An automatic tracking and alignment system based on mobile AGV laser communication

Abstract

The present invention relates to the field of automatic control technology, and in particular, to an automatic tracking and alignment system based on mobile AGV laser communication. It comprises: a laser emitting unit uses pulse position modulation to encode laser signals, and transmits the encoded laser signals to a laser receiving unit; the laser receiving unit receives and decodes the laser signals; an alignment detection unit uses a sensor to monitor the alignment state between the laser transmitter and the receiver in real time, and obtains an alignment error vector; a control unit uses a fuzzy adaptive PID control algorithm based on the alignment error vector to calculate the alignment deviation, and generates an alignment deviation instruction; a mechanical adjustment device automatically adjusts the transmitter position and the receiver position according to the alignment deviation instruction. The automatic tracking and alignment system based on mobile AGV laser communication realizes efficient laser communication by adopting pulse position modulation and time interval measurement technology, and automatically adjusts the alignment angle between the transmitter and the receiver in combination with the fuzzy adaptive PID control algorithm.

Description

Technical Field

[0001] The invention relates to the field of automatic control technology, in particular to an automatic tracking and alignment system based on mobile AGV laser communication. Background Art

[0002] An automatic tracking and alignment system based on mobile AGV laser communication aims to improve communication confidentiality and ensure communication stability during movement. It realizes efficient laser communication through pulse position modulation encoding and time interval measurement technology, controls the automatic alignment angle of the transmitter and receiver, and realizes communication continuity and high-precision alignment after the moving target position changes.

[0003] The existing laser communication automatic tracking and alignment system is usually difficult to adapt to the rapid changes of dynamic moving targets, and due to the high cost of complex sensors and control systems, it will lead to high system deployment costs and low stability. Therefore, a mobile AGV laser communication automatic tracking and alignment system is designed. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic tracking and alignment system based on mobile AGV laser communication to solve the problem of high system deployment cost and low stability due to the high cost of complex sensors and control systems raised in the above background technology.

[0005] To achieve the above object, the present invention aims to provide an automatic tracking and alignment system based on mobile AGV laser communication, comprising:

[0006] A laser emitting unit, wherein the laser emitting unit encodes a laser signal using pulse position modulation and transmits the encoded laser signal to a laser receiving unit;

[0007] Also included is a laser receiving unit, the laser receiving unit is used to receive the laser signal and decode the laser signal using a time interval measurement technique;

[0008] Also included is an alignment detection unit, which uses a sensor to monitor the alignment state between the laser transmitter and the receiver in real time to obtain an alignment error vector;

[0009] It also includes a control unit, which calculates the alignment deviation based on the alignment error vector using a fuzzy adaptive PID control algorithm, and generates an alignment deviation instruction to send to the mechanical adjustment device;

[0010] It also includes a mechanical adjustment device, which automatically adjusts the position of the transmitter and the position of the receiver according to the alignment deviation instruction.

[0011] As a further improvement of the technical solution, the laser emitting unit includes a data sending module, a signal encoding module and a laser emitting module;

[0012] The data sending module sends the original data stream of AGV to Transmitted to the laser emission module and prepared for encoding;

[0013] The signal encoding module uses pulse position modulation to encode the AGV raw data stream Encoded as laser signal , as follows:

[0014] ;

[0015] in, is the time window; is the amplitude of the laser pulse; For the Binary data of each AGV raw data stream; The total number of binary data in the AGV original data stream; For time; is the Dirac pulse function; Indicates The center position of each time slot;

[0016] The laser emission module is used to transmit the encoded laser signal Transmitted to the laser receiving unit.

[0017] As a further improvement of the technical solution, the laser receiving unit receives the encoded laser signal , and decode the laser signal using the time interval measurement technique , get the AGV original data stream , the specific steps are as follows:

[0018] S2.1, in Receive laser signals at all times , calculate the corresponding time slot number :

[0019] ;

[0020] S2.2. Restore the corresponding time slot No. AGV raw data stream binary data , and receive AGV original data stream :

[0021] ;

[0022] in, is the time slot width; is the mapping function.

