CN114442617A - AGV trolley control method and device - Google Patents

AGV trolley control method and device Download PDF

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Publication number
CN114442617A
CN114442617A CN202210011549.5A CN202210011549A CN114442617A CN 114442617 A CN114442617 A CN 114442617A CN 202210011549 A CN202210011549 A CN 202210011549A CN 114442617 A CN114442617 A CN 114442617A
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agv
acceleration
speed
value
numerical value
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Inventor
李昆霖
覃政
区锦文
黄佳华
文建东
黄初敏
潘立铭
姚波
贾蕊绮
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Dongfeng Liuzhou Motor Co Ltd
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Dongfeng Liuzhou Motor Co Ltd
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Priority to CN202210011549.5A priority Critical patent/CN114442617A/en
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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
    • 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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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a method and a device for controlling an AGV (automatic guided vehicle), wherein the method comprises the following steps: firstly, acquiring speed data of an AGV trolley, and performing proportional integral derivative calculation according to the speed data to obtain a first speed value; and after calculating a first acceleration according to the first speed value and the speed data, controlling the acceleration of the AGV according to the first acceleration and a first numerical value, specifically: when the first acceleration is smaller than or equal to the first numerical value, keeping the acceleration of the AGV unchanged at the first acceleration; and when the first acceleration is larger than the first value and the scram signal does not exist, setting the acceleration of the AGV trolley to be the first value. By adopting the embodiment of the invention, the control function of the AGV can be further expanded on the premise of low cost.

Description

AGV trolley control method and device
Technical Field
The invention relates to the technical field of automatic control, in particular to a method and a device for controlling an AGV.
Background
The conventional AGV motion control method generally adopts a general PID (proportional-integral-derivative controller) controller, only has input ports such as PID parameter input, target value input, feedback value input and the like, and cannot be applied to a plurality of external input conditions such as obstacle approach deceleration, obstacle alarm stop and the like which are specific to the AGV. Whereas typically AGVs have multiple drive motors, motion control requires high synchronization of the multiple motors. The general PID controller cannot provide an acceleration limiting function, and can directly output a motor speed value according to a feedback value deviation of PID operation, and the acceleration limiting function is usually executed by a motor driver, which needs a motor driver capable of setting acceleration and having higher cost. Under different load conditions, the dead zone speed and the maximum speed of the driving motor are changed, a general PID controller cannot provide the speed limiting functions such as the dead zone speed and the like, the speed limiting functions are executed by a motor driver, and the motor driver with higher cost and the dead zone speed can be set through electric control.
In summary, the conventional AGV has limited control functions, and if the functions of the AGV are further expanded, a large hardware cost is incurred.
Disclosure of Invention
The embodiment of the invention provides a method and a device for controlling an AGV, which can further expand the control function of the AGV on the premise of low cost.
The first aspect of the embodiment of the present application provides a method for controlling an AGV, including:
acquiring speed data of the AGV trolley, and performing proportional integral differential calculation according to the speed data to obtain a first speed value;
after calculating a first acceleration according to the first speed value and the speed data, controlling the acceleration of the AGV according to the first acceleration and a first numerical value, specifically:
when the first acceleration is smaller than or equal to a first value, keeping the acceleration of the AGV trolley unchanged at the first acceleration;
and when the first acceleration is larger than the first value and the scram signal does not exist, setting the acceleration of the AGV trolley to be the first value.
In a possible implementation manner of the first aspect, the method further includes:
and when the first acceleration is larger than the first value and the scram signal exists, setting the speed of the AGV trolley to be zero.
In a possible implementation manner of the first aspect, the method further includes:
acquiring an induction signal, and reducing the speed of the AGV according to a preset proportion when the induction signal is judged to be a deceleration signal; and when the induction signal is judged to be the pause signal, setting the speed of the AGV trolley to be zero.
In a possible implementation manner of the first aspect, the method further includes:
when the second speed value is smaller than the second numerical value, judging whether the acceleration of the AGV is larger than zero; if so, setting the speed of the AGV trolley as a second numerical value; if not, setting the speed of the AGV trolley to be zero; the second speed value is calculated according to the first acceleration or the first numerical value.
