CN112596521B - Double-rudder-wheel magnetic navigation AGV deviation rectifying method and device - Google Patents

Abstract

The invention discloses a deviation correction method and device for a magnetic navigation AGV with double steering wheels, wherein the method includes: when the magnetic navigation AGV with double steering wheels is going straight or turning, the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor are respectively used as reference points, and real-time Keep the center of the front and rear magnetic stripe sensors on the magnetic stripe; calculate the first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculate the rear magnetic stripe sensor according to the return value of the rear magnetic stripe sensor The second deviation between the center and the magnetic stripe; according to the first deviation and the second deviation, the straight line is corrected; when the double steering wheel magnetic navigation AGV moves laterally, the driving speed of the two steering wheels is set respectively according to the values of the left and right magnetic stripe sensors ;According to the deviation between the center of the double steering wheel magnetic navigation AGV body and the magnetic strip, set the steering angle of the two steering wheels to correct the lateral movement. The method disclosed by the invention can make the double steering wheel magnetic navigation AGV run stably and accurately along the magnetic strip.

Description

A deviation correction method and device for a magnetic navigation AGV with double rudder wheels

technical field

The invention belongs to the technical field of mobile robots, and in particular relates to a deviation correction method and device for a magnetic navigation AGV with double steering wheels.

Background technique

Conventional double steering wheel AGV (Automated Guided Vehicle, unmanned guided vehicle) has a small body, and most of the control is based on the center of the car body as the reference point, with the help of magnetic stripe sensors and gyroscopes. The layout has high demands. However, when this method of controlling a conventional double steering wheel AGV is applied to a larger double steering wheel AGV, the vehicle body offset angle is very small, and there is a large error in the front and rear parking spaces, which is very easy to cause the magnetic strip sensor to break away from the magnetic strip and lose control. The requirements for turning radius and turning space will be very high.

It can be seen that the technical problem that urgently needs to be solved by those skilled in the art is: to reduce the deviation during the driving of the large double steering wheel magnetic navigation AGV, so that it can run stably and reliably along the magnetic strip.

Contents of the invention

The technical problem to be solved by the present invention is to reduce the deviation during the driving of the large double steering wheel magnetic navigation AGV so that it can run stably and reliably along the magnetic strip.

In order to solve the above technical problems, the present invention discloses a deviation correction method for a magnetic navigation AGV with dual steering wheels. , wherein the method includes:

When the dual steering wheel magnetic navigation AGV is going straight or turning, the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor are respectively used as reference points to keep the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor in real time. on said magnetic strip;

Calculate the first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculate the difference between the center of the rear magnetic stripe sensor and the first deviation according to the return value of the rear magnetic stripe sensor. second deviation of the magnetic stripe;

Perform straight-line deviation correction according to the first deviation and the second deviation;

When the magnetic navigation AGV of the double steering wheel moves laterally, according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor, the driving speeds of the two steering wheels are respectively set;

According to the deviation between the body center of the double steering wheel magnetic navigation AGV and the magnetic strip, the steering angle of the two steering wheels is set to correct the lateral movement, wherein the steering angles of the two steering wheels are the same.

Optionally, the step of performing lateral displacement correction according to the first deviation and the second deviation includes:

Determine the steering angles of the two steering gears according to the fuzzy control principle, the first deviation, and the second deviation;

For each steering gear, the linear velocity of the steering gear corresponding to the deviation is calculated according to the steering angle, and the lateral movement is corrected according to the linear velocity.

Optionally, when the magnetic navigation AGV with double steering wheels is going straight, the distance in the length direction of the two steering wheels is 2L, the distance in the width direction is 2W, the distance between the centers of the two steering wheels is H, and the connecting line between the centers of the two steering wheels The included angle with the body axis is Ψ, then tanΨ=W/L,

Optionally, the radius of rotation of the front steering wheel and the radius of rotation of the rear steering wheel are calculated by the following formulas respectively:

Among them, α is the deflection angle of the front steering wheel, and β is the deflection angle of the rear steering wheel; R ₁ is the rotation radius of the front steering wheel, and R ₂ is the rotation radius of the rear steering wheel;

The body center of the magnetic navigation AGV with double rudder wheels is calculated by the following formula:

R _m ² =R ₁ ² +H ² /4-R ₁ ^* H ^* sin(ψ-a);

Wherein, R _m is the center of the vehicle body.