[0023] As a further improvement of the technical solution, the alignment detection unit includes an angular displacement detection module and a deflection angle detection module;

[0024] Wherein, the angular displacement detection module monitors the displacement deviation between the laser transmitter and the receiver on the XY plane, and calculates the angular displacement of the laser transmitter relative to the receiver;

[0025] The deflection angle detection module monitors the laser beam deviation value of the laser transmitter and the receiver through a sensor.

[0026] As a further improvement of the technical solution, the angular displacement detection module monitors the displacement deviation between the laser transmitter and the receiver on the XY plane, and calculates the angular displacement of the laser transmitter relative to the receiver. The specific method steps are as follows:

[0027] S3.1.1, Assume that the initial position of the laser emitter is , the current position of the receiver is ;

[0028] S3.1.2. Calculate the relative displacement of the laser transmitter and receiver in the X direction Relative displacement in the Y direction :

[0029] ;

[0030] ;

[0031] S3.1.3, according to the relative displacement of the laser transmitter and receiver in the X direction Relative displacement in the Y direction Calculate the relative angular offset between the laser transmitter and receiver :

[0032] ;

[0033] in, is the relative displacement between the laser transmitter and the receiver in the X direction; is the relative displacement between the laser transmitter and the receiver in the Y direction; is the relative angular offset between the laser transmitter and the receiver.

[0034] As a further improvement of the technical solution, the deflection angle detection module monitors the laser beam deviation value of the laser transmitter and the receiver through a sensor, and the specific method steps are as follows:

[0035] S3.2.1, the vertical angle of the receiver is monitored by the sensor and the horizontal angle is , the vertical reference angle of the laser beam is The horizontal and vertical reference angles are ;

[0036] S3.2.2. Calculate the vertical angle deviation of the laser beam between the laser transmitter and the receiver The angle deviation from the laser beam :

[0037] ;

[0038] ;

[0039] in, is the vertical angle deviation between the laser transmitter and the receiver; is the horizontal angle deviation between the laser transmitter and the receiver;

[0040] S3.2.3. Relative displacement of integrated laser transmitter and receiver in X direction , relative displacement in Y direction , laser beam vertical angle deviation between laser transmitter and receiver The angle deviation from the laser beam , forming the alignment error vector :

[0041] ;

[0042] ;

[0043] ;

[0044] ;

[0045] in, equal , represents the relative displacement between the laser transmitter and the receiver in the X direction; equal , indicating the relative displacement of the laser transmitter and receiver in the Y direction; Indicates the vertical angle deviation of the laser beam The angle deviation from the laser beam The combined error.

[0046] As a further improvement of the technical solution, the control unit includes an error calculation module and an instruction generation module;

[0047] The error calculation module is used to calculate the relative angle offset between the laser transmitter and the receiver. and servo motor displacement ;

[0048] The instruction generation module is used to generate a command according to the relative angle offset and servo motor displacement The fuzzy adaptive PID control algorithm is used to generate the alignment deviation command and send it to the mechanical adjustment device.

[0049] As a further improvement of the technical solution, the error calculation module calculates the relative angle offset between the laser transmitter and the receiver. and servo motor displacement , the specific steps are as follows:

[0050] S4.1.1, according to the relative displacement of the laser transmitter and receiver in the X direction Relative displacement in the Y direction Calculate the relative angular offset between the laser transmitter and receiver :

[0051] ;

[0052] in, is the relative angular offset between the laser transmitter and the receiver;

[0053] S4.1.2. Based on relative angle offset and servo motor rod length , calculate the servo motor displacement :

[0054] ;

[0055] in, is the displacement of the servo motor.

[0056] As a further improvement of the technical solution, the fuzzy adaptive PID control algorithm optimizes the rotation amount of the servo motor by adaptively adjusting the proportional coefficient, the integral coefficient and the differential coefficient;

[0057] The instruction generation module is based on the relative angle offset and servo motor displacement And use the fuzzy adaptive PID control algorithm to generate the alignment deviation command and send it to the mechanical adjustment device. The specific steps are as follows:

[0058] S4.2.1. Align the error vector and servo motor displacement Input the fuzzy adaptive PID control algorithm and get the input error of the alignment error vector:

[0059] ;

[0060] ;

[0061] ;

