The invention discloses a four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation. The method comprises: acquiring AGV attitude deviation data in a two-dimensional code; calculating a first angle offset when the AGV controls the steering motor to perform deflection angle correction and a first displacement offset when the AGV controls the steering motor to perform displacement correction; judging the AGV attitude deviation data and the first angle deviation, judging whether the turntable rotates back after keeping the maximum angle of the turntablefor a preset time, and generating a deflection angle correction motor speed control curve; according to the AGV attitude deviation data and the first displacement deviation, judging whether the turntable rotates back after keeping the maximum angle of the turntable for a preset time, and generating a deviation correction motor speed control curve; and controlling the speed of the motor by utilizing the speed curves of the steering motor and the driving motor and the speed control curve of the offset correction motor. According to the method, a proper deviation rectifying path can be planned according to initial deviation and inherent parameters of the AGV, four driving motors and speed curves of the four driving motors are obtained, and motion deviation rectifying is completed.
本发明公开了一种基于二维码导航的四轮转向AGV轨迹纠偏方法,包括:获取二维码中的AGV姿态偏差数据;计算AGV控制转向电机进行偏角矫正时的第一角度偏移和位移矫正时的第一位移偏移;判断AGV姿态偏差数据和第一角度偏移判断是否保持转盘最大角度预设时间后转回,生成偏角纠正电机速度控制曲线;根据AGV姿态偏差数据和第一位移偏移判断是否保持转盘最大角度预设时间后转回,生成偏移纠正电机速度控制曲线;利用转向电机和驱动电机的速度曲线和偏移纠正电机速度控制曲线对电机进行速度控制。该方法能够根据初始偏移和AGV的固有参数规划一条合适的纠偏路径,并得到四个驱动电机和四个驱动电机的速度曲线,完成运动纠偏。
Four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation
基于二维码导航的四轮转向AGV轨迹纠偏方法
2020-08-25
Patent
Electronic Resource
Chinese
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