CN111591653A - Compact AGV with independent position compensation rotating platform and control method - Google Patents
Compact AGV with independent position compensation rotating platform and control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a compact AGV with an independent position compensation rotating platform and a control method, and relates to the technical field of AGV; the posture of the goods shelf is convenient to adjust according to actual conditions; the AGV specifically comprises an installation base, a jacking platform, a rotating mechanism and a driving mechanism, wherein the rotating mechanism is installed on the jacking platform, the jacking platform is positioned above the installation base, and the rotating mechanism comprises an alternating current servo rotating motor, a rotating tray transmission gear and a tray connecting support plate; the control method comprises the steps that the control assembly controls the AGV to run based on navigation through the driving mechanism; the control assembly calculates an absolute rotational angular velocity of the pallet relative to the ground. The AGV has the function of bearing and walking a jacking goods shelf, and the rotary tray on the jacking platform has the function of compensating and rotating at an independent position; the relative position and posture of the car body and the transported goods can be strictly controlled according to requirements in the running process of the AGV.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to a compact AGV with an independent position compensation rotating platform and a control method.
Background
In recent years, on-line consumption is gradually popularized, the rise of e-commerce promotes the development of the warehousing industry and the logistics industry, and frequent cargo handling and storage in the warehousing system have high requirements on efficiency. These requirements are mainly reflected for AGV bodies:
1. the vehicle type is compact and low, and is suitable for application in a logistics warehouse;
2. has the function of jacking the goods shelf and can bear the goods shelf to walk. A common traction type AGV body or a goods shelf can be long and cannot move flexibly;
3. under the condition that the AGV posture is not changed, the capability of adjusting the posture of the goods shelf is achieved;
4. under the condition that the shelf posture is not changed, the AGV posture adjusting device has the capability of adjusting the AGV posture.
Through search, chinese patent application No. CN201610055696.7 discloses an autonomous traffic control method for AGVs, which includes: the method comprises the steps that an AGV-A obtains an intersection mark, and whether the AGV-A is in a control area or not is judged according to the intersection mark; when the AGV-A judges that the AGV is in the control area, a first traffic message is sent to other AGVs through the short-distance communication module; the AGV-A receives a second traffic message sent by the AGV-B; the AGV-A judges whether the AGV-B and the AGV-A are in the same control area according to the intersection mark B, and whether a cross point exists between the line A and the line B is obtained; if the line A and the line B have a cross point and the receiving time of the second traffic message is earlier than the sending time of the first traffic message, the AGV-A implements traffic control and stores the identification of the AGV-B in the control pool M area. The above patents suffer from the following disadvantages: when the AGV travels, the posture of the goods shelf cannot be adjusted according to actual conditions, so that the problems that the travel occupies a large space, collision occurs between the goods shelf and the like may occur.
Disclosure of Invention
The present invention is directed to solving the disadvantages of the prior art by providing a compact AGV with an independent position compensating rotating platform.
In order to achieve the purpose, the invention adopts the following technical scheme:
a compact AGV with an independent position compensation rotating platform comprises an installation base, a jacking platform, a rotating mechanism and a driving mechanism, wherein the rotating mechanism is installed on the jacking platform, the jacking platform is located above the installation base, and the rotating mechanism comprises an alternating current servo rotating motor, a rotating tray transmission gear and a tray connecting support plate; the output end of the alternating current servo rotating motor is rotatably connected to the outer wall of the bottom of the tray connecting support plate through a rotating tray transmission gear; the outer wall of the bottom of the alternating current servo rotating motor is mounted on the outer wall of the bottom of the jacking platform through a first motor base, the top of the tray connecting support plate is circular, the side wall of the top of the tray connecting support plate is rotatably connected to the inner wall of the top of the jacking platform through a bearing seat, and the outer wall of the top of the mounting base is respectively fixed with a control assembly, a servo motor driver and a storage battery assembly through screws; the control assembly comprises a position compensator, a state converter and a control unit; the control assembly is electrically connected with the servo motor driver, the storage battery assembly and the alternating current servo rotating motor respectively; and a lifting mechanism is also arranged between the mounting base and the jacking platform.
