation are additionally provided in some embodiments, the bottom plate
Bracket is for placing the battery, and the card reader rack is for placing the card reader.
The damping mounting plate for installing spring shaft is provided in some embodiments, the steering wheel mounting plate.
According to the third aspect, this application provides a kind of Twin Rudders wheel automatic guided vehicles, comprising:
Memory, for storing program；
Processor, for the program by executing the memory storage to realize method as described in relation to the first aspect.
According to fourth aspect, present invention also provides a kind of computer readable storage medium, including program, described program energy
It is enough executed by processor to realize method as described in relation to the first aspect.
AGV is advanced due to Twin Rudders wheel automatic guided vehicle provided by the present application and its control method according to above-described embodiment
Speed using the two steering wheel lines of centres as X-axis, the vertical direction of the two steering wheel lines of centres be Y-axis coordinate system under decomposed,
The travel speed and steering angle for calculating two steering wheels in a coordinate system, without paying close attention to the rotation in automatic guided vehicle driving process
Radius, control is simple, and accuracy is good.
Detailed description of the invention
Fig. 1 is the flow chart of the Twin Rudders wheel AGV control method of the application；
Fig. 2 is the Twin Rudders wheel AGV resolution of velocity schematic diagram of the application；
Fig. 3 is the structural schematic diagram of the Twin Rudders wheel AGV of the application；
Fig. 4 is the bottom view of the Twin Rudders wheel AGV of the application.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.Wherein different embodiments
Middle similar component uses associated similar element numbers.In the following embodiments, many datail descriptions be in order to
The application is better understood.However, those skilled in the art can recognize without lifting an eyebrow, part of feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please it is relevant it is some operation there is no in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, these relevant operations, which are described in detail, not to be necessary, they
Relevant operation can be completely understood according to the general technology knowledge of description and this field in specification.
It is formed respectively in addition, feature described in this description, operation or feature can combine in any suitable way
Kind embodiment.Meanwhile each step in method description or movement can also can be aobvious and easy according to those skilled in the art institute
The mode carry out sequence exchange or adjustment seen.Therefore, the various sequences in the description and the appended drawings are intended merely to clearly describe a certain
A embodiment is not meant to be necessary sequence, and wherein some sequentially must comply with unless otherwise indicated.
As shown in Figs. 1-2, this application provides a kind of Twin Rudders wheel automatic guided vehicle control methods, comprising the following steps:
S1: the travel speed V of AGV is obtained；
S2: the travel speed V of steering wheel before being calculated according to the travel speed V and Path error of AGV1, steering angle θ1With it is rear
The travel speed V of steering wheel2, steering angle θ2；
S3: according to the travel speed V of preceding steering wheel1, steering angle θ1With the travel speed V of rear steering wheel2With steering angle θ2Control
AGV movement processed.
In some embodiments, the travel speed V of steering wheel before being calculated according to the travel speed V and Path error of AGV1, turn to
Angle, θ1With the travel speed V of rear steering wheel2, steering angle θ2The step of include:
Establish coordinate system: the direction of forward and backward steering wheel line is X-direction, and the direction perpendicular to forward and backward steering wheel line is the side Y
To establishing coordinate system；
It decomposes: AGV travel speed V is decomposed into V with Y-direction in X directionxAnd Vy, by the travel speed V of preceding steering wheel1Along X
Direction and Y-direction are decomposed into V1xAnd V1y, by the travel speed V of rear steering wheel2V is decomposed into Y-direction in X direction2xAnd V2y；
It calculates: according to Vx、Vy、V1x、V1y、V2xAnd V2yThe travel speed V of steering wheel before calculating1, steering angle θ1With rear rudder
The travel speed V of wheel2, steering angle θ2。
Specifically, calculating step includes:
According to rigid principle, for the rigid body of two o'clock connecting shaft, speed is consistent in X-direction, obtains V1x=V2x=Vx。
For in Y-direction, since automatic guided vehicle central point is at the midpoint of the forward and backward steering wheel line of centres, according to differential mould
Type is it can be concluded that (V1y+V2y)/2=Vy。
With reference to " Chinese journal of scientific instrument " the 4th phase of volume 38 in April, 2017 publish paper " based on optimal offset path from
Dynamic guiding vehicle method for correcting error ", it is based on existing AGV differential deviating correcting principle, according to Path error, show that Δ V, Δ V indicate front rudder
Wheel and the speed difference of rear steering wheel in the Y direction, calculate: V further according to Δ V1y=Vy+ Δ V, V2y=Vy-ΔV。
By V1xAnd V1yIt is synthesized, the travel speed of steering wheel before calculatingBy V2xWith
V2yIt is synthesized, the travel speed of steering wheel after calculating
According to V1x、V1y、V2xAnd V2yThe steering angle θ of steering wheel before calculating1With the steering angle θ of rear steering wheel2.Specifically,
According to preceding steering wheel or rear steering wheel to the horizontal distance W of automatic guided vehicle central point, preceding steering wheel or rear steering wheel into automatic guided vehicle
The line of centres that the vertical range L of heart point calculates forward and backward steering wheel is relative to the angle of automatic guided vehicle central axesAccording to V1xAnd V1yCalculate angle of the line of centres of forward and backward steering wheel relative to preceding steering wheel central axesAccording to V2xAnd V2yCalculate angle of the line of centres of forward and backward steering wheel relative to rear steering wheel central axes
Degree
According to A, A1And A2The steering angle of steering wheel before calculatingThe steering of steering wheel afterwards
Angle
The Twin Rudders wheel automatic guided vehicle control method of the application, it is only necessary to know that AGV travel speed V and Path error can be counted
The speed of travel V of steering wheel before calculating1With steering angle θ1, the travel speed V of rear steering wheel2With steering angle θ2, without paying close attention to AGV
Radius of turn in driving process, simplifies control mode, links up AGV Path error and speed, angle well,
Convenient for operation, accuracy is good.
As shown in Figure 3-4, present invention also provides a kind of Twin Rudders wheel automatic guided vehicle, the Twin Rudders wheel automatic guided vehicle packets
Include: bottom plate 1, sensor 2, preceding steering wheel 4, rear steering wheel 5 and controller 3, preceding steering wheel 4 are moved with rear steering wheel 5 so that the Twin Rudders
Take turns AGV movement.
Battery mounting bracket 11, steering wheel mounting plate 12, universal wheel 13 and card reader rack 14, battery are provided on bottom plate 1
Mounting bracket 11 is used for placing battery 111, and battery 111 is used to power to Twin Rudders wheel AGV.Steering wheel mounting plate 12 is for installing front rudder
4 and rear steering wheel 5 are taken turns, the damping mounting plate 121 for installing spring shaft 122 is provided on steering wheel mounting plate 12, spring shaft 122 is used
Vibration in reduction AGV traveling process.Card reader rack 14 is for placing card reader 141, and card reader 141 is for reading RFID
Card, to read site location information.
Sensor 2 includes one of ultrasonic sensor, visual sensor, infrared sensor and laser sensor, is played
It navigates, the effect of positioning and avoidance.
The row of steering wheel before controller 3 is used to be calculated according to the travel speed V and Path error of preset automatic guided vehicle
Into speed V1, steering angle θ1With the travel speed V of rear steering wheel2, steering angle θ2；
Controller 3 is also used to the travel speed V according to preceding steering wheel1, steering angle θ1With the travel speed V of rear steering wheel2With turn
To angle, θ2Control AGV movement.
With reference to Fig. 1, specifically, in some embodiments, controller 3 is also used to:
Establish coordinate system: the direction of forward and backward steering wheel line is X-direction, and the direction perpendicular to forward and backward steering wheel line is the side Y
To establishing coordinate system；
It decomposes: automatic guided vehicle travel speed V is decomposed into V with Y-direction in X directionxAnd Vy, by the traveling speed of preceding steering wheel
Spend V1V is decomposed into Y-direction in X direction1xAnd V1y, by the travel speed V of rear steering wheel2V is decomposed into Y-direction in X direction2xWith
V2y；
It calculates: according to Vx、Vy、V1x、V1y、V2xAnd V2yThe travel speed V of steering wheel before calculating1, steering angle θ1With rear rudder
The travel speed V of wheel2, steering angle θ2。
This application provides a kind of Twin Rudders wheel automatic guided vehicle, which includes:
Memory, for storing program；
Processor, for the program by executing the memory storage to realize method as described above.
Present invention also provides a kind of computer readable storage medium, including program, described program can be held by processor
Row is to realize method as described above.
It will be understood by those skilled in the art that all or part of function of various methods can pass through in above embodiment
The mode of hardware is realized, can also be realized by way of computer program.When function all or part of in above embodiment
When being realized by way of computer program, which be can be stored in a computer readable storage medium, and storage medium can
To include: read-only memory, random access memory, disk, CD, hard disk etc., it is above-mentioned to realize which is executed by computer
Function.For example, program is stored in the memory of equipment, when executing program in memory by processor, can be realized
State all or part of function.In addition, when function all or part of in above embodiment is realized by way of computer program
When, which also can store in storage mediums such as server, another computer, disk, CD, flash disk or mobile hard disks
In, through downloading or copying and saving into the memory of local device, or version updating is carried out to the system of local device, when logical
When crossing the program in processor execution memory, all or part of function in above embodiment can be realized.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (10)
1. a kind of Twin Rudders wheel automatic guided vehicle control method, which comprises the following steps:
Obtain the travel speed V and Path error of automatic guided vehicle；
The travel speed V of steering wheel before being calculated according to the travel speed V and Path error of automatic guided vehicle1, steering angle θ1With it is rear
The travel speed V of steering wheel2, steering angle θ2；
According to the travel speed V of preceding steering wheel1, steering angle θ1With the travel speed V of rear steering wheel2With steering angle θ2Nobody is controlled to remove
Transport Che Yundong.
