CN114115232A - AGV transportation speed control method, system, equipment and medium - Google Patents

AGV transportation speed control method, system, equipment and medium Download PDF

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Publication number
CN114115232A
CN114115232A CN202111246063.1A CN202111246063A CN114115232A CN 114115232 A CN114115232 A CN 114115232A CN 202111246063 A CN202111246063 A CN 202111246063A CN 114115232 A CN114115232 A CN 114115232A
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agv
goods
speed
acceleration
stage
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廖梓轩
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Guangdong Jaten Robot and Automation Co Ltd
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Guangdong Jaten Robot and Automation Co Ltd
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    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Abstract

The invention discloses an AGV transportation speed control method, a system, equipment and a medium, wherein the method comprises the following steps: detecting the weight of the goods carried by the AGV and the shaking degree of the carried goods when the AGV runs; judging the type of the goods carrying the goods according to the weight of the goods and the shaking degree; constructing a motion speed model according to the type of the goods and the traveling path, and dynamically controlling the speed of the AGV in an acceleration stage and a deceleration stage; the motion speed model is provided with an acceleration stage, a uniform speed stage and a deceleration stage. According to the type of the goods carried by the AGV, the speed of the AGV in the acceleration stage during starting and the speed of the AGV in the deceleration stage during braking are controlled, so that the self characteristics of the goods are adapted, the impact, the step loss, the over travel or the oscillation generated by the AGV in the starting and stopping stage are reduced, and the maneuverability and the service life of the AGV are prolonged.

Description

AGV transportation speed control method, system, equipment and medium
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an AGV transportation speed control method, an AGV transportation speed control system, AGV transportation speed control equipment and an AGV transportation speed control medium.
Background
AGVs are Automated guided vehicles (Automated guided vehicles) that are equipped with electromagnetic or optical Automated guidance devices, can travel along a predetermined guidance route, have safety protection and various transfer functions, and are industrial vehicles that do not require a driver, and use rechargeable batteries as their power sources. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic track.
In order to reduce the impact, the step loss, the over travel or the oscillation of the AGV in the starting and stopping stage, a special acceleration and deceleration control rule must be designed, so that the input (frequency and voltage) of a running motor of the AGV changes according to a given rule, the AGV can be started and stopped quickly and stably under various working conditions, the shaking of cargos is reduced, and the maneuverability and the service life of the AGV are increased. At present, most of conveying devices are simple in speed control design, mainly rely on friction force to maintain the relative position relationship between a goods shelf and an AGV, and under the condition of starting or stopping, goods are likely to topple or be unstable.
Disclosure of Invention
It is an object of the present invention to provide a method, system, apparatus and medium for controlling the transport speed of an AGV, which solves one or more of the problems of the prior art and provides at least one of the advantages of the prior art.
In a first aspect, a method for controlling the transport speed of an AGV is provided, including:
detecting the weight of the goods carried by the AGV and the shaking degree of the carried goods when the AGV runs;
judging the type of the goods carrying the goods according to the weight of the goods and the shaking degree;
constructing a motion speed model according to the type of the goods and the traveling path, and dynamically controlling the speed of the AGV in an acceleration stage and a deceleration stage; the motion speed model is provided with an acceleration stage, a uniform speed stage and a deceleration stage.
Further, the cargo type of the loaded cargo is judged according to the cargo weight and the shaking degree, including;
when the shaking degree is larger than the shaking preset value, judging that the goods are easy to dump;
when the shaking degree is smaller than the movable preset value and the weight of the goods is larger than the weight preset value, judging that the goods type is heavy goods;
and when the shaking degree is smaller than the movable preset value and the weight of the goods is smaller than the weight preset value, judging that the type of the goods is light goods.
