CN113885492B - AGV driving control method and system - Google Patents
AGV driving control method and system Download PDFInfo
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- CN113885492B CN113885492B CN202111092056.0A CN202111092056A CN113885492B CN 113885492 B CN113885492 B CN 113885492B CN 202111092056 A CN202111092056 A CN 202111092056A CN 113885492 B CN113885492 B CN 113885492B
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- 238000004519 manufacturing process Methods 0.000 claims abstract description 29
- 230000008569 process Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000006872 improvement Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
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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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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to the technical field of AGV control, in particular to an AGV running control method and system, wherein the method comprises the following steps: obtaining standard running duration 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 in the current station section; according to the time difference of the AGV in the current station section, the running speed of the AGV in the next station section is adjusted so that the sum of the total actual running time of the AGV along the production line and the standard running time of the AGV in each station section is equal; the application can meet the requirement of material transportation beats by adjusting and controlling the traveling speed of the AGV.
Description
Technical Field
The application relates to the technical field of AGV control, in particular to an AGV running control method and system.
Background
Unmanned transport vehicles (AGVs) have found wide application in factory transport of materials. For most factories, the beat of the transported materials is not required to be very accurate, namely, the process is carried out without delay. However, some factories are not so strict in material transportation beat, and the 'minute and second difference' is required, so that high requirements are put on AGV motion control.
The following scenario is not a matter: there is a factory line with 10 unevenly distributed station segments, the beat between each station segment being approximately 60 seconds, the AGV needs to walk through each station segment to transport the material, but the time taken must be less than 1 second because if one station segment is more than 1 second, the accumulated error of 10 station segments may be more than 1 minute. For some production lines, especially automotive production lines, which are a must-be minute-to-minute error is unacceptable.
In order to ensure that the AGV walks each station section with different distances within the specified time, if the AGV runs at a constant speed by a simple method of dividing the distance by the time, the AGV always has larger errors due to some errors and other factors such as the ground because of no real-time feedback, and obviously, the constant-speed running is a less accurate control method.
Therefore, it is necessary to improve the existing driving control mode of the AGV to meet the requirement of the material transportation beat.
Disclosure of Invention
The application aims to provide an AGV driving control method and system, which are used for solving one or more technical problems in the prior art and at least providing a beneficial selection or creation condition.
In order to achieve the above object, the present application provides the following technical solutions:
an AGV travel control method, the method comprising the steps of:
step S100, acquiring standard driving time length 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;
step 200, controlling the AGV to run along a production line, and determining the actual running duration of the AGV in the current station section;
step S300, the running 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 running time of the AGV along the production line is 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.
Further, the start and 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 to read the landmark card;
when the AGV reads the landmark card, determining a station section where the AGV is currently located;
recording the starting time and the ending time of the station section where the AGV is currently located; the starting time is the time when the AGV reads the landmark card at the starting position of the current station section, and the ending time is the time when the AGV reads the landmark card at the ending position of the current station section;
and calculating the time difference between the starting time and the ending time to obtain the actual running duration of the AGV in the current station section.
Further, the step S300 includes:
if the actual running time of the AGV in the station section is longer than the standard running time of the station section, controlling the AGV to increase the running speed of the next station section; otherwise, controlling the AGV to reduce the running speed of the next station section; to make up for the time difference of the AGV in 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 runs along the production line, the running speed of the AGV is detected in real time so as to control the running speed of the AGV not to exceed the highest running speed and not to be lower than the lowest running speed.
Further, the method further comprises:
determining whether the time difference of the AGV in the current station section is larger 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 in 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, implements the steps of the AGV travel control method according to any one of the preceding claims.
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 is caused to implement the AGV travel control method according to any one of the above.
The beneficial effects of the application are as follows: the application discloses an AGV running control method and system, wherein the running speed of an 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 running time of the AGV along a production line is equal to the sum of the standard running time of the AGV in each station section; the travel speed of the AGV in each station section is regulated and controlled, so that the requirement of material transportation beats can be met.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an AGV travel control method in an embodiment of the application;
FIG. 2 is a schematic illustration of the effect of an AGV traveling in multiple station segments in an embodiment of the present application.
Detailed Description
The conception, specific structure, and technical effects produced by the present application will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
Referring to fig. 1, fig. 1 shows an AGV driving control method according to an embodiment of the present application, where the method includes the following steps:
step S100, acquiring standard driving time length 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;
step 200, controlling the AGV to run along a production line, and determining the actual running duration of the AGV in the current station section;
step S300, the running 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 running time of the AGV along the production line is 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.
Referring to fig. 2, in some embodiments, a production line is divided into 10 equal-divided station segments equally, the standard running duration of the AGV in each station segment is 6 seconds, the timing is started from the time when the AGV runs in the first station segment, the time comparison is performed immediately after the AGV runs in the first station segment, one is the standard running duration (using a system clock, the system clock is absolute time), the one is the actual running duration of the AGV in the current station segment, and then the running 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 AGV constant speed driving system has the advantages that the AGV constant speed driving for a long time is decomposed into the constant speed driving adjustment for a short time, errors can be reduced to the greatest extent, and meanwhile, the AGV constant speed driving system is intelligent and flexible because the AGV constant speed driving system is self-comparison adjustment.
As a further improvement of the above embodiment, the start and end of each station segment 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 to read the landmark card;
when the AGV reads the landmark card, determining a station section where the AGV is currently located;
recording the starting time and the ending time of the station section where the AGV is currently located; the starting time is the time when the AGV reads the landmark card at the starting position of the current station section, and the ending time is the time when the AGV reads the landmark card at the ending position of the current station section;
and calculating the time difference between the starting time and the ending time to obtain the actual running duration 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 in the station section is longer than the standard running time of the station section, controlling the AGV to increase the running speed of the next station section; otherwise, controlling the AGV to reduce the running speed of the next station section; to make up for the time difference of the AGV in the current station segment.
As a further improvement 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 runs along the production line, the running speed of the AGV is detected in real time so as to control the running speed of the AGV not to exceed the highest running speed and not to be lower than the lowest running speed.
It should be noted that, in practical application, the situation that the deviation from the standard running duration is large may occur due to the distance problem of the laid landmark, or the road surface problem, or the road section of the turn, so that the AGV may have a steep increase or decrease in speed in the next station section, the steep increase in speed may cause the feeding person to react less quickly, the steep decrease in speed may cause the AGV to stop directly, and these problems may be avoided by defining an adjusted maximum running speed and minimum running speed.
As a further improvement of the above embodiment, the method further comprises:
determining whether the time difference of the AGV in the current station section is larger 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 in 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 section is too large, a flexible time configuration change may be further performed, for example, if it is found that the AGV travels for approximately 8 seconds in a small section of 1-2 in the actual running process, it is difficult to readjust the travel time length through a subsequent station section, and the standard travel time length of the station section may be configured to be 4 seconds, so that the actual travel time length of the station section of the AGV may be approximately 6 seconds, thereby reducing the time difference of the AGV in the current station section.
Corresponding to the method of fig. 1, the embodiment of the present application further provides a computer readable storage medium, where an AGV running control program is stored in the computer readable storage medium, where the AGV running control program implements the steps of the AGV running control method according to any one of the embodiments described above when executed by a processor.
Corresponding to the method of fig. 1, the embodiment of the application further provides an AGV driving control system, which 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 content in the method embodiment is applicable to the system embodiment, the functions specifically realized by the system embodiment are the same as those of the method embodiment, and the achieved beneficial effects are the same as those of the method embodiment.
The Processor may be a Central-Processing Unit (CPU), other general-purpose Processor, digital-Signal-Processor (DSP), application-Specific-Integrated-Circuit (ASIC), field-Programmable-Gate array (FPGA), or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. The general purpose processor may be a microprocessor or any conventional processor or the like that is the control center of the AGV travel control system that utilizes various interfaces and lines to connect the various parts of the overall AGV travel control system operable device.
The memory may be used to store the computer program and/or modules and the processor may implement various functions of the AGV travel control system by running or executing the computer program and/or modules stored in the memory and invoking 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 (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart-Media-Card (SMC), secure-Digital (SD) Card, flash Card (Flash-Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
While the present application has been described in considerable detail and with particularity with respect to several described embodiments, it is not intended to be limited to any such detail or embodiments or any particular embodiment, but is to be considered as providing a broad interpretation of such claims by reference to the appended claims in light of the prior art and thus effectively covering the intended scope of the application. Furthermore, the foregoing description of the application has been presented in its embodiments contemplated by the inventors for the purpose of providing a useful description, and for the purposes of providing a non-essential modification of the application that may not be presently contemplated, may represent an equivalent modification of the application.
Claims (7)
1. An AGV running control method, characterized in that the method comprises the following steps:
step S100, acquiring standard driving time length 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;
step 200, controlling the AGV to run along a production line, and determining the actual running duration of the AGV in the current station section;
step S300, the running 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 running time of the AGV along the production line is 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.
2. The method according to claim 1, wherein landmark cards are 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 to read the landmark card;
when the AGV reads the landmark card, determining a station section where the AGV is currently located;
recording the starting time and the ending time of the station section where the AGV is currently located; the starting time is the time when the AGV reads the landmark card at the starting position of the current station section, and the ending time is the time when the AGV reads the landmark card at the ending position of the current station section;
and calculating the time difference between the starting time and the ending time to obtain the actual running duration of the AGV in the current station section.
3. The method of controlling travel of an AGV according to claim 2, wherein said step S300 includes:
if the actual running time of the AGV in the station section is longer than the standard running time of the station section, controlling the AGV to increase the running speed of the next station section; otherwise, controlling the AGV to reduce the running speed of the next 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 runs along the production line, the running speed of the AGV is detected in real time so as to control the running speed of the AGV not to exceed the highest running speed and not to be lower than the lowest running 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 larger 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 in the station section according to the difference value.
6. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, 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, the system comprising:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement the AGV travel control method according to any one of claims 1 to 5.
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