Magnetic guide rail tracking control system and method for forklift-type AGV

Abstract

The invention discloses a magnetic guide rail tracking control system and method for a forklift-type AGV. The magnetic guide rail tracking control system comprises a magnetic guide rail sensing sub-system, a speed and angle detection sub-system, a steering wheel control sub-system and a tracking control sub-system. The magnetic guide rail tracking control method comprises the basic steps that thetracking control sub-system acquires sensor information from the magnetic guide rail sensing sub-system to determine the posture and relative position of a vehicle body, the current operating state ofthe forklift-type AGV is determined in combination with the rotation speed and direction angle, acquired from the speed and angle detection sub-system, of a steering wheel, and magnetic tracking guide rails in different modes are used according to the operating state. According to the magnetic guide rail tracking control system and method for the forklift-type AGV, positioning of the vehicle bodyand recognition of the operating state can be achieved only through magnetic guide rail sensor detection, and the rotation speed and direction angle of the steering wheel of the forklift-type AGV areautomatically adjusted, so that smooth control over the speed of the forklift-type AGV and stable tracking of linear and curved magnetic guide rails are integrally achieved.

Description

technical field [0001] The invention relates to the field of intelligent logistics and AGV (Automated Guided Vehicle, automatic guided vehicle) motion control, and in particular to a forklift-type AGV magnetic rail tracking control system and method. Background technique [0002] In modern large-scale industrial production and logistics warehousing, logistics forklift AGV is an indispensable delivery tool, which undertakes the task of material transportation and handling between warehouses or inside warehouses. Forklift-type AGVs operate in an unmanned state, and usually require a certain degree of path tracking and guidance functions. The safest and most reliable solution is to use magnetic guide rails for guidance. Due to the different specific scenes on the site, the motion planning requirements of the forklift AGV are different, which will lead to the complexity of the laying path of the magnetic guide rail. In some road sections, there may even be complicated paths whe...

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Problems solved by technology

Chinese patent CN104597905A, "Path tracking method of magnetic navigation AGV", judges the attitude of AGV by combining the data of two sensors, horizontal and vertical, and the industrialization cost is high. complicated, impractical

Chinese patent CN106671906B, "Control method and control device of AGV forklift and AGV forklift", adopts the positioning and navigation method of laser radar, and the motion track generated by the calculation has certain uncertainty, that is, the straight line or curved motion form of the forklift cannot be determined, because The unstructured environment for storing goods is poor in practicability and high in cost

This kind of fusion method usually has problems such as poor real-time performance of the algorithm, high manufacturing cost, insufficient stability, and complicated installation and debugging.

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