CN116560374A

CN116560374A - Method for improving transverse movement precision of magnetic navigation AGV

Info

Publication number: CN116560374A
Application number: CN202310610012.5A
Authority: CN
Inventors: 潘贤乐; 李亮
Original assignee: Huaxiao Precision Suzhou Co ltd
Current assignee: Huaxiao Precision Suzhou Co ltd
Priority date: 2023-05-26
Filing date: 2023-05-26
Publication date: 2023-08-08

Abstract

The application provides a method for improving the traversing precision of a magnetic navigation AGV, wherein a gyroscope is arranged on the AGV, and the AGV acquires a traversing path command and executes traversing action according to the traversing path command; in the traversing process, a fixed traversing gesture angle in the process of straight-going turning traversing and a real-time traversing gesture angle in the traversing process are obtained through a gyroscope; acquiring the vehicle body attitude deviation in the traversing process according to the difference between the fixed traversing attitude angle and the real-time traversing attitude angle; according to the attitude deviation of the vehicle body, the target four-wheel speed of the AGV is obtained, and the AGV operates according to the target four-wheel speed, so that the AGV stably moves transversely. According to the scheme, the gyroscope is used for carrying out transverse movement gesture control, so that the stability and the navigation positioning precision of the double differential magnetic guide AGV during transverse movement are obviously improved, the situation that the AGV is mutually pulled due to respective correction of front and rear driving during transverse movement is avoided, the transverse movement precision of the AGV is improved, and the accident rate is reduced.

Description

Method for improving transverse movement precision of magnetic navigation AGV

Technical Field

The application relates to the technical field of AGV navigation, in particular to a method for improving the transverse movement precision of a magnetic navigation AGV.

Background

With the development of industrial automation intelligent factories, AGVs (automatic guided vehicles) play a non-negligible role if the intention is to increase productivity and enhance competitiveness. AGVs are used as an important core component for automatic upgrading and are widely applied to core business links of storage, production and the like of manufacturing enterprises. Due to the development of AGV technology, the application scene of the AGV is more and more complex, and the running track of the AGV is already a track with multiple intersections and multiple stations.

Because the factory area limits, the situation that the material needs to be transversely moved and conveyed is unavoidable, the AGV is required to stably and uniformly transport the material to the appointed position, and because the butt joint equipment of the AGV is mostly an industrial robot, the AGV needs to be free of deviation before and after the transversely moving process and the stopping area are maintained, and stopping is completed under the appointed precision, so that the robot can grasp the material. This requires the AGV's master to distribute four wheel speeds based on the sensor real time feedback values to reduce the traversing bias. At present, the prior art usually only adopts two potentiometers to drive each correction in front and back for traversing navigation, but when correcting correction, four wheels of the AGV correct each correction, which easily generates the condition of mutual pulling, resulting in lower traversing precision of the AGV and high failure rate.

Disclosure of Invention

The application provides a method for improving the transverse moving precision of a magnetic navigation AGV, which avoids the situation that four wheels of the AGV are mutually pulled, improves the transverse moving precision of the AGV, and adopts the technical scheme as follows.

In one aspect, a method for improving lateral movement precision of a magnetic navigation AGV is provided, the method is applied to the AGV, and a gyroscope is installed on the AGV, and the method includes:

acquiring a traversing path command, and executing traversing action according to the traversing path command;

acquiring a fixed transverse moving attitude angle of the AGV in the process of straight-going rotary transverse moving through the gyroscope and a real-time transverse moving attitude angle in the process of transverse moving;

acquiring the vehicle body attitude deviation of the AGV in the traversing process according to the difference between the fixed traversing attitude angle and the real-time traversing attitude angle;

and according to the attitude deviation of the vehicle body, acquiring the target four-wheel speed of the AGV, and operating according to the target four-wheel speed so as to enable the AGV to stably transversely move.

In one embodiment, the acquiring the target four-wheel speed of the AGV according to the vehicle body posture deviation and operating according to the target four-wheel speed to make the AGV smoothly traverse, includes:

when the vehicle body attitude deviation is within the target deviation range, maintaining the current four-wheel speed of the AGV to operate so as to enable the AGV to stably and transversely move.

