CN115285618A - AGV intelligent robot operation state monitoring analysis control system - Google Patents

AGV intelligent robot operation state monitoring analysis control system Download PDF

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Publication number
CN115285618A
CN115285618A CN202210921138.XA CN202210921138A CN115285618A CN 115285618 A CN115285618 A CN 115285618A CN 202210921138 A CN202210921138 A CN 202210921138A CN 115285618 A CN115285618 A CN 115285618A
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goods
intelligent robot
adjustment
detection time
agv intelligent
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吕振丰
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Chengdu Zhenxinfeng Electromechanical Equipment Co ltd
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Chengdu Zhenxinfeng Electromechanical Equipment Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

Abstract

The invention discloses an AGV intelligent robot operation state monitoring analysis control system, which comprises a robot basic information acquisition module, a goods state analysis module, a goods position adjustment module, a robot transportation information analysis module, a robot transportation state confirmation module, an early warning terminal and an operation information base.

Description

AGV intelligent robot operation state monitoring analysis control system
Technical Field
The invention belongs to the technical field of robot monitoring, and relates to an AGV intelligent robot operation state monitoring analysis control system.
Background
Along with the continuous expansion of commodity circulation demand, more and more enterprises use AGV robot to carry out the commodity circulation transport, and AGV intelligent robot main function is automatic commodity circulation transport, and AGV intelligent robot's normal operating has decided the running state of commodity circulation, consequently, is very important to AGV intelligent robot operation state monitoring analysis.
The mode that the present operation state of AGV intelligent robot is monitored and is analyzed the principal party through artifical patrol and examine, and it is obvious that this kind of mode has several following problems at least:
1. the manual inspection can not be carried out in real time to monitor and analyze the running state of the AGV intelligent robot, and the information according to the goods is unavailable, the running speed and the like of the AGV robot are monitored, the speed and the position of the AGV intelligent robot in the running process can not be intuitively known, the adaptability of the AGV intelligent robot in the running process and the accuracy of a route can not be guaranteed, the safety of the AGV intelligent robot in the running process can not be guaranteed, and meanwhile, the efficiency of the AGV intelligent robot in the goods carrying process can not be improved.
2. The AGV intelligent robot is mainly used for carrying goods, a method for monitoring and analyzing the safety of goods transported on the AGV intelligent robot is not adopted at present, the risk that the goods fall off in the transporting process of the AGV intelligent robot cannot be reduced, meanwhile, the position of the goods with the falling risk cannot be adjusted, and then the safety of the goods in the transporting process cannot be guaranteed, so that the transporting effect of the AGV intelligent robot is reduced, and the efficiency of subsequent logistics transportation is influenced.
Disclosure of Invention
The invention aims to provide an AGV intelligent robot operation state monitoring, analyzing and controlling system, which solves the problems in the background technology.
The purpose of the invention can be realized by the following technical scheme:
an AGV intelligent robot operation state monitoring analysis control system includes:
the robot basic information acquisition module is used for acquiring images and the transportation speed of the target AGV intelligent robot according to a preset detection time interval and acquiring the position of the target AGV intelligent robot in an appointed area;
the goods state information acquisition module is used for acquiring goods images on the target AGV intelligent robot according to a preset detection time interval and acquiring the weight of goods;
the goods state analysis module is used for analyzing the corresponding states of goods in all the detection time points according to the target AGV intelligent robot images and the goods images on the target AGV intelligent robot at all the detection time points;
the cargo position adjusting module is used for starting the cargo adjusting device to adjust the position of the cargo when the state of the cargo is a dangerous state;
the robot transportation information analysis module is used for analyzing the transportation state of the target AGV intelligent robot at each detection time point according to the corresponding transportation speed and the corresponding image of the target AGV intelligent robot at each detection time point;
the robot transportation state confirmation module is used for confirming the intelligent robot transportation state of the AGV at each detection time point;
and the early warning terminal is used for giving early warning prompts when the transport state of the target AGV intelligent robot is a dangerous state.
And the operation information base is used for storing the weight range of each cargo and the adjustment strength corresponding to each adjustment angle.
Optionally, the state of the goods on the target AGV intelligent robot at each detection time point is analyzed, and the specific analysis process is as follows:
positioning the position of the center point of the target AGV intelligent robot at each detection time point from the image of the target AGV intelligent robot at each detection time point, and positioning the position of the center point of the goods corresponding to each detection time point from the goods image on the target AGV intelligent robot in each detection time point;
guiding the central point position of the target AGV intelligent robot at each detection time point and the position of the central point of the goods into a set two-dimensional position coordinate system to obtain the position coordinates of the central point of the target AGV intelligent robot at each detection time point and the position coordinates of the central point of the goods at each detection time point;
positioning the overlooking outline of the goods from the goods image on the target AGV intelligent robot at each detection time point, constructing a goods central line by taking the middle point of any one side as a starting point and the goods central point as a reference point, constructing a vertical reference central line by taking the selected one side as a reference side and the goods central point as a starting point, acquiring an included angle between the goods central line and the goods vertical reference central line, and marking the included angle as a goods offset angle;
simultaneously, positioning the overlapping area between the AGV intelligent robot and the goods at each detection time point target from the goods image on the AGV intelligent robot at each detection time point target, and marking the overlapping area as the contact area of the goods;
and analyzing to obtain a state conformity index corresponding to the goods at each detection time point according to the position coordinates of the central point of the target AGV intelligent robot at each detection time point, the position coordinates of the central point of the goods at each detection time point, the goods offset angle and the goods contact area.
