CN115755900B - AGV trolley speed control method and device, electronic equipment and storage medium - Google Patents
AGV trolley speed control method and device, electronic equipment and storage medium Download PDFInfo
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- CN115755900B CN115755900B CN202211416926.XA CN202211416926A CN115755900B CN 115755900 B CN115755900 B CN 115755900B CN 202211416926 A CN202211416926 A CN 202211416926A CN 115755900 B CN115755900 B CN 115755900B
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention provides a speed control method and device of an AGV, electronic equipment and a storage medium. The method comprises the following steps of: acquiring load data of four wheels in the load state of the AGV; determining the load gravity center of the AGV according to the load data; judging the gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center; the gravity center of the AGV trolley in the non-load state is the initial gravity center; acquiring position information of an AGV trolley, and judging a position area where the AGV trolley is positioned; wherein, the travel path of AGV dolly includes a plurality of standard stations, and positional information includes: the distance D between the current position of the AGV trolley and the next standard station and the standard distance D between the last standard station and the next standard station corresponding to the current position of the AGV trolley; and controlling the acceleration a of the AGV trolley according to the gravity center area and the position area. The technical scheme provided by the invention can effectively improve the stability and the transportation efficiency of the AGV trolley transportation.
Description
Technical Field
The invention relates to the technical field of AGV (automatic guided vehicle) transfer robots, in particular to a speed control method and device of an AGV trolley, electronic equipment and a storage medium.
Background
The traditional material transportation system of equipment factories mainly comprises fork truck, trailer, fixed rail vehicle, conveyer belt, various hoisting machinery etc. and transportation efficiency is low, equipment flexibility is poor, the security is not high, to personnel's degree of dependence high, the human cost is high, adaptation modern enterprise that can not be fine is to the requirement of high production efficiency. The existing logistics systems in equipment factories and workshops are mostly composed of conveyor belts, manual trolleys and the like, on one hand, logistics conveying efficiency is low, upstream and downstream working procedures cannot be well connected, and working efficiency of the whole production system is greatly affected. Under such a background, the AGV automatic transport system is applied to the manufacturing industry, replacing the existing material transport system, so as to achieve the purposes of improving the production efficiency and reducing the product cost.
However, in the actual construction process, due to different materials to be transported or factors such as jolt in the transportation process, the gravity center of the AGV trolley can change, and when the gravity center deviates to a certain range, the change of the running acceleration can further influence the gravity center, so that adverse effects are generated.
Disclosure of Invention
According to the technical scheme provided by the invention, the speed of the AGV trolley is controlled based on the gravity center and the running position, so that the transport efficiency of the AGV trolley can be optimized on one hand, and the further influence of acceleration on gravity center deviation can be reduced on the other hand.
Specifically, the invention provides a speed control method of an AGV, which comprises the following steps:
acquiring load data of four wheels in the load state of the AGV;
determining the load gravity center of the AGV according to the load data;
judging the gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center; the gravity center of the AGV trolley in the non-load state is the initial gravity center;
acquiring position information of an AGV trolley, and judging a position area where the AGV trolley is positioned; wherein, the travel path of AGV dolly includes a plurality of standard stations, and positional information includes: the distance D between the current position of the AGV trolley and the next standard station and the standard distance D between the last standard station and the next standard station corresponding to the current position of the AGV trolley;
and controlling the acceleration a of the AGV trolley according to the gravity center area and the position area.
