Automated guided vehicle, control method thereof, and control system thereof

A technology of automatic guidance and control methods, applied in the direction of control/regulation system, non-electric variable control, vehicle position/route/height control, etc., which can solve the problem of difficult model establishment, insufficient robustness, and difficult changes in motion characteristics Online adjustment and other issues to achieve the effect of increasing operating speed, increasing computing speed, and high operating speed

Active Publication Date: 2018-07-20
SHENZHEN ZHUMANG TECH CORP
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the complexity of AGV movement, it is difficult to establish an accurate model, and the so-called optimal can only be theoretical
[0006] The neural network control method is suitable for the control of nonlinear systems, but the neural network control method needs to turn all the characteristics of the problem into numbers, and turn all reasoning into numerical calculations. For self-guided forklifts with more complex travel paths, It is completely impossible to collect all the information of forklifts at different deviations and speeds. When the data is insufficient, the neural network cannot work, and the accuracy of AGV walking cannot be guaranteed.
[0007] In the process of realizing the present invention, the inventors found the following problems in related technologies: Among the several existing control strategies, the linear model control method needs to establish an accurate mathem

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  • Automated guided vehicle, control method thereof, and control system thereof
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Embodiment Construction

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0028] Fuzzy control is a control strategy based on fuzzy set theory, fuzzy language variables and fuzzy logic reasoning. It is essentially a nonlinear control. The existing fuzzy control algorithm has been successfully applied in some practical applications. Because it does not need to determine the precise description of the controlled system, it can be used in some complex systems that cannot be described accurately.

[0029] During the operation and use of the automatic gu...

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Abstract

The embodiments of the invention disclose an automated guided vehicle, a control method thereof, and a control system thereof. The control method of the automated guided vehicle includes the steps: establishing a kinetics model of the automated guided vehicle, and by means of the kinetics model, calculating the pose data of the automated guided vehicle; according to the pose data and the error ofthe target movement path, by means of a section II type fuzzy control algorithm, calculating the adjustment amount of the automated guided vehicle; and through the adjustment amount, controlling the automated guided vehicle to move along the target movement path. The control method of the automated guided vehicle employs the control strategy of section II type fuzzy control, so as to enable AGV (Automated Guided Vehicle) to have higher robustness during the path tracking process, and can be applied to more different scenes.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an automatic guided transport vehicle, a control method and a control system thereof. Background technique [0002] Automated Guided Vehicle AGV is an automated material handling equipment. It is equipped with automatic guidance devices such as electromagnetic or optical, which can drive along the predetermined target guidance path, and has safety protection and various transfer functions. The motion control of AGV is one of the key technologies to realize the high-precision, stable and smooth operation of self-guided forklifts. The design of traditional controllers depends on the precise model of the controlled object, and the relevant motion models will have different changes under different conditions such as vehicle no-load and heavy-load. Moreover, the model of the forklift itself is nonlinear, and the effect of applying traditional linear control algorithms is n...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/024G05D1/0257G05D1/0276G05D2201/0216
Inventor 王斌王坤
Owner SHENZHEN ZHUMANG TECH CORP
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