CN111026125B - Automatic correction method for automatic navigation trolley - Google Patents
Automatic correction method for automatic navigation trolley Download PDFInfo
- Publication number
- CN111026125B CN111026125B CN201911369256.9A CN201911369256A CN111026125B CN 111026125 B CN111026125 B CN 111026125B CN 201911369256 A CN201911369256 A CN 201911369256A CN 111026125 B CN111026125 B CN 111026125B
- Authority
- CN
- China
- Prior art keywords
- automatic navigation
- deviation
- motion
- distance
- navigation vehicle
- 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 60
- 230000001133 acceleration Effects 0.000 claims description 18
- 230000011218 segmentation Effects 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000005070 sampling Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 3
- 238000003860 storage Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of automatic navigation trolleys, in particular to an automatic deviation correcting method of an automatic navigation trolley, which can plan the change conditions of angular velocity, angle and the like of a vehicle in the next section of journey by reading continuous gyroscope data and two-dimensional code information with a certain distance, and ensure that the direction and distance deviation of the automatic navigation trolley are corrected in the set travelling distance of the vehicle; the control method not only can comprehensively adjust the distance and the direction deviation, but also can ensure that the adjustment is completed within the specified distance, and can greatly save the time for adjusting parameters by the PID adjustment method, thereby providing an accurate, efficient and reliable control method for the deviation adjustment of the automatic navigation trolley; for different direction and distance deviation, setting adjustment distance and trolley running speed, the method provides two adjustment schemes of single variable staged adjustment and double variable simultaneous adjustment.
Description
Technical Field
The invention relates to the technical field of automatic navigation trolleys, in particular to an automatic correction method of an automatic navigation trolley.
Background
The automatic navigation trolley is mainly used for replacing human beings to perform work with strong repeatability or high labor capacity in the fields of industry, logistics, storage and the like. Like loading and unloading in industrial production, heavy object transport, and intelligent storage, automatic transportation etc. work in logistics industry, all are widely used in automatic navigation dolly. Although the application scenes are different, the application scenes have higher requirements on the performances such as the accuracy, the rapidity, the continuity and the like of the movement of the automatic navigation trolley. In the traditional application, a magnetic track type navigation scheme is often adopted, because the navigation mode is stable and reliable and is convenient for deviation correction, but the navigation mode is fixed and dead plate and is easy to wear, and the utilization rate of a warehouse is not high, so that a novel lattice type navigation scheme can be adopted in more flexible and various environments with limited space.
The automatic navigation trolley for dot matrix navigation generally adopts a two-dimensional code navigation scheme, the scheme adopts a code gun as a sensor, and the code gun can identify the position and the angle of the automatic navigation trolley on a two-dimensional code identification point. In addition, the lattice type automatic navigation trolley needs to adopt a gyroscope as a sensor for angle navigation in the process between points so as to ensure the accuracy of the advancing direction in the process.
However, due to errors in mechanical structure, different motor acceleration and deceleration processes and inconsistent ground conditions of left and right wheels, the automatic navigation trolley deviates from the original track in the motion process, and if the automatic navigation trolley cannot be corrected in time, the automatic navigation trolley is lost, automatic operation is interrupted, and even the automatic navigation trolley collides with other objects. Therefore, the deviation correction for the dot matrix type automatic navigation trolley is an important condition for ensuring continuous automatic operation of the dot matrix type automatic navigation trolley.
The traditional automatic navigation trolley deviation correcting method adopts PID control, but the method has long parameter adjusting time and poor anti-interference capability, and the length of the adjusting distance cannot be determined during movement deviation correction, so that the automatic navigation trolley can miss the identification point, thereby causing the driving logic error. In addition, since the kinematic characteristics of the automatic navigation cart itself are not utilized, most PID adjustment methods have oscillations and overshoots, which may deteriorate the driving stability and affect the operation efficiency.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic deviation rectifying method of an automatic navigation trolley.
The technical problems solved by the invention can be realized by adopting the following technical scheme:
an automatic deviation rectifying method for an automatic navigation vehicle is characterized by comprising the following steps:
step S1: the automatic navigation vehicle detects the angle deviation and the distance deviation of the current position compared with the identification point through a sensor in the moving process;
step S2: acquiring the motion parameters of the automatic navigation vehicle, calculating the motion time of each motion stage by adopting a bivariate simultaneous adjustment method according to the motion parameters and the angle deviation and the distance deviation read in the step S1, executing the step S4 when unreasonable items exist in the motion time, otherwise executing the step S3;
step S3: calculating motion key parameters of each motion stage of the automatic navigation vehicle to obtain a planned path track, and executing a step S6;
step S4: calculating by adopting a univariate segmentation adjustment method, calculating a segmentation coefficient according to the deviation angle, the distance and the movement speed, and dividing the predicted movement distance into an angle adjustment section and a distance adjustment section according to the segmentation coefficient;
step S5: according to the angle adjustment section and the distance adjustment section in the step S4, calculating movement key parameters of the automatic navigation vehicle to obtain a planned path track, and executing the step S6;
step S6: and according to the movement key parameters, issuing control commands of the left wheel speed and the right wheel speed of the automatic navigation vehicle cycle by cycle, controlling the automatic navigation vehicle to move along the planned path track, and adjusting deviation.
Preferably, in the step S1, the sensor is a gyroscope or a code gun or a camera with a two-dimensional code recognition function.
Preferably, in the step S3, the adopted bivariate simultaneous adjustment method includes a first sub-mode, a second sub-mode and a third sub-mode, the judgment basis is coefficient β, and the β calculation method is as follows:
wherein θ is an offset angle of the automatic navigation vehicle, v is a motion speed of the automatic navigation vehicle, d is an offset target track distance of the automatic navigation vehicle, and m is a unit;
the deviation angle of the third sub-mode is smaller than that of the first sub-mode and larger than that of the first sub-mode; the deviation distance of the third sub-mode is larger than that of the first sub-mode and smaller than that of the second sub-mode
Preferably, in the step S4, the univariate segment adjustment method includes a segment coefficient α, and the segment coefficient α calculating method is as follows:
wherein m and K are parameters in the calculation process; θ is the offset angle of the automatic navigation vehicle, and the unit is radian; v is the motion speed of the automatic navigation vehicle, and the unit is m/s; d is the distance of the automatic navigation vehicle to deviate from the target track, and the unit is m; s is the set adjustment distance of the automatic navigation vehicle, and the unit is m; alpha is the final determined segmentation factor.
Preferably, the first sub-mode, the second sub-mode and the third sub-mode each include five stages of angular velocity uniform acceleration, angular velocity uniform deceleration, uniform velocity, reverse angular velocity uniform acceleration and reverse angular velocity uniform deceleration.
An automatic deviation rectifying system for an automatic navigation vehicle, comprising:
the automatic navigation vehicle controller comprises a motion planning module, a deviation sampling module and a motion control module;
the position and angle sensor is connected with the automatic navigation vehicle controller through a communication bus;
and the motor is connected with the automatic navigation vehicle controller.
Preferably, the deviation sampling module obtains the position and the angle on the two-dimensional code identification point through communication with the code gun or the gyroscope, and obtains the current angle and the distance deviation of the automatic navigation vehicle through smooth filtering and comparison with a standard value.
Preferably, the motion planning module takes the deviation value, the current speed value and the set adjustment distance of the automatic navigation vehicle as inputs to carry out motion planning on deviation correction.
Preferably, the motion control module starts to move according to the motion parameters input by the motion planning module, and outputs the position, the speed, the angular speed and the angular acceleration of the automatic navigation vehicle at each moment in a mode of outputting the motor rotating speed command.
Preferably, after the distance adjustment is set, the motion control module is restored to the gyroscope angle PID control mode, and when the deviation angle and the distance are obtained through identifying the two-dimensional code again, the motion planning module is adjusted again to perform new motion adjustment on the automatic navigation vehicle; when a pause command is input and a stop command is input, the current motion is stopped, the current motion state parameters are saved, and a new motion command is waited for input.
