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。


    Access

    Download


    Export, share and cite



    Title :

    Four-wheel steering AGV track deviation rectification method based on two-dimensional code navigation


    Additional title:

    基于二维码导航的四轮转向AGV轨迹纠偏方法


    Contributors:
    ZHANG TAO (author) / HAN BIN (author) / YANG SIQI (author) / YANG XIN (author) / CHEN XUEDONG (author) / DONG YAN (author)

    Publication date :

    2020-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



    Four-wheel steering mechanism and wheel track adjustable chassis

    NIU MENGMENG / WANG XIAOYU / SUN YITIAN et al. | European Patent Office | 2024

    Free access

    Car steering wheel navigation

    LEE YANG GOO | European Patent Office | 2017

    Free access

    FOUR-WHEEL STEERING

    FUNKE JOSEPH / ZLOTNIK DAVID EVAN | European Patent Office | 2024

    Free access

    Four-wheel steering

    FUNKE J ¨ 1 RGEN / ZELOTNICK DAVID E | European Patent Office | 2023

    Free access

    Lane deviation rectification track generation method, device and equipment and storage medium

    HUANG XIWANG / TU NINGNING / HOU MINGYANG et al. | European Patent Office | 2025

    Free access