CN113885492A - AGV driving control method and system - Google Patents
AGV driving control method and system Download PDFInfo
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- CN113885492A CN113885492A CN202111092056.0A CN202111092056A CN113885492A CN 113885492 A CN113885492 A CN 113885492A CN 202111092056 A CN202111092056 A CN 202111092056A CN 113885492 A CN113885492 A CN 113885492A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention relates to the technical field of AGV control, in particular to an AGV driving control method and system, wherein the method comprises the following steps: acquiring the standard running time of each station section in the production line; the production line comprises a plurality of station sections, and landmark cards are arranged at the starting positions and the ending positions of the station sections; controlling the AGV to run along the production line, and determining the actual running time of the AGV at the current station section; adjusting the running speed of the AGV in the next station section according to the time difference of the AGV in the current station section so as to enable the total actual running time of the AGV along the production line to be equal to the sum of the standard running time of the AGV in each station section; the time difference of the AGV in the current station section is the difference between the actual running time of the AGV in the current station section and the standard running time of the station section.
Description
Technical Field
The invention relates to the technical field of AGV control, in particular to an AGV driving control method and an AGV driving control system.
Background
Unmanned vehicles (AGVs) have been used extensively in factories to transport materials. For most plants, the tact time for transporting the material is not required to be very accurate, i.e. "not delayed". However, some factories do not have strict requirements on the material transportation rhythm, and the requirement of the factory is to achieve the 'minute-second difference', which puts high requirements on the AGV movement control.
The following scenario is not assumed: with a factory line having 10 unevenly distributed station sections, the tact time between each station section is approximately 60 seconds, and the AGV needs to walk through each station section to transport the material, but the time used must be less than 1 second in error because if the error of one station section is greater than 1 second, the cumulative error of 10 station sections may exceed 1 minute. For some production lines, especially automotive production lines, where minutes and seconds are critical, minute-scale errors are unacceptable.
In order to ensure that the AGV finishes each station section with different distances in a specified time, if the method of simply calculating the speed by dividing the distance by the time is used for driving at a constant speed, because real-time feedback is not available, the error ratio is larger because of some errors and other factors such as some ground surfaces, and obviously, the constant speed driving is a inaccurate control method.
Therefore, it is necessary to improve the existing AGV running control method to meet the requirement of the material transportation takt time.
Disclosure of Invention
The present invention is directed to an AGV driving control method and system, which solves one or more of the problems of the prior art and provides at least one of the advantages of the present invention.
In order to achieve the purpose, the invention provides the following technical scheme:
an AGV travel control method comprising the steps of:
s100, acquiring the standard running time of each station section in the production line; the production line comprises a plurality of station sections, and landmark cards are arranged at the starting positions and the ending positions of the station sections;
s200, controlling the AGV to run along a production line, and determining the actual running time of the AGV at the current station section;
step S300, adjusting the running speed of the AGV in the next station section according to the time difference of the AGV in the current station section so as to enable the total actual running time of the AGV along the production line to be equal to the sum of the standard running time of the AGV in each station section; and the time difference of the AGV at the current station segment is the difference between the actual running time of the AGV at the current station segment and the standard running time of the station segment.
Further, the start and the end of each station section in the production line are provided with landmark cards, and the step S200 includes:
scanning in real time during the running process of the AGV along the production line so as to read the landmark card;
when the AGV reads the landmark card, determining a station segment where the AGV is currently located;
recording the starting time and the ending time of the current station segment of the AGV; the starting time is the time when the AGV reads the landmark card at the starting position of the current station segment, and the ending time is the time when the AGV reads the landmark card at the ending position of the current station segment;
and calculating the time difference between the starting time and the ending time to obtain the actual running time of the AGV in the current station section.
Further, the step S300 includes:
if the actual running time of the AGV at the station section is longer than the standard running time of the station section, controlling the AGV to increase the running speed at the next station section; otherwise, controlling the AGV to reduce the running speed of the next station section; to compensate for the difference in time of the AGV at the current station segment.
Further, the method further comprises:
acquiring the highest running speed and the lowest running speed of the AGV;
and in the process that the AGV travels along the production line, the traveling speed of the AGV is detected in real time so as to control the traveling speed of the AGV not to exceed the highest traveling speed and not to be lower than the lowest traveling speed.
Further, the method further comprises:
determining whether the time difference of the AGV in the current station section is greater than a set threshold value, if so, calculating the difference value between the time difference and the set threshold value;
and reducing the standard running time of the AGV at the station section according to the difference value.
A computer-readable storage medium having stored thereon an AGV travel control program which, when executed by a processor, realizes the steps of the AGV travel control method according to any one of the above.
An AGV travel control system, the system comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor may implement the AGV travel control method according to any one of the above.
The invention has the beneficial effects that: the invention discloses an AGV driving control method and a system, wherein the driving speed of the AGV in the next station section is adjusted according to the time difference of the AGV in the current station section, so that the total actual driving time of the AGV along a production line is equal to the sum of the standard driving time of the AGV in each station section; the requirement of material transportation beat can be met by adjusting and controlling the running speed of the AGV at each station section.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flowchart illustrating an AGV traveling control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the effect of an AGV in accordance with an embodiment of the present invention in traveling through multiple work station sections.
Detailed Description
The conception, specific structure and technical effects of the present application will be described clearly and completely with reference to the following embodiments and the accompanying drawings, so that the purpose, scheme and effects of the present application can be fully understood. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, fig. 1 shows an AGV travel control method according to an embodiment of the present application, where the method includes the following steps:
s100, acquiring the standard running time of each station section in the production line; the production line comprises a plurality of station sections, and landmark cards are arranged at the starting positions and the ending positions of the station sections;
s200, controlling the AGV to run along a production line, and determining the actual running time of the AGV at the current station section;
step S300, adjusting the running speed of the AGV in the next station section according to the time difference of the AGV in the current station section so as to enable the total actual running time of the AGV along the production line to be equal to the sum of the standard running time of the AGV in each station section; and the time difference of the AGV at the current station segment is the difference between the actual running time of the AGV at the current station segment and the standard running time of the station segment.
Referring to fig. 2, in some embodiments, a production line is divided into 10 equal station segments on average, the standard travel time of the AGV in each station segment is 6 seconds, timing starts from when the AGV travels in the first station segment, time comparison is performed immediately after the AGV finishes the first station segment, one is the standard travel time (using a system clock, which is absolute time), and the other is the actual travel time of the AGV in the current station segment, and then the travel speed of the AGV in the next station segment is adjusted according to the time difference of the AGV in the current station segment. The advantage of doing so is to travel the adjustment at the uniform velocity that decomposes into the constant velocity of short time to AGV a section long-time, can reduce the error to the at utmost, simultaneously because AGV is comparison adjustment by oneself, and is more intelligent nimble.
As a further improvement of the above embodiment, a landmark card is provided at the beginning and the end of each station section in the production line, and the step S200 includes:
scanning in real time during the running process of the AGV along the production line so as to read the landmark card;
when the AGV reads the landmark card, determining a station segment where the AGV is currently located;
recording the starting time and the ending time of the current station segment of the AGV; the starting time is the time when the AGV reads the landmark card at the starting position of the current station segment, and the ending time is the time when the AGV reads the landmark card at the ending position of the current station segment;
and calculating the time difference between the starting time and the ending time to obtain the actual running time of the AGV in the current station section.
As a further improvement of the above embodiment, the step S300 includes:
if the actual running time of the AGV at the station section is longer than the standard running time of the station section, controlling the AGV to increase the running speed at the next station section; otherwise, controlling the AGV to reduce the running speed of the next station section; to compensate for the difference in time of the AGV at the current station segment.
As a further refinement of the above embodiment, the method further comprises:
acquiring the highest running speed and the lowest running speed of the AGV;
and in the process that the AGV travels along the production line, the traveling speed of the AGV is detected in real time so as to control the traveling speed of the AGV not to exceed the highest traveling speed and not to be lower than the lowest traveling speed.
It should be noted that, in practical applications, a situation that the deviation from the standard driving time is large may occur due to a distance problem of a paved landmark, a road surface problem, or a turning road section, and then the AGV may have a phenomenon of a rapid speed increase or a rapid speed decrease in a next station section, the rapid speed increase may cause a feeding person to have no time to react, the rapid speed decrease may cause the AGV to stop directly due to too low speed, and the problems may be avoided by defining an adjusted maximum driving speed and an adjusted minimum driving speed.
As a further refinement of the above embodiment, the method further comprises:
determining whether the time difference of the AGV in the current station section is greater than a set threshold value, if so, calculating the difference value between the time difference and the set threshold value;
and reducing the standard running time of the AGV at the station section according to the difference value.
It should be noted that, in order to avoid the situation that the time deviation of the AGV in a certain station segment is too large, flexible time configuration change can be performed, for example, if it is found that the AGV runs for approximately 8 seconds in a segment of 1 to 2 in the actual running process, it is difficult to adjust the running time through the subsequent station segment, the standard running time of the station segment can be configured to be 4 seconds, so that the actual running time of the station segment of the AGV can be close to 6 seconds, and the time difference of the AGV in the current station segment is reduced.
Corresponding to the method of fig. 1, an embodiment of the present invention further provides a computer-readable storage medium having an AGV running control program stored thereon, where the AGV running control program, when executed by a processor, implements the steps of the AGV running control method according to any one of the above-mentioned embodiments.
Corresponding to the method in fig. 1, an embodiment of the present invention further provides an AGV driving control system, where the system includes:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the AGV travel control method according to any one of the above embodiments.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
The Processor may be a Central-Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application-Specific-Integrated-Circuit (ASIC), a Field-Programmable Gate array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the AGV travel control system and connecting the various parts of the overall AGV travel control system operational device using various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement various functions of the AGV travel control system by running or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart-Media-Card (SMC), a Secure-Digital (SD) Card, a Flash-memory Card (Flash-Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
While the description of the present application has been made in considerable detail and with particular reference to a few illustrated embodiments, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed that the present application effectively covers the intended scope of the application by reference to the appended claims, which are interpreted in view of the broad potential of the prior art. Further, the foregoing describes the present application in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial changes from the present application, not presently foreseen, may nonetheless represent equivalents thereto.
Claims (7)
1. An AGV travel control method comprising the steps of:
s100, acquiring the standard running time of each station section in the production line; the production line comprises a plurality of station sections, and landmark cards are arranged at the starting positions and the ending positions of the station sections;
s200, controlling the AGV to run along a production line, and determining the actual running time of the AGV at the current station section;
step S300, adjusting the running speed of the AGV in the next station section according to the time difference of the AGV in the current station section so as to enable the total actual running time of the AGV along the production line to be equal to the sum of the standard running time of the AGV in each station section; and the time difference of the AGV at the current station segment is the difference between the actual running time of the AGV at the current station segment and the standard running time of the station segment.
2. The AGV driving control method according to claim 1, wherein a landmark card is provided at a start and an end of each station segment in the production line, and the step S200 includes:
scanning in real time during the running process of the AGV along the production line so as to read the landmark card;
when the AGV reads the landmark card, determining a station segment where the AGV is currently located;
recording the starting time and the ending time of the current station segment of the AGV; the starting time is the time when the AGV reads the landmark card at the starting position of the current station segment, and the ending time is the time when the AGV reads the landmark card at the ending position of the current station segment;
and calculating the time difference between the starting time and the ending time to obtain the actual running time of the AGV in the current station section.
3. The AGV running control method according to claim 2, wherein said step S300 includes:
if the actual running time of the AGV at the station section is longer than the standard running time of the station section, controlling the AGV to increase the running speed at the next station section; otherwise, controlling the AGV to reduce the running speed of the next station section; to compensate for the difference in time of the AGV at the current station segment.
4. The AGV travel control method according to claim 3, further comprising:
acquiring the highest running speed and the lowest running speed of the AGV;
and in the process that the AGV travels along the production line, the traveling speed of the AGV is detected in real time so as to control the traveling speed of the AGV not to exceed the highest traveling speed and not to be lower than the lowest traveling speed.
5. The AGV travel control method according to claim 1, further comprising:
determining whether the time difference of the AGV in the current station section is greater than a set threshold value, if so, calculating the difference value between the time difference and the set threshold value; and reducing the standard running time of the AGV at the station section according to the difference value.
6. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed by a processor implements the steps of the AGV travel control method according to any one of claims 1 to 5.
7. An AGV travel control system, comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the AGV travel control method according to any one of claims 1 to 5.
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