CN115237120A - AGV trolley cargo operation control method and device, storage medium and control equipment - Google Patents
AGV trolley cargo operation control method and device, storage medium and control equipment Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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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- 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
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Abstract
The invention provides an AGV trolley cargo operation control method, an AGV trolley cargo operation control device, a storage medium and control equipment. The target AGV trolley is provided with an objective table for bearing cargos and a clamping plate for clamping cargos, and the method comprises the following steps: monitoring the running state information of the target AGV and the relative variation of the pressure of the goods on the objective table in the process of carrying goods by the target AGV; determining whether the relative change amount of the pressure meets a preset condition; under the condition that the relative variation of the pressure does not meet the preset conditions, the clamping pressure of the clamping plates for clamping the goods is adjusted according to the running state information of the target AGV trolley and the attribute information of the goods, so that the relative variation of the pressure meets the preset conditions. Can make the AGV dolly carry cargo the operation in-process and guarantee even running and avoid the goods impaired simultaneously.
Description
Technical Field
The invention relates to the technical field of AGV trolleys, in particular to a method and a device for controlling the cargo carrying operation of an AGV trolley, a storage medium and control equipment.
Background
AGV (Automated Guided Vehicle) has been widely used in manufacturing industry, warehousing industry, and logistics handling work at airport ports due to its characteristics of high automation degree, unmanned driving, small floor area, convenience and easy management. The AGV dolly is showing the characteristics and is just unmanned, is equipped with automatic positioning navigation on the AGV dolly, need not the manual work and guides, can go according to predetermined route automation, realizes goods loading and unloading and the full process automation of transport. In the transportation, the AGV dolly can be according to the untimely speed of adjusting of actual route condition, and present AGV dolly is for conveniently handling goods, does not install protective measure such as guardrail additional, very easily leads to the goods on the AGV dolly to empty because of inertia, causes economic loss, and has great potential safety hazard. Some installed and carried the AGV dolly that embraces splint, for guaranteeing that the goods is stable, it is generally great to embrace the pressure of splint to the goods, is easily to take place deformation or to cause the damage to goods itself under this pressure. Therefore, the problem of guaranteeing smooth running and avoiding damage to goods in the process of AGV cargo running is urgently needed to be solved in the field.
Disclosure of Invention
The invention provides an AGV cargo carrying operation control method, an AGV cargo carrying operation control device, a storage medium and control equipment, and aims to solve the problems that stable operation is guaranteed and cargos are prevented from being damaged in the process of AGV cargo carrying operation.
In a first aspect, an embodiment of the present invention provides an AGV cart cargo carrying operation control method, where a target AGV cart is provided with an object stage for carrying a cargo and a clamping plate for clamping the cargo, and the method includes:
monitoring the running state information of the target AGV and the relative variation of the pressure of the goods on the objective table in the process of carrying goods by the target AGV;
determining whether the relative change amount of the pressure meets a preset condition;
under the condition that the relative variation of the pressure does not meet the preset conditions, the clamping pressure of the clamping plates for clamping the goods is adjusted according to the running state information of the target AGV trolley and the attribute information of the goods, so that the relative variation of the pressure meets the preset conditions.
In some implementations, the operating state information includes a vehicle speed, and the attribute information includes at least one of a cargo material, a cargo height, a cargo price, a cargo weight, a cargo type, a cargo overwrap material, and a cargo overwrap size.
In some implementations, the AGV cart cargo operation control method further includes:
acquiring running state information of a target AGV and attribute information of goods;
based on operating condition information with attribute information sets up embrace the splint and press from both sides initial value to embracing of goods to control embrace the splint with embrace and press from both sides initial value pair the goods on the objective table carry out the centre gripping to make the operation that carries cargo of target AGV dolly.
In some implementations, the setting of an initial clamping pressure value of the clamping plate for the cargo based on the operating state information and the attribute information includes:
based on the running state information and the attribute information, inquiring corresponding first clamping pressure from a stored corresponding relation table of the running state information, the attribute information and the clamping pressure;
calculating corresponding second clamping pressure by using a preset clamping pressure calculation formula based on the running state information and the attribute information;
and setting an initial value of the clamping pressure of the clamping plate to the goods based on the first clamping pressure and the second clamping pressure.
In some implementations, the band clamp pressure calculation includes a calculation that weights and sums the operating state information and the attribute information.
In some implementations of the above-described embodiments, based on first embrace and press from both sides pressure with the second is embraced and is pressed from both sides the pressure initial value of embracing of splint to the goods includes: and setting the weighted sum of the first clamping pressure and the second clamping pressure as the initial clamping pressure value of the clamping plate to the goods.
In some implementation manners, adjusting clamping pressure of the clamping plate on the goods according to the running state information of the target AGV and the attribute information of the goods includes:
calculating an adjustment coefficient of clamping pressure based on the relative variation of the pressure, the running state information of the target AGV and the attribute information of the goods;
and adjusting the current clamping pressure based on the adjustment coefficient of the clamping pressure so as to enable the relative variation of the pressure to meet the preset condition.
In some implementations, the preset condition includes that a relative change amount of the pressure does not exceed a preset threshold; the determining whether the relative change amount of the pressure meets a preset condition includes: determining whether the amount of relative change in the pressure does not exceed a preset threshold.
In some implementations, the AGV cart cargo operation control method further includes:
and under the condition that the relative variation of the pressure meets a preset condition, determining the clamping pressure when the relative variation of the pressure reaches a preset threshold value, and using the clamping pressure as the minimum clamping pressure for enabling the goods to stably run under the current running state information and the attribute information.
In some implementations, the determining the clamping pressure when the relative change amount of the pressure reaches a preset threshold includes:
and under the condition that the relative variation of the pressure is smaller than a preset threshold value, gradually reducing the clamping pressure according to the inverse relation between the clamping pressure and the time until the relative variation of the pressure reaches the preset threshold value, and determining the clamping pressure at the moment as the minimum clamping pressure for enabling the goods to stably run under the current running state information and the attribute information.
In some implementations, the AGV cart cargo operation control method further includes:
and updating a corresponding relation table of the running state information, the attribute information and the clamping pressure and/or the clamping pressure calculation formula based on the minimum clamping pressure.
In a second aspect, an embodiment of the present invention provides an AGV cart cargo operation control apparatus, where a target AGV cart is provided with an object stage for bearing a cargo and a clamping plate for clamping the cargo, the apparatus includes:
the monitoring module is used for monitoring the running state information of the target AGV and the relative variation of the pressure of the goods on the objective table in the process of carrying goods by the target AGV;
the determining module is used for determining whether the relative change amount of the pressure meets a preset condition;
and the adjusting module is used for adjusting the clamping pressure of the clamping plate for clamping the goods according to the running state information of the target AGV trolley and the attribute information of the goods under the condition that the relative variation of the pressure does not meet the preset condition, so that the relative variation of the pressure meets the preset condition.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by one or more processors, the AGV cart cargo operation control method according to the first aspect is implemented.
In a fourth aspect, an embodiment of the present invention provides a control apparatus, including a memory and one or more processors, where the memory stores a computer program thereon, and the computer program, when executed by the one or more processors, implements the AGV cart cargo operation control method according to the first aspect.
In a fifth aspect, an embodiment of the present invention provides an AGV cart, including the control device of the fourth aspect, where the AGV cart is provided with an object stage for bearing a load and a clamping plate for clamping the load.
Compared with the prior art, one or more embodiments of the invention can bring about at least the following beneficial effects:
according to the method, the running state information of the target AGV trolley and the relative variation of the pressure of the goods on the objective table are monitored in the process of carrying goods by the target AGV trolley, and under the condition that the relative variation of the pressure does not meet the preset condition, the clamping pressure of the clamping plate on the goods is adjusted according to the running state information of the target AGV trolley and the attribute information of the goods, so that the relative variation of the pressure meets the preset condition, the goods are prevented from being damaged on the premise that the AGV trolley can carry goods stably, the transportation efficiency is improved, and meanwhile the service life of the clamping plate is prolonged.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope.
FIG. 1 is a flowchart of an AGV cargo operation control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another AGV cart load operation control method provided in an embodiment of the present invention;
FIG. 3 is a block diagram of an AGV cargo operation control apparatus according to an embodiment of the present invention;
fig. 4 is a schematic front view of a clasping device according to an embodiment of the present invention;
fig. 5 is a schematic top view of a clasping device according to an 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. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. The following detailed description of the embodiments of the invention, therefore, provided in the accompanying drawings is not intended to limit the scope of the invention, as claimed, but merely as exemplifications of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Among the correlation technique, some installed and carried the AGV dolly of embracing splint, for guaranteeing that the goods is stable, it is generally great to embrace the pressure of splint to the goods, easily takes place to deform under this pressure or causes the damage to goods itself, and most of embrace the splint and be fixed embrace and press from both sides pressure to do not support to embrace according to dolly running state adjustment and press from both sides pressure. Therefore, the embodiment of the invention provides an AGV carrying operation control method, an AGV carrying operation control device, a storage medium and control equipment, so that stable operation is ensured and damage to goods is avoided in the AGV carrying operation process.
Example one
The present embodiment provides a method for controlling the loaded operation of an AGV, where a target AGV is provided with an object stage for loading goods and a clamping plate for clamping the goods, as shown in fig. 1, the method at least includes steps S101 to S103:
step S101, monitoring the running state information of a target AGV and the relative variation of the pressure of goods on an objective table in the process of carrying goods by the target AGV;
step S102, determining whether the relative variation of the pressure meets a preset condition; in the case that the relative variation amount of the pressure does not satisfy the preset condition, performing step S103; and under the condition that the relative variation of the pressure meets the preset condition, continuously monitoring the running state information of the target AGV and the relative variation of the pressure of the goods on the objective table in the freight carrying running process of the target AGV.
And S103, adjusting the clamping pressure of the clamping plates on the goods according to the running state information of the target AGV trolley and the attribute information of the goods, so that the relative variation of the pressure meets the preset condition.
