Industrial laser guidance AGV double-closed-loop control system and control method thereof

A laser-guided, closed-loop control technology, used in conveyor control devices, conveyor objects, transportation and packaging, etc., can solve problems such as difficulty in achieving accuracy, failure to quickly adjust stable states, and slow path tracking.

Inactive Publication Date: 2011-08-10
HEFEI UNIV OF TECH
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Problems solved by technology

However, when the conventional fuzzy control algorithm is applied to the industrial laser-guided AGV path tracking control, the path tracking speed is slow, especially when the AGV is walking at a high speed, the delay effect and slow system response are more serious. obvious
This is because the industrial practical AGV system is complex, heavy, and inertial, so compared with the general experimental AGV, i

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  • Industrial laser guidance AGV double-closed-loop control system and control method thereof
  • Industrial laser guidance AGV double-closed-loop control system and control method thereof
  • Industrial laser guidance AGV double-closed-loop control system and control method thereof

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Embodiment Construction

[0067] The laser-guided AGV used in this embodiment is a single-wheel drive rear-fork AGV transformed from a forklift, with a wheelbase of 1300 mm, a dead weight of 1 ton, and a rated lifting capacity of 800 kg. The front wheels are both driving wheels and are steering wheels, each controlled by an AC servo motor. Such as figure 1 As shown, the AGV is composed of a car body, a safety collision avoidance system, a walking steering system, a communication system, a two-position closed-loop control system and other auxiliary systems. Among them, the safety anti-collision system adopts the S3000 laser scanning safety device of German SICK company, which is fixed on the front end of the AGV car body and connected with the industrial computer through the communication line. The travel steering system consists of a servo motor, a reducer, and a travel steering mechanism. The communication system is a wireless local area network composed of a wireless network card and a wireless rou...

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Abstract

The invention discloses an industrial laser guidance automatic guided vehicle (AGV) double-closed-loop control system and a control method thereof. The system consists of a detection module and a control module and is characterized in that: the detection module consists of an encoder serving as a motor position sensor and a laser scanner serving as an AGV position sensor; the control module consists of a servo driver and an industrial personal computer and is a double-position closed loop control module consisting of an inner position ring and an outer position ring; the inner position ring is a motor intersection angle position ring; the outer position ring is used for reading an AGV position signal by using the laser scanner; the path tracking error of the current position of an AGV is calculated by the AGV position signal fed back from the outer position ring; and the path tracking error is used as the input quantity of the control system. By the system and the method, the independent running function of the industrial laser guidance AGV can be well realized, and the rapidity and the stability of the path tracking of the AGV can be ensured.

Description

technical field [0001] The invention belongs to the field of robot technology and automation, and in particular relates to a control system of an industrial laser-guided AGV of an automatic navigation transport vehicle operating in an automation workshop and a path tracking control method thereof. Background technique [0002] Laser-guided AGV (AGV, Automatic Guided Vehicle) is an automatic guided vehicle guided by laser. Due to its high positioning accuracy, it can adapt to complex paths in various environments and can quickly change driving paths. It is currently widely used . The control system is the core content of AGV, and the path tracking control method is the key to ensure the control accuracy of AGV. [0003] At present, the control systems of most laser-guided AGV manufacturers are imported from Sweden's NDC company, and the complete set of control systems is expensive. [0004] The experimental AGV system that has been published is a single closed-loop control ...

Claims

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Application Information

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IPC IPC(8): B65G43/00
Inventor 吴焱明赵韩王秋杰王军尹晓红
Owner HEFEI UNIV OF TECH
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