Omni-directional AGV with independent lifting and rotating platform function and control method

Abstract

The invention discloses an omni-directional AGV with an independent lifting and rotating platform function and a control method. The omni-directional AGV comprises a shell installed on an AGV chassis,a lifting module is installed on the AGV chassis, a rotating module is installed on the lifting module, and an AGV driving control assembly and a laser radar are arranged in the shell. The control method comprises the following steps that error initial values We(k-1)=We(k-2)=0 of an AGV rotating platform are set; the actual angular velocity Wa(k) of the AGV rotating platform and the target angleWo(k) in the follow-up process are collected; the deviation value We(k)=Wo(k)-Wa(k) of the AGV rotating platform is calculated; a control quantity Wc(k) is calculated and output; the We(k-1) and the We(k-2) are iteratively updated, and the steps b-d are repeated. According to the technical scheme, the rotating module is installed on the lifting module, lifting of a goods shelf by the AGV is achieved, the AGV chassis is composed of four independent suspension systems with Mecanum wheels, a chassis plate and fixing corner connectors, the independent suspension systems with the Mecanum wheels arefixed to the chassis plate, the chassis plate floats up and down by means of the independent suspension systems so that the shock absorption effect can be achieved, and collision caused by large occupied space when the AGV runs in a full-load mode is avoided.

Description

technical field [0001] The present invention relates to the field of AGV technology, in particular to an omnidirectional AGV with an independent lifting and rotating platform function and a control method. Background technique [0002] An AGV vehicle refers to a transport vehicle equipped with electromagnetic or optical automatic guidance devices that can drive along a prescribed guidance path, including running and parking devices, safety protection devices, and various transfer functions. AGV vehicles can automatically transport goods or materials from the starting point to the destination without manual piloting. [0003] The automatic guided transport vehicle is a type of wheeled robot, which is usually used by modern factories to carry materials and identify workstations, and it can guide along a specified path. Guidance forms can be divided into optical guidance and magnetoelectric guidance. The former's track is guided by a track with a different color from the groun...

AI Technical Summary

Problems solved by technology

[0007] The present invention mainly solves the technical problems that the original AGV collides due to the large space occupied when driving with a full load and is difficult to meet the specific requirements for the absolute direction of the shelves lifted by the AGV, and provides an omnidirectional AGV with the function of an independent lifting and rotating platform And the control method, the rotating module is installed on the lifting module, and the lifting module is installed on the top of the AGV chassis to realize the lifting of the shelf by the AGV, through 4 independent suspension systems with mecanum wheels, chassis plates, fixed corners The AGV chassis is composed of codes, and the independent suspension system with mecanum wheels is fixed on the chassis plate through corner codes. The chassis plate floats up and down with the help of the independent suspension system to achieve the shock absorption effect and avoid the occurrence of large space occupation when the AGV is fully loaded. collision

Images