In a possible implementation manner of the first aspect, the method further includes:
when the working condition of the AGV trolley is an in-situ rotation working condition, acquiring course angle data of the AGV trolley;
and when the data mutation is judged to occur according to the course angle data, updating the number of turns of clockwise rotation of the AGV according to the type of the data mutation, and calculating to obtain a course angle deviation value according to the number of turns.
A second aspect of the embodiments of the present application provides a control device for an AGV cart, including: the device comprises a calculation module and a control module;
the calculation module is used for acquiring speed data of the AGV and obtaining a first speed value after proportional integral derivative calculation is carried out according to the speed data;
the control module is used for calculating a first acceleration according to the first speed value and the speed data, and then controlling the acceleration of the AGV according to the first acceleration and the first numerical value, and specifically comprises the following steps:
when the first acceleration is smaller than or equal to the first numerical value, keeping the acceleration of the AGV unchanged at the first acceleration;
and when the first acceleration is larger than the first value and the scram signal does not exist, setting the acceleration of the AGV trolley to be the first value.
In a possible implementation manner of the second aspect, the method further includes: an emergency stop module;
the scram module is used for setting the speed of the AGV car to be zero when the first acceleration is larger than a first numerical value and a scram signal exists.
In a possible implementation manner of the second aspect, the method further includes: a pause and slow down module;
the pause and deceleration module is used for acquiring the induction signal, and reducing the speed of the AGV according to a preset proportion when the induction signal is judged to be the deceleration signal; and when the induction signal is judged to be the pause signal, setting the speed of the AGV trolley to be zero.
In a possible implementation manner of the second aspect, the method further includes: a speed limiting module;
the speed limiting module is used for judging whether the acceleration of the AGV is larger than zero or not when the second speed value is smaller than a second numerical value; if so, setting the speed of the AGV trolley as a second numerical value; if not, setting the speed of the AGV trolley to be zero; the second speed value is a speed value calculated according to the first acceleration or the first numerical value.
In a possible implementation manner of the second aspect, the method further includes: a data processing module;
the data processing module is used for acquiring course angle data of the AGV when the working condition of the AGV is an in-situ rotation working condition; and when the data mutation is judged to occur according to the course angle data, updating the number of turns of clockwise rotation of the AGV according to the type of the data mutation, and calculating to obtain a course angle deviation value according to the number of turns.
Compared with the prior art, the method and the device for controlling the AGV according to the embodiment of the invention comprise the following steps: firstly, acquiring speed data of an AGV, and carrying out proportional integral differential calculation according to the speed data to obtain a first speed value; and after calculating a first acceleration according to the first speed value and the speed data, controlling the acceleration of the AGV according to the first acceleration and a first numerical value, specifically: when the first acceleration is smaller than or equal to the first numerical value, keeping the acceleration of the AGV unchanged at the first acceleration; and when the first acceleration is larger than the first value and the scram signal does not exist, setting the acceleration of the AGV trolley to be the first value.
The beneficial effects are that: when the first acceleration is smaller than or equal to the first numerical value, the acceleration of the AGV is not interfered; and when the first acceleration is larger than the first value and the scram signal does not exist, setting the acceleration of the AGV trolley to be the first value. The dangerous situation that the AGV trolley is out of control due to overlarge acceleration can be effectively avoided. In addition, the acceleration limiting function of the AGV trolley is realized only through an algorithm under the condition that a high power distribution machine driver is not needed, the hardware cost is greatly reduced, and the economical efficiency is improved. Further, the acceleration limiting function is used for avoiding the driving wheels of the AGV from slipping caused by overlarge acceleration in the starting and stopping stages of PID operation (namely proportional-integral-derivative calculation), and ensuring that the AGV with double-wheel differential speed realizes double-wheel synchronous operation.
Furthermore, the embodiment of the invention sets the speed of the AGV car to zero when the first acceleration is greater than the first value and the sudden stop signal exists. Wherein, there is the scram signal to mean that the AGV dolly is facing the condition that needs stopped immediately, then sets up the speed of AGV dolly to zero to make AGV dolly emergency stop, realize the scram function of AGV dolly, guarantee the security of AGV dolly.
Furthermore, the embodiment of the invention can respectively realize the functions of deceleration and pause of the AGV through the deceleration signal and the pause signal; the deceleration suspension function of the AGV trolley is matched with the acceleration limiting function of the AGV trolley for use, so that the driving wheel of the AGV trolley can be prevented from slipping due to the fact that the acceleration is too large in the deceleration or suspension process.