Further, determining the current center of gravity of the AGV based on the load data includes:
the four wheels sequentially comprise a first wheel, a second wheel, a third wheel and a fourth wheel;
a first gravity center point is determined and obtained on a connecting line of the first wheel and the second wheel; the ratio of the distance between the first gravity center point and the first wheel and the second wheel corresponds to the ratio of the load data of the first wheel and the second wheel;
determining a second center point on a connecting line of the second wheel and the third wheel; the ratio of the distances between the second center of gravity and the second and third wheels corresponds to the ratio of the load data of the second and third wheels;
determining a third center point on a connecting line of the third wheel and the fourth wheel; the ratio of the distances between the third center point and the third wheel and the fourth wheel corresponds to the ratio of the load data of the third wheel and the fourth wheel;
a fourth center of gravity point is obtained on the connecting line of the fourth wheel and the first wheel; the ratio of the distance between the fourth center of gravity and the fourth wheel and the first wheel corresponds to the ratio of the load data of the fourth wheel and the first wheel;
and the intersection point of the connecting line of the first gravity center point and the third gravity center point and the connecting line of the second gravity center point and the fourth gravity center point is the load gravity center.
Further, the center of gravity region includes: a first center of gravity region, a second center of gravity region, a third center of gravity region, a fourth center of gravity region;
on the AGV trolley, the initial gravity center is taken as the circle center, and the radius is r 1 Is a first center of gravity region;
on the AGV trolley, the initial gravity center is taken as the circle center, and the radius is r 1 -r 2 Is a second concentric region;
on the AGV trolley, the initial gravity center is taken as the circle center, and the radius is r 2 -r 3 Is a ring-shaped region of (2)The domain is a third center region;
and on the AGV trolley, the rest is a fourth center-of-gravity area.
Further, judging the gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center comprises:
when L is less than or equal to r 1 When the load gravity center is judged to be in the first gravity center area;
when r is 1 ＜L≤r 2 When the load gravity center is in the second gravity center area, judging that the load gravity center is in the second gravity center area;
when r is 2 ＜L≤r 3 When the load center is in the third center region, judging that the load center is in the third center region;
when L > r 3 And judging that the gravity center of the load is in a fourth gravity center area.
Further, the traveling path of the AGV trolley comprises a plurality of standard stations, and the distance between the last standard station and the next standard station corresponding to the current position of the AGV trolley is a standard distance D;
the position information is the distance d between the current position of the AGV trolley and the next standard station;
judging the position area where the AGV is located comprises the following steps:
when D is more than or equal to k.D, judging that the AGV trolley is in an acceleration area;
when (1-k). D is less than or equal to D and less than k D, judging that the AGV trolley is in a constant speed area;
when D < (1-k) & D, judging that the AGV trolley is in a deceleration area.
Further, controlling the acceleration a of the AGV according to the gravity center area and the position area includes:
when the load center of gravity is in the first center of gravity region:
if the AGV is in the accelerating area, controlling the acceleration a to be 0.8 mug;
if the AGV is in the constant speed area, controlling the acceleration a to be 0;
if the AGV is in the deceleration area, controlling the acceleration a to be-0.8 mug;
when the load center of gravity is in the second center of gravity region:
if the AGV is in the accelerating area, controlling the acceleration a to be n.0.8 mug;
if the AGV is in the constant speed area, controlling the acceleration a to be 0;
if the AGV is in the deceleration area, controlling the acceleration a to be-n.0.8 mug;
when the gravity center of the load is in a third gravity center area, controlling the acceleration a of the AGV trolley to be 0;
when the gravity center of the load is in a fourth gravity center area, controlling the acceleration a of the AGV trolley to be-n.0.8 mug;
wherein mu is the friction coefficient of the surface of the AGV trolley, and g is the gravity acceleration; n is a constant and takes the value: n is more than 0 and less than 1.
On the other hand, the invention also provides a device for controlling the speed of the AGV, which comprises:
the acquisition module is used for acquiring load data and position information of the AGV trolley;
the processing module is used for determining the load gravity center of the AGV according to the load data; judging the gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center; judging a position area where the AGV trolley is located according to the position information; and controlling the acceleration a of the AGV trolley according to the gravity center area and the position area.
In yet another aspect, the invention provides an electronic device comprising a processor and a memory storing computer readable instructions which, when executed by the processor, perform the steps of any of the methods described above.
In yet another aspect, the invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the methods described above.
