CN111267615A - Vehicle speed gradual change method, computer readable storage medium, AGV control system and AGV trolley - Google Patents
Vehicle speed gradual change method, computer readable storage medium, AGV control system and AGV trolley Download PDFInfo
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- CN111267615A CN111267615A CN202010074527.4A CN202010074527A CN111267615A CN 111267615 A CN111267615 A CN 111267615A CN 202010074527 A CN202010074527 A CN 202010074527A CN 111267615 A CN111267615 A CN 111267615A
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- vehicle speed
- agv
- speed
- control system
- current vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a vehicle speed gradual change method, a computer readable storage medium, an AGV control system and an AGV trolley, wherein the method comprises the following steps: the method comprises the steps of obtaining a target vehicle speed and a current vehicle speed, and if the variation of the target vehicle speed relative to the current vehicle speed exceeds a preset degree, enabling the current vehicle speed to be changed by the variation not exceeding the preset degree until the target vehicle speed is reached, so that the AGV trolley does not have the problem that the vehicle speed jumps greatly in the process of changing the vehicle speed to the target vehicle speed, and therefore the AGV trolley can run stably.
Description
Technical Field
The invention relates to the technical field of vehicle speed control, in particular to a vehicle speed gradual change method, a computer readable storage medium, an AGV control system and an AGV.
Background
AGVs (automated Guided vehicles) refer to automated Guided vehicles, unmanned vehicles, generally called AGVs, that are capable of automatically traveling along a predetermined route without manual navigation, thereby performing various transfer and carrying functions.
The AGV trolley generally controls the speed of the AGV trolley to change to a target speed by receiving a speed instruction from a computer, but in the running process of the conventional AGV trolley, if the target speed in the received speed instruction is greatly different from the current speed, the AGV trolley can generate the problem of great speed jump in the process of changing the speed of the AGV trolley to the target speed, so that the running of the AGV trolley is unstable.
Disclosure of Invention
The invention aims to solve the technical problem of how to ensure that the AGV does not have great jump of the speed in the process of changing the speed of the AGV to the target speed.
In order to solve the technical problem, the invention provides a vehicle speed gradual change method, which comprises the following steps: and if the change amount of the target vehicle speed relative to the current vehicle speed exceeds a preset degree, changing the current vehicle speed by the change amount not exceeding the preset degree until the target vehicle speed is reached.
Preferably, after the target vehicle speed and the current vehicle speed are obtained, a difference between the target vehicle speed and the current vehicle speed is calculated, and if the ratio of the difference to the current vehicle speed is greater than a preset jump ratio, it is determined that the change amount of the target vehicle speed relative to the current vehicle speed exceeds a preset degree.
Preferably, the "changing the current vehicle speed by the change amount not exceeding the preset degree until the target vehicle speed is reached" specifically: and multiplying the current vehicle speed by a variable speed preset by a user to obtain a variable speed value, wherein the variable speed is smaller than the jump ratio, and accumulating the variable speed value on the basis of the current vehicle speed until the target vehicle speed is reached.
Preferably, the time intervals for accumulating the shift values are the same.
Preferably, the jump ratio is 30%.
The invention also provides a computer-readable storage medium having stored thereon a computer program for execution by a processor of the steps of the above-described method.
The present invention also provides an AGV control system comprising a controller including a processor and a computer readable storage medium interconnected as described above.
Preferably, the vehicle-mounted controller comprises a wireless communication module for receiving a control instruction, an automatic navigation system for automatic navigation and a motor driver for enabling a motor to drive a movement mechanism of the vehicle to move, and the controller is electrically connected with the wireless communication module, the automatic navigation system and the motor driver respectively.
Preferably, the controller is an STM32 single chip microcomputer.
The invention also provides an AGV which comprises a movement mechanism and an AGV control system used for controlling the movement mechanism, and is characterized in that: the AGV control system is as described above.
Preferably, the moving mechanism comprises wheels and a motor for driving the wheels to rotate, and the AGV control system is electrically connected with the motor.
Preferably, a power module is included for powering the AGV control system.
The invention has the following beneficial effects: when the AGV dolly changes the speed of a vehicle, if the change amount of target speed of a vehicle for the current speed of a vehicle exceeds the degree of predetermineeing, then make the current speed of a vehicle with the change amount that does not exceed the degree of predetermineeing change, until reaching the target speed of a vehicle, consequently, the AGV dolly can not appear the problem that the speed of a vehicle jumped by a wide margin at the in-process that changes self speed of a vehicle to the target speed of a vehicle to make the AGV dolly travel stably.
Drawings
FIG. 1 is a block diagram of the electrical connections of an AGV cart.
Description of reference numerals: 1-an AGV control system; 2-a power supply module; 3-a step motor; 4-STM32 single chip microcomputer; 5-a wireless communication module; 6-automatic navigation system; 7-stepper motor driver.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below. While exemplary embodiments of the present application have been described, it should be understood that the present application may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
AGV dolly is as shown in fig. 1, including AGV control system 1, power module 2 and be used for driving wheel pivoted step motor 3, wherein AGV control system 1 includes STM32 singlechip 4, wireless communication module 5, automatic navigation 6 and step motor driver 7, wireless communication module 5 is connected respectively to STM32 singlechip 4, automatic navigation 6 and step motor driver 7, step motor driver 7 connects step motor 3 and constitutes step motor actuating system, power module 2 is used for giving STM32 singlechip 4, wireless communication module 5, automatic navigation 6, step motor driver 7 and step motor 3 power supply. After the AGV trolley is started, the AGV control system 1 receives a route instruction and a vehicle speed instruction issued by a computer through the wireless communication module 5, the STM32 single chip microcomputer 4 can obtain a running route according to the route instruction and obtain a target vehicle speed according to the vehicle speed instruction, then the stepping motor driver 7 is controlled to enable the stepping motor 3 to drive wheels to rotate according to the target vehicle speed, and the automatic navigation system 6 is used for controlling the AGV trolley to run along the running route. The structure and driving manner of the AGV car belong to the conventional art, and are not described in detail herein.
The AGV control system 1 can control the AGV dolly speed of a motor vehicle to reach the target speed of a motor vehicle, so the STM32 singlechip 4 can obtain the target speed of a motor vehicle of AGV according to the latest speed of a motor vehicle instruction, can obtain the current speed of a motor vehicle of AGV according to the speed of a motor vehicle instruction last time.
In this embodiment, a jump ratio of 30% is preset in the STM32 single chip microcomputer 4, and if the vehicle speed of the AGV is about to change and exceeds the jump ratio of 30%, it means that the vehicle speed of the AGV exceeds a preset degree, so that it is considered that the vehicle speed of the AGV is about to jump greatly in the driving process, for example, the STM32 single chip microcomputer 4 obtains that the current vehicle speed of the AGV is 2m/s and the target vehicle speed is 3m/s, the difference between the target vehicle speed and the current vehicle speed is 3-2-1 m/s, compares the difference 1m/s with the current vehicle speed 2m/s, obtains that the ratio of the difference to the current vehicle speed is 1/2-50%, that is, the ratio of the difference to the current vehicle speed is greater than the ratio of 30%, so the STM32 single chip microcomputer 4 judges that the vehicle speed of the AGV.
After judging that the AGV dolly speed of a motor vehicle is about to take place to jump by a wide margin, STM32 singlechip 4 is not direct one-step control AGV dolly speed of a motor vehicle and reaches the target speed of a motor vehicle, but accumulates the speed of a motor vehicle according to the variable speed value that accounts for above-mentioned difference certain proportion and certain speed of a motor vehicle gradual change to reaching the target speed of a motor vehicle, specifically: the speed change rate is 10% and the speed change time interval is 0.1s are preset in the STM32 single chip microcomputer 4, the STM32 single chip microcomputer 4 multiplies the current speed 1m/s by the speed change rate 10% preset by a user to obtain a speed change value of 0.1m/s, then the speed change value is accumulated once every 0.1s on the basis of the current speed 2m/s, the speed change frequency is that the difference value/speed change rate is 1/(10%) -10 times, the speed after the first accumulation of the AGV trolley is 2+ 0.1-2.1 m/s, the speed after the second accumulation is 2.1+ 0.1-2.2 m/s … … is 2.9+ 0.1-3 m/s after the tenth accumulation, namely the speed reaches the target speed 3m/s after 0.1-10 s. In this embodiment, since the speed change rate 10% is less than the jump ratio 30%, that is, the AGV does not jump the speed of the vehicle by a large margin every time the speed change value is accumulated, so that the AGV runs stably.
In other embodiments, the user may set the variable speed to another value, but the variable speed must be smaller than the jump ratio by 30%, so as to avoid the problem that the speed of the AGV greatly jumps. Preferably, the user sets the speed ratio to another value, and the vehicle speed gradient number is an integer, for example, when the speed ratio is preset to 20%, the vehicle speed gradient number is 1/(20%) to 5, and when the speed ratio is preset to 25%, the vehicle speed gradient number is 1/(25%) to 4, so that the vehicle speed of the AGV vehicle after vehicle speed accumulation is exactly equal to the target vehicle speed. If the user presets the gear ratio to another ratio, the vehicle speed gradient number is not an integer, for example, if the gear ratio is preset to 15%, the vehicle speed gradient number is 1/(15%) -6.67, and the nearest integer is taken as 7 times, so that the vehicle speed of the AGV vehicle after vehicle speed accumulation is 3.05m/s, which is slightly larger than the target vehicle speed.
In other embodiments, the user may also set the vehicle speed gradual change time interval to other values, for example, 0.2s and 0.3s … …, so that the total time for the AGV to accumulate the vehicle speed will change, that is, the time required for the AGV to change the vehicle speed to reach the target vehicle speed is different, and the user may set the time according to actual needs, which is not described in detail herein.
It should be noted that the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the protection scope of the present application, and although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.
Claims (12)
1. The vehicle speed gradual change method is characterized by comprising the following steps: and if the change amount of the target vehicle speed relative to the current vehicle speed exceeds a preset degree, changing the current vehicle speed by the change amount not exceeding the preset degree until the target vehicle speed is reached.
2. The vehicle speed gradation method as claimed in claim 1, wherein: after the target vehicle speed and the current vehicle speed are obtained, a difference value between the target vehicle speed and the current vehicle speed is calculated, and if the ratio of the difference value to the current vehicle speed is larger than a preset jump ratio value, the change amount of the target vehicle speed relative to the current vehicle speed is judged to exceed a preset degree.
3. The vehicle speed gradation method as claimed in claim 2, wherein: the "changing the current vehicle speed by the change amount not exceeding the preset degree until the target vehicle speed is reached" specifically: and multiplying the current vehicle speed by a variable speed preset by a user to obtain a variable speed value, wherein the variable speed is smaller than the jump ratio, and accumulating the variable speed value on the basis of the current vehicle speed until the target vehicle speed is reached.
4. The vehicle speed gradation method as claimed in claim 3, wherein: the time intervals for accumulating the shift values are the same.
5. The vehicle speed gradation method as claimed in claim 2, wherein: the jump ratio is 30%.
6. A computer-readable storage medium having stored thereon a computer program characterized by: the computer program when executed by a processor implements the steps of the method of any one of claims 1 to 5.
An AGV control system comprising a controller, said controller comprising a processor and a computer readable storage medium interconnected, characterized by: the computer-readable storage medium as recited in claim 6.
8. The AGV control system of claim 7, wherein: the vehicle-mounted automatic navigation system comprises a wireless communication module for receiving a control instruction, an automatic navigation system for automatic navigation and a motor driver for enabling a motor to drive a moving mechanism of a vehicle to move, wherein the controller is respectively and electrically connected with the wireless communication module, the automatic navigation system and the motor driver.
9. The AGV control system of claim 7, wherein: the controller is an STM32 single chip microcomputer.
The AGV dolly includes motion and AGV control system who is used for controlling motion, characterized by: an AGV control system according to any one of claims 7 to 9.
11. The AGV cart of claim 10, further comprising: the moving mechanism comprises wheels and a motor used for driving the wheels to rotate, and the AGV control system is electrically connected with the motor.
12. The AGV cart of claim 10, further comprising: including a power module for powering the AGV control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010074527.4A CN111267615A (en) | 2020-01-22 | 2020-01-22 | Vehicle speed gradual change method, computer readable storage medium, AGV control system and AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010074527.4A CN111267615A (en) | 2020-01-22 | 2020-01-22 | Vehicle speed gradual change method, computer readable storage medium, AGV control system and AGV trolley |
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| Publication Number | Publication Date |
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| CN111267615A true CN111267615A (en) | 2020-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010074527.4A Pending CN111267615A (en) | 2020-01-22 | 2020-01-22 | Vehicle speed gradual change method, computer readable storage medium, AGV control system and AGV trolley |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112373316A (en) * | 2020-11-27 | 2021-02-19 | 深兰人工智能(深圳)有限公司 | Vehicle and vehicle speed control method and device thereof |
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| US6161073A (en) * | 1998-03-30 | 2000-12-12 | Nissan Motor Co., Ltd. | Apparatus and method for performing automatic control over velocity of automotive vehicle |
| CN1989361A (en) * | 2004-07-28 | 2007-06-27 | 株式会社小松制作所 | Shift control device and shift control method for vehicle |
| CN101118441A (en) * | 2006-08-01 | 2008-02-06 | 日产自动车株式会社 | Vehicle travel controller |
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2020
- 2020-01-22 CN CN202010074527.4A patent/CN111267615A/en active Pending
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| US6161073A (en) * | 1998-03-30 | 2000-12-12 | Nissan Motor Co., Ltd. | Apparatus and method for performing automatic control over velocity of automotive vehicle |
| JP2000043609A (en) * | 1998-07-30 | 2000-02-15 | Mazda Motor Corp | Constant speed traveling device for vehicle |
| CN1989361A (en) * | 2004-07-28 | 2007-06-27 | 株式会社小松制作所 | Shift control device and shift control method for vehicle |
| CN101118441A (en) * | 2006-08-01 | 2008-02-06 | 日产自动车株式会社 | Vehicle travel controller |
| CN107107751A (en) * | 2015-01-05 | 2017-08-29 | 日产自动车株式会社 | Target vehicle speed generating means and travel controlling system |
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| CN112373316A (en) * | 2020-11-27 | 2021-02-19 | 深兰人工智能(深圳)有限公司 | Vehicle and vehicle speed control method and device thereof |
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Application publication date: 20200612 |