And finally, the speed of the AGV is controlled through the dead zone speed limiting value, so that faults that the motor of the AGV cannot be started when being out of step can be prevented.
Drawings
FIG. 1 is a flow chart illustrating a method for controlling an AGV according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an AGV control arrangement according to one embodiment of the present invention;
FIG. 3 is a block diagram of an AGV according to one embodiment of the present invention.
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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, which is a schematic flow chart of a method for controlling an AGV according to an embodiment of the present invention, the method includes steps S101 to S102:
s101: and acquiring speed data of the AGV trolley, and performing proportional integral differential calculation according to the speed data to obtain a first speed value.
S102: and after the first acceleration is calculated according to the first speed value and the speed data, controlling the acceleration of the AGV according to the first acceleration and the first numerical value.
The method specifically comprises the following steps:
when the first acceleration is smaller than or equal to the first numerical value, keeping the acceleration of the AGV unchanged at the first acceleration;
and when the first acceleration is larger than the first numerical value and no emergency stop signal exists, setting the acceleration of the AGV trolley to be the first numerical value.
Wherein the first value is an acceleration limit value.
From the above, when the first acceleration is less than or equal to the first value, no intervention is made on the acceleration of the AGV; and when the first acceleration is larger than the first numerical value and no emergency stop signal exists, setting the acceleration of the AGV trolley to be the first numerical value. The dangerous situation that the AGV trolley is out of control due to overlarge acceleration can be effectively avoided. In addition, the acceleration limiting function of the AGV trolley is realized only through an algorithm under the condition that a high power distribution machine driver is not needed, the hardware cost is greatly reduced, and the economical efficiency is improved. Further, the acceleration limiting function is used for avoiding the driving wheels of the AGV from slipping caused by overlarge acceleration in the starting and stopping stages of PID operation (namely proportional-integral-derivative calculation), and ensuring that the AGV with double-wheel differential speed realizes double-wheel synchronous operation.
Further, still include: and when the first acceleration is greater than the first numerical value and an emergency stop signal exists, setting the speed of the AGV trolley to be zero. Wherein, the existence of the scram signal means that the AGV facing to the condition needing to stop immediately, the speed of the AGV is set to zero, so that the AGV can stop emergently.
In this embodiment, the method further includes:
acquiring an induction signal, and reducing the speed of the AGV according to a preset proportion when the induction signal is judged to be a deceleration signal; and when the induction signal is judged to be the pause signal, setting the speed of the AGV trolley to be zero.
Further, the sensing signal by set up in barrier sensor on the AGV dolly gathers and obtains, sensing signal includes: the deceleration signal and the pause signal. When an obstacle is sensed by the outer ring of the obstacle sensor, outputting the deceleration signal; and when the inner periphery of the obstacle sensor senses an obstacle, outputting the pause signal. Both of the above signals can be self-resetting.
The deceleration and pause functions of the AGV can be respectively realized through the deceleration signal and the pause signal; the deceleration suspension function of the AGV trolley is matched with the acceleration limiting function of the AGV trolley for use, so that the driving wheel of the AGV trolley can be prevented from slipping due to the fact that the acceleration is too large in the deceleration or suspension process.
In this embodiment, the method further includes:
when the second speed value is smaller than the second numerical value, judging whether the acceleration of the AGV trolley is larger than zero; if so, setting the speed of the AGV trolley as a second numerical value; if not, setting the speed of the AGV trolley to be zero; wherein the second speed value is a speed value calculated from the first acceleration or the first numerical value. That is, in the step of controlling the acceleration of the AGV based on the first acceleration and the first numerical value, if the first acceleration is equal to or less than the first numerical value, the second speed value is a speed value calculated based on the first acceleration; and if the first acceleration is larger than the first numerical value and no emergency stop signal exists, the second speed value is a speed value calculated according to the first numerical value.