Optionally, the driving speed of the front steering wheel is calculated by the following formula:

The driving speed of the rear steering wheel is calculated by the following formula:

Wherein, V _m is the driving speed of the center of the car body, V ₁ is the driving speed of the front steering wheel, V ₂ is the driving speed of the rear steering wheel, and the rotational angular velocity of the car body is W.

Optionally, calculate and determine the deflection angle of the front steering wheel and the deflection angle of the rear steering wheel respectively according to the following formula:

α＝Front wheel correction direction ^＊ [K ₁ ^＊ Absolute value of the deviation of the front magnetic strip sensor+K ₂ ^＊ (maximum speed of the car-set speed of the car)];

β=rear wheel deviation correction direction ^* [K ₁ ^* absolute value of rear magnetic strip sensor deviation+K ₂ ^* (vehicle maximum speed - vehicle set speed)];

Among them, K ₁ and K ₂ are control coefficients.

Optionally, when the dual steering wheel magnetic navigation AGV traverses, the value of the left magnetic stripe sensor is S ₁ , and the value of the right magnetic stripe sensor is S ₂ , then S ₃ =S ₁ -S ₂ , S ₄ =(S ₁ +S ₂ )/2-central value of the left magnetic stripe sensor and the right magnetic stripe sensor;

When S ₃ is greater than the preset allowable error, the driving speed of the front steering wheel = vehicle speed setting - K ₄ ^* S ₃ ,

Rear steering wheel drive speed = vehicle speed setting + K ₄ ^* S ₃ , where K ₄ is the deviation correction coefficient;

When S ₄ is greater than the preset allowable error, the front steering gear rotation angle = traverse angle + K ₅ ^* correction direction;

Wherein, the direction of deviation correction is determined by the direction of traverse and _S4 , the _K5 is the deviation correction coefficient, and the rotation angle of the front steering gear is the same as that of the rear steering gear.

In order to solve the above technical problems, the present invention also discloses a double steering wheel magnetic navigation AGV correction device, the device is applied to a double steering wheel magnetic navigation AGV, and the double steering wheel magnetic navigation AGV includes a front magnetic stripe sensor, a rear magnetic stripe sensor, A left magnetic strip sensor, a right magnetic strip sensor and a magnetic strip, wherein the device includes:

The first control module is used to keep the front magnetic stripe sensor and the rear magnetic stripe sensor in real time with the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor as reference points when the double steering wheel magnetic navigation AGV is going straight or turning. The centers of the rear magnetic strip sensors are all on the magnetic strip;

A calculation module, configured to calculate the first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculate the rear magnetic stripe according to the return value of the rear magnetic stripe sensor a second offset of the sensor center from the magnetic strip;

The first deviation correction module is used to perform straight line deviation correction according to the first deviation and the second deviation;

The speed setting module is used to set the driving speeds of the two steering wheels respectively according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor when the magnetic navigation AGV of the double steering wheels moves laterally;

The second deviation correction module is used to set the steering angle of the two steering wheels according to the deviation between the center of the magnetic navigation AGV body of the double steering wheels and the magnetic strip, so as to perform lateral movement correction, wherein the two steering wheels same steering angle.

Optionally, the first deviation correction module includes:

The first submodule is used to determine the steering angles of the two steering gears according to the fuzzy control principle, the first deviation, and the second deviation;

The second sub-module is used for calculating the linear speed of the steering gear corresponding to the deviation according to the steering angle for each of the steering gears, and performing lateral movement correction according to the linear speed.

The present invention has the following advantages:

The embodiment of the present invention discloses a deviation correction method for a magnetic navigation AGV with dual steering wheels. The omnidirectional operation of the magnetic navigation AGV with dual steering wheels is divided into two control modes: straight travel and lateral movement. Single rudder wheel deviation correction control, combined with the center deviation of the car body and the left and right swing amount of the car body for overall deviation correction control during lateral movement, and at the same time, both straight travel and lateral movement are combined with fuzzy control rules to cooperate with the law of driving vehicles, so that the large double steering wheel magnetic navigation AGV It can run along the magnetic strip simply, stably and accurately.

