Double-AGV cooperative carrying control system and method

A control method and deviation technology, applied in the field of intelligent industrial robots, can solve problems involving only

Active Publication Date: 2020-04-10
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
View PDF8 Cites 13 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The Chinese invention patent with the publication number CN10418899A proposes a collaborative handling system with flexible connection of dual mobile robots and its c

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Double-AGV cooperative carrying control system and method
  • Double-AGV cooperative carrying control system and method
  • Double-AGV cooperative carrying control system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0046] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0047] A dual AGV cooperative carrying control method, which consists of two omni-directional mobile AGV front and rear layouts. On the basis of referring to the existing multi-agent formation control method, a heterogeneous pilot-follow method is adopted, combined with visual guidance path tracking method, constructing a cooperative control model of a three-layer topology structure, and establishing a dual AGV kinematics control model under path tracking and pilot-following based on path deviation and formation deviation, and adopting a rolling predictive control based on time domain The discrete control model optimizes the kinematics control model to realize the stable and reliable cooperative operation of the dual AGV system.

[0048] combined with figure 1 , in the dual AGV cooperative carrying control method described in the present in...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a double-AGV cooperative carrying control method and system, and relates to the field of intelligent logistics carrying robots. The method mainly aims at large components, particularly, the conveying requirement of large-size objects is met in the length direction. A path tracking method and a navigation-following method are combined, a collaborative planning model of a three-layer topological structure is used, the formation deviation under a double-AGV navigation-following strategy and the path deviation under path tracking are combined, a kinematics control model based on pilot-following and path tracking is obtained, the kinematics control model is optimized by adopting a discrete control model based on time domain rolling prediction control, and stable and reliable path tracking cooperative carrying of the double-AGV system is realized.

Description

technical field [0001] The invention relates to a control system and method for a dual AGV cooperative carrying system, in particular to a dual AGV cooperative carrying control method for large-scale object transportation, which belongs to the field of intelligent industrial robots. Background technique [0002] With the improvement of the level of industrial automation, the traditional long-distance AGV automated logistics method has gradually been unable to meet the needs of production and manufacturing, logistics transfer and delivery. In the final assembly of large-scale equipment and container loading at the terminal, traditional conveying systems such as gantry cranes and tower cranes are still mostly used for the transportation of large objects. There are many problems such as large space occupation, high energy consumption, and limited system scalability. limitation. For example, the C919 assembly workshop in Shanghai still uses the rail crane located in the upper p...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B19/418G05D1/02
CPCG05B19/41895G05D1/0295Y02P90/02Y02P90/60
Inventor 钱晓明楼佩煌楼航飞胡泊黄宇轩
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap