TW202034104A - Guided vehicle control system and method - Google Patents

Abstract

The present invention is a guided vehicle control system and method, comprising: control module, controlling the operation of the guided vehicle control system; environment sensor module, coupling to the control module, detecting environmental data, or the location of navigation point labels; situation sensor module, coupling to the control module, providing situation data of the guiding vehicle, said situation sensor module further comprises gyroscope unit, and the situation data includes plurality of attitude data of the guiding vehicle; and, path calibration module, storage path calibration algorithm, calibrating the path of the guided vehicle through the environmental data, the location of navigation point labels, and situation data; where said guided vehicle control system could be deployed in guided vehicle terminal, or remote terminal.

Description

Guiding vehicle control system and method

The present invention relates to a guided vehicle control system and method. More specifically, it is a system and method for controlling and correcting the path of an automatic guided vehicle to improve the accuracy and travel efficiency of the automatic guided vehicle path. method.

Automatic guided vehicle (Automatic Guided Vehicle, AGV) refers to a fixed program that can be programmed in the vehicle according to a built-in program, or according to predetermined rules, supplemented by a sensor or data link (Data Link) such as an infrared sensor , Optical radar (Light Detection and Ranging, LIDAR), ultrasonic radar, cloud network control to detect environmental information, to move along the planned route, without the need for manual continuous monitoring of its working status. For example, automated guided vehicles can transport items such as heavy machinery parts, engines, chassis, etc. along the production line of the manufacturing plant floor, and transport them from one site to another to reduce labor caused by errors or fatigue Operation error, if we can know from foreign statistics, only 5%-25% of the time for the completion of a product is spent on manufacturing and processing, while the time spent on delivery and waiting is as high as 75% -95%. Therefore, it is self-evident that the introduction of the application of automatic guided vehicles and the improvement of their operational efficiency will help improve the production efficiency of the enterprise and reduce the time cost of production.

In history, the first guided vehicle capable of transporting goods was in 1953. Barrett Electronics Corporation, located in Illinois, USA, invented the world’s first guided vehicle. The guided vehicle has A mechanical bumper is connected by a simple wire on the floor to a manually controlled remote control. Its appearance is composed of a tractor and several trailers equipped with container frames, but it does not yet have modern automatic guidance Technical characteristics. Until about the 1980s, several methods for planning the path of guided vehicles were developed and mature, as well as the development of automation technology in logistics and production plants. The guide carrier is becoming more and more important for the improvement of work efficiency. Its guide can also be divided into various forms, such as electromagnetic induction guide, which consists of wires buried in trenches dug on the floor, when high-frequency current flows through the wires When an electromagnetic field is generated around the wire, two electromagnetic sensors are installed on the AGV symmetrically, and according to the intensity difference of the received electromagnetic signals, it can reflect the degree of deviation of the AGV from the path; tape guidance, pre-planned with tape recording guidance vehicle The path to make the guiding vehicle follow a fixed path and so on.

However, the above-mentioned programming by programmers to move the guided vehicle with a pre-planned path can indeed achieve a certain degree of automation of the guided vehicle movement, but the disadvantage of the pre-planned path is that the planned path It is impossible to know the range of certain errors in advance for the path, such as when the unguided vehicle fails, the action is wrong, or the planned path does not conform to the actual coordinates of the application site, and the path is deviated, and the navigation with tape or ribbon is also It has the disadvantages of greater damage to the ground, high maintenance costs, and unsuitability for larger applications. Therefore, in the conventional technology, some manufacturers have introduced the use of one or two-dimensional bar code, ZigBee, NFC, infrared, etc. to place a fixed readable label at a fixed point, so that the guiding vehicle can be used in the process of movement. By comparing the map information of the application site created in advance on each navigation point label, the route can be corrected to improve the accuracy of the guided vehicle route. However, due to the above-mentioned readable tags, when manually attached or set at a fixed point, it is inevitable that there will be artificial upward angle or position errors. If there is no correction mechanism to correct, the path of the guiding vehicle will still be There are deviations. The above problems will become more serious when the distance of movement is longer, or the area of production plant or application site is larger.

On the other hand, in order to enable the guiding vehicle to sense and maintain the direction of its movement during its movement, most of the guiding vehicle has a gyroscope configuration, so that the guiding vehicle can follow the gyroscope. During rotation, the conservation of angular momentum can resist the principle of changing the direction, and achieve the purpose of detecting the movement posture of the guided vehicle. However, depending on the accuracy of the gyroscope, the noise, the type of guided vehicle, the application location, the speed of the guided vehicle, the ground bumps, and the degree of curvature of the walking path, in addition to the angular velocity deviation of the gyroscope, The amount of offset will also accumulate over time, so that the detection error of the movement posture will become larger and larger. Therefore, different guidance vehicles will inevitably need to be used according to different use situations, and different sensors and data links. According to the needs of cost and performance, different optimization methods are used to correct the angular velocity offset. However, this point is rarely discussed in the prior art.

In view of this, in order to solve the above-mentioned problems, the present invention proposes a guided vehicle control system, including: a control module, which controls the operation of the guided vehicle control system; an environment sensing module, which is coupled to the control module, and detects Environmental information, or the location of the navigation point label; the attitude sensing module, coupled to the control module, provides guidance vehicle situation information, wherein the attitude sensing module further includes a gyroscope unit, which utilizes the fixed axis And inverse dynamics, so that the situation information can include the attitude information of the guided vehicle; and, the path correction module, which stores the path correction algorithm, uses the above environmental information, the position of the navigation point label, and the attitude information to modify the guided vehicle The path and map information of the tool; among them, the guided vehicle control system can be deployed at the end of the guided vehicle or at the remote end.

In the embodiment of the present invention, the environmental sensor module can be matched with different types of sensors to detect surrounding environmental information, or one or two-dimensional barcode detector, high-sensitivity microphone, etc. according to the needs of cost, performance, application site, etc. Infrared sensor, millimeter wave radar, ultrasonic radar, optical radar, ZigBee sensor, NFC sensor, Bluetooth sensor, optical camera, or a combination of the above are transmitted to the control module after being digitally encoded.

According to the content of the present invention, the above-mentioned posture sensing module further includes an accelerometer unit to provide direction information of the guided vehicle by the guided vehicle control system.

According to the content of the present invention, the above-mentioned posture sensing module further includes a magnetometer unit, which detects the azimuth angle, and provides azimuth information of the movement direction of the guiding vehicle relative to the actual environment.

The present invention proposes a guidance vehicle control method, which includes the following steps: the control module takes a measurement value of the attitude sensing module to the situation information at intervals T _a1 ; the control module takes one at intervals T _b1 The environmental sensor module measures the environmental information or the navigation point label; judges whether the deviation of the situation information, the navigation point label measurement position, or/and the environmental information measurement value exceeds the preset value; if the above offset If the amount exceeds the preset value, the path correction module adjusts the actual path of the guiding vehicle according to the situation information, the position measured by the navigation point label, or/and the offset from the measured value of the environmental information.

According to the present invention, if the above predetermined offset value does not exceed the attitude control module elapsed time T _a2 trend the measured values fed into the control module information.

According to the content of the present invention, if the aforementioned offset does not exceed the preset value, the environment sensing module will feed the measured value of the environment information or the offset of the navigation point label position to the control module after the elapsed time T _b2 .

According to the content of the present invention, the situation information may include: attitude information provided by the gyroscope unit; direction information provided by the accelerometer; and orientation information provided by the magnetometer unit.

The above descriptions are used to illustrate the purpose, technical means, and achievable effects of the present invention. Those familiar with this technology in the relevant field can get a clearer understanding of the present invention through the demonstration of the following examples and accompanying schematic descriptions and the scope of patent applications. invention.

