Patent ID: 11925134
Assignee: INSTITUTE OF URBAN AGRICULTURE, CHINESE ACADEMY OF AGRICULTURAL SCIENCES
Field: Other special machines (Mechanical engineering)
Classification: CPC A  B  Y | IPC A  B

Claim 5:
6. The control method for a multilayered rail guide vehicle system for use in three-dimensional planting in a plant factory according to claim 5, wherein the full-closed loop positioning mode is specifically as follows:
receiving, by the vehicle mounted controller (17), an absolute position fed back by the laser range finder (22) in real time according to the operation mode and the target information in the task instruction received, and dynamically adjusting the target velocity in real time according to a deviation between the absolute position and a current position, and transmitting the target velocity to the driving device (18);
detecting, by the encoder (23), a rotation angle of a motor shaft in a traveling device, acquiring, by the driving device (18), the code value data and calculating to obtain a real-time velocity of the body of the rail guide vehicle, dynamically adjusting the driving current in real time according to a velocity deviation between the real-time velocity and the target velocity, and controlling the traveling device (1) to perform the traveling motion; and controlling, by the driving device (18), the lifting device (2) to perform the lifting motion to complete control of the full-closed loop positioning mode.