CN111806460A - Automatic guide transport vechicle control system - Google Patents
Automatic guide transport vechicle control system Download PDFInfo
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- CN111806460A CN111806460A CN202010696618.1A CN202010696618A CN111806460A CN 111806460 A CN111806460 A CN 111806460A CN 202010696618 A CN202010696618 A CN 202010696618A CN 111806460 A CN111806460 A CN 111806460A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic guided vehicle control system which comprises a first transportation unit, a second transportation unit, a pose detection unit and a control unit, wherein the first transportation unit and the second transportation unit respectively keep parallel operation according to a speed v set by a system, the pose detection unit is used for detecting the operation speed v1 of the first transportation unit, the operation speed v2 of the second transportation unit, a relative transverse offset angle delta theta and a longitudinal offset displacement delta s between the first transportation unit and the second transportation unit in real time, the control unit is communicated with the pose detection unit and is used for receiving v1, v2, delta theta and delta s uploaded by the pose detection unit, and if a difference value delta v and/or delta theta and/or delta s between v1 and v2 is larger than a system set threshold value, the first transportation unit and the second transportation unit are controlled to stop. The automatic guide transport vehicle control system can realize synchronous operation of the two transport units, and guarantees that the transport vehicle is more stable and reliable when carrying goods.
Description
Technical Field
The invention relates to the technical field of carrying equipment, in particular to an automatic guide transport vehicle control system.
Background
Some automatic workshops adopt an Automatic Guided Vehicle (AGV) to pull a special cargo trailer for automatic transportation, and the special cargo trailer is Guided by attaching a guide magnetic stripe to the ground, so that the cargo trailer can be automatically transported according to a program. According to the magnetic navigation sensor and the obstacle sensor on the trolley, the functions of automatic guiding and automatic obstacle avoidance are realized.
Some automatic guided transporting vehicle include two fork dollies, and every fork dolly utilizes and lays magnetic stripe or two-dimensional code subaerial and carries out the navigation operation, and every fork dolly all can stretch into the tray of placing the goods in. During the transport, two fork dollies jack up simultaneously and lift up the tray, and two fork dollies move simultaneously in order to realize the transport of goods. In practical application, two fork dollies are difficult to keep synchronous, lead to carrying the tray jacking and in the removal process the tray dislocation or drop, can lead to taking place hard friction and damaging fork or goods even between fork dolly and the tray.
The above information disclosed in this background section is only for enhancement of understanding of the background of the application and therefore it may comprise prior art that does not constitute known to a person of ordinary skill in the art.
Disclosure of Invention
Aiming at the problems pointed out in the background technology, the invention provides an automatic guide transport vehicle control system, which realizes the synchronous operation of two transport units and ensures that a transport vehicle is more stable and reliable when carrying goods.
In order to realize the purpose of the invention, the invention is realized by adopting the following technical scheme:
the invention provides an automatic guided vehicle control system, comprising: the system comprises a first transportation unit and a second transportation unit, wherein the first transportation unit and the second transportation unit respectively keep parallel operation according to a speed v set by the system; a pose detection unit for detecting in real time a running speed v1 of the first transport unit, a running speed v2 of the second transport unit, a relative lateral offset angle Δ θ and a longitudinal offset displacement Δ s between the first transport unit and the second transport unit; a control unit, which is communicated with the pose detection unit and is used for receiving v1, v2, delta theta and delta s uploaded by the pose detection unit; wherein the first transportation unit and the second transportation unit are controlled to stop if the difference value Δ v and/or Δ θ and/or Δ s between v1 and v2 is larger than a system set threshold value.
In some embodiments of the present application, the control unit calculates a pose adjustment amount according to the received v1, v2, Δ θ, and Δ s, and feeds back the pose adjustment amount to the first transportation unit or the second transportation unit, and the first transportation unit or the second transportation unit performs pose adjustment according to the received pose adjustment amount.
In some embodiments of the present application, the control unit and the pose detection unit communicate with each other through ultra wideband or 5G.
