Multi-vehicle cooperative carrying rapid queue changing method based on omnidirectional mobile AGV

Abstract

The invention discloses a multi-vehicle cooperative carrying rapid queue changing method based on an omnidirectional mobile AGV, and relates to the technical field of intelligent carrying equipment. The method comprises the following steps: determining various data, and ensuring that the initial relative positions of a master vehicle and slave vehicles are accurate; enabling the master vehicle tocalculate the motion vector of each slave vehicle through a rigid body kinematics decomposition formula while obtaining the motion vector of the master vehicle through the navigation data, and sends the motion vector to each slave vehicle; enabling each slave vehicle to analyze the motion vector and correct the posture of the slave vehicle in combination with the offset vector of a tray of the slave vehicle; navigating the master-slave vehicle and the whole material according to the navigation data of the master vehicle, and cooperatively carrying the material with the size larger than severaltimes of the self size by resultant force. According to the invention, the navigation function of the slave vehicles is integrated to the master vehicle, the motion vector of each slave vehicle is calculated through the master vehicle and then sent to each slave vehicle, and the slave vehicles do not need to be navigated independently and the motion speed is completely distributed by the master vehicle, so that the system structure is simple, and the number of extensible AGVs is large.

Description

technical field [0001] The invention relates to the field of technical intelligent handling equipment, in particular to a method for quickly changing queues for multi-vehicle cooperative handling based on an omnidirectional mobile AGV. Background technique [0002] At present, it is very common for a single AGV to carry materials. It has the characteristics of flexibility and high efficiency, but there are certain limitations. A single vehicle cannot meet the handling conditions, and multi-vehicle coordination is required for handling. [0003] Multi-vehicle coordinated handling refers to two or more AGVs carrying the same material at the same time to drive autonomously and cooperatively. At present, domestic multi-vehicle coordinated handling is mostly used in military manufacturing, train and subway manufacturing and other fields. In the initial stage, most of the 2 to 3 AGVs carry the workpiece in a preset formation, which can be roughly divided into two types. The first...

AI Technical Summary

Problems solved by technology

[0002] At present, it is very common for a single AGV to carry materials. It has the characteristics of flexibility and high efficiency, but there are certain limitations. A single vehicle cannot meet the handling conditions, and multi-vehicle coordination is required for handling

[0003] Multi-vehicle coordinated handling refers to two or more AGVs carrying the same material at the same time to drive autonomously and cooperatively. At present, domestic multi-vehicle coordinated handling is mostly used in military manufacturing, train and subway manufacturing and other fields. In the initial stage, most of the 2 to 3 AGVs carry the workpiece in a preset formation, which can be roughly divided into two types. The first type is: the coordinated AGV is controlled by the same remote control, which can realize forward, backward, and leftward movement , move to the right, but cannot navigate, and most of them cannot realize the overall rotation of the material, some can rotate, but they can only rotate according to a preset rotation center, although this method is convenient for the expansion of AGV , but cannot navigate according to the set route, the flexibility of the movement is poor, and it cannot be used in some narrow and curved aisles, which is very inconvenient. The second type is: multiple coordinated AGVs move according to their respective navigation data, from the car to the car After the sensor detects the offset data, fine-tuning is performed. Although this method can navigate and realize the line inspection and transportation of materials, there are problems such as low scalability of the number of AGVs and excessive turning radius of the line inspection. In view of this situation, the invention A multi-vehicle cooperative handling method that can quickly change the AGV formation

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