[0062] in, is the input error of relative displacement in X direction; is the input error of relative displacement in Y direction; is the input error of the combined error; is the alignment error vector Relative displacement error in the X direction; is the alignment error vector Relative displacement error in the Y direction; is the alignment error vector The angle combination error in ;

[0063] Input error of servo motor displacement :

[0064] ;

[0065] in, is the displacement error of the servo motor;

[0066] S4.2.2, based on the input error of the quasi-error vector and the displacement error of the servo motor, the proportional control term of the fuzzy adaptive PID control algorithm is calculated as:

[0067] ;

[0068] ;

[0069] ;

[0070] ;

[0071] in, It is the proportional control term of relative displacement in X direction; It is the proportional control term of relative displacement in Y direction; is the proportional control term of the combined error; It is the proportional control item of the servo motor displacement;

[0072] It is the proportional control of relative displacement in X direction; It is the proportional control of relative displacement in Y direction; It is the proportional control of the combined error; Proportional control of the servo motor displacement;

[0073] S4.2.3. Calculate the integral control term of the alignment error vector:

[0074] ;

[0075] ;

[0076] ;

[0077] Integral control term of servo motor displacement:

[0078] ;

[0079] in, is the integral control term of the relative displacement in the X direction; is the integral control term of the relative displacement in the Y direction; is the integral control term of the combined error; is the integral control term of the servo motor displacement;

[0080] It is the integral control of relative displacement in X direction; It is the integral control of relative displacement in Y direction; is the integral control of the combined error; It is the integral control of the displacement of the servo motor;

[0081] S4.2.4. Calculate the differential control term of the alignment error vector:

[0082] ;

[0083] ;

[0084] ;

[0085] The differential control term of the servo motor displacement:

[0086] ;

[0087] in, is the differential control term of the relative displacement in the X direction; is the differential control term of the relative displacement in the Y direction; is the differential control term of the combined error; is the differential control term of the servo motor displacement;

[0088] It is the differential control of relative displacement in X direction; It is the differential control of relative displacement in Y direction; is the differential control of the combined error; It is the differential control of the displacement of the servo motor;

[0089] S4.2.5, dynamically adjust each control item according to the alignment error vector and the size and change rate of the servo motor displacement through a fuzzy adaptive adjustment function; the fuzzy adaptive adjustment function is as follows:

[0090] ;

[0091] in, Included in time of , , and ; Included in time of , , and ; Included in time of , , and ;

[0092] S4.2.6. Dynamically adjust each control item according to the fuzzy adaptive adjustment function to obtain the final control output of the alignment error vector:

[0093] ;

[0094] ;

[0095] ;

[0096] The final control output of the servo motor displacement is:

[0097] ;

[0098] in, It is the final control output of relative displacement in X direction; It is the final control output of relative displacement in Y direction; The final control output for the combined error; It is the final control output of the servo motor displacement;

[0099] S4.2.7. Generate alignment deviation instruction according to the final control output of alignment error vector and the final control output of servo motor displacement , and sent to the mechanical adjustment device as follows:

[0100] ;

[0101] in, It is the alignment deviation instruction.

[0102] As a further improvement of the technical solution, the mechanical adjustment device is based on the alignment deviation instruction , automatically adjust the transmitter position and the receiver position, the specific steps are as follows:

[0103] S5.1, according to the final control output of the X-direction relative displacement of the alignment deviation instruction, adjust the X-direction angle of the servo motor displacement;

[0104] S5.2, according to the final control output of the Y-direction relative displacement of the alignment deviation command, adjust the Y-direction angle of the servo motor displacement;

[0105] S5.3, the servo motor displacement amount according to the alignment deviation instruction is finally controlled to output and adjust the distance between the transmitter and the receiver.

[0106] Compared with the prior art, the present invention has the following beneficial effects:

[0107] 1. In this mobile AGV laser communication automatic tracking and alignment system, based on pulse position modulation encoding and time interval measurement technology, efficient laser communication transmission and decoding can be achieved, and accurate data transmission and reception can be maintained during the operation of the mobile AGV.