Advantageous effects
The invention provides a speed control method of an AGV trolley, which is characterized in that the current gravity center of the trolley is judged, and the running acceleration is regulated in real time according to the position of the current gravity center of the trolley, so that the transportation efficiency is improved, and the transportation stability is ensured.
Description of the drawings:
FIG. 1 is a flow chart of a speed control method for an AGV provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of an apparatus for controlling the speed of an AGV according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of an electronic device according to an embodiment of the present application;
FIG. 4 is a schematic diagram of the on-board weight center of an AGV according to an embodiment of the present disclosure;
reference numerals illustrate: 10-an acquisition module; 20-a processing module; 100-an electronic device; 110-a processor; 120-memory.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more apparent, a more particular description of embodiments of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, the embodiment provides a speed control method of an AGV trolley, which includes the following steps:
s10: acquiring load data of four wheels in the load state of the AGV;
s20: determining the load gravity center of the AGV according to the load data;
s30: judging the gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center; the gravity center of the AGV trolley in the non-load state is the initial gravity center;
s40: acquiring position information of an AGV trolley, and judging a position area where the AGV trolley is positioned; wherein, the travel path of AGV dolly includes a plurality of standard stations, and positional information includes: the distance D between the current position of the AGV trolley and the next standard station and the standard distance D between the last standard station and the next standard station corresponding to the current position of the AGV trolley;
s50: and controlling the acceleration a of the AGV trolley according to the gravity center area and the position area.
In the transport process of the AGV, the running speed of the AGV can be changed according to the running position and the running path; under the load condition, the gravity center of the AGV can be changed due to the structural problem of the material or the bumpy problem in the transportation process. When the gravity center is deviated within a certain range, the gravity center is hardly negatively influenced, so that the AGV trolley can run at a normal speed; when the center of gravity is offset greatly, excessive acceleration of the AGV may cause further offset of the center of gravity, thereby affecting transport efficiency. Therefore, in order to optimize the transport efficiency of the AGV, the embodiment uses the gravity center offset as an important parameter, adjusts the running acceleration of the AGV according to the gravity center offset degree, and ensures the productivity from two angles of transport stability and transport efficiency.
In the embodiment, the gravity center of the AGV trolley is an initial gravity center under the condition of no load, and the current load gravity center can be calculated according to the load data of each tire; the distance L between the load center of gravity and the initial center of gravity is used as a parameter for measuring the offset of the center of gravity. The gravity center in the embodiment is not the actual gravity center of the AGV in space, and the initial gravity center is the gravity center under the condition of no load, so that the gravity center can be directly determined without calculation according to data; the gravity center of the load is calculated according to the load data of four wheels; the four wheels may form a plane, so that the distance L is actually the distance over which the centre of gravity of the load and the initial centre of gravity are projected.
In this embodiment, the position information is used to divide what speed interval the AGV is in, for example, accelerating, decelerating or uniform; control of the acceleration a of the AGV car can be achieved according to the gravity center area and the position area.
In this embodiment, the load data is specifically the pressures to which the four wheels are subjected.
Further, determining the current center of gravity of the AGV based on the load data includes:
the four wheels sequentially comprise a first wheel, a second wheel, a third wheel and a fourth wheel;
a first gravity center point is determined and obtained on a connecting line of the first wheel and the second wheel; the ratio of the distance between the first gravity center point and the first wheel and the second wheel corresponds to the ratio of the load data of the first wheel and the second wheel;
determining a second center point on a connecting line of the second wheel and the third wheel; the ratio of the distances between the second center of gravity and the second and third wheels corresponds to the ratio of the load data of the second and third wheels;
determining a third center point on a connecting line of the third wheel and the fourth wheel; the ratio of the distances between the third center point and the third wheel and the fourth wheel corresponds to the ratio of the load data of the third wheel and the fourth wheel;
a fourth center of gravity point is obtained on the connecting line of the fourth wheel and the first wheel; the ratio of the distance between the fourth center of gravity and the fourth wheel and the first wheel corresponds to the ratio of the load data of the fourth wheel and the first wheel;
and the intersection point of the connecting line of the first gravity center point and the third gravity center point and the connecting line of the second gravity center point and the fourth gravity center point is the load gravity center.