Further, the building a motion speed model according to the type of the goods and the travel path, and dynamically controlling the speed of the AGV in an acceleration stage and a deceleration stage includes:
constructing a motion speed model according to the easily dumped goods and the traveling path; the shaking degree of the easily dumped goods is greater than a shaking preset value;
controlling the AGV to make variable acceleration linear motion at an acceleration stage with the acceleration with the decreasing change rate, and entering a constant speed stage after the target speed is reached;
and entering a deceleration stage when the length of the residual travel path is less than a second threshold length, and controlling the AGV to perform variable deceleration linear motion at the accelerated speed with the increasing change rate to the end point of the travel path and stop.
Further, the building of the motion speed model according to the easily dumped goods and the traveling path comprises the following steps:
in the acceleration stage, iteratively generating speed curves generated by the accelerations with different change rates;
and obtaining a speed curve with the minimum deviation between the midpoint acceleration and the optimum starting acceleration of the AGV, and substituting the acceleration change rate corresponding to the speed curve into the motion speed model.
Further, the building a motion speed model according to the type of the goods and the travel path, and dynamically controlling the speed of the AGV in an acceleration stage and a deceleration stage includes:
constructing a motion speed model according to the heavy goods and the traveling path; the shaking degree of the heavy goods is smaller than a movable preset value, and the weight of the goods is larger than a weight preset value;
controlling the AGV to make variable acceleration linear motion at an acceleration rate which is increased first and then decreased in an acceleration stage, and entering a constant speed stage after the target speed is reached;
and entering a deceleration stage when the length of the residual travel path is smaller than a third threshold length, and controlling the AGV to perform variable deceleration linear motion to the end point of the travel path at the acceleration with the change rate increased first and then decreased and stop.
Further, the building a motion speed model according to the type of the goods and the travel path, and dynamically controlling the speed of the AGV in an acceleration stage and a deceleration stage includes:
constructing a motion speed model according to the light cargo and the traveling path; the shaking degree of the light cargo is smaller than a preset movable value, and the weight of the cargo is smaller than a preset weight value;
controlling the AGV to accelerate uniformly in an acceleration stage so as to reach a target speed, and entering a constant speed stage after the target speed is reached;
and entering a deceleration stage when the length of the residual travel path is less than the first threshold length, and controlling the AGV to uniformly decelerate to the end point of the travel path and stop.
In a second aspect, an AGV transport speed control system is provided, comprising:
the detection module is used for detecting the weight of the goods carried by the AGV and the shaking degree of the carried goods when the AGV runs;
the judging module is used for judging the type of the goods carrying the goods according to the weight of the goods and the shaking degree;
and the driving module is used for dynamically controlling the speed of the AGV in the traveling process according to the type of the goods.
In a third aspect, a computer device is provided, comprising:
a memory storing a computer program;
a processor implementing the AGV transport speed control method according to the first aspect when executing the computer program.
In a fourth aspect, a computer storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the AGV transport speed control method according to the first aspect.
The invention has the beneficial effects that: according to the type of the goods carried by the AGV, the speed of the AGV in the acceleration stage when starting and the speed reduction stage when braking is controlled, so that the self characteristics of the goods are adapted, the impact, the step loss, the over-travel or the oscillation of the AGV in the start and stop stage are reduced, and the maneuverability and the service life of the AGV are prolonged.
Drawings
FIG. 1 is a flow chart illustrating an AGV transport speed control method according to one embodiment.
FIG. 2 is a flowchart showing the substeps of step S300 of the AGV transport speed control method according to the first embodiment.
FIG. 3 is a graph of a motion velocity model as disclosed in the embodiment of FIG. 2.
FIG. 4 is a flowchart showing the substeps of step S300 of the AGV transport speed control method according to the second embodiment.
FIG. 5 is a graph of a motion velocity model as disclosed in the embodiment of FIG. 4.
FIG. 6 is a flowchart showing the substeps of step S300 of the AGV transporting speed control method according to the third embodiment.
FIG. 7 is a graph of a motion velocity model as disclosed in the embodiment of FIG. 6.
