A Specially Designed Decoupling Mechanism and a Control Method for Realizing the Multiple-Vehicle Co-Op System
Automatic guided vehicle(AGV)is one of the key devices in the modern logistics system.It is especially widely used in transporting massive and large-sized workpieces in aerospace manufacturing,rail transit and other heavy industries.Transporting workpieces characterized like this with AGV helps to improve transport efficiency and ensure transport safety.However,the capacity and body dimension of a single AGV are limited.Therefore,the use of a single AGV is not conducive to ensuring the economy and flexibility of transport.To solve the above-mentioned problem,it is necessary to design a method to realize the cooperative opera-tion of two AGVs.This method is mainly composed of a specially designed decoupling mechanism and the supporting control method.The precondition for the cooperative operation of two AGVs is that each single AGV has the tracking ability with certain accuracy.Two AGVs run in line,with one as the main vehicle and the other as the servo vehicle.The decoupling mechanism in-stalled at the top of each vehicle can ensure that the workpiece will not be damaged by external force under the condition of the ex-istence of limited relative distance difference and attitude difference of the vehicle group;and the tracking ability of a single ve-hicle will not be affected by the linkage state.The supporting control method can fuse the data collected by sensors on the vehicle body and adjust the relative position of the two vehicles in time,so that the formation of the two vehicles can be basically the same when they are running along the forward/backward trajectory or the lateral trajectory.A test was performed on the vehicle group at different speeds.The test proved that the tracking accuracy of the two vehicles is consistent with that in the state of a single vehicle;and the relative distance between the two vehicles was adjusted in real time to ensure transport safety.
NETL
NSTL
万方数据
维普