Referring to fig. 4, a and B, C, D respectively represent four wheels of a trolley, and a first gravity center point g is determined according to the ratio of load data between the two wheels a and B 1 G, g 1 The ratio of the distances to A and B is inversely proportional to the ratio of the load data of A and B. Likewise, the second center of gravity g can be sequentially determined according to the method 2 Third center point g 3 Fourth center of gravity g 4 The method comprises the steps of carrying out a first treatment on the surface of the First center of gravity g 1 And a third center point g 3 Is connected with the second center point g 2 And a fourth center of gravity g 4 The intersection point of the connecting lines is the load gravity center G.
Further, the center of gravity region includes: a first center of gravity region, a second center of gravity region, a third center of gravity region, a fourth center of gravity region;
on the AGV trolley, the initial gravity center is taken as the circle center, and the radius is r 1 Is a first center of gravity region;
on the AGV trolley, the initial gravity center is taken as the circle center, and the radius is r 1 -r 2 Is a ring-shaped region of (2)The domain is a second concentric region;
on the AGV trolley, the initial gravity center is taken as the circle center, and the radius is r 2 -r 3 Is a third central region;
and on the AGV trolley, the rest is a fourth center-of-gravity area.
Further, judging the gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center comprises:
when L is less than or equal to r 1 When the load gravity center is judged to be in the first gravity center area;
when r is 1 ＜L≤r 2 When the load gravity center is in the second gravity center area, judging that the load gravity center is in the second gravity center area;
when r is 2 ＜L≤r 3 When the load center is in the third center region, judging that the load center is in the third center region;
when L > r 3 And judging that the gravity center of the load is in a fourth gravity center area.
In this embodiment, the initial center of gravity is used as the center of a circle, and four center of gravity areas are divided according to different radii, wherein 0 < r 1 ＜r 2 ＜r 3 。
Further, the traveling path of the AGV trolley comprises a plurality of standard stations, and the distance between the last standard station and the next standard station corresponding to the current position of the AGV trolley is a standard distance D;
the position information is the distance d between the current position of the AGV trolley and the next standard station;
judging the position area where the AGV is located comprises the following steps:
when D is more than or equal to k.D, judging that the AGV trolley is in an acceleration area;
when (1-k). D is less than or equal to D and less than k D, judging that the AGV trolley is in a constant speed area;
when D < (1-k) & D, judging that the AGV trolley is in a deceleration area.
In this embodiment, the location area of the AGV is determined to determine whether the current AGV is in one of an accelerating, decelerating or constant speed traveling state.
In one embodiment, the standard stations are the start and end points, i.e., loading and unloading points, of the AGV cart; in another embodiment, the standard station is the position of the AGV corner; in general, the trolley speed at the standard station is 0.
In this embodiment, k is a constant, and the range of values is as follows: k is more than 0 and less than 0.5. The specific value of k can be designed according to a specific path plan by a person skilled in the art, for example, the smaller the standard distance D is, the larger the value of k is; the transport efficiency maximization of the AGV trolley can be ensured.
Further, controlling the acceleration a of the AGV according to the gravity center area and the position area includes:
when the load center of gravity is in the first center of gravity region:
if the AGV is in the accelerating area, controlling the acceleration a to be 0.8 mug;
if the AGV is in the constant speed area, controlling the acceleration a to be 0;
if the AGV is in the deceleration area, controlling the acceleration a to be-0.8 mug;
when the load center of gravity is in the second center of gravity region:
if the AGV is in the accelerating area, controlling the acceleration a to be n.0.8 mug;
if the AGV is in the constant speed area, controlling the acceleration a to be 0;
if the AGV is in the deceleration area, controlling the acceleration a to be-n.0.8 mug;
when the gravity center of the load is in a third gravity center area, controlling the acceleration a of the AGV trolley to be 0;
when the gravity center of the load is in a fourth gravity center area, controlling the acceleration a of the AGV trolley to be-n.0.8 mug;
wherein mu is the friction coefficient of the surface of the AGV trolley, and g is the gravity acceleration; n is a constant and takes the value: n is more than 0 and less than 1.
