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.
本发明公开了一种带独立升降旋转平台功能的全向AGV及控制方法,包括外壳安装在AGV底盘上,所述AGV底盘上安装有举升模块,所述举升模块上安装有旋转模块,所述外壳内部设有AGV驱动控制组件和激光雷达。控制方法包括:设置AGV旋转平台误差初值We(k‑1)=We(k‑2)=0;采集AGV旋转平台实际角速度Wa(k)及随动过程中目标角度Wo(k);计算AGV旋转平台的偏差量We(k)=Wo(k)‑Wa(k);计算并输出控制量Wc(k);迭代更新We(k‑1),We(k‑2),重复步骤b‑d。上述技术方案将旋转模块安装于举升模块上,实现AGV对货架的举升,通过4个带麦克纳姆轮的独立悬挂系统、底盘板、固定角码组成AGV底盘,带麦克纳姆轮的独立悬挂系统固定在底盘板,底盘板借助独立悬挂系统上下浮动,以达到避震效果,避免AGV满载行驶时因占用空间较大而出现的碰撞。
Omni-directional AGV with independent lifting and rotating platform function and control method
一种带独立升降旋转平台功能的全向AGV及控制方法
2021-02-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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