Preferably: the lifting mechanism comprises a scissor control motor and two groups of symmetrical scissor jacking frames, two ends of a rod piece of each group of scissor jacking frames are respectively and rotatably connected with two scissor driving sliding blocks, the inner walls of the scissor driving sliding blocks are respectively and slidably connected with driving sliding rails, and two I-shaped steels are fixed on the outer wall of the top of the mounting base through screws; the two driving slide rails are respectively and symmetrically arranged on the outer wall of the bottom of the jacking platform and the outer wall of the top of the I-shaped steel about the center of the scissor fork jacking frame; the outer wall of the top of the two scissor fork driving sliding blocks positioned below is fixed with the same connecting plate through screws; the scissors fork control motor is fixed on the outer wall of the bottom of the connecting plate through a second motor base, and a fixing piece is fixed on the outer wall of the top of the mounting base through a screw; the output end of the scissors fork control motor is connected to the inner wall of the fixing part through a screw rod, and the scissors fork control motor is electrically connected with a servo motor driver and a control assembly.
Further: the driving mechanism comprises two driving wheels and a driving motor for controlling the driving wheels to rotate; rectangular grooves for accommodating the driving wheels are formed in the outer walls of the two sides of the mounting base; the two driving wheels are symmetrically arranged in rectangular grooves on two sides of the mounting base; the two driving wheels are rotatably connected to the output end of a driving motor through a gear assembly, and the driving motor is fixed on the outer wall of the top of the mounting base through a screw; and the driving motor is electrically connected with a servo motor driver and the control assembly.
Further preferred is: two auxiliary wheels are installed on the outer wall of the bottom of the mounting base through two triangular steels and two shock absorption mechanisms respectively, and the two auxiliary wheels are located in the middle of two sides of the bottom of the mounting base respectively.
As a preferable aspect of the present invention: the shock absorbing mechanism comprises a roller support and a spring assembly, two triangular steels are fixed on the outer wall of the bottom of the mounting base through screws respectively, two ends of the spring assembly are welded on the outer wall of the top of the triangular steel and the outer wall of the bottom of the roller support respectively, and the middle section of the roller support is located inside the triangular steel and the spring assembly.
Further preferred as the invention: the outer wall of the top of the mounting base is provided with a camera through a mounting frame; the side wall of the mounting frame is provided with an obstacle avoidance sensor through a screw; the obstacle avoidance sensor and the camera are electrically connected with the control assembly; the obstacle avoidance sensor is an infrared sensor.
As a still further scheme of the invention: the four corners position of mounting base and the four corners position of jacking platform all have the fillet, and AGV whole size is 760mm (length) 510mm (width) 320mm (height).
A control method of a compact AGV with an independent position compensation rotating platform comprises a tray independent position compensation rotating control method, a learning algorithm and a neural PID follow-up control algorithm, wherein the tray independent position compensation rotating control method specifically comprises the following steps:
s1: the control assembly controls the AGV to run based on navigation through the driving mechanism;
s2: the control component calculates the absolute rotation angular velocity of the tray relative to the ground;
s3: calculating the angular speed of the rotation of the tray relative to the vehicle body;
s4: correcting position compensation;
s5: neural PID control;
s6: the tray is rotated by the rotating mechanism.
On the basis of the foregoing scheme, it is preferable that: the expression of the learning algorithm is as follows:
wherein the content of the first and second substances,
is a neuron coefficient, which is generally obtained according to an empirical method;
is the angular velocity deviation;
is the rotary platform control;
is a rotating platform angular velocity measurement.
It is further preferable on the basis of the foregoing scheme that: the neural PID follow-up control algorithm is realized based on a position compensator and a state converter, wherein the formula of the position compensator is as follows:
wherein
Is the target angular velocity after the compensation,
is the target angular velocity before the compensation,
is the threshold value of the compensator and is,
is the angle of deviation of the actual orientation of the AGV from the target,
is the adjustment factor of the angular velocity of the rotating platform.
The invention has the beneficial effects that:
1. the invention improves the carrying efficiency of the flexible system and the storing and taking efficiency of the warehousing system; meanwhile, due to the fact that goods in the storage system are densely stacked, the size specification of the AGV is required to be as small as possible, in addition, the AGV is provided with a rotary supporting mechanism, and the relative position and posture of the AGV can be strictly controlled according to requirements in the running process through accurate positioning control.