2. control method as described in claim 1, which is characterized in that inclined according to the travel speed V of automatic guided vehicle and path
The travel speed V of steering wheel before difference calculates1, steering angle θ1With the travel speed V of rear steering wheel2, steering angle θ2The step of include:
Establish coordinate system: the direction of forward and backward steering wheel line is X-direction, is built perpendicular to the direction of forward and backward steering wheel line for Y-direction
Vertical coordinate system；
It decomposes: automatic guided vehicle travel speed V is decomposed into V with Y-direction in X directionxAnd Vy, by the travel speed V of preceding steering wheel1
V is decomposed into Y-direction in X direction1xAnd V1y, by the travel speed V of rear steering wheel2V is decomposed into Y-direction in X direction2xAnd V2y；
It calculates: according to Vx、Vy、V1x、V1y、V2xAnd V2yThe travel speed V of steering wheel before calculating1, steering angle θ1With rear steering wheel
Travel speed V2, steering angle θ2。
3. control method as claimed in claim 2, which is characterized in that the calculating step includes:
According to rigid principle, V is obtained1xAnd V2x；
Based on automatic guided vehicle differential deviating correcting principle, V is obtained according to Path error1yAnd V2y；
By V1xAnd V1yIt is synthesized, the travel speed V of steering wheel before calculating1, by V2xAnd V2yIt is synthesized, the row of steering wheel after calculating
Into speed V2；
According to V1x、V1y、V2xAnd V2yThe steering angle θ of steering wheel before calculating1With the steering angle θ of rear steering wheel2。
4. control method as claimed in claim 3, which is characterized in that according to V1x、V1y、V2xAnd V2ySteering wheel turns before calculating
To angle, θ1With the steering angle θ of rear steering wheel2The step of include:
According to V1xAnd V1yCalculate angle A of the line of centres of forward and backward steering wheel relative to preceding steering wheel central axes1, according to V2xAnd V2y
Calculate angle A of the line of centres of forward and backward steering wheel relative to rear steering wheel central axes2；
According to A, A1And A2The steering angle θ of steering wheel before calculating1, the steering angle θ of rear steering wheel2；
Wherein, A indicates angle of the line of centres of forward and backward steering wheel relative to automatic guided vehicle central axes.
5. a kind of Twin Rudders wheel automatic guided vehicle characterized by comprising bottom plate, sensor, preceding steering wheel, rear steering wheel and controller；
Battery, steering wheel mounting plate, universal wheel and card reader are provided on the bottom plate, the battery is for nobody to remove to Twin Rudders wheel
Transport vehicle power supply；The steering wheel mounting plate is provided with spring on the steering wheel mounting plate for installing the preceding steering wheel and rear steering wheel
Axis, the spring shaft are used for damping；The card reader is for reading site location information；
The sensor is electrically connected with the controller, and Xiang Suoshu controller is fed back apart from detection data；
The preceding steering wheel, rear steering wheel are electrically connected with the controller, the controller drive preceding steering wheel, the movement of rear steering wheel so that
The Twin Rudders wheel automatic guided vehicle movement.
6. Twin Rudders wheel automatic guided vehicle as described in claim 1, which is characterized in that the controller is used for according to preset nothing
The travel speed V of steering wheel before the travel speed V and Path error of people's carrier are calculated1, steering angle θ1With the traveling of rear steering wheel
Speed V2, steering angle θ2, further according to the travel speed V of preceding steering wheel1, steering angle θ1With the travel speed V of rear steering wheel2And steering
Angle, θ2Front/rear steering wheel is driven to move, control automatic guided vehicle movement.
7. Twin Rudders wheel automatic guided vehicle as claimed in claim 5, which is characterized in that be additionally provided with battery installation on the bottom plate
Bracket and card reader rack, for the battery mounting bracket for placing the battery, the card reader rack is described for placing
Card reader.
8. Twin Rudders wheel automatic guided vehicle as claimed in claim 5, which is characterized in that be provided with and be used on the steering wheel mounting plate
The damping mounting plate of spring shaft is installed.
9. a kind of Twin Rudders wheel automatic guided vehicle characterized by comprising
Memory, for storing program；
Processor, for the program by executing the memory storage to realize as of any of claims 1-4
Method.
10. a kind of computer readable storage medium, which is characterized in that including program, described program can be executed by processor with
Realize such as method of any of claims 1-4.
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| CN201910567020.XA CN110154787B (en) | 2019-06-27 | 2019-06-27 | Double-rudder-wheel unmanned carrier and control method thereof |
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| CN201910567020.XA CN110154787B (en) | 2019-06-27 | 2019-06-27 | Double-rudder-wheel unmanned carrier and control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323019A (en) * | 2020-03-25 | 2020-06-23 | 浙江亿控自动化设备有限公司 | Path planning method for magnetic navigation AGV |
| CN111497637A (en) * | 2020-05-29 | 2020-08-07 | 浙江同筑科技有限公司 | Motion control method for AGV with four steering wheels |
| CN111679676A (en) * | 2020-06-19 | 2020-09-18 | 重庆大学 | AGV movement track control method |
| CN111830980A (en) * | 2020-07-14 | 2020-10-27 | 深圳市高步达智能科技有限公司 | Laser navigation path following method |
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| CN111679676A (en) * | 2020-06-19 | 2020-09-18 | 重庆大学 | AGV movement track control method |
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