The invention belongs to the technical field of intelligent transportation equipment, and discloses a variable-speed deviation correction method of an intelligent tracking motion device. Four wheels used for advancing and deviation rectification are installed at the opposite angles of a bottom plate of the intelligent tracking movement device. The intelligent tracking movement device is further provided with a tracking sensor set, a deviation rectification sensor set, an angle sensor and a control device. The tracking sensor group, the deviation rectifying sensor group and the angle sensor are used for judging whether the moving device deviates from a target track or not. When the moving device deviates from the target track, the method provided by the invention can enable the moving device to automatically rectify the deviation to return to the target track by endowing the moving device with the second speed perpendicular to the advancing direction, and the second speed is 0 when the moving device reaches the target track. According to the variable-speed deviation correction method, the intelligent tracking motion device can achieve deviation correction under the condition that the posture of the vehicle body does not need to be changed, the control method is simple and accurate, the requirement for the response speed of the sensor is low, and the method can be applied to the fields of intelligent sorting, intelligent transportation and the like.

    本发明属于智能运输设备技术领域,公开了一种智能循迹运动装置的可变速度纠偏方法。智能循迹运动装置的底板对角安装有用于行进和纠偏的四个福来轮,还安装有循迹传感器组、纠偏传感器组、角度传感器和控制装置。循迹传感器组、纠偏传感器组和角度传感器用于判断运动装置是否偏离目标轨道。当运动装置偏离目标轨迹时,本发明提供的方法可通过赋予运动装置垂直于行进方向的第二速度使运动装置自动进行纠偏以回归至目标轨迹,且到达目标轨迹时第二速度为0。该可变速度纠偏方法使得智能循迹运动装置在无需改变车体姿态情况下即可实现纠偏,控制方法简单,精准,对传感器响应速度要求低,可应用于智能分拣、智能运输等领域。


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    Title :

    Variable speed correction method for intelligent tracking motion device


    Additional title:

    一种智能循迹运动装置的可变速度纠偏方法


    Contributors:
    YUAN HANG (author) / ZHANG CHENMENG (author) / ZHAO CHENXI (author) / LIU XINHUI (author) / ZHANG HUANYU (author) / DING LUQI (author) / YUAN XIAOGUANG (author) / ZHANG FUBAO (author) / GU YUNHUA (author)

    Publication date :

    2022-06-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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