WO2018072635A1 - 自动引导运输车agv及运动控制方法和装置 - Google Patents

自动引导运输车agv及运动控制方法和装置 Download PDF

Info

Publication number
WO2018072635A1
WO2018072635A1 PCT/CN2017/105799 CN2017105799W WO2018072635A1 WO 2018072635 A1 WO2018072635 A1 WO 2018072635A1 CN 2017105799 W CN2017105799 W CN 2017105799W WO 2018072635 A1 WO2018072635 A1 WO 2018072635A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed
agv
deceleration
maximum
predetermined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/105799
Other languages
English (en)
French (fr)
Inventor
于宗靖
商春鹏
王沈娇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
Original Assignee
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jingdong Century Trading Co Ltd, Beijing Jingdong Shangke Information Technology Co Ltd filed Critical Beijing Jingdong Century Trading Co Ltd
Publication of WO2018072635A1 publication Critical patent/WO2018072635A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle

Definitions

  • the present disclosure relates to the field of logistics technology, and in particular to an AGV (Automated Guided Vehicle) and motion control method and apparatus.
  • AGV Automated Guided Vehicle
  • the AGV when the AGV device is in the transportation process, the AGV is often stopped after detecting the landmark point to be stopped, or after detecting the landmark point to be stopped, and then descending to the crawling speed mode to realize the AGV. Stop at the target location after moving along the path.
  • the inventor has found that it is difficult to ensure the accuracy of parking under different AGV load inertia conditions by detecting the speeding stop after detecting the landmark point to be stopped; and the method of slowing down to the crawling speed wastes a lot of working time.
  • the job tempo is low, making it difficult to meet high-speed job tempo requirements.
  • an AGV motion control method including: determining a travel plan of an AGV according to a path length, a predetermined acceleration, and a predetermined deceleration, wherein the travel plan includes a travel speed maximum value and a deceleration point; and driving the AGV according to the travel plan Movement, the maximum travel speed does not exceed the maximum travel speed, and deceleration begins at the deceleration point.
  • determining the travel plan of the AGV according to the path length and the predetermined deceleration comprises: determining a maximum speed based on the path length according to the path length, the predetermined acceleration, and the predetermined deceleration; determining the AGV according to the maximum speed based on the path length and the predetermined speed threshold The maximum travel speed; and, the deceleration point is determined according to the maximum travel speed and the predetermined deceleration.
  • determining the maximum speed based on the path length according to the path length, the predetermined acceleration, and the predetermined deceleration comprises: determining, according to the predetermined acceleration, an acceleration length that the AGV needs to travel from the current speed acceleration to the path speed upper limit; Determining the deceleration length of the AGV from the upper limit of the path speed to the stationary state according to the predetermined deceleration; determining that the maximum speed based on the path length is the upper limit of the path speed in the case where the sum of the acceleration length and the deceleration length is not greater than the path length; In the case where the sum of the length and the deceleration length is larger than the path length, it is determined that the maximum speed that the AGV can stop at the destination point can be ensured as the maximum speed based on the path length.
  • the predetermined speed threshold includes one or more of a mechanical structural limit speed of the AGV, a maximum allowable speed of each link in the path, and an upper command speed of the AGV; and is determined according to a maximum speed based on the path length and a predetermined speed threshold.
  • the maximum travel speed of the AGV includes selecting a minimum speed from the maximum speed based on the path length and the predetermined speed threshold as the maximum travel speed.
  • driving the AGV motion according to the travel plan includes: driving the AGV to accelerate at a predetermined acceleration to reach a maximum speed; driving the AGV to travel to a deceleration point at a maximum speed; and driving the AGV to decelerate at a predetermined deceleration until stationary .
  • the AGV motion control method further includes: acquiring a real-time speed of the AGV's train wheel as the current speed.
  • driving the AGV motion according to the trip plan includes: transmitting control information to the train by the servo amplifier to drive the AGV motion.
  • the travel plan it is possible to determine the travel plan according to the length of the path that the AGV needs to travel, and the acceleration and deceleration of the AGV, so that the AGV can travel according to the travel plan, so that the AGV's travel is more targeted, and the AGV can be more accurately stopped.
  • the parking accuracy is improved, and the waste of time can be reduced, the work efficiency is improved, and the high-speed work tempo requirement is met.
  • an AGV motion control apparatus comprising: a trip planning module configured to determine a travel plan of an AGV according to a path length, a predetermined acceleration, and a predetermined deceleration, wherein the travel plan includes a maximum travel speed and The deceleration point; the motion drive module is configured to drive the AGV motion according to the trip plan, the maximum travel speed does not exceed the travel speed maximum, and the deceleration starts at the deceleration point.
  • the trip planning module includes: a speed planning unit configured to determine a maximum speed based on the path length according to the path length, the predetermined acceleration, and the predetermined deceleration; the speed arbitration unit configured to be based on the maximum speed and the predetermined based on the path length
  • the speed threshold determines a maximum travel speed of the AGV; and, the deceleration point determining unit is configured to determine the deceleration point based on the maximum travel speed and the predetermined deceleration.
  • the speed planning unit is configured to: determine, according to the predetermined acceleration, an acceleration length that the AGV needs to travel from the current speed acceleration to the upper path speed limit; and determine a deceleration length that the AGV needs to travel from the path speed upper limit to the stationary state according to the predetermined deceleration; If the sum of the acceleration length and the deceleration length is not greater than the path length, the base is determined The maximum speed of the path length is the upper limit of the path speed; if the sum of the acceleration length and the deceleration length is greater than the path length, it is determined that the maximum speed that the AGV can stop at the destination point can be ensured as the maximum speed based on the path length.
  • the predetermined speed threshold includes one or more of a mechanical structural limit speed of the AGV, a maximum allowable speed of each link in the path, and an upper command speed of the AGV; the speed arbitration unit is configured to be the largest based on the path length The minimum speed is selected as the maximum travel speed among the speed and predetermined speed thresholds.
  • the motion drive module is configured to drive the AGV to accelerate at a predetermined acceleration to reach a maximum travel speed; drive the AGV to travel to a deceleration point at a maximum travel speed; and, drive the AGV to decelerate at a predetermined deceleration until stationary.
  • Such a device can determine the travel plan according to the length of the path that the AGV needs to travel, and the acceleration and deceleration of the AGV, so that the AGV can travel according to the travel plan, so that the AGV's travel is more targeted, and the AGV can be more accurately stopped.
  • the location improves the parking accuracy and reduces time wastage, improves work efficiency, and meets high-speed job tact requirements.
  • an AGV motion control apparatus comprising: a memory; and a processor coupled to the memory, the processor configured to execute any one of the AGVs mentioned above based on an instruction stored in the memory Motion control method.
  • Such an AGV motion control device can perform processing by the processor using the instructions stored in the memory, determine the travel schedule according to the length of the path that the AGV needs to travel, and the deceleration of the AGV, so that the AGV travels according to the travel plan to make the AGV.
  • the itinerary is more targeted, ensuring that AGV can stop at the destination point more accurately, improve parking accuracy, reduce time waste, improve work efficiency, and meet high-speed job tempo requirements.
  • a computer readable storage medium having stored thereon computer program instructions that, when executed by one or more processors, implement any of the AGV motion control methods mentioned above A step of.
  • the computer readable storage medium can determine the travel schedule according to the length of the path that the AGV needs to travel, and the acceleration and deceleration of the AGV, so that the AGV can travel according to the travel plan, so that the AGV travel is more targeted, and the AGV can be more accurate. Stop at the destination point, improve parking accuracy, reduce time waste, improve work efficiency, and meet high-speed job tempo requirements.
  • an AGV including any of the AGV motion control devices mentioned above; and a servo amplifier configured to receive control information from the AGV motion control device, driven The wheel train of the AGV.
  • the AGV further includes a wheel train encoder configured to acquire the current speed of the train and transmit to the AGV motion control device.
  • Such AGV can determine the itinerary according to the length of the path to be driven and the acceleration and deceleration of the AGV, so that the AGV can travel according to the itinerary plan, making the AGV's itinerary more targeted and ensuring that the AGV can stop at the destination more accurately.
  • FIG. 1 is a flow chart of some embodiments of an AGV motion control method of the present disclosure.
  • FIG. 2 is a flow chart of some embodiments of trip planning in an AGV motion control method of the present disclosure.
  • 3A is a schematic diagram of some embodiments of trip planning in an AGV motion control method of the present disclosure.
  • 3B is a schematic diagram of still other embodiments of the travel planning in the AGV motion control method of the present disclosure.
  • FIG. 4 is a flow chart of still another embodiment of the AGV motion control method of the present disclosure.
  • Figure 5 is a schematic illustration of some embodiments of an AGV motion control device of the present disclosure.
  • FIG. 6 is a schematic diagram of some embodiments of a trip planning module in an AGV motion control device of the present disclosure.
  • FIG. 7 is a schematic diagram of some embodiments of an AGV of the present disclosure.
  • Figure 8 is a schematic illustration of further embodiments of an AGV of the present disclosure.
  • FIG. 9 is a schematic diagram of still further embodiments of an AGV motion control device of the present disclosure.
  • FIG. 10 is a schematic diagram of still another embodiment of an AGV motion control device of the present disclosure.
  • FIG. 1 A flow chart of one embodiment of the AGV motion control method of the present disclosure is shown in FIG.
  • the travel plan of the AGV is determined based on the path length, the predetermined acceleration, and the predetermined deceleration.
  • planning may be performed according to the path length, the predetermined acceleration, and the deceleration of the vehicle, and the travel speed and the deceleration distance according to the stroke length are set to generate a trip plan.
  • the trip planning can be Including the maximum speed and deceleration point, so as to ensure that the AGV accurately reaches the destination, while reducing the time and efficiency.
  • step 102 the AGV motion is driven according to the trip plan.
  • an instruction can be issued to the AGV's train to control the speed of the train.
  • the travel plan it is possible to determine the travel plan according to the length of the path that the AGV needs to travel, and the acceleration and deceleration of the AGV, so that the AGV can travel according to the travel plan, so that the AGV's travel is more targeted, and the AGV can be more accurately stopped.
  • the parking accuracy is improved, and the waste of time can be reduced, the work efficiency is improved, and the high-speed work tempo requirement is met.
  • FIG. 2 A flowchart of one embodiment of the stroke planning in the AGV motion control method of the present disclosure is shown in FIG. 2.
  • a maximum speed based on the path length is determined based on the path length, the predetermined acceleration, and the predetermined deceleration.
  • the calculation can be performed after receiving an instruction from the host computer.
  • a maximum speed that can be achieved by accelerating at a predetermined acceleration over a length of the path and then decelerating at a predetermined deceleration to achieve a stationary state at the destination can be calculated as the path length based Maximum speed.
  • the predetermined speed threshold may be set according to the maximum speed and the predetermined speed threshold based on the path length. Determine the maximum travel speed of the AGV.
  • the predetermined speed threshold may include: a mechanical structural limit speed of the AGV, a maximum allowable speed of each road segment in the path, and an upper machine command speed of the AGV. The minimum speed may be selected as the maximum traveling speed from the maximum speed based on the path length and the predetermined speed threshold.
  • the deceleration point is determined based on the maximum traveling speed and the predetermined deceleration.
  • the deceleration point can be expressed by the travel distance.
  • the deceleration point can also be identified by the duration, and when the AGV travel reaches the duration, the start is followed.
  • the deceleration is scheduled to be decelerated; the deceleration point can also be expressed by the speed, and when the speed of the AGV reaches the speed, it starts to decelerate according to the predetermined deceleration.
  • the path length S the path may be divided into acceleration, deceleration two sections, wherein, in the time period t 1, the acceleration from the AGV to the current speed V current V max, the predetermined acceleration For a up , the distance traveled is S 1 ; during the time period t 3 , the AGV decelerates from V max to 0, reaches the destination, the predetermined deceleration is a down , and the travel distance is S 3 , according to the formula:
  • V max (2*S*a up *a down +a down *V current 2 ) 1/2 /(a up +a down ) 1/2 (4)
  • the maximum speed based on the path length can be obtained, and the traveling speed can be improved while improving the work efficiency while ensuring the parking accuracy.
  • the travel path of the AGV often has an upper path speed Vpath , and Vmax cannot be greater than Vpath , otherwise an accident is likely to occur, which is not conducive to maintaining the stability of the automatic logistics equipment.
  • the acceleration length S 1 and the deceleration length S 3 when V path is used as the maximum speed based on the path length can be calculated by the formula:
  • the maximum speed based on the path length can be determined under the limitation of the path speed upper limit V path , the parking accuracy can be ensured, the traveling speed can be improved, the work efficiency can be improved, and the stability and safety of the logistics automation equipment can be improved.
  • FIG. 1 A flow chart of another embodiment of the AGV motion control method of the present disclosure is shown in FIG.
  • step 401 the travel plan of the AGV is determined based on the path length and the predetermined deceleration.
  • the travel schedule maximum and deceleration points may be included in the trip plan.
  • driving the AGV motion according to the travel plan may include driving the AGV to accelerate at a predetermined acceleration to reach a maximum speed; if the deceleration point is not reached, driving the AGV to travel to a deceleration point at a maximum speed; reaching the deceleration point
  • the rear drive AGV decelerates at a predetermined deceleration until it is stationary.
  • control information can be sent to the servo amplifier, and the servo amplifier sends control information to the train to drive the AGV motion.
  • the real-time speed of the AGV's train wheel can also be acquired, which can be used as the current speed V current for the travel planning; on the other hand, it can monitor the driving state of the AGV and improve the control capability of the AGV, which is convenient for Speed control and adjustment.
  • the real-time speed can be obtained by the wheel train encoder, thereby improving the accuracy of the acquired real-time speed.
  • the trip planning module 501 can determine the travel plan of the AGV according to the path length and the predetermined deceleration.
  • the planning may be performed according to the path length and the deceleration of the vehicle, and the traveling speed and the deceleration distance according to the length of the stroke may be set to generate a trip plan.
  • the travel schedule may include a maximum travel speed and a deceleration point to minimize time and improve efficiency while ensuring that the AGV accurately reaches the destination.
  • the motion drive module 502 is capable of driving the AGV motion in accordance with the trip plan.
  • an instruction can be issued to the AGV's train to control the speed of the train.
  • Such a device can determine the travel plan according to the length of the path that the AGV needs to travel, and the acceleration and deceleration of the AGV, so that the AGV can travel according to the travel plan, so that the AGV's travel is more targeted, and the AGV can be more accurately stopped.
  • the location improves the parking accuracy and reduces time wastage, improves work efficiency, and meets high-speed job tact requirements.
  • the speed planning unit 601 is capable of determining a maximum speed based on the path length according to the path length, the predetermined acceleration, and the predetermined deceleration. In one embodiment, a maximum speed that can be achieved by accelerating at a predetermined acceleration over a length of the path and then decelerating at a predetermined deceleration to achieve a stationary state at the destination can be calculated as the path length based Maximum speed.
  • the speed arbitration unit 602 is capable of determining the maximum traveling speed of the AGV based on the maximum speed based on the path length and the predetermined speed threshold.
  • the deceleration point determining unit 603 determines the deceleration point based on the traveling speed maximum value and the predetermined deceleration.
  • Such a device can improve the driving speed and improve the working efficiency while ensuring the parking accuracy.
  • fully taking into account the limitation of the AGV running speed ensuring that the traveling speed of the AGV meets various requirements and ensures the safety of the AGV operation.
  • the speed planning unit 601 can obtain the maximum speed based on the path length based on the formula (4) above, thereby improving the traveling speed and improving the work efficiency while ensuring the parking accuracy; the speed planning unit 601 can also According to formulas (4) to (6), the maximum speed based on the path length under the limit of the path speed upper limit V path is determined, the parking accuracy is ensured, the traveling speed is increased, the working efficiency is improved, and the stability of the logistics automation equipment can be improved. And security.
  • the set predetermined speed threshold may include: the mechanical structural limit of the AGV. Speed, the maximum allowable speed of each segment in the path, the command speed of the host computer of the AGV.
  • the speed arbitration unit 602 may select the minimum speed from the maximum speed based on the path length and the predetermined speed threshold as the maximum speed of the traveling speed, thereby fully taking into account the limitation of the mechanical structure of the AGV, the speed limit of different sections in the path, and the upper machine to AGV speed limit. And other factors, to ensure that the AGV's driving speed meets all aspects of the requirements, to ensure the safety of the AGV operation.
  • the deceleration point determined by the deceleration point determining unit 603 can be expressed by the driving distance.
  • the deceleration point can also be identified by the duration, when the AGV is traveling.
  • the deceleration point can also be expressed by the speed, and when the speed of the AGV reaches the speed, it starts to decelerate according to the predetermined deceleration.
  • the motion driving module 502 drives the AGV motion according to the travel plan, and may include driving the AGV to accelerate the driving at a predetermined acceleration to reach a maximum driving speed; if the deceleration point is not reached, driving the AGV to travel at a maximum speed to decelerate Point; after reaching the deceleration point, drive the AGV to decelerate at a predetermined deceleration until it stops.
  • the motion drive module 502 can transmit control information to the servo amplifier, and the servo amplifier sends control information to the train to drive the AGV motion.
  • Such a device can control the movement of the AGV train, ensure that the AGV travels according to the travel plan, and makes the AGV's travel more specific, ensuring that the AGV can more accurately stop at the destination point, improve the parking accuracy, and reduce the waste of time. Improve work efficiency and meet high-speed job tempo requirements.
  • the AGV motion control device 701 can be any of the AGV motion control devices mentioned herein, capable of generating a travel plan based on the path length of the AGV to travel, and transmitting the plan to the servo amplifier 702; the servo amplifier 702 can The control information acquired by the AGV motion control device 701 is transmitted to the train wheel, and the drive AGV moves in accordance with the itinerary generated by the motion control device 701.
  • Such an AGV can determine the itinerary according to the length of the path to be driven and the deceleration of the AGV, so that the AGV can travel according to the itinerary plan, making the AGV's itinerary more targeted, ensuring that the AGV can more accurately stop at the destination point and improve Parking accuracy, and can reduce the waste of time, improve work efficiency, and meet high speed Job beat requirements.
  • Such AGV can achieve the effect of parking accuracy of ⁇ 2mm.
  • the AGV also includes a wheel train encoder 803 that is capable of acquiring the real-time speed of the AGV's train wheel and transmitting it to the AGV motion control device 801, which can be used as the current speed V current for travel planning; on the other hand, can monitor AGV travel. State, improve the ability to control the AGV, and facilitate the control and adjustment of speed.
  • the AGV motion control device includes a memory 910 and a processor 920.
  • the memory 910 can be a magnetic disk, a flash memory, or any other non-volatile storage medium.
  • the memory is used to store instructions in a corresponding embodiment of the AGV motion control method.
  • the processor 920 is coupled to the memory 910 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller.
  • the processor 920 is configured to execute instructions stored in the memory, and can implement motion planning and motion driving of the AGV.
  • the AGV motion control apparatus 1000 includes a memory 1010 and a processor 1020.
  • Processor 1020 is coupled to memory 1010 via BUS bus 1030.
  • the AGV motion control device 1000 can also be connected to the external storage device 1050 via the storage interface 1040 to invoke external data, and can also be connected to the network or another computer system (not shown) via the network interface 1060. The specific signaling process is not described in detail here.
  • motion planning and motion driving of the AGV can be realized by storing data instructions through the memory and processing the above instructions by the processor.
  • the present disclosure also provides a computer readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the method of the corresponding embodiment of the AGV motion control method.
  • a processor implements the steps of the method of the corresponding embodiment of the AGV motion control method.
  • embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
  • the methods and apparatus of the present disclosure may be implemented in a number of ways.
  • the methods and apparatus of the present disclosure may be implemented in software, hardware, firmware or any combination of software, hardware, firmware.
  • the above-described sequence of steps for the method is for illustrative purposes only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specifically stated.
  • the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine readable instructions for implementing a method in accordance with the present disclosure.
  • the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

一种自动引导运输车AGVDE 运动控制方法和装置，该控制方法包括：（101）根据路径长度、预定加速度和预定减速度确定AGV的行程规划，行程规划中包括行驶速度最大值和减速点；（102）根据所述行程规划驱动AGV运动，最大行驶速度不超过行驶速度最大值，且在减速点开始减速。该方法和装置能够根据AGV需要行驶的路径的长度，以及AGV的减速度确定行程规划，使AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度，且能够减少时间的浪费，提高作业效率，符合高速的作业节拍要求。

Description

自动引导运输车AGV及运动控制方法和装置
本公开是以CN201610901977.X，申请日为2016年10月18日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本公开中。
技术领域
本公开涉及物流技术领域，特别是一种AGV(Automated Guided Vehicle，自动引导运输车)及运动控制方法和装置。
背景技术
在仓储物流领域，自动化在逐渐提高，出现了AGV设备来进行货物搬运。
相关技术中当AGV设备在运输过程时，往往采取在检测到将要停车的地标点后进行降速停车，或在检测到将要停车的地标点后降速至爬行速度方式运动的方式，来实现AGV沿路径运动后在目标地点停车。
发明内容
发明人发现，采用在检测到将要停车的地标点后进行降速停车的方式在不同的AGV载荷惯性工况下难以保证停车的准确；而降速至爬行速度的方式会浪费大量的作业时间导致作业节拍较低，难以满足高速的作业节拍要求。
本公开的一些实施例的目的在于提高AGV作业的效率和准确度。
根据本公开的一个方面，提出一种AGV运动控制方法，包括：根据路径长度、预定加速度和预定减速度确定AGV的行程规划，行程规划中包括行驶速度最大值和减速点；根据行程规划驱动AGV运动，最大行驶速度不超过行驶速度最大值，且在减速点开始减速。
可选地，根据路径长度和预定减速度确定AGV的行程规划包括：根据路径长度、预定加速度和预定减速度确定基于路径长度的最大速度；根据基于路径长度的最大速度和预定速度阈值确定AGV的行驶速度最大值；和，根据行驶速度最大值和预定减速度确定减速点。
可选地，根据路径长度、预定加速度和预定减速度确定基于路径长度的最大速度包括：根据预定加速度确定AGV从当前速度加速到路径速度上限需要行驶的加速长度； 根据预定减速度确定AGV从路径速度上限减速到静止状态需要行驶的减速长度；在加速长度与减速长度之和不大于路径长度的情况下，确定基于路径长度的最大速度为路径速度上限；在加速长度与减速长度之和大于路径长度的情况下，确定能够保证AGV停止在目的地点的行程能够达到的最大速度作为基于路径长度的最大速度。
可选地，预定速度阈值包括AGV的机械结构极限速度、路径中各个路段的最大允许速度、AGV的上位机指令速度中的一种或多种；根据基于路径长度的最大速度和预定速度阈值确定AGV的行驶速度最大值包括：从基于路径长度的最大速度和预定速度阈值中选择最小速度作为行驶速度最大值。
可选地，根据行程规划驱动AGV运动包括：驱动AGV以预定加速度加速行驶，达到行驶速度最大值；驱动AGV以行驶速度最大值行驶至减速点；和，驱动AGV以预定减速度减速行驶直至静止。
可选地，AGV运动控制方法还包括：获取AGV的轮系的实时速度作为所述当前速度。
可选地，根据行程规划驱动AGV运动包括：通过伺服放大器向轮系发送控制信息，驱动AGV运动。
通过这样的方法，能够根据AGV需要行驶的路径的长度，以及AGV的加、减速度确定行程规划，使AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度，且能够减少时间的浪费，提高作业效率，符合高速的作业节拍要求。
根据本公开的另一个方面，提出一种AGV运动控制装置，包括：行程规划模块，被配置为根据路径长度、预定加速度和预定减速度确定AGV的行程规划，行程规划中包括行驶速度最大值和减速点；运动驱动模块，被配置为根据行程规划驱动AGV运动，最大行驶速度不超过行驶速度最大值，且在减速点开始减速。
可选地，行程规划模块包括：速度规划单元，被配置为根据路径长度、预定加速度和预定减速度确定基于路径长度的最大速度；速度仲裁单元，被配置为根据基于路径长度的最大速度和预定速度阈值确定AGV的行驶速度最大值；和，减速点确定单元，被配置为根据行驶速度最大值和预定减速度确定减速点。
可选地，速度规划单元被配置为：根据预定加速度确定AGV从当前速度加速到路径速度上限需要行驶的加速长度；根据预定减速度确定AGV从路径速度上限减速到静止状态需要行驶的减速长度；若加速长度与减速长度之和不大于路径长度，则确定基 于路径长度的最大速度为路径速度上限；若加速长度与减速长度之和大于路径长度，则确定能够保证AGV停止在目的地点的行程能够达到的最大速度作为基于路径长度的最大速度。
可选地，预定速度阈值包括AGV的机械结构极限速度、路径中各个路段的最大允许速度、AGV的上位机指令速度中的一种或多种；速度仲裁单元被配置为从基于路径长度的最大速度和预定速度阈值中选择最小速度作为行驶速度最大值。
可选地，运动驱动模块被配置为驱动AGV以预定加速度加速行驶，达到行驶速度最大值；驱动AGV以行驶速度最大值行驶至减速点；和，驱动AGV以预定减速度减速行驶直至静止。
这样的装置能够根据AGV需要行驶的路径的长度，以及AGV的加、减速度确定行程规划，使AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度，且能够减少时间的浪费，提高作业效率，符合高速的作业节拍要求。
根据本公开的又一个方面，提出一种AGV运动控制装置，包括：存储器；以及耦接至存储器的处理器，处理器被配置为基于存储在存储器的指令执行上文中提到的任意一种AGV运动控制方法。
这样的AGV运动控制装置能够利用存储在存储器中的指令，由处理器进行执行处理，根据AGV需要行驶的路径的长度，以及AGV的减速度确定行程规划，使AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度，且能够减少时间的浪费，提高作业效率，符合高速的作业节拍要求。
另外，根据本公开的一个方面，提出一种计算机可读存储介质，其上存储有计算机程序指令，该指令被一个或多个处理器执行时实现上文中提到的任意一种AGV运动控制方法的步骤。
这样计算机可读存储介质能够根据AGV需要行驶的路径的长度，以及AGV的加、减速度确定行程规划，使AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度，且能够减少时间的浪费，提高作业效率，符合高速的作业节拍要求。
根据本公开的再一个方面，提出一种AGV，包括上文中提到的任意一项AGV运动控制装置；和，伺服放大器，被配置为接收来自AGV运动控制装置的控制信息，驱动 AGV的轮系运动。
可选地，AGV还包括轮系编码器，被配置为采集轮系的当前速度，并发送给AGV运动控制装置。
