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 6:
7. 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 semi-closed loop positioning mode is specifically as follows:
transmitting, by the vehicle mounted controller (17), the target information to the driving device (18) according to the task instruction received; feeding back, by the encoder (23), the code value data to the driving device (18) in real time, and calculating by the driving device (18) according to the target information and the code value data received to obtain a real-time position and a real-time velocity;
obtaining, by the driving device (18), a position deviation and a velocity deviation according to the real-time position and the real-time velocity, and outputting the driving current, so as to control 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 semi-closed loop positioning mode.