In one embodiment, the AGV comprises a front drive unit and a rear drive unit, wherein potentiometers are respectively arranged on the front drive unit and the rear drive unit; the method for acquiring the target four-wheel speed of the AGV according to the attitude deviation of the vehicle body and operating according to the target four-wheel speed so as to enable the AGV to stably and transversely move comprises the following steps:

when the vehicle body posture deviation is not in the target deviation range, acquiring a wheel angle feedback value through the potentiometer;

respectively acquiring the intermediate speed of the front driving unit and the intermediate speed of the rear driving unit according to the vehicle body posture deviation;

and acquiring the target four-wheel speed of the AGV according to the intermediate speed of the front driving unit, the intermediate speed of the rear driving unit and the wheel angle feedback value, and operating according to the target four-wheel speed so as to enable the AGV to stably transversely move.

In one embodiment, the obtaining the traverse path command and executing the traverse motion according to the traverse path command includes:

acquiring a traversing path command sent by an upper computer and acquiring position information of the AGV; the traversing path command comprises an initial traversing position and a traversing appointed position;

when the AGV reaches the initial traversing position, acquiring an initial value of a gyroscope angle of the AGV at the initial traversing position;

and executing a traversing action according to the traversing path command, the initial value of the angle of the gyroscope and the position information.

In one embodiment, the obtaining the traversing path command sent by the upper computer and obtaining the position information of the AGV includes:

acquiring a driving route of a material distribution task, and waiting for a traversing path command sent by the upper computer in a standby area; the driving route comprises a standby area, a departure path, a traversing area, a feeding area and a regression route;

after the standby area receives the traversing path command, entering the traversing area through the departure path; the transverse moving area comprises an electronic tag card;

and acquiring an electronic tag value in the electronic tag card, and acquiring the position information of the AGV according to the electronic tag value.

In one embodiment, after the performing the traversing action according to the traversing path command and the initial value of the gyroscope angle, the method further comprises:

and returning to the standby area after the AGV transversely moves to the transversely-moving designated position and material distribution is completed, so as to wait for the next execution command.

In one embodiment, the executing the traversing action according to the traversing path command, the initial value of the gyroscope angle, and the position information includes:

acquiring a traversing direction and a traversing angle of the AGV according to the traversing path command, the initial value of the gyroscope angle and the position information;

and executing the traversing action according to the traversing direction and the traversing angle.

In yet another aspect, an AGV is provided that includes a front drive unit and a rear drive unit, with a gyroscope mounted on the AGV; the front driving unit and the rear driving unit are respectively provided with a potentiometer;

the AGV is used for:

In yet another aspect, an apparatus for improving the accuracy of lateral movement of a magnetic navigation AGV is provided, the apparatus comprising:

the transverse movement path command acquisition module is used for acquiring a transverse movement path command and executing transverse movement according to the transverse movement path command;

the transverse movement attitude angle acquisition module is used for acquiring a fixed transverse movement attitude angle of the AGV during the straight-going rotation transverse movement and a real-time transverse movement attitude angle during the transverse movement process through a gyroscope;

the vehicle body attitude deviation acquisition module is used for acquiring the vehicle body attitude deviation of the AGV in the traversing process according to the difference value between the fixed traversing attitude angle and the real-time traversing attitude angle;

and the stable transverse moving module is used for acquiring the target four-wheel speed of the AGV according to the attitude deviation of the vehicle body and operating according to the target four-wheel speed so as to enable the AGV to stably transversely move.

In yet another aspect, a computer device is provided that includes a processor and a memory having at least one instruction stored therein that is loaded and executed by the processor to implement a method of improving the accuracy of a magnetic navigation AGV traverse as described above.

In yet another aspect, a computer readable storage medium having stored therein at least one instruction loaded and executed by a processor to implement a method of improving the accuracy of a magnetic navigation AGV traverse as described above is provided.