In some embodiments of the present application, the pose detection unit includes a first speed sensor and a second speed sensor, the first speed sensor and the second speed sensor respectively communicating with the control unit; the first speed sensor is arranged on the first transportation unit and used for detecting the running speed v1 of the first transportation unit, and the second speed sensor is arranged on the second transportation unit and used for detecting the running speed v2 of the second transportation unit.
In some embodiments of the present application, the pose detection unit further includes a first distance measurement sensor and a second distance measurement sensor, the first distance measurement sensor and the second distance measurement sensor are arranged on the first transportation unit or the second transportation unit at intervals along the running direction of the automatic guided transportation vehicle, and the first distance measurement sensor and the second distance measurement sensor are respectively communicated with the control unit; a distance between the first ranging sensor and the second ranging sensor is L, a distance between the first transporting unit and the second transporting unit measured by the first ranging sensor is d1, a distance between the first transporting unit and the second transporting unit measured by the second ranging sensor is d2, and then a relative offset angle between the first transporting unit and the second transporting unit is determined
In some embodiments of the present application, a distance between the first ranging sensor and the second ranging sensor provided on the first transport unit or the second transport unit is not less than half of a length of the first transport unit or the second transport unit.
In some embodiments of the present application, the pose detection unit further includes an image capture device and a tag, and the image capture device and the tag are disposed over the first transportation unit and the second transportation unit; the image acquisition equipment is used for acquiring the position information of the label, and the delta s is the offset of the label deviating from the center of the visual field of the image acquisition equipment.
In some embodiments of the present application, the first distance measuring sensor, the second distance measuring sensor and the tag are located on the first transportation unit and face the second transportation unit, and the image capturing device is located on the second transportation unit and faces the first transportation unit.
In some embodiments of the present application, the first distance measuring sensor, the second distance measuring sensor, the image capturing device, and the tag are respectively disposed on the first transporting unit and the second transporting unit, and the positions of the first distance measuring sensor, the second distance measuring sensor, the image capturing device, and the tag are the same; the first transportation unit and the second transportation unit are respectively provided with the control unit; the system sets one of the first transportation unit and the second transportation unit as a master side and the other as a slave side, and when the system works, the control unit, the first distance measuring sensor and the second distance measuring sensor which are arranged on the master side are turned on, the image acquisition equipment which is arranged on the master side is turned off, the control unit, the first distance measuring sensor and the second distance measuring sensor which are arranged on the slave side are turned off, and the image acquisition equipment which is arranged on the slave side is turned on.
In some embodiments of the present application, the first transportation unit and the second transportation unit upload heartbeats to the control unit at a time interval Δ t, and if the control unit accumulates that the heartbeats of the first transportation unit or the second transportation unit are not received continuously and exceed a threshold range set by a system, the first transportation unit and the second transportation unit are controlled to stop.
Compared with the prior art, the invention has the advantages and positive effects that:
the automatic guided vehicle control system in the application detects the running speed v1 of the first transportation unit, the running speed v2 of the second transportation unit, the relative transverse offset angle delta theta and the longitudinal offset displacement delta s between the first transportation unit and the second transportation unit in real time through the pose detection unit, and the control unit is communicated with the pose detection unit and used for receiving v1, v2, delta theta and delta s uploaded by the pose detection unit. If the difference value delta v and/or delta theta and/or delta s between v1 and v2 is larger than the set threshold value of the system, the first transportation unit and the second transportation unit are controlled to stop, so that goods falling, collision between the two transportation units and the like caused by dislocation of the first transportation unit and the second transportation unit in the operation process are avoided, and the safety and the reliability of the whole system are improved.
