CN113291161A

CN113291161A - AGV trolley and automatic sliding stopping method

Info

Publication number: CN113291161A
Application number: CN202110556735.2A
Authority: CN
Inventors: 谭舟
Original assignee: Shanghai Zhihuilin Medical Technology Co ltd
Current assignee: Shanghai Zhihuilin Medical Technology Co ltd
Priority date: 2021-05-21
Filing date: 2021-05-21
Publication date: 2021-08-24
Anticipated expiration: 2041-05-21
Also published as: CN113291161B

Abstract

The invention relates to the field of driving safety, and provides an AGV trolley and an automatic sliding stopping method, wherein the method comprises the following steps: when the speed of the AGV trolley is a preset speed, determining the orientation and the orientation acceleration of the AGV trolley based on IMU sensor data of the AGV trolley; judging whether the AGV trolley is in a sliding state or not according to the orientation and the orientation acceleration; when the AGV trolley is in a sliding state, controlling a driver of the AGV trolley to send a reverse torque so as to enable the AGV trolley to automatically stop sliding; and when the AGV trolley is in a stop state, stopping sending the reverse torque. The method and the device can realize automatic sliding prevention of the AGV trolley so as to avoid the safety problem caused by sliding of the AGV trolley.

Description

AGV trolley and automatic sliding stopping method

Technical Field

The invention relates to the field of driving safety, in particular to an AGV (automatic guided vehicle) and a method for automatically preventing sliding.

Background

The AGV car has no braking system, only has the sending speed of 0, and enables the motor to stop rotating or provide power, but has no braking system to assist in speed reduction.

When the AGV dolly brakes, because inertia, the AGV dolly can keep a forward power, takes the AGV dolly to go forward to the direction of motion, especially when ground is smooth or downhill, can bring very big potential safety hazard for the AGV dolly.

Disclosure of Invention

The invention aims to provide an AGV trolley and a method for automatically stopping sliding, and solves the problems.

The technical scheme provided by the invention is as follows:

the invention provides an automatic sliding prevention method for an AGV (automatic guided vehicle), which comprises the following steps:

when the speed of the AGV trolley is a preset speed, determining the orientation and the orientation acceleration of the AGV trolley based on IMU sensor data of the AGV trolley;

judging whether the AGV trolley is in a sliding state or not according to the orientation and the orientation acceleration;

when the AGV trolley is in a sliding state, controlling a driver of the AGV trolley to send a reverse torque so as to enable the AGV trolley to automatically stop sliding;

and when the AGV trolley is in a stop state, stopping sending the reverse torque.

Further preferably, when the speed of the AGV is the preset speed, before determining the orientation and the orientation acceleration of the AGV based on the IMU sensor data of the AGV, the method includes:

acquiring IMU sensor data of the AGV through an industrial personal computer of the AGV;

wherein the sensor data comprises orientation data and acceleration data.

Further preferably, when the speed of the AGV is a preset speed, determining the orientation and the orientation acceleration of the AGV based on the IMU sensor data of the AGV, the method includes:

acquiring the orientation of the AGV according to the orientation data;

and acquiring the orientation acceleration corresponding to the orientation of the AGV according to the acceleration data and the orientation of the AGV.

Further preferably, the obtaining the orientation of the AGV according to the orientation data includes:

when the vertical direction data in the orientation data is 0 and the horizontal direction data is not 0, determining that the orientation of the AGV trolley is a first orientation;

and when the vertical direction data and the horizontal direction data in the orientation data are not 0, determining that the orientation of the AGV trolley is a second orientation.

Further preferably, the acquiring, according to the acceleration data and the orientation of the AGV, the orientation acceleration of the AGV corresponding to the orientation includes:

when the orientation of the AGV trolley is a first orientation, acquiring a first orientation acceleration;

and when the orientation of the AGV trolley is the second orientation, acquiring the acceleration of the second orientation.

Further preferably, the determining whether the AGV is in a sliding state according to the orientation and the orientation acceleration includes:

when the orientation of the AGV trolley is a first orientation and the first orientation acceleration is greater than the preset acceleration, determining that the AGV trolley is in a sliding state;

and when the orientation of the AGV trolley is the second orientation and the second orientation acceleration is greater than the preset acceleration, determining that the AGV trolley is in a sliding state.

