CN112731928A - Method and device for controlling automatic guiding device, and non-volatile storage medium - Google Patents
Method and device for controlling automatic guiding device, and non-volatile storage medium Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses a method and a device for controlling an automatic guiding device and a nonvolatile storage medium. Wherein, the method comprises the following steps: acquiring sensor data of an automatic guiding device, wherein the sensor data is detected by a sensor in the automatic guiding device; determining a current motor speed of the automated guidance device based on the sensor data; obtaining current structural parameters of an automatic guiding device, and determining a target motor speed of the automatic guiding device according to the current structural parameters and the current motor speed, wherein the target motor speed comprises: the current structural parameters include at least one of: the rotating speed ratio of the driving motor, the wheel diameter of the driving wheel and the wheel track of the driving wheel; and controlling the automatic guiding device to work based on the target motor speed. The invention solves the technical problem that different types of automatic guiding devices cannot be controlled by adopting a general control mode.
Description
Technical Field
The invention relates to the field of automatic guiding device control, in particular to a method and a device for controlling an automatic guiding device and a nonvolatile storage medium.
Background
In the related art, most of mobile robots (for example, AGV automatic guidance devices) which are initially used adopt a magnetic navigation method, but due to the large magnetic navigation limitation, the robots can only walk along a magnetic stripe all the time, and a lot of RFID cards need to be placed on the ground to perform related functions, so that the daily maintenance workload is large.
In order to better realize unmanned delivery, the flexibility of the automatic guiding device is increased, therefore, in the prior art, a two-dimension code navigation mode is generally adopted to replace a magnetic navigation mode, the mobile robot adopting the two-dimension code navigation mode has the advantage that the path is not fixed, a real-time planning mode is used, the optimal path can be automatically planned out in a multi-vehicle environment, and the most efficient unmanned delivery task is realized.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a method and a device for controlling an automatic guiding device and a nonvolatile storage medium, which at least solve the technical problem that different types of automatic guiding devices cannot be controlled in a universal control mode in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a method of controlling an automatic guidance device, including: acquiring sensor data of an automatic guiding device, wherein the sensor data is detected by a sensor in the automatic guiding device; determining a current motor speed of the automated guidance device based on the sensor data; obtaining current structural parameters of an automatic guiding device, and determining a target motor speed of the automatic guiding device according to the current structural parameters and the current motor speed, wherein the target motor speed comprises: the current structural parameters include at least one of: the rotating speed ratio of the driving motor, the wheel diameter of the driving wheel and the wheel track of the driving wheel; and controlling the automatic guiding device to work based on the target motor speed.
Optionally, determining a current motor speed of the automatic guidance device based on the sensor data includes: analyzing the sensor data to obtain an analysis result, wherein the analysis result comprises: the running angle value and the running angle speed value of the automatic guiding device, two-dimensional code information on a running path and the working state of a safety sensor of the automatic guiding device; calculating the analysis result by using a navigation algorithm to obtain the current motor speed, wherein the navigation algorithm comprises at least one of the following steps: fuzzy logic algorithm, acceleration curve algorithm and AGV posture correction algorithm.
Optionally, obtaining the current structural parameters of the automatic guiding device includes: and acquiring the current structural parameters received by a communication interface of the automatic guiding device, wherein the current structural parameters are input through a touch display screen or an upper computer, or the current structural parameters are changed.
Optionally, determining the target motor speed of the automatic guiding device according to the current structural parameter and the current motor speed includes: calculating the current linear speed in the current motor speed and the current structure parameter to obtain the target linear speed; and calculating the current angular speed in the current motor speed and the current structure parameter to obtain the target angular speed.
Optionally, the method further includes: when detecting that the current structural parameters are changed, acquiring updated structural parameters; determining an updated target motor speed according to the updated structural parameters and the current motor speed; and controlling the automatic guiding device to work based on the updated target motor speed.
Optionally, the method further includes: and modifying a data analysis protocol of the sensor when the sensor replacement or the position change of the sensor of the automatic guiding device is detected, wherein the data analysis protocol is used for analyzing the sensor data.
According to another aspect of the embodiments of the present invention, there is also provided an apparatus for controlling an automatic guiding device, including: the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring sensor data of an automatic guiding device, and the sensor data is data detected by a sensor in the automatic guiding device; a first determining module for determining a current motor speed of the automatic guidance device based on the sensor data; a second determining module, configured to obtain a current structural parameter of an automatic guidance device, and determine a target motor speed of the automatic guidance device according to the current structural parameter and the current motor speed, where the target motor speed includes: the current structural parameters include at least one of: the rotating speed ratio of the driving motor, the wheel diameter of the driving wheel and the wheel track of the driving wheel; and the control module is used for controlling the automatic guiding device to work based on the target motor speed.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium storing a plurality of instructions, the instructions being adapted to be loaded by a processor and to perform any one of the above methods of controlling an automatic guidance device.
According to another aspect of embodiments of the present invention, there is also provided a processor for executing a program, wherein the program is configured to execute any one of the above methods for controlling an automatic guidance device when executed.
According to another aspect of the embodiments of the present invention, there is also provided an automatic guiding device, including a memory and a processor, the memory storing a computer program therein, the processor being configured to execute the computer program to perform any one of the above methods of controlling an automatic guiding device.
In the embodiment of the invention, sensor data of an automatic guiding device is acquired, wherein the sensor data is data detected by a sensor in the automatic guiding device; determining a current motor speed of the automated guidance device based on the sensor data; obtaining current structural parameters of an automatic guiding device, and determining a target motor speed of the automatic guiding device according to the current structural parameters and the current motor speed, wherein the target motor speed comprises: the current structural parameters include at least one of: the rotating speed ratio of the driving motor, the wheel diameter of the driving wheel and the wheel track of the driving wheel; and controlling the automatic guiding device to work based on the target motor speed.
The embodiment of the application determines the current motor speed by acquiring the sensor data of the automatic guiding device, and the current structural parameters of the automatic guiding device are combined with the current motor speed to determine the target motor speed of the automatic guiding device, so that the automatic guiding devices of different types can be based on the sensor data and the current structural parameters of the automatic guiding devices, the automatic guiding device is controlled by adopting the general control mode of the application, the purpose of controlling the automatic guiding device by adopting the general control mode is achieved, the technical effect of improving the general control efficiency of controlling the automatic guiding device is realized, and the technical problem that the automatic guiding devices of different types cannot be controlled by adopting the general control mode is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a method of controlling an automated guidance device according to an embodiment of the present invention;
FIG. 2 is a schematic view of a control frame of an alternative universal chassis for an automated guidance apparatus according to an embodiment of the present invention;
FIG. 3 is a target operational diagram of an alternative automated guidance device according to an embodiment of the present invention;
FIG. 4 is an offset operating diagram of an alternative automated guidance device according to an embodiment of the present invention;
FIG. 5 is an operational view of an alternative automated guidance device after corrective adjustment of a vehicle body in accordance with an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an apparatus for controlling an automatic guiding device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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 the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a method of controlling an automated guide apparatus, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a flowchart of a method of controlling an automatic guidance device according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, acquiring sensor data of an automatic guiding device, wherein the sensor data is detected by a sensor in the automatic guiding device;
step S104, determining the current motor speed of the automatic guiding device based on the sensor data;
step S106, obtaining the current structure parameter of the automatic guiding device, and determining the target motor speed of the automatic guiding device according to the current structure parameter and the current motor speed, wherein the target motor speed comprises: the current structural parameters include at least one of: the rotating speed ratio of the driving motor, the wheel diameter of the driving wheel and the wheel track of the driving wheel;
and step S108, controlling the automatic guiding device to work based on the target motor speed.
In the embodiment of the invention, sensor data of an automatic guiding device is acquired, wherein the sensor data is data detected by a sensor in the automatic guiding device; determining a current motor speed of the automated guidance device based on the sensor data; obtaining current structural parameters of an automatic guiding device, and determining a target motor speed of the automatic guiding device according to the current structural parameters and the current motor speed, wherein the target motor speed comprises: the current structural parameters include at least one of: the rotating speed ratio of the driving motor, the wheel diameter of the driving wheel and the wheel track of the driving wheel; and controlling the automatic guiding device to work based on the target motor speed.
