The invention discloses a calibration method and system for steering wheel zero offset of a double-steering-wheel type AGV. The method comprises the following steps: controlling front and rear steering wheels to move forwards at the same rotating speed; determining a deflection direction of the post-movement vehicle body direction relative to the pre-movement vehicle body direction; if the vehiclebody deflects anticlockwise, adjusting the rotating angle of the front steering wheel clockwise; if the vehicle body deflects clockwise, adjusting the rotating angle of the rear steering wheel clockwise; if the vehicle body direction does not deflect, judging whether the motion trail of the vehicle body does not deflect; if the motion trail of the vehicle body deflects clockwise, adjusting the rotating angles of the front steering wheel and the rear steering wheel anticlockwise at the same angle; and if the motion trail of the vehicle body deflects anticlockwise, adjusting the rotation anglesof the front and rear steering wheels clockwise at the same angle until the motion trail do not deflect, and performing deviation adjustment on the front and rear steering wheels with the respectivecurrent positions of the steering wheels as zero points. Compared with the prior art, the method has the characteristic of high deviation adjusting precision.
本发明公开了一种针对双舵轮式AGV舵轮零偏的校准方法及系统。该方法包括:控制前后舵轮以相同的转速向前运动;确定运动后车身方向相对于运动前车身方向的偏转方向;如果车身方向逆时针偏转,则顺时针调整前舵轮的旋转角度;如果车身方向顺时针偏转,则顺时针调整后舵轮的旋转角度;如果车身方向无偏转,则判断车体的运动轨迹是否无偏转;如果车体的运动轨迹顺时针偏转,则以相同的角度逆时针调整前后舵轮的旋转角度;如果车体的运动轨迹逆时针偏转,则以相同的角度顺时针调整前后舵轮的旋转角度,直至运动轨迹无偏转后,以舵轮各自的当前位置作为零点进行前后舵轮的调偏。与现有技术相比,本发明具有调偏精度高的特点。
Calibration method and system for steering wheel zero offset of double-steering-wheel type AGV
一种针对双舵轮式AGV舵轮零偏的校准方法及系统
31.07.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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