In the embodiment, the running state information of the target AGV trolley and the relative variation of the pressure of the goods on the objective table are monitored in real time in the process of carrying goods by the target AGV trolley; and under the condition that the relative variation of the pressure does not meet the preset condition, the clamping pressure of the clamping plate on the goods is adjusted according to the running state information of the target AGV trolley and the attribute information of the goods, so that the relative variation of the pressure meets the preset condition, the clamping pressure can be adjusted by combining the running state information and the attribute information of the goods, and the situation that the clamping pressure is too large for the goods with the current attribute and the goods are damaged due to the fact that the clamping pressure is adjusted only according to the running state is avoided.
In some implementations, the operational status information includes vehicle speed and the attribute information includes at least one of cargo material, cargo height, cargo price, cargo weight, cargo type, cargo overwrap, and cargo overwrap size.
In some implementations, the AGV cart cargo operation control method of this embodiment, as shown in fig. 2, further includes:
step S201, acquiring running state information of a target AGV and attribute information of goods;
and S202, setting an initial clamping pressure value of the clamping plate for clamping the goods based on the running state information and the attribute information, and controlling the clamping plate to clamp the goods on the objective table by the initial clamping pressure value so as to enable the target AGV trolley to carry goods and run.
In some implementations, the setting of the initial value of the clamping pressure of the clamping plate to the cargo based on the operation state information and the attribute information may further include steps S202a to S202c:
step S202a, based on the operation state information and the attribute information, inquiring corresponding first clamping pressure F from the stored corresponding relation table of the operating state information, the attribute information and the clamping pressure 1 。
In practical application, a corresponding relation table can be established in advance according to the running state information, the attribute information and the corresponding existing data of the minimum clamping pressure, so that the initial value of the clamping pressure of the clamping plate on the goods can be inquired and used when the initial value of the clamping pressure of the clamping plate on the goods is set.
Step S202b, based on the operation state information and the attribute information, utilizing the pre-mapCalculating corresponding second clamping pressure F by using the clamping pressure calculation formula 2 。
In some implementations, the band clamp pressure calculation includes a calculation that weights and sums the operating state information and the attribute information.
In one example, the operating condition information includes vehicle speed, the attribute information includes cargo material, cargo height, cargo price, and cargo weight. Clasping pressure calculation formula the following may be used:
F 2 (vii) = p height + q weight + r vehicle speed + s material + t price)
Wherein, F 2 And the weight coefficients represent the second clamping pressure, p, q, r, s and t represent the height of the goods, the weight of the goods, the speed of the vehicle, the material of the goods and the price of the goods respectively, and the weight coefficients can be continuously optimized according to historical running state information and attribute information.
And S202c, setting an initial clamping pressure value of the clamping plate to the goods based on the first clamping pressure and the second clamping pressure.
In some implementations, set up the embrace clamp pressure initial value of embracing the splint to the goods based on first embrace clamp pressure and second embrace clamp pressure, include: and setting the weighted sum value of the first clamping pressure and the second clamping pressure as the initial clamping pressure value of the clamping plate to the goods.
In one example, the initial value of the clamp pressure of the clamp plate on the cargo may be calculated by the following formula:
F＝α*F 1 +β*F 2
where α and β represent a weight coefficient of the first clamping pressure and a weight coefficient of the second clamping pressure, respectively, and α + β =1.
In this embodiment, when the initial value of the clamping pressure of the clamping plate for the goods is set, on one hand, the corresponding first clamping pressure F is queried from the stored correspondence table of the operating state information, the attribute information and the clamping pressure based on the operating state information and the attribute information 1 (ii) a On the other hand, the second clamping pressure is calculated according to the real-time running state information and the attribute information of the currently carried cargo, and the clamping pressure is combined with the clamping pressures of the two aspects to carry out clampingThe force initial value is set, so that the AGV trolley can be guaranteed to run stably under the condition that the goods are not damaged by the aid of the minimum clamping pressure initial value under the current goods attribute and running state information.
In the freight carrying operation process of the target AGV trolley, the relative variation delta G of the pressure of the goods on the object stage can be calculated according to the pressure G (which can be obtained by a pressure sensor) of the current goods on the object stage and the weight (gravity) mg of the goods to obtain:
when the speed or the advancing direction of the AGV trolley is adjusted, the delta G can be changed, when the delta G is larger than a preset threshold value G0, the clamping pressure of the carrying clamping plate for carrying goods needs to be adjusted, the delta G is smaller than or equal to G0, stable operation of the goods is guaranteed, and the G0 can be determined according to the minimum range of the variation of the carrying pressure which can be accepted actually.
In some implementation manners, the clamping pressure of the clamping plate to the goods is adjusted according to the running state information of the target AGV and the attribute information of the goods, and the method may further include steps S103a to S103b:
and step S103a, calculating an adjustment coefficient of the clamping pressure based on the relative variation of the pressure, the running state information of the target AGV trolley and the attribute information of the goods.
In one example, the operating state information includes vehicle speed, and the attribute information includes cargo material, cargo height, cargo price, and cargo weight. The adjustment factor for the clamping pressure can be calculated using the following equation:
γ = i Δ G + j vehicle speed + k height + m material + n price
Wherein γ represents an adjustment coefficient of the clamping pressure, Δ G represents a relative change amount of the pressure, i, j, k, m, n represent a weight coefficient of the relative change amount of the pressure, a weight coefficient of the vehicle speed, a weight coefficient of the cargo height, a weight coefficient of the cargo material, and a weight coefficient of the cargo price, respectively, and since the relative change amount of the pressure reflects the factor of the cargo weight, it is not necessary to consider attribute information of the cargo weight again when calculating the adjustment coefficient.