Further preferably, before determining the moving state and the orientation state of the AGV based on the direction data of the AGV when the speed of the AGV is the preset speed, the method further includes:

when the speed sent by the running system of the AGV trolley is obtained and is preset, and the speed fed back by the driver of the AGV trolley is preset, the speed of the AGV trolley is determined to be preset.

Further preferably, before stopping sending the reverse torque when the AGV is in a stopped state, the AGV includes:

and detecting IMU sensor data of the AGV in real time to judge whether the AGV is in a stop state or not.

On the other hand, still provide an AGV dolly, including the industrial computer, the industrial computer includes:

the determining module is used for determining the orientation and the orientation acceleration of the AGV based on IMU sensor data of the AGV when the speed of the AGV is a preset speed;

the judgment module is used for judging whether the AGV trolley is in a sliding state or not according to the orientation and the orientation acceleration;

the control module is used for controlling a driver of the AGV to send reverse torque when the AGV is in a sliding state so as to enable the AGV to automatically stop sliding;

and the stopping module is used for stopping sending the reverse torque when the AGV trolley is in a stopping state.

Further preferably, the method further comprises the following steps:

the IMU sensor is connected with the industrial personal computer and used for sending the IMU sensor data of the AGV trolley to the industrial personal computer;

and the driver is connected with the industrial personal computer and used for sending reverse torque when the AGV trolley is in a sliding state so as to automatically prevent the AGV trolley from sliding.

The AGV trolley and the automatic sliding stopping method provided by the invention at least have the following beneficial effects:

the method and the device can realize automatic sliding prevention of the AGV trolley so as to avoid the safety problem caused by sliding of the AGV trolley.

Drawings

The foregoing features, technical features, advantages and implementations of an AGV cart and method for automatically preventing taxiing will be further described in the following detailed description of preferred embodiments in a clearly understood manner in conjunction with the accompanying drawings.

FIG. 1 is a schematic diagram of one embodiment of a method for automatically preventing an AGV from sliding according to the present invention;

FIG. 2 is a schematic diagram of another embodiment of a method for automatically preventing an AGV from sliding according to the present invention;

FIG. 3 is a schematic diagram of one embodiment of an AGV of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

Example one

One embodiment of the present invention, as shown in FIG. 1, provides a method for automatically preventing an AGV from sliding, comprising the steps of:

s100, when the speed of the AGV trolley is the preset speed, determining the orientation and the orientation acceleration of the AGV trolley based on the IMU sensor data of the AGV trolley.

And S200, judging whether the AGV trolley is in a sliding state or not according to the orientation and the orientation acceleration.

Specifically, the AGV has no braking system, only has the sending speed of 0, and enables the motor to stop rotating and provide power, but has no braking system of a common automobile to assist in speed reduction.

Wherein the IMU sensor data includes 9-axis IMU sensor data, and the acceleration sensor data is one of the 9-axis IMU sensor data.

For example, when braking, the system issuing speed is 0, and the driver feedback speed is also 0, at this time, the AGV should be in a stationary state, and the AGV will be in a sliding state due to undetected acceleration data.

In this embodiment, whether the AGV is in a sliding state is determined by detecting data of the 9-axis MIU sensor. If the 9-axis IMU sensor data is not 0 at this time and the acceleration sensor has data, it can be considered that the machine still maintains a moving state in a certain direction of the XYZ axes.

S300, when the AGV trolley is in a sliding state, controlling a driver of the AGV trolley to send reverse torque so that the AGV trolley automatically stops sliding.

Specifically, when the AGV trolley is in an uncontrolled sliding state, the driver is set with a reverse torque through the industrial personal computer to prevent the AGV trolley from sliding until the acceleration is less than 0.2m/s2, and the driver stops acting.

S400, when the AGV trolley is in a stop state, the transmission of the reverse torque is stopped.

Specifically, when the AGV dolly can't stop through the auto-lock on the slope, the driver just will keep this reverse resistance, and the guarantee AGV dolly can be in stable parking state on the slope.

In this embodiment, through the AGV dolly industrial computer real-time detection 9 axles IMU sensor data, judge whether the AGV dolly is in the state of slideing, when the AGV dolly is in the state of slideing, issue the order through the industrial computer and give the driver, require the driver to give a reverse moment automatic stop the AGV dolly to continue to slide.

Through the embodiment, the AGV trolley can be automatically prevented from sliding, so that the safety problem caused by sliding of the AGV trolley is avoided.