The beneficial effects are that: the control method provided by the invention not only can comprehensively adjust the distance and the direction deviation, but also can ensure that the adjustment is completed within the specified distance, and can greatly save the time for adjusting parameters by the PID adjustment method, thereby providing an accurate, efficient and reliable control method for the deviation adjustment of the automatic navigation trolley.
Drawings
FIG. 1 is a step diagram of an automatic deviation correcting method for an automatic navigation trolley;
FIG. 2 is a diagram of a motion trajectory obtained by adopting a univariate segmentation adjustment method in an embodiment of the present invention;
FIG. 3 is a graph of angular velocity change obtained by adopting a single variable segment adjustment method in an embodiment of the invention;
FIG. 4 is a diagram of a motion trajectory obtained by adopting a bivariate simultaneous adjustment method in an embodiment of the invention;
FIG. 5 is a graph of angular velocity change obtained by adopting a bivariate simultaneous adjustment method in an embodiment of the invention;
fig. 6 illustrates an automatic deviation correcting system for an automatic navigation vehicle.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1, a step diagram of an automatic deviation rectifying method for an automatic navigation trolley provided by the invention includes:
step S1: the automatic navigation vehicle detects the angle deviation and the distance deviation of the current position compared with the identification point through a sensor in the moving process;
step S2: acquiring the motion parameters of the automatic navigation vehicle, calculating the motion time of each motion stage by adopting a bivariate simultaneous adjustment method according to the motion parameters and the angle deviation and the distance deviation read in the step S1, executing the step S4 when unreasonable items exist in the motion time, otherwise executing the step S3;
step S3: calculating motion key parameters of each motion stage of the automatic navigation vehicle to obtain a planned path track, and executing a step S6;
step S4: calculating by adopting a univariate segmentation adjustment method, calculating a segmentation coefficient according to the deviation angle, the distance and the movement speed, and dividing the predicted movement distance into an angle adjustment section and a distance adjustment section according to the segmentation coefficient;
step S5: according to the angle adjustment section and the distance adjustment section in the step S4, calculating movement key parameters of the automatic navigation vehicle to obtain a planned path track, and executing the step S6;
step S6: and according to the movement key parameters, issuing control commands of the left wheel speed and the right wheel speed of the automatic navigation vehicle cycle by cycle, controlling the automatic navigation vehicle to move along the planned path track, and adjusting deviation.
Further, in step S1, the sensor is a gyroscope or a code gun or a camera with a two-dimensional code recognition function.
Specifically, the sensor is a camera or the like including, but not limited to, a gyroscope or a code gun or having a two-dimensional code recognition function.
Further, in step S3, the adopted bivariate simultaneous adjustment method includes a first sub-mode, a second sub-mode and a third sub-mode, and the judgment basis is coefficient β, and the β calculation method is as follows:
wherein θ is the offset angle of the automatic navigation vehicle, v is the motion speed of the automatic navigation vehicle, d is the offset target track distance of the automatic navigation vehicle, and m is the unit;
specifically, the simultaneous adjustment method of double variables is divided into three cases according to different deviation conditions: the first sub-mode, the second sub-mode and the third sub-mode are calculated by adopting the formula (1) under the condition that the judgment condition is the coefficient beta. These three sub-states correspond to different kinematic formulas, but all contain the following five phases: the angular velocity is uniformly accelerated, the angular velocity is uniformly decelerated, the reverse angular velocity is uniformly accelerated and the reverse angular velocity is uniformly decelerated, and the second sub-mode angle is smaller than the first mode angle and larger than the third sub-mode angle; the second sub-mode distance is greater than the first mode distance and greater than the third sub-mode distance. The time proportion of each movement stage corresponding to different sub-states is different, but the deviation angle and the deviation distance are both ensured to be zero when the set trolley adjustment distance arrives.
Further, in the step S4, the adopted univariate segment adjustment method includes a segment coefficient α, and the segment coefficient α calculation method is as follows:
wherein m and K are parameters in the calculation process; θ is the offset angle of the automatic navigation trolley, and the unit is radian; v is the motion speed of the automatic navigation trolley, and the unit is m/s; d is the distance of the automatic navigation trolley to deviate from the target track, and the unit is m; s is the set adjustment distance of the automatic navigation trolley, and the unit is m; alpha is the final determined segmentation factor.
Specifically, the single variable segment adjustment method is to adjust the angle direction first, and then adjust the distance direction, compared with the double variable simultaneous adjustment method, the consistency and the motion stability of the single variable segment adjustment method are slightly affected, but the calculation is simpler and more stable, and the reasonable deviation adjustment condition can be ensured to be stable. The segmentation coefficient can be calculated through the formula (4), the set movement distance can be reasonably divided according to the coefficient, and the same acceleration of the two sections of movement can be ensured as much as possible, so that the uniformity and stability of the two sections of movement are better ensured.
Further, the first sub-mode, the second sub-mode and the third sub-mode comprise five stages of angular velocity uniform acceleration, angular velocity uniform deceleration, uniform velocity, reverse angular velocity uniform acceleration and reverse angular velocity uniform deceleration.
In the preferred embodiment of the invention, the automatic navigation trolley controller acquires the data of the code gun sensor and the gyroscope from the communication bus, the deviation angle and the deviation distance of the current position compared with the identification point are obtained after mean value filtering, the data, the running speed of the vehicle and the set adjustment distance are used as input values and are input to the motion planning module in the controller, and the key motion parameters are solved.
Calculating a judging coefficient beta of the bivariate simultaneous adjustment method according to the formula (1), judging a sub-mode state in which the existing situation exists according to a limiting interval in which the coefficient beta is positioned, and solving the running time of five movement phases of uniform acceleration, uniform deceleration, uniform speed, uniform acceleration of reverse angular velocity and uniform deceleration of reverse angular velocity according to the sub-mode state, wherein if unreasonable items exist in the solving time, the bivariate simultaneous adjustment planning is unsuccessful, and the planning is needed by adopting a single-variate segmentation adjustment method. And when the time solutions are correct, further calculating the angular acceleration and angular velocity change conditions of each movement stage, and finally solving the planned path and track.
When planning by adopting a univariate segmentation adjustment method, the segmentation coefficient alpha is calculated firstly by the formula (4), and then the set adjustment distance is divided into two sections, wherein the first section carries out angle adjustment, and the second section carries out distance adjustment. In each section of movement, five stages of uniform acceleration, uniform deceleration, uniform speed, uniform acceleration of reverse angular velocity and uniform deceleration of reverse angular velocity are also included, the occupied time, the angular acceleration and the angular velocity change condition are calculated respectively, and then key movement parameters are stored.
According to the motion parameters, the automatic navigation trolley controller calculates the angular velocity corresponding to the periodic motion every cycle, converts the angular velocity into a left wheel speed difference and a right wheel speed difference according to the structural parameters of the automatic navigation trolley, compensates the left wheel speed difference on the basis of the existing vehicle speed, can realize the motion conforming to the set acceleration and deceleration change rule, and can keep consistency and rapidity in the motion process.
When new offset distance and offset angle data are entered into the controller during the movement, the system will reprogram the movement. If no new offset data is input after the movement is completed in the adjustment stage, ending the current control method, turning to the offset angle PID control to keep the movement direction of the automatic navigation trolley until the offset distance and the angle are acquired by re-scanning, and starting to perform new adjustment.
Referring to fig. 2, a motion trajectory obtained by adopting a univariate segment adjustment method is shown in an embodiment of the present invention; the points in the figure represent the positions of the carts in each discrete cycle, the abscissa represents the direction of travel of the carts, and the ordinate represents the direction of offset.
Referring to fig. 3, a graph illustrating angular velocity variation obtained by a single variable segment adjustment method according to an embodiment of the present invention is shown; wherein the abscissa is time and the ordinate is angular velocity of the trolley.