And S103b, adjusting the current clamping pressure based on the adjustment coefficient of the clamping pressure so as to enable the relative variation of the pressure to meet a preset condition.
In some implementations, the preset condition includes that a relative change in pressure does not exceed a preset threshold; determining whether the relative change amount of the pressure meets a preset condition, including: it is determined whether the amount of relative change in pressure does not exceed a preset threshold.
In some cases, the preset threshold may be represented as G0, and it is determined whether a condition that the relative change Δ G of the pressure is less than or equal to G0 is satisfied, and when the condition is not satisfied, an adjustment coefficient γ of the clamping pressure is calculated based on the relative change Δ G of the pressure, the operating state information (e.g., the vehicle speed) of the target AGV cart, and the attribute information (e.g., the material of the goods, the height of the goods, and the price of the goods) of the goods, so as to adjust the clamping pressure according to the following formula.
F＝(1+γ)*F0
F0 is clamping pressure of the loading clamping plate to the goods before adjustment, F is clamping pressure of the loading clamping plate to the goods after adjustment, and the requirement that delta G is less than or equal to G0 after adjustment is met.
In some implementations, the AGV cart cargo operation control method of this embodiment further includes:
and step S104, determining clamping pressure when the relative variation of the pressure reaches a preset threshold value under the condition that the relative variation of the pressure meets a preset condition, and taking the clamping pressure as the minimum clamping pressure for enabling the goods to stably run under the current running state information and the attribute information.
In some implementations, the determining, in step S104, the clamping pressure when the relative change amount of the pressure reaches the preset threshold may further include:
and step S104a, under the condition that the relative variation of the pressure is smaller than a preset threshold value, gradually reducing the clamping pressure according to the inversely proportional relation between the clamping pressure and the time until the relative variation of the pressure reaches the preset threshold value, and determining the clamping pressure at the moment as the minimum clamping pressure for enabling the goods to stably run under the current running state information and the attribute information.
It should be understood that, on the basis that the current clamping pressure is adjusted based on the adjustment coefficient of the clamping pressure, so that the relative change amount of the pressure meets the preset condition, there may be two cases: one is that after the current clamping pressure is adjusted, the relative variation of the pressure is smaller than a preset threshold value, and delta G is smaller than G0; secondly, after the current clamping pressure is adjusted, the relative change of the pressure is equal to a preset threshold value, and Δ G = G0. When Δ G = G0, the clamping pressure obtained by adjustment is the minimum clamping pressure for stabilizing the cargo under the current operation state information and the attribute information, and therefore further adjustment is not needed. And when the delta G is less than G0, the adjusted clamping pressure is not the minimum clamping pressure for enabling the goods to stably run under the current running state information and the attribute information, and when the travelling speed of the AGV trolley is stable, the minimum clamping pressure for keeping the goods stable is found to apply pressure to the goods, so that the goods are prevented from being deformed and damaged due to overlarge pressure, the clamping plate load is reduced, the loss is prevented from being large, and the service life is prolonged.
In some implementations, the clamping pressure is gradually decreased in an inverse relationship with time until a relative change in pressure reaches a preset threshold, and the clamping pressure may be gradually decreased to Δ G = G0 as time increases. The gradual reduction here can be gradual reduction according to certain preset step length to accurately find the minimum clamping pressure that makes Δ G = G0, and make the clamping plate of the AGV dolly clamp the goods with this minimum clamping pressure, continue the steady operation that carries cargo.
In some implementations, the AGV cart cargo operation control method of this embodiment further includes:
and S105, updating the corresponding relation table of the running state information, the attribute information and the clamping pressure and/or the clamping pressure calculation formula based on the minimum clamping pressure.
In some implementation manners, based on the minimum clamping pressure, the corresponding relation table of the operation state information, the attribute information and the clamping pressure is updated, so that the operation state information, the attribute information and the clamping pressure can be inquired and used when the initial value of the clamping pressure of the clamping plate on the goods is set. The method can be characterized in that a corresponding relation table is established in advance according to the running state information, the attribute information and the existing data of the corresponding minimum clamping pressure, the table is continuously updated according to the minimum clamping pressure determined again according to the conditions of different running state information and attribute information in the process of carrying cargo, so that the corresponding relation in the table reflects real and accurate data, the initial value set by the first clamping pressure calculated based on the table and the second clamping pressure calculated by using the clamping pressure calculation formula is more accurate, the adjustment efficiency is improved, and the automatic transportation efficiency of the AGV trolley is improved.
In some implementation manners, based on the minimum clamping pressure, the clamping pressure calculation formula is updated, and the weight coefficients of the operation state information and the attribute information in the calculation formula are optimized and adjusted, so that the second clamping pressure value calculated by using the clamping pressure calculation formula is more accurate and closer to the real minimum clamping pressure. In one example, the weight coefficients p, q, r, s and t of the height of the goods, the weight of the goods, the vehicle speed, the material of the goods and the price of the goods are optimally adjusted.
