WO2018072635A1

WO2018072635A1 - Automated guided vehicle and motion control method and device

Info

Publication number: WO2018072635A1
Application number: PCT/CN2017/105799
Authority: WO
Inventors: 于宗靖; 商春鹏; 王沈娇
Original assignee: 北京京东尚科信息技术有限公司; 北京京东世纪贸易有限公司
Priority date: 2016-10-18
Filing date: 2017-10-12
Publication date: 2018-04-26
Also published as: CN106444762B; CN106444762A

Abstract

An automated guided vehicle (AGV), and a motion control method and device. The control method comprises: (101) determining a route plan of the AGV according to a path length, a predetermined acceleration and a predetermined deceleration, wherein the route plan includes a maximum driving speed and a deceleration point; and (102) driving the AGV to move according to the route plan, such that a highest driving speed of the AGV does not exceed the maximum driving speed and the AGV decelerates at the deceleration point. The method and the device of the present invention are capable of determining a route plan according to the path length the AGV is required to drive and the deceleration of the AGV, enabling the AGV to drive itself according to the route plan, achieving optimal customization of the route of the AGV, ensuring that the AGV is capable of more precisely stopping at a destination and enhancing parking accuracy, and at the same time reducing time wastage and enhancing operational efficiency so as to meet high-speed operational requirements.

Description

Automatic guided transport vehicle AGV and motion control method and device

The present disclosure is based on the application of CN201610901977.X, filed on Oct.

Technical field

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.

Background technique

In the field of warehousing and logistics, automation is gradually increasing, and AGV equipment has emerged for cargo handling.

In the related art, 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.

Summary of the invention

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.

It is an object of some embodiments of the present disclosure to improve the efficiency and accuracy of AGV operations.

According to an aspect of the present disclosure, an AGV motion control method is provided, 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.

Optionally, 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.

Optionally, 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.

Optionally, 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.

Optionally, 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 .

Optionally, the AGV motion control method further includes: acquiring a real-time speed of the AGV's train wheel as the current speed.

Optionally, 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.

In this way, 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. At the destination point, 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.

According to another aspect of the present disclosure, an AGV motion control apparatus is provided, 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.

Optionally, 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.

Optionally, 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.

Optionally, 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.

Optionally, 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.

According to still another aspect of the present disclosure, an AGV motion control apparatus is provided, 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.

In addition, according to an aspect of the present disclosure, a computer readable storage medium is provided 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.

According to still another aspect of the present disclosure, an AGV is provided, 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.

Optionally, 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. Improve parking accuracy, reduce time waste, improve work efficiency, and meet high-speed job tempo requirements.

DRAWINGS

The drawings described herein are intended to provide a further understanding of the disclosure, and are intended to be a In the drawing:

1 is a flow chart of some embodiments of an AGV motion control method of the present disclosure.

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.

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.

6 is a schematic diagram of some embodiments of a trip planning module in an AGV motion control device of the present disclosure.

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.

9 is a schematic diagram of still further embodiments of an AGV motion control device of the present disclosure.

10 is a schematic diagram of still another embodiment of an AGV motion control device of the present disclosure.

detailed description

The technical solutions of the present disclosure will be further described in detail below through the accompanying drawings and embodiments.

A flow chart of one embodiment of the AGV motion control method of the present disclosure is shown in FIG.

In step 101, the travel plan of the AGV is determined based on the path length, the predetermined acceleration, and the predetermined deceleration. In one embodiment, 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. In one embodiment, 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.

In step 102, the AGV motion is driven according to the trip plan. In one embodiment, an instruction can be issued to the AGV's train to control the speed of the train.

A flowchart of one embodiment of the stroke planning in the AGV motion control method of the present disclosure is shown in FIG. 2.

In step 201, a maximum speed based on the path length is determined based on the path length, the predetermined acceleration, and the predetermined deceleration. In one embodiment, the calculation can be performed after receiving an instruction from the host computer. 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.

In step 202, considering the different road conditions of different road sections in the path, and the limited performance of the vehicle, the control of the upper machine to the production tempo, etc., 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. In one embodiment, 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.

In step 203, the deceleration point is determined based on the maximum traveling speed and the predetermined deceleration. In one embodiment, the deceleration point can be expressed by the travel distance. When the AGV travels in the path to reach the travel distance, it starts to decelerate according to the predetermined deceleration; 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.

Through such a method, it is possible to improve the running speed and improve the working efficiency while ensuring the parking accuracy; at the same time, fully taking into account the limitations of the mechanical structure of the AGV, the speed limit of different sections in the path, and the AGV speed limit of the upper computer, Ensure that the AGV's driving speed meets all requirements and ensure the safety of the AGV operation.

In one embodiment, shown in Figure 3A, 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:

S=S ₁ +S ₃ (1)

S ₁ =0.5*a _up *(V _max -V _current ) ² /a _up ² +V _current *(V _max -V _current )/a _up (2)

S ₃ =0.5*a _down *V _max ² /a _down ² (3)

By the above formula (1) (2) (3), we can get:

V _max =(2*S*a _up *a _down +a _down *V _current ² ) ^1/2 /(a _up +a _down ) ^1/2 (4)

According to such a method, 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.

In one embodiment, 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. In one embodiment, 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:

S ₁ =0.5*a _up *(V _path -V _current ) ² /a _up ² +V _current *(V _path -V _current )/a _up (5)

S ₃ =0.5*a _down *V _path ² /a _down ² (6)

If S ₁ + S ₃ > S, V _max can be obtained according to the above formula (4).

If S ₁ + S ₃ ≤ S, then V _max = V _path . When S ₁ + S ₃ <S, as shown in Fig. 3b, the AGV needs to travel at a constant speed for a distance, and the uniform running length S ₂ = SS _{1 -} S ₃ .

By such a method, 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.

A flow chart of another embodiment of the AGV motion control method of the present disclosure is shown in FIG.

In step 401, the travel plan of the AGV is determined based on the path length and the predetermined deceleration. In one embodiment, the travel schedule maximum and deceleration points may be included in the trip plan.

In step 402, 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. In one embodiment, control information can be sent to the servo amplifier, and the servo amplifier sends control information to the train to drive the AGV motion.

Through such a method, it is possible to control the movement of the AGV train wheel, ensure that the AGV travels according to the travel plan, and make the AGV's travel more specific, ensuring that the AGV can more accurately stop at the destination point and improve the parking accuracy. And it can reduce the waste of time, improve the work efficiency, and meet the high-speed job tempo requirements.

In one embodiment, 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. In one embodiment, the real-time speed can be obtained by the wheel train encoder, thereby improving the accuracy of the acquired real-time speed.

A schematic diagram of one embodiment of an AGV motion control device of the present disclosure is shown in FIG. The trip planning module 501 can determine the travel plan of the AGV according to the path length and the predetermined deceleration. In one embodiment, 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. In one embodiment, 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. In one embodiment, an instruction can be issued to the AGV's train to control the speed of the train.

A schematic diagram of one embodiment of a trip planning module in an AGV motion control device of the present disclosure is shown in FIG. Wherein, 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. At the same time, 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.

In one embodiment, 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.

In one embodiment, considering the different road conditions of different road sections in the path, and the limited performance of the vehicle, and the speed requirement of the upper computer to the AGV deployment process, 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.

In one embodiment, the deceleration point determined by the deceleration point determining unit 603 can be expressed by the driving distance. When the AGV travels in the path to reach the driving distance, it starts to decelerate according to the predetermined deceleration; the deceleration point can also be identified by the duration, when the AGV is traveling. When the time is reached, it starts to decelerate according to the predetermined deceleration; 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. Such a device can ensure that the AGV starts to decelerate after reaching the deceleration point, ensuring that the AGV can stop at the destination point more accurately and improve the parking accuracy.

In one embodiment, 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. In one embodiment, 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.

A schematic diagram of one embodiment of an AGV of the present disclosure is shown in FIG. Wherein, 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. Through actual testing, such AGV can achieve the effect of parking accuracy of ± 2mm.

A schematic diagram of another embodiment of the AGV of the present disclosure is shown in FIG. Among them, the structure and function of the AGV motion control device 801 and the servo amplifier 802 are similar to those in the embodiment of FIG. 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.

A schematic structural view of another embodiment of the AGV motion control device of the present disclosure is shown in FIG. The AGV motion control device includes a memory 910 and a processor 920. Wherein: 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.

In one embodiment, as shown in FIG. 10, 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.

In this embodiment, 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.

In another embodiment, 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. Those skilled in the art will appreciate that 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 present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, and computer program products according to embodiments of the present disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to general purpose computers, special purpose computers, embedded processors or other programmable data processing A processor of the device to generate a machine such that instructions executed by a processor of a computer or other programmable data processing device are used to implement a block or blocks in a flow or flow diagram and/or block diagram of the flowchart The device specified in the function.

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 present disclosure has been described in detail so far. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, 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. Moreover, in some embodiments, 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. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

It should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure and are not to be construed as limiting thereof; although the present disclosure will be described in detail with reference to the preferred embodiments, those skilled in the art should understand that Modifications of the specific embodiments disclosed are intended to be equivalent to the equivalents of the technical features of the present disclosure.

Claims

An automatic guided transport vehicle AGV motion control method, comprising:

Determining a travel plan of the 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;

The AGV motion is driven according to the trip plan, the maximum travel speed does not exceed the travel speed maximum value, and deceleration begins at the deceleration point.
The method of claim 1 wherein said determining a trip plan for the AGV based on 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 a maximum travel speed of the AGV according to the maximum speed based on the path length and a predetermined speed threshold; and

The deceleration point is determined based on the maximum traveling speed and the predetermined deceleration.
The method of claim 2, wherein the determining the maximum speed based on the path length based on the path length, the predetermined acceleration, and the predetermined deceleration comprises:

Determining, according to the predetermined acceleration, an acceleration length at which the AGV accelerates from a current speed to an upper path speed limit;

Determining, according to the predetermined deceleration, a deceleration length that the AGV needs to travel when decelerating from the upper limit of the path speed to a stationary state;

And determining, in the case that the sum of the acceleration length and the deceleration length is not greater than the path length, the maximum speed based on the path length is the path speed upper limit;

In a case where the sum of the acceleration 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 secured as the maximum speed based on the path length.
The method of claim 2, wherein the predetermined speed threshold comprises one or more of a mechanical structural limit speed of the AGV, a maximum allowable speed of each road segment in the path, and a command speed of the upper machine of the AGV;

Determining, according to the maximum speed based on the path length and the predetermined speed threshold, a maximum travel speed of the AGV includes:

A minimum speed is selected as the travel speed maximum value from the maximum speed based on the path length and the predetermined speed threshold.
The method of claim 1 wherein said driving said AGV motion in accordance with said trip plan comprises:

Driving the AGV to accelerate the driving at the predetermined acceleration to reach the maximum speed of the driving speed;

Driving the AGV to travel to the deceleration point at the maximum travel speed; and

The AGV is driven to decelerate at the predetermined deceleration until it is stationary.
The method of claim 3 further comprising:

Obtaining the real-time speed of the train of the AGV as the current speed.
The method of claim 1 wherein

The driving the AGV motion according to the trip plan includes: transmitting control information to the train by a servo amplifier to drive the AGV motion.
An automatic guided transport vehicle AGV motion control device, comprising:

a trip planning module, configured to determine a travel plan of the AGV according to a path length, a predetermined acceleration, and a predetermined deceleration, where the travel plan includes a travel speed maximum value and a deceleration point;

And a motion driving module, configured to drive the AGV motion according to the travel plan, the maximum travel speed does not exceed the travel speed maximum value, and start deceleration at the deceleration point.
The apparatus of claim 8 wherein said trip planning module comprises:

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;

a speed arbitration unit configured to determine a maximum travel speed of the AGV based on the maximum speed based on the path length and a predetermined speed threshold;

a deceleration point determining unit configured to determine the said driving speed maximum value and said predetermined deceleration Deceleration point.
The apparatus of claim 9 wherein said speed planning unit is configured to:

Determining, according to the predetermined acceleration, an acceleration length at which the AGV accelerates from a current speed to an upper path speed limit;

Determining, according to the predetermined deceleration, a deceleration length that the AGV needs to travel when decelerating from the upper limit of the path speed to a stationary state;

And determining, in the case that the sum of the acceleration length and the deceleration length is not greater than the path length, the maximum speed based on the path length is the path speed upper limit;

In a case where the sum of the acceleration 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 secured as the maximum speed based on the path length.
The apparatus according to claim 9, wherein said predetermined speed threshold comprises one or more of a mechanical structural limit speed of the AGV, a maximum allowable speed of each of the links in the path, and a command speed of the upper machine of the AGV;

The speed arbitration unit is configured to select a minimum speed as the travel speed maximum value from the maximum speed based on the path length and the predetermined speed threshold.
The apparatus of claim 8 wherein said motion drive module is configured to:

Driving the AGV to accelerate the driving at the predetermined acceleration to reach the maximum speed of the driving speed;

Driving the AGV to travel to the deceleration point at the maximum travel speed; and

The AGV is driven to decelerate at the predetermined deceleration until it is stationary.
An automatic guided transport vehicle AGV motion control device, comprising:

Memory;

A processor coupled to the memory, the processor being configured to perform the method of any one of claims 1 to 6 based on instructions stored in the memory.
A computer readable storage medium having stored thereon computer program instructions, the instruction being one or more The steps of the method of any one of claims 1 to 6 are implemented when the processor is executed.
An automatic guided transport vehicle AGV, including:

The AGV motion control device according to any one of claims 8 to 13;

A servo amplifier is configured to receive control information from the AGV motion control device to drive the train motion of the AGV.
The AGV of claim 15 further comprising:

A wheel train encoder configured to acquire a current speed of the train wheel and transmit to the AGV motion control device.