In this embodiment, the gravity center area where the acceleration a of the AGV trolley is controlled is preferentially determined, and when the AGV trolley is in the first gravity center area and the second gravity center area, the load gravity center of the AGV trolley is in a relatively stable state; therefore, transportation is performed at a high traveling speed. When the AGV trolley is in the third center of gravity region and the fourth center of gravity region, the acceleration may further cause the load center of gravity of the AGV trolley to shift, so that the acceleration needs to be regulated and controlled, and the conveyed article is prevented from falling or the AGV trolley is prevented from tipping.
Specifically, when the AGV is positioned in the first gravity center area, controlling the acceleration a of the AGV to be 0.8 mug at the maximum acceleration in the acceleration area; therefore, the AGV trolley can reach the highest speed of current running at the maximum acceleration and keeps the speed to advance at a constant speed; further, when the deceleration region is reached, the speed is reduced to 0 at the maximum deceleration.
When the vehicle is in the second gravity center area, the vehicle needs to be lowered according to a certain proportion on the basis of the maximum acceleration, and the transportation stability is kept.
When the trolley is in the third center region, the acceleration is controlled to be 0 in the acceleration stage and the uniform speed stage, so that the trolley can run at the current speed because the acceleration can possibly cause the shift of the gravity center of the load; and the speed is reduced to 0 by-0.8 mug in the deceleration stage, the next standard station is reached, and the AGV trolley gives an alarm at the moment to remind a worker to adjust the gravity center of the load.
When the AGV is in the fourth gravity center area, the deviation of the gravity center of the load is severe, the AGV needs to stop as soon as possible, the falling of the material is avoided, the current position area is not needed to be considered, the AGV is directly controlled to reduce the running speed to 0 at the acceleration of-0.8 mug, and an alarm is sent to remind a worker of adjusting the gravity center of the load.
In this embodiment, the control of the acceleration is based on the adjustment of the friction coefficient of the surface of the trolley, so that the falling of the load-carrying articles on the trolley can be effectively avoided, and in this embodiment, the inertia caused by acceleration is smaller than the sliding friction force, so that the acceleration does not affect the stability of the articles when the articles are stably placed, that is, the articles are prevented from falling down due to the acceleration.
Example 2
The speed control method of the AGV provided in embodiment 1 divides different position areas according to the position information; specifically, determining the position area where the AGV is located includes: when D is more than or equal to k.D, judging that the AGV trolley is in an acceleration area; when (1-k). D is less than or equal to D and less than k D, judging that the AGV trolley is in a constant speed area; when D < (1-k) & D, judging that the AGV trolley is in a deceleration area. Wherein k is a constant, and the value range is as follows: k is more than 0 and less than 0.5.
According to the embodiment, for the situation that the k value is 0.5, finer control is provided, so that the speed of the AGV trolley can realize smoother transition. When k is 0.5, the AGV trolley is divided into an acceleration area and a deceleration area in the running process, and the acceleration area and the deceleration area do not comprise a uniform speed area.
The control method of the AGV provided by the embodiment comprises the following steps:
s10: acquiring load data of four wheels in the load state of the AGV;
s20: determining the load gravity center of the AGV according to the load data;
s30: judging the gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center; the gravity center of the AGV trolley in the non-load state is the initial gravity center;
s40: acquiring position information of an AGV trolley, and judging a position area where the AGV trolley is positioned; wherein, the travel path of AGV dolly includes a plurality of standard stations, and positional information includes: the distance D between the current position of the AGV trolley and the next standard station and the standard distance D between the last standard station and the next standard station corresponding to the current position of the AGV trolley;
s50: and controlling the acceleration a of the AGV trolley according to the gravity center area and the position area.