In other implementation manners, based on the minimum clamping pressure, the corresponding relation table of the operation state information, the attribute information and the clamping pressure calculation formula are updated, so that the initial value set based on the first clamping pressure and the second clamping pressure is closer to the currently required minimum clamping pressure value, and the transportation efficiency is improved.
The invention avoids shifting or dumping of goods on the AGV due to speed adjustment or change of the advancing direction in the process of carrying cargo, so that the transportation is more stable and the stability is higher. Through fully considering goods characteristics and current AGV dolly operating condition, the automatic adjustment embraces the pressure of pressing from both sides of embracing of splint, when keeping the goods stable, avoids the too big goods that leads to of pressure to warp impaired etc. has improved AGV dolly automatic transportation's efficiency. Furthermore, when the AGV trolley stably moves forward at a constant speed, the clamping pressure is automatically adjusted to be small according to the working state of the trolley, the phenomenon that the clamping plates work at a high load all the time, the loss is large, the service life is easy to reduce is avoided, and the use cost of products is improved.
Example two
This embodiment provides an AGV dolly operation control device that carries cargo, and target AGV dolly is provided with the objective table that bears the weight of the goods and the board of embracing of centre gripping goods, as shown in fig. 3, this device includes:
the monitoring module 301 is configured to monitor the running state information of the target AGV and the relative variation of the pressure of the goods on the object stage during the process of the freight transportation of the target AGV;
a determining module 302, configured to determine whether the relative change amount of the pressure satisfies a preset condition;
and the adjusting module 303 is configured to adjust clamping pressure of the clamping plate on the goods according to the running state information of the target AGV and the attribute information of the goods when the relative variation of the pressure does not satisfy the preset condition, so that the relative variation of the pressure satisfies the preset condition.
In the embodiment, the running state information of the target AGV trolley and the relative variation of the pressure of the goods on the objective table are monitored in real time in the process of carrying goods by the target AGV trolley; and under the condition that the relative variation of the pressure does not meet the preset condition, the clamping pressure of the clamping plate on the goods is adjusted according to the running state information of the target AGV trolley and the attribute information of the goods, so that the relative variation of the pressure meets the preset condition, the clamping pressure can be adjusted by combining the running state information and the attribute information of the goods, and the situation that the clamping pressure is too large for the goods with the current attribute and the goods are damaged due to the fact that the clamping pressure is adjusted only according to the running state is avoided.
In some implementations, the operational status information includes vehicle speed and the attribute information includes at least one of cargo material, cargo height, cargo price, cargo weight, cargo type, cargo overwrap, and cargo overwrap size.
In some implementations, the apparatus further includes:
the setting module is used for acquiring running state information of the target AGV trolley and attribute information of the goods, setting clamping initial values of clamping pressures of the clamping plates for the goods based on the running state information and the attribute information, and controlling the clamping plates to clamp the goods on the objective table by the clamping initial values so as to enable the target AGV trolley to carry goods and run.
In some implementations, setting an initial value of clamping pressure of the clamping plate for the cargo based on the operating state information and the attribute information may further include:
based on the running state information and the attribute information, inquiring corresponding first clamping pressure F from a stored corresponding relation table of the running state information, the attribute information and the clamping pressure 1 (ii) a Based on the running state information and the attribute information, calculating corresponding second clamping pressure F by using a preset clamping pressure calculation formula 2 (ii) a And setting an initial clamping pressure value of the clamping plate to the goods based on the first clamping pressure and the second clamping pressure.
In some implementations, the band clamp pressure calculation includes a calculation that weights and sums the operating state information and the attribute information.
In one example, the operating status information includes vehicle speed, and the attribute information includes cargo material, cargo height, cargo price, and cargo weight. The band clamp pressure calculation formula may be as follows:
F 2 (vii) = p height + q weight + r vehicle speed + s material + t price)
Wherein, F 2 And the weight coefficients represent the second clamping pressure, p, q, r, s and t represent the height of the goods, the weight of the goods, the speed of the vehicle, the material of the goods and the price of the goods respectively, and the weight coefficients can be continuously optimized according to historical running state information and attribute information.
In some implementations, holding the clamp pressure initial value of pressing from both sides the goods based on first pressure and the second pressure setting of holding of pressing from both sides of holding the clamp plate includes: and setting the weighted sum of the first clamping pressure and the second clamping pressure as the initial clamping pressure value of the clamping plate to the goods.
In one example, the initial value of the clamping pressure of the clamping plate on the cargo can be calculated by the following formula:
F＝α*F 1 +β*F 2
where α and β represent a weight coefficient of the first clamping pressure and a weight coefficient of the second clamping pressure, respectively, and α + β =1.
In some implementation manners, adjusting the clamping pressure of the clamping plate to the goods according to the running state information of the target AGV and the attribute information of the goods, may further include: calculating an adjustment coefficient of clamping pressure based on the relative variation of the pressure, the running state information of the target AGV and the attribute information of the goods; and adjusting the current clamping pressure based on the adjustment coefficient of the clamping pressure so as to enable the relative variation of the pressure to meet the preset condition.
In one example, the operating state information includes vehicle speed, and the attribute information includes cargo material, cargo height, cargo price, and cargo weight. The adjustment factor of the clamping pressure can be calculated using the following equation:
γ = i Δ G + j vehicle speed + k × height + m material + n price
Wherein, gamma represents the adjustment coefficient of the clamping pressure, deltaG represents the relative change amount of the pressure, i, j, k, m, n represent the weight coefficient of the relative change amount of the pressure, the weight coefficient of the vehicle speed, the weight coefficient of the cargo height, the weight coefficient of the cargo material, the weight coefficient of the cargo price, respectively, because the relative change amount of the pressure already reflects the factor of the cargo weight, the attribute information of the cargo weight does not need to be considered when calculating the adjustment coefficient.
In some implementations, the preset condition includes that a relative change in pressure does not exceed a preset threshold; determining whether the relative change amount of the pressure meets a preset condition, including: it is determined whether the relative amount of change in pressure does not exceed a preset threshold.
In some cases, the preset threshold may be represented as G0, it is determined whether a condition that the relative change Δ G of the pressure is less than or equal to G0 is satisfied, and when the condition is not satisfied, an adjustment coefficient γ of the clamping pressure is calculated based on the relative change Δ G of the pressure, the operating state information (e.g., the vehicle speed) of the target AGV cart, and the attribute information (e.g., the material quality of the goods, the height of the goods, and the price of the goods) of the goods, so as to adjust the clamping pressure according to the following formula.
F＝(1+γ)*F0
F0 is clamping pressure of the loading clamping plate to the goods before adjustment, F is clamping pressure of the loading clamping plate to the goods after adjustment, and the requirement that delta G is less than or equal to G0 after adjustment is met.
In some implementations, the adjustment module 303 is further configured to: and under the condition that the relative variation of the pressure meets the preset condition, determining the clamping pressure when the relative variation of the pressure reaches a preset threshold value, and taking the clamping pressure as the minimum clamping pressure for enabling the goods to stably run under the current running state information and the attribute information.
In some implementations, determining the clamping pressure when the relative change amount of the pressure reaches the preset threshold may further include: and under the condition that the relative variation of the pressure is smaller than a preset threshold value, gradually reducing the clamping pressure according to the inverse relation between the clamping pressure and the time until the relative variation of the pressure reaches the preset threshold value, and determining the clamping pressure at the moment as the minimum clamping pressure for enabling the goods to stably run under the current running state information and the attribute information.
In some implementations, the adjustment module 303 is further configured to: and updating a corresponding relation table of the running state information, the attribute information and the clamping pressure and/or a clamping pressure calculation formula based on the minimum clamping pressure.
The invention avoids shifting or dumping of goods on the AGV due to adjusting the speed or changing the advancing direction in the process of carrying the goods by the AGV trolley, so that the transportation is more stable and the stability is higher. Through fully considering goods characteristics and current AGV dolly operating condition, the automatic adjustment embraces the pressure of pressing from both sides of embracing of splint, when keeping the goods stable, avoids the too big goods that leads to of pressure to warp impaired etc. has improved AGV dolly automatic transportation's efficiency. Furthermore, when the AGV trolley stably advances at a constant speed, the clamping pressure is automatically reduced according to the working state of the trolley, the phenomenon that the clamping plates work at a high load all the time is avoided, the loss is large, the service life is easily shortened, and the use cost of products is improved.
Those skilled in the art will appreciate that the modules or steps described above can be implemented using a general purpose computing device, that they can be centralized on a single computing device or distributed across a network of computing devices, and that they can alternatively be implemented using program code executable by a computing device, such that the program code is stored in a memory device and executed by a computing device, and the program code is then separately fabricated into various integrated circuit modules, or multiple modules or steps are fabricated into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
EXAMPLE III
The embodiment provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by one or more processors, the computer program realizes the AGV trolley goods running control method in the first embodiment.
The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
Example four
The embodiment provides a control device which comprises a storage and one or more processors, wherein the storage is stored with a computer program, and when the computer program is executed by the one or more processors, the AGV trolley goods loading operation control method in the first embodiment is realized.
In practical applications, the Processor may be an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a Microcontroller (Microcontroller Unit), a microprocessor, or other electronic components, and is configured to perform the method in the foregoing embodiments.
EXAMPLE five
The embodiment provides an AGV dolly, including the fourth controlgear of embodiment, the AGV dolly is provided with the objective table and the centre gripping of goods of bearing weight of the goods and embraces the splint.
Fig. 4 and 5 show schematic representations of the front and top views, respectively, of the clamping device that ensures smooth transport of the AGV cart cargo. Objective table 1 on the AGV dolly is used for bearing weight of goods 4, install the flexible support joint 2 of multisection respectively in the direction of travel both sides of AGV dolly, its upper end is connected and is embraced splint 3, in order to guarantee that the goods is stable, objective table 1 is connected to its lower extreme, its flexible length and angle can freely be adjusted according to the height and the width of goods to the flexible support joint of multisection, pressure sensor 5 is installed with the contact surface of goods 4 to the top of objective table 1, be used for detecting the pressure variation of goods to the objective table, it installs pressure sensor 6 with the contact surface of goods 4 to embrace splint 3, be used for detecting and embrace and press from both sides pressure.