Optionally, the state corresponding to the goods at each detection time point meets an index, and the specific analysis process is as follows:
numbering the detection time points according to the time sequence, wherein the number is 1,2.
Substituting the position coordinates of the central point of the target AGV intelligent robot at each detection time point, the coordinates of the central point of the goods, the contact area of the goods and the deviation angle of the goods into a calculation formula
Figure BDA0003777590260000041
In the method, a state conformity index alpha corresponding to the goods on the target AGV intelligent robot at each detection time point is obtained t Wherein (x) t ，y t ) The central point position coordinate (x) corresponding to the AGV intelligent robot representing the t-th detection time point target t ′，y t ') represents the center point position coordinate corresponding to the goods at the t-th detection time point, and DeltaL is the offset distance between the center point of the set allowable AGV intelligent robot and the goods center point, S t 、θ t The t-th detection time point corresponds to a cargo contact area and a cargo offset angle respectively, and S 'and theta' are respectively set standard cargo contact area, a permitted cargo offset angle and gamma 1 、γ 2 、γ 3 Weight factors corresponding to the set central point offset difference, the set cargo contact area and the set cargo offset angle respectively, and t representsEach detection time point corresponds to a number, t =1,2.. G;
and comparing the state conformity index corresponding to the goods at each detection time point with the set standard goods state conformity index, if the state conformity index corresponding to the goods at a certain detection time point is greater than or equal to the standard goods state conformity index, judging that the goods state at the detection time point is safe, otherwise, judging that the goods state at the detection time point is dangerous, and recording the detection time point as a dangerous time point, so as to confirm the goods state at each detection time point.
Optionally, the cargo position is adjusted, and the specific adjustment process is as follows:
the method comprises the steps that the cargo adjusting devices are respectively installed in front of, behind, on the left side of and on the right side of the target AGV intelligent robot, when the state of the cargo is dangerous, the cargo adjusting devices are started, the adjusting modes corresponding to the cargo adjusting devices are confirmed, and therefore cargo adjusting information is analyzed and adjusted according to the adjusting modes corresponding to the cargo adjusting devices.
Optionally, the confirming of the adjustment mode corresponding to the cargo adjustment device specifically comprises:
and if the orientation relations of the front, the back, the left and the right of the goods and the front, the back, the left and the right of the target AGV intelligent robot are parallel, judging that the adjustment mode corresponding to the goods adjustment device is a primary adjustment mode, and otherwise, judging that the adjustment mode corresponding to the goods adjustment device is a high-grade adjustment mode.
Optionally, the cargo adjustment information is analyzed and adjusted according to the adjustment mode corresponding to the cargo adjustment device, and the specific analysis process is as follows:
when the adjustment mode corresponding to the goods adjustment device is a primary adjustment mode, extracting the goods image corresponding to the dangerous time point, positioning the distance between the center point of the goods and the center point of the target AGV intelligent robot in the horizontal direction and the distance between the center point of the goods and the center point of the target AGV intelligent robot in the vertical direction, respectively using the distance as the adjustment distance between the adjustment distance in the horizontal direction of the goods and the adjustment distance in the vertical direction of the goods, setting the adjustment priority level, and setting the adjustment direction according to the relative position between the center point of the goods and the center point of the target AGV intelligent robot;
matching and comparing the weight corresponding to the goods with the adjusting force corresponding to each goods weight range stored in the operation information base, and further obtaining the corresponding adjusting force in the primary adjusting mode;
adjusting the goods in the primary adjustment mode according to the horizontal adjustment distance, the vertical adjustment distance, the adjustment priority level and the corresponding adjustment strength in the primary adjustment mode of the goods;
when the adjustment mode corresponding to the cargo adjustment device is an advanced adjustment mode, acquiring a cargo offset angle and a reference edge corresponding to the dangerous time point, taking the reference edge position as a starting adjustment position, taking the cargo offset angle as an adjustment rotation angle, and confirming an adjustment rotation direction according to the relative position of a central line and a central reference line;
matching and comparing the cargo adjustment angle with adjustment force corresponding to each adjustment angle range stored in an operation information base to obtain primary adjustment force corresponding to the advanced adjustment mode, and performing primary adjustment in the advanced adjustment mode according to the adjustment rotation angle and the primary adjustment force;
carrying out secondary image acquisition on the goods after the angle adjustment, identifying the position of the central point of the goods from the acquired images, analyzing the distance between the central point of the goods and the central point of the robot in the horizontal direction and the distance in the vertical direction, and obtaining the adjustment priority, the adjustment distance and the adjustment direction in the advanced adjustment mode according to the analysis mode of the adjustment priority, the adjustment distance and the adjustment direction in the primary adjustment mode;
and matching and comparing the weight corresponding to the goods with the adjusting force corresponding to each goods weight range stored in the operation information base, further obtaining the corresponding secondary adjusting force in the advanced adjusting mode, and further performing secondary adjustment in the advanced adjusting mode according to the adjusting priority, the adjusting distance, the adjusting direction and the secondary adjusting force.