The technical scheme that this application provided can include following beneficial effect:

the AGV is provided with a gyroscope, acquires a traversing path command and executes traversing action according to the traversing path command; in the traversing process, the gyroscope is used for acquiring a fixed traversing gesture angle of the AGV in the process of straight-line rotation traversing and a real-time traversing gesture angle in the traversing process; acquiring the vehicle body attitude deviation of the AGV in the traversing process according to the difference value between the fixed traversing attitude angle and the real-time traversing attitude angle; and according to the attitude deviation of the vehicle body, acquiring the target four-wheel speed of the AGV, and operating according to the target four-wheel speed so as to enable the AGV to stably transversely move. According to the scheme, the gyroscope is used for carrying out transverse movement gesture control, so that the stability and the navigation positioning precision of the double differential magnetic guide AGV during transverse movement are obviously improved, the situation that the AGV is mutually pulled due to respective correction of front and rear driving during transverse movement is avoided, the transverse movement precision of the AGV is improved, and the accident rate is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a method flow diagram illustrating a method of improving the accuracy of a lateral movement of a magnetic navigation AGV according to an exemplary embodiment.

FIG. 2 is a flowchart illustrating a method for improving the accuracy of a magnetic navigation AGV traverse in accordance with an exemplary embodiment.

FIG. 3 is a flowchart illustrating a method for improving the accuracy of a lateral movement of a magnetic navigation AGV according to an exemplary embodiment.

FIG. 4 is a flowchart illustrating a method for improving the accuracy of a magnetic navigation AGV traverse in accordance with an exemplary embodiment.

FIG. 5 shows a specific implementation roadmap for an AGV according to an embodiment of the present application.

FIG. 6 is a block diagram illustrating an apparatus for improving the accuracy of a lateral movement of a magnetic guided AGV according to an exemplary embodiment.

Fig. 7 shows a block diagram of a computer device according to an exemplary embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

It should be understood that, in the embodiments of the present application, the "indication" may be a direct indication, an indirect indication, or an indication having an association relationship. For example, a indicates B, which may mean that a indicates B directly, e.g., B may be obtained by a; it may also indicate that a indicates B indirectly, e.g. a indicates C, B may be obtained by C; it may also be indicated that there is an association between a and B.

In the description of the embodiments of the present application, the term "corresponding" may indicate that there is a direct correspondence or an indirect correspondence between the two, or may indicate that there is an association between the two, or may indicate a relationship between the two and the indicated, configured, or the like.

In the embodiment of the present application, the "predefining" may be implemented by pre-storing corresponding codes, tables or other manners that may be used to indicate relevant information in devices (including, for example, terminal devices and network devices), and the specific implementation of the present application is not limited.

FIG. 1 is a schematic diagram of an AGV according to an exemplary embodiment. As shown in fig. 1, the AGV includes a front drive unit and a rear drive unit, and a gyroscope is installed on the AGV; the front driving unit and the rear driving unit are respectively provided with a potentiometer;

the AGV is used for:

acquiring a fixed transverse moving attitude angle of the AGV during the straight-going rotary transverse moving process and a real-time transverse moving attitude angle during the transverse moving process through the gyroscope;

acquiring the vehicle body attitude deviation of the AGV in the traversing process according to the difference value between the fixed traversing attitude angle and the real-time traversing attitude angle;

Further, as shown in fig. 1, a gyroscope is installed at the central position of the AGV, and the gyroscope is used for measuring the posture of the vehicle body; when the AGV moves in a straight-going direction and moves transversely, the gyroscope measures the current vehicle body posture to obtain the fixed transverse movement posture angle; the AGV also can carry out real-time measurement to the automobile body gesture at sideslip in-process to acquire above-mentioned real-time sideslip gesture angle, thereby carry out real-time supervision to the automobile body gesture, when taking place the gesture deviation, can in time monitor, and feed back.

Further, as shown in fig. 1, the AGV includes a front driving unit (refer to the front two wheels of the AGV, which are located on the right side of the car body during the traversing process) and a rear driving unit (refer to the rear two wheels of the AGV, which are located on the left side of the car body during the traversing process), wherein a potentiometer is mounted on the front driving unit, and a potentiometer is also mounted on the rear driving unit; the potentiometer is used for measuring the wheel angle, that is, the potentiometer arranged on the front driving unit is used for measuring the wheel angle of two wheels of the front driving unit; the potentiometer mounted on the rear drive unit measures the wheel angle of the two wheels of the rear drive unit.

Further, the front driving unit is a main driving unit, and the rear driving unit is a driven wheel, so that the front driving unit can be used as a traversing navigation control unit, and the rear driving unit is defined as a following control unit; the front driving unit runs along the magnetic stripe, so that the running direction of the AGV body is ensured, and the rear driving unit dynamically regulates and controls the driven wheel along with the driving wheel; thereby realizing the traversing navigation through a single magnetic stripe; the conventional traversing navigation of the double magnetic stripes has extremely high requirement on the laying parallelism of the magnetic stripes, the front driving unit and the rear driving unit are independently controlled, the state consistency cannot be ensured, the car body inclination caused by slipping and pulling is easy to occur, the state of the front driving unit and the rear driving unit is always consistent by the scheme of traversing navigation of the single magnetic stripes, and the car body is ensured to always keep the car body posture consistent with the initial state to operate in the moving process of the car body through the gyroscope.

Further, under the cooperation of gyroscope and potentiometer, when the AGV moves transversely, the attitude of the vehicle body is monitored through the gyroscope, when the attitude deviation occurs, the target four-wheel speed of the AGV is calculated through the attitude deviation of the vehicle body, the target four-wheel speed is correspondingly distributed to the four wheels (front driving unit and rear driving unit) of the AGV, the four wheels of the AGV move transversely according to the corresponding target speeds, and the stable moving of the AGV is further ensured. When the target four-wheel speed is calculated, a wheel angle feedback value measured by a potentiometer is also obtained, and the vehicle body attitude deviation and the wheel angle feedback value are comprehensively analyzed, so that the target four-wheel speed is obtained.

In conclusion, according to the scheme, the gyroscope is used for carrying out transverse movement gesture control, the potentiometer is used for carrying out measurement control on the wheel angle, the stability and the navigation positioning precision of the double differential magnetic guide AGV during transverse movement are obviously improved, the situation that the AGV is mutually pulled due to respective correction of front and rear driving during transverse movement is avoided, the transverse movement precision of the AGV is improved, and the accident rate is reduced.

According to the scheme, the single magnetic stripe is used for carrying out transverse movement navigation, the gyroscope is assisted for carrying out transverse movement gesture control, the stability and the navigation positioning precision of the double differential magnetic guide AGV during transverse movement are obviously improved, the situation that the double magnetic stripes are driven to correct deviation respectively before and after the double magnetic stripes are prevented from being transversely moved, the motion state does not meet the kinematic equation, and the pulling is generated is avoided.

FIG. 2 is a flowchart illustrating a method for improving the accuracy of a magnetic navigation AGV traverse in accordance with an exemplary embodiment. The method is applied to an AGV that has a gyroscope mounted thereon, which may be an AGV as shown in FIG. 1. As shown in fig. 2, the method may include the steps of:

step S201, a traversing path command is obtained, and a traversing action is executed according to the traversing path command.

In one possible implementation manner, when the AGV receives a traversing path command sent by the upper computer, the AGV enters a traversing area to execute a traversing action according to the traversing path command; the traverse path command should include an initial traverse position and a traverse designated position; the initial traverse position is a position where the AGV needs to start the traverse operation, and the traverse designated position is a position where the AGV needs to stop the traverse operation after executing the traverse operation.

Further, an electronic tag card should be arranged on the traversing path of the AGV, the electronic tag card corresponds to the landmark and is used for distinguishing what position the AGV is located, a reader corresponding to the electronic tag card is arranged on the AGV, and in the running process, the AGV reads the electronic tag card through the reader and further distinguishing the specific position of the AGV.

Step S202, acquiring a fixed transverse movement attitude angle of the AGV in the process of straight-line rotation transverse movement through the gyroscope and a real-time transverse movement attitude angle in the process of transverse movement.

