CN107291085A - A kind of combined intelligent movement AGV control methods and system - Google Patents
A kind of combined intelligent movement AGV control methods and system Download PDFInfo
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- 230000033001 locomotion Effects 0.000 title claims abstract description 39
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- 238000003032 molecular docking Methods 0.000 claims description 55
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- 238000004891 communication Methods 0.000 claims description 9
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a kind of combined intelligent movement AGV control methods and system, setting combined intelligent moves the numbering of each AGV in AGV；In the process of running, each AGV is parsed to same rate control instruction, calculates the speed of each each wheel of AGV, judges whether the speed of each wheel reaches setting speed, if reaching, combined intelligent movement AGV is normally run；Otherwise, if the speed of any one wheel is not up to setting speed, there is exception in combined intelligent movement AGV, and combined intelligent movement AGV is out of service.The present invention can realize that two dynamic objects are accurately docked in motion process, and can accurately control AGV wheel speed, it is ensured that the normal operation of assembly and reliable；The control method of the present invention is simple and reliable, easily realizes.
Description
Technical field
The present invention relates to AGV control fields, specially a kind of AGV control methods and system.
Background technology
The AGV (Automated Guided Vehicle) of various sizes is currently there are, " homing guidance is implied that
Transport vehicle ", for different loads, different task and design.In order to be able to deliver the article of various weight, often need buying many
Plant the AGV of size.The AGV vacancy rates for so easily causing some sizes are higher, also underaction.
It is dumb for current AGV load-carryings, using inflexible problems and shortcomings, standard-sized AGV can be passed through
Bindiny mechanism is combined.The combination that double cars, three cars, four cars are formed by combining, its carrying capacity and size are directly at double
Increase, and combination is flexibly, can be very good to adapt to the material of different size.But how the accurate box-like intelligence of control group
Mobile AGV speed, it is ensured that combined intelligent movement AGV is normally run, is the subject matter for needing to solve.
The content of the invention
The present invention is intended to provide a kind of combined intelligent movement AGV control methods and system, accurate control AGV wheel speed
Degree, by ensureing that each AGV is normally run, it is ensured that the normal operation of assembly.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of combined intelligent movement AGV controls
Method, comprises the following steps：
1) setting combined intelligent moves the numbering of each AGV in AGV；
2) in the process of running, each AGV is parsed to same rate control instruction, calculates each
The speed of each wheels of AGV, judges whether the speed of each wheel reaches setting speed, if reaching, combined intelligent is moved
Dynamic AGV is normally run；Otherwise, if the speed of any one wheel is not up to setting speed, combined intelligent movement AGV goes out
Now abnormal, combined intelligent movement AGV is out of service.
Each individual in assembly, according to oneself position in assembly, enters to same rate control instruction
The different parsing of row.Due to the form using broadcast, therefore each individual is in same level in a network, does not have obvious
Successively distinguish, enhance the synchronism of control.
Step 2) in, the calculating process of wheel speed includes：If combined intelligent movement AGV central point is O, from this
AGV where heart point O starts, if topmost an AGV numbering is i for the central point O leftmost sides；If by central point O and and y
The parallel straight line of axle is A, is B by central point O and the straight line parallel with x-axis；The 3rd central point of i-th of AGV, the 4th
Wheel subcenter point to straight line A distance are b1, i-th of AGV first wheel subcenter point, the 3rd wheel subcenter point are to straight
Line B distance is a2, i-th of AGV first wheel subcenter point, the distance of second wheel subcenter point to straight line A are b2,
I-th of AGV second wheel subcenter point, four wheels central point to straight line B distance is a1；Then i-th of AGV tetra-
The speed calculation formula of wheel is：
Wherein, v1、v2、v3、v4For the speed of AGV four wheels；vx、vyWhen respectively AGV is moved only along x-axis direction
Speed and only along the y-axis direction move when speed；ω represents the angular speed that AGV is moved along yaw axles；AGV fore-and-aft direction is x
Axle, AGV left and right directions is y-axis, and yaw axles are the axis of rotation,The angular speed moved along yaw axles is represented, counterclockwise for just.
Above-mentioned speed calculation formula is Mecanum wheel AGV inverse kinematics model, and its calculating process is simple, reliable.Tool
Body, when AGV quantity is one, the wheel speed calculation formula of the AGV four wheels is as follows：
Wherein, b represents first wheel subcenter point of AGV or the 3rd wheel subcenter point to straight line A distance；A is represented
Distance of any one the wheel subcenter point of AGV to straight line B.
When AGV quantity is two, two AGV are longitudinally disposed, then the wheel speed of First AGV four wheels is calculated
Formula is as follows：
The wheel speed calculation formula of second AGV four wheels is as follows：
Wherein, a represents any one AGV any one wheel subcenter point to straight line B distance.
When AGV quantity is four：
The wheel speed calculation formula of First AGV four wheels is as follows：
The wheel speed calculation formula of second AGV four wheels is as follows：
The wheel speed calculation formula of 3rd AGV four wheels is as follows：
The wheel speed calculation formula of 4th AGV four wheels is as follows：
Correspondingly, AGV control systems are moved present invention also offers a kind of combined intelligent, including：
Initialization module：Numbering for setting each AGV in combined intelligent movement AGV；
Processing module：For in the process of running, according to AGV numbering, calculating the speed of each each wheel of AGV
Degree, judges whether the speed of each wheel reaches setting speed, if reaching, combined intelligent movement AGV is normally run；It is no
Then, if the speed of any one wheel is not up to setting speed, there is abnormal, combined type intelligence in combined intelligent movement AGV
The mobile AGV of energy is out of service.
It is preferred that, present invention additionally comprises communication unit：For being caused by wired or wireless mode by docking mechanism
The AGV of docking realizes electrical connection, receives rate control instruction, and the rate control instruction is transferred into processing module, the speed
Degree control instruction refers to the overall operation speed of AGV assemblys, after the independent calculating by each AGV, show that its is every
The setting speed of individual wheel.Using the form of broadcast, therefore each individual is in same level in a network, does not have obvious
Successively distinguish, enhance the synchronism of control.
Specifically, communication unit of the invention includes：
Receiving terminal：For receiving the rate control instruction transmitted from transmitting terminal and being parsed；It is preferred that, the receiving terminal
For AGV；
Transmitting terminal：The receiving terminal is given for transmission speed control instruction；The transmitting terminal can be that remote control, hand are mechanical, electrical
The control devices such as brain.
Under wired mode：The interface of communication bus is included in combined intelligent movement AGV docking mechanism, using 485,
The bus protocols such as CAN, are connected by resilient contact.
Under wireless mode：Combined intelligent moves AGV and realized by wireless modules such as zigbee, WiFi for carrying from group
Net, transmitting terminal is sent as main frame and instructed, and receiving terminal is received as slave and instructed.
Docking mechanism of the present invention includes：
Submodule is docked, it includes the first installing plate, the sub- end of the docking on the first installing plate；
Female module is docked, it includes the second installing plate, the docking female end on the first installing plate；And
The butt guiding devices between first installing plate and second installing plate are located at, the butt guiding devices bag
Syndrome end and correction female end are included, the syndrome end and correction female end guide the docking submodule by forced guiding mechanism
Sub- end is docked to be docking together with the docking female end for docking female module；The sub- end end of docking is provided with locking mechanism, should
Locking mechanism is when the sub- end of docking for docking submodule is docked in place with the docking female end for docking female module by the docking
Sub- end is locked together with docking female end.
The docking and guiding of the present invention is that therefore, the present invention is to realize two dynamic objects for two dynamic objects
Accurately docked in motion process, and position can also be changed after docking, after such as left and right docking, go to front and back.
Compared with prior art, the advantageous effect of present invention is that：The present invention can realize that two dynamic objects exist
Accurately docked in motion process, and can accurately control AGV wheel speed, it is ensured that the normal operation of assembly and can
Lean on；The control method of the present invention is simple and reliable, easily realizes.
Brief description of the drawings
The Computing Principle of wheel speed when Fig. 1 is an only AGV；
The Computing Principle of wheel speed when Fig. 2 is two AGV；
The Computing Principle of wheel speed when Fig. 3 is four AGV group of individuals synthesis combined type AGV；
Fig. 4 is docking mechanism schematic diagram of the present invention；
Fig. 5 is the structural representation of docking submodule of the present invention；
Fig. 6 is the structural representation of docking female module of the present invention；
Fig. 7 is Fig. 2 longitudinal section sectional view；
Fig. 8 is mated condition figure of the present invention to connection module.
Embodiment
For sake of convenience, hereinafter as there are " on ", " under ", "left", "right" printed words, only represent with accompanying drawing in itself it is upper,
Under, left and right direction it is consistent, restriction effect is not played to structure.
