Steering driving pulse compensation system and method based on dual-redundancy encoder AGV (Automatic Guided Vehicle)

Abstract

The invention provides a steering driving pulse compensation system and method based on a dual-redundancy encoder AGV. The method comprises the steps that a controller controls an AGV body to move according to given position information; an absolute value encoder monitors real-time position information of AGV steering wheels, and a first driving compensation unit analyzes a first motion error according to the real-time position information and given position information to obtain first calibration compensation data; the controller controls the steering motor to adjust the steering angle of the AGV steering wheel according to the first calibration compensation data; an incremental encoder monitors steering position information of AGV steering wheels in real time, and a second driving compensation unit analyzes a second motion error according to the steering position information and given position information to obtain second calibration compensation data; and the controller controls the steering motor to adjust the steering angle of the steering wheel according to the second calibration compensation data. According to the technical scheme, the steering of the AGV is accurately controlled, the operation reliability and the anti-interference capability of the AGV are improved, and the operation efficiency of the AGV is effectively improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic control, and particularly relates to a steering driving pulse compensation system and method based on a double-redundancy encoder AGV. BACKGROUND

[0002] Steering driving control plays an important role in the operation of an AGV (Automated Guided Vehicles), and in a high-precision warehouse logistics scenario, the precision and real-time performance of the feedback of a steering encoder are required to be higher.

[0003] The steering driving of a traditional AGV relies on a single incremental encoder to feed back a steering angle signal to a controller to realize control, and thus is prone to pulse counting errors caused by electromagnetic interference, unstable power supply, signal attenuation and the like, resulting in a rudder steering angle zero point drift, and further causing AGV attitude errors, inaccurate operation, and even collision problems. At this time, the zero point calibration function of the AGV needs to be restarted for zero point adjustment, which seriously affects the operation efficiency of the AGV. SUMMARY

[0004] To solve the above technical problems, the application provides a steering driving pulse compensation system and method based on a double-redundancy encoder AGV, to solve the problem of low steering precision and poor reliability of an AGV based on a single incremental encoder feedback steering angle signal control in the prior art.

[0005] In one aspect of the application, a steering driving pulse compensation system based on a double-redundancy encoder AGV is provided, comprising:

[0006] a controller configured to control the AGV vehicle body movement according to the given position information obtained;

[0007] an absolute value encoder configured to monitor the real-time position information of the AGV rudder in real time;

[0008] a first driving compensation unit configured to analyze a first movement error according to the real-time position information and the given position information, to obtain first calibration compensation data, and the controller is configured to control the steering motor to adjust the steering angle of the AGV rudder according to the first calibration compensation data;

[0009] an incremental encoder configured to monitor the steering position information of the AGV rudder in real time;

[0010] a second driving compensation unit configured to analyze a second movement error according to the steering position information and the given position information, to obtain second calibration compensation data, and the controller is configured to control the steering motor to adjust the steering angle of the AGV rudder according to the second calibration compensation data.

[0011] Further, in the AGV steering driving pulse compensation system based on dual-redundant encoders provided by the application, the absolute value encoder is further used to obtain zero position information of the AGV rudder wheel, and the controller controls the steering motor to drive the AGV rudder wheel to perform power-on zero reset operation according to the zero position information.

[0012] In another aspect of the application, an AGV steering driving pulse compensation method based on dual-redundant encoders is also provided, which comprises:

[0013] The controller controls the AGV vehicle body to move according to the obtained given position information;

[0014] The absolute value encoder is used to monitor real-time position information of the AGV rudder wheel in real time;

[0015] The first calibration compensation data is obtained by analyzing a first movement error between the real-time position information and the given position information;

[0016] The controller controls the steering motor to adjust the steering angle of the AGV rudder wheel according to the first calibration compensation data;

[0017] The incremental encoder is used to monitor steering position information of the AGV rudder wheel in real time;

[0018] The second calibration compensation data is obtained by analyzing a second movement error between the steering position information and the given position information;

[0019] The controller controls the steering motor to adjust the steering angle of the AGV rudder wheel according to the second calibration compensation data.

[0020] Further, the AGV steering driving pulse compensation method based on dual-redundant encoders provided by the application further comprises:

[0021] The absolute value encoder is used to obtain zero position information of the AGV rudder wheel, and the controller controls the steering motor to drive the AGV rudder wheel to perform power-on zero reset operation according to the zero position information.

