AGV walking process stabilizing system

Abstract

The invention discloses an AGV walking process stabilizing system, which comprises a sensor data acquisition system used for acquiring the distance between an AGV trolley and a reference object with a set known position; the pose determination system is used for calculating the displacement deviation and the inclination angle of the AGV trolley based on a pose determination model; the pose processing system is used for carrying out fuzzy processing on the displacement deviation and the inclination angle based on a fuzzy controller, and outputting an angular velocity adjustment amount and an angle adjustment amount corresponding to the AGV trolley by inquiring an established fuzzy control rule table; the AGV driving system is used for driving an AGV walking motor according to an output result of the pose processing system so as to realize movement control of the AGV; the stability of the AGV walking process is guaranteed through a walking stability algorithm integrating positioning and control, all links in the transportation process are promoted to be tightly connected together, automation of transportation logistics is achieved, manual participation on a production line is reduced, and therefore the transportation efficiency is improved, loss and labor intensity are reduced, and the cost is reduced.

Description

technical field [0001] The invention relates to the field of AGV walking systems, in particular to an AGV walking process stabilization system. Background technique [0002] With the continuous advancement of intelligent manufacturing in all walks of life, the concept of "machine substitution" is gradually being implemented. As one of the typical robots, AGV is mainly used in transportation, loading and unloading, etc. In traditional production workshops, the main transportation method is conveyor belt Transportation, fixed rail transportation, manual handling, forklift transportation, etc., such transportation methods have low work efficiency, low completion, relatively low safety, and long-term dependence on manual regulation; compared with traditional methods, the handling process of AGV It has high reliability and safety; however, the current AGV cannot adjust the posture during the walking process, and the walking is not stable enough to meet the needs of use. SUMMARY...

AI Technical Summary

Problems solved by technology

[0002] As all walks of life continue to promote intelligent manufacturing, the concept of "machine replacement" is gradually being implemented. Among them, AGV, as one of the typical robots, is mainly used in transportation, loading and unloading, etc. In traditional production workshops, the main mode of transportation is the conveyor belt. Transportation, fixed track transportation, manual handling, forklift transportation, etc., such transportation methods have low work efficiency, low completion, relatively low safety, and rely on manual control for a long time; compared with traditional methods, the handling process of AGV It has high reliability and safety; however, at present, the AGV cannot adjust the pose during the walking process, and the walking is not stable enough to meet the needs of use

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