这样的AGV能够根据需要行驶的路径的长度，以及AGV的加、减速度确定行程规划，使AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度，且能够减少时间的浪费，提高作业效率，符合高速的作业节拍要求。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本公开的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开的AGV运动控制方法的一些实施例的流程图。
图2为本公开的AGV运动控制方法中行程规划的一些实施例的流程图。
图3A为本公开的AGV运动控制方法中行程规划的一些实施例的示意图。
图3B为本公开的AGV运动控制方法中行程规划的另一些实施例的示意图。
图4为本公开的AGV运动控制方法的另一些实施例的流程图。
图5为本公开的AGV运动控制装置的一些实施例的示意图。
图6为本公开的AGV运动控制装置中行程规划模块的一些实施例的示意图。
图7为本公开的AGV的一些实施例的示意图。
图8为本公开的AGV的另一些实施例的示意图。
图9为本公开的AGV运动控制装置的又一些实施例的示意图。
图10为本公开的AGV运动控制装置的再一些实施例的示意图。
具体实施方式
下面通过附图和实施例，对本公开的技术方案做进一步的详细描述。
本公开的AGV运动控制方法的一个实施例的流程图如图1所示。
在步骤101中，根据路径长度、预定加速度和预定减速度确定AGV的行程规划。在一个实施例中，可以根据路径长度、预定加速度和车辆的减速度进行规划，设定符合行程长度的行驶速度、减速距离，生成行程规划。在一个实施例中，行程规划中可 以包括行驶速度最大值和减速点，从而在保证AGV准确到达目的地的同时，尽量缩短时间，提高效率。
在步骤102中，根据行程规划驱动AGV运动。在一个实施例中，可以向AGV的轮系下达指令，控制轮系的速度变化。
通过这样的方法，能够根据AGV需要行驶的路径的长度，以及AGV的加、减速度确定行程规划，使AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度，且能够减少时间的浪费，提高作业效率，符合高速的作业节拍要求。
本公开的AGV运动控制方法中行程规划的一个实施例的流程图如图2所示。
在步骤201中，根据路径长度、预定加速度和预定减速度确定基于路径长度的最大速度。在一个实施例中，可以在收到上位机发出的指令后进行计算。在一个实施例中，可以计算在整个路径长度中以预定加速度加速后再以预定减速度减速，在目的地达到静止状态这一过程中能够达到的最大速度，将该最大速度作为基于路径长度的最大速度。
在步骤202中，考虑到路径中不同路段的路况情况不同，以及车辆性能受限、上位机对生产节拍的控制等因素，可以设定预定速度阈值，根据基于路径长度的最大速度和预定速度阈值确定AGV的行驶速度最大值。在一个实施例中，预定速度阈值可以包括：AGV的机械结构极限速度、路径中各个路段的最大允许速度，AGV的上位机指令速度。可以从基于路径长度的最大速度和预定速度阈值中选择最小速度作为行驶速度最大值。
在步骤203中，根据行驶速度最大值和预定减速度确定减速点。在一个实施例中，减速点可以通过行驶距离表示，当AGV在路径中行驶达到行驶距离时，开始按照预定减速度减速；减速点还可以通过时长标识，当AGV行驶达到该时长时，开始按照预定减速度减速；减速点还可以通过速度表示，当AGV的速度达到该速度时，开始按照预定减速度减速。
通过这样的方法，能够在保证停车准确度的同时，提高行驶速度，提高作业效率；同时，充分考虑到AGV机械结构的限制、路径中不同路段的速度限制、上位机对AGV速度限制等因素，保证AGV的行驶速度符合各个方面的要求，保证AGV运行的安全。
在一个实施例中，如图3A所示，路径长度为S，可以将路径分为加速、减速两段，其中，在t1时间段内，AGV从当前速度Vcurrent加速到Vmax，预定加速度为aup，行驶 的距离为S1；在t3时间段内，AGV从Vmax减速到0，到达目的地，预定减速度为adown，行驶的距离为S3，根据公式：
S＝S1+S3         (1)
S1＝0.5*aup*(Vmax-Vcurrent)2/aup 2+Vcurrent*(Vmax-Vcurrent)/aup   (2)
S3＝0.5*adown*Vmax 2/adown 2          (3)
通过上述公式(1)(2)(3)可以得到：
Vmax＝(2*S*aup*adown+adown*Vcurrent 2)1/2/(aup+adown)1/2    (4)
通过这样的方法，能够得到基于路径长度的最大速度，在保证停车准确度的同时，提高行驶速度，提高作业效率。
在一个实施例中，AGV的行驶路径往往会有路径速度上限Vpath，Vmax不能够大于Vpath，否则容易发生事故，不利于维持自动物流设备的稳定性。在一个实施例中，可以通过公式计算以Vpath作为基于路径长度的最大速度时的加速长度S1和减速长度S3：
S1＝0.5*aup*(Vpath-Vcurrent)2/aup 2+Vcurrent*(Vpath-Vcurrent)/aup   (5)
S3＝0.5*adown*Vpath 2/adown 2     (6)
若S1+S3＞S，则可以根据上述公式(4)得到Vmax。
若S1+S3≤S，则Vmax＝Vpath。当S1+S3＜S时，如图3b所示，AGV需要匀速行驶一段距离，匀速行驶长度S2＝S-S1-S3。
通过这样的方法，能够在路径速度上限Vpath的限制下确定基于路径长度的最大速度，保证停车准确度，提高行驶速度，提高作业效率，同时，能够提高物流自动化设备的稳定性和安全性。
本公开的AGV运动控制方法的另一个实施例的流程图如图4所示。
在步骤401中，根据路径长度和预定减速度确定AGV的行程规划。在一个实施例中，行程规划中可以包括行驶速度最大值和减速点。
在步骤402中，根据行程规划驱动AGV运动，可以包括驱动AGV以预定加速度加速行驶，达到行驶速度最大值；若未达到减速点，则驱动AGV以行驶速度最大值行驶至减速点；到达减速点后驱动AGV以预定减速度减速行驶直至静止。在一个实施例中，可以将控制信息发送给伺服放大器，由伺服放大器向轮系发送控制信息，驱动AGV运动。
通过这样的方法，能够控制AGV轮系的运动，保证AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度， 且能够减少时间的浪费，提高作业效率，符合高速的作业节拍要求。
在一个实施例中，还可以获取AGV的轮系的实时速度，一方面可以作为当前速度Vcurrent，供行程规划使用；另一方面能够监控AGV的行驶状态，提高对AGV的控制能力，便于对速度进行控制、调节。在一个实施例中，可以通过轮系编码器获取实时速度，从而提高获取的实时速度的准确性。
本公开的AGV运动控制装置的一个实施例的示意图如图5所示。其中，行程规划模块501能够根据路径长度和预定减速度确定AGV的行程规划。在一个实施例中，可以根据路径长度和车辆的减速度进行规划，设定符合行程长度的行驶速度、减速距离，生成行程规划。在一个实施例中，行程规划中可以包括行驶速度最大值和减速点，从而在保证AGV准确到达目的地的同时，尽量缩短时间，提高效率。运动驱动模块502能够根据行程规划驱动AGV运动。在一个实施例中，可以向AGV的轮系下达指令，控制轮系的速度变化。
这样的装置能够根据AGV需要行驶的路径的长度，以及AGV的加、减速度确定行程规划，使AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度，且能够减少时间的浪费，提高作业效率，符合高速的作业节拍要求。
本公开的AGV运动控制装置中行程规划模块的一个实施例的示意图如图6所示。其中，速度规划单元601能够根据路径长度、预定加速度和预定减速度确定基于路径长度的最大速度。在一个实施例中，可以计算在整个路径长度中以预定加速度加速后再以预定减速度减速，在目的地达到静止状态这一过程中能够达到的最大速度，将该最大速度作为基于路径长度的最大速度。速度仲裁单元602能够根据基于路径长度的最大速度和预定速度阈值确定AGV的行驶速度最大值。减速点确定单元603根据行驶速度最大值和预定减速度确定减速点。
这样的装置能够在保证停车准确度的同时，提高行驶速度，提高作业效率；同时，充分考虑到对AGV运行速度的限制，保证AGV的行驶速度符合各个方面的要求，保证AGV运行的安全。
在一个实施例中，速度规划单元601可以基于上文中的公式(4)得到基于路径长度的最大速度，从而在保证停车准确度的同时，提高行驶速度，提高作业效率；速度规划单元601还可以根据公式(4)～(6)确定在路径速度上限Vpath的限制下的基于路径长度的最大速度，保证停车准确度，提高行驶速度，提高作业效率，同时，能够 提高物流自动化设备的稳定性和安全性。
在一个实施例中，考虑到路径中不同路段的路况情况不同，以及车辆性能受限、上位机对AGV调配过程中有速度要求等因素，设定的预定速度阈值可以包括：AGV的机械结构极限速度、路径中各个路段的最大允许速度，AGV的上位机指令速度。速度仲裁单元602可以从基于路径长度的最大速度和预定速度阈值中选择最小速度作为行驶速度最大值，从而充分考虑到AGV机械结构的限制、路径中不同路段的速度限制、上位机对AGV速度限制等因素，保证AGV的行驶速度符合各个方面的要求，保证AGV运行的安全。
在一个实施例中，减速点确定单元603确定的减速点可以通过行驶距离表示，当AGV在路径中行驶达到行驶距离时，开始按照预定减速度减速；减速点还可以通过时长标识，当AGV行驶达到该时长时，开始按照预定减速度减速；减速点还可以通过速度表示，当AGV的速度达到该速度时，开始按照预定减速度减速。这样的装置能够保证AGV到达减速点后即开始减速操作，保证AGV能够更加准确的停在目的地点，提高停车精度。
在一个实施例中，运动驱动模块502根据行程规划驱动AGV运动，可以包括驱动AGV以预定加速度加速行驶，达到行驶速度最大值；若未达到减速点，则驱动AGV以行驶速度最大值行驶至减速点；到达减速点后驱动AGV以预定减速度减速行驶直至静止。在一个实施例中，运动驱动模块502可以将控制信息发送给伺服放大器，由伺服放大器向轮系发送控制信息，驱动AGV运动。
这样的装置能够控制AGV轮系的运动，保证AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度，且能够减少时间的浪费，提高作业效率，符合高速的作业节拍要求。
本公开的AGV的一个实施例的示意图如图7所示。其中，AGV运动控制装置701可以为本文中提到的任意一种AGV运动控制装置，能够生成基于AGV需要行驶的路径长度的行程规划，并将规划发送给伺服放大器702；伺服放大器702能够将从AGV运动控制装置701获取的控制信息发送给轮系，驱动AGV按照运动控制装置701生成的行程规划运动。
这样的AGV能够根据需要行驶的路径的长度，以及AGV的减速度确定行程规划，使AGV按照行程规划进行行驶，使AGV的行程更具针对性，保证AGV能够更加准确的停在目的地点，提高停车精度，且能够减少时间的浪费，提高作业效率，符合高速的 作业节拍要求。通过实际测试，这样的AGV能够达到停车精度±2mm的效果。
本公开的AGV的另一个实施例的示意图如图8所示。其中，AGV运动控制装置801和伺服放大器802的结构和功能与图7的实施例中相似。AGV还包括轮系编码器803，能够获取AGV的轮系的实时速度，并发送给AGV运动控制装置801，一方面可以作为当前速度Vcurrent，供行程规划使用；另一方面能够监控AGV的行驶状态，提高对AGV的控制能力，便于对速度进行控制和调整。
本公开AGV运动控制装置的另一个实施例的结构示意图如图9所示。AGV运动控制装置包括存储器910和处理器920。其中：存储器910可以是磁盘、闪存或其它任何非易失性存储介质。存储器用于存储AGV运动控制方法的对应实施例中的指令。处理器920耦接至存储器910，可以作为一个或多个集成电路来实施，例如微处理器或微控制器。该处理器920用于执行存储器中存储的指令，能够实现对AGV的运动规划和运动驱动。
在一个实施例中，还可以如图10所示，AGV运动控制装置1000包括存储器1010和处理器1020。处理器1020通过BUS总线1030耦合至存储器1010。该AGV运动控制装置1000还可以通过存储接口1040连接至外部存储装置1050以便调用外部数据，还可以通过网络接口1060连接至网络或者另外一台计算机系统(未标出)。具体的信令流程此处不再进行详细介绍。
在该实施例中，通过存储器存储数据指令，再通过处理器处理上述指令，能够实现对AGV的运动规划和运动驱动。
在另一个实施例中，本公开还提出一种计算机可读存储介质，其上存储有计算机程序指令，该指令被处理器执行时实现AGV运动控制方法的对应实施例中的方法的步骤。本领域内的技术人员应明白，本公开的实施例可提供为方法、装置、或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用非瞬时性存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开是参照根据本公开实施例的方法、设备(系统)和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理 设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
至此，已经详细描述了本公开。为了避免遮蔽本公开的构思，没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述，完全可以明白如何实施这里公开的技术方案。
可能以许多方式来实现本公开的方法以及装置。例如，可通过软件、硬件、固件或者软件、硬件、固件的任何组合来实现本公开的方法以及装置。用于所述方法的步骤的上述顺序仅是为了进行说明，本公开的方法的步骤不限于以上具体描述的顺序，除非以其它方式特别说明。此外，在一些实施例中，还可将本公开实施为记录在记录介质中的程序，这些程序包括用于实现根据本公开的方法的机器可读指令。因而，本公开还覆盖存储用于执行根据本公开的方法的程序的记录介质。
最后应当说明的是：以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本公开技术方案的精神，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (16)

  1. 一种自动引导运输车AGV运动控制方法，包括：
    根据路径长度、预定加速度和预定减速度确定AGV的行程规划，所述行程规划中包括行驶速度最大值和减速点；
    根据所述行程规划驱动所述AGV运动，最大行驶速度不超过所述行驶速度最大值，且在所述减速点开始减速。
  2. 根据权利要求1所述的方法，其中，所述根据路径长度和预定减速度确定AGV的行程规划包括：
    根据路径长度、预定加速度和预定减速度确定基于路径长度的最大速度；
    根据所述基于路径长度的最大速度和预定速度阈值确定所述AGV的行驶速度最大值；和
    根据所述行驶速度最大值和所述预定减速度确定所述减速点。
  3. 根据权利要求2所述的方法，其中，所述根据路径长度、预定加速度和预定减速度确定基于路径长度的最大速度包括：
    根据所述预定加速度确定所述AGV从当前速度加速到路径速度上限需要行驶的加速长度；
    根据所述预定减速度确定所述AGV从所述路径速度上限减速到静止状态需要行驶的减速长度；
    在所述加速长度与所述减速长度之和不大于所述路径长度的情况下，确定所述基于路径长度的最大速度为所述路径速度上限；
    在所述加速长度与所述减速长度之和大于所述路径长度的情况下，确定能够保证所述AGV停止在目的地点的行程能够达到的最大速度作为所述基于路径长度的最大速度。
  4. 根据权利要求2所述的方法，其中，所述预定速度阈值包括AGV的机械结构极限速度、路径中各个路段的最大允许速度、所述AGV的上位机指令速度中的一种或多种；
    所述根据所述基于路径长度的最大速度和预定速度阈值确定所述AGV的行驶速度最大值包括：
    从所述基于路径长度的最大速度和所述预定速度阈值中选择最小速度作为所述行驶速度最大值。
  5. 根据权利要求1所述的方法，其中，所述根据所述行程规划驱动所述AGV运动包括：
    驱动所述AGV以所述预定加速度加速行驶，达到所述行驶速度最大值；
    驱动所述AGV以所述行驶速度最大值行驶至所述减速点；和
    驱动所述AGV以所述预定减速度减速行驶直至静止。
  6. 根据权利要求3所述的方法，还包括：
    获取所述AGV的轮系的实时速度作为所述当前速度。
  7. 根据权利要求1所述的方法，其中，
    所述根据所述行程规划驱动所述AGV运动包括：通过伺服放大器向所述轮系发送控制信息，驱动所述AGV运动。
  8. 一种自动引导运输车AGV运动控制装置，包括：
    行程规划模块，用于根据路径长度、预定加速度和预定减速度确定AGV的行程规划，所述行程规划中包括行驶速度最大值和减速点；
    运动驱动模块，用于根据所述行程规划驱动所述AGV运动，最大行驶速度不超过所述行驶速度最大值，且在所述减速点开始减速。
  9. 根据权利要求8所述的装置，其中，所述行程规划模块包括：
    速度规划单元，被配置为根据路径长度、预定加速度和预定减速度确定基于路径长度的最大速度；
    速度仲裁单元，被配置为根据所述基于路径长度的最大速度和预定速度阈值确定所述AGV的行驶速度最大值；
    减速点确定单元，被配置为根据所述行驶速度最大值和所述预定减速度确定所述 减速点。
  10. 根据权利要求9所述的装置，其中，所述速度规划单元被配置为：
    根据所述预定加速度确定所述AGV从当前速度加速到路径速度上限需要行驶的加速长度；
    根据所述预定减速度确定所述AGV从所述路径速度上限减速到静止状态需要行驶的减速长度；
    在所述加速长度与所述减速长度之和不大于所述路径长度的情况下，确定所述基于路径长度的最大速度为所述路径速度上限；
    在所述加速长度与所述减速长度之和大于所述路径长度的情况下，确定能够保证所述AGV停止在目的地点的行程能够达到的最大速度作为所述基于路径长度的最大速度。
  11. 根据权利要求9所述的装置，其中，所述预定速度阈值包括AGV的机械结构极限速度、路径中各个路段的最大允许速度、所述AGV的上位机指令速度中的一种或多种；
    所述速度仲裁单元被配置为从所述基于路径长度的最大速度和所述预定速度阈值中选择最小速度作为所述行驶速度最大值。
  12. 根据权利要求8所述的装置，其中，所述运动驱动模块被配置为：
    驱动所述AGV以所述预定加速度加速行驶，达到所述行驶速度最大值；
    驱动所述AGV以所述行驶速度最大值行驶至所述减速点；和
    驱动所述AGV以所述预定减速度减速行驶直至静止。
  13. 一种自动引导运输车AGV运动控制装置，包括：
    存储器；以及
    耦接至所述存储器的处理器，所述处理器被配置为基于存储在所述存储器的指令执行如权利要求1至6任意一项所述的方法。
  14. 一种计算机可读存储介质，其上存储有计算机程序指令，该指令被一个或多 个处理器执行时实现权利要求1至6任意一项所述的方法的步骤。
  15. 一种自动引导运输车AGV，包括：
    权利要求8～13任一所述AGV运动控制装置；和，
    伺服放大器，被配置为接收来自所述AGV运动控制装置的控制信息，驱动所述AGV的轮系运动。
  16. 根据权利要求15所述的AGV，还包括：
    轮系编码器，被配置为采集所述轮系的当前速度，并发送给所述AGV运动控制装置。
PCT/CN2017/105799 2016-10-18 2017-10-12 自动引导运输车agv及运动控制方法和装置 Ceased WO2018072635A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610901977.X 2016-10-18
CN201610901977.XA CN106444762B (zh) 2016-10-18 2016-10-18 自动引导运输车agv及运动控制方法和装置

Publications (1)

Publication Number Publication Date
WO2018072635A1 true WO2018072635A1 (zh) 2018-04-26

Family

ID=58175120

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/105799 Ceased WO2018072635A1 (zh) 2016-10-18 2017-10-12 自动引导运输车agv及运动控制方法和装置

Country Status (2)

Country Link
CN (1) CN106444762B (zh)
WO (1) WO2018072635A1 (zh)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110488826A (zh) * 2019-08-20 2019-11-22 集美大学 一种适于路径冲突的agv避碰方法、终端设备及存储介质
CN111105177A (zh) * 2018-10-26 2020-05-05 菜鸟智能物流控股有限公司 物流对象的管理方法、装置、设备、系统和存储介质
CN111290397A (zh) * 2020-03-12 2020-06-16 三一机器人科技有限公司 速度调节方法、装置、自动导航车及存储介质
CN112734092A (zh) * 2020-12-30 2021-04-30 驭势科技（北京）有限公司 一种校准方法、装置、设备及存储介质
CN114326710A (zh) * 2021-12-04 2022-04-12 深圳市普渡科技有限公司 机器人、机器人行驶策略确定方法、装置和存储介质
CN117184064A (zh) * 2022-05-30 2023-12-08 浙江菜鸟供应链管理有限公司 运动控制方法、装置、系统、设备和介质
CN119148718A (zh) * 2024-11-11 2024-12-17 珠海创智科技有限公司 基于agv系统的路径优化控制方法及系统

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106444762B (zh) * 2016-10-18 2020-03-03 天津京东深拓机器人科技有限公司 自动引导运输车agv及运动控制方法和装置
CN107102641B (zh) * 2017-05-18 2020-08-07 湖北工业大学 一种基于激光引导双轮差速agv的原地偏航旋转方法
CN108445893A (zh) * 2018-06-07 2018-08-24 浙江国自机器人技术有限公司 一种移动机器人控制器及移动机器人
CN109190185A (zh) * 2018-08-10 2019-01-11 安徽库讯自动化设备有限公司 一种具有参数分析功能的agv小车的运行状态调控方法
CN109165830A (zh) * 2018-08-10 2019-01-08 安徽库讯自动化设备有限公司 一种agv小车运行状态的智能化调控系统
CN109597413A (zh) * 2018-12-06 2019-04-09 南京华苏科技有限公司 一种基于rfid的产品测试的智能化管理方法
CN109885070B (zh) * 2019-04-01 2020-12-18 上海快仓智能科技有限公司 机器人的运动控制方法、运动控制设备以及自动仓储系统
CN110194343A (zh) * 2019-05-17 2019-09-03 盐城品迅智能科技服务有限公司 一种多agv智能仓储密集架的通信系统及货物搬运方法
CN111760795B (zh) * 2019-07-16 2022-02-01 北京京东乾石科技有限公司 用于分拣货物的方法和装置
CN111813127A (zh) * 2020-07-28 2020-10-23 丹阳市安悦信息技术有限公司 一种自动驾驶式的汽车搬运机器人系统
CN112327863A (zh) * 2020-11-17 2021-02-05 中车资阳机车有限公司 一种对位牵引车辅助定位控制方法
CN113751330B (zh) * 2021-01-18 2023-06-23 北京京东乾石科技有限公司 物品分拣方法、系统、设备和存储介质
CN113716495A (zh) * 2021-09-02 2021-11-30 衡阳宝坤机械制造有限公司 一种智能化仓储叉车控制系统
CN114035623B (zh) * 2021-09-23 2025-05-09 西门子工厂自动化工程有限公司 设备往复运动的控制方法、装置和计算机可读介质
CN114137978A (zh) * 2021-11-29 2022-03-04 佛山市毕佳索智能科技有限公司 一种仓储agv的速度规划与控制方法
CN115005714B (zh) * 2022-06-22 2023-01-03 宁波国琅机器人科技有限公司 一种扫地机器人控制方法、系统、存储介质及智能终端
CN118672177B (zh) * 2024-05-30 2025-01-24 江苏润邦智能车库股份有限公司 基于agv的智能化停车的信息控制装置与方法
CN120909304B (zh) * 2025-10-13 2025-12-26 山东劳动职业技术学院（山东劳动技师学院） 一种考虑能耗最优化的agv行驶路径控制方法、装置、设备及介质

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1467591A (zh) * 2002-07-05 2004-01-14 ���ǵ�����ʽ���� 自动导向车辆系统的控制方法
US20050080524A1 (en) * 2003-10-14 2005-04-14 Tae-Eun Park AGV control system and method
CN102269595A (zh) * 2010-06-02 2011-12-07 东北大学 基于导航线识别的嵌入式单目视觉导航系统
CN104089623A (zh) * 2014-07-14 2014-10-08 上海海事大学 一种用于运载车行驶状态及路径的生成系统及方法
CN104182777A (zh) * 2014-08-13 2014-12-03 成都四威高科技产业园有限公司 一种基于rfid的agv多任务定位方法
CN104731107A (zh) * 2015-03-26 2015-06-24 北京特种机械研究所 一种电动六自由度运动平台高精度控制系统及控制方法
CN105388899A (zh) * 2015-12-17 2016-03-09 中国科学院合肥物质科学研究院 一种基于二维码图像标签的agv导航控制方法
CN105739505A (zh) * 2016-04-13 2016-07-06 上海物景智能科技有限公司 一种机器人的路径控制方法及系统
CN106444762A (zh) * 2016-10-18 2017-02-22 北京京东尚科信息技术有限公司 自动引导运输车agv 及运动控制方法和装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS613211A (ja) * 1984-06-15 1986-01-09 Hitachi Kiden Kogyo Ltd 無人搬送車に於ける絶対番地読取り方法
AU2012302054B2 (en) * 2011-08-29 2014-11-13 Crown Equipment Corporation Vehicular navigation control interface
JP2013168012A (ja) * 2012-02-15 2013-08-29 Murata Mach Ltd 走行車システム
CN104298114A (zh) * 2014-10-29 2015-01-21 西南科技大学 自适应鲁棒s型速度规划算法
CN105082135B (zh) * 2015-09-11 2016-11-30 东南大学 一种机器人点动操作的速度控制方法
CN105867376B (zh) * 2016-04-12 2018-10-23 南京工程学院 基于三角函数的工业机器人轨迹规划升降速控制方法
CN105739506A (zh) * 2016-04-26 2016-07-06 昆山易捷联控制系统研发科技有限公司 智能运载机器人的自主导航方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1467591A (zh) * 2002-07-05 2004-01-14 ���ǵ�����ʽ���� 自动导向车辆系统的控制方法
US20050080524A1 (en) * 2003-10-14 2005-04-14 Tae-Eun Park AGV control system and method
CN102269595A (zh) * 2010-06-02 2011-12-07 东北大学 基于导航线识别的嵌入式单目视觉导航系统
CN104089623A (zh) * 2014-07-14 2014-10-08 上海海事大学 一种用于运载车行驶状态及路径的生成系统及方法
CN104182777A (zh) * 2014-08-13 2014-12-03 成都四威高科技产业园有限公司 一种基于rfid的agv多任务定位方法
CN104731107A (zh) * 2015-03-26 2015-06-24 北京特种机械研究所 一种电动六自由度运动平台高精度控制系统及控制方法
CN105388899A (zh) * 2015-12-17 2016-03-09 中国科学院合肥物质科学研究院 一种基于二维码图像标签的agv导航控制方法
CN105739505A (zh) * 2016-04-13 2016-07-06 上海物景智能科技有限公司 一种机器人的路径控制方法及系统
CN106444762A (zh) * 2016-10-18 2017-02-22 北京京东尚科信息技术有限公司 自动引导运输车agv 及运动控制方法和装置

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111105177A (zh) * 2018-10-26 2020-05-05 菜鸟智能物流控股有限公司 物流对象的管理方法、装置、设备、系统和存储介质
CN111105177B (zh) * 2018-10-26 2023-04-18 菜鸟智能物流控股有限公司 物流对象的管理方法、装置、设备、系统和存储介质
CN110488826A (zh) * 2019-08-20 2019-11-22 集美大学 一种适于路径冲突的agv避碰方法、终端设备及存储介质
CN110488826B (zh) * 2019-08-20 2022-09-20 集美大学 一种适于路径冲突的agv避碰方法、终端设备及存储介质
CN111290397A (zh) * 2020-03-12 2020-06-16 三一机器人科技有限公司 速度调节方法、装置、自动导航车及存储介质
CN111290397B (zh) * 2020-03-12 2023-08-25 三一机器人科技有限公司 速度调节方法、装置、自动导航车及存储介质
CN112734092A (zh) * 2020-12-30 2021-04-30 驭势科技（北京）有限公司 一种校准方法、装置、设备及存储介质
CN112734092B (zh) * 2020-12-30 2023-07-18 驭势科技（北京）有限公司 一种校准方法、装置、设备及存储介质
CN114326710A (zh) * 2021-12-04 2022-04-12 深圳市普渡科技有限公司 机器人、机器人行驶策略确定方法、装置和存储介质
CN114326710B (zh) * 2021-12-04 2024-05-24 深圳市普渡科技有限公司 机器人、机器人行驶策略确定方法、装置和存储介质
CN117184064A (zh) * 2022-05-30 2023-12-08 浙江菜鸟供应链管理有限公司 运动控制方法、装置、系统、设备和介质
CN119148718A (zh) * 2024-11-11 2024-12-17 珠海创智科技有限公司 基于agv系统的路径优化控制方法及系统

Also Published As

Publication number Publication date
CN106444762A (zh) 2017-02-22
CN106444762B (zh) 2020-03-03

Similar Documents

Publication Publication Date Title
WO2018072635A1 (zh) 自动引导运输车agv及运动控制方法和装置
US11226631B2 (en) Shuttle vehicle speed control method and apparatus, and shuttle vehicle
JP7078665B2 (ja) 車両の回避制御方法、装置、電子機器及び記憶媒体
CN110347167B (zh) 一种速度规划方法及速度规划系统
US20200094837A1 (en) Vehicle control device, vehicle control method, and storage medium
CN107480638B (zh) 车辆避障方法、控制器、装置和车辆
WO2021135728A1 (zh) 一种自动驾驶车辆碰撞预测判断方法及装置
JP6337435B2 (ja) 運転支援装置
CN112540606B (zh) 避障的方法、装置、调度服务器及存储介质
CN107610494A (zh) 基于信息物理融合系统的agv车辆系统及交通控制方法
CN105182979A (zh) 一种移动机器人障碍物检测及避让方法和系统
CN110751334A (zh) 基于相交区域预测的agv调度方法及装置
JP6610891B2 (ja) 列車の移動を制御する方法およびシステム
CN111762519A (zh) 引导拣选机器人作业的方法、系统和调度装置
KR20210013210A (ko) 차량 제어용 컨트롤러, 시스템 및 방법
CN107092257A (zh) 一种agv小车的车载控制系统
CN116578086A (zh) 移动机器人的避障控制方法、装置、设备、系统及介质
CN110398993A (zh) 速度控制方法、装置及计算机可读存储介质
CN113276889B (zh) 自动驾驶汽车控制方法、装置、设备及可读存储介质
CN118795815B (zh) 自动驾驶车辆测试云控调度方法、系统、电子设备、介质
KR101363358B1 (ko) 로봇의 제어 시스템 및 그 방법
CN108163428B (zh) 一种运动设备的速度智能避障追随方法
CN110142757A (zh) 一种控制机器人运动的方法、装置及下位机
CN112327861B (zh) 一种惯性导航纠偏控制方法、装置、电子设备及存储介质
CN121425966B (zh) 一种天车速度控制方法、装置、设备、介质及产品

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17861379

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 30/07/2019)

122 Ep: pct application non-entry in european phase

Ref document number: 17861379

Country of ref document: EP

Kind code of ref document: A1