[0022] Compared with the prior art, the AGV steering driving pulse compensation system and method based on dual-redundant encoders provided by the application has the beneficial effects that: the absolute value encoder and the incremental encoder are combined, the controller controls the steering motor to adjust the steering angle of the AGV rudder wheel according to the first calibration compensation data and the second calibration compensation data, accurate control of AGV steering is achieved, the reliability and anti-interference ability of AGV operation are improved, stable movement of the AGV in a complex environment is achieved, the problem that AGV steering driving is prone to electromagnetic interference and power instability in the prior art is solved, and multiple restarts for zero adjustment are avoided, thereby effectively improving the operation efficiency of the AGV. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only used to further understand the present application and form a part of the present application. Based on these drawings, other drawings can be obtained by those skilled in the art without any creative effort. In the drawings:

[0024] Figure 1 The structure schematic diagram of the steering driving pulse compensation system based on the double-redundancy encoder AGV of the present application;

[0025] Figure 2 And Figure 3 The structure schematic diagram of the AGV rudder in the steering driving pulse compensation system based on the double-redundancy encoder AGV of the present application;

[0026] Figure 4 The flowchart of the steering driving pulse compensation method based on the double-redundancy encoder AGV of the present application. DETAILED DESCRIPTION

[0027] In order to make the objects, technical solutions and advantages of the present application clearer, the following will combine the specific embodiments of the present application and the corresponding drawings to clearly and completely describe the technical solutions of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without any creative effort are within the scope of protection of the present application.

[0028] Embodiment 1:

[0029] Embodiment 1 of the present application provides a steering driving pulse compensation system based on double-redundancy encoder AGV, referring to Figure 1 , comprising:

[0030] A controller is used to control the AGV vehicle body movement according to the obtained given position information;

[0031] An absolute value encoder is used to monitor the real-time position information of the AGV rudder in real time;

[0032] A first driving compensation unit is used to analyze the first movement error according to the real-time position information and the given position information, to obtain the first calibration compensation data, and the controller controls the steering motor to adjust the steering angle of the AGV rudder according to the first calibration compensation data;

[0033] An incremental encoder is used to monitor the steering position information of the AGV rudder in real time;

[0034] The second drive compensation unit is used to analyze the second motion error based on the steering position information and the given position information to obtain the second calibration compensation data. The controller controls the steering motor to adjust the steering wheel angle based on the second calibration compensation data.

[0035] The above embodiments refer to the AGV steering wheel structure in the steering drive pulse compensation system based on dual redundant encoder AGV. Figure 2 and Figure 3 Incremental encoder 1, absolute encoder 2, steering motor 3 and absolute encoder gear 4 are mounted on the AGV steering wheel.

[0036] The beneficial effects of the above technology are as follows: By combining absolute encoders and incremental encoders, the real-time position information of the AGV steering wheel fed back by the absolute encoder and the steering position information of the AGV steering wheel fed back by the incremental encoder are compared with the given position information in stages to obtain the first motion error and the second motion error, and generate the first calibration compensation data and the second calibration compensation data. The controller then controls the correction of the error. Compared with traditional technology, the above system, by combining absolute encoders and incremental encoders, allows the controller to control the steering motor to adjust the steering angle of the AGV steering wheel according to the first calibration compensation data and the second calibration compensation data, thereby achieving precise control of the AGV steering. This improves the reliability and anti-interference ability of AGV operation, enables stable movement of AGV in complex environments, and solves the problem that the AGV steering drive relies on a single incremental encoder and is susceptible to electromagnetic interference and unstable power supply in traditional technology. It also avoids multiple restarts for zero-point adjustment, thus effectively improving the operating efficiency of AGV.

[0037] Example 2:

[0038] Embodiment 2 of the present invention provides a steering drive pulse compensation system for AGVs based on dual-redundant encoders, comprising:

[0039] An absolute encoder is used to obtain the zero-point position information of the AGV steering wheel;

[0040] The controller is used to control the steering motor to power on and return the AGV steering wheel to zero based on the zero-point position information.

[0041] After an AGV is powered on or restarted after a power outage, it needs to return to its zero position to ensure the accuracy of its subsequent movements. In traditional technology, the controller needs to pre-configure a zero-return action, obtain the zero-point position of the steering wheel via a zero-position switch, and then control the steering wheel to perform the zero-return action. Performing the zero-return action while the AGV is stopped severely impacts its normal operating efficiency. However, in the above embodiments of the present invention, an absolute encoder obtains the zero-point position information of the AGV steering wheel, and the controller uses this information to control the steering motor to power on the AGV steering wheel and perform the zero-return operation.

[0042] The beneficial effects of the above technology are as follows: the zero-point position information of the AGV steering wheel is obtained by the absolute encoder, so the AGV does not need to determine its own position by zeroing. The controller controls the steering motor to drive the AGV steering wheel to perform corresponding operations based on the zero-point position information, thereby effectively improving the normal working efficiency of the AGV.

[0043] Example 3:

[0044] Embodiment 3 of the present invention provides a steering drive pulse compensation method for AGVs based on dual-redundant encoders, referring to... Figure 4 ,include:

[0045] The controller controls the movement of the AGV body based on the acquired given position information;

[0046] The real-time position information of the AGV steering wheel is monitored using an absolute encoder.

[0047] Analyze the first motion error between the real-time location information and the given location information to obtain the first calibration compensation data;

[0048] The controller controls the steering motor to adjust the steering angle of the AGV steering wheel based on the first calibration compensation data;

[0049] The steering position information of the AGV steering wheel is monitored in real time through incremental encoders;

[0050] The second motion error between the steering position information and the given position information is analyzed to obtain the second calibration compensation data;

[0051] The controller adjusts the steering angle of the AGV steering wheel by controlling the steering motor based on the second calibration compensation data.