In one possible implementation, when the AGV rotates and moves transversely in a straight direction, the gyroscope is used for measuring the current vehicle body posture so as to obtain the fixed transverse movement posture angle; correspondingly, the AGV can also measure the posture of the vehicle body in real time through the gyroscope in the transverse moving process so as to acquire the real-time transverse moving posture angle, thereby monitoring the posture of the vehicle body in real time, and monitoring and feeding back the vehicle body in time when the posture deviation occurs.

And step 203, acquiring the vehicle body posture deviation of the AGV in the transverse moving process according to the difference value between the fixed transverse moving posture angle and the real-time transverse moving posture angle.

In one possible implementation mode, in the traversing process, a gyroscope on the AGV can monitor the vehicle body gesture in real time, acquire the real-time traversing gesture angle of the AGV, analyze the gesture according to the comparison result of the fixed traversing gesture angle and the real-time traversing gesture angle, and acquire the vehicle body gesture deviation of the AGV in the traversing process, so as to correct the deviation of the vehicle body gesture.

And S204, acquiring a target four-wheel speed of the AGV according to the attitude deviation of the vehicle body, and operating according to the target four-wheel speed so as to enable the AGV to stably transversely move.

In one possible implementation manner, when the attitude deviation occurs, the correct speeds corresponding to the four wheels of the AGV, that is, the target four-wheel speeds, can be calculated according to the vehicle attitude deviation, at this time, the target four-wheel speeds of the AGV are calculated according to the vehicle attitude deviation, and the target four-wheel speeds are correspondingly distributed to the four wheels (the front driving unit and the rear driving unit) of the AGV, so that the four wheels of the AGV respectively move transversely according to the corresponding target speeds, and further the smooth transverse movement of the AGV is ensured.

In conclusion, according to the scheme, the gyroscope is used for carrying out transverse movement gesture control, so that the stability and the navigation positioning precision of the double-differential magnetic guide AGV during transverse movement are obviously improved, the situation that mutual pulling is generated due to the fact that the AGV is driven to correct errors respectively before and after the AGV is moved in transverse movement is avoided, the transverse movement precision of the AGV is improved, and the accident rate is reduced.

FIG. 3 is a flowchart illustrating a method for improving the accuracy of a lateral movement of a magnetic navigation AGV according to an exemplary embodiment. The method is applied to an AGV, a gyroscope is arranged on the AGV, the AGV comprises a front driving unit and a rear driving unit, and potentiometers are respectively arranged on the front driving unit and the rear driving unit; the AGV may be an AGV as shown in FIG. 1. As shown in fig. 3, the method may include the steps of:

step S301, a traversing path command is obtained, and a traversing action is executed according to the traversing path command.

In one possible implementation manner, the step S301 includes: s3011, acquiring a traversing path command sent by an upper computer and acquiring position information of the AGV; the traversing path command comprises an initial traversing position and a traversing appointed position;

s3012, when the AGV reaches the initial traversing position, acquiring an initial value of a gyroscope angle of the AGV at the initial traversing position;

step S3013, executing a traversing operation according to the traversing path command, the initial value of the gyroscope angle, and the position information.

In one possible implementation manner, the step S3011 includes:

acquiring a travelling route of a material distribution task, and waiting for a traversing path command sent by the upper computer in a standby area; the driving route comprises a standby area, a departure path, a traversing area, a feeding area and a regression route;

after the standby area receives the traversing path command, entering the traversing area through the departure path; the traversing area comprises an electronic tag card;

In one possible implementation manner, the step S3013 includes: acquiring a traversing direction and a traversing angle of the AGV according to the traversing path command, the initial value of the gyroscope angle and the position information;

and executing a traversing action according to the traversing direction and the traversing angle.

In one possible implementation manner, after step S3013 is performed, step S301 further includes: and when the AGV transversely moves to the transversely moving designated position and material distribution is completed, returning to the standby area to wait for the next execution command.

Further, as described above, the travel route of the AGV includes a standby area (the standby area may be a charging point), a departure path, a traversing area, a loading area, and a return route; the transverse moving area comprises an electronic tag card for judging whether the AGV reaches the transverse moving position or not, and the AGV judges whether the vehicle body posture is required to be adjusted by adjusting the driving wheel speed according to the angle feedback of the gyroscope in the transverse moving process, so that the vehicle body runs stably and uniformly. After the AGV transversely moves to the designated position, after material distribution is completed, the AGV returns to the standby area to charge, and waits for the next command.

At this time, referring to fig. 4, a method flowchart of a method for improving the traversing precision of a magnetic navigation AGV is shown, where the AGV obtains a running route of a material delivery task in advance and waits for a traversing path command sent by the upper computer in a standby area; after receiving a traversing path command of an upper computer in a standby area, the AGV moves to a traversing area and reads an electronic tag value (the electronic tag can adopt radio frequency identification technology RFID), the running position of the AGV is judged, when the AGV runs to an initial traversing position, the gyroscope angle of the AGV when the AGV rotates and traverses in a straight line under the initial traversing position is used as an initial value (namely, the gyroscope angle initial value is obtained), the traversing direction and the traversing angle of the AGV are determined according to the gyroscope angle initial value, a driving wheel (a front driving unit and a rear driving unit) of the AGV rotates to the initial traversing position in a traversing gesture, after the traversing gesture of the AGV is prepared, the traversing action is executed, and after the traversing action is finished, the AGV returns to the standby area to wait for a subsequent command of the upper computer.

Step S302, acquiring a fixed transverse movement attitude angle of the AGV in the process of straight-line rotation transverse movement through the gyroscope and a real-time transverse movement attitude angle in the process of transverse movement.

Further, after the initial value (i.e., the initial value of the gyroscope angle) is set as the gyroscope angle when the AGV is in the straight-going and traversing state at the initial traversing position, the driving wheel is rotated according to the initial value of the gyroscope angle, so as to enter into the traversing preparation and execute the traversing operation, and the AGV moves along the central magnetic stripe traversing of the front driving unit, and in the traversing operation process, the real-time traversing attitude angle of the AGV is measured through the gyroscope so as to monitor the traversing attitude.

And step S303, acquiring the vehicle body posture deviation of the AGV in the transverse moving process according to the difference value between the fixed transverse moving posture angle and the real-time transverse moving posture angle.

And step S304, when the vehicle body posture deviation is within a target deviation range, maintaining the current four-wheel speed of the AGV to operate so as to enable the AGV to stably move transversely.

Furthermore, the target deviation range can be +/-1 degree, so that the angle of the gyroscope is always kept to be +/-1 degree, and the stable, balanced and transversely moving of the vehicle body is ensured.

As shown in fig. 4, when the vehicle body posture deviation is within ±1°, the current four-wheel speed of the AGV is maintained to operate (the current four-wheel speed of the AGV is the target four-wheel speed of the AGV allocated according to the standard) so that the AGV smoothly moves.

And S305, acquiring a wheel angle feedback value through the potentiometer when the vehicle body posture deviation is not in the target deviation range.

Further, as shown in fig. 4, in order to ensure that the angle of the gyroscope is always maintained between ±1°, and ensure that the vehicle body stably and evenly moves transversely, when the attitude deviation of the vehicle body is not within the target deviation range (±1°), the driving wheel speed of the AGV can be adjusted according to the wheel angle feedback values of the potentiometers of the front driving unit and the rear driving unit, so that the AGV can stably run without pulling.

Step S306, according to the vehicle body posture deviation, the intermediate speed of the front driving unit and the intermediate speed of the rear driving unit are respectively obtained.

Step S307, according to the intermediate speed of the front driving unit, the intermediate speed of the rear driving unit and the wheel angle feedback value, the target four-wheel speed of the AGV is obtained, and the AGV operates according to the target four-wheel speed, so that the AGV stably moves transversely.

Further, as shown in fig. 4, the AGV distributes the vehicle body posture deviation to the center speeds of the left and right driving wheels (i.e., the intermediate speeds) according to the vehicle body posture deviation measured by the gyroscope, and distributes the vehicle body posture deviation to the four driving wheel speeds (i.e., the target four-wheel speeds) according to the center speeds and wheel angle feedback values of the potentiometer, so that the rear driving unit of the AGV always maintains the same deviation angle as the front driving unit, and the two groups of driving wheels can be kept to bear balanced force and not to be pulled. After the deviation correction of the AGV is completed, the deviation angle of the gyroscope is +/-1 degree, the AGV operates according to the standard distribution speed (the standard distribution speed at the moment is the target four-wheel speed), and after the transverse movement of the AGV is completed, the AGV waits for a subsequent command of the upper computer.

When the AGV executes the traversing motion, the front driving unit can be defined as the traversing navigation control unit, and the rear driving unit can be defined as the following control unit. When the AGV directly rotates to a transverse movement mode, the front and rear driving units are controlled to rotate in situ to adjust the direction, the direction is adjusted to 90 degrees or 90 degrees according to the transverse movement direction, the angle is calibrated by taking the straight movement direction as 0 degrees, the center of the vehicle body as an origin, the clockwise direction is a positive angle, and the anticlockwise direction is a polar coordinate system established by a negative angle.

The angle of the current gyroscope which directly rotates and moves transversely is taken as the fixed posture angle of the transverse movement (namely the fixed transverse movement posture angle), and in the transverse movement process, the difference value between the real-time angle of the gyroscope (namely the real-time transverse movement posture angle) and the fixed transverse movement posture angle is the vehicle body posture deviation in the transverse movement process, and the central speed of the front and rear driving unit is distributed through the vehicle body posture deviation, so that the vehicle body posture deviation is corrected.

The front driving unit of the AGV is used as an independent differential deviation correction model, deviation correction control can be independently carried out, a pre-aiming deviation correction algorithm can be used for converting the magnetic stripe deviation value d into a target course angle theta, and the speed of left and right wheels of the front driving unit is calculated through a differential motion control equation. If the center distance of the magnetic drive is defined as L, the wheel base is defined as M, the turning radius is defined as R, given L, r=l×tan (90 ° -ABS (θ)), and according to the formula v=ω×r, i.e. linear velocity=angular velocity=radius, the driving wheel velocities are v1= (R-M/2) r×v_f, v2= (r+m/2) r×v_f, v_f, respectively, being the center velocity of the front driving unit.

The principle of the angle change of the rear driving unit of the AGV needs to follow the angle change of the front driving unit is that the speed and the angle of the front driving unit and the rear driving unit in a connecting rod model of the double-differential car body need to satisfy the following relation: v_f×cos (a) =v_r×cos (B). A and B represent angles of the front and rear driving units, respectively.

It should be noted that, ensuring the angle of the front and rear driving units to be consistent a=b does not necessarily eliminate the pulling of the centers of the front and rear driving units, because the center speeds of the front and rear driving units are not equal v_f+.v_r according to the vehicle body posture deviation, but v_f+.v_r is ensured in such an angle following manner that the motion control between the front and rear driving units is within an acceptable range in the case where the posture correction strength is sufficient.

The angle following of the rear driving unit can be proportionally adjusted by utilizing the front-rear angle difference, and the speeds of the double driving wheels of the rear driving unit are respectively V3 = (1+K (A-B)/90.0) V_r, and V4 = (1-K (A-B)/90.0) V_r; k is a proportional adjustment coefficient, and V_r is the center speed of the rear drive unit.

It should be noted that, in the actual programming process, some parameters should be limited in value range, so as to avoid severe mutation caused by 0 denominator or error of external acquisition values.

Further, referring to the specific implementation roadmap of the AGV shown in fig. 5, the AGV enters the machine entrance according to the identification position information of the electronic tag card, adjusts the traversing gesture at the initial traversing position, performs preparation for executing the traversing action, and after traversing, the AGV reaches the blanking mouth area for batching. The individual values in FIG. 5 represent landmark values for identifying a location, such as 15/24/25 in FIG. 5;15 is radio frequency identification technology RFID reading electronic tag landmark value, 24 is the position value that AGV feeds back to the upper computer according to current landmark value and under the locating state, 25 is the position value that AGV feeds back to the upper computer according to landmark value and under the releasing state (other landmark values are the same and are not repeated here).

