Ground transport vehicle control device and control method thereof

Abstract

The invention discloses a ground transport vehicle control device and a control method thereof. An upper and lower integrated control system is formed by an upper computer and an AGV system. Optimal task allocation and cooperative allocation of a plurality of AGVs forming the AGV system can be obtained through an upper computer running program, and butt joint can be accomplished through a plurality of ultrasonic receiving systems in an ultrasonic automatic following, receiving and positioning system to completely cover the whole control area, so that errors caused by wave losing and restrictions of a blind area can be avoided, the positioning range of each ultrasonic receiving system is enabled to be wider, the number of the ultrasonic receiving systems is reduced, the cost is reduced, thepositioning data is more accurate, and the reliability is high; a vehicle-mounted display screen can display the located position, the speed and local obstacle information in real time; meanwhile, anobstacle avoidance system is adopted, static and dynamic obstacles within different ranges can be avoided in a fast response and accurate distance manner, and the fault tolerance rate is improved; and the overall system is stable in performance, a problem that the traditional ultrasonic positioning system is too large in blind area is solved, and the operation cost and the maintenance cost are low.

Description

technical field [0001] The invention belongs to the technical field of control, and in particular relates to a control device for a ground transport vehicle and a control method thereof. Background technique [0002] The existing indoor planar motion trolley control system mostly uses the magnetic induction strip attached to the AGV running path to realize positioning and movement through the magnetic induction signal, or paint or paste the ribbon on the AGV running path, and through the camera adopting The input color band image signal is simply processed to realize positioning and movement, and a laser reflector with accurate position is installed around the AGV driving path. The AGV emits a laser beam through a laser scanner and collects the laser beam reflected by the reflector at the same time. To determine its current position and heading, and realize the positioning and movement of the AGV through continuous triangular geometry operations. And all of these have the p...

AI Technical Summary

Problems solved by technology

Therefore, since the ultrasonic receiving device is fixed on the ceiling, when the angle between the ultrasonic sending system and the ultrasonic receiving device exceeds a certain range, the strength of the ultrasonic signal will decrease rapidly, which will cause wave loss. It can be responded by the ultrasonic receiving device. When it is outside the receiving range, the ultrasonic sent by the ultrasonic sending system cannot be received, resulting in a blind area for ultrasonic reception.

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