Speed control method and device of lifting mechanism

Abstract

The invention discloses a speed control method and device of a lifting mechanism, and relates to the technical field of computers. According to one embodiment of the method, the method comprises the following steps: repeating the following steps according to a set period: determining in which stage of an acceleration stage, a uniform speed stage, a deceleration stage or a second lifting stage thelifting mechanism is currently located; and according to the current stage of the lifting mechanism, determining the current target speed of the lifting mechanism, outputting a speed control instruction, controlling the lifting speed of the lifting mechanism to reach the target speed, so that the lifting speed of the lifting mechanism is in an accelerating state in the acceleration stage, is in adecelerating state in the deceleration stage, and is in a uniform state in the uniform speed stage and the second lifting stage. According to the embodiment, accurate parking in the lifting process can be realized, and stability and rapidity of the lifting process can be simultaneously considered.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method and device for controlling the speed of a lifting mechanism. Background technique [0002] AGV (Automated Guided Vehicle) is an automatic guided transport vehicle, which refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guiding path, and has safety protection and various transfer functions. It is currently a rapidly developing means of transportation in the warehousing logistics industry and the internal workshop of the factory. AGV generally includes a car body, a walking device, and a carrying platform arranged on the car body. For the AGV that needs to be lifted, the carrying platform can be lifted and lowered on the car body through the lifting mechanism. By controlling the lifting speed of the lifting mechanism, the carrying platform can reach the lifting height quickly...

AI Technical Summary

Problems solved by technology

[0003] In the process of realizing the present invention, the inventor found that there are at least the following problems in the prior art: at present, there is no overall speed planning for the lifting process of the AGV lifting mechanism, and only the limit switch is used to identify whether the lifting stroke is in place, and then switch the lifting speed

However, when the limit signal is detected, the lifting stroke is basically in place, so there is inevitably stroke overshoot, the speed control process is stiff, it is difficult to achieve precise parking during the lifting process, and the stability is poor

Images