Description of drawings

Fig. 1 is a flow chart of the steps of a method for correcting deviation of a magnetic navigation AGV with dual steering wheels according to an embodiment of the present invention;

Fig. 2 is the installation layout diagram of the dual steering wheel magnetic navigation AGV car body control part of the embodiment of the present invention;

Fig. 3 is a schematic diagram of the deviation when the dual steering wheel magnetic navigation AGV of the embodiment of the present invention goes straight or turns;

Fig. 4 is a schematic diagram of the lateral movement deviation of the dual steering wheel magnetic navigation AGV of the embodiment of the present invention;

Fig. 5 is a structural block diagram of a dual steering wheel magnetic navigation AGV deviation correction device according to an embodiment of the present invention.

Detailed ways

The present invention will be described in detail below based on specific embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Fig. 1 is a flow chart of the steps of a method for correcting deviation of a magnetic navigation AGV with dual steering wheels provided by an embodiment of the present invention.

The method for correcting the deviation of the dual steering wheel magnetic navigation AGV provided by the embodiment of the present invention includes the following steps:

Step 101: When the dual steering wheel magnetic navigation AGV is going straight or turning, the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor are used as reference points, and the centers of the front magnetic stripe sensor and the rear magnetic stripe sensor are kept on the magnetic stripe in real time.

The method for correcting the deviation of the dual steering wheel magnetic navigation AGV provided by the embodiment of the present invention can be applied to a large double steering wheel magnetic navigation AGV. An exemplary double steering wheel magnetic navigation AGV vehicle body control installation layout diagram is shown in Figure 2. The double steering wheel magnetic navigation AGV includes a front magnetic stripe sensor, a rear magnetic stripe sensor, a left magnetic stripe sensor, a right magnetic stripe sensor and a magnetic stripe sensor. strip. AGV refers to a transport vehicle equipped with automatic navigation devices such as electromagnetic or optical, capable of driving along a prescribed navigation path, with safety protection and various transfer functions.

Step 102: Calculate the first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculate the second deviation between the center of the rear magnetic stripe sensor and the magnetic stripe according to the return value of the rear magnetic stripe sensor.

Step 103: Perform straight-line deviation correction according to the first deviation and the second deviation.

In an optional embodiment, the step of straight line deviation correction according to the first deviation and the second deviation includes the following sub-steps:

Sub-step 1: Determine the steering angles of the two steering gears according to the fuzzy control principle, the first deviation, and the second deviation;

Sub-step 2: For each steering gear, calculate the linear velocity of the steering gear corresponding to the deviation according to the steering angle, and correct the deviation according to the linear speed.

Step 104: When the magnetic navigation AGV with dual steering wheels moves laterally, set the driving speeds of the two steering wheels respectively according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor.

Step 105: According to the deviation between the body center of the dual steering wheel magnetic navigation AGV and the magnetic strip, set the steering angle of the two steering wheels for lateral movement correction.

Wherein, the steering angles of the two steering wheels are the same.

In an optional embodiment, when the dual steering wheel magnetic navigation AGV is going straight, the distance between the two steering wheels in the length direction is 2L, the distance in the width direction is 2W, and the distance between the centers of the two steering wheels is H. The angle between the body axis is Ψ, then tanΨ=W/L,

Figure 3 is a schematic diagram of the deviation when the dual steering wheel magnetic navigation AGV goes straight or turns. In an optional embodiment, the radius of rotation of the front steering wheel and the radius of rotation of the rear steering wheel are calculated by the following formulas:

Among them, α is the deflection angle of the front steering wheel, and β is the deflection angle of the rear steering wheel; R ₁ is the rotation radius of the front steering wheel, and R ₂ is the rotation radius of the rear steering wheel;

The body center of the AGV with double rudder wheel magnetic stripe navigation is calculated by the following formula:

R _m ² =R ₁ ² +H ² /4-R ₁ ^* H ^* sin(ψ-a);

Wherein, R _m is the center of the vehicle body.