FIG. 8 is a graph of an adjusted movement velocity model as disclosed in the embodiment of FIG. 6.
FIG. 9 is a block diagram illustrating the configuration of an AGV transport speed control system according to one embodiment.
FIG. 10 is an internal block diagram of a computer device, according to one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention will be further described with reference to the embodiments and the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
According to the first aspect of the invention, the AGV transportation speed control method is applied to speed control of the AGV in the transportation process.
Referring to FIG. 1, FIG. 1 is a flow chart illustrating a method for controlling the transport speed of an AGV according to one embodiment. As shown in fig. 1, the method comprises the steps of:
and S100, detecting the weight of the goods carried by the AGV and the shaking degree of the carried goods when the AGV runs.
Wherein, the mechanism that carries cargo (for example being fork arm of fork truck formula AGV) of AGV is provided with the vibration test appearance, through the vibration test appearance measure AGV process of marcing the mechanism vibration frequency information that carries cargo that is caused by the goods, because the mechanism direct contact that carries cargo of goods and AGV, consequently can measure the condition that the goods rocked the degree with carrying cargo mechanism vibration frequency information.
The AGV can be provided with pressure sensor, through pressure sensor measurement goods weight, also can weigh the goods before AGV carries on the goods, through the goods weight conveying to AGV that wireless communication will weigh the result.
And S200, judging the type of the goods carrying the goods according to the weight of the goods and the shaking degree.
The AGV transportation speed control method provided by the embodiment divides the goods into three types according to the weight and the shaking degree of the goods, wherein the three types are respectively easy-to-dump goods, heavy goods and light goods. The specific steps of judging the type of the goods carrying the goods according to the weight of the goods and the shaking degree are as follows:
when the shaking degree is larger than the shaking preset value, the cargo type is judged to be easy to dump, and the easy dumping cargo is easy to overturn or overturn due to the change of the gravity center in the carrying process. The pourable goods may be, for example, liquid goods and stacked pallets or the like.
When the shaking degree is smaller than the movable preset value and the weight of the goods is larger than the weight preset value, the type of the goods is judged to be heavy goods, and the heavy goods have the characteristic of large inertia.
When the shaking degree is smaller than the movable preset value and the weight of the goods is smaller than the weight preset value, the goods type is judged to be light goods, the light goods have small inertia and are not easy to turn over or turn over.
And S300, constructing a motion speed model according to the type of the goods and the traveling path, and dynamically controlling the speed of the AGV in an acceleration stage and a deceleration stage.
The motion speed model is provided with an acceleration stage, a uniform speed stage and a deceleration stage. And selecting a corresponding speed control strategy to control the AGV according to the goods type judged in the step S200 so as to adapt to the characteristics of the goods type.
Specifically, the AGV makes a linear motion in the transportation process, the acceleration stage is a start stage of the AGV, the AGV carries a cargo and starts transportation, the AGV starts acceleration from zero to a target speed, the AGV enters the constant speed stage after accelerating to the target speed, the AGV makes a constant speed linear motion at the target speed and advances to the end point of the advancing path, when the end point of the advancing path is reached, the AGV enters the deceleration stage, and the speed of the AGV gradually decreases to zero and reaches the end point of the advancing path.
In this embodiment, according to the goods type that AGV carried on, the speed when the acceleration stage of control AGV when starting and the deceleration stage when braking to adapt to the self characteristic of this goods, reduce the impact, the step-out, overrun or the oscillation that AGV stopped the stage and produced, extension AGV's mobility and life.
Three specific steps and principles for dynamically controlling the speed of the AGV during the travel according to the type of the load will be further described.
Referring to fig. 2, fig. 2 is a flowchart showing sub-steps of step S300 of the AGV transport speed control method according to the first embodiment. As shown in fig. 2, the method comprises the steps of:
and S310, constructing a motion speed model according to the easily dumped goods and the traveling path.
