The invention discloses an automated guided vehicle control system. The system comprises a first transportation unit, a second transportation unit, a pose detection unit and a control unit, wherein the first transportation unit and the second transportation unit keep parallel operation according to the speed v set by the system; the pose detection unit is used for detecting the running speed v1 ofthe first transportation unit, the running speed v2 of the second transportation unit, the relative transverse deviation angle deltatheta between the first transportation unit and the second transportation unit and the longitudinal deviation displacement deltas in real time. The control unit communicates with the pose detection unit and is used for receiving v1, v2, deltatheta and deltas uploadedby the pose detection unit, and if the difference deltav and/or deltatheta and/or deltas between v1 and v2 is larger than a system set threshold value, the first transportation unit and the second transportation unit are controlled to stop. The automatic guided vehicle control system can achieve synchronous operation of the two transportation units, and the automated guided vehicle is ensured tobe more stable and reliable when carrying goods.
本发明公开了一种自动引导运输车控制系统,包括第一运输单元、第二运输单元、位姿检测单元以及控制单元,第一运输单元和第二运输单元分别按照系统设定的速度v保持平行运行,位姿检测单元用于实时检测第一运输单元的运行速度v1、第二运输单元的运行速度v2、第一运输单元和第二运输单元之间的相对横向偏移角度Δθ和纵向偏移位移Δs,控制单元与位姿检测单元通信,用于接收位姿检测单元上传的v1、v2、Δθ以及Δs,若v1与v2之间的差值Δv和/或Δθ和/或Δs大于系统设定阀值,第一运输单元和第二运输单元受控停止。该自动引导运输车控制系统能够实现两个运输单元的同步运行,保证运输车在搬运货物时更加平稳可靠。
Automated guided vehicle control system
一种自动引导运输车控制系统
2020-10-23
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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