CN117492449A

CN117492449A - Automatic guide vehicle material-pouring prevention control method and device

Info

Publication number: CN117492449A
Application number: CN202311854738.XA
Authority: CN
Inventors: 蔡卓帆; 张喜斌; 马勇军
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2023-12-29
Filing date: 2023-12-29
Publication date: 2024-02-02
Anticipated expiration: 2043-12-29
Also published as: CN117492449B

Abstract

The invention discloses an anti-dumping control method and device for an automatic guided vehicle. Wherein the method comprises the following steps: determining pressure values received by different areas of the material placing component according to pressure data sensed by the pressure sensing component arranged on the material placing component; when the pressure value received by at least one area of different areas of the material placing component is larger than the preset proportion of the pressure value received by any other area according to the pressure value, determining that the gravity center deviation exists in the target material on the material placing component; a deceleration instruction is sent to an automatic guided vehicle AGV so that the automatic guided vehicle does uniform deceleration movement according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to the first speed; the automated guided vehicle AGV is controlled to move at a first speed until the target position is reached. The invention solves the technical problems that the intelligent guided robot AGV in the related art is easy to topple over and influence the stability of goods when encountering obstacles in the operation process.

Description

Automatic guide vehicle material-pouring prevention control method and device

Technical Field

The invention relates to the technical field of automatic control, in particular to an automatic guide vehicle anti-dumping control method and device.

Background

A large number of automated lines allow intelligent logistics to be rapidly applied. The demands of automatic guided vehicles AGVs, i.e. unmanned dollies, are rapidly growing. However, the current AGV mainly adopts a steering and rotating mode to change the moving direction, and the AGV can meet obstacles to carry out emergency braking in the high-speed operation process, so that the stability of goods is affected, the dumping risk exists, and the use requirement of a warehouse with complex environment cannot be met.

The problem that the intelligent guided robot AGV in the related art is braked urgently when encountering obstacles in the operation process, topples over easily and influences the stability of goods is solved, and an effective solution is not proposed at present.

Disclosure of Invention

The embodiment of the invention provides an anti-dumping control method and device for an automatic guided vehicle, which at least solve the technical problems that an intelligent guided robot AGV in the related art is easy to topple and influence the stability of goods due to emergency braking when encountering an obstacle in the running process.

According to an aspect of the embodiment of the invention, there is provided an automatic guided vehicle anti-dumping control method, including: acquiring pressure data sensed by a pressure sensing component arranged on a material placing component in the moving process of carrying a target material by an automatic guided vehicle AGV, wherein the material placing component is a component used for placing the target material on the automatic guided vehicle AGV, and the pressure data is pressure data generated by the target material on the material placing component; determining pressure values to which different areas of the material placement part are subjected according to the pressure data; determining that the gravity center of the target material on the material placing part is shifted when the pressure value received by at least one area in the different areas of the material placing part is larger than the preset proportion of the pressure value received by any other area according to the pressure value; transmitting a deceleration instruction to the automatic guided vehicle AGV so that the automatic guided vehicle AGV performs uniform deceleration movement according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to a first speed; and controlling the automatic guided vehicle AGV to move at the first speed until reaching a target position, wherein the target position is a target storage area of the target material.

Optionally, before the automatic guided vehicle AGV moves with the target material, the method for controlling the automatic guided vehicle to prevent the material from falling further includes: when a material handling task is received, a starting instruction is sent to the automatic guided vehicle AGV so that the automatic guided vehicle AGV moves to an original storage position of the target material, wherein the material handling task comprises an original storage area of the target material and the target storage area, and the original storage area is the position of the target material before being handled; after the automatic guided vehicle AGV is determined to move to the original storage position, controlling a jacking mechanism of the automatic guided vehicle AGV to execute jacking action so as to drive the material placing component to move through the jacking mechanism until the material placing component contacts the target material; when the material placing component contacts the target material, judging whether the target material has gravity center deviation or not, and obtaining a judging result; generating an alarm signal when the judgment result indicates that the gravity center of the target material is shifted currently; and when the judging result shows that the gravity center of the target material does not deviate currently, controlling the AGV to execute the back material action.

Optionally, after generating the alarm signal, the automatic guided vehicle anti-dumping control method further comprises: and responding to the alarm signal, sending a deviation rectifying instruction to a manipulator at the original storage area so as to utilize the manipulator to carry out position adjustment on the target material on the material placing component until the gravity center deviation of the target material does not exist.

Optionally, acquiring pressure data sensed by a pressure sensing component disposed on the material placement component includes: after the automatic guided vehicle AGV is controlled to execute the back material action, the automatic guided vehicle AGV is controlled to do uniform acceleration movement according to a second speed; and acquiring the pressure data sensed by the pressure sensing component arranged on the material placing component in the process of uniformly accelerating the automatic guided vehicle AGV according to the second speed.

Optionally, the automatic guided vehicle anti-dumping control method further comprises the following steps: determining that the gravity center deviation does not exist in the target material on the material placing part when the pressure value received by any one of the different areas of the material placing part is not larger than the preset proportion of the pressure values received by other areas according to the pressure values; controlling the automatic guided vehicle AGV to continuously perform uniform acceleration motion according to the second speed until the moving speed of the automatic guided vehicle AGV reaches the highest speed, wherein the highest speed is the maximum running speed of the automatic guided vehicle AGV; and controlling the automatic guided vehicle AGV to move according to the highest speed.

Optionally, the automatic guided vehicle anti-dumping control method further comprises the following steps: detecting whether an obstacle exists on a moving path of the automatic guided vehicle AGV or not in the process of controlling the automatic guided vehicle AGV to move according to the highest speed, and obtaining a first detection result; when the first detection result indicates that the obstacle does not exist on the moving path, controlling the automatic guided vehicle AGV to continue to move according to the highest speed until the automatic guided vehicle AGV moves to the target position; and when the first detection result indicates that the obstacle exists on the moving path, controlling the automatic guided vehicle AGV to perform uniform deceleration movement in an influence area of the obstacle according to a third speed, wherein the influence area is an area determined according to the distance between the obstacle and the automatic guided vehicle AGV.

Optionally, the automatic guided vehicle anti-dumping control method further comprises the following steps: continuously detecting whether the obstacle disappears or not in the process of controlling the AGV to perform uniform deceleration movement in the influence area according to the third speed to obtain a second detection result; when the second detection result shows that the obstacle disappears, controlling the AGV to move to the target position at a constant speed according to a first current speed; when the second detection result indicates that the obstacle does not disappear, controlling the AGV to continuously perform uniform deceleration movement in the influence area according to the third speed, and continuously detecting whether the obstacle disappears or not to obtain a third detection result; when the third detection result shows that the obstacle disappears, controlling the AGV to move to the target position at a constant speed according to a second current speed; and when the third detection result shows that the obstacle does not disappear, controlling the automatic guided vehicle AGV to stop moving.

According to another aspect of the embodiment of the present invention, there is also provided an automatic guided vehicle anti-dumping control device, including: the automatic guiding vehicle AGV is used for carrying the target material and moving, and the automatic guiding vehicle AGV is used for carrying the target material and moving the target material; a first determining unit for determining pressure values to which different areas of the material placing part are subjected according to the pressure data; a second determining unit configured to determine that there is a center of gravity shift of the target material on the material placing unit when it is determined that at least one of the different regions of the material placing unit receives a pressure value greater than a predetermined proportion of the pressure value received by any other region according to the pressure value; the processing unit is used for sending a deceleration instruction to the automatic guided vehicle AGV so that the automatic guided vehicle AGV performs uniform deceleration movement according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to the first speed; and the control unit is used for controlling the automatic guided vehicle AGV to move according to the first speed until reaching a target position, wherein the target position is a target storage area of the target material.

Optionally, the automatic guided vehicle material-falling prevention control device further comprises: the automatic guided vehicle AGV is used for carrying a target material to move, and sending a starting instruction to the automatic guided vehicle AGV when a material carrying task is received, so that the automatic guided vehicle AGV moves to an original storage position of the target material, wherein the material carrying task comprises an original storage area of the target material and the target storage area, and the original storage area is the position of the target material before being carried; the control unit is further used for controlling a jacking mechanism of the automatic guided vehicle AGV to execute jacking action after determining that the automatic guided vehicle AGV moves to the original storage position, so that the material placing component is driven to move through the jacking mechanism until the material placing component contacts the target material; the judging unit is used for judging whether the gravity center of the target material is shifted or not when the material placing component contacts the target material, so as to obtain a judging result; the generating unit is used for generating an alarm signal when the judging result indicates that the gravity center of the target material is shifted currently; and the control unit is used for controlling the AGV to execute the back material action when the judgment result indicates that the gravity center of the target material is not shifted currently.

Optionally, the automatic guided vehicle material-falling prevention control device further comprises: and the second sending unit is used for responding to the alarm signal after generating the alarm signal, and sending a deviation rectifying instruction to the manipulator at the original storage area so as to utilize the manipulator to carry out position adjustment on the target material on the material placing component until the gravity center deviation of the target material does not exist.

Optionally, the acquiring unit includes: the first control module is used for controlling the automatic guided vehicle AGV to perform uniform acceleration movement according to a second speed after controlling the automatic guided vehicle AGV to perform back material action; and the acquisition module is used for acquiring the pressure data sensed by the pressure sensing component arranged on the material placing component in the process of uniformly accelerating the automatic guided vehicle AGV according to the second speed.

Optionally, the automatic guided vehicle material-falling prevention control device further comprises: a determining module, configured to determine that there is no center of gravity shift of the target material on the material placement part when it is determined that, according to the pressure values, the pressure value received by any one of the different regions of the material placement part is not greater than the predetermined proportion of the pressure values received by other regions; the second control module is used for controlling the automatic guided vehicle AGV to continuously perform uniform acceleration motion according to the second speed until the moving speed of the automatic guided vehicle AGV reaches the highest speed, wherein the highest speed is the maximum running speed of the automatic guided vehicle AGV; and the third control module is used for controlling the automatic guided vehicle AGV to move according to the highest speed.

Optionally, the automatic guided vehicle material-falling prevention control device further comprises: the detection module is used for detecting whether an obstacle exists on a moving path of the automatic guided vehicle AGV or not in the process of controlling the automatic guided vehicle AGV to move according to the highest speed, so as to obtain a first detection result; the fourth control module is used for controlling the automatic guided vehicle AGV to continue to move according to the highest speed until the automatic guided vehicle AGV moves to the target position when the first detection result indicates that the obstacle does not exist on the moving path; and the fifth control module is used for controlling the automatic guided vehicle AGV to perform uniform deceleration movement according to a third speed in an influence area of the obstacle when the first detection result indicates that the obstacle exists on the moving path, wherein the influence area is an area determined according to the distance between the obstacle and the automatic guided vehicle AGV.

Optionally, the automatic guided vehicle material-falling prevention control device further comprises: the detection module is further used for continuously detecting whether the obstacle disappears or not in the process of controlling the AGV to perform uniform deceleration movement in the influence area according to the third speed, so as to obtain a second detection result; the sixth control module is used for controlling the AGV to move to the target position at a constant speed according to the first current speed when the second detection result indicates that the obstacle disappears; the seventh control module is used for controlling the AGV to continuously perform uniform deceleration movement in the influence area according to the third speed when the second detection result indicates that the obstacle does not disappear, and continuously detecting whether the obstacle disappears or not to obtain a third detection result; the eighth control module is used for controlling the AGV to move to the target position at a constant speed according to the second current speed when the third detection result indicates that the obstacle disappears; and the ninth control module is used for controlling the AGV to stop moving when the third detection result indicates that the obstacle does not disappear.

According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes the method for controlling the anti-skip of the automated guided vehicle according to any one of the above.

According to another aspect of the embodiment of the present invention, there is further provided a processor, configured to execute a program, where the program executes any one of the above methods for controlling the automatic guided vehicle to prevent the material from being reworked.

In the embodiment of the invention, in the process that an automatic guided vehicle AGV carries a target material to move, pressure data sensed by a pressure sensing component arranged on a material placing component is obtained, wherein the material placing component is a component used for placing the target material on the automatic guided vehicle AGV, and the pressure data is pressure data generated by the target material on the material placing component; determining pressure values to which different areas of the material placement part are subjected according to the pressure data; when the pressure value received by at least one area of different areas of the material placing component is larger than the preset proportion of the pressure value received by any other area according to the pressure value, determining that the gravity center deviation exists in the target material on the material placing component; transmitting a deceleration instruction to the automatic guided vehicle AGV so that the automatic guided vehicle AGV performs uniform deceleration movement according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to the first speed; the automatic guided vehicle AGV is controlled to move at a first speed until reaching a target position, wherein the target position is a target storage area of target materials. According to the technical scheme, whether the gravity center deviation exists in the materials on the tray or not is judged according to the stress conditions of different positions of the tray sensed by the pressure sensor arranged on the tray, and when the gravity center deviation exists in the materials on the tray, the AGV trolley is controlled to move in a speed reducing mode to prevent the falling of the materials, so that the stability of goods is improved, and the technical problems that the intelligent guided robot AGV in the related art is easy to fall down when encountering obstacles in the operation process and the stability of the goods is affected are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:

fig. 1 is a hardware block diagram of a mobile terminal of an automatic guided vehicle anti-dumping control method according to an embodiment of the invention;

FIG. 2 is a flow chart of an automatic guided vehicle anti-dump control method according to an embodiment of the invention;

FIG. 3 is a schematic diagram of the installation of a pressure sensor according to an embodiment of the present invention;

FIG. 4 is a flow chart of an alternative automatic guided vehicle anti-dump control method according to an embodiment of the invention;

FIG. 5 is a schematic view of an AGV cart according to an embodiment of the invention;

FIG. 6 is a schematic illustration of the change in speed of an obstacle avoidance of an AGV according to an embodiment of the invention;

FIG. 7 is a schematic illustration of the change in speed of an AGV in different states according to an embodiment of the invention;

FIG. 8 is a schematic illustration of a jacking configuration of an AGV cart in accordance with an embodiment of the present invention;

fig. 9 is a schematic view of an automatic guided vehicle anti-dumping control device according to an embodiment of the invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As introduced in the background art, the intelligent guided robot AGV in the related art is braked urgently when encountering an obstacle in the operation process, so that dumping is easy to occur, and the stability of goods is affected. In order to overcome the defects, the embodiment of the invention provides a method and a device for controlling the anti-dumping of an automatic guided vehicle of a mobile robot.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The method embodiments provided in the embodiments of the present invention may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the operation on the mobile terminal as an example, fig. 1 is a hardware block diagram of the mobile terminal of an automatic guided vehicle anti-dumping control method according to an embodiment of the invention. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to the automatic guided vehicle anti-dumping control method in the embodiment of the invention, and the processor 102 executes the computer program stored in the memory 104 to perform various functional applications and data processing, that is, implement the method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

According to an embodiment of the present invention, there is provided a method embodiment of an automatic guided vehicle anti-skip control method, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical sequence is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in a different order than that illustrated herein.

Fig. 2 is a flowchart of an automatic guided vehicle anti-dumping control method according to an embodiment of the invention, and as shown in fig. 2, the automatic guided vehicle anti-dumping control method includes the following steps:

step S202, in the process that the automatic guided vehicle AGV carries the target material to move, pressure data sensed by a pressure sensing component arranged on a material placing component is obtained, wherein the material placing component is a component used for placing the target material on the automatic guided vehicle AGV, and the pressure data is pressure data generated by the target material on the material placing component.

Alternatively, the AGV described above (i.e., an automated guided vehicle) may be used to transport materials. For example, when the AGV trolley receives a material handling instruction, the AGV trolley can generate a moving path according to the original position of the material to be handled (namely, the original position and the target position of the target material) carried in the material handling instruction, and can move to the position below a goods shelf of the material to be handled according to the moving path so as to execute a material handling task.

Alternatively, the material placement component may include, but is not limited to: and a tray. In the embodiment of the present invention, a tray is described as an example.

Optionally, the pressure sensing component is a pressure sensor. In the embodiment of the present invention, a pressure sensor is described as an example.

Fig. 3 is an installation schematic view of a pressure sensor according to an embodiment of the present invention, and as shown in fig. 3, a pressure sensor 31 is installed at a central position of a tray. The pressure sensor can ascend and descend along with the tray, and the pressure sensor wire harness can be routed from the bottom, so that the appearance is more attractive.

In the embodiment, the pressure sensor can move up and down along with the tray under the drive of the jacking mechanism; when the target material is placed on the tray, the pressure sensor senses pressure data generated by the target material.

Step S204, determining pressure values received by different areas of the material placing part according to the pressure data.

In this embodiment, a plurality of pressure sensors may be provided for sensing pressure data generated at different locations of the target material on the tray.

For example, two pressure sensors can be symmetrically arranged at the center of the tray and used for sensing pressure data generated by the target materials at different positions so as to obtain the pressure values received by different areas of the tray, and further whether the gravity center of the target materials on the tray is deviated or not can be judged.

In step S206, when it is determined that the pressure value received by at least one of the different areas of the material placement unit is greater than the predetermined proportion of the pressure value received by any other area according to the pressure value, it is determined that the center of gravity of the target material on the material placement unit is shifted.

In this embodiment, it may be determined whether there is a center of gravity shift of the target material on the tray based on the pressure values generated by the target material at different positions of the tray determined in the above steps.

For example, when two pressure sensors are symmetrically arranged on the left side and the right side of the gravity center of the tray, the pressure value sensed by the left pressure sensor is 40N, and the pressure value sensed by the right pressure sensor is 50N, then the fact that the pressure value received by the right side of the tray is greater than 25% of the pressure value received by the left side and greater than a preset threshold value can be determined, then the gravity center deviation exists in the top-removing target material, the target material is deviated to the right, and the material pouring is easy to occur.

In this way, the material is proved to be left biased and easy to fall according to the gravity distribution proportion received by the pressure sensor, for example, when the pressure value received on the left side is greater than 20% of the pressure value received on the right side.

Step S208, a deceleration instruction is sent to the automatic guided vehicle AGV so that the automatic guided vehicle AGV does uniform deceleration movement according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to the first speed.

When the gravity center deviation of the target material on the tray is determined in the mode, a speed reducing instruction can be sent to the AGV trolley, so that the AGV trolley does uniform speed reducing motion according to a preset speed until the speed of the AGV trolley is reduced to a first speed. The first speed is a speed at which the AGV trolley does not fall down when the gravity center of the target material shifts to the current degree.

In an alternative embodiment, when determining that the gravity center of the target material is shifted, the gravity center shifting degree of the target material may be determined according to the magnitude of the pressure values received by different positions of the tray, so that the speed of the AGV may be selected according to the gravity center shifting degree, that is, the first predetermined speed, and the first speed may be determined according to the gravity center shifting degree.

In step S210, the automatic guided vehicle AGV is controlled to move at a first speed until reaching a target position, wherein the target position is a target storage area of the target material.

In this embodiment, the AGV may be controlled to move at the first speed described above until the target position is reached.

From the above, in the embodiment of the present invention, in the process of moving the target material carried by the AGV, pressure data sensed by the pressure sensing component disposed on the material placement component is obtained, where the material placement component is a component on the AGV for placing the target material, and the pressure data is pressure data generated by the target material on the material placement component; determining pressure values to which different areas of the material placement part are subjected according to the pressure data; when the pressure value received by at least one area of different areas of the material placing component is larger than the preset proportion of the pressure value received by any other area according to the pressure value, determining that the gravity center deviation exists in the target material on the material placing component; transmitting a deceleration instruction to the automatic guided vehicle AGV so that the automatic guided vehicle AGV performs uniform deceleration movement according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to the first speed; the automatic guided vehicle AGV is controlled to move at a first speed until reaching a target position, wherein the target position is a target storage area of target materials, whether the gravity center deviation exists in the materials on the tray or not is judged according to the stress conditions of different positions of the tray sensed by the pressure sensor arranged on the tray, and when the gravity center deviation exists in the materials on the tray is judged, the AGV trolley is controlled to move at a reduced speed so as to prevent dumping, and the stability of lifting cargoes is achieved.

Therefore, by the technical scheme provided by the embodiment of the invention, the technical problem that the intelligent guided robot AGV in the related art is easy to topple and influence the stability of goods due to emergency braking when encountering an obstacle in the operation process is solved.

According to the embodiment of the invention, before the automatic guided vehicle AGV moves with the target material, the automatic guided vehicle anti-dumping control method may further include: when a material handling task is received, a starting instruction is sent to an automatic guided vehicle AGV so that the automatic guided vehicle AGV moves to an original storage position of a target material, wherein the material handling task comprises an original storage area and a target storage area of the target material, and the original storage area is the position of the target material before being handled; after the automatic guided vehicle AGV is determined to move to the original storage position, controlling a jacking mechanism of the automatic guided vehicle AGV to execute jacking action so as to drive the material placing component to move through the jacking mechanism until the material placing component contacts the target material; when the material placing component contacts the target material, judging whether the target material has gravity center deviation or not, and obtaining a judging result; generating an alarm signal when the judgment result indicates that the gravity center of the target material is shifted currently; and when the judgment result shows that the gravity center of the target material is not shifted currently, controlling the AGV to execute the back material action.

In this embodiment, when there is a material to be transported, a start command may be generated according to the original storage position and the target storage position of the target material indicated in the material transporting task, and the start command is sent to the AGV trolley through the control module, and after receiving the start command, the AGV trolley generates a movement path according to the original storage position in the start command, and moves to the original storage position according to the movement path, that is, under the shelf of the target material.

When the AGV trolley is determined to move to the position below the goods shelf of the target material, controlling a jacking mechanism of the AGV trolley to drive the tray to move upwards together until the tray contacts the target material; at the moment, the pressure sensor on the tray senses the pressure generated by the target material on the tray so as to judge whether the gravity center of the target material on the tray is deviated at the moment; if not, directly executing the material backing task; otherwise, an alarm signal is generated to prompt that the gravity center of the materials on the tray is shifted currently.

FIG. 4 is a flow chart of an alternative automatic guided vehicle anti-empty control method according to an embodiment of the present invention, as shown in FIG. 4, with the cart (i.e., AGV cart) performing a lifting action until the pallet contacts the material; judging whether the gravity center of the material is deviated or not, if so, alarming by the trolley until the material is recovered; otherwise, the trolley executes the material backing task.

According to the embodiment of the invention, after the alarm signal is generated, the automatic guided vehicle anti-dumping control method further comprises the following steps: and responding to the alarm signal, sending a deviation rectifying instruction to the manipulator at the original storage area so as to utilize the manipulator to carry out position adjustment on the target material on the material placing component until the gravity center deviation of the target material does not exist.

In this embodiment, the AGV dolly can send the instruction of rectifying to the manipulator of original storage position department to utilize the manipulator to carry out position adjustment to the material on the tray, make the material focus on the tray no longer squint, the AGV dolly transport material of being convenient for.

Although, at this stage, there is no shift in the center of gravity of the material on the pallet; however, during the movement of the AGV, the material on the pallet may be forced forward or back when the vehicle is stopped, so that the material may again have a center of gravity shift, and further processing is required to prevent dumping. The following describes the way of the anti-dumping treatment in the subsequent stage.

According to the above embodiment of the present invention, the method for acquiring pressure data sensed by a pressure sensing member provided on a material placing member includes: after the automatic guided vehicle AGV is controlled to execute the back material action, the automatic guided vehicle AGV is controlled to do uniform acceleration movement according to a second speed; in the process of uniformly accelerating the automatic guided vehicle AGV according to the second speed, pressure data sensed by a pressure sensing component arranged on the material placing component are acquired.

In this embodiment, after the AGV performs the back-up action, the AGV is controlled to perform a uniform acceleration motion at a second rate so that the target material can be quickly and safely delivered to the target storage location. The second rate here may be a rate determined based on the weight of the target material on the pallet, by which the AGV trolley is accelerated, ensuring that no dumping occurs. Meanwhile, in the process that the AGV trolley makes uniform acceleration motion according to the second speed, pressure data sensed by a pressure sensor arranged on the tray can be continuously acquired, so that whether the gravity center of the material on the tray is shifted or not can be judged in real time, and countermeasures can be timely taken when the gravity center of the material on the tray is shifted.

As shown in fig. 4, in the process of performing uniform acceleration movement by the trolley, whether the gravity center of the materials on the tray is shifted or not is detected in real time; if yes, controlling the trolley to perform slow deceleration movement; otherwise, the trolley is controlled to uniformly accelerate to the highest uniform speed for running.

According to the embodiment of the invention, the automatic guided vehicle material-falling prevention control method may further include: when the pressure value received by any one of the different areas of the material placing part is not larger than the preset proportion of the pressure values received by other areas according to the pressure value, determining that the gravity center deviation of the target material on the material placing part does not exist; controlling the AGV to continuously perform uniform acceleration motion according to the second speed until the moving speed of the AGV reaches the highest speed, wherein the highest speed is the maximum running speed of the AGV; the automatic guided vehicle AGV is controlled to move at the highest speed.

In this embodiment, upon determining that there is no center of gravity shift for the items on the pallet, the AGV may be controlled to continue to accelerate at the second speed until the speed of travel of the AGV reaches the maximum speed.

In the embodiment of the invention, the AGV trolley is processed at a constant speed in both acceleration and deceleration, so that the materials are prevented from being subjected to larger force to be dumped.

According to the embodiment of the invention, the automatic guided vehicle material-falling prevention control method may further include: detecting whether an obstacle exists on a moving path of the automatic guided vehicle AGV or not in the process of controlling the automatic guided vehicle AGV to move at the highest speed, and obtaining a first detection result; when the first detection result shows that no obstacle exists on the moving path, controlling the automatic guided vehicle AGV to continue to move at the highest speed until the automatic guided vehicle AGV moves to the target position; and when the first detection result shows that the obstacle exists on the moving path, controlling the automatic guided vehicle AGV to uniformly decelerate in an influence area of the obstacle according to a third speed, wherein the influence area is an area determined according to the distance between the obstacle and the automatic guided vehicle AGV.

In the embodiment, in the process of moving the AGV trolley at the highest speed, the carried obstacle avoidance radar can detect whether an obstacle exists on the moving path of the AGV trolley in real time; when detecting that an obstacle exists, uniform deceleration movement is performed; otherwise, the vehicle continues to move forward at the original speed.

FIG. 5 is a schematic diagram of an AGV cart according to an embodiment of the present invention, as shown in FIG. 5, having obstacle avoidance radar mounted thereon for detecting whether an obstacle is present on the path of movement of the detector; meanwhile, a pressure sensor is further arranged on the tray of the AGV trolley and used for detecting stress at different positions of the tray so as to judge whether gravity center deviation exists in materials on the tray; the pressure data sensed by the pressure sensor and the information detected by the obstacle avoidance radar are transmitted and matched with the singlechip, and the singlechip can process the data, so that a motor driver of the AGV trolley is controlled according to a processing result, and the AGV trolley can comprise a left motor and a right motor as shown in fig. 5.

For example, when the singlechip receives data transmitted by the pressure sensor, if the center of gravity shifts, namely the difference is more than 20%, the singlechip controls the motor to rotate at a reduced speed. When the center of gravity is stable, namely the difference is less than 10%, the single chip microcomputer controls the motor to rotate at an increased speed.

According to the embodiment of the invention, the automatic guided vehicle anti-dumping control method further comprises the following steps: continuously detecting whether the obstacle disappears or not in the process of controlling the AGV to perform uniform deceleration movement according to a third speed in an influence area to obtain a second detection result; when the second detection result shows that the obstacle disappears, controlling the AGV to move to the target position at a constant speed according to the first current speed; when the second detection result shows that the obstacle does not disappear, controlling the AGV to continuously perform uniform deceleration movement in the influence area according to a third speed, and continuously detecting whether the obstacle disappears or not to obtain a third detection result; when the third detection result shows that the obstacle disappears, controlling the AGV to move to the target position at a constant speed according to the second current speed; and when the third detection result shows that the obstacle does not disappear, controlling the automatic guided vehicle AGV to stop moving.

The first current speed is a speed corresponding to the moment when the obstacle is detected to disappear in the process of uniformly decelerating the AGV according to the third speed; and the second current speed is a speed corresponding to the moment when the AGV detects that the obstacle disappears, and continuously performing uniform deceleration movement according to the third speed when the AGV does not disappear as a second detection result.

Since the obstacle may be classified into a dynamic obstacle and a static obstacle, the position of the obstacle may be changed for the dynamic obstacle, and thus, the obstacle avoidance measures of the AGV car may be dynamically performed. In this embodiment, the impact area of the obstacle may be divided, and fig. 6 is a schematic diagram of the speed change of the obstacle avoidance of the AGV cart according to the embodiment of the present invention, and as shown in fig. 6, the impact area may be divided into three areas (may be set according to the specific situation): a first region, a second region, and a third region. For example, in the running process of the AGV, the obstacle recognition range is 135 degrees and is divided into three areas by an algorithm, namely a primary deceleration area (1.5-2.5 m), a secondary deceleration area (0.5-1.5 m) and a stopping area (0-0.5 m), when the obstacle is recognized, the trolley does not stop immediately, the singlechip acquires data of the obstacle avoidance radar, generates a control signal for driving a motor, so that the AGV trolley performs a first slow deceleration action, and if the obstacle still exists, the trolley continues to perform the deceleration action until the range within 0.5m from the obstacle stops and sends alarm information. If the obstacle is removed in the obstacle avoidance process, the AGV can perform smooth acceleration running action until the constant speed reaches a designated feeding point, and the pallet descends to put down goods. As shown in fig. 6, the trolley can perform deceleration movement when the gravity center is shifted; when encountering an obstacle, the obstacle can perform decelerating motion in different influence areas of the obstacle until stopping. That is, during acceleration or deceleration of the speed of the AGV, the corresponding curve is not smooth; dumping is likely to occur due to inertia when the speed is suddenly changed, for example, when it is suddenly stopped. Shown here is the velocity change process as the center of gravity of the material on the AGV shifts and encounters an obstacle.

As shown in fig. 4, during the running process of the trolley with uniform acceleration reaching the highest uniform speed, the obstacle avoidance radar shown in fig. 5 detects whether an obstacle exists around the trolley, and when the obstacle exists, the effective influence range of the obstacle is divided. Firstly judging whether the first area has an obstacle or not, if so, slowly decelerating the trolley; then when the vehicle continues to travel to the second area, continuously judging whether the obstacle disappears, and if the obstacle does not disappear, slowly decelerating the vehicle; and when the lower car moves to the third area, the obstacle is not disappeared, and the AGV trolley is controlled to stop. Otherwise, the trolley runs at a constant speed to finish the material backing task.

In the embodiment of the invention, the lifting structure can adopt a connecting rod lifting structure (a plurality of connecting rod revolute pairs move, the stress is dispersed, the reliability is high, the stability is ensured in the lifting process, the pressure sensor and the tray can be lifted and lowered together by adopting the connecting rod lifting structure, the gravity center change can be monitored in real time in the lifting state), the pressure sensor and the tray can be lifted and lowered together, and the wire harness of the pressure sensor can be connected from the bottom without being influenced. When the AGV runs under the goods in a no-load mode to perform lifting action, when the AGV lifts to the highest point, if the pressure sensor receives data and the gravity center deviation is overlarge, an alarm can be given, a conveying task is not executed, and if staff feels an acceptable range, the AGV can manually send an instruction to close the alarm and continue executing the task. When the gravity center deviation is normal, the AGV carries out conveying tasks, and when the AGV accelerates, as shown in fig. 6, when the singlechip receives a signal that the gravity center deviation occurs from the pressure sensor, the singlechip sends a control signal to the motor driver, the running speed of the AGV is slowly reduced, and the AGV slowly increases the speed after goods are stable.

FIG. 7 is a schematic illustration of the change in speed of an AGV in different conditions according to an embodiment of the invention, as shown in FIG. 7, with the speed profile rising continuously while the AGV is in the activated state; when the AGV trolley runs at a rated speed, the corresponding speed curve is a smooth and stable curve; when the AGV is in a braking state, its speed profile is the opposite direction to that at start-up.

Fig. 8 is a schematic diagram of a lifting structure of an AGV cart according to an embodiment of the present invention, as shown in fig. 8, in the embodiment of the present invention, the lifting structure is a lifting structure of a link structure, and the link may be rotated by a motor to perform a horizontal or lifting movement to drive a tray to move up and down.

When the goods on the tray are stable, the goods are provided with the fixing device, and can be sent to the singlechip through instructions, so that the functions of the pressure sensor are controlled to be closed, and the running efficiency of the AGV is ensured.

Compared with the traditional AGV in the process of carrying materials, the technical scheme provided by the embodiment of the invention has the advantages that the obstacle avoidance possibly occurs because the materials are not placed at the center or in the running process, and the possibility of material pouring can be reduced due to the condition of material pouring caused by inertia. The multi-stage obstacle avoidance range algorithm is adopted for processing, so that the possibility of dumping due to the emergency braking of the AGV is reduced. When the goods are lifted by jacking, the gravity center of the goods is collected through the pressure sensor, and when the gravity center deviation is overlarge, an alarm is sent out, and the transportation work is not carried out; when transporting the goods, according to the focus change, adjustment AGV functioning speed avoids the material that falls, has realized that the variable speed process is steady keeps away the barrier, according to the focus change of material on the tray, adjusts the functioning speed of AGV dolly, guarantees that the material is steady.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method described in the embodiments of the present application.

According to an embodiment of the present invention, there is further provided an automatic guided vehicle anti-dumping control device for implementing the automatic guided vehicle anti-dumping control method, and fig. 9 is a schematic diagram of the automatic guided vehicle anti-dumping control device according to an embodiment of the present invention, as shown in fig. 9, where the device includes: an acquisition unit 91, a first determination unit 93, a second determination unit 95, a processing unit 97, and a control unit 99. The following describes the automatic guided vehicle anti-dumping control device in detail.

The obtaining unit 91 is configured to obtain pressure data sensed by a pressure sensing component set on a material placement component in a moving process of carrying a target material by an automatic guided vehicle AGV, where the material placement component is a component for placing the target material on the automatic guided vehicle AGV, and the pressure data is pressure data generated by the target material on the material placement component.

A first determining unit 93 for determining pressure values to which different areas of the material placement member are subjected based on the pressure data.

The second determining unit 95 is configured to determine that there is a center of gravity shift of the target material on the material placement unit when it is determined that at least one of the different areas of the material placement unit is subjected to a pressure value greater than a predetermined proportion of the pressure values to which any other area is subjected, based on the pressure values.

And the processing unit 97 is used for sending a deceleration instruction to the automatic guided vehicle AGV so that the automatic guided vehicle AGV does uniform deceleration motion according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to the first speed.

And a control unit 99 for controlling the automatic guided vehicle AGV to move at the first speed until reaching a target position, wherein the target position is a target storage area of the target material.

Here, the above-mentioned obtaining unit 91, the first determining unit 93, the second determining unit 95, the processing unit 97, and the control unit 99 correspond to steps S202 to S210 in the above-mentioned embodiments, and five units are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to those disclosed in the above-mentioned embodiments.

In the solution according to the above embodiment of the present invention, the acquiring unit may be configured to acquire pressure data sensed by the pressure sensing component disposed on the material placement component during the process of moving the target material carried by the AGV, where the material placement component is a component of the AGV for placing the target material, and the pressure data is pressure data generated by the target material on the material placement component; determining pressure values to which different areas of the material placement part are subjected according to the pressure data by using a first determining unit; determining that the gravity center of the target material on the material placing part is shifted by utilizing the second determining unit when the pressure value received by at least one area in different areas of the material placing part is larger than the preset proportion of the pressure value received by any other area according to the pressure value; then, a processing unit is used for sending a deceleration instruction to the automatic guided vehicle AGV so that the automatic guided vehicle AGV performs uniform deceleration movement according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to the first speed; and utilize the control unit control automatic guided vehicle AGV to remove according to first speed until reaching the target position, wherein, the target position is the target storage area of target material, has realized judging whether there is focus skew in the material on the tray through the atress condition of the different positions of tray that the pressure sensor that sets up on the tray sensed to when judging that there is focus skew in the material on the tray, control AGV dolly deceleration removes in order to prevent the purpose of pouring, has reached the stability that promotes the goods.

Optionally, the automatic guided vehicle material-falling prevention control device further comprises: the automatic guided vehicle AGV is used for carrying a target material to move, and sending a starting instruction to the automatic guided vehicle AGV when a material carrying task is received, so that the automatic guided vehicle AGV moves to an original storage position of the target material, wherein the material carrying task comprises an original storage area and a target storage area of the target material, and the original storage area is the position of the target material before being carried; the control unit is also used for controlling a jacking mechanism of the AGV to execute jacking action after determining that the AGV moves to the original storage position, so as to drive the material placing component to move through the jacking mechanism until the material placing component contacts the target material; the judging unit is used for judging whether the gravity center of the target material is deviated or not when the material placing component contacts the target material, so as to obtain a judging result; the generating unit is used for generating an alarm signal when the judging result indicates that the gravity center of the target material is shifted currently; and the control unit is used for controlling the AGV to execute the back material action when the judgment result shows that the gravity center deviation of the target material does not exist currently.

Optionally, the automatic guided vehicle material-falling prevention control device further comprises: and the second sending unit is used for responding to the alarm signal after generating the alarm signal and sending a deviation rectifying instruction to the manipulator at the original storage area so as to utilize the manipulator to carry out position adjustment on the target material on the material placing component until the gravity center of the target material is not deviated.

Optionally, the acquiring unit includes: the first control module is used for controlling the AGV to perform uniform acceleration movement according to the second speed after controlling the AGV to perform the back material action; and the acquisition module is used for acquiring pressure data sensed by the pressure sensing component arranged on the material placing component in the process of uniformly accelerating the automatic guided vehicle AGV according to the second speed.

Optionally, the automatic guided vehicle material-falling prevention control device further comprises: the determining module is used for determining that the gravity center deviation of the target material on the material placing component does not exist when the pressure value received by any one of the different areas of the material placing component is not larger than the preset proportion of the pressure values received by other areas according to the pressure values; the second control module is used for controlling the AGV to continuously perform uniform acceleration motion according to a second speed until the moving speed of the AGV reaches the highest speed, wherein the highest speed is the maximum running speed of the AGV; and the third control module is used for controlling the AGV to move at the highest speed.

Optionally, the automatic guided vehicle material-falling prevention control device further comprises: the detection module is used for detecting whether an obstacle exists on the moving path of the AGV or not in the process of controlling the AGV to move at the highest speed, so as to obtain a first detection result; the fourth control module is used for controlling the AGV to continuously move according to the highest speed until the AGV moves to the target position when the first detection result indicates that no obstacle exists on the moving path; and the fifth control module is used for controlling the AGV to uniformly decelerate according to the third speed in the influence area of the obstacle when the first detection result indicates that the obstacle exists on the moving path, wherein the influence area is an area determined according to the distance between the obstacle and the AGV.

According to another aspect of the embodiments of the present invention, there is provided a computer readable storage medium including a stored program, wherein the program executes the automatic guided vehicle anti-skip control method of any one of the above.

Alternatively, in the present embodiment, the above-described computer-readable storage medium may be located in any one of a group of computer terminals in a computer network, or in any one of a group of communication devices.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: in the moving process of the automatic guided vehicle AGV carrying the target material, acquiring pressure data sensed by a pressure sensing component arranged on a material placing component, wherein the material placing component is a component used for placing the target material on the automatic guided vehicle AGV, and the pressure data is pressure data generated by the target material on the material placing component; determining pressure values to which different areas of the material placement part are subjected according to the pressure data; when the pressure value received by at least one area of different areas of the material placing component is larger than the preset proportion of the pressure value received by any other area according to the pressure value, determining that the gravity center deviation exists in the target material on the material placing component; transmitting a deceleration instruction to the automatic guided vehicle AGV so that the automatic guided vehicle AGV performs uniform deceleration movement according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to the first speed; the automatic guided vehicle AGV is controlled to move at a first speed until reaching a target position, wherein the target position is a target storage area of target materials.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: before an automatic guided vehicle AGV carries a target material to move, when a material handling task is received, a starting instruction is sent to the automatic guided vehicle AGV so that the automatic guided vehicle AGV moves to an original storage position of the target material, wherein the material handling task comprises an original storage area and a target storage area of the target material, and the original storage area is the position of the target material before being handled; after the automatic guided vehicle AGV is determined to move to the original storage position, controlling a jacking mechanism of the automatic guided vehicle AGV to execute jacking action so as to drive the material placing component to move through the jacking mechanism until the material placing component contacts the target material; when the material placing component contacts the target material, judging whether the target material has gravity center deviation or not, and obtaining a judging result; generating an alarm signal when the judgment result indicates that the gravity center of the target material is shifted currently; and when the judgment result shows that the gravity center of the target material is not shifted currently, controlling the AGV to execute the back material action.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: after the alarm signal is generated, a deviation rectifying instruction is sent to the manipulator at the original storage area in response to the alarm signal, so that the manipulator is used for adjusting the position of the target material on the material placing component until the gravity center of the target material is not deviated.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: after the automatic guided vehicle AGV is controlled to execute the back material action, the automatic guided vehicle AGV is controlled to do uniform acceleration movement according to a second speed; in the process of uniformly accelerating the automatic guided vehicle AGV according to the second speed, pressure data sensed by a pressure sensing component arranged on the material placing component are acquired.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: when the pressure value received by any one of the different areas of the material placing part is not larger than the preset proportion of the pressure values received by other areas according to the pressure value, determining that the gravity center deviation of the target material on the material placing part does not exist; controlling the AGV to continuously perform uniform acceleration motion according to the second speed until the moving speed of the AGV reaches the highest speed, wherein the highest speed is the maximum running speed of the AGV; the automatic guided vehicle AGV is controlled to move at the highest speed.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: detecting whether an obstacle exists on a moving path of the automatic guided vehicle AGV or not in the process of controlling the automatic guided vehicle AGV to move at the highest speed, and obtaining a first detection result; when the first detection result shows that no obstacle exists on the moving path, controlling the automatic guided vehicle AGV to continue to move at the highest speed until the automatic guided vehicle AGV moves to the target position; and when the first detection result shows that the obstacle exists on the moving path, controlling the automatic guided vehicle AGV to uniformly decelerate in an influence area of the obstacle according to a third speed, wherein the influence area is an area determined according to the distance between the obstacle and the automatic guided vehicle AGV.

Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the steps of: continuously detecting whether the obstacle disappears or not in the process of controlling the AGV to perform uniform deceleration movement according to a third speed in an influence area to obtain a second detection result; when the second detection result shows that the obstacle disappears, controlling the AGV to move to the target position at a constant speed according to the first current speed; when the second detection result shows that the obstacle does not disappear, controlling the AGV to continuously perform uniform deceleration movement in the influence area according to a third speed, and continuously detecting whether the obstacle disappears or not to obtain a third detection result; when the third detection result shows that the obstacle disappears, controlling the AGV to move to the target position at a constant speed according to the second current speed; and when the third detection result shows that the obstacle does not disappear, controlling the automatic guided vehicle AGV to stop moving.

According to another aspect of the embodiment of the present invention, there is further provided a processor, configured to run a program, where the program runs to execute the method for controlling the anti-dumping of the automated guided vehicle according to any one of the above.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims

1. The anti-dumping control method of the automatic guided vehicle is characterized by comprising the following steps of:

acquiring pressure data sensed by a pressure sensing component arranged on a material placing component in the moving process of carrying a target material by an automatic guided vehicle AGV, wherein the material placing component is a component used for placing the target material on the automatic guided vehicle AGV, and the pressure data is pressure data generated by the target material on the material placing component;

determining pressure values to which different areas of the material placement part are subjected according to the pressure data;

determining that the gravity center of the target material on the material placing part is shifted when the pressure value received by at least one area in the different areas of the material placing part is larger than the preset proportion of the pressure value received by any other area according to the pressure value;

Transmitting a deceleration instruction to the automatic guided vehicle AGV so that the automatic guided vehicle AGV performs uniform deceleration movement according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to a first speed;

and controlling the automatic guided vehicle AGV to move at the first speed until reaching a target position, wherein the target position is a target storage area of the target material.

2. The method of claim 1, further comprising, prior to the automatic guided vehicle AGV carrying the target material for movement:

when a material handling task is received, a starting instruction is sent to the automatic guided vehicle AGV so that the automatic guided vehicle AGV moves to an original storage position of the target material, wherein the material handling task comprises an original storage area of the target material and the target storage area, and the original storage area is the position of the target material before being handled;

after the automatic guided vehicle AGV is determined to move to the original storage position, controlling a jacking mechanism of the automatic guided vehicle AGV to execute jacking action so as to drive the material placing component to move through the jacking mechanism until the material placing component contacts the target material;

When the material placing component contacts the target material, judging whether the target material has gravity center deviation or not, and obtaining a judging result;

generating an alarm signal when the judgment result indicates that the gravity center of the target material is shifted currently;

and when the judging result shows that the gravity center of the target material does not deviate currently, controlling the AGV to execute the back material action.

3. The automatic guided vehicle anti-dumping control method of claim 2, further comprising, after generating the alarm signal:

and responding to the alarm signal, sending a deviation rectifying instruction to a manipulator at the original storage area so as to utilize the manipulator to carry out position adjustment on the target material on the material placing component until the gravity center deviation of the target material does not exist.

4. The automatic guided vehicle anti-dumping control method of claim 2, wherein acquiring pressure data sensed by a pressure sensing component provided on the material placement component comprises:

after the automatic guided vehicle AGV is controlled to execute the back material action, the automatic guided vehicle AGV is controlled to do uniform acceleration movement according to a second speed;

And acquiring the pressure data sensed by the pressure sensing component arranged on the material placing component in the process of uniformly accelerating the automatic guided vehicle AGV according to the second speed.

5. The automatic guided vehicle anti-dumping control method of claim 4, further comprising:

determining that the gravity center deviation does not exist in the target material on the material placing part when the pressure value received by any one of the different areas of the material placing part is not larger than the preset proportion of the pressure values received by other areas according to the pressure values;

controlling the automatic guided vehicle AGV to continuously perform uniform acceleration motion according to the second speed until the moving speed of the automatic guided vehicle AGV reaches the highest speed, wherein the highest speed is the maximum running speed of the automatic guided vehicle AGV;

and controlling the automatic guided vehicle AGV to move according to the highest speed.

6. The automatic guided vehicle anti-dumping control method of claim 5, further comprising:

detecting whether an obstacle exists on a moving path of the automatic guided vehicle AGV or not in the process of controlling the automatic guided vehicle AGV to move according to the highest speed, and obtaining a first detection result;

When the first detection result indicates that the obstacle does not exist on the moving path, controlling the automatic guided vehicle AGV to continue to move according to the highest speed until the automatic guided vehicle AGV moves to the target position;

and when the first detection result indicates that the obstacle exists on the moving path, controlling the automatic guided vehicle AGV to perform uniform deceleration movement in an influence area of the obstacle according to a third speed, wherein the influence area is an area determined according to the distance between the obstacle and the automatic guided vehicle AGV.

7. The automatic guided vehicle anti-dumping control method of claim 6, further comprising:

continuously detecting whether the obstacle disappears or not in the process of controlling the AGV to perform uniform deceleration movement in the influence area according to the third speed to obtain a second detection result;

when the second detection result shows that the obstacle disappears, controlling the AGV to move to the target position at a constant speed according to a first current speed;

when the second detection result indicates that the obstacle does not disappear, controlling the AGV to continuously perform uniform deceleration movement in the influence area according to the third speed, and continuously detecting whether the obstacle disappears or not to obtain a third detection result;

When the third detection result shows that the obstacle disappears, controlling the AGV to move to the target position at a constant speed according to a second current speed;

and when the third detection result shows that the obstacle does not disappear, controlling the automatic guided vehicle AGV to stop moving.

8. An automatic prevent material control device that falls of guide car, characterized by comprising:

the automatic guiding vehicle AGV is used for carrying the target material and moving, and the automatic guiding vehicle AGV is used for carrying the target material and moving the target material;

a first determining unit for determining pressure values to which different areas of the material placing part are subjected according to the pressure data;

a second determining unit configured to determine that there is a center of gravity shift of the target material on the material placing unit when it is determined that at least one of the different regions of the material placing unit receives a pressure value greater than a predetermined proportion of the pressure value received by any other region according to the pressure value;

The processing unit is used for sending a deceleration instruction to the automatic guided vehicle AGV so that the automatic guided vehicle AGV performs uniform deceleration movement according to a first preset speed until the speed of the automatic guided vehicle AGV is reduced to the first speed;

and the control unit is used for controlling the automatic guided vehicle AGV to move according to the first speed until reaching a target position, wherein the target position is a target storage area of the target material.

9. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the program executes the automatic guided vehicle anti-fall control method according to any one of claims 1 to 7.

10. A processor for running a program, wherein the program runs to execute the automatic guided vehicle anti-skip control method according to any one of claims 1 to 7.