Wherein, the shaking degree of the easily dumped goods is more than the shaking preset value.
And S320, controlling the AGV to make variable acceleration linear motion at the acceleration stage with the acceleration with the decreasing change rate, and entering a constant speed stage after the target speed is reached.
And S330, entering a deceleration stage when the length of the residual travelling path is smaller than a second threshold value, and controlling the AGV to perform variable deceleration linear motion at the accelerated speed with the increasing change rate to the end point of the running path and stop.
Because easily topple over goods and easily change at handling in-process focus, if carry out speed planning according to looking for conventional acceleration or deceleration control, lead to the goods easily to rock or contain the great phenomenon of fluctuation of liquid goods, consequently, all adopt the acceleration control AGV that the rate of change is less to carry out the variable speed motion at the initial part of acceleration phase and the final part of deceleration phase, reduce goods and rock the degree.
The embodiment provides a motion speed model adopted when carrying goods easy to dump.
Constructing the following motion speed model according to the easily dumped goods and the traveling path:
Figure BDA0003318971280000061
wherein, V(t)Indicating the current speed, V(m)Representing the target velocity, τ representing the curvature factor of the velocity curve of the model, t representing the current time,
Figure BDA0003318971280000062
represents the phase angle of the model (t)0,t1) Indicating the acceleration phase, (t)1,t2) Indicating a uniform velocity phase (t)2,t3) Indicating the deceleration phase.
The present embodiment adopts the following steps to the parameters tau and
Figure BDA0003318971280000063
designing:
(1) in the acceleration phase, velocity profiles generated by accelerations of different rates of change are iteratively generated.
(2) And obtaining a speed curve with the minimum deviation between the midpoint acceleration and the optimum starting acceleration of the AGV, and substituting the acceleration change rate corresponding to the speed curve into the motion speed model.
Specifically, in the embodiment, a curvature factor τ of a speed curve is iteratively generated by using a genetic algorithm, a midpoint acceleration of the speed curve in an acceleration stage, which is generated according to the curvature factor τ of the iteratively generated speed curve, is obtained, the midpoint acceleration obtained by each iteration is compared with an optimal starting acceleration obtained by the linear reciprocating motion of the AGV for loading, the curvature factor τ corresponding to the midpoint acceleration with the minimum deviation from the optimal starting acceleration is regarded as an optimal solution, and a motion speed model using the curvature factor τ is most consistent with a speed increase rule of the AGV.
While the phase angle
Figure BDA0003318971280000072
The deviation of the speed curve on the time axis is shown, the actual physical meaning is the time of the AGV in the acceleration stage and the uniform speed stage, and the following formula is used to obtain the deviation:
Figure BDA0003318971280000071
wherein S is1Indicating the displacement of the acceleration phase, S2Indicating the amount of displacement at the uniform speed stage, VmRepresenting the target speed, AmThe starting acceleration is the best, and more particularly, the AGV carries the best value selected by the reciprocating linear motion of the easily toppled goods in the acceleration stage or the deceleration stage.
The velocity curve corresponding to the motion velocity model obtained through the above process is shown in fig. 3, and in this embodiment, the curvature factor τ in the acceleration stage is 3.8.
Referring to fig. 4, fig. 4 is a flowchart showing sub-steps of step S300 of the AGV transport speed control method according to the second embodiment. As shown in fig. 4, the method comprises the steps of:
and S340, constructing a motion speed model according to the heavy goods and the traveling path.
Wherein the shaking degree of the heavy goods is less than the movable preset value and the weight of the goods is greater than the weight preset value.
And S350, controlling the AGV to make variable acceleration linear motion at an acceleration rate which is increased first and then decreased later in the acceleration stage, and entering a constant speed stage after the target speed is reached.
And S360, entering a deceleration stage when the length of the residual travelling path is smaller than a third threshold length, and controlling the AGV to perform variable deceleration linear motion to the end point of the travelling path at the acceleration with the change rate increased first and then decreased and stop.