The embodiment of the application determines the current motor speed by acquiring the sensor data of the automatic guiding device, and the current structural parameters of the automatic guiding device are combined with the current motor speed to determine the target motor speed of the automatic guiding device, so that the automatic guiding devices of different types can be based on the sensor data and the current structural parameters of the automatic guiding devices, the automatic guiding device is controlled by adopting the general control mode of the application, the purpose of controlling the automatic guiding device by adopting the general control mode is achieved, the technical effect of improving the general control efficiency of controlling the automatic guiding device is realized, and the technical problem that the automatic guiding devices of different types cannot be controlled by adopting the general control mode is solved.
Optionally, as shown in fig. 2, an embodiment of the present application provides a control frame of a general chassis of an automatic guiding device, based on the control frame, a user issues a task to be executed to a single chip microcomputer through an AGV scheduling system in the automatic guiding device, the single chip microcomputer reports an execution state to the AGV scheduling system, and sends control information to a human-computer interface for display, the user may also perform parameter setting on the single chip microcomputer through the human-computer interface in the automatic guiding device, and the single chip microcomputer controls the AGV automatic guiding device based on a control parameter set by the human-computer interface and the task to be executed issued by the AGV scheduling system, including but not limited to: upper control, sensor control, universal chassis control, etc.
As shown in fig. 2, the sensor in the automatic guiding device collects sensor data, acquires current motor speed, driving angle, angular speed, two-dimensional code information in driving route, status of safety sensor, etc. of the automatic guiding device, and uploads the sensor data to the universal chassis controller, which determines the current motor speed of the automatic guiding device based on the sensor data, and controls the automatic guiding device to automatically navigate to work based on the target motor speed by acquiring current structural parameters of the automatic guiding device, determining the target motor speed of the automatic guiding device according to the current structural parameters and the current motor speed, so as to improve applicability and universality of control program of the automatic guiding device, and the program frame of each type of automatic guiding device is the same, the automatic guiding device is convenient for other personnel to receive, and the running stability of the control program of the automatic guiding device is improved.
Furthermore, a general control frame for controlling the navigation of the automatic guiding device provided by the embodiment of the application, for example, a control frame of a general chassis of a two-dimensional code navigation AGV; the simplest control function can be realized no matter what kind of trolley structure is provided with a tray, a roller or a robot, the trolley can be used universally only by adaptively changing certain structural parameters, the practicability of a control program is improved, and the development period is shortened; the debugging difficulty is reduced, and the product core technology of the automatic guiding device is better protected.
For example, the deviation rectification control may also be performed on the automatic guiding device by using the control method provided in the embodiment of the present application, where a target running diagram of the automatic guiding device is shown in fig. 3, and an offset running diagram is shown in fig. 4, where ed is an offset distance by which the automatic guiding device (i.e., an AGV cart) offsets the running route, and ea is an offset angle by which the automatic guiding device offsets the running route; the operation diagram after the vehicle body is subjected to deviation correction adjustment is shown in fig. 5, where e is the correction distance of the returning route of the automatic guiding device, and a is the correction angle of the returning route of the automatic guiding device.
In an alternative embodiment, determining the current motor speed of the automated guidance device based on the sensor data comprises:
step S202, analyzing the sensor data to obtain an analysis result, where the analysis result includes: the running angle value and the running angle speed value of the automatic guiding device, two-dimensional code information on a running path and the working state of a safety sensor of the automatic guiding device;
step S204, calculating the analysis result by adopting a navigation algorithm to obtain the current motor speed, wherein the navigation algorithm comprises at least one of the following steps: fuzzy logic algorithm, acceleration curve algorithm and AGV posture correction algorithm.
Optionally, the parsing result includes: the driving angle value and the driving angle speed value of the automatic guiding device, the two-dimensional code information on the driving path, and the working state of the safety sensor of the automatic guiding device.
Optionally, the navigation algorithm includes at least one of: fuzzy logic algorithm, acceleration curve algorithm and AGV posture correction algorithm.
In this embodiment, the sensor data is analyzed by a chassis controller of the automatic guidance device to obtain an analysis result, and then the current motor speed is obtained by calculating the analysis result by using a navigation algorithm.
In an alternative embodiment, obtaining the current structural parameters of the automatic guiding device comprises:
step S302, obtaining the current structural parameter received by the communication interface of the automatic guiding device, wherein the current structural parameter is input through a touch display screen or an upper computer, or the current structural parameter is changed.
In the embodiment of the application, the current structural parameters needed to be used by the navigation algorithm are confirmed by extracting the programs of the chassis control part, and the current structural parameters received by the communication interface are input in the preset parameters on the automatic guiding device. For example, by determining the current structural parameters of the automated guidance device (e.g., an AGV cart), setting them individually as operational variables, setting or altering them via a touch screen or a host computer.
In an alternative embodiment, determining a target motor speed for the automated guidance device based on the current configuration parameter and the current motor speed comprises:
step S402, calculating the current linear velocity and the current structure parameter in the current motor velocity to obtain the target linear velocity;
step S404, calculating a current angular velocity in the current motor speed and the current structural parameter to obtain the target angular velocity.
In the embodiment of the present application, a current linear velocity and the current structural parameter in the current motor velocity are calculated to obtain the target linear velocity; and calculating the current angular speed in the current motor speed and the current structure parameter to obtain the target angular speed.
Optionally, the general chassis control of the AGV cart in the embodiment of the present application includes: sensor control, chassis control, motor control; analyzing sensor data through sensor control, transmitting the sensor data into a chassis controller for navigation algorithm calculation, and obtaining the linear velocity and the angular velocity of the AGV; structural parameters are set through a touch screen or an upper computer, and linear speed and angular speed can be converted into actual speed (target motor speed) of a motor through mathematical conversion, so that the purpose of automatically controlling the AGV is achieved.
In an optional embodiment, the method further includes:
step S502, when detecting that the current structural parameters are changed, acquiring updated structural parameters;
step S504, determining an updated target motor speed according to the updated structural parameters and the current motor speed;
and step S506, controlling the automatic guiding device to work based on the updated target motor speed.
In the embodiment of the application, through the universal control framework provided by the embodiment of the application, if the current structural parameters are changed, only the structural parameters need to be modified through the upper computer, and only the required data can be successfully extracted.
In an optional embodiment, the method further includes:
step S602, when a sensor replacement or a sensor position change of the automatic guidance device is detected, modifying a data analysis protocol of the sensor, wherein the data analysis protocol is used for analyzing the sensor data.
In the above optional embodiment, when the brand of the sensor is changed or the position of the sensor is changed, only the protocol of the sensor data analysis part needs to be modified, and the program core program does not need to be modified, so that the system can be adapted to the chassis control of any type of trolley.
Through the embodiment of the application, the aim of controlling the automatic guiding device in a universal way is fulfilled under the condition that the core program of the automatic guiding device is not required to be modified, the stability of the control program of the automatic guiding device is improved, the core technology of a company is effectively protected from being leaked, and the debugging difficulty of debugging personnel is reduced.
Example 2
According to an embodiment of the present invention, there is also provided an apparatus for implementing the method for controlling an automatic guiding apparatus, fig. 6 is a schematic structural diagram of an apparatus for controlling an automatic guiding apparatus according to an embodiment of the present invention, and as shown in fig. 6, the apparatus for controlling an automatic guiding apparatus includes: an obtaining module 600, a first determining module 602, a second determining module 604, and a control module 606, wherein:
an obtaining module 600, configured to obtain sensor data of an automatic guiding device, where the sensor data is data detected by a sensor in the automatic guiding device; a first determining module 602 for determining a current motor speed of the automatic guidance device based on the sensor data; a second determining module 604, configured to obtain a current structural parameter of an automatic guiding device, and determine a target motor speed of the automatic guiding device according to the current structural parameter and the current motor speed, where the target motor speed includes: the current structural parameters include at least one of: the rotating speed ratio of the driving motor, the wheel diameter of the driving wheel and the wheel track of the driving wheel; and a control module 606 for controlling the automatic guiding device to work based on the target motor speed.