Step S50 includes:
when the load center of gravity is in the first center of gravity region: controlling the acceleration a to be sin (2 pi-2 pi D/D) a max . Wherein a is max The maximum acceleration allowed for the AGV is 0.8 μg.
When the load center of gravity is in the second center of gravity region: controlling the acceleration a to be 0.7sin (2pi-2pi D/D) a max 。
When the load center of gravity is in the third center of gravity region or the fourth center of gravity region: controlling the acceleration a to be v/(D-D); where v is the current speed of the AGV trolley.
In this embodiment, through the refinement control to acceleration, divide into four parts with the motion of AGV dolly, acceleration increase's acceleration motion, acceleration decrease's acceleration motion, acceleration increase's deceleration motion, acceleration decrease's deceleration motion for the speed variation of AGV dolly can realize more smooth transition, can not appear suddenly accelerating or the condition of sudden acceleration increase, and then makes the goods that the AGV dolly loaded more steady, is difficult for dropping.
Example 3
Referring to fig. 2, the present embodiment provides an apparatus for controlling the speed of an AGV cart, including:
the acquisition module 10 is used for acquiring load data and position information of the AGV trolley;
a processing module 20 for determining a load center of gravity of the AGV based on the load data; judging the gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center; judging a position area where the AGV trolley is located according to the position information; and controlling the acceleration a of the AGV trolley according to the gravity center area and the position area.
Example 4
Referring to fig. 3, the present embodiment provides an electronic device 100, including a processor 110 and a memory 120, the memory storing computer readable instructions that, when executed by the processor, perform the steps of any of the methods described above.
Through the foregoing, the processor 110 and the memory 120 are interconnected and communicate with each other by a communication bus and/or other form of connection mechanism, and the memory 120 stores a computer program executable by the processor 110, which when executed by the computing device, is executed by the processor 110 to perform the method in any of the alternative implementations of the foregoing embodiments.
Example 5
The present embodiment provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the methods described above.
By the above technical solution, the computer program, when executed by a processor, performs the method in any of the alternative implementations of the above embodiments.
The storage medium may be implemented by any type or combination of volatile or nonvolatile memory devices such as static random access memory, electrically erasable programmable read only memory, magnetic memory, flash memory, magnetic or optical disk.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The speed control method of the AGV trolley is characterized by comprising the following steps of:
acquiring load data of four wheels in the load state of the AGV trolley;
determining the load gravity center of the AGV according to the load data;
judging a gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center; the gravity center of the AGV trolley in the non-load state is the initial gravity center;
acquiring position information of the AGV trolley, and judging a position area where the AGV trolley is positioned; wherein, the travel path of AGV dolly includes a plurality of standard stations, the positional information includes: the distance D between the current position of the AGV trolley and the next standard station and the standard distance D between the last standard station and the next standard station corresponding to the current position of the AGV trolley;
controlling the acceleration a of the AGV according to the gravity center area and the position area;
wherein the center of gravity region includes: a first center of gravity region, a second center of gravity region, a third center of gravity region, a fourth center of gravity region;
on the AGV trolley, the initial gravity center is taken as the circle center, and the radius is r 1 Is the first center of gravity region;
on the AGV trolley, the initial gravity center is taken as the circle center, and the radius is r 2 -r 1 Is the second concentric region;
on the AGV trolley, the initial gravity center is taken as the circle center, and the radius is r 3 -r 2 Is the third central region;
the rest of the AGV is a fourth center-of-gravity area;
the step of judging the gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center comprises the following steps:
when L is less than or equal to r 1 When the load gravity center is judged to be in the first gravity center area;
when r is 1 ＜L≤r 2 When the load gravity center is judged to be in the second gravity center area;
when r is 2 ＜L≤r 3 When the load center of gravity is in the third center region, judging;
when L > r 3 When the load center of gravity is in the fourth center of gravity area, judging;
the judging of the position area where the AGV is located comprises:
when D is more than or equal to k.D, judging that the AGV trolley is in an acceleration area;
when (1-k). D is less than or equal to D and less than k D, judging that the AGV trolley is in a constant speed area;
and when D < (1-k) & D, judging that the AGV trolley is in a deceleration area.