And the second value is a dead zone speed limit value, and the dead zone speed limit value is calculated according to the motor performance, the driver performance and the load condition. When the second speed value is smaller than the second numerical value and the acceleration of the AGV trolley is smaller than or equal to zero, the working condition of the AGV trolley is a deceleration/constant speed/stop working condition, and the speed of the AGV trolley is set to be zero; and when the second speed value is smaller than the second numerical value and the acceleration of the AGV trolley is larger than zero, setting the speed of the AGV trolley as the second numerical value. According to the speed limiting value control of the dead zone, the speed of the AGV trolley can be prevented from being out of step, and the AGV trolley cannot be started.
In a specific embodiment, the method further comprises:
when the working condition of the AGV trolley is an in-situ rotation working condition, acquiring course angle data of the AGV trolley;
and when the data mutation is judged to occur according to the course angle data, updating the number of turns of clockwise rotation of the AGV according to the type of the data mutation, and calculating to obtain a course angle deviation value according to the number of turns. And the course angle deviation value is a deviation value between the course angle data of the AGV and the reference position.
Further, the data mutation types comprise clockwise mutation and anticlockwise mutation, and when the data mutation types are judged to be clockwise mutation, the number of clockwise rotation turns of the AGV is increased by one and then updated; and when the data mutation type is judged to be anticlockwise mutation, the number of clockwise rotation turns of the AGV trolley is reduced by one and then the AGV trolley is updated.
Further, the determining of the occurrence of data mutation according to the heading angle data specifically includes:
the course angle data includes: first and second course angle data; the first course angle data is current course angle data, and the second course angle data is previous historical course angle data of the current course angle data.
And if the absolute value of the difference between the first course angle data and the second course angle data is larger than 180 degrees, judging that data mutation occurs.
In one embodiment, before controlling the AGV, the method further comprises:
and carrying out initialization operation on the AGV, namely resetting the Boolean quantity of each state in the AGV.
To further explain the control device of the AGV, please refer to fig. 2, fig. 2 is a schematic structural diagram of the control device of the AGV according to an embodiment of the present invention, which includes: a calculation module 201 and a control module 202;
the calculating module 201 is configured to obtain speed data of the AGV, and perform proportional-integral-derivative calculation according to the speed data to obtain a first speed value;
the control module 202 is configured to calculate a first acceleration according to the first speed value and the speed data, and then control the acceleration of the AGV according to the first acceleration and the first numerical value, specifically:
when the first acceleration is smaller than or equal to the first numerical value, keeping the acceleration of the AGV unchanged at the first acceleration; and when the first acceleration is larger than the first numerical value and no emergency stop signal exists, setting the acceleration of the AGV trolley to be the first numerical value.
In this embodiment, the method further includes: an emergency stop module;
and the scram module is used for setting the speed of the AGV car to be zero when the first acceleration is greater than the first numerical value and a scram signal exists.
In this embodiment, the method further includes: a pause and slow down module;
the pause and deceleration module is used for acquiring an induction signal, and when the induction signal is judged to be a deceleration signal, the speed of the AGV trolley is reduced according to a preset proportion; and when the induction signal is judged to be the pause signal, setting the speed of the AGV trolley to be zero.
In this embodiment, the method further includes: a speed limiting module;
the speed limiting module is used for judging whether the acceleration of the AGV is larger than zero or not when the second speed value is smaller than a second numerical value; if so, setting the speed of the AGV trolley as a second numerical value; and if not, setting the speed of the AGV trolley to be zero.
In this embodiment, the method further includes: a data processing module;
the data processing module is used for acquiring course angle data of the AGV when the working condition of the AGV is an in-situ rotation working condition; and when the data mutation is judged to occur according to the course angle data, updating the number of turns of clockwise rotation of the AGV according to the type of the data mutation, and calculating to obtain a course angle deviation value according to the number of turns.
To further illustrate the relationship between modules of an AGV, please refer to fig. 3, where fig. 3 is a diagram illustrating the relationship between modules of an AGV according to an embodiment of the present invention.
FIG. 3 illustrates, among other things, a calculation module 301, a control module 302, an emergency stop module 303, a pause and slow down module 304, and a speed limit module 305 within an AGV cart. Then, the relationship between the modules of the AGV cart is:
1. the calculation module 301 obtains a first speed value after performing proportional-integral-derivative calculation according to the speed data, and inputs the first speed value into the control module 302.
2. After the control module 302 controls the acceleration of the AGV according to the first speed value and the first numerical value, the second speed value is input to the emergency stop module 303. The second speed value is a speed value calculated according to the first acceleration or the first numerical value.