That the present invention is directed to is all Omni-mobile AGV, using Mecanum wheel, four-wheel four-drive.In order to realize assembly
Jointly control, mainly to solve two problems, one is communication issue between each individual of assembly, during one is assembly
The motion parsing problem of each individual.
The present invention is communicated using broadcast mode, each individual can be connected by wired mode, in docking machine
In structure, resilient contact is added, while docking mechanism connection is completed, resilient contact contact completes the connection of communication line.Also may be used
So that by wireless WIFI module, the wireless mode such as wireless Zigbee module is combined body MANET.Each positive reason of AGV individuals
Only as the receiving terminal of broadcast communication under condition, only receive the motion control instruction transmitted from transmitting terminal and parsed.Only
When judging abnormal conditions occur, abnormal broadcast singal is just sent into network, so that assembly is out of service, waits to exclude
Continued to run with after failure.
For each AGV individuals, its motion state can be described with three independent variables：X-axis translation, Y-axis are put down
Dynamic, yaw axle rotations.The fore-and-aft direction for defining AGV is x-axis,Represent along x-axis movement velocity, forward for just；Define an AGV left side
Right direction is y-axis,Represent along y-axis movement velocity, to the left for just；Yaw axle rotations are defined,Represent the angle moved along yaw axles
Speed, counterclockwise for just.
As an only AGV, as shown in figure 1, AGV geometry motion be centrally located at No. 1 with No. 4, No. 2 with No. 3 wheel
Diagonal intersection.
When AGV is moved only along x-axis direction, the speed of four wheels is respectively：
When AGV is moved only along y-axis direction, the speed of four wheels is respectively：
When AGV only around geometric center along during yaw axle rotations, the speed of four wheels is respectively：
Three mutually add up by more than, x when just can be run by AGV, y, and the speed of yaw axles parses each wheel
The specific of son hastens, that is, Mecanum wheel AGV inverse kinematics model：
When the individual longitudinal combinations of two AGV are into combined type AGV, such as Fig. 2.
Assembly AGV geometry motion is centrally located at the cornerwise crosspoint of wheel in Fig. 2.For No. 1 AGV, its
Inverse kinematics model is：
For No. 2 AGV, its inverse kinematics model is：
As four AGV group of individuals synthesis combined type AGV, such as Fig. 3.
No. 1 AGV inverse kinematics model is：
No. 2 AGV inverse kinematics model is：
No. 3 AGV inverse kinematics model is：
No. 4 AGV inverse kinematics model is：
Other combining forms can be by similarly deriving.When the combining form for setting combined intelligent movement AGV
Afterwards, each AGV in assembly just knows which position oneself is in assembly, is sent when receiving control end
Carry vx, vy, during the control instruction of ω speed, the inverse kinematics equation of correspondence position just according to the position of oneself, can be selected to four
Individual wheel wheel speed is parsed, and tries to achieve the correct speed of service of each wheel.Fed back by encoders monitor, use PID control
Wheel is set to reach setting speed.All wheels are run with correct speed, and whole combined type AGV just can normally be run.In operation
During, if monitoring, the wheel of any one in assembly is not reaching to setting speed, then it is assumed that whole combination running body occurs
It is abnormal, monitor that abnormal AGV sends exceptional instructions to control end, make assembly out of service, pending fault could be after after excluding
Reforwarding row, it is ensured that the safety of assembly.
Such as Fig. 4, the direction each all around for moving AGV in combined intelligent installs one to connection module, facilitates intelligence
Independent assortment and fractionation between energy mobile device.Connection module can at any time be dismantled, can be selected according to specific needs, can also
The a or two direction needed is installed wherein for selection.Each Intelligent mobile equipment module can be according to practical application scene and need
Ask selection identical function or different functions.If the Intelligent mobile equipment of other brands is allowed, mould can also will be docked
The packaged docking for realizing different brands equipment room on their device.There is automatic regulating apparatus to connection module, can be according to equipment pair
Physical location when connecing, is adjusted the deviation positioned between (20mm adjustable range), adjusting device.
Each combined intelligent movement AGV is constituted by body 1 and to connection module 2, and body four is installed on to connection module 2
In week, independent assortment can be realized from arbitrary orientation, a or two need can also be selectively installed on according to practical application request
The orientation wanted.Both can be two identical functions body 1 combine together or several difference in functionality bodies 1 combine exist
Together.