Optionally, the setting and adjusting priority level specifically includes the following steps:
comparing the cargo horizontal direction adjustment distance with the vertical direction adjustment distance, if the cargo horizontal direction adjustment distance is larger than or equal to the cargo vertical direction adjustment distance, determining that the horizontal direction is adjusted to be a primary adjustment direction, and the vertical direction is adjusted to be a secondary adjustment direction, wherein the vertical adjustment direction is the front or the back, and the horizontal adjustment direction is the left or the right;
if the adjustment distance of the goods in the horizontal direction is smaller than the adjustment distance of the goods in the vertical direction, the adjustment in the vertical direction is judged to be the primary adjustment direction, and the adjustment in the horizontal direction is judged to be the secondary adjustment direction.
Optionally, the relative position of the central point of the goods and the central point of the target AGV intelligent robot includes that the central point of the goods is in front of, behind, to the left of and behind the central point of the target AGV intelligent robot.
Optionally, the transportation state of the target AGV intelligent robot at each detection time point is analyzed, and a specific analysis process is as follows:
substituting the corresponding transportation speed of the target AGV intelligent robot at each detection time point and the position coordinates of the center point of the target AGV intelligent robot at each detection time point into a calculation formula:
Figure BDA0003777590260000071
in the method, the transport state coincidence index beta of the target AGV intelligent robot at each detection time point is obtained t Wherein (x) t ″，y t ") is a reference coordinate of a center point of the target AGV intelligent robot at a set t-th detection time point, delta L' is a set allowable AGV intelligent robot track offset distance, v t Representing the corresponding transport speed of the target AGV intelligent robot at the t-th detection time point, v' is the set standard transport speed, delta v is the set allowable speed difference, kappa 1 、κ 2 And the weight factors are respectively corresponding to the set track offset distance and the set transportation speed.
Optionally, the confirmation of the transport state of the target AGV intelligent robot at each detection time point includes the following specific confirmation processes:
the method comprises the steps of comparing the transport state conformity index of the target AGV intelligent robot at each detection time point with a set standard transport state conformity index, if the transport state conformity index of the target AGV intelligent robot at a certain detection time point is larger than or equal to the standard transport state conformity index, judging that the transport state of the target AGV intelligent robot at the detection time point is a safe state, otherwise judging that the transport state of the target AGV intelligent robot at the detection time point is a dangerous state, and confirming the transport state of the target AGV intelligent robot at each detection time point in the mode.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the monitoring, analyzing and controlling system for the running operation state of the AGV intelligent robot, the problem that the monitoring and analyzing of the goods state and the manual inspection are not timely in the prior art is solved by monitoring and analyzing the goods state on the AGV intelligent robot, adjusting the goods in a dangerous state and monitoring and analyzing the transportation state of the AGV intelligent robot, intelligent and automatic high-level monitoring, analyzing and controlling of the running operation of the AGV intelligent robot are achieved, the safety and stability of the AGV intelligent robot in the running process are effectively guaranteed, the efficiency and the effect of the AGV intelligent robot in the goods carrying process are greatly improved, and the workload of personnel is greatly reduced.
2. According to the invention, the safety state of the goods is visually displayed by analyzing and determining the state of the goods in the goods carrying process in the goods state analysis module, so that the risk of dropping the goods in the carrying process of the AGV intelligent robot is effectively reduced, the damage risk of the goods is also reduced, meanwhile, the goods with the risk of dropping are adjusted through the goods adjusting device, the risk of rail deviation of the AGV intelligent robot in the carrying process is greatly reduced, the safety and the stability of the AGV intelligent robot in the carrying process are effectively ensured, and meanwhile, the intelligent level of goods adjustment of the AGV intelligent robot in the carrying process is increased.
3. According to the invention, the transport state of the AGV intelligent robot is analyzed in the robot transport information analysis module, so that the speed and the position of the AGV intelligent robot in the running process are accurately reflected, the speed adaptability and the route accuracy of the AGV intelligent robot in the running process are greatly increased, and the running accuracy and the running efficiency of the AGV intelligent robot are also ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a module connection structure according to the present invention;
FIG. 2 is a schematic diagram of AGV intelligent robot handling according to 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 to 2, an AGV intelligent robot operation state monitoring and analyzing control system includes: the system comprises a robot basic information acquisition module, a cargo state analysis module, a cargo position adjustment module, a robot transportation information analysis module, a robot transportation state confirmation module, an early warning terminal and an operation information base;
the goods state analysis module is respectively connected with the robot basic information acquisition module, the goods state information acquisition module and the goods position adjusting module, the robot transportation information analysis module is respectively connected with the robot basic information acquisition module and the robot transportation state confirming module, the goods position adjusting module is further connected with the operation information base, and the robot transportation state confirming module is further connected with the early warning terminal.
The robot basic information acquisition module is used for acquiring images and the transportation speed of the target AGV intelligent robot according to a preset detection time interval and acquiring the position of the target AGV intelligent robot in a specified area;
the system comprises a goods state information acquisition module, a goods weight acquisition module and a goods weight acquisition module, wherein the goods state information acquisition module is used for acquiring goods images on a target AGV intelligent robot according to a preset detection time interval and acquiring the weight of goods;
it should be noted that only one goods is carried by one AGV intelligent robot.
The goods state analysis module is used for analyzing the corresponding states of goods in all the detection time points according to the target AGV intelligent robot images and the goods images on the target AGV intelligent robot at all the detection time points;
in a specific embodiment, the state of the goods on the target AGV intelligent robot at each detection time point is analyzed, and the specific analysis process is as follows:
positioning the position of the center point of the target AGV intelligent robot at each detection time point from the image of the target AGV intelligent robot at each detection time point, and positioning the position of the center point of the goods corresponding to each detection time point from the goods image on the target AGV intelligent robot in each detection time point;
guiding the central point position of the target AGV intelligent robot at each detection time point and the position of the goods central point into a set two-dimensional position coordinate system to obtain the position coordinates of the central point of the target AGV intelligent robot at each detection time point and the position coordinates of the goods central point at each detection time point;
positioning the overlooking outline of the goods from the goods image on the target AGV intelligent robot at each detection time point, constructing a goods central line by taking the middle point of any one side as a starting point and the goods central point as a reference point, constructing a vertical reference central line by taking the selected one side as a reference side and the goods central point as a starting point, acquiring an included angle between the goods central line and the goods vertical reference central line, and marking the included angle as a goods offset angle;
simultaneously, positioning the overlapping area between the AGV intelligent robot and the goods at each detection time point target from the goods image on the AGV intelligent robot at each detection time point target, and marking the overlapping area as the contact area of the goods;
and analyzing to obtain the corresponding state conformity index of the goods at each detection time point according to the position coordinate of the central point of the target AGV intelligent robot at each detection time point, the position coordinate of the central point of the goods at each detection time point, the goods offset angle and the goods contact area.
It should be noted that the height of the AGV intelligent robot and the height of the goods are not analyzed, and therefore a two-dimensional coordinate system is used in the embodiment of the present invention.
In a specific embodiment, the corresponding state of the cargo at each detection time point meets the index, and the specific analysis process is as follows:
numbering the detection time points according to the chronological order, wherein the detection time points are sequentially numbered as 1,2.
Substituting the position coordinates of the central point of the target AGV intelligent robot at each detection time point, the coordinates of the central point of the goods, the contact area of the goods and the deviation angle of the goods into a calculation formula
Figure BDA0003777590260000121
In the method, the corresponding state conformity index alpha of the object on the AGV intelligent robot at each detection time point is obtained t Wherein (x) t ，y t ) Central point position coordinates (x) corresponding to target AGV intelligent robot at the t-th detection time point t ′，y t ') the central point position coordinate corresponding to the goods at the t-th detection time point, wherein Delta L is the offset distance between the central point of the intelligent robot and the goods central point of the set allowable AGV, and S t 、θ t The t-th detection time point corresponds to a cargo contact area and a cargo offset angle respectively, and S 'and theta' are respectively set standard cargo contact area, a permitted cargo offset angle and gamma 1 、γ 2 、γ 3 Weighting factors corresponding to the set central point offset difference, the set cargo contact area and the set cargo offset angle respectively, wherein t represents a number corresponding to each detection time point, and t =1,2.. Once.g;
and comparing the state conformity index corresponding to the goods at each detection time point with the set standard goods state conformity index, if the state conformity index corresponding to the goods at a certain detection time point is greater than or equal to the standard goods state conformity index, judging that the goods state at the detection time point is safe, otherwise, judging that the goods state at the detection time point is dangerous, and recording the detection time point as a dangerous time point, so as to confirm the goods state at each detection time point.
According to the embodiment of the invention, the safety state of the goods is visually displayed by analyzing and determining the state of the goods in the process of transporting the goods, so that the risk of dropping the goods in the process of transporting the AGV intelligent robot is effectively reduced, the damage risk of the goods is also reduced, meanwhile, the goods with the risk of dropping are subjected to position adjustment through the goods adjusting device, the risk of rail deviation of the AGV intelligent robot in the process of transporting the goods is greatly reduced, the safety and the stability of the AGV intelligent robot in the process of transporting the goods are effectively ensured, and meanwhile, the intelligent level of goods adjustment of the AGV intelligent robot in the process of transporting the goods is increased.
The cargo position adjusting module is used for starting the cargo adjusting device to adjust the position of the cargo when the state of the cargo is a dangerous state;
in one embodiment, the structure of the cargo adjusting device comprises a vertical telescopic rod, a horizontal telescopic rod, a regulating baffle and a supporting baffle, wherein the vertical telescopic rod and the horizontal telescopic rod are telescopic, and the regulating baffle and the supporting baffle are rotatable.
In another embodiment, the cargo position is adjusted by the following specific adjustment process:
the method comprises the steps that the cargo adjusting devices are respectively installed in front of, behind, on the left side of and on the right side of the target AGV intelligent robot, when the state of the cargo is dangerous, the cargo adjusting devices are started, the adjusting modes corresponding to the cargo adjusting devices are confirmed, and therefore cargo adjusting information is analyzed and adjusted according to the adjusting modes corresponding to the cargo adjusting devices.
In another embodiment, the adjustment mode corresponding to the cargo adjustment device is confirmed, and the specific confirmation process is as follows:
and if the orientation relations of the front, the back, the left and the right of the goods and the front, the back, the left and the right of the target AGV intelligent robot are parallel, judging that the adjustment mode corresponding to the goods adjustment device is a primary adjustment mode, and otherwise, judging that the adjustment mode corresponding to the goods adjustment device is a high-grade adjustment mode.
In a specific embodiment, the cargo adjustment information is analyzed and adjusted according to the adjustment mode corresponding to the cargo adjustment device, and the specific analysis process is as follows:
when the adjustment mode corresponding to the goods adjustment device is a primary adjustment mode, extracting the goods image corresponding to the dangerous time point, positioning the distance between the center point of the goods and the center point of the target AGV intelligent robot in the horizontal direction and the distance between the center point of the goods and the center point of the target AGV intelligent robot in the vertical direction, respectively using the distance as the adjustment distance between the adjustment distance in the horizontal direction of the goods and the adjustment distance in the vertical direction of the goods, setting the adjustment priority level, and setting the adjustment direction according to the relative position between the center point of the goods and the center point of the target AGV intelligent robot;
matching and comparing the weight corresponding to the goods with the adjusting force corresponding to each goods weight range stored in the operation information base, and further obtaining the corresponding adjusting force in the primary adjusting mode;
adjusting the goods in the primary adjustment mode according to the adjustment distance of the goods in the horizontal direction, the adjustment distance of the goods in the vertical direction, the adjustment priority level and the corresponding adjustment strength in the primary adjustment mode;
when the adjustment mode corresponding to the cargo adjustment device is an advanced adjustment mode, acquiring a cargo offset angle and a reference edge corresponding to the dangerous time point, taking the reference edge position as a starting adjustment position, taking the cargo offset angle as an adjustment rotation angle, and confirming an adjustment rotation direction according to the relative position of a central line and a central reference line;
matching and comparing the cargo adjustment angle with adjustment force corresponding to each adjustment angle range stored in an operation information base to obtain primary adjustment force corresponding to the advanced adjustment mode, and performing primary adjustment in the advanced adjustment mode according to the adjustment rotation angle and the primary adjustment force;
carrying out secondary image acquisition on the goods after the angle adjustment, identifying the position of the central point of the goods from the acquired images, analyzing the distance between the central point of the goods and the central point of the robot in the horizontal direction and the distance in the vertical direction, and obtaining the adjustment priority, the adjustment distance and the adjustment direction in the advanced adjustment mode according to the analysis mode of the adjustment priority, the adjustment distance and the adjustment direction in the primary adjustment mode;
and matching and comparing the weight corresponding to the goods with the adjusting force corresponding to each goods weight range stored in the operation information base to obtain the secondary adjusting force corresponding to the advanced adjusting mode, and performing secondary adjustment in the advanced adjusting mode according to the adjusting priority, the adjusting distance, the adjusting direction and the secondary adjusting force.
In another specific embodiment, the setting adjusts the priority level, and the specific setting process is as follows:
comparing the cargo horizontal direction adjustment distance with the vertical direction adjustment distance, if the cargo horizontal direction adjustment distance is larger than or equal to the cargo vertical direction adjustment distance, determining that the horizontal direction is adjusted to be a primary adjustment direction, and the vertical direction is adjusted to be a secondary adjustment direction, wherein the vertical adjustment direction is the front or the back, and the horizontal adjustment direction is the left or the right;
if the adjustment distance of the goods in the horizontal direction is smaller than the adjustment distance of the goods in the vertical direction, the adjustment in the vertical direction is judged to be the primary adjustment direction, and the adjustment in the horizontal direction is judged to be the secondary adjustment direction.
In yet another embodiment, the relative position of the load center point to the target AGV intelligent robot center point includes the load center point being in front of, behind, to the left of, and behind the target AGV intelligent robot center point.