3. The scram module 303 judges whether a scram signal exists, and if so, the speed of the AGV trolley is set to be zero; if not, the second speed value is directly input to the pause and slow down module 304. Wherein after setting the speed of the AGV to zero, further comprising: the scram module 303 inputs the second speed value into the control module 302 so that the control module 302 inputs the second speed value into the speed limit module 305 to prevent the AGV from accelerating too much during the scram process and causing the driving wheels of the AGV to slip.
4. The pause and deceleration module 304 judges whether an induction signal exists, if so, further judges whether the induction signal is a deceleration signal or a pause signal, and respectively performs operations of 'reducing the speed of the AGV according to a preset proportion' and 'setting the speed of the AGV to be zero' on the speed of the AGV according to the deceleration signal or the pause signal; if no sense signal is present, the second speed value is directly input into the speed limit module 305. Wherein, after carrying out the operation of "reducing the speed of AGV according to predetermineeing the ratio" and "setting the speed of AGV to zero" to the speed of AGV respectively according to speed reduction signal or pause signal, further include: the pause and slow down module 304 inputs the second speed value into the control module 302 such that the control module 302 inputs the second speed value into the speed limit module 305 to prevent the AGV from accelerating too much during the deceleration or pause process which could result in the slipping of the drive wheels of the AGV.
4. When the second speed value is smaller than the second value, the speed limiting module 305 determines whether the acceleration of the AGV is greater than zero; if so, setting the speed of the AGV trolley as a second numerical value; and if not, setting the speed of the AGV trolley to be zero. And when the second speed value is larger than or equal to the second value, keeping the speed of the AGV trolley as the second speed value.
According to the embodiment of the invention, firstly, the speed data of the AGV is obtained through the calculation module 201, and after proportional integral derivative calculation is carried out according to the speed data, a first speed value is obtained; and then after calculating the first acceleration according to the first speed value and the speed data through the control module 202, controlling the acceleration of the AGV according to the first acceleration and the first numerical value, specifically: when the first acceleration is smaller than or equal to the first numerical value, keeping the acceleration of the AGV unchanged at the first acceleration; and when the first acceleration is larger than the first value and the scram signal does not exist, setting the acceleration of the AGV trolley to be the first value.
When the first acceleration is smaller than or equal to the first numerical value, the acceleration of the AGV is not interfered; and when the first acceleration is larger than the first value and the scram signal does not exist, setting the acceleration of the AGV trolley to be the first value. The dangerous situation that the AGV trolley is out of control due to overlarge acceleration can be effectively avoided. In addition, the acceleration limiting function of the AGV trolley is realized only through an algorithm under the condition that a high power distribution machine driver is not needed, the hardware cost is greatly reduced, and the economical efficiency is improved. Further, the acceleration limiting function is used for avoiding the driving wheels of the AGV from slipping caused by overlarge acceleration in the starting and stopping stages of PID operation (namely proportional-integral-derivative calculation), and ensuring that the AGV with double-wheel differential speed realizes double-wheel synchronous operation.
Then, the embodiment of the present invention sets the speed of the AGV car to zero when the first acceleration is greater than the first value and the scram signal is present. Wherein, there is the scram signal to mean that the AGV dolly is facing the condition that needs stopped immediately, then sets up the speed of AGV dolly to zero to make AGV dolly emergency stop, realize the scram function of AGV dolly, guarantee the security of AGV dolly.
Furthermore, the embodiment of the invention can respectively realize the functions of deceleration and suspension of the AGV trolley through the deceleration signal and the suspension signal; the deceleration and suspension function of the AGV trolley is matched with the acceleration limiting function of the AGV trolley, so that the driving wheel of the AGV trolley can be prevented from slipping caused by the overlarge acceleration in the deceleration or suspension process.
Furthermore, the speed of the AGV trolley is controlled through the dead zone speed limiting value, so that the faults that the motor of the AGV trolley is out of step and cannot be started and the like can be prevented, and the speed limiting function of the AGV trolley is realized.