As shown in Fig. 5~Fig. 7, docking submodule and docking female module are respectively arranged on two bodies 1, are entirely docked
Submodule and female module are all installed on line slide rail, below submodule and female module installing plate 13, there is a limited block 12,
Respectively there is a position-limit mechanism on limited block both sides：Left limit mechanism 10 and right limit mechanism 11, submodule and female module can be along straight
Line slide rail 9 horizontally slips in the scope (scope is according to actual conditions and needs setting) of setting.It is mounted with the middle of submodule
It is then correction female end 7 at female module end for the sub- end 4 of correction position correction for drift.Docking female end 5 and the sub- end 6 of docking are distributed
In syndrome end, correction female end both sides.Dock sub- end and 21, rotation are mainly constituted by electric rotating machine 17, swivel bearing 18 and spill spin block
Rotating motor 17 is installed on by motor mounting plate 16 on the installing plate 13 for docking sub- end, and column spinner 20 is installed on electric rotating machine 17
Output end, spill spin block 21 is arranged on the other end of column spinner 20, and bearing installs lid 19 and swivel bearing is fixed on column spinner 20.
Such as Fig. 8, when combination is needed, syndrome end 4 and correction female end 7 were contacted before this, passed through the correction installed in correcting block 15
The guiding of bearing 14, syndrome end 4 is imported into correction female end 7, drives correction module and correction female module to be slided in straight line
Moved on rail 9, so as to correct the relative position of whole docking submodule and docking female module.After position correction is good, docking
Spill spin block 21 in sub- end 6 is had been introduced into the groove of docking female end 5, and the rotation of electric rotating machine 17 drives spill spin block 21 to rotate,
In the groove for being fixed on docking female end 5.During separation, first rotated by electric rotating machine 17, spill spin block 21 separated with docking female end 5,
Then the spring in the separation for driving docking submodule and docking female module, left and right position-limit mechanism is moved by body 1 and promotes spacing
Block 12, so that docking submodule and docking female module revert to initial position.
Claims (10)
1. a kind of combined intelligent moves AGV control methods, it is characterised in that comprise the following steps：
1) setting combined intelligent moves the numbering of each AGV in AGV；
2) in the process of running, control end sends each AGV in motion control instruction, assembly to assembly according to oneself
Numbering parse this control instruction, calculate the speed of itself each wheel, judge whether the speed of each wheel reaches
To setting speed, if reaching, combined intelligent movement AGV is normally run；Otherwise, if the speed of any one wheel is not up to
Setting speed, then combined intelligent movement AGV appearance is abnormal, and combined intelligent movement AGV is out of service.
2. combined intelligent according to claim 1 moves AGV control methods, it is characterised in that step 2) in, wheel speed
The calculating process of degree includes：If combined intelligent movement AGV central point is O, since the AGV where central point O, if should
Topmost an AGV numbering is i for the central point O leftmost sides；If being A by central point O and the straight line parallel with y-axis, by this
Central point O and the straight line parallel with x-axis are B；The 3rd central point of i-th of AGV, four wheels central point to straight line A away from
From being b1, i-th of AGV first wheel subcenter point, the 3rd wheel subcenter point to straight line B distance are a2, i-th
AGV first wheel subcenter point, the distance of second wheel subcenter point to straight line A are b2, i-th of AGV second wheel
Central point, four wheels central point to straight line B distance are a1；The then speed calculation formula of i-th of AGV four wheels
For：
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Wherein, v1、v2、v3、v4For the speed of AGV four wheels；vx、vySpeed when respectively AGV is moved only along x-axis direction
Speed when only moving along the y-axis direction；ω represents the angular speed that AGV is moved along yaw axles；AGV fore-and-aft direction is x-axis, AGV
Left and right directions be y-axis, yaw axles be the axis of rotation,The angular speed moved along yaw axles is represented, counterclockwise for just.
3. combined intelligent according to claim 2 moves AGV control methods, it is characterised in that when AGV quantity is one
When, the wheel speed calculation formula of the AGV four wheels is as follows：
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Wherein, b represents first wheel subcenter point of AGV or the 3rd wheel subcenter point to straight line A distance；A represents that AGV appoints
Distance of the one wheel subcenter point of meaning to straight line B.