2. The AGV has the function of bearing and walking a jacking goods shelf, and the rotary tray on the jacking platform has the function of compensating and rotating at an independent position, so that three motion forms can be met: the posture of the AGV mounting base is unchanged, and the rotary tray can rotate 360 degrees; the posture of the rotating tray is unchanged, and the AGV chassis can rotate by 360 degrees; the AGV mounting base follows up with the rotating tray; the three motion modes can meet various complex posture requirements of the storage AGV in the process of carrying the goods shelf.
3. The position and posture of the tray, the goods shelf and the AGV chassis can be adjusted by the neural PID follow-up control algorithm with the position compensation input.
4. The aim of controlling the lifting of the lifting platform is fulfilled by arranging the scissors fork control motor, the scissors fork driving slide block, the scissors fork lifting frame and other structures; by arranging the rectangular groove, the width of the mounting base can be controlled conveniently, path planning is facilitated, meanwhile, the reliability of overall running of the AGV is improved, and the phenomena of scraping and jamming of driving wheels are avoided; through setting up spring unit isotructure, can play absorbing effect, further promoted the stability of traveling.
Drawings
FIG. 1 is a right side view of a compact AGV with an independent position compensating rotating platform according to the present invention;
FIG. 2 is a schematic three-dimensional structure of a compact AGV with an independent position compensation rotary platform according to the present invention;
FIG. 3 is a circuit flow diagram of a compact AGV with an independent position compensating rotating platform according to the present invention;
FIG. 4 is a block diagram of a neural PID servo control algorithm in the control method of a compact AGV with an independent position compensation rotating platform according to the present invention;
FIG. 5 is a flow chart of the method for controlling the rotation of the tray in a compact AGV with an independent position compensating rotary platform according to the present invention;
FIG. 6 is a flow chart of neural PID control in a method for controlling a compact AGV with an independent position compensated rotating platform according to the present invention.
In the figure: 1 exchange servo rotating electrical machines, 2 rotatory tray drive gear, 3 scissors fork jacking frame, 4 control assembly, 5 auxiliary wheels, 6 drive wheels, 7 servo motor drivers, 8 shockproof mechanism, 9 mounting bases, 10 cameras, 11 obstacle avoidance sensors, 12 spring assembly, 13 scissors fork control motor, 14 connecting plates, 15 scissors fork drive slider, 16 drive slide rails, 17 jacking platform, 18 tray joint support boards, 19 first motor cabinet, 20 mounting brackets, 21 mountings.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Example 1:
a compact AGV with an independent position compensation rotary platform is shown in FIGS. 1-3, and comprises a mounting base 9, a jacking platform 17, a rotating mechanism and a driving mechanism; the rotary mechanism is used for controlling the rotation of the rotary platform, the driving mechanism is used for driving the AGV to run, the rotary mechanism is installed on the jacking platform 17, the jacking platform 17 is located above the installation base 9, and the rotary mechanism comprises an alternating current servo rotary motor 1, a rotary tray transmission gear 2 and a tray connection supporting plate 18 for installing a rotary tray; the output end of the alternating current servo rotating motor 1 is rotatably connected to the outer wall of the bottom of the tray connecting support plate 18 through a rotating tray transmission gear 2; the bottom outer wall of the alternating current servo rotating motor 1 is mounted on the bottom outer wall of the jacking platform 17 through a first motor base 19, the top of the tray connecting support plate 18 is circular, the top side wall of the tray connecting support plate 18 is rotatably connected to the top inner wall of the jacking platform 17 through a bearing seat, and the top outer wall of the mounting base 9 is respectively fixed with a control assembly 4, a servo motor driver 7 and a storage battery assembly through screws; the control assembly 4 comprises a position compensator, a state converter and a control unit; the control assembly 4 is respectively and electrically connected with the servo motor driver 7, the storage battery assembly and the alternating current servo rotating motor 1; a lifting mechanism is also arranged between the mounting base 9 and the jacking platform 17; through setting up structures such as AC servo rotating electrical machines 1 and tray joint support board 18, can realize 360 rotations of tray joint support board 18, satisfied AGV attitude requirement at the transport goods shelves in-process.