Example two

Based on the above embodiment, the same parts as those in the above embodiment are not repeated in detail in this embodiment, and as shown in fig. 2, the embodiment provides a method for automatically preventing an AGV from sliding, which includes the steps of:

when the speed of AGV dolly is for predetermineeing speed, based on the IMU sensor data of AGV dolly, confirm orientation and orientation acceleration of AGV dolly before, include:

acquiring IMU sensor data of the AGV through an industrial personal computer of the AGV; wherein the sensor data comprises orientation data and acceleration data.

Preferably, when the speed of the AGV is the preset speed, based on the IMU sensor data of the AGV, determining the orientation and the orientation acceleration of the AGV, including:

acquiring the orientation of the AGV according to the orientation data; and acquiring the orientation acceleration corresponding to the orientation of the AGV according to the acceleration data and the orientation of the AGV.

Preferably, the obtaining the orientation of the AGV according to the orientation data includes:

and when the vertical direction data in the orientation data is 0 and the horizontal direction data is not 0, determining that the orientation of the AGV trolley is a first orientation.

Preferably, the acquiring the acceleration of the AGV in the direction corresponding to the direction according to the acceleration data and the direction of the AGV includes:

when the orientation of the AGV trolley is in a first orientation, a first orientation acceleration is obtained.

Preferably, the determining whether the AGV is in a sliding state according to the orientation and the orientation acceleration includes:

and when the orientation of the AGV trolley is a first orientation and the first orientation acceleration is greater than the preset acceleration, determining that the AGV trolley is in a sliding state.

Specifically, when the AGV is braked, the system issuing speed is 0, and the driver feedback speed is also 0. However, if the data of the 9-axis IMU sensor is not 0 at this time and the acceleration sensor has data, it can be considered that the machine still maintains a moving state in a certain direction of XYZ, and the following cases are specifically included in this embodiment:

case a) flat ground:

under the condition, the data of the Z axis (default IMU is horizontally installed, the Z axis is vertical direction, and XY is horizontal direction) is 0, X or Y is not 0, and when the acceleration of the X/Y axis is more than 0.2m/s2, the trolley is considered to be in an uncontrolled sliding state, the industrial personal computer sets a reverse torque to the driver to prevent the sliding of the AGV trolley, and the driver stops acting until the acceleration of the AGV trolley is less than 0.2m/s 2.

The first orientation is an orientation in which the Z-axis data is 0 and the X-axis or Y-axis data is not 0. The XYZ axes are the three axes in the IMU, each having an acceleration value. The 3-axis acceleration values may be directly acquired by the IMU.

In particular, this situation is very common in the actual operation of an AGV. Because there is no braking, there is a long braking distance when the AGV suddenly stops, and even there is a rollover condition.

In the embodiment, the environment state of the AGV is determined by acquiring the orientation and orientation acceleration data of the AGV, and the AGV stops sliding by controlling the driver to execute the reverse torque through the industrial control machine under the flat ground environment state.

EXAMPLE III

preferably, when the speed of the AGV is the preset speed, before determining the moving state and the orientation state of the AGV based on the direction data of the AGV, the method further includes:

Preferably, before stopping sending the reverse torque when the AGV is in a stopped state, the AGV includes:

For example, an AGV may experience condition b) on a slope:

this is more dangerous than flat ground. Due to the uncontrolled sliding state on the slope, the AGV car can fall down the slope, and safety accidents such as rollover or dumping can occur. At this time, the Z-axis and X/Y-axis data are not 0, and the composite acceleration fed back exceeds > 0.2m/s 2.

The orientation and the orientation acceleration of the robot are calculated through the data of the 9-axis IMU sensors fed back by the 9-axis IMU sensors, and a reverse moment of a driver can be set to enable the AGV to stop quickly. When the driver gives reverse torque, the AGV trolley keeps still, namely self-locking.

Or when the AGV trolley cannot stop through self-locking on a slope, the driver keeps the reverse resistance, and the AGV trolley can be stably stopped on the slope.

Specifically, the XYZ three axes respectively represent the three axes of the three-dimensional coordinate system, and the composite acceleration is an acceleration corresponding to a certain orientation, for example, 38 ° towards the lower right, and can be calculated by using the three-axis data fed back by the IMU.