[0052] In the above embodiments, the controller controls the movement of the AGV body based on the acquired given position information; it monitors the real-time position information of the AGV steering wheel in real time through an absolute encoder, analyzes the first motion error between the real-time position information and the given position information, and obtains first calibration compensation data; the controller controls the steering motor to adjust the steering angle of the AGV steering wheel based on the first calibration compensation data; it monitors the steering position information of the AGV steering wheel in real time through an incremental encoder, analyzes the second motion error between the steering position information and the given position information, and obtains second calibration compensation data; the controller controls the steering motor to adjust the steering angle of the AGV steering wheel based on the second calibration compensation data.

[0053] The beneficial effects of the above technology are as follows: By combining absolute encoders and incremental encoders, the real-time position information of the AGV steering wheel fed back by the absolute encoder and the steering position information of the AGV steering wheel fed back by the incremental encoder are compared with the given position information in stages to obtain the first motion error and the second motion error, and generate the first calibration compensation data and the second calibration compensation data. The controller then controls the correction of the error. Compared with traditional technology, the above method, by combining absolute encoders and incremental encoders, allows the controller to control the steering motor to adjust the steering angle of the AGV steering wheel according to the first calibration compensation data and the second calibration compensation data, thereby achieving precise control of AGV steering. This improves the reliability and anti-interference ability of AGV operation, and enables stable movement of AGV in complex environments. It solves the problem that the AGV steering drive, which relies on a single incremental encoder, is susceptible to electromagnetic interference and power instability in traditional technology. It also avoids multiple restarts for zero-point adjustment, thus effectively improving the operating efficiency of AGV.

[0054] Example 4:

[0055] Embodiment 4 of the present invention provides a steering drive pulse compensation method for AGV based on dual-redundant encoders, comprising:

[0056] The zero-point position information of the AGV steering wheel is obtained by the absolute encoder, and the controller controls the AGV steering wheel to return to zero based on the zero-point position information.

[0057] After an AGV is powered on or restarted after a power outage, it needs to return to its zero position to ensure the accuracy of its subsequent movements. In traditional technology, the controller needs to pre-configure a zero-return action, obtain the zero-point position of the steering wheel via a zero-position switch, and then control the steering wheel to perform the zero-return action. Performing the zero-return action while the AGV is stopped severely impacts its normal operating efficiency. However, in the above embodiments of the present invention, an absolute encoder obtains the zero-point position information of the AGV steering wheel, and the controller uses this information to control the steering motor to power on the AGV steering wheel and perform the zero-return operation.

[0058] The beneficial effects of the above technology are as follows: the zero-point position information of the AGV steering wheel is obtained by the absolute encoder, so the AGV does not need to determine its own position by zeroing. The controller controls the steering motor to drive the AGV steering wheel to perform corresponding operations based on the zero-point position information, thereby effectively improving the normal working efficiency of the AGV.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A steering drive pulse compensation system for an AGV based on a dual-redundant encoder, characterized in that, include: The controller is used to control the movement of the AGV body based on the acquired given position information; An absolute encoder is used to monitor the real-time position information of the AGV steering wheel. The first drive compensation unit is used to analyze the first motion error based on the real-time position information and the given position information to obtain the first calibration compensation data. The controller controls the steering motor to adjust the steering angle of the AGV steering wheel based on the first calibration compensation data. Incremental encoders are used to monitor the steering position information of the AGV steering wheel in real time; The second drive compensation unit is used to analyze the second motion error based on the steering position information and the given position information to obtain the second calibration compensation data. The controller controls the steering motor to adjust the steering angle of the AGV steering wheel based on the second calibration compensation data.

2. The steering drive pulse compensation system for AGV based on dual redundant encoders according to claim 1, characterized in that, The absolute encoder is also used to obtain the zero-point position information of the AGV steering wheel, and the controller controls the steering motor to drive the AGV steering wheel to return to zero based on the zero-point position information.

3. A method for compensating steering drive pulses in an AGV based on a dual-redundant encoder, characterized in that, include: The controller controls the movement of the AGV body based on the acquired given position information; The real-time position information of the AGV steering wheel is monitored using an absolute encoder. Analyze the first motion error between the real-time location information and the given location information to obtain first calibration compensation data; The controller controls the steering motor to adjust the steering angle of the AGV steering wheel based on the first calibration compensation data; The steering position information of the AGV steering wheel is monitored in real time through incremental encoders; Analyze the second motion error between the steering position information and the given position information to obtain second calibration compensation data; The controller adjusts the steering angle of the AGV steering wheel by controlling the steering motor based on the second calibration compensation data.

4. The steering drive pulse compensation method for AGV based on dual redundant encoders according to claim 3, characterized in that, Also includes: The zero-point position information of the AGV steering wheel is obtained by an absolute encoder, and the controller controls the steering motor to drive the AGV steering wheel to return to zero based on the zero-point position information.

Images