In order to realize the lifting of the jacking platform 17; as shown in fig. 1 and 2, the lifting mechanism includes a scissor control motor 13 and two sets of symmetrical scissor lifting frames 3, two ends of a rod of each set of scissor lifting frame 3 are respectively and rotatably connected with two scissor driving sliders 15, inner walls of the scissor driving sliders 15 are respectively and slidably connected with driving slide rails 16, and two i-shaped steels are fixed on outer walls of the tops of the mounting bases 9 through screws; the two driving slide rails 16 are respectively arranged on the outer wall of the bottom of the jacking platform 17 and the outer wall of the top of an I-shaped steel in a central symmetry manner about the scissor fork jacking frame 3; the I-shaped steel is used for lifting the heights of the scissors fork jacking frame 3 and other mechanisms, ensuring the installation space of other elements and improving the firmness; the same connecting plate 14 is fixed on the outer wall of the top of the two scissor fork driving sliding blocks 15 positioned below through screws; the scissors fork control motor 13 is fixed on the outer wall of the bottom of the connecting plate 14 through a second motor base, and the outer wall of the top of the mounting base 9 is fixed with a fixing piece 21 through a screw; the output end of the scissors fork control motor 13 is connected to the inner wall of the fixing part 21 through a screw rod, and the scissors fork control motor 13 is electrically connected with a servo motor driver 7 and the control assembly 4; through the arrangement of the scissors fork control motor 13, the scissors fork driving slide block 15, the scissors fork jacking frame 3 and other structures, as the scissors fork control motor 13 is arranged on the connecting plate 14, and the connecting plate 14 is arranged on the movable scissors fork driving slide block 15, the work of the scissors fork control motor 13 can be utilized, so that the screw rod rotates in the fixed fixing piece 21 with a fixed position, and the scissors fork control motor 13 can translate; and then the connecting plate 14 controls the two scissors fork driving sliders 15 to move horizontally, so that the angle change of the two rods in the scissors fork jacking frame 3 is realized, and finally the purpose of controlling the jacking platform 17 to lift is achieved.
In order to control the AGV size, a driving function is realized at the same time; as shown in fig. 1 and 2, the driving mechanism includes two driving wheels 6 and a driving motor for controlling the driving wheels 6 to rotate; rectangular grooves for accommodating the driving wheels 6 are formed in the outer walls of the two sides of the mounting base 9; the two driving wheels 6 are symmetrically arranged in rectangular grooves at two sides of the mounting base 9; the two driving wheels 6 are rotatably connected to the output end of a driving motor through a gear assembly, and the driving motor is fixed on the outer wall of the top of the mounting base 9 through screws; the driving motor is electrically connected with a servo motor driver 7 and the control component 4; by arranging the rectangular groove, the width of the mounting base 9 can be controlled conveniently, path planning is facilitated, meanwhile, the reliability of overall running of the AGV is improved, and the phenomena that the driving wheels 6 are scraped and blocked are avoided.
In order to improve the running stability of the AGV; as shown in fig. 1 and 2, the outer wall of the bottom of the mounting base 9 is respectively provided with two auxiliary wheels 5 through two triangular steels and two shock absorbing mechanisms 8, and the two auxiliary wheels 5 are respectively located in the middle positions of two sides of the bottom of the mounting base 9; the auxiliary wheels 5 are not limited in number and can be more than two, and the auxiliary wheels 5 and the like are arranged, so that the auxiliary wheels can be matched with the driving wheel 6 to realize a stable supporting effect, and the driving stability is guaranteed.
In order to achieve the effect of shock absorption; as shown in fig. 1 and 2, the shock absorbing mechanism 8 includes a roller bracket and a spring assembly 12, two triangular steels are respectively fixed on the outer wall of the bottom of the mounting base 9 through screws, two ends of the spring assembly 12 are respectively welded on the outer wall of the top of the triangular steel and the outer wall of the bottom of the roller bracket, and the middle section of the roller bracket is located inside the triangular steel and the spring assembly 12; through setting up spring unit 12 isotructure, can play absorbing effect, further promoted the stability of traveling.
In order to improve reliability; as shown in fig. 1, the top outer wall of the mounting base 9 is provided with a camera 10 through a mounting rack 20; the side wall of the mounting rack 20 is provided with an obstacle avoidance sensor 11 through a screw; the obstacle avoidance sensor 11 and the camera 10 are both electrically connected with the control component 4; keep away barrier sensor 11 and can be vision sensor, laser sensor, infrared sensor, ultrasonic sensor etc. in this embodiment, it is preferred, keep away barrier sensor 11 and be infrared sensor, and keep away the model of barrier sensor 11 and be E18-D50NK, keep away structures such as barrier sensor 11 through setting up, can help the AGV accuracy to keep away the barrier, promoted overall reliability.