FIG. 6 is a block diagram illustrating an apparatus for improving the accuracy of a lateral movement of a magnetic guided AGV according to an exemplary embodiment. The device comprises:

a traverse path command obtaining module 601, configured to obtain a traverse path command, and execute a traverse motion according to the traverse path command;

the transverse moving gesture angle acquisition module 602 is used for acquiring a fixed transverse moving gesture angle of the AGV in the process of straight-going rotation transverse moving and a real-time transverse moving gesture angle in the process of transverse moving through a gyroscope;

a vehicle body posture deviation obtaining module 603, configured to obtain a vehicle body posture deviation of the AGV in a traversing process according to a difference between the fixed traversing posture angle and the real-time traversing posture angle;

and the smooth and movable moving module 604 is configured to obtain a target four-wheel speed of the AGV according to the vehicle body posture deviation, and operate according to the target four-wheel speed, so as to enable the AGV to smoothly and horizontally move.

In one possible implementation, the smooth traversing module 604 is further configured to:

In one possible implementation, the AGV includes a front drive unit and a rear drive unit, on which potentiometers are mounted, respectively; the smooth traversing module 604 is further configured to:

In one possible implementation manner, the traverse path command obtaining module 601 is further configured to:

In one possible implementation, the apparatus is further configured to:

Referring to fig. 7, a schematic diagram of a computer device according to an exemplary embodiment of the present application is provided, where the computer device includes a memory and a processor, and the memory is configured to store a computer program, and when the computer program is executed by the processor, the method for improving the traversing precision of a magnetic navigation AGV is implemented.

The processor may be a central processing unit (Central Processing Unit, CPU). The processor may also be any other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof.

The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the methods in embodiments of the present application. The processor executes various functional applications of the processor and data processing, i.e., implements the methods of the method embodiments described above, by running non-transitory software programs, instructions, and modules stored in memory.

The memory may include a memory program area and a memory data area, wherein the memory program area may store an operating system, at least one application program required for a function; the storage data area may store data created by the processor, etc. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some implementations, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

In an exemplary embodiment, a computer readable storage medium is also provided for storing at least one computer program that is loaded and executed by a processor to implement all or part of the steps of the above method. For example, the computer readable storage medium may be Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), compact disc Read-Only Memory (CD-ROM), magnetic tape, floppy disk, optical data storage device, and the like.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. The method for improving the transverse movement precision of the magnetic navigation AGV is characterized by being applied to the AGV, and a gyroscope is installed on the AGV, and comprises the following steps:

2. The method of claim 1 wherein said obtaining a target four-wheel speed of said AGV based on said vehicle body attitude deviation and operating based on said target four-wheel speed to smoothly traverse said AGV includes:

3. The method of claim 1 wherein the AGV includes a front drive unit and a rear drive unit, each having a potentiometer mounted thereon; the method for acquiring the target four-wheel speed of the AGV according to the attitude deviation of the vehicle body and operating according to the target four-wheel speed so as to enable the AGV to stably and transversely move comprises the following steps:

4. A method according to any one of claims 1 to 3, wherein the acquiring a traverse path command and performing a traverse motion according to the traverse path command comprises:

5. The method of claim 4 wherein the obtaining a traversing path command sent by a host computer and obtaining position information of the AGV comprises:

6. The method of claim 5, further comprising, after said performing a traversing action based on said traversing path command and said initial value of gyroscope angle:

7. The method of claim 4, wherein performing a traversing action based on the traversing path command, the initial value of the gyroscope angle, and the position information comprises:

8. An AGV, characterized in that, the AGV includes a front drive unit and a rear drive unit, a gyroscope is installed on the AGV; the front driving unit and the rear driving unit are respectively provided with a potentiometer;

the AGV is used for:

9. A device for improving the accuracy of lateral movement of a magnetically guided AGV, said device comprising:

10. A computer device comprising a processor and a memory having at least one instruction stored therein, the at least one instruction loaded and executed by the processor to implement a method of improving accuracy of traversing a magnetically guided AGV according to any one of claims 1 to 7.