It should be noted that the above modules may be implemented by software or hardware, for example, for the latter, the following may be implemented: the modules can be located in the same processor; alternatively, the modules may be located in different processors in any combination.
It should be noted here that the obtaining module 600, the first determining module 602, the second determining module 604 and the control module 606 correspond to steps S102 to S108 in embodiment 1, and the modules are the same as the corresponding steps in implementation examples and application scenarios, but are not limited to the disclosure in embodiment 1. It should be noted that the modules described above may be implemented in a computer terminal as part of an apparatus.
It should be noted that, reference may be made to the relevant description in embodiment 1 for alternative or preferred embodiments of this embodiment, and details are not described here again.
The above-mentioned device for controlling an automatic guiding device may further include a processor and a memory, and the above-mentioned obtaining module 600, the first determining module 602, the second determining module 604, the control module 606, and the like are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory, wherein one or more than one kernel can be arranged. The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to an embodiment of the present application, there is also provided an embodiment of a non-volatile storage medium. Optionally, in this embodiment, the nonvolatile storage medium includes a stored program, and when the program runs, the apparatus in which the nonvolatile storage medium is located is controlled to execute any one of the above methods for controlling an automatic guidance device.
Optionally, in this embodiment, the nonvolatile storage medium may be located in any one of a group of computer terminals in a computer network, or in any one of a group of mobile terminals, and the nonvolatile storage medium includes a stored program.
Optionally, the apparatus in which the non-volatile storage medium is controlled to perform the following functions when the program is executed: acquiring sensor data of an automatic guiding device, wherein the sensor data is detected by a sensor in the automatic guiding device; determining a current motor speed of the automated guidance device based on the sensor data; obtaining current structural parameters of an automatic guiding device, and determining a target motor speed of the automatic guiding device according to the current structural parameters and the current motor speed, wherein the target motor speed comprises: the current structural parameters include at least one of: the rotating speed ratio of the driving motor, the wheel diameter of the driving wheel and the wheel track of the driving wheel; and controlling the automatic guiding device to work based on the target motor speed.
Optionally, the apparatus in which the non-volatile storage medium is controlled to perform the following functions when the program is executed: analyzing the sensor data to obtain an analysis result, wherein the analysis result comprises: the running angle value and the running angle speed value of the automatic guiding device, two-dimensional code information on a running path and the working state of a safety sensor of the automatic guiding device; calculating the analysis result by using a navigation algorithm to obtain the current motor speed, wherein the navigation algorithm comprises at least one of the following steps: fuzzy logic algorithm, acceleration curve algorithm and AGV posture correction algorithm.
Optionally, the apparatus in which the non-volatile storage medium is controlled to perform the following functions when the program is executed: and acquiring the current structural parameters received by a communication interface of the automatic guiding device, wherein the current structural parameters are input through a touch display screen or an upper computer, or the current structural parameters are changed.
Optionally, the apparatus in which the non-volatile storage medium is controlled to perform the following functions when the program is executed: calculating the current linear speed in the current motor speed and the current structure parameter to obtain the target linear speed; and calculating the current angular speed in the current motor speed and the current structure parameter to obtain the target angular speed.
Optionally, the apparatus in which the non-volatile storage medium is controlled to perform the following functions when the program is executed: when detecting that the current structural parameters are changed, acquiring updated structural parameters; determining an updated target motor speed according to the updated structural parameters and the current motor speed; and controlling the automatic guiding device to work based on the updated target motor speed.
Optionally, the apparatus in which the non-volatile storage medium is controlled to perform the following functions when the program is executed: and modifying a data analysis protocol of the sensor when the sensor replacement or the position change of the sensor of the automatic guiding device is detected, wherein the data analysis protocol is used for analyzing the sensor data.