The robot transportation information analysis module is used for analyzing the transportation state of the target AGV intelligent robot at each detection time point according to the transportation speed and the image corresponding to the target AGV intelligent robot at each detection time point;
in a specific embodiment, the transportation state of the target AGV intelligent robot at each detection time point is analyzed, and the specific analysis process is as follows:
substituting the transport speed corresponding to each detection time point target AGV intelligent robot and the position coordinates of the center point of each detection time point target AGV intelligent robot into a calculation formula:
Figure BDA0003777590260000161
in the method, the transport state coincidence index beta of the target AGV intelligent robot at each detection time point is obtained t Wherein (x) t ″，y t ") is a reference coordinate of a center point of the target AGV intelligent robot at a set t-th detection time point, delta L' is a set allowable AGV intelligent robot track offset distance, v t The corresponding transport speed of the target AGV intelligent robot at the t-th detection time point is shown, v' is the set standard transport speed, delta v is the set allowable speed difference, kappa 1 、κ 2 And the weight factors are respectively corresponding to the set track offset distance and the set transport speed.
According to the embodiment of the invention, the transportation state of the AGV intelligent robot is analyzed, and the speed and the position of the AGV intelligent robot in the running process are accurately reflected, so that the speed adaptability and the route accuracy of the AGV intelligent robot in the running process are greatly increased, and the running accuracy and the running efficiency of the AGV intelligent robot are also ensured.
The robot transportation state confirmation module is used for confirming the intelligent robot transportation state of the AGV at each detection time point;
in a specific embodiment, the transport state of the target AGV intelligent robot at each detection time point is confirmed, and the specific confirmation process is as follows:
the method comprises the steps of comparing the transport state conformity index of the target AGV intelligent robot at each detection time point with a set standard transport state conformity index, if the transport state conformity index of the target AGV intelligent robot at a certain detection time point is larger than or equal to the standard transport state conformity index, judging that the transport state of the target AGV intelligent robot at the detection time point is a safe state, otherwise judging that the transport state of the target AGV intelligent robot at the detection time point is a dangerous state, and confirming the transport state of the target AGV intelligent robot at each detection time point in the mode.
According to the embodiment of the invention, the cargo state on the AGV intelligent robot is monitored and analyzed, the cargo in a dangerous state is adjusted, and the transportation state of the AGV intelligent robot is monitored and analyzed, so that the problem that the cargo state monitoring and analysis and manual inspection are not timely in the prior art is solved, the high-level monitoring, analysis and control of the AGV intelligent robot in operation intellectualization and automation are realized, the safety and stability of the AGV intelligent robot in the operation process are effectively ensured, the efficiency and effect of the AGV intelligent robot in the cargo carrying process are greatly improved, and the workload of personnel is greatly reduced.
And the early warning terminal is used for giving early warning prompts when the transport state of the target AGV intelligent robot is a dangerous state.
And the operation information base is used for storing the weight range of each cargo and the adjustment strength corresponding to each adjustment angle.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.

Claims (10)

1. The utility model provides an AGV intelligent robot operation state monitoring analysis control system which characterized in that includes:
the robot basic information acquisition module is used for acquiring images and the transportation speed of the target AGV intelligent robot according to a preset detection time interval and acquiring the position of the target AGV intelligent robot in a specified area;
the system comprises a goods state information acquisition module, a goods weight acquisition module and a goods weight acquisition module, wherein the goods state information acquisition module is used for acquiring goods images on a target AGV intelligent robot according to a preset detection time interval and acquiring the weight of goods;
the goods state analysis module is used for analyzing the corresponding states of goods in all the detection time points according to the target AGV intelligent robot images and the goods images on the target AGV intelligent robot at all the detection time points;
the cargo position adjusting module is used for starting the cargo adjusting device to adjust the position of the cargo when the state of the cargo is a dangerous state;
the robot transportation information analysis module is used for analyzing the transportation state of the target AGV intelligent robot at each detection time point according to the transportation speed and the image corresponding to the target AGV intelligent robot at each detection time point;
the robot transportation state confirmation module is used for confirming the intelligent robot transportation state of the AGV at each detection time point;
the early warning terminal is used for giving early warning prompts when the transport state of the target AGV intelligent robot is a dangerous state;
and the operation information base is used for storing the weight range of each cargo and the adjustment strength corresponding to each adjustment angle.
2. The AGV intelligent robot operation state monitoring analysis control system according to claim 1, wherein: the method comprises the following steps of analyzing the cargo state on the target AGV intelligent robot in each detection time point, wherein the specific analysis process is as follows:
positioning the position of the center point of the target AGV intelligent robot at each detection time point from the image of the target AGV intelligent robot at each detection time point, and positioning the position of the center point of the goods corresponding to each detection time point from the goods image on the target AGV intelligent robot in each detection time point;
guiding the central point position of the target AGV intelligent robot at each detection time point and the position of the goods central point into a set two-dimensional position coordinate system to obtain the position coordinates of the central point of the target AGV intelligent robot at each detection time point and the position coordinates of the goods central point at each detection time point;
positioning an overlooking outline of the goods from the goods image on the target AGV intelligent robot at each detection time point, constructing a goods central line by taking the middle point of any one side as a starting point and a goods central point as a reference point, constructing a vertical reference central line by taking the selected side as a reference side and the goods central point as the starting point, acquiring an included angle between the goods central line and the goods vertical reference central line, and marking the included angle as a goods offset angle;
simultaneously, positioning the overlapping area between the AGV intelligent robot and the goods at each detection time point target from the goods image on the AGV intelligent robot at each detection time point target, and marking the overlapping area as the contact area of the goods;
and analyzing to obtain the corresponding state conformity index of the goods at each detection time point according to the position coordinate of the central point of the target AGV intelligent robot at each detection time point, the position coordinate of the central point of the goods at each detection time point, the goods offset angle and the goods contact area.
3. The AGV intelligent robot operation state monitoring analysis control system according to claim 2, wherein: the corresponding state of the goods at each detection time point accords with an index, and the specific analysis process is as follows:
numbering the detection time points according to the chronological order, wherein the detection time points are sequentially numbered as 1,2.
Substituting the position coordinates of the central point of the target AGV intelligent robot at each detection time point, the coordinates of the central point of the goods, the contact area of the goods and the deviation angle of the goods into a calculation formula
Figure FDA0003777590250000031
In the method, a state conformity index alpha corresponding to the goods on the target AGV intelligent robot at each detection time point is obtained t Wherein (x) t ，y t ) Representing the position coordinate of the center point corresponding to the target AGV intelligent robot at the t-th detection time point, (x' t ，y′ t ) The position coordinate of a central point corresponding to the goods at the tth detection time point is shown, delta L is the offset distance between the central point of the AGV intelligent robot and the goods central point, and S t 、θ t The t detection time point corresponds to a cargo contact area and a cargo offset angle respectively, and S 'and theta' are respectively set standard cargo contact area, allowable cargo offset angle and gamma 1 、γ 2 、γ 3 Weighting factors corresponding to the set central point offset difference, the set cargo contact area and the set cargo offset angle respectively, wherein t represents a number corresponding to each detection time point, and t =1,2.. G;
and comparing the state conformity index corresponding to the goods at each detection time point with the set standard goods state conformity index, if the state conformity index corresponding to the goods at a certain detection time point is greater than or equal to the standard goods state conformity index, judging that the goods state at the detection time point is safe, otherwise, judging that the goods state at the detection time point is dangerous, and recording the detection time point as a dangerous time point, so as to confirm the goods state at each detection time point.
4. The AGV intelligent robot operation state monitoring analysis control system of claim 3, wherein: the cargo position is adjusted, and the specific adjusting process is as follows:
the method comprises the steps that cargo adjusting devices are respectively installed in the front, the back, the left side and the right side of a target AGV intelligent robot, when the state of cargos is dangerous, the cargo adjusting devices are started, and the adjusting modes corresponding to the cargo adjusting devices are confirmed, so that cargo adjusting information is analyzed and adjusted according to the adjusting modes corresponding to the cargo adjusting devices.
5. The AGV intelligent robot operation state monitoring analysis control system according to claim 4, wherein: confirming the corresponding adjusting mode of the cargo adjusting device, specifically confirming the process as follows:
and positioning the orientation types of the front, the back, the left and the right of the goods and the front, the back, the left and the right of the target AGV intelligent robot from the goods image corresponding to the dangerous time points, if the orientation relations of the front, the back, the left and the right of the goods and the front, the back, the left and the right of the target AGV intelligent robot are parallel, judging that the adjustment mode corresponding to the goods adjusting device is a primary adjustment mode, and otherwise, judging that the adjustment mode corresponding to the goods adjusting device is a high-grade adjustment mode.
