A control device and control method for an automatic guided transport vehicle system
An automatic guidance and control device technology, applied in transportation and packaging, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as the influence of compensation accuracy, to avoid interference, improve linearity, and optimize installation structure effect
Active Publication Date: 2018-11-30
宁夏巨能机器人股份有限公司
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This type of compensation method is based on accurate measurement of control parameters, so the accuracy of control parameter measurement directly affects the compensation accuracy
Method used
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Embodiment Construction
[0031] refer to Figure 1-5, a specific embodiment of the present invention includes a first laser scanner 1 and a second laser scanner 2, the first laser scanner 1 is installed on the vehicle body 4 through the first mount 3, and the second laser scanner 2 is installed on the vehicle body 4 through the first Two mounting bases 5 are installed on the vehicle body main body 4, and several laser reflectors 6 are also arranged on both sides of the path that the vehicle body main body 4 passes through; There are a radial pressure sensor 9 and an axial pressure sensor 10, the radial pressure sensor 9 measures the pressure change in the forward direction of the drive wheel 7, the axial pressure sensor 10 measures the axial pressure change perpendicular to the forward direction of the drive wheel 7, and the steering wheel Encoder 11 is installed in 8, and encoder measures the rotational speed of steering wheel 8, and also is provided with first laser scanner 1, second laser scanner 2...
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The invention discloses a control device for an automatic guided transport vehicle system, which includes a first laser scanner and a second laser scanner. The first laser scanner is installed on the body of the vehicle body through a first mounting base, and the second laser scanner It is installed on the body body through the second mounting base, and several laser reflection plates are provided on both sides of the path that the body body passes; a driving wheel and a steering wheel are provided under the body body, and a radial pressure sensor and a steering wheel are installed in the driving wheel. The axial pressure sensor and the encoder are installed in the steering wheel, and the body body is also provided with a controller that is connected to the first laser scanner, the second laser scanner, the radial pressure sensor, the axial pressure sensor and the encoder. The invention also provides a control method for the control device of the automatic guided transport vehicle system. The invention can solve the deficiencies of the existing technology and improve the accuracy of navigation control.
Description
technical field [0001] The invention relates to the technical field of factory automation, in particular to a control device and a control method for an automatic guided transport vehicle system. Background technique [0002] Automated Guided Vehicle (AGV) refers to a transport vehicle that is equipped with an automatic guiding device, can drive along a prescribed guiding path, and has safety protection and various transplanting functions. In the prior art, the automatic guided transport vehicle mainly uses laser or electromagnetic for navigation control. However, no matter what kind of navigation control method, there will be certain errors, and for error compensation, the current control methods generally use PID control, fuzzy control and other methods to compensate for errors. This type of compensation method is based on accurate measurement of control parameters, so the accuracy of control parameter measurement directly affects the compensation accuracy. Contents of ...
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IPC IPC(8): G05D1/02
CPCG05D1/0227G05D1/0238
Inventor 宋明安李志博孙洁宋凯鑫丁建龙同彦恒麻辉
Owner 宁夏巨能机器人股份有限公司