Method, apparatus and system for AGV movement control
AssigneeABB Schweiz AG
InventorsYaodong Ni, Xuan Cao, Dong Wu
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Abstract
Embodiments of the present disclosure provide methods, devices, systems, and a computer readable medium for controlling an automatic guided vehicle (AGV). In some embodiments of the method, a first load identifier is determined at a first location on a predetermined trajectory of the AGV. The first load identifier represents a first load condition at the first location. A first set of values of a plurality of control parameters is determined based on the first load identifier. A movement of the AGV is controlled based on the first set of values. With these embodiments, the movement of the AGV can be controlled according to a set of values of control parameters based on the load condition.
Claims11
A method for controlling an automatic guided vehicle (AGV), the method comprising:
- determining a first load identifier at a first location on a predetermined trajectory of the AGV, the first load identifier representing a first load condition at the first location;
- determining a first set of values of a plurality of control parameters based on the first load identifier;
- and
- controlling a movement of the AGV based on the first set of values,
- wherein controlling the movement of the AGV based on the first set of values comprises:
- determining, by a position sensor, a current position deviation of the AGV in relative to the predetermined trajectory;
- determining a differential speed based on the current position deviation and the first set of values;
- and
- determining a left speed and a right speed for a left wheel and a right wheel of the AGV based on the differential speed.
A method for controlling an automatic guided vehicle (AGV), the method comprising:
- determining a first load identifier at a first location on a predetermined trajectory of the AGV, the first load identifier representing a first load condition at the first location;
- determining a first set of values of a plurality of control parameters based on the first load identifier;
- and
- controlling a movement of the AGV based on the first set of values,
- wherein the plurality of control parameters comprise:
- a proportional gain, an integration time, and a derivation time, or wherein the plurality of control parameters comprise:
- a proportional gain, an integration time, a derivation time, and a filter time.
A method for controlling an automatic guided vehicle (AGV), the method comprising:
- determining a first load identifier at a first location on a predetermined trajectory of the AGV, the first load identifier representing a first load condition at the first location;
- determining a first set of values of a plurality of control parameters based on the first load identifier;
- controlling a movement of the AGV based on the first set of values;
- determining a plurality of candidate sets of values of the plurality of control parameters based on a plurality of load conditions and an estimated transfer function of the AGV, each candidate set of values being associated with a respective load identifier representing a respective load condition;
- and
- wherein determining the first set of values based on the first load identifier comprises:
- selecting, from the plurality of candidate sets of values, a set of values associated with the first load identifier as the first set of values.
Dependencies are inferred from the claim text.