Control system and method for AGV trolley

Abstract

The invention discloses a control system and method for an AGV trolley. The system comprises a server scheduling program module, a vehicle-mounted controller program module and an action execution program module. The method comprises the following steps: carrying out AGVS scheduling on the AGV trolley by virtue of the server scheduling program, and generating an AGVS instruction; carrying out operation control on the AGV trolley by virtue of the vehicle-mounted controller program module according to the AGVS instruction of the server scheduling program; and controlling the AGV trolley to execute corresponding actions by the action execution program module according to an operation control instruction. The control system has the beneficial effects that multiple AGV trolleys can be simultaneously coordinated and scheduled, so that the scheduling efficiency is high; and by utilizing a magnetic navigation track-seeking method, parameters required to be adjusted and debugged are few, the implementation is easy, and the parameters are relatively stable and can be displayed through a graphical interface in matlab and are relatively visual, so that big corners with different angles can beconveniently debugged. The system can be widely applied to the control field of logistics transportation equipment.

Description

technical field [0001] The invention relates to the field of logistics transportation equipment control, in particular to an AGV trolley control system and method. Background technique [0002] With the rapid development of the B2C e-commerce industry, logistics and warehousing have become the bottleneck factor for the expansion of various industries. For example, large domestic e-commerce companies have invested heavily in research and development of a new generation of modern warehouses, but most of the investment funds in the storage industry have been spent on sorting, shunting and other links. In the picking process that most affects the efficiency of the warehouse, the traditional manpower method of moving the goods without moving is still used, so the AGV trolley with free path guidance is just an effective way to solve this problem. AGV is the English abbreviation of Automated Guided Vehicle. It refers to a transport vehicle equipped with automatic guidance devices ...

AI Technical Summary

Problems solved by technology

However, at present, most of the scheduling servers of AGV cars can only dispatch a single AGV car, and cannot coordinate and dispatch multiple AGV cars at the same time, and the dispatching efficiency is not high

In addition, at present, the on-board controller of the AGV car usually uses the PID algorithm to perform the fitting test when seeking the track through the magnetic navigation method (referred to as the magnetic navigation track seeking), so as to accurately locate the position offset and heading of the AGV car. The PID algorithm for magnetic navigation tracking has the following disadvantages: 1) There are relatively many parameters that need to be adjusted or debugged, which is not easy to implement; 2) The parameters are not stable enough to be displayed in the form of a graphical interface in matlab, which is not intuitive enough; 3) It is inconvenient to debug big turns at different angles

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