In an optional embodiment, the driving speed of the front steering wheel is calculated by the following formula:

The driving speed of the rear steering wheel is calculated by the following formula:

Among them, V _m is the driving speed of the center of the car body, V ₁ is the driving speed of the front steering wheel, V ₂ is the driving speed of the rear steering wheel, and the rotational angular speed of the car body is W, V _m = R _m * W, V ₁ = R ₁ *W, V ₂ =R ₂ *W.

In an optional embodiment, the deflection angle of the front steering wheel and the deflection angle of the rear steering wheel are calculated and determined respectively according to the following formula:

α＝Front wheel correction direction ^＊ [K ₁ ^＊ Absolute value of the deviation of the front magnetic strip sensor+K ₂ ^＊ (maximum speed of the car-set speed of the car)];

β=rear wheel deviation correction direction ^* [K ₁ ^* absolute value of rear magnetic strip sensor deviation+K ₂ ^* (vehicle maximum speed - vehicle set speed)];

Among them, K ₁ and K ₂ are control coefficients, which are determined according to the driving speed of the car body.

When the steering wheel is in the center position, the angle is negative when it is turned clockwise, and the angle is positive when it is turned counterclockwise. The direction of steering wheel deviation correction is determined comprehensively by the running direction of the vehicle body (forward and backward) and the deviation direction of the center of the magnetic stripe sensor. The unit of the maximum speed of the car and the set speed of the car is m/s.

Fig. 4 is a schematic diagram of the lateral movement deviation of the dual rudder wheel magnetic navigation AGV. When the double steering wheel magnetic navigation AGV traverses, the value of the left magnetic stripe sensor is S ₁ , and the value of the right magnetic stripe sensor is S ₂ , then S ₃ =S ₁ -S ₂ , S ₄ =(S ₁ +S ₂ ) /2-the central value of the left magnetic strip sensor and the right magnetic strip sensor; when _S3 is greater than the preset allowable error, the driving speed of the front steering wheel=vehicle speed setting- _K4 ^* _S3 , the driving speed of the rear steering wheel = Vehicle speed setting + K ₄ ^* S ₃ , where K ₄ is the deviation correction coefficient; when S ₄ is greater than the preset allowable error, the front steering gear rotation angle = lateral movement angle + K ₅ ^* deviation correction direction;

Among them, the direction of deviation correction is determined by the lateral movement direction and _S4 , _K5 is the deviation correction coefficient, and the rotation angle of the front steering gear is the same as that of the rear steering gear.

The deviation correction method of the dual steering wheel magnetic navigation AGV disclosed in the embodiment of the present invention divides the omnidirectional operation of the dual steering wheel magnetic navigation AGV into two control modes: straight travel and lateral movement. Deviation correction control, when traversing, the overall deviation control is carried out by combining the center deviation of the car body and the left and right swing of the car body. , stable and accurate running along the magnetic strip.

Fig. 5 is a structural block diagram of a deviation correction device for a magnetic navigation AGV with dual steering wheels provided by an embodiment of the present invention.

The double steering wheel magnetic navigation AGV correction device provided by the embodiment of the present invention is applied to the double steering wheel magnetic navigation AGV. The double steering wheel magnetic navigation AGV includes a front magnetic stripe sensor, a rear magnetic stripe sensor, a left magnetic stripe sensor, a right magnetic stripe sensor and a magnetic stripe. The device for correcting the deviation of the double rudder wheel magnetic navigation AGV includes the following modules:

The first control module 501 is used to keep the front magnetic stripe sensor and the rear magnetic stripe sensor in real time with the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor as reference points when the dual steering wheel magnetic navigation AGV is going straight or turning. The centers of the rear magnetic strip sensors are all on the magnetic strips;

A calculation module 502, configured to calculate the first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculate the first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the rear magnetic stripe sensor. a second deviation of the center of the strip sensor from the magnetic strip;

The first deviation correction module 503 is configured to perform straight line deviation correction according to the first deviation and the second deviation;

The speed setting module 504 is used to set the drive speeds of the two steering wheels respectively according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor when the magnetic navigation AGV of the double steering wheels moves laterally;

The second deviation correction module 505 is used to set the steering angles of the two steering wheels according to the deviation between the center of the magnetic navigation AGV body of the double steering wheels and the magnetic strip, so as to perform lateral movement correction, wherein the two steering wheels The steering angle of the steering wheel is the same.