In order to improve the safety and reliability; as shown in fig. 2, the four corners of the mounting base 9 and the four corners of the lifting platform 17 are rounded, and the overall size of the AGV is 760mm (length) 510mm (width) 320mm (height).
When the automatic guided vehicle is used, the driving motor drives the driving wheel 6 to rotate through the gear assembly, and then the AGV is driven to run under the coordination of the auxiliary wheel 5, because the scissor fork control motor 13 is installed on the connecting plate 14, the connecting plate 14 is installed on the movable scissor fork driving slide block 15, the operation of the motor 13 can be controlled by using the scissor fork, so that the screw rod rotates in the fixed part 21 with a fixed position, and the scissor fork control motor 13 can translate; the connecting plate 14 controls the two scissors fork driving sliders 15 to move horizontally, so that the angle change of two rod pieces in the scissors fork jacking frame 3 is realized, and the aim of controlling the jacking platform 17 to lift can be fulfilled finally; in addition, the work of the alternating current servo rotating motor 1 can drive the tray connecting supporting plate 18 to rotate on the jacking platform 17 through the rotating tray transmission gear 2, and the purpose of compensation rotation of the goods shelf is achieved.
Example 2:
a control method of a compact AGV with an independent position compensation rotating platform, as shown in fig. 4 to 6, includes a tray independent position compensation rotation control method, a learning algorithm and a neural PID following control algorithm, and the tray independent position compensation rotation control method specifically includes the following steps:
s1: the control component 4 controls the AGV to run based on navigation through a driving mechanism;
s2: the control component 4 calculates the absolute rotation angular velocity of the tray relative to the ground;
s3: calculating the angular speed of the rotation of the tray relative to the vehicle body;
s4: correcting position compensation;
s5: neural PID control;
s6: the tray is rotated by the rotating mechanism.
The expression of the learning algorithm is as follows:
wherein the content of the first and second substances,
is a neuron coefficient, which is generally obtained according to an empirical method;
is the angular velocity deviation;
is the rotary platform control;
is a rotating platform angular velocity measurement.
As shown in fig. 3, the neural PID servo control algorithm is implemented based on a position compensator and a state transformer, wherein the formula of the position compensator is:
wherein
Is the target angular velocity after the compensation,
is the target angular velocity before the compensation,
is the threshold value of the compensator and is,
is the angle of deviation of the actual orientation of the AGV from the target,
is the adjustment factor of the angular velocity of the rotating platform.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. A compact AGV with an independent position compensation rotating platform comprises an installation base (9), a jacking platform (17), a rotating mechanism and a driving mechanism, and is characterized in that the rotating mechanism is installed on the jacking platform (17), the jacking platform (17) is located above the installation base (9), and the rotating mechanism comprises an alternating current servo rotating motor (1), a rotating tray transmission gear (2) and a tray connecting support plate (18); the output end of the alternating current servo rotating motor (1) is rotatably connected to the outer wall of the bottom of the tray connecting support plate (18) through the rotating tray transmission gear (2); the bottom outer wall of the alternating current servo rotating motor (1) is installed on the bottom outer wall of the jacking platform (17) through a first motor base (19), the top of the tray connecting supporting plate (18) is circular, the top side wall of the tray connecting supporting plate (18) is rotatably connected to the top inner wall of the jacking platform (17) through a bearing base, and the top outer wall of the installation base (9) is respectively fixed with a control assembly (4), a servo motor driver (7) and a storage battery assembly through screws; the control assembly (4) comprises a position compensator, a state converter and a control unit; the control assembly (4) is electrically connected with the servo motor driver (7), the storage battery assembly and the alternating current servo rotating motor (1) respectively; and a lifting mechanism is also arranged between the mounting base (9) and the jacking platform (17).