Finally, the embodiment of the invention transfers the acceleration limiting function, the scram function, the pause and deceleration function and the speed limiting function from the hardware of the motor driver to the software for realization, is a motion control method which has high integration level and is suitable for the working condition of the AGV trolley, avoids the control errors of drivers in different batches, reduces the hardware cost and improves the control precision.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (10)

1. A method for controlling an AGV, comprising:
acquiring speed data of an AGV, and performing proportional integral differential calculation according to the speed data to obtain a first speed value;
after calculating a first acceleration according to the first speed value and the speed data, controlling the acceleration of the AGV according to the first acceleration and a first numerical value, specifically:
when the first acceleration is smaller than or equal to the first numerical value, keeping the acceleration of the AGV unchanged at the first acceleration;
and when the first acceleration is larger than the first numerical value and no emergency stop signal exists, setting the acceleration of the AGV trolley to be the first numerical value.
2. The method of controlling an AGV cart according to claim 1, further comprising:
and when the first acceleration is greater than the first numerical value and an emergency stop signal exists, setting the speed of the AGV trolley to be zero.
3. The method of claim 2, further comprising:
acquiring an induction signal, and reducing the speed of the AGV according to a preset proportion when the induction signal is judged to be a deceleration signal; and when the induction signal is judged to be the pause signal, setting the speed of the AGV trolley to be zero.
4. The method of claim 3, further comprising:
when the second speed value is smaller than the second numerical value, judging whether the acceleration of the AGV trolley is larger than zero; if yes, setting the speed of the AGV trolley as a second numerical value; if not, setting the speed of the AGV trolley to be zero; wherein the second speed value is a speed value calculated from the first acceleration or the first numerical value.
5. The method of claim 4, further comprising:
when the working condition of the AGV trolley is an in-situ rotation working condition, acquiring course angle data of the AGV trolley;
and when the data mutation is judged to occur according to the course angle data, updating the number of turns of clockwise rotation of the AGV according to the type of the data mutation, and calculating to obtain a course angle deviation value according to the number of turns.
6. A control device for an AGV comprising: a calculation module and a control module;
the calculation module is used for acquiring speed data of the AGV and obtaining a first speed value after proportional integral derivative calculation is carried out according to the speed data;
the control module is used for calculating a first acceleration according to the first speed value and the speed data, and then controlling the acceleration of the AGV according to the first acceleration and the first numerical value, and the method specifically comprises the following steps:
when the first acceleration is smaller than or equal to the first numerical value, keeping the acceleration of the AGV unchanged at the first acceleration;
and when the first acceleration is larger than the first numerical value and no emergency stop signal exists, setting the acceleration of the AGV trolley to be the first numerical value.
7. The AGV cart control of claim 6, further comprising: an emergency stop module;
and the scram module is used for setting the speed of the AGV car to be zero when the first acceleration is greater than the first numerical value and a scram signal exists.
8. The AGV cart control of claim 7, further comprising: a pause and slow down module;
the pause and deceleration module is used for acquiring an induction signal, and when the induction signal is judged to be a deceleration signal, the speed of the AGV trolley is reduced according to a preset proportion; and when the sensing signal is judged to be a pause signal, setting the speed of the AGV trolley to be zero.
9. The AGV cart control of claim 8, further comprising: a speed limiting module;
the speed limiting module is used for judging whether the acceleration of the AGV is larger than zero or not when the second speed value is smaller than a second numerical value; if so, setting the speed of the AGV trolley as a second numerical value; if not, setting the speed of the AGV trolley to be zero; wherein the second speed value is a speed value calculated from the first acceleration or the first numerical value.
10. The AGV cart control of claim 9, further comprising: a data processing module;
the data processing module is used for acquiring course angle data of the AGV when the working condition of the AGV is an in-situ rotation working condition; and when the data mutation is judged to occur according to the course angle data, updating the number of turns of clockwise rotation of the AGV according to the type of the data mutation, and calculating to obtain a course angle deviation value according to the number of turns.
CN202210011549.5A 2022-01-06 2022-01-06 AGV trolley control method and device Pending CN114442617A (en)

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CN103998754A (en) * 2011-12-21 2014-08-20 丰田自动车株式会社 Apparatus for controlling vehicle
CN105205892A (en) * 2015-10-08 2015-12-30 广东欧珀移动通信有限公司 Door access control method and system
DE102015223611A1 (en) * 2015-11-27 2017-06-01 Bayerische Motoren Werke Aktiengesellschaft Method and control unit for acceleration monitoring and adaptation
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