4. combined intelligent according to claim 2 moves AGV control methods, it is characterised in that when AGV quantity is two
When, two AGV are longitudinally disposed, then the wheel speed calculation formula of First AGV four wheels is as follows：
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<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mo>(</mo>
<mi>a</mi>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
The wheel speed calculation formula of second AGV four wheels is as follows：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<mi>&omega;</mi>
<mo>(</mo>
<mi>a</mi>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mo>(</mo>
<mi>a</mi>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>3</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<mi>&omega;</mi>
<mo>(</mo>
<mi>a</mi>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>4</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mo>(</mo>
<mi>a</mi>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
Wherein, a represents any one AGV any one wheel subcenter point to straight line B distance.
5. combined intelligent according to claim 2 moves AGV control methods, it is characterised in that when AGV quantity is four
When：
The wheel speed calculation formula of First AGV four wheels is as follows：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<mi>&omega;</mi>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>3</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<mi>&omega;</mi>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>4</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
The wheel speed calculation formula of second AGV four wheels is as follows：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<mi>&omega;</mi>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>3</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<mi>&omega;</mi>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>v</mi>
<mn>4</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
The wheel speed calculation formula of 3rd AGV four wheels is as follows：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<mi>&omega;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mn>3</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<mi>&omega;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mn>4</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
The wheel speed calculation formula of 4th AGV four wheels is as follows：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<mi>&omega;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mn>3</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<mi>&omega;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>v</mi>
<mn>4</mn>
</msub>
<mo>=</mo>
<msub>
<mi>v</mi>
<mi>x</mi>
</msub>
<mo>-</mo>
<msub>
<mi>v</mi>
<mi>y</mi>
</msub>
<mo>+</mo>
<mi>&omega;</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msub>
<mi>b</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>.</mo>
</mrow>
6. a kind of combined intelligent moves AGV control systems, it is characterised in that including：
Initialization module：Numbering for setting each AGV in combined intelligent movement AGV；
Processing module：For in the process of running, according to AGV numbering, calculating the speed of each each wheel of AGV, sentencing
Whether the speed of disconnected each wheel reaches setting speed, if reaching, combined intelligent movement AGV is normally run；Otherwise, if
The speed of any one wheel is not up to setting speed, then abnormal, combined intelligent movement occurs in combined intelligent movement AGV
AGV is out of service.
7. combined intelligent according to claim 6 moves AGV control systems, it is characterised in that also include：
Communication unit：For causing the AGV docked by docking mechanism to realize electrical connection by wired or wireless mode, receive
Rate control instruction is simultaneously parsed.
8. combined intelligent according to claim 7 moves AGV control systems, it is characterised in that the communication unit bag
Include：
Receiving terminal：For receiving the rate control instruction transmitted from transmitting terminal and being parsed；It is preferred that, the receiving terminal is
AGV；
Transmitting terminal：The receiving terminal is given for transmission speed control instruction；Preferably, the transmitting terminal is remote control, mobile phone or electricity
Brain.
9. combined intelligent according to claim 7 moves AGV control systems, it is characterised in that：
Under wired mode, the interface of communication bus is included in combined intelligent movement AGV docking mechanism, it is total using 485 or CAN
Wire protocol, is connected by resilient contact；
Under wireless mode, combined intelligent movement AGV realizes MANET by zigbee the or WiFi wireless modules carried, sends
End is sent as main frame and instructed, and receiving terminal is received as slave and instructed.
10. combined intelligent according to claim 8 moves AGV control systems, it is characterised in that the docking mechanism bag
Include：
Submodule is docked, it includes the first installing plate, the sub- end of the docking on the first installing plate；
Female module is docked, it includes the second installing plate, the docking female end on the first installing plate；And it is located at first peace
The butt guiding devices between plate and second installing plate are filled, the butt guiding devices include syndrome end and correction female end,
The syndrome end and correction female end guide the sub- end of docking for docking submodule by forced guiding mechanism and dock mother with described
The docking female end of module is docking together；The sub- end end of docking is provided with locking mechanism, and the locking mechanism is in docking submodule
Docking sub- end dock sub- end by described and be locked in docking female end when being docked in place with the docking female end for dock female module
Together.
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| CN114237221A (en) * | 2021-11-16 | 2022-03-25 | 山东大学 | Low-delay combined robot motion control system and method based on center mapping |
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| CN114237221A (en) * | 2021-11-16 | 2022-03-25 | 山东大学 | Low-delay combined robot motion control system and method based on center mapping |
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