According to an embodiment of the present application, there is also provided an embodiment of a processor. Optionally, in this embodiment, the processor is configured to execute a program, where the program executes any one of the above methods for controlling an automatic guidance device.
There is also provided, in accordance with an embodiment of the present application, an embodiment of an automated guidance device, including a memory having a computer program stored therein and a processor configured to execute the computer program to perform any of the above-mentioned methods of controlling an automated guidance device.
There is further provided, in accordance with an embodiment of the present application, an embodiment of a computer program product, which, when being executed on a data processing device, is adapted to carry out a program of initializing the method steps of controlling an automatic guiding apparatus of any of the above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable non-volatile storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a non-volatile storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned nonvolatile storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method of controlling an automated guidance device, comprising:
acquiring sensor data of an automatic guiding device, wherein the sensor data is detected by a sensor in the automatic guiding device;
determining a current motor speed of the automated guidance device based on the sensor data;
acquiring current structural parameters of an automatic guiding device, and determining a target motor speed of the automatic guiding device according to the current structural parameters and the current motor speed, wherein the target motor speed comprises: a target linear velocity and a target angular velocity, the current structural parameters including at least one of: the rotating speed ratio of the driving motor, the wheel diameter of the driving wheel and the wheel track of the driving wheel;
and controlling the automatic guiding device to work based on the target motor speed.
2. The method of claim 1, wherein determining a current motor speed of the automated guidance device based on the sensor data comprises:
analyzing the sensor data to obtain an analysis result, wherein the analysis result comprises: the driving angle value and the driving angle speed value of the automatic guiding device, two-dimensional code information on a driving path and the working state of a safety sensor of the automatic guiding device;
calculating the analysis result by adopting a navigation algorithm to obtain the current motor speed, wherein the navigation algorithm comprises at least one of the following steps: fuzzy logic algorithm, acceleration curve algorithm and AGV posture correction algorithm.
3. The method of claim 1, wherein obtaining current structural parameters of the automated guided device comprises:
and acquiring the current structural parameters received by a communication interface of the automatic guiding device, wherein the current structural parameters are input through a touch display screen or an upper computer, or the current structural parameters are changed.
4. The method of claim 1, wherein determining a target motor speed for the automated guidance device as a function of the current structural parameters and the current motor speed comprises:
calculating the current linear speed in the current motor speed and the current structure parameter to obtain the target linear speed;
and calculating the current angular speed in the current motor speed and the current structure parameter to obtain the target angular speed.
5. The method of claim 1, further comprising:
when the current structural parameters are detected to be changed, the updated structural parameters are obtained;
determining an updated target motor speed according to the updated structural parameters and the current motor speed;
and controlling the automatic guiding device to work based on the updated target motor speed.
6. The method of claim 1, further comprising:
modifying a data resolution protocol of the sensor when a sensor replacement or a sensor position change of the automated guidance device is detected, wherein the data resolution protocol is used for resolving the sensor data.
7. An apparatus for controlling an automated guided machine, comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring sensor data of an automatic guiding device, and the sensor data is data detected by a sensor in the automatic guiding device;
a first determination module to determine a current motor speed of the automated guidance device based on the sensor data;
a second determining module, configured to obtain a current structural parameter of an automatic guidance device, and determine a target motor speed of the automatic guidance device according to the current structural parameter and the current motor speed, where the target motor speed includes: a target linear velocity and a target angular velocity, the current structural parameters including at least one of: the rotating speed ratio of the driving motor, the wheel diameter of the driving wheel and the wheel track of the driving wheel;
and the control module is used for controlling the automatic guiding device to work based on the target motor speed.
8. A non-volatile storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method of controlling an automated homing device of any of claims 1 to 6.
9. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to perform the method of controlling an automatic guiding device of any of claims 1 to 6 when running.
10. An automated guiding apparatus comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to execute the computer program to perform the method of controlling an automated guiding apparatus of any of claims 1 to 6.
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Application publication date: 20210430 |