100‧‧‧Guide Vehicle Control System

101‧‧‧Control Module

103‧‧‧Environmental Sensing Module

105‧‧‧Posture Sensing Module

105a‧‧‧Gyro Unit

105c‧‧‧Magnetometer unit

105e‧‧‧Accelerometer unit

107‧‧‧Path Correction Module

109‧‧‧Guide vehicle end

200‧‧‧Guide vehicle control method

S1A-S4‧‧‧Method steps

301‧‧‧Guide Vehicle

303‧‧‧Horizontal axis marking

305‧‧‧Vertical axis marking

307‧‧‧Navigation point label

701‧‧‧First arc

703‧‧‧second arc

The detailed description of the present invention and the schematic diagrams of the embodiments described below should make the present invention more fully understood; however, it should be understood that this is only used as a reference for understanding the application of the present invention, rather than limiting the present invention to a specific implementation. In the case.

Figure 1 is a block diagram illustrating the structure of the guided vehicle control system.

Figure 2 shows a flow chart of the steps of the method of guiding the vehicle control system.

Figure 3A illustrates the causes of errors in the position of the guidance vehicle and the navigation point label.

Figure 3B illustrates how to correct the errors of the guidance vehicle and the position of the navigation point label in a coordinated manner.

Figure 4 shows the attitude information, that is, the cause of the angular offset error of the gyroscope unit.

Figure 5 shows one of the path correction methods of the path correction algorithm when the guided vehicle has a lateral displacement.

Figure 6 shows another path correction method of the path correction algorithm when the guided vehicle has no lateral displacement.

Figure 7 illustrates the situation when the guidance vehicle needs to dodge in the middle of a navigation point to another navigation point.

The present invention will be described in detail with preferred embodiments and viewpoints. The following description provides specific implementation details of the present invention, so that the reader can thoroughly understand the implementation of these embodiments. However, those skilled in the field must understand that the present invention can also be implemented without these details. In addition, the present invention can also be applied and implemented by other specific embodiments. The details described in this specification can also be applied based on different needs, and various modifications or changes can be made without departing from the spirit of the present invention. . The present invention will be described with preferred embodiments and viewpoints. Such description is to explain the structure of the present invention, and is only used for illustration and not for limiting the scope of patent application of the present invention. The terms used in the following description will be interpreted in the broadest reasonable manner, even if they are used in conjunction with the detailed description of a specific embodiment of the present invention.

The first objective of the present invention is to try to improve the control system and method of the guided vehicle in the prior art, by using at least one of the environmental sensing modules (103), including one or two-dimensional bar code detector, high Sensitivity microphone, infrared sensor, millimeter wave radar, ultrasonic radar, optical radar, ZigBee sensor, NFC sensor, bluetooth sensor, optical camera and other types of sensors have their coordinate positions corrected to solve the problem of manual navigation When the point label (307) is selected, because the navigation point label (307) of each position has different degrees of offset and skew, the actual path of the guide vehicle (301) is different from the predetermined path during the walking process. problem. The second objective of the present invention is to optimize and correct the situation information provided by the attitude sensing module (105) when the guiding vehicle (301) is in different walking paths, including attitude information, direction information, and orientation information , To improve the accuracy between the actual path and the predetermined path when the guiding vehicle (301) is walking. In addition, the third object of the present invention is to integrate different types of sensors, including environmental sensing modules (103) and posture sensing modules (105) according to the needs of cost, performance, and map information type, to optimize The performance of the chemical guidance vehicle (301), for example, when the space of the application site changes over time (such as a logistics transfer station), or when the cost is limited, and optical radar-based laser navigation cannot be used. It still enables the guiding vehicle (301) to meet the needs of the application place.