Optionally, the first deviation correction module includes: a first submodule, configured to determine the steering angles of the two steering gears according to the fuzzy control principle, the first deviation, and the second deviation; the second submodule, For each steering gear, calculate the linear velocity of the steering gear corresponding to the deviation according to the steering angle, and perform lateral movement correction according to the linear velocity.

The double steering wheel magnetic navigation AGV deviation correction device disclosed in the embodiment of the present invention divides the omnidirectional operation of the double steering wheel magnetic navigation AGV into two control modes: straight travel and lateral movement. Deviation correction control, when traversing, the overall deviation control is carried out by combining the center deviation of the car body and the left and right swing of the car body. , stable and accurate running along the magnetic strip.

As for the method embodiment, since it corresponds to the device embodiment, the description is relatively simple, and for relevant parts, refer to the description of the device embodiment.

It should be noted that the above description is only a preferred embodiment of the present invention. It should be understood that for those skilled in the art, some changes and improvements can be made without departing from the technical concept of the present invention, and these are included in within the protection scope of the present invention.

The content that is not described in detail in the description of the present invention belongs to the well-known technology of those skilled in the art.

Claims (8)

1. a double steering wheel magnetic navigation AGV deviation correction method, the double steering wheel magnetic navigation AGV includes a front magnetic stripe sensor, a rear magnetic stripe sensor, a left magnetic stripe sensor, a right magnetic stripe sensor and a magnetic stripe, it is characterized in that the method include: When the double steering wheel magnetic navigation AGV goes straight or turns, the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor are respectively used as reference points to keep the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor in real time. on said magnetic strip; Calculate the first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculate the difference between the center of the rear magnetic stripe sensor and the first deviation according to the return value of the rear magnetic stripe sensor. second deviation of the magnetic stripe; Perform straight-line deviation correction according to the first deviation and the second deviation; When the magnetic navigation AGV of the double steering wheel moves laterally, according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor, the driving speeds of the two steering wheels are respectively set; According to the deviation between the center of the magnetic navigation AGV body of the double steering wheel and the magnetic strip, the steering angle of the two steering wheels is set to correct the lateral movement, wherein the steering angle of the two steering wheels is the same; When the double steering wheel magnetic navigation AGV traverses, the value of the left magnetic stripe sensor is S ₁ , and the value of the right magnetic stripe sensor is S ₂ , then S ₃ =S ₁ -S ₂ , S ₄ =(S ₁ +S ₂ )/2-the center value of the left magnetic stripe sensor and the right magnetic stripe sensor; When S ₃ is greater than the preset allowable error, the driving speed of the front steering wheel = the set speed of the car-K ₄ *S ₃ , The driving speed of the rear steering wheel = the set speed of the car + K ₄ *S ₃ , where K ₄ is the deviation correction coefficient; When S ₄ is greater than the preset allowable error, the front steering gear rotation angle = traverse angle + K ₅ * correction direction; Wherein, the direction of deviation correction is determined by the direction of traverse and _S4 , the _K5 is the deviation correction coefficient, and the rotation angle of the front steering gear is the same as that of the rear steering gear. 2. The method according to claim 1, characterized in that, the step of performing straight-line deviation correction according to the first deviation and the second deviation comprises: Determine the steering angles of the two steering gears according to the fuzzy control principle, the first deviation, and the second deviation; For each steering gear, the linear velocity of the steering gear corresponding to the deviation is calculated according to the steering angle, and the deviation is corrected according to the linear velocity. 3. The method according to claim 1, characterized in that: When the magnetic navigation AGV with double steering wheels is going straight, the distance in the length direction of the two steering wheels is 2L, the distance in the width direction is 2W, the distance between the centers of the two steering wheels is H, and the line between the centers of the two steering wheels and the axis of the car body The included angle is ψ, then tanψ=W/L,

4. The method according to claim 3, characterized in that: the radius of rotation of the front steering wheel and the radius of rotation of the rear steering wheel are calculated by the following formula respectively:

Among them, α is the deflection angle of the front steering wheel, β is the deflection angle of the rear steering wheel; R1 is the rotation radius of the front steering wheel, and R2 is the rotation radius of the rear steering wheel; The body center of the magnetic navigation AGV with double rudder wheels is calculated by the following formula: R _m ² =R ₁ ² +H ² /4-R ₁ *H*sin(ψ-a); Wherein, R _m is the center of the vehicle body. 5. The method according to claim 4, characterized in that: The driving speed of the front steering wheel is calculated by the following formula:

The driving speed of the rear steering wheel is calculated by the following formula:

Wherein, V _m is the driving speed of the center of the car body, V ₁ is the driving speed of the front steering wheel, V ₂ is the driving speed of the rear steering wheel, and the rotational angular velocity of the car body is W. 6. The method of claim 5, wherein, Calculate and determine the deflection angle of the front steering wheel and the deflection angle of the rear steering wheel respectively according to the following formula: α = front steering wheel correction direction * [K ₁ * absolute value of front magnetic strip sensor deviation + K ₂ * (vehicle maximum speed - vehicle set speed)]; β=rear steering wheel deviation correction direction*[K ₁ *absolute value of rear magnetic strip sensor deviation+K ₂ *(vehicle maximum speed - vehicle set speed)]; Among them, K ₁ and K ₂ are control coefficients. 7. A deviation correction device for a double steering wheel magnetic navigation AGV, said device is applied to a double steering wheel magnetic navigation AGV, and said double steering wheel magnetic navigation AGV includes a front magnetic stripe sensor, a rear magnetic stripe sensor, a left magnetic stripe sensor, and a right magnetic stripe sensor And magnetic strip, it is characterized in that, described device comprises: The first control module is used to keep the front magnetic stripe sensor and the rear magnetic stripe sensor in real time with the respective centers of the front magnetic stripe sensor and the rear magnetic stripe sensor as reference points when the double steering wheel magnetic navigation AGV is going straight or turning. The respective centers of the rear magnetic strip sensors are on the magnetic strips; A calculation module, configured to calculate the first deviation between the center of the front magnetic stripe sensor and the magnetic stripe according to the return value of the front magnetic stripe sensor, and calculate the rear magnetic stripe according to the return value of the rear magnetic stripe sensor a second offset of the sensor center from the magnetic strip; The first deviation correction module is used to perform straight line deviation correction according to the first deviation and the second deviation; The speed setting module is used to set the driving speeds of the two steering wheels respectively according to the values of the left magnetic stripe sensor and the right magnetic stripe sensor when the magnetic navigation AGV of the double steering wheels moves laterally; When the double steering wheel magnetic navigation AGV traverses, the value of the left magnetic stripe sensor is S ₁ , and the value of the right magnetic stripe sensor is S ₂ , then S ₃ =S ₁ -S ₂ , S ₄ =(S ₁ +S ₂ )/2-the center value of the left magnetic stripe sensor and the right magnetic stripe sensor; When S ₃ is greater than the preset allowable error, the driving speed of the front steering wheel = the set speed of the car-K ₄ *S ₃ , The driving speed of the rear steering wheel = the set speed of the car + K ₄ *S ₃ , where K ₄ is the deviation correction coefficient; The second deviation correction module is used to set the steering angle of the two steering wheels according to the deviation between the center of the magnetic navigation AGV body of the double steering wheels and the magnetic strip, so as to perform lateral movement correction, wherein the two steering wheels same steering angle; When S ₄ is greater than the preset allowable error, the front steering gear rotation angle = traverse angle + K ₅ * correction direction; Wherein, the direction of deviation correction is determined by the direction of traverse and _S4 , the _K5 is the deviation correction coefficient, and the rotation angle of the front steering gear is the same as that of the rear steering gear. 8. The device according to claim 7, wherein the first deviation correction module comprises: The first submodule is used to determine the steering angles of the two steering gears according to the fuzzy control principle, the first deviation, and the second deviation; The second sub-module is used for calculating the linear speed of the steering gear corresponding to the deviation according to the steering angle for each of the steering gears, and correcting the deviation according to the linear speed.

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