CN113433554B - Automatic buffering and anti-collision system of unmanned carrying vehicle - Google Patents

Automatic buffering and anti-collision system of unmanned carrying vehicle Download PDF

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Publication number
CN113433554B
CN113433554B CN202110667952.9A CN202110667952A CN113433554B CN 113433554 B CN113433554 B CN 113433554B CN 202110667952 A CN202110667952 A CN 202110667952A CN 113433554 B CN113433554 B CN 113433554B
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module
speed
value
distance
obstacle
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CN113433554A (en
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刘学恒
陈海东
魏建国
魏良
秦红艳
魏铭翔
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Suzhou Aimeirui Intelligent System Co ltd
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Suzhou Aimeirui Intelligent System Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Abstract

The invention discloses an automatic buffering and anti-collision system of an unmanned transport vehicle, which is provided with a speed regulating module, adjusts the power output of the speed regulating module by comparing the direct deviation between the current distance and the expected distance of an obstacle and the unmanned transport vehicle, and divides the speed change process into a plurality of stages, thereby avoiding the potential safety hazard caused by inertia in the process of detecting that the obstacle stops rapidly when the unmanned transport vehicle moves at a high speed and the motion of a trolley and objects on the trolley.

Description

Automatic buffering and anti-collision system of unmanned carrying vehicle
Technical Field
The invention belongs to the technical field of automatic guided vehicle equipment, and particularly relates to an automatic buffering and collision preventing system of an automatic guided vehicle.
Background
In the process of carrying out automatic carrying operation of the AGV in a complex factory, considering safety, the AGV is required to identify an obstacle and make a correct response to prevent collision, and the existing obstacle detection methods used by the AGV in the market are judged by outputting an I/O state through an obstacle monitoring device, namely, in the method, only the obstacle existing in front is judged when an output signal exists or no output signal exists, and the distance of the obstacle cannot be quantified. And once detecting the barrier, AGV control system can stop immediately, from this if AGV work can bring danger because there is inertia when stopping immediately in dolly and the article motion on the dolly because of the higher speed in the process, and the security is not ensured when unmanned transport vehicle is worked, consequently, prior art still remains to be developed.
Disclosure of Invention
The present invention is directed to an automatic buffering and anti-collision system for an automated guided vehicle, which solves the above problems.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic buffering and collision avoidance system of an unmanned transport vehicle comprises an obstacle detection module and a speed regulation module connected with the obstacle detection module;
the obstacle detection module comprises a sensing module and a distance measurement module which are sequentially connected;
the sensing module is used for detecting an obstacle, transmitting and receiving ultrasonic signals, transmitting ultrasonic waves to the obstacle and receiving the ultrasonic signals returned by the obstacle when the obstacle is judged to appear, and then sending the signals to the distance measuring module;
the distance measurement module is used for processing the ultrasonic signals, converting the ultrasonic signals into quantized distance information, carrying out error calibration on the distance information and then outputting the distance information to the speed regulation module;
the distance measuring module is connected with the speed regulating module;
the speed regulating module is used for correspondingly regulating the running speed of the unmanned transport vehicle according to the quantitative information output by the distance measuring module;
the obstacle detection module further comprises a speed detection module and a load detection module, and the speed detection module and the load detection module are respectively connected with the speed regulation module;
the speed detection module is used for detecting the speed of the current unmanned carrying vehicle, carrying out quantization processing on the speed, and transmitting the data information after quantization processing to the speed regulation module for speed regulation operation;
the load detection module is used for detecting the load of the current automatic guided vehicle, carrying out quantization processing on the load, and transmitting data information after quantization processing to the speed regulation module for speed regulation operation;
the perception module also comprises an optical vision perception module and an ultrasonic sensor;
the optical visual perception module comprises a laser emission module, a light sensor, a data analysis module and an image drawing module which are sequentially connected;
the laser emission module is used for emitting laser pulses to all directions of the unmanned carrying vehicle;
the light sensor detects laser pulses reflected from objects and walls around the automated guided vehicle;
the data analysis module analyzes the received laser pulse;
the image drawing module constructs a three-dimensional map of the surrounding environment according to the data analyzed by the data analysis module, and the image drawing module can update the map in real time according to the data information received in real time;
the data analysis module is also connected with the ranging module;
the data analysis module transmits the distance data obtained by analysis to the ranging module in real time;
the ultrasonic sensor is used for transmitting and receiving ultrasonic signals and feeding back the obtained signal information to the distance measurement module for distance measurement operation;
the distance measuring module further comprises an error alarm module, and the error alarm module comprises a first indicator light and a first buzzer;
the distance measurement module compares the distance data transmitted by the data analysis module with the data obtained by calculating the signal information transmitted by the ultrasonic sensor, an error value is set, when the calculated error is larger than the value, the error alarm module gives an alarm, the first indicator lamp is turned on, the first buzzer buzzes, when the calculated error is smaller than the value, the average value of the two values is obtained, and the value is used as the distance data and is transmitted to the speed regulation module;
the speed regulating module comprises a communication unit, an arithmetic unit and a power unit which are connected in sequence;
the communication unit is used for receiving and transmitting data and keeping communication with other modules;
the operation unit performs operation according to various data received by the communication unit, so that the unmanned transport vehicle completes different acceleration or deceleration instructions according to given preset values;
the power unit does work to provide power for the automatic guided vehicle.
Further, the method for adjusting the speed change by the speed adjusting module comprises the following steps:
setting an expected distance value, an intermediate distance value and a stopping distance value between the unmanned transport vehicle and an obstacle, wherein the expected distance value > the intermediate distance value > the stopping distance value >0;
adjusting the power output of the power unit and controlling the speed change according to the deviation between the current distance value and the stopping distance value transmitted by the ranging module in real time;
dividing the process of controlling the speed change into at least two stages, wherein each stage realizes different targets, so that the speed of the unmanned carrier is reduced to 0 when the stopping distance value is reached;
the two stages are S1 and S2 respectively;
when the existing distance value transmitted by the ranging module in real time is equal to the expected distance value, the speed regulating module starts an anti-collision mode to perform a stage S1;
the S1 stage is used for adjusting acceleration to enable the change of the speed of the unmanned transport vehicle to transit from slow to fast;
when the existing distance value transmitted by the ranging module in real time is equal to the middle distance value, performing S2 stage;
and S2, giving a determined acceleration by the operation unit according to the difference value between the intermediate distance value and the stopping distance value and the existing speed, so that the speed of the unmanned transport vehicle is reduced to 0 when the existing distance value transmitted by the distance measuring module in real time is equal to the stopping distance value.
Further, the process of controlling the speed change further comprises a step S3, when the existing distance value transmitted by the ranging module in real time is larger than the expected distance value, an expected speed value and expected time for normal carrying of the unmanned carrying vehicle are set;
and when the current speed detected by the speed detection module is lower than the expected speed value, starting a carrying mode, giving a determined acceleration by the operation unit according to the expected speed value and the current speed value, and increasing the speed to the expected speed value within the expected time.
Further, the system also comprises a cloud server and a control terminal;
the communication unit further comprises a Bluetooth module, and the Bluetooth module is further connected with the control terminal through the cloud server;
the Bluetooth module is used for transmitting the data information received and sent by the communication unit to the control terminal in real time.
Furthermore, the obstacle detection module further comprises a positioning module, and the positioning module is connected with the control terminal through the cloud server.
Further, the sensing module further comprises a self-checking module, and the self-checking module is used for detecting to determine whether the obstacle actually exists;
the self-checking module further comprises a noise module, and the noise module monitors noise to determine a noise level;
when the noise module monitors noise, the ultrasonic sensor does not emit ultrasonic waves outwards, only receives the ultrasonic waves from the surrounding environment, the ultrasonic waves are detected, and the detected ultrasonic waves are noise voltage levels;
when the self-checking module determines that a voltage level detection value related to the ultrasonic waves received by the ultrasonic sensor is greater than a noise voltage level, the fact that an obstacle exists is judged;
when the voltage level detection value is less than or equal to the noise voltage level, it is determined that an obstacle does not actually exist.
Furthermore, the obstacle detection module further comprises a prompt module, and the prompt module is connected with the distance measurement module;
the prompting module comprises a second indicator light and a second buzzer;
when the automatic guided vehicle works, the second indicator light strobes to send out a working prompt;
and setting an early warning value, and when the real-time distance data value given by the distance measuring module is smaller than or equal to the early warning value, the second buzzer buzzes for warning.
Further, the device also comprises a power supply module connected with the obstacle detection module;
the power module comprises a power supply device and a wireless charging module matched with the power supply device.
Further, the power supply device is a rechargeable lithium battery.
Compared with the prior art, the invention provides an automatic buffering and collision-preventing system of an unmanned conveying vehicle, which has the following beneficial effects: the speed regulation module is arranged, the power output of the speed regulation module is adjusted by comparing the direct deviation between the current distance and the expected distance between the barrier and the unmanned carrying vehicle, the speed change process is divided into a plurality of stages, and the potential safety hazard caused by inertia in the process that the unmanned carrying vehicle detects that the barrier is rapidly stopped when moving at a high speed and the objects on the trolley move is avoided.
Drawings
Fig. 1 is a schematic diagram illustrating an overall connection of a module structure of an automatic buffering and collision avoidance system for an automated guided vehicle according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of an obstacle detection module of an automated guided vehicle collision avoidance system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an error alarm module and a prompt module of the automated buffer collision avoidance system for an automated guided vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a power module of an automated guided vehicle collision avoidance system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a speed regulation module of the automated guided vehicle collision avoidance system according to an embodiment of the present invention.
In the figure: 1. an obstacle detection module; 2. a speed regulation module; 3. a cloud server; 4. a control terminal; 5. a power supply module; 11. a sensing module; 12. a distance measurement module; 13. a prompt module; 14. a load detection module; 15. a speed detection module; 16. a positioning module; 21. a communication unit; 22. an arithmetic unit; 23. a power unit; 51. a power supply device; 52. a wireless charging module; 111. a self-checking module; 112. an optical visual perception module; 113. an ultrasonic sensor; 121. an error alarm module; 131. a second indicator light; 132. a second buzzer; 211. a Bluetooth module; 1111. a noise module; 1121. a laser emission module; 1122. a light sensor; 1123. a data analysis module; 1124. an image drawing module; 1211. a first indicator light; 1212. a first buzzer.
Detailed Description
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.
Example (b): as shown in fig. 1-5, the invention provides an automatic buffer collision avoidance system for an unmanned transport vehicle, which comprises an obstacle detection module 1, a speed regulation module 2 connected with the obstacle detection module 1, a cloud server 3 and a control terminal 4;
the obstacle detection module 1 comprises a sensing module 11 and a distance measurement module 12 which are sequentially connected;
the sensing module 11 is configured to detect an obstacle, transmit and receive an ultrasonic signal, transmit an ultrasonic wave to the obstacle and receive an ultrasonic signal returned by the obstacle when it is determined that the obstacle is present, and then send the signal to the ranging module 12;
the distance measuring module 12 is used for processing the ultrasonic signals to convert the ultrasonic signals into quantized distance information, performing error calibration on the distance information, and outputting the distance information to the speed regulating module 2;
the distance measuring module 12 is connected with the speed regulating module 2;
the speed regulating module 2 is used for correspondingly regulating the running speed of the unmanned transport vehicle according to the quantitative information output by the distance measuring module 12;
the obstacle detection module 1 further comprises a speed detection module 15 and a load detection module 14, wherein the speed detection module 15 and the load detection module 14 are respectively connected with the speed regulation module 2;
the speed detection module 15 is configured to detect a speed of the current automated guided vehicle, perform quantization processing on the speed, and transmit quantized data information to the speed regulation module 2 to perform speed regulation operation;
the load detection module 14 is configured to detect a load of the current automated guided vehicle, perform quantization processing on the load, and transmit data information after quantization processing to the speed regulation module 2 to perform speed regulation operation;
the sensing module 11 further comprises a self-checking module 111, wherein the self-checking module 111 is configured to perform a check to determine whether the obstacle actually exists;
the self-test module 111 further comprises a noise module 1111, the noise module 1111 monitors noise to determine a noise level;
the perception module 11 further comprises an optical visual perception module 112 and an ultrasonic sensor 113;
when the noise module 1111 monitors noise, the ultrasonic sensor 113 does not emit ultrasonic waves, but only receives ultrasonic waves from the surrounding environment, and detects the ultrasonic waves, wherein the detected ultrasonic waves are the noise voltage level A0;
when the self-checking module 111 determines that the voltage level detection value A1 related to the ultrasonic waves received by the ultrasonic sensor 113 is greater than the noise voltage level A0, namely A1 > A0, it is determined that an obstacle actually exists;
when the voltage level detection value A1 is less than or equal to the noise voltage level A0, namely A1 is less than or equal to A0, the fact that the obstacle does not exist is judged;
the optical visual perception module 112 comprises a laser emission module 1121, a light sensor 1122, a data analysis module 1123 and an image drawing module 1124 which are connected in sequence;
the laser emission module 1121 is configured to emit laser pulses to each direction of the automated guided vehicle;
the optical sensor 1122 detects laser pulses reflected from objects around the automated guided vehicle and a wall;
the data analysis module 1123 analyzes the received laser pulses;
the image drawing module 1124 constructs a three-dimensional map of the surrounding environment according to the data analyzed by the data analysis module 1123, and the image drawing module 1124 can update the map in real time according to the data information received in real time;
the data analysis module 1123 is further connected to the ranging module 12;
the data analysis module 1123 transmits the distance data obtained by analysis to the ranging module 12 in real time;
the ultrasonic sensor 113 is configured to transmit and receive ultrasonic signals, and feed back the obtained signal information to the ranging module 12 for ranging operation;
the distance measuring module 12 further comprises an error alarm module 121, wherein the error alarm module 121 comprises a first indicator 1211 and a first buzzer 1212;
the distance measuring module 12 compares the distance data D1 transmitted from the data analyzing module 1123 with the data D2 obtained by calculating the signal information transmitted from the ultrasonic sensor 113, and sets an error value Δ D, when the calculated error is greater than or equal to the value, that is:
|D1-D2|≥Δd
the error alarm module 121 alarms, the first indicator 1211 lights up, the first buzzer 1212 buzzes, and when the calculated error is smaller than the value, the following steps are performed:
if D1-D2 < delta D, the average value D of two values is obtained, namely:
D＝(D1+D2)/2
the value is used as distance data to be transmitted to the speed regulating module 2;
the speed regulating module 2 comprises a communication unit 21, an arithmetic unit 22 and a power unit 23 which are connected in sequence;
the communication unit 21 is used for receiving and transmitting data and keeping communication with other modules;
the arithmetic unit 22 performs arithmetic according to various data received by the communication unit 21, so that the automated guided vehicle completes different acceleration or deceleration instructions according to given preset values;
the power unit 23 does work to provide power for the unmanned transport vehicle;
the method for adjusting the speed change of the speed adjusting module 2 comprises the following steps:
setting an expected distance value M, a middle distance value N and a stopping distance value Q between an unmanned transport vehicle and an obstacle, wherein the expected distance value M is larger than the middle distance value N is larger than the stopping distance value Q is larger than 0;
according to the deviation between the existing distance value L and the stopping distance value Q transmitted by the ranging module 12 in real time, adjusting the power output of the power unit 23 and controlling the speed change;
dividing the process of controlling the speed change into at least two stages, wherein each stage realizes different targets, so that the speed of the unmanned carrier is reduced to 0 when the stopping distance value Q is reached;
the two stages are S1 and S2 respectively;
when the current distance value L transmitted by the distance measurement module 12 in real time is equal to the expected distance value M, the speed regulation module 2 starts an anti-collision mode, performs the S1 stage, and initializes each parameter value:
v: the normal transport speed of the automated guided vehicle is empirically obtained and is set to the initial speed V in the present embodiment 0 ＝5m/s；
t: time, which is empirically obtained, and in this embodiment the initial time is set to 0;
K v : calculating the slope of the speed variation curve along with time according to a set formula reference data;
l: the existing distance value is obtained through measurement;
m: the expected distance value, which is empirically obtained, is set to 10m in the present embodiment;
n: an intermediate distance value, empirically obtained, set to 5m in this embodiment;
q: a stopping distance value, empirically obtained, set to 1m in this embodiment;
the S1 stage is used to adjust the acceleration K to make the change of the speed of the automated guided vehicle transition from slow to fast, and K is obtained by referring to the following formula in this embodiment v ：
K v ＝-t 2 ；
The data is integrated to obtain the relation between the speed V and the time t at the S1 stage:
Figure GDA0003690150710000101
when the existing distance value L transmitted by the ranging module 12 in real time is equal to the intermediate distance value N, performing a stage S2;
s2, the arithmetic unit 22 gives a determined acceleration K according to the difference between the intermediate distance value N (i.e. 5 m) and the stopping distance value Q (i.e. 1 m) and the current speed V 0 So that when the existing distance value L transmitted in real time by the ranging module 12 is equal to the stopping distance value Q (i.e., 1 m), the speed of the automated guided vehicle is reduced to 0:
Figure GDA0003690150710000102
the process of controlling the speed change further includes a stage S3, when the current distance value L transmitted by the ranging module 12 in real time is greater than the expected distance value M, setting an expected speed value and an expected time for normal transportation of the automated guided vehicle;
when the current speed detected by the speed detection module 15 is lower than the expected speed value, the carrying mode is started, the arithmetic unit 22 gives a determined acceleration according to the expected speed value and the current speed value, and the speed is increased to the expected speed value within the expected time;
the communication unit 21 further includes a bluetooth module 211, and the bluetooth module 211 is further connected to the control terminal 4 through the cloud server 3;
the bluetooth module 211 is configured to transmit the data information received and sent by the communication unit 21 to the control terminal 4 in real time;
the obstacle detection module 1 further comprises a positioning module 16, and the positioning module 16 is connected with the control terminal 4 through the cloud server 3;
the obstacle detection module 1 further comprises a prompt module 13, and the prompt module 13 is connected with the distance measurement module 12;
the prompting module 13 comprises a second indicator light 131 and a second buzzer 132;
when the automated guided vehicle is in operation, the second indicator light 131 strobes to send out an in-operation prompt;
setting an early warning value, and when the real-time distance data value given by the distance measuring module 12 is smaller than or equal to the early warning value, the second buzzer 132 buzzes a warning;
the device also comprises a power module 5 connected with the obstacle detection module 1;
the power module 5 comprises a power supply device 51 and a wireless charging module 52 matched with the power supply device 51;
the power supply device 51 is a rechargeable lithium battery.
In the description of the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are used broadly and can be, for example, a fixed connection, a detachable connection or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, and those skilled in the art can understand the specific meaning of the terms in the present invention as they are used in the present invention.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the design concept of the present invention should be included in the scope of the present invention.

Claims (9)

1. The utility model provides an automatic buffering collision avoidance system of unmanned transport vehicle which characterized in that: the system comprises an obstacle detection module and a speed regulation module connected with the obstacle detection module;
the obstacle detection module comprises a sensing module and a distance measurement module which are sequentially connected;
the sensing module is used for detecting an obstacle, transmitting and receiving ultrasonic signals, transmitting ultrasonic waves to the obstacle and receiving the ultrasonic signals returned by the obstacle when the obstacle is judged to appear, and then sending the signals to the distance measuring module;
the distance measurement module is used for processing the ultrasonic signals and converting the ultrasonic signals into quantized distance information, carrying out error calibration on the distance information and then outputting the distance information to the speed regulation module;
the distance measuring module is connected with the speed regulating module;
the speed regulating module is used for correspondingly regulating the running speed of the unmanned transport vehicle according to the quantitative information output by the distance measuring module;
the obstacle detection module further comprises a speed detection module and a load detection module, and the speed detection module and the load detection module are respectively connected with the speed regulation module;
the speed detection module is used for detecting the speed of the current unmanned transport vehicle, carrying out quantization processing on the speed, and transmitting the quantized data information to the speed regulation module for speed regulation operation;
the load detection module is used for detecting the load of the current unmanned transport vehicle, carrying out quantization processing on the load, and transmitting the quantized data information to the speed regulation module for speed regulation operation;
the perception module also comprises an optical vision perception module and an ultrasonic sensor;
the optical visual perception module comprises a laser emission module, an optical sensor, a data analysis module and an image drawing module which are sequentially connected;
the laser emission module is used for emitting laser pulses to all directions of the unmanned carrying vehicle;
the light sensor detects laser pulses reflected from objects and walls around the automated guided vehicle;
the data analysis module analyzes the received laser pulse;
the image drawing module constructs a three-dimensional map of the surrounding environment according to the data analyzed by the data analysis module, and the image drawing module can update the map in real time according to the data information received in real time;
the data analysis module is also connected with the ranging module;
the data analysis module transmits the distance data obtained by analysis to the ranging module in real time;
the ultrasonic sensor is used for transmitting and receiving ultrasonic signals and feeding back the obtained signal information to the distance measurement module for distance measurement operation;
the distance measuring module further comprises an error alarm module, and the error alarm module comprises a first indicator light and a first buzzer;
the distance measurement module compares the distance data transmitted by the data analysis module with the data obtained by calculating the signal information transmitted by the ultrasonic sensor, an error value is set, when the calculated error is larger than the value, the error alarm module gives an alarm, the first indicator lamp is turned on, the first buzzer buzzes, when the calculated error is smaller than the value, the average value of the two values is obtained, and the value is used as the distance data and is transmitted to the speed regulation module;
the speed regulating module comprises a communication unit, an arithmetic unit and a power unit which are connected in sequence;
the communication unit is used for receiving and transmitting data and keeping communication with other modules;
the operation unit performs operation according to various data received by the communication unit, so that the unmanned transport vehicle completes different acceleration or deceleration instructions according to given preset values;
the power unit does work to provide power for the unmanned transport vehicle.
2. The automated guided vehicle bumper system of claim 1, wherein: the method for adjusting the speed change by the speed adjusting module comprises the following steps:
setting an expected distance value, an intermediate distance value and a stopping distance value between the unmanned carrier and an obstacle, wherein the expected distance value > the intermediate distance value > the stopping distance value >0;
adjusting the power output of the power unit and controlling the speed change according to the deviation between the current distance value and the stopping distance value transmitted by the ranging module in real time;
dividing the process of controlling the speed change into at least two stages, wherein each stage realizes different targets, so that the speed of the unmanned carrier is reduced to 0 when the stopping distance value is reached;
the two stages are S1 and S2 respectively;
when the existing distance value transmitted by the ranging module in real time is equal to the expected distance value, the speed regulating module starts an anti-collision mode to perform a stage S1;
the S1 stage is used for adjusting acceleration to enable the change of the speed of the unmanned transport vehicle to transit from slow to fast;
when the existing distance value transmitted by the ranging module in real time is equal to the middle distance value, performing S2 stage;
and S2, giving a determined acceleration by the operation unit according to the difference value between the intermediate distance value and the stopping distance value and the existing speed, so that the speed of the unmanned transport vehicle is reduced to 0 when the existing distance value transmitted by the distance measuring module in real time is equal to the stopping distance value.
3. The automated guided vehicle bumper system of claim 2, wherein: the process of controlling the speed change further comprises a stage S3, when the existing distance value transmitted by the ranging module in real time is larger than the expected distance value, an expected speed value and expected time for normal carrying of the unmanned carrying vehicle are set;
and when the current speed detected by the speed detection module is lower than the expected speed value, starting a carrying mode, giving a determined acceleration by the operation unit according to the expected speed value and the current speed value, and increasing the speed to the expected speed value within the expected time.
4. The automated guided vehicle bumper system of claim 1, wherein: the system also comprises a cloud server and a control terminal;
the communication unit further comprises a Bluetooth module, and the Bluetooth module is further connected with the control terminal through the cloud server;
the Bluetooth module is used for transmitting the data information received and sent by the communication unit to the control terminal in real time.
5. The automated guided vehicle bumper system of claim 4, wherein: the obstacle detection module further comprises a positioning module, and the positioning module is connected with the control terminal through the cloud server.
6. The automated guided vehicle bumper system of claim 1, wherein: the sensing module further comprises a self-checking module, and the self-checking module is used for detecting to determine whether the obstacle actually exists;
the self-checking module further comprises a noise module, and the noise module monitors noise to determine a noise level;
when the noise module monitors noise, the ultrasonic sensor does not emit ultrasonic waves outwards, only receives the ultrasonic waves from the surrounding environment, the ultrasonic waves are detected, and the detected ultrasonic waves are noise voltage levels;
when the self-checking module determines that the voltage level detection value related to the ultrasonic wave received by the ultrasonic sensor is greater than the noise voltage level, judging that an obstacle actually exists;
when the voltage level detection value is less than or equal to the noise voltage level, it is determined that an obstacle does not actually exist.
7. The automated guided vehicle bumper system of claim 1, wherein: the obstacle detection module further comprises a prompt module, and the prompt module is connected with the distance measurement module;
the prompting module comprises a second indicator light and a second buzzer;
when the automatic guided vehicle works, the second indicator light strobes to send out a working prompt;
and setting an early warning value, and when the real-time distance data value given by the distance measuring module is smaller than or equal to the early warning value, the second buzzer buzzes for warning.
8. The automated guided vehicle bumper system of claim 1, wherein: the power supply module is connected with the obstacle detection module;
the power module comprises a power supply device and a wireless charging module matched with the power supply device.
9. The automated guided vehicle bumper system of claim 8, wherein: the power supply device is a rechargeable lithium battery.
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