To achieve the above objectives, please refer to Figure 1. The present invention provides a guided vehicle control system (100), including: a control module (101) that controls the operation of the guided vehicle control system (100); environmental sensing The module (103) is coupled to the control module (101) to detect environmental information or the position of the navigation point tag; the attitude sensing module (105) is coupled to the control module (101) to provide a guiding vehicle ( 301) Situation information, wherein the attitude sensing module (105) further includes a gyroscope unit (105a), so that the situation information can include the attitude information of the guidance vehicle (301); and, the path correction module (107) , Store path correction algorithm and map information, use the above-mentioned environment information, navigation point tag (307) position, attitude information to correct the actual path of the guidance vehicle (301); among them, the guidance vehicle control system (100) can It is deployed at the end of the guide vehicle (109), or at the far end.

In the present invention, the above-mentioned control module (101) usually includes a processing chip, memory, temporary memory, display device, network communication module, operating system, and application program, etc., and interact with each other in a commonly known manner. The functions of connection, execution of calculation, temporary storage, display and data transmission, and provision of operation and management coordination of the guided vehicle control system (100) are based on the generally known architecture, so it is not repeated here.

According to the content of the present invention, the so-called situation information provided by the above-mentioned posture sensing module (105) may include but is not limited to the information provided by the gyroscope unit (105a) using inertia and precession The attitude information of the guiding vehicle (301), the current direction information of the guiding vehicle (301) movement provided by the accelerometer unit (105e), and the azimuth information provided by the magnetometer unit (105c). The situation information is digitally encoded and transmitted to the control module (101), so that the path correction module (107) can integrate the environmental information or the measured value of the navigation point tag (307) to correct the actual path of the guidance vehicle (301) To improve the accuracy of its actual path.

In order to achieve the reason for the offset and skewness of the corrected navigation point label (307) in the present invention, which causes the actual path of the guide vehicle (301) to be offset, please refer to Figures 3A and 3B, which show In the path correction module (107) of the present invention, one of the path correction methods is deployed in the path correction algorithm. When the environment sensing module (103) detects the measured value of the navigation point label (307) based on the horizontal axis (303) and vertical axis (305) set by the guiding vehicle (301) When O _off (x _off ,y _off ), at this time the measured value O _off (x _off ,y _off ) is not at the predetermined position O _m (0,0) due to the skewed navigation point label (307), so The navigation point tag (307) can continue to be used without additional cost to reset, and its position needs to be corrected. In the embodiment of the present invention, the calibration step is that the environment sensing module (103) repeatedly detects the navigation point tag (307) n times (n>3), when the n times of measurement is less than a preset value , That is, when its precision (Precision) conforms to a value within a specification, the average value of the aforementioned coordinate offset and angle offset is calculated as follows: x _{off =} (x ₁ + x ₂ +... ...x _n )/n; y _off= (y ₁ +y ₂ +......y _n )/n; θ _off= (θ ₁ +θ ₂ +......θ _n ) /n; Therefore, if we take the correction of the angular offset of Figure 3A and Figure 3B as an example, when it calculates that the average angular offset is counterclockwise θ _off =0.52°, it means the navigation point label (307) Need to correct θ _off =0.52° clockwise, and store the result in the path correction module (107), so even if the navigation point label (307) is set manually, the guidance vehicle control system (100) can still Through the above modification, the guide vehicle (301) can still follow the predetermined path without causing confusion, and there is no need to manually remove and reset the navigation point label (307). In addition to saving manpower, it also To avoid possible damage to the ground when repeatedly setting the navigation point label (307). Wherein, the type of the above-mentioned navigation point tag (307) can be, but is not limited to, one or two-dimensional barcode, ZigBce, NFC, infrared, Bluetooth, etc.