The pose detection comprises the speed of the first transportation unit and the second transportation unit, the relative longitudinal displacement between the first transportation unit and the second transportation unit and the transverse offset between the first transportation unit and the second transportation unit, so that the first transportation unit and the second transportation unit are abnormal in any movement dimension and can trigger a parking instruction, and the monitoring of the whole system is more comprehensive and accurate.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a control flow diagram of an automated guided vehicle control system according to an embodiment;
FIG. 2 is a first schematic structural view of an automated guided vehicle according to an embodiment;
FIG. 3 is a second schematic structural view of an automated guided vehicle according to an embodiment;
fig. 4 is a schematic structural view of an automated guided vehicle according to another embodiment.
Reference numerals:
10-a first transport unit;
20-a second transport unit;
30-a control unit;
41-first speed sensor, 42-second speed sensor, 43-first range sensor, 44-second range sensor, 45-image capture device, 46-tag.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The automatic guide transport vechicle in this embodiment can be used to the transport of goods, and the control system who is applied to this automatic guide transport vechicle is first to be used for realizing the synchronous operation of two transportation units, guarantees that the transport vechicle is more steady reliable when carrying the goods, avoids two transportation units to take place the dislocation in the operation process.
To achieve the above object, referring to fig. 1 to 3, the automatic guided vehicle control system in the present embodiment first includes a first transporting unit 10, a second transporting unit 20, a posture detecting unit, a control unit 30, and the like.
The first transport unit 10 and the second transport unit 20 can be synchronously operated in a parallel posture at a speed v set by the system.
The first transporting unit 10 and the second transporting unit 20 may be in the form of a fork type AGV, and the first transporting unit 10 and the second transporting unit 20 may respectively extend into the tray to carry the goods.
The first and second transport units 10 and 20 can perform a navigation operation using a magnetic stripe or a two-dimensional code laid on the ground.
The pose detection unit is used for detecting the running speed v1 of the first transportation unit 10, the running speed v2 of the second transportation unit 20, the relative lateral offset angle delta theta and the longitudinal offset displacement delta s between the first transportation unit 10 and the second transportation unit 20 in real time.
The control unit 30 is in communication with the pose detection unit for receiving v1, v2, Δ θ, and Δ s uploaded by the pose detection unit.
If the difference value delta v and/or delta theta and/or delta s between v1 and v2 is larger than the set threshold value of the system, the first transportation unit 10 and the second transportation unit 20 are controlled to stop, so that goods falling, collision between the two transportation units and the like caused by dislocation of the first transportation unit 10 and the second transportation unit 20 in the operation process are avoided, and the safety and reliability of the whole system are improved.
The pose detection of the first transportation unit 10 and the pose detection of the second transportation unit 20 comprise the speed, the relative longitudinal displacement and the transverse offset of the first transportation unit 10 and the second transportation unit 20, so that the first transportation unit 10 and the second transportation unit 20 are abnormal in any movement dimension and can trigger a parking instruction, and the monitoring of the whole system is more comprehensive and accurate.
In some embodiments of the present application, the automated guided vehicle control system includes an alarm unit (not shown) that generates an alarm to remind the operator to adjust the first transportation unit 10 and the second transportation unit 20 in time when the difference Δ v and/or Δ θ and/or Δ s between v1 and v2 is greater than a threshold value set by the system.
In some embodiments of the present application, when Δ v, Δ θ, and Δ s are within the threshold range set by the system, the control unit 30 calculates a pose adjustment amount according to the received v1, v2, Δ θ, and Δ s, the control unit 30 feeds the pose adjustment amount back to the first transportation unit 10 or the second transportation unit 20, and the first transportation unit 10 or the second transportation unit 20 performs pose adjustment according to the received pose adjustment amount, so that the first transportation unit 10 or the second transportation unit 20 performs pose adjustment in real time, and synchronous parallel operation between the first transportation unit 10 and the second transportation unit 20 is ensured.
In some embodiments of the present application, the control unit 30 and the pose detection unit communicate with each other through ultra-wideband or 5G, so that ms-level communication frequency between the control unit 30 and the pose detection unit can be ensured, communication speed can be increased, and second, real-time performance of communication between the first transportation unit 10 and the second transportation unit 20 can be ensured, and control accuracy of the two transportation units can be improved.
