The invention provides a segmented lifting control method capable of being used for an automated guided vehicle. The segmented lifting control method comprises the steps that S101, a preset lifting motion stroke of the automated guided vehicle is divided into at least two segments of lifting strokes; S102, S-shaped motion planning is conducted on each segment of lifting stroke, and motion parameters of each segment of lifting stroke are obtained; and S103, the automated guided vehicle is controlled to complete the at least two segments of lifting strokes according to the motion parameters. According to an accurate control method for the moving trajectory in the movement process of an AGV jacking mechanism, aiming at nonlinearity, strong coupling and non-measurable interference in the movement control process of the jacking mechanism, a photoelectric encoder is adopted to collect the rotating speed of a jacking motor, and through analog-digital signal conversion, the jacking process is accurately controlled by adopting a segmented trajectory planning method, so that the moving trajectory of the jacking structure can be effectively controlled, a control method of the jacking structure is expanded, the service life of an AGV tray and a goods shelf is prolonged, and the impact of the goods shelf on the ground is reduced.
本发明提供一种可用于自动引导车的分段举升控制方法:包括:S101:将所述自动引导车的预设举升运动行程分为至少两段举升行程;S102:对其中每一段举升行程进行S形运动规划,获得所述每一段举升行程的运动参数;和S103:根据运动参数控制所述自动引导车完成所述至少两段举升行程。本发明的实施例提供一种AGV顶升机构运动过程中对运动轨迹的精准控制方法,针对顶升结构运动控制过程非线性、强耦合及干扰不可测,采用光电编码器采集顶升电机转速,通过模拟数字信号的转换,采用分段轨迹规划法对顶升过程进行精确的控制,从而能有效的控制顶升结构的运行轨迹,拓展了顶升结构的控制方法,而且延长了AGV托盘、货架的使用寿命,降低了货架对地面的冲击。
Segmented lifting control method, segmented descending control method and automated guided vehicle
分段举升控制方法、分段下降控制方法和自动引导车
2021-06-01
Patent
Electronic Resource
Chinese
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 |
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