2. The compact AGV with the independent position compensation rotating platform according to claim 1, wherein the lifting mechanism comprises a scissor control motor (13) and two sets of symmetrical scissor lifting frames (3), two scissor driving sliders (15) are respectively and rotatably connected to two ends of a rod of each set of scissor lifting frame (3), driving slide rails (16) are respectively and slidably connected to inner walls of the scissor driving sliders (15), and two I-shaped steels are fixed to outer walls of the top of the mounting base (9) through screws; the two driving slide rails (16) are respectively arranged on the outer wall of the bottom of the jacking platform (17) and the outer wall of the top of the I-shaped steel in a central symmetry manner relative to the scissor fork jacking frame (3); the outer walls of the tops of the two scissor fork driving sliding blocks (15) positioned below are fixed with the same connecting plate (14) through screws; the scissors fork control motor (13) is fixed on the outer wall of the bottom of the connecting plate (14) through a second motor base, and a fixing piece (21) is fixed on the outer wall of the top of the mounting base (9) through a screw; the output end of the scissors fork control motor (13) is connected to the inner wall of the fixing part (21) through a screw rod, and the scissors fork control motor (13) is electrically connected with a servo motor driver (7) and the control component (4).
3. A compact AGV with an independent position compensating rotary platform according to claim 2, characterised in that the drive mechanism comprises two drive wheels (6) and a drive motor controlling the rotation of the drive wheels (6); the outer walls of two sides of the mounting base (9) are provided with rectangular grooves for accommodating the driving wheels (6); the two driving wheels (6) are symmetrically arranged in rectangular grooves at two sides of the mounting base (9); the two driving wheels (6) are rotatably connected to the output end of a driving motor through a gear assembly, and the driving motor is fixed on the outer wall of the top of the mounting base (9) through screws; and the driving motor is electrically connected with a servo motor driver (7) and the control component (4).
4. A compact AGV with independent position compensating rotating platform according to claim 3, characterized in that the outer wall of the bottom of the mounting base (9) is provided with two auxiliary wheels (5) through two angle steels and two shock absorbing mechanisms (8), and the two auxiliary wheels (5) are located at the middle positions of the two sides of the bottom of the mounting base (9).
5. The compact AGV with independent position compensation rotating platform according to claim 4, wherein the shock absorbing mechanism (8) comprises a roller bracket and a spring assembly (12), two triangular steels are fixed on the outer wall of the bottom of the mounting base (9) through screws respectively, two ends of the spring assembly (12) are welded on the outer wall of the top of the triangular steel and the outer wall of the bottom of the roller bracket respectively, and the middle section of the roller bracket is located inside the triangular steel and the spring assembly (12).
6. A compact AGV with independent position compensating rotary platform according to claim 5, where the top outer wall of the mounting base (9) is fitted with a camera (10) via a mounting bracket (20); the side wall of the mounting rack (20) is provided with an obstacle avoidance sensor (11) through a screw; the obstacle avoidance sensor (11) and the camera (10) are electrically connected with the control component (4); the obstacle avoidance sensor (11) is an infrared sensor.
7. A compact AGV with independent position compensating rotary platform according to any of claims 1-6, where the four corners of the mounting base (9) and the four corners of the lift platform (17) are rounded and the overall size of the AGV is 760mm (length) 510mm (width) 320mm (height).
8. The control method of the compact AGV with the independent position compensation rotating platform is characterized by comprising a tray independent position compensation rotating control method, a learning algorithm and a neural PID follow-up control algorithm, wherein the tray independent position compensation rotating control method specifically comprises the following steps:
s1: the control component (4) controls the AGV to run based on navigation through a driving mechanism;
s2: the control component (4) calculates the absolute rotation angular velocity of the tray relative to the ground;
s3: calculating the angular speed of the rotation of the tray relative to the vehicle body;
s4: correcting position compensation;
s5: neural PID control;
s6: the tray is rotated by the rotating mechanism.
9. The method of claim 8, wherein said learning algorithm is expressed as:
wherein the content of the first and second substances,
is a neuron coefficient, which is generally obtained according to an empirical method;
is the angular velocity deviation;
is the rotary platform control;
is a rotating platform angular velocity measurement.
10. The method of claim 9, wherein said neural PID servo-control algorithm is implemented based on a position compensator and a state transformer, wherein the position compensator formula is:
wherein
Is the target angular velocity after the compensation,
is the target angular velocity before the compensation,
is the threshold value of the compensator and is,
is the angle of deviation of the actual orientation of the AGV from the target,
is the adjustment factor of the angular velocity of the rotating platform.
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