[0108] 2. In this mobile AGV laser communication automatic tracking and alignment system, the fuzzy adaptive PID control algorithm is combined with the alignment error vector and the servo motor displacement to achieve automatic high-precision alignment adjustment of the laser transmitter and receiver, ensuring the stability and continuity of laser communication during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0109] Figure 1 It is the overall flow chart of the present invention;

[0110] The meaning of each number in the figure is:

[0111] 1. Laser emitting unit; 2. Laser receiving unit; 3. Alignment detection unit; 4. Control unit; 5. Mechanical adjustment device. DETAILED DESCRIPTION

[0112] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0113] Example 1

[0114] See also Figure 1 As shown, a mobile AGV laser communication automatic tracking and alignment system is provided, comprising:

[0115] A laser emitting unit 1, wherein the laser emitting unit 1 encodes a laser signal using pulse position modulation and transmits the encoded laser signal to a laser receiving unit 2;

[0116] The laser emitting unit 1 comprises a data sending module, a signal encoding module and a laser emitting module;

[0117] The data sending module sends the original data stream of AGV to Transmitted to the laser emission module and prepared for encoding;

[0118] The signal encoding module uses pulse position modulation to encode the AGV raw data stream Encoded as laser signal , as follows:

[0119] ;

[0120] in, is the time window; is the amplitude of the laser pulse; For the Binary data of each AGV raw data stream; The total number of binary data in the AGV original data stream; For time; is the Dirac pulse function; Indicates The center position of each time slot;

[0121] In this embodiment, pulse position modulation is used to modulate the AGV raw data stream. Encoded as laser signal The detailed steps are as follows:

[0122] The data series Every one of Mapped to a time window For pulse position modulation, each data bit Control the position of the laser pulse within a fixed time window:

[0123] if , then the laser pulse will be emitted in a certain time slot of the time window;

[0124] if , then the pulse may not be emitted, or the position of the emitted pulse may change;

[0125] Assume a time window Divided into time slots, each of which represents different data. We can encode data by the position of the pulse in a time slot. The position of each pulse is based on the data bit Determined;

[0126] The laser emission module is used to transmit the encoded laser signal Transmitted to the laser receiving unit 2.

[0127] It also includes a laser receiving unit 2, which is used to receive the laser signal and decode the laser signal using a time interval measurement technique;

[0128] The laser receiving unit 2 receives the encoded laser signal , and decode the laser signal using the time interval measurement technique , get the AGV original data stream , the specific steps are as follows:

[0129] S2.1, in Receive laser signals at all times , calculate the corresponding time slot number :

[0130] ;

[0131] S2.2. Restore the corresponding time slot No. AGV raw data stream binary data , and receive AGV original data stream :

[0132] ;

[0133] in, is the time slot width; is the mapping function.

[0134] In this embodiment, the mapping function Number each time slot Mapped to its corresponding AGV raw data stream binary data , mapping function The definition of depends on pulse position modulation.

[0135] It also includes an alignment detection unit 3, which uses a sensor to monitor the alignment state between the laser transmitter and the receiver in real time to obtain an alignment error vector;

[0136] The alignment detection unit 3 includes an angular displacement detection module and a deflection angle detection module;

[0137] Wherein, the angular displacement detection module monitors the displacement deviation between the laser transmitter and the receiver on the XY plane, and calculates the angular displacement of the laser transmitter relative to the receiver;

[0138] The deflection angle detection module monitors the laser beam deviation value of the laser transmitter and the receiver through a sensor.

[0139] The angular displacement detection module monitors the displacement deviation between the laser transmitter and the receiver on the XY plane, and calculates the angular displacement of the laser transmitter relative to the receiver. The specific method steps are as follows:

[0140] S3.1.1, Assume that the initial position of the laser emitter is , the current position of the receiver is ;

[0141] S3.1.2. Calculate the relative displacement of the laser transmitter and receiver in the X direction Relative displacement in the Y direction :

[0142] ;

[0143] ;

[0144] S3.1.3, according to the relative displacement of the laser transmitter and receiver in the X direction Relative displacement in the Y direction Calculate the relative angular offset between the laser transmitter and receiver :

[0145] ;

[0146] in, is the relative displacement between the laser transmitter and the receiver in the X direction; is the relative displacement between the laser transmitter and the receiver in the Y direction; is the relative angular offset between the laser transmitter and the receiver.