2. The control method of claim 1 wherein said determining a load center of gravity of said AGV cart based on said load data comprises:
the four wheels sequentially comprise a first wheel, a second wheel, a third wheel and a fourth wheel;
a first gravity center point is determined and obtained on a connecting line of the first wheel and the second wheel; the ratio of the distances between the first gravity center point and the first wheel and the second wheel corresponds to the ratio of the load data of the first wheel and the second wheel;
a second center point is determined and obtained on a connecting line of the second wheel and the third wheel; the ratio of the distances between the second center of gravity and the second and third wheels corresponds to the ratio of the load data of the second and third wheels;
a third center point is determined and obtained on a connecting line of the third wheel and the fourth wheel; the ratio of the distances between the third center point and the third wheel and the fourth wheel corresponds to the ratio of the load data of the third wheel and the fourth wheel;
a fourth center of gravity point is determined and obtained on a connecting line of the fourth wheel and the first wheel; the ratio of the distance between the fourth center of gravity and the fourth wheel and the first wheel corresponds to the ratio of the load data of the fourth wheel and the first wheel;
and the intersection point of the connecting line of the first gravity center point and the third gravity center point and the connecting line of the second gravity center point and the fourth gravity center point is the load gravity center.
3. The control method according to claim 1, characterized in that the controlling the acceleration a of the AGV carriage according to the center of gravity region and the position region includes:
when the load center of gravity is in the first center of gravity region:
if the AGV trolley is positioned in the acceleration area, controlling the acceleration a to be 0.8 mug;
if the AGV trolley is positioned in the uniform speed area, controlling the acceleration a of the AGV trolley to be 0;
if the AGV trolley is positioned in the deceleration area, controlling the acceleration a to be-0.8 mug;
when the load center of gravity is in the second center of gravity region:
if the AGV trolley is positioned in the acceleration area, controlling the acceleration a to be n.0.8 mug;
if the AGV trolley is positioned in the uniform speed area, controlling the acceleration a of the AGV trolley to be 0;
if the AGV trolley is positioned in the deceleration area, controlling the acceleration a to be-n.0.8 mug;
when the gravity center of the load is in a third gravity center area, controlling the acceleration a of the AGV trolley to be 0;
when the load gravity center is in a fourth gravity center area, controlling the acceleration a of the AGV trolley to be-n.0.8 mug;
wherein mu is the friction coefficient of the surface of the AGV trolley, and g is the gravity acceleration; n is a constant and takes the value: n is more than 0 and less than 1.
4. An apparatus for controlling the speed of an AGV cart comprising:
the acquisition module is used for acquiring load data and position information of the AGV trolley;
the processing module is used for determining the load gravity center of the AGV according to the load data; judging a gravity center area where the AGV trolley is located according to the distance L between the gravity center of the load and the initial gravity center; judging a position area where the AGV is located according to the position information; and controlling the acceleration a of the AGV according to the gravity center area and the position area.
5. An electronic device comprising a processor and a memory storing computer readable instructions which, when executed by the processor, perform the steps of the method of any of claims 1-3.
6. A storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any of claims 1-3.
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| CN112904870A (en) * | 2021-05-07 | 2021-06-04 | 季华实验室 | AGV trolley state monitoring method and device, electronic equipment and storage medium |
| WO2022121460A1 (en) * | 2020-12-07 | 2022-06-16 | 兰剑智能科技股份有限公司 | Agv intelligent forklift, and method and apparatus for detecting platform state of floor stack inventory areas |
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| CN110723233A (en) * | 2018-10-31 | 2020-01-24 | 郑州弗曼智能设备科技有限公司 | Heavy-load AGV (automatic guided vehicle) |
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