FIG. 4 is a diagram illustrating a motion trajectory obtained by a simultaneous adjustment of two variables according to an embodiment of the present invention; the points in the figure represent the positions of the carts in each discrete cycle, the abscissa represents the direction of travel of the carts, and the ordinate represents the direction of offset.
FIG. 5 is a graph illustrating the angular velocity change obtained by the simultaneous adjustment of two variables according to an embodiment of the present invention; wherein the abscissa is time and the ordinate is angular velocity of the trolley.
Referring to fig. 6, the automatic deviation rectifying system of the automatic navigation vehicle provided by the invention comprises:
the automatic navigation vehicle controller 1 comprises a motion planning module 4, a deviation sampling module 5 and a motion control module 6;
the position and angle sensor 2 is connected with the automatic navigation vehicle controller 1 through a communication bus;
and the motor 3 is connected with the automatic navigation vehicle controller.
Further, the deviation sampling module 5 obtains the position and the angle on the two-dimensional code identification point through communication with a code gun or a gyroscope, and obtains the current angle and the distance deviation of the automatic navigation vehicle through smooth filtering and comparison with a standard value.
Further, the motion planning module 4 takes the deviation value, the current speed value and the set adjustment distance of the automatic navigation vehicle as inputs to perform motion planning on deviation correction.
Further, the motion control module 6 starts to move according to the motion parameters input by the motion planning module, and outputs the position, the speed, the angular speed and the angular acceleration of the automatic navigation vehicle at each moment in a mode of outputting the rotating speed command of the motor 3.
Further, after the distance setting and adjusting movement is completed, the movement control module 6 is restored to a gyroscope angle PID control mode, and when the deviation angle and the distance are obtained through identifying the two-dimensional code again, the movement planning module 4 is called again to carry out new movement adjustment on the automatic navigation vehicle; when a pause command is input and a stop command is input, the current motion is stopped, the current motion state parameters are saved, and a new motion command is waited for input.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. An automatic deviation rectifying method for an automatic navigation vehicle is characterized by comprising the following steps:
step S1: the automatic navigation vehicle detects the angle deviation and the distance deviation of the current position compared with the identification point through a sensor in the moving process;
step S2: acquiring the motion parameters of the automatic navigation vehicle, calculating the motion time of each motion stage by adopting a bivariate simultaneous adjustment method according to the motion parameters and the angle deviation and the distance deviation read in the step S1, executing the step S4 when unreasonable items exist in the motion time, otherwise executing the step S3;
step S3: calculating motion key parameters of each motion stage of the automatic navigation vehicle to obtain a planned path track, and executing a step S6;
step S4: calculating by adopting a univariate segmentation adjustment method, calculating a segmentation coefficient according to the deviation angle, the distance and the movement speed, and dividing the predicted movement distance into an angle adjustment section and a distance adjustment section according to the segmentation coefficient;
step S5: according to the angle adjustment section and the distance adjustment section in the step S4, calculating movement key parameters of the automatic navigation vehicle to obtain a planned path track, and executing the step S6;
step S6: according to the movement key parameters, control commands of the left wheel speed and the right wheel speed of the automatic navigation vehicle are issued cycle by cycle, the automatic navigation vehicle is controlled to move along a planned path track, and deviation is adjusted; in the step S3, the adopted bivariate simultaneous adjustment method includes a first sub-mode, a second sub-mode and a third sub-mode, and the judgment basis is coefficient β, and the β calculation method is as follows:
wherein θ is an offset angle of the automatic navigation vehicle, v is a motion speed of the automatic navigation vehicle, d is an offset target track distance of the automatic navigation vehicle, and m is a unit;
the deviation angle of the second sub-mode is smaller than that of the first sub-mode and larger than that of the third sub-mode; the deviation distance of the second sub-mode is larger than that of the first sub-mode and smaller than that of the third sub-mode;
in the step S4, the adopted univariate segment adjustment method includes a segment coefficient α, and the segment coefficient α calculation method is as follows:
wherein m and K are parameters in the calculation process; θ is the offset angle of the automatic navigation vehicle, and the unit is radian; v is the motion speed of the automatic navigation vehicle, and the unit is m/s; d is the distance of the automatic navigation vehicle to deviate from the target track, and the unit is m; s is the set adjustment distance of the automatic navigation vehicle, and the unit is m; alpha is the final determined segmentation factor.