[0147] The deflection angle detection module monitors the laser beam deviation value of the laser transmitter and the receiver through a sensor. The specific method steps are as follows:

[0148] S3.2.1, the vertical angle of the receiver is monitored by the sensor and the horizontal angle is , the vertical reference angle of the laser beam is The horizontal and vertical reference angles are ;

[0149] S3.2.2. Calculate the vertical angle deviation of the laser beam between the laser transmitter and the receiver The angle deviation from the laser beam :

[0150] ;

[0151] ;

[0152] in, is the vertical angle deviation between the laser transmitter and the receiver; is the horizontal angle deviation between the laser transmitter and the receiver;

[0153] S3.2.3. Relative displacement of integrated laser transmitter and receiver in X direction , relative displacement in Y direction , laser beam vertical angle deviation between laser transmitter and receiver The angle deviation from the laser beam , forming the alignment error vector :

[0154] ;

[0155] ;

[0156] ;

[0157] ;

[0158] in, equal , represents the relative displacement between the laser transmitter and the receiver in the X direction; equal , indicating the relative displacement of the laser transmitter and receiver in the Y direction; Indicates the vertical angle deviation of the laser beam The angle deviation from the laser beam The combined error.

[0159] It also includes a control unit 4, which uses a fuzzy adaptive PID control algorithm to calculate the alignment deviation based on the alignment error vector, and generates an alignment deviation instruction to send to the mechanical adjustment device 5;

[0160] The control unit 4 includes an error calculation module and an instruction generation module;

[0161] The error calculation module is used to calculate the relative angle offset between the laser transmitter and the receiver. and servo motor displacement ;

[0162] The instruction generation module is used to generate a command according to the relative angle offset and servo motor displacement And use the fuzzy adaptive PID control algorithm to generate an alignment deviation instruction and send it to the mechanical adjustment device 5.

[0163] The error calculation module calculates the relative angular offset between the laser transmitter and the receiver and servo motor displacement , the specific steps are as follows:

[0164] S4.1.1, according to the relative displacement of the laser transmitter and receiver in the X direction Relative displacement in the Y direction Calculate the relative angular offset between the laser transmitter and receiver :

[0165] ;

[0166] in, is the relative angular offset between the laser transmitter and the receiver;

[0167] S4.1.2. Based on relative angle offset and servo motor rod length , calculate the servo motor displacement :

[0168] ;

[0169] in, is the displacement of the servo motor.

[0170] The fuzzy adaptive PID control algorithm optimizes the rotation amount of the servo motor by adaptively adjusting the proportional coefficient, integral coefficient and differential coefficient;

[0171] The instruction generation module is based on the relative angle offset and servo motor displacement And use the fuzzy adaptive PID control algorithm to generate an alignment deviation instruction and send it to the mechanical adjustment device 5. The specific steps are as follows:

[0172] S4.2.1. Align the error vector and servo motor displacement Input the fuzzy adaptive PID control algorithm and get the input error of the alignment error vector:

[0173] ;

[0174] ;

[0175] ;

[0176] in, is the input error of relative displacement in X direction; is the input error of relative displacement in Y direction; is the input error of the combined error; is the alignment error vector Relative displacement error in the X direction; is the alignment error vector Relative displacement error in the Y direction; is the alignment error vector The angle combination error in ;

[0177] Input error of servo motor displacement :

[0178] ;

[0179] in, is the displacement error of the servo motor;

[0180] S4.2.2, based on the input error of the quasi-error vector and the displacement error of the servo motor, the proportional control term of the fuzzy adaptive PID control algorithm is calculated as:

[0181] ;

[0182] ;

[0183] ;

[0184] ;

[0185] in, It is the proportional control term of relative displacement in X direction; It is the proportional control term of relative displacement in Y direction; is the proportional control term of the combined error; It is the proportional control item of the servo motor displacement;

[0186] It is the proportional control of relative displacement in X direction; It is the proportional control of relative displacement in Y direction; It is the proportional control of the combined error; Proportional control of the servo motor displacement;

[0187] S4.2.3. Calculate the integral control term of the alignment error vector:

[0188] ;

[0189] ;

[0190] ;

[0191] Integral control term of servo motor displacement:

[0192] ;

[0193] in, is the integral control term of the relative displacement in the X direction; is the integral control term of the relative displacement in the Y direction; is the integral control term of the combined error; is the integral control term of the servo motor displacement;

[0194] It is the integral control of relative displacement in X direction; It is the integral control of relative displacement in Y direction; is the integral control of the combined error; It is the integral control of the displacement of the servo motor;

[0195] S4.2.4. Calculate the differential control term of the alignment error vector:

[0196] ;

[0197] ;

[0198] ;

[0199] The differential control term of the servo motor displacement:

[0200] ;

[0201] in, is the differential control term of the relative displacement in the X direction; is the differential control term of the relative displacement in the Y direction; is the differential control term of the combined error; is the differential control term of the servo motor displacement;

[0202] It is the differential control of relative displacement in X direction; It is the differential control of relative displacement in Y direction; is the differential control of the combined error; It is the differential control of the displacement of the servo motor;

[0203] S4.2.5, dynamically adjust each control item according to the alignment error vector and the size and change rate of the servo motor displacement through a fuzzy adaptive adjustment function; the fuzzy adaptive adjustment function is as follows:

[0204] ;

[0205] in, Included in time of , , and ; Included in time of , , and ; Included in time of , , and ;

[0206] In this embodiment, if the error is large, increase Improve response speed;

[0207] If the error changes too quickly, adjust Reduce system oscillation;

[0208] If the error is stable but there is deviation, adjust Eliminate steady-state errors;

[0209] S4.2.6. Dynamically adjust each control item according to the fuzzy adaptive adjustment function to obtain the final control output of the alignment error vector:

[0210] ;

[0211] ;

[0212] ;

[0213] The final control output of the servo motor displacement is:

[0214] ;

[0215] in, It is the final control output of relative displacement in X direction; It is the final control output of relative displacement in Y direction; The final control output for the combined error; It is the final control output of the servo motor displacement;

[0216] S4.2.7. Generate alignment deviation instruction according to the final control output of alignment error vector and the final control output of servo motor displacement , and sent to the mechanical adjustment device 5, as follows:

[0217] ;

[0218] in, It is the alignment deviation instruction.

[0219] It also includes a mechanical adjustment device 5, which automatically adjusts the position of the transmitter and the position of the receiver according to the alignment deviation instruction;

[0220] The mechanical adjustment device 5 is configured to adjust the alignment deviation according to the alignment deviation instruction. , automatically adjust the transmitter position and the receiver position, the specific steps are as follows:

[0221] S5.1, according to the final control output of the X-direction relative displacement of the alignment deviation instruction, adjust the X-direction angle of the servo motor displacement;

[0222] S5.2, according to the final control output of the Y-direction relative displacement of the alignment deviation command, adjust the Y-direction angle of the servo motor displacement;

[0223] S5.3, the servo motor displacement amount according to the alignment deviation instruction is finally controlled to output and adjust the distance between the transmitter and the receiver.

[0224] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only preferred examples of the present invention, and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. An automatic tracking and alignment system based on mobile AGV laser communication, characterized in that: include: A laser emitting unit (1), wherein the laser emitting unit (1) encodes a laser signal using pulse position modulation and transmits the encoded laser signal to a laser receiving unit (2); A laser receiving unit (2), the laser receiving unit (2) being used to receive a laser signal and decode the laser signal using a time interval measurement technique; An alignment detection unit (3), wherein the alignment detection unit (3) uses a sensor to monitor the alignment state between the laser transmitter and the receiver in real time to obtain an alignment error vector; A control unit (4), wherein the control unit (4) calculates the alignment deviation based on the alignment error vector using a fuzzy adaptive PID control algorithm, and generates an alignment deviation instruction to send to the mechanical adjustment device (5); A mechanical adjustment device (5), wherein the mechanical adjustment device (5) automatically adjusts the position of the transmitter and the position of the receiver according to the alignment deviation instruction; The control unit (4) comprises an error calculation module and an instruction generation module; Wherein, the error calculation module is used for the relative angle offset Δθ between the laser transmitter and the receiver and the displacement ΔL of the servo motor; The instruction generation module is used to generate an alignment deviation instruction based on the relative angle offset Δθ and the servo motor displacement ΔL and use a fuzzy adaptive PID control algorithm to send the instruction to the mechanical adjustment device (5); The error calculation module calculates the relative angle offset Δθ between the laser transmitter and the receiver and the displacement ΔL of the servo motor. The specific method steps are as follows: S4.1.1, according to the relative displacement E of the laser transmitter and receiver in the X direction x and the relative displacement in the Y direction E y Calculate the relative angular offset Δθ between the laser transmitter and receiver: Where Δθ is the relative angular offset between the laser transmitter and the receiver; S4.1.

2. Calculate the servo motor displacement ΔL based on the relative angle offset Δθ and the servo motor rod length L: ΔL=L·Δθ; Among them, ΔL is the displacement of the servo motor; The fuzzy adaptive PID control algorithm optimizes the rotation amount of the servo motor by adaptively adjusting the proportional coefficient, integral coefficient and differential coefficient; The instruction generation module generates an alignment deviation instruction based on the relative angle offset Δθ and the servo motor displacement ΔL and uses a fuzzy adaptive PID control algorithm to send the instruction to the mechanical adjustment device (5). The specific steps are as follows: S4.2.

1. Input the alignment error vector E and the servo motor displacement ΔL into the fuzzy adaptive PID control algorithm to obtain the input error of the alignment error vector: And x =And x ; And y =And y ; And z =And z ; Among them, e x is the input error of relative displacement in X direction; e y is the input error of relative displacement in Y direction; e z is the input error of the combined error; Input error of servo motor displacement e L : And L =And L ; S4.2.2, based on the input error of the quasi-error vector and the displacement error of the servo motor, the proportional control term of the fuzzy adaptive PID control algorithm is calculated as: in, It is the proportional control term of relative displacement in X direction; It is the proportional control term of relative displacement in Y direction; is the proportional control term of the combined error; It is the proportional control item of the servo motor displacement; It is the proportional control of relative displacement in X direction; It is the proportional control of relative displacement in Y direction; It is the proportional control of the combined error; Proportional control of the servo motor displacement; S4.2.

3. Calculate the integral control term of the alignment error vector: Integral control term of servo motor displacement: in, is the integral control term of the relative displacement in the X direction; is the integral control term of the relative displacement in the Y direction; is the integral control term of the combined error; is the integral control term of the servo motor displacement; It is the integral control of relative displacement in X direction; It is the integral control of relative displacement in Y direction; is the integral control of the combined error; It is the integral control of the displacement of the servo motor; S4.2.

4. Calculate the differential control term of the alignment error vector: The differential control term of the servo motor displacement: in, is the differential control term of the relative displacement in the X direction; is the differential control term of the relative displacement in the Y direction; is the differential control term of the combined error; is the differential control term of the servo motor displacement; It is the differential control of relative displacement in X direction; It is the differential control of relative displacement in Y direction; is the differential control of the combined error; It is the differential control of the displacement of the servo motor; S4.2.5, dynamically adjust each control item according to the alignment error vector and the size and change rate of the servo motor displacement through a fuzzy adaptive adjustment function; the fuzzy adaptive adjustment function is as follows: Among them, K p (t) includes the and K i (t) includes the and K d (t) includes the and S4.2.

6. Dynamically adjust each control item according to the fuzzy adaptive adjustment function to obtain the final control output of the alignment error vector: The final control output of the servo motor displacement is: Among them, u x (t) is the final control output of relative displacement in the X direction; u y (t) is the final control output of relative displacement in the Y direction; u z (t) is the final control output of the combined error; u L (t) is the final control output of the servo motor displacement; S4.2.

7. Generate an alignment deviation instruction u(t) based on the final control output of the alignment error vector and the final control output of the servo motor displacement, and send it to the mechanical adjustment device (5), as follows: Wherein, u(t) is the alignment deviation instruction.

2. The mobile AGV laser communication automatic tracking and alignment system according to claim 1 is characterized in that: The laser emitting unit (1) comprises a data sending module, a signal encoding module and a laser emitting module; The data transmission module converts the AGV original data stream D(t)={d1, d2,…, d i ,…,d N }Transmitted to the laser emission module and prepared for encoding; The signal encoding module uses pulse position modulation to encode the AGV original data stream D(t) into a laser signal s(t), as follows: Among them, T w is the time window; A is the amplitude of the laser pulse; d i is the binary data of the original data stream of the i-th AGV; N is the total number of binary data of the original data stream of the AGV; t is the time; δ(·) is the Dirac pulse function; represents the center position of the i-th time slot; The laser emitting module is used to transmit the encoded laser signal s(t) to the laser receiving module (2).

3. The mobile AGV laser communication automatic tracking and alignment system according to claim 1 is characterized in that: The laser receiving unit (2) receives the encoded laser signal s(t), and decodes the laser signal s(t) using a time interval measurement technique to obtain an AGV original data stream D(t). The specific steps are as follows: S2.1, at t k Receive the laser signal s(t) at time t and calculate the corresponding time slot number k: S2.

2. Restore the binary data d of the kth AGV original data stream corresponding to time slot k k , and receive the AGV original data stream D(t): d k =f(k); Wherein, Δt is the time slot width; f is the mapping function.

4. The mobile AGV laser communication automatic tracking and alignment system according to claim 1 is characterized in that: The alignment detection unit (3) comprises an angular displacement detection module and a deflection angle detection module; Wherein, the displacement deviation between the monitoring laser transmitter and the receiver on the XY plane is calculated to obtain the angular displacement of the laser transmitter relative to the receiver; The deflection angle detection module monitors the laser beam deviation value of the laser transmitter and the receiver through a sensor.

5. The mobile AGV laser communication automatic tracking and alignment system according to claim 4 is characterized in that: The displacement deviation between the monitoring laser transmitter and the receiver on the XY plane is calculated to obtain the angular displacement of the laser transmitter relative to the receiver. The specific method steps are as follows: S3.1.1, let the initial position of the laser transmitter be (x0, y0) and the current position of the receiver be (x, y); S3.1.

2. Calculate the relative displacement Δx in the X direction and Δy in the Y direction between the laser transmitter and the receiver: Δx=x-x0; Δy=y-y0; S3.1.

3. Calculate the relative angular offset Δθ between the laser transmitter and the receiver based on the relative displacement Δx in the X direction and the relative displacement Δy in the Y direction: Among them, Δx is the relative displacement of the laser transmitter and the receiver in the X direction; Δy is the relative displacement of the laser transmitter and the receiver in the Y direction; Δθ is the relative angular offset of the laser transmitter and the receiver.

6. The mobile AGV laser communication automatic tracking and alignment system according to claim 5 is characterized by: The deflection angle detection module monitors the laser beam deviation value of the laser transmitter and the receiver through a sensor. The specific method steps are as follows: S3.2.

1. The vertical angle of the receiver monitored by the sensor is α and the horizontal angle is β, the vertical reference angle of the laser beam is α0 and the horizontal vertical reference angle is β0; S3.2.

2. Calculate the vertical angle deviation Δα and horizontal angle deviation Δβ of the laser beam of the laser transmitter and receiver: Δα=α-α0; Δβ=β-β0; Among them, Δα is the vertical angle deviation between the laser transmitter and the receiver; Δβ is the horizontal angle deviation between the laser transmitter and the receiver; S3.2.

2. Integrate the relative displacement Δx in the X direction, the relative displacement Δy in the Y direction, the vertical angle deviation Δα and the horizontal angle deviation Δβ of the laser beam between the laser transmitter and the receiver to form the alignment error vector E: E x =Δx; E y =Δy; Among them, E x Equal to Δx, indicating the relative displacement of the laser transmitter and receiver in the X direction; E y Equal to ΔΔy, indicating the relative displacement of the laser transmitter and receiver in the Y direction; E z It represents the combined error of the vertical angle deviation Δα of the laser beam and the horizontal angle deviation Δβ of the laser beam.

7. The mobile AGV laser communication automatic tracking and alignment system according to claim 1 is characterized by: The mechanical adjustment device (5) automatically adjusts the position of the transmitter and the position of the receiver according to the alignment deviation instruction u(t), and the specific steps are as follows: S5.1, according to the final control output of the X-direction relative displacement of the alignment deviation instruction, adjust the X-direction angle of the servo motor displacement; S5.2, according to the final control output of the Y-direction relative displacement of the alignment deviation command, adjust the Y-direction angle of the servo motor displacement; S5.3, the servo motor displacement amount according to the alignment deviation instruction is finally controlled to output and adjust the distance between the transmitter and the receiver.

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