In some embodiments of the present application, referring to fig. 2, the posture detecting unit includes a first speed sensor 41 and a second speed sensor 42, and the first speed sensor 41 and the second speed sensor 42 are respectively in communication with the control unit.
The first speed sensor 41 is provided on the first transporting unit 10 for detecting the running speed v1 of the first transporting unit 10, and the second speed sensor 42 is provided on the second transporting unit 20 for detecting the running speed v2 of the second transporting unit 20.
The control unit 30 calculates the speed difference av between the first transport unit 10 and the second transport unit 20 from the received v1 and v 2.
It should be noted that, referring to fig. 1, after the system is started, the user sets a running speed v, the system feeds the speed v back to the first transportation unit 10, the first transportation unit 10 runs according to the speed v, meanwhile, the first transportation unit 10 issues the speed v to the second transportation unit 20, and the second transportation unit 20 also runs synchronously according to the speed v. During the operation of the first and second transport units 10 and 20, the first and second speed sensors 41 and 42 detect the operation speeds v1 and v2 of the first and second transport units 10 and 20 in real time.
When the difference in velocity deltav between the first transport unit 10 and the second transport unit 20 is greater than a system-set threshold value, the first transport unit 10 and the second transport unit 20 are controlled to stop operating.
When the speed difference Δ v between the first transportation unit 10 and the second transportation unit 20 is smaller than the threshold value set by the system, the control unit 30 calculates and outputs a speed adjustment value, the control unit 30 feeds the speed adjustment value back to the first transportation unit 10 or the second transportation unit 20, and the first transportation unit 10 or the second transportation unit 20 makes an adaptive speed adjustment to ensure that the first transportation unit 10 and the second transportation unit 20 can operate at the same speed.
If the control unit 30 does not receive the speed data uploaded by the first speed sensor 41 and/or the second speed sensor 42, it indicates that the first transportation unit 10 and/or the second transportation unit 20 is faulty, and the first transportation unit 10 and the second transportation unit 20 are controlled to stop.
In some embodiments of the present application, referring to fig. 3 again, the posture detecting unit further includes a first distance measuring sensor 43 and a second distance measuring sensor 44, the first distance measuring sensor 43 and the second distance measuring sensor 44 are disposed on the first transporting unit 10 or the second transporting unit 20 at intervals along the running direction of the automated guided transporting vehicle, and the first distance measuring sensor 43 and the second distance measuring sensor 44 are both in communication with the control unit 30.
The distance between the first ranging sensor 43 and the second ranging sensor 44 is L, the first ranging sensor 43 measures the distance between the first transporting unit 10 and the second transporting unit 20 as d1, the second ranging sensor 44 measures the distance between the first transporting unit 10 and the second transporting unit 20 as d2, and the relative offset angle between the first transporting unit 10 and the second transporting unit 20 is L
The first distance measuring sensor 43 and the second distance measuring sensor 44 are simultaneously installed on the first transporting unit 10 or the second transporting unit 20, so as to facilitate the measurement and calculation of data.
When the relative offset angle Δ θ between the first transporting unit 10 and the second transporting unit 20 is greater than the system-set threshold value, the first transporting unit 10 and the second transporting unit 20 are controlled to stop operating.
When the relative offset angle delta theta between the first transportation unit 10 and the second transportation unit 20 is smaller than the system set threshold value, the control unit 30 calculates and outputs an offset angle adjustment value, the control unit 30 feeds the offset angle adjustment value back to the first transportation unit 10 or the second transportation unit 20, and the first transportation unit 10 or the second transportation unit 20 makes an adaptive angle adjustment to ensure that the first transportation unit 10 and the second transportation unit 20 can run in parallel.
In this embodiment, the distance between the first distance measuring sensor 43 and the second distance measuring sensor 44 provided on the first transport unit 10 or the second transport unit 20 is not less than half the length of the first transport unit 10 or the second transport unit 20, and the distance between the first distance measuring sensor 43 and the second distance measuring sensor 44 is increased, which contributes to improving the accuracy of Δ θ.