The moving inertia of the heavy goods is relatively large, speed planning is carried out according to conventional acceleration and deceleration control measurement, the deviation between the running speed and the planning of the AGV is relatively large, and the response of the AGV is relatively slow, so that the AGV is controlled to make acceleration linear motion at the acceleration of which the change rate is increased first and then decreased in the acceleration stage, the defect of slow response caused by the self quality of the heavy goods is compensated, the acceleration enters the constant speed stage at the acceleration of which the change rate is relatively low along with the end of the acceleration stage, the inertia influence switching process is avoided, similarly, when the acceleration enters the deceleration stage from the constant speed stage, the AGV is controlled to make deceleration linear motion at the acceleration of which the change rate is increased first and then decreased, and the change rate of the acceleration is gradually reduced until the AGV stops.
The embodiment provides a motion speed model adopted when carrying heavy goods.
The following motion speed model is constructed according to the heavy goods and the traveling path:
Figure BDA0003318971280000081
wherein, V(t)Indicating the current speed, V(m)Representing the target speed, σ represents the curvature factor of the speed curve of the model, t represents the current time, θ represents the phase angle of the model, e represents a natural constant, (t)0,t1) Indicating the acceleration phase, (t)1,t2) Indicating a uniform velocity phase (t)2,t3) Indicating the deceleration phase.
The present embodiment adopts the following steps to design the parameters σ and θ:
the model is established according to linear acceleration and deceleration, and is set at the end of the acceleration stage to reach the target speed VmThen, there are:
Figure BDA0003318971280000082
wherein the content of the first and second substances,Amthe starting acceleration of the AGV is represented, and more specifically, the value is the best selected by the AGV carrying heavy goods in the acceleration stage or the deceleration stage in the back-and-forth linear motion.
Let t equal t when the AGV travels to the end of the acceleration phase1And V(t)＝VmSubstituting + Δ into the above-mentioned model regarding the moving speed of heavy goods yields:
Figure BDA0003318971280000083
wherein, Δ represents a preset deviation amount for improving the operation efficiency and the fault tolerance rate as long as the AGV speed is VmWithin the range of +/-delta, the AGV speed can be considered to reach the target value Vm。
The phase angle θ is the offset of the speed curve on the time axis, and the actual physical meaning is the time of the AGV in the acceleration stage and the uniform speed stage, and is calculated by using the following formula:
Figure BDA0003318971280000084
wherein S is1Indicating the displacement of the acceleration phase, S2Indicating the amount of displacement at the uniform speed stage, VmRepresenting the target speed, AmIndicating the optimum starting acceleration of the AGV.
The speed curve corresponding to the movement speed model obtained according to the above process is shown in fig. 5, and compared with a conventional addition and subtraction control model, the movement speed model provided by the embodiment has the characteristics of good smoothness and high movement precision.
Referring to fig. 6, fig. 6 is a flowchart showing sub-steps of step S300 of the AGV transport speed control method according to the third embodiment. As shown in fig. 6, the method comprises the steps of:
and step S370, constructing a motion speed model according to the light cargo and the traveling path.
Wherein the shaking degree of the light cargo is less than the movable preset value and the weight of the cargo is less than the weight preset value.
And S380, controlling the AGV to accelerate uniformly in the acceleration stage so as to reach the target speed, and entering a constant speed stage after the target speed is reached.
And step S390, entering a deceleration stage when the length of the residual travel path is less than the first threshold length, and controlling the AGV to uniformly decelerate to the end point of the travel path and stop.
Corresponding to light goods (light goods, scalar goods or no-load), the moving inertia is small, overturning or side overturning is not easy to happen, and the requirements on the transportation requirements and the maneuvering performance of the AGV are not high, so that the AGV is controlled by adopting uniform speed change in an acceleration stage and a deceleration stage, and the stable and efficient transportation effect is achieved.
The embodiment provides a motion speed model adopted when carrying light goods.
The following motion speed model is constructed according to light cargo and a traveling path:
Figure BDA0003318971280000091
wherein, V(t)Indicating the current speed, V(m)Representing target speed, t representing current time, AmRepresents the optimum start acceleration of the AGV (t)0,t1) Indicating the acceleration phase, (t)1,t2) Indicating a uniform velocity phase (t)2,t3) The speed curve corresponding to the motion speed model obtained according to the above process is shown in fig. 7.
In this embodiment, due to the length of the travel path, it may be necessary to consider whether there is sufficient time for the AGV to accelerate to the set target speed.
In order to solve the problem, the displacement of the acceleration stage and the displacement of the deceleration stage are calculated, the sum of the displacements of the two stages is compared with the length of the travel path, if the sum is greater than the length of the travel path, the AGV is considered to have insufficient time to accelerate to the set target speed, and at the moment, the motion speed model is adjusted to the following form:
Figure BDA0003318971280000101
wherein, V(t)Indicating the current speed, V(′m)Representing the speed of acceleration to half way along the path of travel, t representing the current time, AmRepresents the optimum start acceleration of the AGV (t)0,t1') indicates the adjusted acceleration phase, (t)1′,t2') indicates the deceleration stage after adjustment, and the velocity profile corresponding to the movement velocity model after adjustment in the present embodiment is shown in fig. 8.
According to a second aspect of the present invention, an AGV transport speed control system is provided.
Referring to FIG. 9, FIG. 9 is a block diagram illustrating an AGV transport speed control system according to one embodiment. As shown in fig. 9, the system includes:
the detection module 901 is used for detecting the weight of the goods carried by the AGV and the shaking degree of the carried goods when the AGV runs;
the judging module 902 is used for judging the type of the goods carrying the goods according to the weight of the goods and the shaking degree;
and the driving module 903 is used for dynamically controlling the speed of the AGV in the traveling process according to the type of the goods.
The AGV transport speed control system executes the AGV transport speed control method according to the first aspect, and for specific limitations of the AGV transport speed control system, reference may be made to the above limitations of the AGV transport speed control method, which are not described herein again.
The modules in the AGV transport speed control system described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
According to a third aspect of the invention, there is also provided a computer device.
Referring to fig. 10, fig. 10 is a diagram illustrating an internal structure of a computer apparatus according to an embodiment. As shown in fig. 10, the computer device includes a processor, a memory, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The computer program when executed by a processor implements an AGV transport speed control method of the first aspect.
The memory and processor elements are electrically connected to each other, directly or indirectly, to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor is used for controlling the AGV car and comprises at least one software functional module which can be stored in a memory in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the server. The processor is configured to execute the executable modules stored in the memory.
The Memory may be a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), or the like. The memory is used for storing programs and voice data, and the processor executes the programs after receiving the execution instructions.
The processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The processor couples various input/output devices to the processor as well as to the memory. In some embodiments, the processor and memory may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.
The peripheral interface couples various input/output devices to the processor as well as to the memory. In some embodiments, the peripheral interface, the processor, and the memory may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.
According to a fourth aspect of the present invention, there is also provided a computer storage medium.
The computer storage medium is stored with computer program, and the computer storage medium can be magnetic random access memory, read only memory, programmable read only memory, erasable programmable read only memory, electrically erasable programmable read only memory, flash memory, magnetic surface memory, optical disk, or read-only optical disk; or may be a variety of devices including one or any combination of the above memories, such as a mobile phone, computer, tablet device, personal digital assistant, etc. The computer program, when executed by a processor, implements an AGV transport speed control method of the first aspect.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (9)

1. An AGV transportation speed control method, comprising:
detecting the weight of the goods carried by the AGV and the shaking degree of the carried goods when the AGV runs;
judging the type of the goods carrying the goods according to the weight of the goods and the shaking degree;
constructing a motion speed model according to the type of the goods and the traveling path, and dynamically controlling the speed of the AGV in an acceleration stage and a deceleration stage; the motion speed model is provided with an acceleration stage, a uniform speed stage and a deceleration stage.
2. The AGV transportation speed control method of claim 1, wherein said determining a load type of the loaded load based on the weight of the load and the degree of shaking includes;
when the shaking degree is larger than the shaking preset value, judging that the goods are easy to dump;
when the shaking degree is smaller than the movable preset value and the weight of the goods is larger than the weight preset value, judging that the goods type is heavy goods;
and when the shaking degree is smaller than the movable preset value and the weight of the goods is smaller than the weight preset value, judging that the type of the goods is light goods.
3. The AGV transport speed control method according to claim 1, wherein said building a moving speed model according to the type of the load and the travel path to dynamically control the AGV speed in the acceleration and deceleration phases includes:
constructing a motion speed model according to the easily dumped goods and the traveling path; the shaking degree of the easily dumped goods is greater than a shaking preset value;
controlling the AGV to make variable acceleration linear motion at an acceleration stage with the acceleration with the decreasing change rate, and entering a constant speed stage after the target speed is reached;
and entering a deceleration stage when the length of the residual travel path is less than a second threshold length, and controlling the AGV to perform variable deceleration linear motion at the accelerated speed with the increasing change rate to the end point of the travel path and stop.
4. The AGV transport speed control method of claim 3, wherein said building a motion speed model from the dumpable goods and the travel path comprises:
in the acceleration stage, iteratively generating speed curves generated by the accelerations with different change rates;
and obtaining a speed curve with the minimum deviation between the midpoint acceleration and the optimum starting acceleration of the AGV, and substituting the acceleration change rate corresponding to the speed curve into the motion speed model.
5. The AGV transport speed control method according to claim 1, wherein said building a moving speed model according to the type of the load and the travel path to dynamically control the AGV speed in the acceleration and deceleration phases includes:
constructing a motion speed model according to the heavy goods and the traveling path; the shaking degree of the heavy goods is smaller than a movable preset value, and the weight of the goods is larger than a weight preset value;
controlling the AGV to make variable acceleration linear motion at an acceleration rate which is increased first and then decreased in an acceleration stage, and entering a constant speed stage after the target speed is reached;
and entering a deceleration stage when the length of the residual travel path is smaller than a third threshold length, and controlling the AGV to perform variable deceleration linear motion to the end point of the travel path at the acceleration with the change rate increased first and then decreased and stop.
6. The AGV transport speed control method according to claim 1, wherein said building a moving speed model according to the type of the load and the travel path to dynamically control the AGV speed in the acceleration and deceleration phases includes:
constructing a motion speed model according to the light cargo and the traveling path; the shaking degree of the light cargo is smaller than a preset movable value, and the weight of the cargo is smaller than a preset weight value;
controlling the AGV to accelerate uniformly in an acceleration stage so as to reach a target speed, and entering a constant speed stage after the target speed is reached;
and entering a deceleration stage when the length of the residual travel path is less than the first threshold length, and controlling the AGV to uniformly decelerate to the end point of the travel path and stop.
7. An AGV transport speed control system comprising:
the detection module is used for detecting the weight of the goods carried by the AGV and the shaking degree of the carried goods when the AGV runs;
the judging module is used for judging the type of the goods carrying the goods according to the weight of the goods and the shaking degree;
and the driving module is used for dynamically controlling the speed of the AGV in the traveling process according to the type of the goods.
8. A computer device, comprising:
a memory storing a computer program;
a processor implementing the AGV transport speed control method according to any one of claims 1-6 when executing said computer program.
9. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements an AGV transport speed control method according to any one of claims 1-6.
CN202111246063.1A 2021-10-25 2021-10-25 AGV transportation speed control method, system, equipment and medium Pending CN114115232A (en)

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