Another object of the present invention is to solve the problem of optimizing and correcting the posture of the guiding vehicle (301) in different walking paths and when the guiding vehicle (301) is located between the previous and the next navigation point label (307) The situation information provided by the sensing module (105) includes posture information, direction information, and azimuth information, so that the path correction algorithm deployed by the path correction module (107) can correct the guidance vehicle ( The walking path of 301) ensures that the guiding vehicle (301) will not get lost when it is in the middle of the walking path of the previous and next navigation point tags (307). Please refer to Figure 4, which shows another path correction method of the path correction algorithm. Taking the acquisition of attitude information as an example, it shows that when the guided vehicle (301) is not modified to travel on its path, every time it travels a fixed distance R, θ ₁ , θ occur at points P ₁ , P ₂ , and P _{3 respectively} . _2. Angle deviation of θ ₃ etc. In a preferred embodiment of the present invention, in order to enable the situation information provided by the gyroscope unit (105a) to cooperate with the control module (101), the calculation speed of the processing chip, the walking speed of the guide carrier (301), The time T _b1 set according to the response of the environmental sensor module (103), the distribution density of the navigation point tags (307) in the application place, and the resolution (0.05°-2°) of the gyroscope unit (105a) itself, etc. attitude sensing module (105) at intervals T _a1 take a gyro unit (105a) measurement posture information, wherein the time T _a1 and T _b1 range may be 1 millisecond (ms) -1 seconds ( s), so that the path correction module (107) determines whether to guide the vehicle (301) by judging whether the situation information and environmental information exceed a preset value based on the path offset of the guided vehicle (301) ) To modify the path.

In view of the above, in order to enable the environment sensing module (103) and the attitude sensing module (105) to monitor the environment information, the position of the navigation point tag, and the situation information, it can cooperate with the path correction module (107) to guide the vehicle (301) To optimize the walking path, the actual walking path of the guiding vehicle (301) must be considered. Please refer to FIG. 5, which shows the situation when the guide carrier (301) has a lateral displacement. The so-called lateral displacement refers to when the guiding vehicle (301) is in circular motion, turning, or walking in a straight line, due to a lateral external force or the difference in rotation speed of the left and right wheels, the actual walking path is not the predetermined path. , So it is necessary to make corrections. In the preferred embodiment of the present invention, when the guide carrier (301) travels a fixed distance R each time, and the fixed distance R is within a distance of 0.1-30mm, the gyroscope unit (105a) From the obtained posture information, it is known that the deviation angle between the actual path and the predetermined path is α. If the predetermined walking path is a circular motion or a turn, the radius D can be approximated as D=R/n( Sinα), where the value of n depends on the type of guided vehicle (301) (such as shield type, stacker or board type, etc.), and the number of left and right wheels of the guided vehicle (301). Different values; if the predetermined walking path is linear walking, the size of the lateral displacement d is d=R Sinα, so as to achieve the optimization and correction of the guide vehicle (301) in the present invention when walking, the actual path is the same as the predetermined The accuracy between the paths, or provide a basis for correction when the actual path and the predetermined path are different due to the difference in speed between the left and right wheels of the guiding vehicle (301).

Please refer to FIG. 6, which shows the situation when the guiding carrier (301) has no lateral displacement in another embodiment of the present invention. In the case of no lateral displacement, when the guiding vehicle (301) is walking in a straight line, the actual walking path is not the straight path of the predetermined path due to the difference in the speed of the left and right wheels, so it is necessary to make Fix. In the best embodiment of the present invention, also when the guiding vehicle (301) travels a fixed distance R each time, and the fixed distance R is also within a distance of 0.1-30mm, the gyroscope unit ( 105a) The obtained posture information, knowing that the offset angle between the actual path and the predetermined path is α, the actual walking path can be regarded as a part of the circular motion. The size of the radius D can be approximated as D=R/n(Sinα), where the value of n depends on the type of guided vehicle (301) (such as: shield type, stacker type or board type, etc.), The number of the left and right wheels of the guiding vehicle (301) has different values, and the left and right offset size d can be calculated based on the attitude information and the above-mentioned approximate D, as follows: d=D-Dcosα to achieve this In the invention, the accuracy between the actual path and the predetermined path when the guide vehicle (301) is walking is optimized and corrected, or the actual path and the predetermined path are different due to the difference in speed between the left and right wheels of the guide vehicle (301). , The basis for amendment.

Please refer to FIG. 7, which shows that when the navigation point label (307) passed by the guiding vehicle (301) is offset and skewed, and the walking path of the guiding vehicle (301) has an offset angle α How to correct the situation. In a preferred embodiment of the present invention, when the distance L between the two navigation point tags (307) is within 0.5-50m, the way to correct the above situation is based on the average value x _{off of the} coordinate offset and the angle offset. , Y _off , θ _off Calculate the size of the offset △x between the guide vehicle (301) and the navigation point label (307). At this time, the walking direction of the guide vehicle (301) can be determined by the path correction module ( 107) Through the offset angle α provided by the posture sensing module (105), consider whether there is a lateral displacement in the above-mentioned embodiment, and correct its walking path.

In an embodiment of the present invention, the guided vehicle control system (100) can be deployed in a remote cloud server center (not shown in the figure), or other similarly equipped with guided vehicle control system (100) )’S guide carrier end (109), through the network communication module contained in the control module (101), integrates the positions and walking paths of multiple guide carriers (301) in the application site, and According to the above-mentioned path correction algorithm, the walking path of each guided vehicle (301) is optimized, the operation efficiency of the guided vehicle (301) is improved, and it is avoided that the guiding vehicles (301) are in the application place. , The number of genera distributed is too large, and there is a danger of collision with each other.

Please refer to FIG. 2, in order to achieve the present invention, when a large number of manual navigation point labels (307) are deployed, there are different degrees of offset and skew, and the actual path of the guide vehicle (301) is optimized for different walking paths. The accuracy between the predetermined path and the integration of different types of sensors according to the requirements of cost and performance. The present invention proposes a method for controlling a guided vehicle (200), which includes the following steps: In step (S1A) ), every time T _a1 takes a measurement value of the attitude sensor module (105) to the situation information; in step (S1B), every time T _b1 takes an environmental sensor module (103) to the environment Information, or the measured value of the navigation point label (307); in step (S2A), the path correction module (107) determines the position of the situation information, the navigation point label (307), and in step (S2B), the path correction module (107) Determine whether the offset of the measurement value of the environmental information exceeds the preset value; in step (S3A) and step (S3B), if the offset exceeds the preset value, in step (S4), The path correction module (107) adjusts the actual path of the guiding vehicle (301) according to the situation information, the position of the navigation point tag (307), or/and the offset from the measured value of the environmental information.

According to the content of the present invention, in step (S3A), if the deviation of the situation information does not exceed a preset value, the attitude control module feeds the measured value of the situation information to the control module (101) after the time T _{a2 has} passed , And re-execute step (S1A).

According to the content of the present invention, in step (S3B), if the position offset of the environmental information or the navigation store tag (307) does not exceed the preset value, the environmental sensing module will convert the environmental information or the navigation point tag to the elapsed time T _b2 (307) The position offset is fed to the control module (101), and step (S1A) is executed again.

According to a preferred embodiment of the method of the present invention, the range of T _a1 and T _b1 can be 1 microsecond (ms) to 1 second (s), so that the path correction module (107) can be guided by the vehicle (301) ) The path offset is determined by judging whether the situation information and environmental information exceed a preset value to determine whether to modify the path of the guided vehicle (301).

The above description is the preferred embodiment of the present invention. Those skilled in the field should understand that it is used to illustrate the present invention rather than to limit the scope of the patent rights claimed by the present invention. The scope of its patent protection shall be determined by the attached scope of patent application and its equivalent fields. Anyone familiar with the art in this field, without departing from the spirit or scope of this patent, makes changes or modifications that are equivalent changes or designs completed under the spirit of the present invention, and should be included in the scope of the following patent applications Inside.

100‧‧‧Guide Vehicle Control System

101‧‧‧Control Module

103‧‧‧Environmental Sensing Module

105‧‧‧Posture Sensing Module

105a‧‧‧Gyro Unit

105c‧‧‧Magnetometer unit

105e‧‧‧Accelerometer unit

107‧‧‧Path Correction Module

109‧‧‧Guide vehicle end

Claims (12)

A guided vehicle control system, comprising: a control module, which controls the operation of the automatic guided vehicle system; an environmental sensing module, coupled to the control module, to detect at least one piece of environmental information, or multiple navigations Point tag location; an attitude sensing module, coupled to the control module, provides guidance vehicle situation information, wherein the attitude sensing module includes a gyroscope unit, so that the situation information can include the guidance vehicle A plurality of gesture information; and, a path correction module deploys at least one path correction algorithm, using the at least one environmental information, the position of the plurality of navigation point tags, and the plurality of gesture information to modify the guidance The path of the vehicle; wherein the guided vehicle control system is deployed on at least one end of the guided vehicle, or at least one remote end. In the guidance vehicle control system described in claim 1, the environmental sensing module includes sensors of one or two-dimensional bar code detectors, high-sensitivity microphones, infrared sensors, millimeter wave radar, and ultrasonic radar , Optical radar, ZigBee sensor, NFC sensor, Bluetooth sensor, optical camera, or a combination of the above. For the guided vehicle control system described in claim 1, the type of guided vehicle applicable to the at least one end of the guided vehicle can be a shield type, a stacker type, a board type, or a combination of the above. In the guided vehicle control system described in claim 1, the resolution range of the gyroscope unit is 0.05 to 2 degrees. For the guided vehicle control system described in claim 1, the positions where the plurality of navigation point labels are spaced from each other, The applicable range is 0.5m-50m. A method for controlling a guided vehicle includes the following steps: a control module that takes a measurement value of at least one piece of situational information by an attitude sensing module at intervals T _a1 , the at least one piece of situational information including a gyro unit Provide at least one posture information; the control module takes at least one piece of environmental information or the measurement value of a plurality of navigation point tags from an environmental sensor module at intervals T _b1 ; a path correction module determines the at least one piece Whether the deviation of the situation information, the position of the plurality of navigation point labels, or/and the measurement value of the at least one piece of environmental information exceeds the preset value; and, if the aforementioned deviation exceeds the preset value, the path is corrected The module adjusts the actual path of the guidance vehicle according to the at least one piece of situation information, the position of the plurality of navigation point tags, or/and the offset from the measured value of the at least one piece of environmental information, and at least one path correction algorithm . According to the guidance vehicle control method of claim 6, the at least one piece of situation information includes at least one piece of azimuth information provided by a magnetometer unit, and at least one piece of direction information provided by an accelerometer unit. According to the guidance vehicle control method of claim 6, the at least one path correction algorithm includes detecting the positions of the plurality of navigation point labels according to at least one horizontal axis marking line and at least one vertical axis marking line; When the actual coordinates of one of the plurality of navigation point labels are not on a predetermined coordinate O _m (0,0), the at least one path correction algorithm is stored in the path correction module according to the actual coordinates and the predetermined coordinates. The coordinate offset and angular offset x _off , y _off , θ _off of the coordinates are used to modify the walking path of the guided vehicle. According to the guidance vehicle control method described in claim 6, the at least one path correction algorithm is based on the calculation speed of the control module and the walking speed of the guidance vehicle according to a fixed distance each time the guidance vehicle travels, The range of a time T _a1 or a time T _b1 is set to be 1 millisecond to 1 second. According to the control method of the guided vehicle described in claim 9, when there is a lateral displacement within the fixed distance range that the guided vehicle travels, the path correction module corrects the algorithm according to the at least one path, and the lateral displacement The magnitude of can be regarded as the product of the fixed distance and an offset angle α between the actual path and the predetermined path. For the guided vehicle control method described in claim 9, when the guide vehicle deviates from a predetermined path due to the difference in the rotational speeds of the left and right wheels within the fixed distance that the guided vehicle travels, the predetermined path is one of the actual path. The deviation size d can be d=D-Dcosα. According to the method for controlling the guided vehicle described in claim 9, the fixed distance ranges from 0.1 to 30 mm.

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