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

A technology of tracking control and magnetic guide rail, applied in the direction of hoisting devices, etc., can solve the problems of complex installation and debugging, poor real-time performance of algorithms, high industrialization cost, etc., and achieve the effects of stable tracking, reduced vibration and high real-time performance

Active Publication Date: 2019-01-29
SHANGHAI UNIV
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  • Abstract
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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 generate

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

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Embodiment Construction

[0027] Specific embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0028] like Figure 4 As shown, a forklift-type AGV magnetic rail tracking control system includes a magnetic rail sensing subsystem 1.1, a speed and angle detection subsystem 1.2, a steering wheel control subsystem 1.3, and a tracking control subsystem 1.4; the magnetic rail sensing subsystem 1.1 It is generally installed at the bottom of the car body close to the central axis of the car body, and is used to detect the relative position information of the magnetic guide rail; the speed and angle detection subsystem 1.2, the steering wheel control subsystem 1.3 and the tracking control subsystem 1.4 are installed on the system car In the body; the speed and angle detection subsystem 1.2 is mainly used to detect the current steering wheel rotation angular velocity and steering wheel direction angle, the steering wheel control subsystem ...

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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...

Claims

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Application Information

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IPC IPC(8): B66F9/075
CPCB66F9/0755
Inventor 杨傲雷罗宇陈灵费敏锐
Owner SHANGHAI UNIV
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