6. The AGV intelligent robot operation state monitoring analysis control system according to claim 5, wherein: according to the adjustment mode corresponding to the cargo adjustment device, cargo adjustment information is analyzed and adjusted, and the specific analysis process is as follows:
when the adjustment mode corresponding to the goods adjustment device is a primary adjustment mode, extracting the goods image corresponding to the dangerous time point, positioning the distance between the center point of the goods and the center point of the target AGV intelligent robot in the horizontal direction and the distance between the center point of the goods and the center point of the target AGV intelligent robot in the vertical direction, respectively using the distance as the adjustment distance between the adjustment distance in the horizontal direction of the goods and the adjustment distance in the vertical direction of the goods, setting the adjustment priority level, and setting the adjustment direction according to the relative position between the center point of the goods and the center point of the target AGV intelligent robot;
matching and comparing the weight corresponding to the goods with the adjusting force corresponding to each goods weight range stored in the operation information base, and further obtaining the corresponding adjusting force in the primary adjusting mode;
adjusting the goods in the primary adjustment mode according to the horizontal adjustment distance, the vertical adjustment distance, the adjustment priority level and the corresponding adjustment strength in the primary adjustment mode of the goods;
when the adjustment mode corresponding to the cargo adjustment device is an advanced adjustment mode, acquiring a cargo offset angle and a reference edge corresponding to the dangerous time point, taking the reference edge position as a starting adjustment position, taking the cargo offset angle as an adjustment rotation angle, and confirming an adjustment rotation direction according to the relative position of a central line and a central reference line;
matching and comparing the cargo adjustment angle with adjustment force corresponding to each adjustment angle range stored in an operation information base to obtain primary adjustment force corresponding to the advanced adjustment mode, and performing primary adjustment in the advanced adjustment mode according to the adjustment rotation angle and the primary adjustment force;
carrying out secondary image acquisition on the goods after the angle adjustment, identifying the position of the central point of the goods from the acquired images, analyzing the distance between the central point of the goods and the central point of the robot in the horizontal direction and the distance in the vertical direction, and obtaining the adjustment priority, the adjustment distance and the adjustment direction in the advanced adjustment mode according to the analysis mode of the adjustment priority, the adjustment distance and the adjustment direction in the primary adjustment mode;
and matching and comparing the weight corresponding to the goods with the adjusting force corresponding to each goods weight range stored in the operation information base, further obtaining the corresponding secondary adjusting force in the advanced adjusting mode, and further performing secondary adjustment in the advanced adjusting mode according to the adjusting priority, the adjusting distance, the adjusting direction and the secondary adjusting force.
7. The AGV intelligent robot operation state monitoring analysis control system according to claim 6, wherein: the setting and adjusting priority level comprises the following specific setting processes:
comparing the cargo horizontal direction adjustment distance with the vertical direction adjustment distance, if the cargo horizontal direction adjustment distance is larger than or equal to the cargo vertical direction adjustment distance, determining that the horizontal direction is adjusted to be a primary adjustment direction, and the vertical direction is adjusted to be a secondary adjustment direction, wherein the vertical adjustment direction is the front or the back, and the horizontal adjustment direction is the left or the right;
if the adjustment distance of the goods in the horizontal direction is smaller than the adjustment distance of the goods in the vertical direction, the adjustment in the vertical direction is judged to be the primary adjustment direction, and the adjustment in the horizontal direction is judged to be the secondary adjustment direction.
8. The AGV intelligent robot operation state monitoring analysis control system according to claim 6, wherein: the relative position of the goods center point corresponding to the center point of the target AGV intelligent robot comprises the front, the back, the left and the back of the goods center point of the target AGV intelligent robot.
9. The AGV intelligent robot operation state monitoring analysis control system according to claim 1, wherein: the method comprises the following steps of analyzing the transportation state of the AGV intelligent robot at each detection time point, wherein the specific analysis process is as follows:
substituting the corresponding transportation speed of the target AGV intelligent robot at each detection time point and the position coordinates of the center point of the target AGV intelligent robot at each detection time point into a calculation formula:
Figure FDA0003777590250000061
in the method, the transport state coincidence index beta of the target AGV intelligent robot at each detection time point is obtained t Wherein (x ″) t ，y″ t ) For the reference coordinate of the center point of the target AGV intelligent robot at the set t detection time point, delta L' is the set allowable AGV intelligent robot track offset distance, v t The corresponding transport speed of the target AGV intelligent robot at the t-th detection time point is shown, v' is the set standard transport speed, delta v is the set allowable speed difference, kappa 1 、κ 2 And the weight factors are respectively corresponding to the set track offset distance and the set transport speed.
10. The AGV intelligent robot operation state monitoring analysis control system of claim 9, wherein: confirming the transport state of the target AGV intelligent robot at each detection time point, wherein the specific confirmation process is as follows:
the transport state conformity index of each detection time point target AGV intelligent robot is compared with the set standard transport state conformity index, if the transport state conformity index of a certain detection time point target AGV intelligent robot is larger than or equal to the standard transport state conformity index, the transport state of the detection time point target AGV intelligent robot is judged to be a safe state, otherwise, the transport state of the detection time point target AGV intelligent robot is judged to be a dangerous state, and the transport state of each detection time point target AGV intelligent robot is confirmed in the mode.
CN202210921138.XA 2022-08-02 2022-08-02 AGV intelligent robot operation state monitoring analysis control system Pending CN115285618A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116501002A (en) * 2023-06-27 2023-07-28 交通运输部水运科学研究所 AGV safety induction configuration method for carrying dangerous cargo container at intelligent wharf

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116501002A (en) * 2023-06-27 2023-07-28 交通运输部水运科学研究所 AGV safety induction configuration method for carrying dangerous cargo container at intelligent wharf
CN116501002B (en) * 2023-06-27 2023-09-01 交通运输部水运科学研究所 AGV safety induction configuration method for carrying dangerous cargo container at intelligent wharf

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