In some embodiments of the present application, referring to fig. 2, the posture detection unit further includes an image pickup device 45 and a label 46, and the image pickup device 45 and the label 46 are provided on the first transport unit 10 and the second transport unit 20 in a facing manner.
The image pickup device 45 is configured to pick up position information of the tag 46, and Δ s is an offset amount of the tag 46 from a center of a field of view of the image pickup device 45.
When the longitudinal offset displacement deltas between the first transport unit 10 and the second transport unit 20 is greater than a system-set threshold value, the first transport unit 10 and the second transport unit 20 are controlled to stop operating.
When the longitudinal offset displacement deltas between the first transportation unit 10 and the second transportation unit 20 is smaller than the threshold value set by the system, the control unit 30 calculates and outputs an offset displacement adjustment value, the control unit 30 feeds the offset displacement adjustment value back to the first transportation unit 10 or the second transportation unit 20, and the first transportation unit 10 or the second transportation unit 20 makes adaptive longitudinal displacement adjustment to ensure that the first transportation unit 10 and the second transportation unit 20 can synchronously operate in the longitudinal direction.
In the embodiment, the image acquisition device 45 is a common 2D camera, and the cost is low.
In some embodiments of the present application, referring to fig. 2, the first distance measuring sensor 43, the second distance measuring sensor 44 and the tag 46 are disposed on the first transportation unit 10 and face the second transportation unit 20, and the image capturing device 45 is disposed on the second transportation unit 20 and face the first transportation unit 10, so that the first transportation unit 10 and the second transportation unit 20 can obtain better counterweight distribution, which helps to improve the reliability of synchronous operation of the two transportation units.
In some embodiments of the present application, referring to fig. 4, the first transportation unit 10 and the second transportation unit 20 are respectively provided with a first distance measuring sensor 43, a second distance measuring sensor 44, an image capturing device 45, and a label 46, and are arranged at the same position. The first transport unit 10 and the second transport unit 20 are respectively provided with a control unit 30.
In other words, the configurations of the first transportation unit 10 and the second transportation unit 20 are identical, and the arrangement facilitates flexible pairing use between the first transportation unit 10 and the second transportation unit 20, thereby improving flexibility of the system and reducing cost.
The system sets one of the first transport unit 10 and the second transport unit 20 as a master and the other as a slave, and when the system is in operation, the control unit 30, the first distance measuring sensor 43, and the second distance measuring sensor 44 provided on the master are turned on, the image capturing device 45 provided on the master is turned off, the control unit 30, the first distance measuring sensor 43, and the second distance measuring sensor 44 provided on the slave are turned off, and the image capturing device 45 provided on the slave is turned on.
For example, the system sets the first transportation unit 10 as the master side and the second transportation unit 20 as the slave side, and during operation, the control unit 30, the first distance measuring sensor 43 and the second distance measuring sensor 44 on the first transportation unit 10 are turned on, the image capturing device 45 on the first transportation unit 10 is turned off, the control unit 30, the first distance measuring sensor 43 and the second distance measuring sensor 44 on the second transportation unit 20 are turned off, and the image capturing device 45 on the second transportation unit 20 is turned on.
In some embodiments of the present application, the first transportation unit 10 and the second transportation unit 20 respectively upload the heartbeats to the control unit 30 at the time interval Δ t, and if the control unit 30 accumulates that the heartbeats of the first transportation unit 10 or the second transportation unit 20 are not continuously received and exceed the threshold range set by the system, it indicates that the first transportation unit 10 and/or the second transportation unit 20 is faulty, and the first transportation unit 10 and the second transportation unit 20 are controlled to stop, thereby improving the reliability of the system.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An automated guided vehicle control system, comprising:
the system comprises a first transportation unit and a second transportation unit, wherein the first transportation unit and the second transportation unit respectively keep parallel operation according to a speed v set by the system;
a pose detection unit for detecting in real time a running speed v1 of the first transport unit, a running speed v2 of the second transport unit, a relative lateral offset angle Δ θ and a longitudinal offset displacement Δ s between the first transport unit and the second transport unit;
a control unit, which is communicated with the pose detection unit and is used for receiving v1, v2, delta theta and delta s uploaded by the pose detection unit;
wherein the first transportation unit and the second transportation unit are controlled to stop if the difference value Δ v and/or Δ θ and/or Δ s between v1 and v2 is larger than a system set threshold value.
2. The automated guided vehicle control system of claim 1,
the control unit calculates a pose adjustment amount according to the received v1, v2, delta theta and delta s, the control unit feeds the pose adjustment amount back to the first transportation unit or the second transportation unit, and the first transportation unit or the second transportation unit carries out pose adjustment according to the received pose adjustment amount.
3. The automated guided vehicle control system of claim 1,
the control unit and the pose detection unit are communicated through an ultra-wideband or 5G.
4. The automated guided vehicle control system of claim 1,
the pose detection unit comprises a first speed sensor and a second speed sensor, and the first speed sensor and the second speed sensor are respectively communicated with the control unit;
the first speed sensor is arranged on the first transportation unit and used for detecting the running speed v1 of the first transportation unit, and the second speed sensor is arranged on the second transportation unit and used for detecting the running speed v2 of the second transportation unit.
5. The automated guided vehicle control system of claim 1,
the pose detection unit further comprises a first ranging sensor and a second ranging sensor, the first ranging sensor and the second ranging sensor are arranged on the first transportation unit or the second transportation unit at intervals along the running direction of the automatic guide transportation vehicle, and the first ranging sensor and the second ranging sensor are respectively communicated with the control unit;
a distance between the first ranging sensor and the second ranging sensor is L, a distance between the first transporting unit and the second transporting unit measured by the first ranging sensor is d1, a distance between the first transporting unit and the second transporting unit measured by the second ranging sensor is d2, and then a relative offset angle between the first transporting unit and the second transporting unit is determined
6. The automated guided vehicle control system of claim 5,
the distance between the first ranging sensor and the second ranging sensor arranged on the first transportation unit or the second transportation unit is not less than half of the length of the first transportation unit or the second transportation unit.
7. The automated guided vehicle control system of claim 5,
the pose detection unit further comprises an image acquisition device and a label, and the image acquisition device and the label are arranged on the first transportation unit and the second transportation unit in a manner of facing the first transportation unit and the second transportation unit;
the image acquisition equipment is used for acquiring the position information of the label, and the delta s is the offset of the label deviating from the center of the visual field of the image acquisition equipment.
8. The automated guided vehicle control system of claim 7,
the first distance measuring sensor, the second distance measuring sensor and the label are arranged on the first transportation unit and face the second transportation unit, and the image acquisition equipment is arranged on the second transportation unit and faces the first transportation unit.
9. The automated guided vehicle control system of claim 8,
the first transportation unit and the second transportation unit are respectively provided with the first distance measurement sensor, the second distance measurement sensor, the image acquisition equipment and the label, and the arrangement positions are the same;
the first transportation unit and the second transportation unit are respectively provided with the control unit;
the system sets one of the first transportation unit and the second transportation unit as a master side and the other as a slave side, and when the system works, the control unit, the first distance measuring sensor and the second distance measuring sensor which are arranged on the master side are turned on, the image acquisition equipment which is arranged on the master side is turned off, the control unit, the first distance measuring sensor and the second distance measuring sensor which are arranged on the slave side are turned off, and the image acquisition equipment which is arranged on the slave side is turned on.
10. The automated guided vehicle control system of any one of claims 1 to 9,
the first transportation unit and the second transportation unit upload heartbeat to the control unit at a time interval delta t respectively, and if the control unit accumulates that the heartbeat of the first transportation unit or the heartbeat of the second transportation unit are not received continuously and exceeds a threshold range set by a system, the first transportation unit and the second transportation unit are controlled to stop.
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