In the embodiment, the control device of the AGV monitors the running state information of the target AGV and the relative variation of the pressure of the goods on the objective table in real time in the process of carrying goods by the target AGV; and under the condition that the relative variation of the pressure does not meet the preset conditions, the clamping pressure of the clamping plates to the goods is adjusted according to the running state information of the target AGV trolley and the attribute information of the goods, so that the relative variation of the pressure meets the preset conditions, the clamping pressure can be adjusted by combining the running state information and the attribute information of the goods, and the situation that the clamping pressure is too large for the goods with the current attributes due to the fact that the goods are damaged due to the fact that the clamping pressure is adjusted only according to the running state is avoided.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus may be implemented in other ways. The above-described apparatus embodiments are merely illustrative.
It should be noted that, in this document, the terms "first", "second", and the like in the description and claims of the present application and in the drawings described above are used for distinguishing similar objects, and are not necessarily used for describing a particular order or sequence. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (15)
1. The AGV cargo-carrying operation control method is characterized in that a target AGV is provided with an objective table for bearing cargos and clamping plates for clamping cargos, and the method comprises the following steps:
monitoring the running state information of the target AGV and the relative variation of the pressure of the goods on the objective table in the process of carrying goods by the target AGV;
determining whether the relative change amount of the pressure meets a preset condition;
under the condition that the relative variation of the pressure does not meet the preset conditions, the clamping pressure of the clamping plates for clamping the goods is adjusted according to the running state information of the target AGV trolley and the attribute information of the goods, so that the relative variation of the pressure meets the preset conditions.
2. The AGV cart cargo operation control method of claim 1, wherein said operational status information includes vehicle speed and said attribute information includes at least one of cargo material, cargo height, cargo price, cargo weight, cargo type, cargo overwrap material, and cargo overwrap size.
3. The AGV cart cargo operation control method of claim 1, further comprising:
acquiring running state information of a target AGV and attribute information of goods;
based on operating condition information with attribute information sets up embrace the splint and press from both sides initial value to embracing of goods to control embrace the splint with embrace and press from both sides initial value pair the goods on the objective table carry out the centre gripping to make the operation that carries cargo of target AGV dolly.
4. The AGV trolley goods loading operation control method of claim 3, wherein said setting an initial clamping pressure value of said clamping plate for said goods based on said operation state information and said attribute information comprises:
based on the running state information and the attribute information, inquiring corresponding first clamping pressure from a stored corresponding relation table of the running state information, the attribute information and the clamping pressure;
calculating corresponding second clamping pressure by using a preset clamping pressure calculation formula based on the running state information and the attribute information;
and setting an initial value of the clamping pressure of the clamping plate to the goods based on the first clamping pressure and the second clamping pressure.
5. The AGV cart cargo operation control method of claim 4, wherein said clamp pressure calculation includes a weighted sum of operational state information and attribute information.
6. The AGV dolly load carrying operation control method of claim 4, wherein said setting an initial value of clamping pressure of said clamping plate to the load based on said first clamping pressure and said second clamping pressure comprises: and setting the weighted sum of the first clamping pressure and the second clamping pressure as the initial clamping pressure value of the clamping plate to the goods.
7. The AGV trolley cargo-carrying operation control method according to claim 1, wherein said adjusting the clamping pressure of said clamping plates to the load according to the operation status information of the target AGV trolley and the attribute information of the load comprises:
calculating an adjustment coefficient of clamping pressure based on the relative variation of the pressure, the running state information of the target AGV trolley and the attribute information of the goods;
and adjusting the current clamping pressure based on the adjustment coefficient of the clamping pressure so as to enable the relative variation of the pressure to meet the preset condition.
8. The AGV cart cargo operation control method of claim 1, wherein said predetermined condition includes a relative change in said pressure not exceeding a predetermined threshold; the determining whether the relative change amount of the pressure meets a preset condition includes: determining whether the amount of relative change in the pressure does not exceed a preset threshold.
9. The AGV cart cargo operation control method of claim 8, further comprising:
and under the condition that the relative variation of the pressure meets a preset condition, determining the clamping pressure when the relative variation of the pressure reaches a preset threshold value, and using the clamping pressure as the minimum clamping pressure for enabling the goods to stably run under the current running state information and the attribute information.
10. The AGV cart cargo operation control method of claim 9 wherein said determining the clamping pressure at which said relative change in pressure reaches a predetermined threshold comprises:
and under the condition that the relative variation of the pressure is smaller than a preset threshold value, gradually reducing the clamping pressure according to the inverse relation between the clamping pressure and the time until the relative variation of the pressure reaches the preset threshold value, and determining the clamping pressure at the moment as the minimum clamping pressure for enabling the goods to stably run under the current running state information and the attribute information.
11. The AGV cart cargo operation control method of claim 9 or 10, further comprising:
and updating a corresponding relation table of the running state information, the attribute information and the clamping pressure and/or the clamping pressure calculation formula based on the minimum clamping pressure.
12. The utility model provides a AGV dolly operation control device that carries cargo, its characterized in that, target AGV dolly are provided with the objective table and the clamp plate of embracing of centre gripping goods that bear the weight of goods, the device includes:
the monitoring module is used for monitoring the running state information of the target AGV and the relative variation of the pressure of the goods on the objective table in the process of carrying goods by the target AGV;
the determining module is used for determining whether the relative change amount of the pressure meets a preset condition;
and the adjusting module is used for adjusting the clamping pressure of the clamping plate for clamping the goods according to the running state information of the target AGV trolley and the attribute information of the goods under the condition that the relative variation of the pressure does not meet the preset condition, so that the relative variation of the pressure meets the preset condition.
13. A computer readable storage medium, characterized in that a computer program is stored thereon, which computer program, when executed by one or more processors, implements the AGV cart load operation control method of any one of claims 1 to 11.
14. A control apparatus comprising a memory and one or more processors, the memory having stored thereon a computer program that, when executed by the one or more processors, implements an AGV cart load operation control method of any of claims 1 to 11.
15. An AGV cart comprising a control apparatus according to claim 14, said AGV cart having a load carrying platform and a clamp for holding the load.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210688613.3A CN115237120A (en) | 2022-06-16 | 2022-06-16 | AGV trolley cargo operation control method and device, storage medium and control equipment |
| PCT/CN2022/141093 WO2023240984A1 (en) | 2022-06-16 | 2022-12-22 | Agv trolley cargo-carrying operation control method and apparatus, storage medium, and control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210688613.3A CN115237120A (en) | 2022-06-16 | 2022-06-16 | AGV trolley cargo operation control method and device, storage medium and control equipment |
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| CN115237120A true CN115237120A (en) | 2022-10-25 |
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| CN202210688613.3A Pending CN115237120A (en) | 2022-06-16 | 2022-06-16 | AGV trolley cargo operation control method and device, storage medium and control equipment |
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| CN (1) | CN115237120A (en) |
| WO (1) | WO2023240984A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115818139A (en) * | 2022-11-10 | 2023-03-21 | 广东海洋大学 | Logistics vehicle for port production AGV transportation |
| WO2023240984A1 (en) * | 2022-06-16 | 2023-12-21 | 珠海格力电器股份有限公司 | Agv trolley cargo-carrying operation control method and apparatus, storage medium, and control device |
| CN117492449A (en) * | 2023-12-29 | 2024-02-02 | 珠海格力智能装备有限公司 | Automatic guide vehicle material-pouring prevention control method and device |
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| CN106444385B (en) * | 2016-11-28 | 2019-04-02 | 龙合智能装备制造有限公司 | Accessory adaptive intelligent adjusting method and device |
| AT521112A1 (en) * | 2018-03-09 | 2019-10-15 | Tgw Logistics Group Gmbh | Robotic system for gripping a product in a storage and picking system and method of operation therefor |
| CN112573052B (en) * | 2019-09-27 | 2022-05-24 | 江苏华章物流科技股份有限公司 | Automatic access system and access method |
| CN211310086U (en) * | 2019-12-03 | 2020-08-21 | 格力电器（武汉）有限公司 | Automatic hydraulic pressure embraces conveyer of pressing from both sides goods |
| CN111664147A (en) * | 2020-06-10 | 2020-09-15 | 广东博智林机器人有限公司 | Clamping device, control method, electronic equipment and storage medium |
| CN212473726U (en) * | 2020-06-17 | 2021-02-05 | 江苏源航机器人研究院有限公司 | Material trolley clamping device of AGV trolley |
| CN112008767A (en) * | 2020-09-04 | 2020-12-01 | 王春伟 | Clamping device for AGV robot and using method thereof |
| CN113414777A (en) * | 2021-06-24 | 2021-09-21 | 扬州工业职业技术学院 | Intelligent robot handling device based on machine vision |
| CN215622370U (en) * | 2021-10-08 | 2022-01-25 | 如熠智能科技(苏州)有限公司 | AGV complete set haulage equipment |
| CN114083538B (en) * | 2021-11-30 | 2023-06-20 | 深圳市优必选科技股份有限公司 | Method, device and robot for realizing stable clamping of double mechanical arms |
| CN115237120A (en) * | 2022-06-16 | 2022-10-25 | 珠海格力电器股份有限公司 | AGV trolley cargo operation control method and device, storage medium and control equipment |
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2022
- 2022-06-16 CN CN202210688613.3A patent/CN115237120A/en active Pending
- 2022-12-22 WO PCT/CN2022/141093 patent/WO2023240984A1/en unknown
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023240984A1 (en) * | 2022-06-16 | 2023-12-21 | 珠海格力电器股份有限公司 | Agv trolley cargo-carrying operation control method and apparatus, storage medium, and control device |
| CN115818139A (en) * | 2022-11-10 | 2023-03-21 | 广东海洋大学 | Logistics vehicle for port production AGV transportation |
| CN115818139B (en) * | 2022-11-10 | 2024-04-19 | 广东海洋大学 | Logistics vehicle for carrying AGVs in port production |
| CN117492449A (en) * | 2023-12-29 | 2024-02-02 | 珠海格力智能装备有限公司 | Automatic guide vehicle material-pouring prevention control method and device |
| CN117492449B (en) * | 2023-12-29 | 2024-05-03 | 珠海格力智能装备有限公司 | Automatic guide vehicle material-pouring prevention control method and device |
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| WO2023240984A1 (en) | 2023-12-21 |
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