The specific calculation method for calculating the orientation and the orientation acceleration comprises the following steps:

formula of included angle of space vector: cos θ ═ a × b/(| a | b |)

1、a＝(x1,y1,z1)，b＝(x2,y2,z2)。a*b＝x1x2+y1y2+z1z2。

2、|a|＝√(x1^2+y1^2+z1^2)，|b|＝√(x2^2+y2^2+z2^2)。

3. cos θ ═ a × b/(| a | × | b |), angle θ ═ arccos θ.

The vector with a length of 0 is called a zero vector and is marked as 0. A vector modulo 1 is called a unit vector. The vector with the same length and the opposite direction as the vector a is called the opposite vector of a and is marked as-a. Vectors of equal direction and equal modulus are called equal vectors.

Based on the IMU composite acceleration and composite velocity, it can be calculated according to the above formula. Then, a reverse torque is given by the driver to prevent the AGV from sliding.

In the embodiment, the environment state of the AGV is determined by acquiring the orientation and orientation acceleration data of the AGV, and the AGV stops sliding by controlling the driver to execute the reverse torque through the industrial control machine under the slope environment state. Simultaneously, whether detect the AGV dolly and can carry out the auto-lock, if the unable auto-lock of AGV dolly also provides reverse moment through industrial computer control driver, make the AGV dolly stop to slide.

Example four

In another aspect, as shown in fig. 3, the present embodiment provides an AGV cart including an industrial personal computer 10, the industrial personal computer including:

the determining module 101 is configured to determine, when the speed of the AGV is a preset speed, an orientation and an orientation acceleration of the AGV based on the IMU sensor data of the AGV.

And the judging module 102 is used for judging whether the AGV trolley is in a sliding state or not according to the orientation and the orientation acceleration.

And the control module 103 is used for controlling a driver of the AGV to send reverse torque when the AGV is in a sliding state so as to automatically prevent the AGV from sliding.

And the stopping module 104 is used for stopping sending the reverse torque when the AGV trolley is in a stopping state.

Preferably, the method further comprises the following steps:

the IMU sensor 20 is connected with the industrial personal computer and used for sending IMU sensor data of the AGV trolley to the industrial personal computer;

and the driver 30 is connected with the industrial personal computer and used for sending reverse torque when the AGV trolley is in a sliding state so as to automatically stop sliding of the AGV trolley.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of program modules is illustrated, and in practical applications, the above-described distribution of functions may be performed by different program modules, that is, the internal structure of the apparatus may be divided into different program units or modules to perform all or part of the above-described functions. Each program module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one processing unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software program unit. In addition, the specific names of the program modules are only used for distinguishing the program modules from one another, and are not used for limiting the protection scope of the application.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely exemplary, and the division of the modules or units is merely an example of a logical division, and there may be other divisions when the actual implementation is performed, and illustratively, a plurality of units or components may be combined or 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 of some interfaces, devices or units, and may be in an electrical, mechanical 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 network 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 application 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.

It should be noted that the above embodiments can be freely combined as necessary. 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

1. A method for automatically preventing an AGV from sliding is characterized by comprising the following steps:

2. The AGV car automatic slide prevention method according to claim 1, wherein before determining the orientation and orientation acceleration of the AGV car based on the IMU sensor data of the AGV car when the speed of the AGV car is a preset speed, the method comprises:

wherein the sensor data comprises orientation data and acceleration data.

3. The AGV cart automatic slide stop method of claim 2, wherein determining the orientation and orientation acceleration of the AGV cart based on its IMU sensor data when the AGV cart speed is a predetermined speed comprises:

acquiring the orientation of the AGV according to the orientation data;

4. The AGV car automatic slide prevention method of claim 3, wherein said obtaining the orientation of the AGV car based on said orientation data comprises:

5. The AGV car automatic slide prevention method of claim 4, wherein said obtaining the acceleration of the AGV car in the direction corresponding to the direction according to the acceleration data and the direction of the AGV car comprises:

6. The AGV car automatic slide stop method of claim 4, wherein said determining whether the AGV car is in a sliding state based on said orientation and said orientation acceleration comprises:

7. The AGV according to claim 1, wherein before determining the moving state and the orientation state of the AGV based on the direction data of the AGV when the speed of the AGV is a preset speed, further comprising:

8. The AGV car automatic sliding prevention method according to any one of claims 1 to 7, wherein before stopping sending the reverse torque when the AGV car is in a stopped state, the method comprises:

9. The utility model provides a AGV dolly which characterized in that, includes the industrial computer, the industrial computer includes:

10. The AGV cart of claim 9, further comprising: