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Double-AGV cooperative carrying control system and method

A control method and deviation technology, applied in the field of intelligent industrial robots, can solve problems involving only

Active Publication Date: 2020-04-10
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The Chinese invention patent with the publication number CN10418899A proposes a collaborative handling system with flexible connection of dual mobile robots and its composite navigation device, but this patent only involves the mechanical structure of the dual mobile robots and does not involve the description of the control method

Method used

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  • Double-AGV cooperative carrying control system and method
  • Double-AGV cooperative carrying control system and method
  • Double-AGV cooperative carrying control system and method

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Embodiment Construction

[0046] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0047] A dual AGV cooperative carrying control method, which consists of two omni-directional mobile AGV front and rear layouts. On the basis of referring to the existing multi-agent formation control method, a heterogeneous pilot-follow method is adopted, combined with visual guidance path tracking method, constructing a cooperative control model of a three-layer topology structure, and establishing a dual AGV kinematics control model under path tracking and pilot-following based on path deviation and formation deviation, and adopting a rolling predictive control based on time domain The discrete control model optimizes the kinematics control model to realize the stable and reliable cooperative operation of the dual AGV system.

[0048] combined with figure 1 , in the dual AGV cooperative carrying control method described in the present in...

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Abstract

The invention discloses a double-AGV cooperative carrying control method and system, and relates to the field of intelligent logistics carrying robots. The method mainly aims at large components, particularly, the conveying requirement of large-size objects is met in the length direction. A path tracking method and a navigation-following method are combined, a collaborative planning model of a three-layer topological structure is used, the formation deviation under a double-AGV navigation-following strategy and the path deviation under path tracking are combined, a kinematics control model based on pilot-following and path tracking is obtained, the kinematics control model is optimized by adopting a discrete control model based on time domain rolling prediction control, and stable and reliable path tracking cooperative carrying of the double-AGV system is realized.

Description

technical field [0001] The invention relates to a control system and method for a dual AGV cooperative carrying system, in particular to a dual AGV cooperative carrying control method for large-scale object transportation, which belongs to the field of intelligent industrial robots. Background technique [0002] With the improvement of the level of industrial automation, the traditional long-distance AGV automated logistics method has gradually been unable to meet the needs of production and manufacturing, logistics transfer and delivery. In the final assembly of large-scale equipment and container loading at the terminal, traditional conveying systems such as gantry cranes and tower cranes are still mostly used for the transportation of large objects. There are many problems such as large space occupation, high energy consumption, and limited system scalability. limitation. For example, the C919 assembly workshop in Shanghai still uses the rail crane located in the upper p...

Claims

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Application Information

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IPC IPC(8): G05B19/418G05D1/02
CPCG05B19/41895G05D1/0295Y02P90/02Y02P90/60
Inventor 钱晓明楼佩煌楼航飞胡泊黄宇轩
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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