Control method, control system and automatic guided vehicle

Abstract

The invention discloses a control method, a control system and an automatic guided vehicle. The control method comprises the following steps: acquiring a real-time chassis rotating speed W1 of a chassis; the real-time tray rotating speed W2 of the tray is obtained; the tray rotating speed W2 is the actual rotating speed of the tray; the rotating speed W1 of the chassis serves as a reference speed, the rotating speed W2 of the tray serves as a feedback speed, control output O1 is output, and the control output O1 is O1 = (W1-W2) * (K1 + K2 / s); controlling the rotating motor to rotate according to the control output O1 so as to adjust the rotating speed W2 of the tray. According to the control method, only the rotating motor needs to be controlled in the implementation process, control over the chassis is not involved, the control method can be suitable for different AGV chassis schemes and different ground working conditions, and compatibility and practicability of rotating speed control over the cargo carrying tray of the automatic guided vehicle are improved.

Description

technical field [0001] The present invention relates to the technical field of automatic guided vehicles, and more particularly, to a control method. Furthermore, the present invention also relates to a control system for implementing the above-mentioned control method and an automatic guided vehicle including the above-mentioned control system. Background technique [0002] Automated guided vehicles (AGVs) have the function of autonomous driving in unstructured environments, and have become key equipment for automated logistics transportation systems and flexible manufacturing systems. Under these application conditions, there are high requirements for the working efficiency of the AGV, which needs to be able to walk on the back of the shelf and stabilize the posture of the shelf. [0003] In the prior art, the AGV trolley structure generally includes a moving chassis, a driver motor and a driver, a rotating jacking installation base, a jacking platform, a rotating mechani...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the structure of the AGV trolley generally includes a moving chassis, a driver motor and a driver, a rotating jacking installation base, a jacking platform, a rotating mechanism and a driving mechanism, and a rotating tray. For variable applications, in the existing control methods, a certain proportion of speed is generally sent to the top load tray rotation motor and the AGV chassis drive motor to keep the two moving synchronously, and the rotation of the rotary tray motor is controlled to control the movement of the rotary tray. However, the rotating motor drives the load tray to rotate through the reducer and the rotating gear, and there are problems of mechanical hysteresis and deformation; in the flexible application of the actual industry and logistics industry, the weight of the goods on the top load shelf of the AGV is uncertain, and As the working conditions are constantly changing, the impact of its friction and inertia on the load tray is also constantly changing; in addition, when the AGV body itself is running on different road surfaces (such as unevenness, insufficient friction), There will be large deviations and fluctuations between the actual vehicle speed and the issued reference speed

In such cases, the stability and precision of the control of the top pallet cannot be guaranteed. In severe cases, the top shelf may even collide with the application environment, causing property damage

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