2. The automatic deviation rectifying method of an automatic navigation vehicle according to claim 1, wherein in the step S1, the sensor is a gyroscope or a code gun or a camera with a two-dimensional code recognition function.
3. The automatic deviation rectifying method of an automatic navigation vehicle according to claim 1, wherein the first sub-mode, the second sub-mode and the third sub-mode each comprise five stages of angular velocity uniform acceleration, angular velocity uniform deceleration, uniform velocity, reverse angular velocity uniform acceleration and reverse angular velocity uniform deceleration.
4. An automatic deviation correcting system for an automatic navigation vehicle, characterized by being adapted to perform the method of any one of claims 1-3, comprising:
the automatic navigation vehicle controller comprises a motion planning module, a deviation sampling module and a motion control module;
the position and angle sensor is connected with the automatic navigation vehicle controller through a communication bus;
and the motor is connected with the automatic navigation vehicle controller.
5. The automatic deviation correcting system of an automatic navigation vehicle according to claim 4, wherein the deviation sampling module obtains the position and the angle on the two-dimensional code mark point through communication with the code gun or the gyroscope, and obtains the current angle and the distance deviation of the automatic navigation vehicle through smooth filtering and standard value comparison.
6. The automatic deviation correcting system of claim 4, wherein the motion planning module takes a deviation value, a current speed value and a set adjustment distance of the automatic navigation vehicle as inputs to perform motion planning on deviation correction.
7. The automatic deviation correcting system of claim 4, wherein the motion control module starts motion according to the motion parameters input by the motion planning module, and outputs the position, speed, angular speed and angular acceleration of the automatic navigation vehicle at each moment in a manner of outputting the motor rotation speed command.
8. The automatic deviation correcting system of claim 4, wherein after the distance setting and adjusting is completed, the motion control module is restored to the gyroscope angle PID control mode, and when the deviation angle and the distance are obtained by identifying the two-dimensional code again, the motion planning module is called again to perform new motion adjustment on the automatic navigation vehicle; when a pause command is input and a stop command is input, the current motion is stopped, the current motion state parameters are saved, and a new motion command is waited for input.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911369256.9A CN111026125B (en) | 2019-12-26 | 2019-12-26 | Automatic correction method for automatic navigation trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911369256.9A CN111026125B (en) | 2019-12-26 | 2019-12-26 | Automatic correction method for automatic navigation trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111026125A CN111026125A (en) | 2020-04-17 |
| CN111026125B true CN111026125B (en) | 2023-10-10 |
Family
ID=70214820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911369256.9A Active CN111026125B (en) | 2019-12-26 | 2019-12-26 | Automatic correction method for automatic navigation trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111026125B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112141210B (en) * | 2020-08-21 | 2022-08-02 | 天津市天波科达科技有限公司 | Course control method and device based on electronic differential chassis |
| CN112526986B (en) * | 2020-10-28 | 2022-11-22 | 苏州极目机器人科技有限公司 | Ridge-following operation method and device |
| CN113110025A (en) * | 2021-04-08 | 2021-07-13 | 深兰科技（上海）有限公司 | Method and system for controlling travel of robot, electronic device, and storage medium |
| CN114200930B (en) * | 2021-11-25 | 2023-08-15 | 宁波如意股份有限公司 | Back-off control method of automatic navigation vehicle, automatic navigation vehicle and control system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8412425D0 (en) * | 1984-05-16 | 1984-06-20 | Gen Electric Co Plc | Vehicle control and guidance system |
| EP0367526A2 (en) * | 1988-10-31 | 1990-05-09 | Texas Instruments Incorporated | Closed-loop navigation system for mobile robots |
| CN104597905A (en) * | 2015-01-13 | 2015-05-06 | 广西大学 | Route tracking method for magnetic navigation AGV |
| CN108120434A (en) * | 2017-12-20 | 2018-06-05 | 东风汽车集团有限公司 | A kind of AGV tracks method for correcting error, system and double navigation system |
| CN109799825A (en) * | 2019-01-31 | 2019-05-24 | 电子科大科园股份有限公司 | A kind of synchronization aisle method of grain-levelling machine device people |
| CA3098862A1 (en) * | 2018-05-02 | 2019-11-07 | Polaris Industries Inc. | Operating modes using a braking system for an all terrain vehicle |
-
2019
- 2019-12-26 CN CN201911369256.9A patent/CN111026125B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8412425D0 (en) * | 1984-05-16 | 1984-06-20 | Gen Electric Co Plc | Vehicle control and guidance system |
| EP0367526A2 (en) * | 1988-10-31 | 1990-05-09 | Texas Instruments Incorporated | Closed-loop navigation system for mobile robots |
| CN104597905A (en) * | 2015-01-13 | 2015-05-06 | 广西大学 | Route tracking method for magnetic navigation AGV |
| CN108120434A (en) * | 2017-12-20 | 2018-06-05 | 东风汽车集团有限公司 | A kind of AGV tracks method for correcting error, system and double navigation system |
| CA3098862A1 (en) * | 2018-05-02 | 2019-11-07 | Polaris Industries Inc. | Operating modes using a braking system for an all terrain vehicle |
| CN109799825A (en) * | 2019-01-31 | 2019-05-24 | 电子科大科园股份有限公司 | A kind of synchronization aisle method of grain-levelling machine device people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111026125A (en) | 2020-04-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111026125B (en) | Automatic correction method for automatic navigation trolley | |
| CN106950972B (en) | Automatic Guided Vehicle (AGV) and route correction method thereof | |
| CN109828577A (en) | The opposite automation field bridge high accuracy positioning parking method of unmanned container truck | |
| CN109843675B (en) | Method and device for controlling the driving dynamics of a motor vehicle | |
| CN111039231B (en) | Intelligent forklift turning path planning method | |
| CN109928129A (en) | Control method, automatic guide vehicle and the cargo movement system of automatic guide vehicle | |
| CN116960041B (en) | Travel control method and device for overhead traveling vehicle and storage medium | |
| CN111880405B (en) | AGV self-adaptive path planning real-time control method in flexible manufacturing workshop system | |
| CN115525051A (en) | Shuttle vehicle walking positioning control method based on encoder self-correction | |
| CN109885070A (en) | Motion control method, motion control apparatus and the automated storage and retrieval system of robot | |
| CN109656130A (en) | Transfer robot progress control method, device, robot and storage medium | |
| Xu et al. | Model predictive control-based path tracking control for automatic guided vehicles | |
| CN114237227A (en) | Deviation rectifying method and system for double-steering-wheel AGV (automatic guided vehicle) based on color track and two-dimensional code navigation | |
| CN113534789B (en) | Method and device for real-time planning of three-time polynomial speed curve of mobile robot | |
| CN113641159B (en) | Trailer control method based on AGV | |
| CN114911226A (en) | Method and device for controlling running of carrier and carrier | |
| CN117566383A (en) | Control method of magnetic drive system moving assembly and related equipment | |
| Heß et al. | Linux based control framework for Mecanum based omnidirectional automated guided vehicles | |
| CN114690754B (en) | Repeated operation type unmanned vehicle iterative learning self-optimizing tracking control algorithm | |
| CN112947487A (en) | Automatic guide vehicle and curve path tracking method and control device thereof | |
| CN114253241B (en) | Path tracking method for industrial intelligent trolley | |
| CN110806749A (en) | Accurate positioning method and system for differential drive AGV | |
| JP2004362022A (en) | Moving body | |
| CN111470243A (en) | Storage robot curve walking algorithm and implementation method | |
| CN114371702B (en) | Nonlinear model predictive control method applied to visual servo |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |