WO2023240984A1 - Agv小车载货运行控制方法、装置、存储介质及控制设备 - Google Patents

Agv小车载货运行控制方法、装置、存储介质及控制设备 Download PDF

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WO2023240984A1
WO2023240984A1 PCT/CN2022/141093 CN2022141093W WO2023240984A1 WO 2023240984 A1 WO2023240984 A1 WO 2023240984A1 CN 2022141093 W CN2022141093 W CN 2022141093W WO 2023240984 A1 WO2023240984 A1 WO 2023240984A1
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Prior art keywords
cargo
pressure
clamping
clamping pressure
relative change
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PCT/CN2022/141093
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English (en)
French (fr)
Inventor
兰可
谭龙田
陈高
马雅奇
张黎
陈彦宇
Original Assignee
珠海格力电器股份有限公司
珠海联云科技有限公司
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Publication of WO2023240984A1 publication Critical patent/WO2023240984A1/zh

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    • 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
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

  • the present disclosure relates to the technical field of AGV trolleys, and in particular to an AGV trolley cargo operation control method, device, storage medium and control equipment.
  • AGV Automated Guided Vehicle
  • AGV car Automated Guided Vehicle
  • the distinguishing feature of the AGV car is that it is driverless.
  • the AGV car is equipped with an automatic positioning and navigation system. It can drive automatically according to a predetermined route without manual guidance, realizing the automation of the entire process of cargo loading, unloading and transportation. During the transportation process, the AGV trolley will adjust its speed from time to time according to the actual route conditions.
  • the current AGV trolley is not equipped with protective measures such as guardrails, which can easily cause the goods on the AGV trolley to topple due to inertia, causing economic problems. losses, and there are major safety risks.
  • Some AGV trolleys are equipped with cargo holding plywood. In order to ensure the stability of the goods, the pressure of the holding plywood on the goods is generally large. Under this pressure, it is easy to deform or cause damage to the goods themselves. Therefore, there is an urgent need in this field to solve the problem of ensuring smooth operation and avoiding damage to goods while AGVs are carrying goods.
  • the present disclosure provides a method, device, storage medium and control equipment for controlling the cargo-carrying operation of AGV cars.
  • embodiments of the present disclosure provide a method for controlling the cargo-carrying operation of an AGV car.
  • the target AGV car is provided with a loading platform for carrying cargo and a clamping plate for clamping the cargo.
  • the method includes:
  • the clamping pressure of the clamping plate on the cargo is adjusted according to the operating status information of the target AGV car and the attribute information of the cargo, so that the relative pressure of the clamping plate is adjusted.
  • the amount of change meets the preset conditions.
  • the running status information includes vehicle speed
  • the attribute information includes at least one of cargo material, cargo height, cargo price, cargo weight, cargo type, cargo outer packaging material, and cargo outer packaging size.
  • the AGV car cargo operation control method also includes:
  • an initial value of the clamping pressure of the clamping plate on the goods is set, and the clamping plate is controlled to clamp the goods on the loading platform with the initial clamping pressure value. to enable the target AGV car to run with cargo.
  • setting an initial value of the clamping pressure of the cargo by the clamping plate based on the operating status information and the attribute information includes:
  • An initial value of the clamping pressure of the cargo by the clamping plate is set based on the first clamping pressure and the second clamping pressure.
  • the clamp pressure calculation formula includes a weighted summation of operating status information and attribute information.
  • setting the initial value of the clamping pressure of the cargo by the clamping plate based on the first clamping pressure and the second clamping pressure includes: combining the first clamping pressure and the second clamping pressure.
  • the weighted summation value of the second clamping pressure is set as the initial value of the clamping pressure of the clamping plate on the cargo.
  • adjusting the clamping pressure of the clamping plate on the cargo according to the operating status information of the target AGV car and the attribute information of the cargo includes:
  • the current clamping pressure is adjusted based on the adjustment coefficient of the clamping pressure, so that the relative change amount of the pressure meets the preset condition.
  • the preset condition includes that the relative change of the pressure does not exceed a preset threshold; and determining whether the relative change of the pressure meets the preset condition includes: determining the relative change of the pressure. Whether the amount does not exceed the preset threshold.
  • the AGV car cargo operation control method also includes:
  • the clamping pressure when the relative change amount of the pressure reaches the preset threshold is determined, and is used as the minimum pressure for smooth operation of the cargo under the current operating status information and attribute information. Clamp pressure.
  • determining the clamp pressure when the relative change amount of the pressure reaches a preset threshold includes:
  • the clamping pressure is the minimum clamping pressure required to make the cargo run smoothly under the current operating status information and attribute information.
  • the AGV car cargo operation control method also includes:
  • the corresponding relationship table between the operating status information, the attribute information and the clamping pressure and/or the clamping pressure calculation formula is updated.
  • inventions of the present disclosure provide an AGV car cargo-carrying operation control device.
  • the target AGV car is provided with a loading platform for carrying cargo and a clamping plate for clamping the cargo.
  • the device includes:
  • the monitoring module is configured to monitor the operating status information of the target AGV car and the relative change in the pressure of the cargo on the load platform during the cargo-carrying operation of the target AGV car;
  • a determination module configured to determine whether the relative change in pressure meets a preset condition
  • the adjustment module is configured to adjust the clamping pressure of the clamping plate on the cargo according to the operating status information of the target AGV trolley and the attribute information of the cargo when the relative change amount of the pressure does not meet the preset conditions, so as to The relative change amount of the pressure satisfies the preset conditions.
  • embodiments of the present disclosure provide a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer program is executed by one or more processors, the implementation of the first aspect is achieved.
  • AGV car cargo operation control method is achieved.
  • embodiments of the present disclosure provide a control device, including a memory and one or more processors.
  • a computer program is stored on the memory.
  • the computer program is executed by the one or more processors, The AGV car cargo operation control method described in the first aspect.
  • an embodiment of the present disclosure provides an AGV trolley, including the control device described in the fourth aspect.
  • the AGV trolley is provided with a loading platform for carrying goods and a clamping plate for clamping the goods.
  • one or more embodiments of the present disclosure can at least bring the following beneficial effects:
  • This disclosure monitors the operating status information of the target AGV trolley and the relative change of the pressure of the cargo on the load platform during the operation of the target AGV trolley.
  • the relative variation of the pressure does not meet the preset conditions
  • adjust the clamping pressure of the clamping plate on the goods so that the relative change in pressure meets the preset conditions, which can ensure that the goods are not damaged while ensuring the stable loading of the AGV trolley. , improving transportation efficiency and extending the service life of the plywood.
  • Figure 1 is a flow chart of an AGV car cargo operation control method provided by an embodiment of the present disclosure
  • Figure 2 is a flow chart of another AGV car cargo operation control method provided by an embodiment of the present disclosure
  • FIG. 3 is a block diagram of an AGV car cargo operation control device provided by an embodiment of the present disclosure
  • Figure 4 is a schematic front view of the clamp device provided by an embodiment of the present disclosure.
  • FIG. 5 is a schematic top view of the clamp device provided by an embodiment of the present disclosure.
  • some AGV trolleys are equipped with load-carrying plywood.
  • the pressure of the plywood on the goods is generally large. Under this pressure, it is easy to deform or cause damage to the goods themselves, and most of the plywood are
  • the fixed clamp pressure does not support adjusting the clamp pressure according to the operating status of the car. Therefore, embodiments of the present disclosure provide a method, device, storage medium, and control equipment for controlling the cargo-carrying operation of an AGV car, so as to ensure smooth operation and avoid damage to the cargo during the cargo-carrying operation of the AGV car.
  • This embodiment provides a method for controlling the cargo-carrying operation of an AGV trolley.
  • the target AGV trolley is provided with a loading platform for carrying cargo and a clamping plate for clamping the cargo.
  • this method at least includes steps S101 to S103:
  • Step S101 During the operation of the target AGV car carrying goods, monitor the operating status information of the target AGV car and the relative change in the pressure of the goods on the load platform;
  • Step S102 Determine whether the relative change amount of pressure meets the preset condition; if the relative change amount of pressure does not meet the preset condition, execute step S103; if the relative change amount of pressure meets the preset condition, continue.
  • the operating status information of the target AGV car and the relative change of the pressure of the goods on the load platform are monitored.
  • Step S103 Adjust the clamping pressure of the clamping plate on the cargo according to the operating status information of the target AGV car and the attribute information of the cargo, so that the relative change in pressure meets the preset conditions.
  • the operating status information of the target AGV car and the relative change amount of the pressure of the goods on the load platform are monitored in real time; and when the relative change amount of the pressure does not meet the preset conditions
  • adjust the clamping pressure of the clamping plate on the cargo so that the relative change in pressure meets the preset conditions, and the operating status information and the attribute information of the cargo can be combined
  • the clamping pressure to avoid adjusting the clamping pressure only based on the operating status and causing the clamping pressure to be too high for the current properties of the cargo, causing damage to the cargo.
  • the running status information includes vehicle speed
  • the attribute information includes at least one of cargo material, cargo height, cargo price, cargo weight, cargo type, cargo outer packaging material, and cargo outer packaging size.
  • the AGV car cargo operation control method of this embodiment also includes:
  • Step S201 Obtain the running status information of the target AGV car and the attribute information of the goods;
  • Step S202 Set the initial value of the clamping pressure of the clamping plate on the goods based on the operating status information and attribute information, and control the clamping plate to clamp the goods on the loading platform with the initial clamping pressure value, so that the target AGV trolley can load the goods. run.
  • setting the initial value of the clamping pressure of the clamping plate on the cargo based on the operating status information and attribute information may further include steps S202a to S202c:
  • Step S202a Based on the running status information and attribute information, query the corresponding first clamping pressure F 1 from the stored correspondence table between the running status information, attribute information and clamping pressure.
  • a correspondence table can be established in advance based on the existing data of the operating status information, attribute information and the corresponding minimum clamping pressure, so that it can be used for query when setting the initial value of the clamping pressure of the cargo by the clamping plate.
  • Step S202b Calculate the corresponding second clamping pressure F 2 using a preset clamping pressure calculation formula based on the operating status information and attribute information.
  • the clamp pressure calculation formula includes a weighted summation of operating status information and attribute information.
  • the running status information includes vehicle speed
  • the attribute information includes cargo material, cargo height, cargo price, and cargo weight.
  • the clamp pressure calculation formula can be as follows:
  • F 2 represents the second clamping pressure
  • p, q, r, s, and t represent the weight coefficient of cargo height, cargo weight, vehicle speed, cargo material, and cargo price respectively.
  • the weight coefficient can be based on historical operating status information and attribute information. Carry out continuous optimization.
  • Step S202c Set an initial value of the clamping pressure of the clamping plate on the cargo based on the first clamping pressure and the second clamping pressure.
  • setting the initial value of the clamping pressure of the clamping plate on the cargo based on the first clamping pressure and the second clamping pressure includes: setting the weighted sum of the first clamping pressure and the second clamping pressure. It is the initial value of the clamping pressure of the clamping plate on the cargo.
  • the following formula can be used to calculate the initial value of the clamping pressure of the clamping plate on the cargo:
  • the query is based on the running status information and attribute information. From the stored correspondence table between the running status information, attribute information and the clamping pressure, Query the corresponding first clamping pressure F 1 ; on the other hand, calculate the second clamping pressure based on the real-time operating status information and the attribute information of the currently carried goods, and set the initial value of the clamping pressure by combining the two aspects of clamping pressure. It can ensure that the AGV car runs smoothly without damaging the goods with the minimum initial value of clamping pressure under the current cargo attributes and operating status information.
  • the relative change ⁇ G of the pressure of the cargo on the loading platform can be calculated based on the current pressure G of the cargo on the loading platform (can be obtained through the pressure sensor) and the weight of the cargo (cargo gravity) mg :
  • ⁇ G When the speed or forward direction of the AGV car is adjusted, ⁇ G will change.
  • ⁇ G is greater than the preset threshold G0, the clamping pressure of the cargo clamping plate on the cargo needs to be adjusted so that ⁇ G ⁇ G0 to ensure the smooth operation of the cargo, G0 It can be determined based on the minimum range of actual acceptable load pressure change.
  • adjusting the clamping pressure of the clamping plate on the cargo according to the operating status information of the target AGV car and the attribute information of the cargo may further include steps S103a to S103b:
  • Step S103a Calculate the adjustment coefficient of the clamping pressure based on the relative change of the pressure, the operating status information of the target AGV car and the attribute information of the goods.
  • the running status information includes vehicle speed
  • the attribute information includes cargo material, cargo height, cargo price, and cargo weight.
  • the following formula can be used to calculate the adjustment coefficient of the clamp pressure:
  • ⁇ represents the adjustment coefficient of the clamping pressure
  • ⁇ G represents the relative change of pressure
  • i, j, k, m, and n respectively represent the weight coefficient of the relative change of pressure, the weight coefficient of vehicle speed, and the weight coefficient of cargo height.
  • the weight coefficient of cargo material and the weight coefficient of cargo price Since the relative change in pressure already reflects the factor of cargo weight, there is no need to consider the attribute information of cargo weight when calculating the adjustment coefficient.
  • Step S103b Adjust the current clamp pressure based on the adjustment coefficient of the clamp pressure, so that the relative change amount of the pressure meets the preset condition.
  • the preset condition includes that the relative change amount of pressure does not exceed a preset threshold; determining whether the relative change amount of pressure meets the preset condition includes: determining whether the relative change amount of pressure does not exceed the preset threshold value.
  • the preset threshold can be expressed as G0 to determine whether the condition of the relative change in pressure ⁇ G ⁇ G0 is met. When this condition is not met, based on the relative change in pressure ⁇ G and the target AGV car's Based on the operating status information (such as vehicle speed) and cargo attribute information (such as cargo material, cargo height, and cargo price), the adjustment coefficient ⁇ of the clamping pressure is calculated, and then the clamping pressure is adjusted according to the following formula.
  • F0 is the clamping pressure of the cargo clamping plate on the cargo before adjustment
  • F is the clamping pressure of the cargo clamping plate on the cargo after adjustment.
  • ⁇ G ⁇ G0 is satisfied.
  • the AGV car cargo operation control method of this embodiment also includes:
  • Step S104 When the relative change in pressure meets the preset conditions, determine the clamping pressure when the relative change in pressure reaches the preset threshold, and use it as the minimum clamping pressure to ensure smooth operation of the cargo under the current operating status information and attribute information. Clamping pressure.
  • determining the clamp pressure when the relative change in pressure reaches a preset threshold in step S104 may further include:
  • Step S104a When the relative change amount of the pressure is less than the preset threshold, gradually reduce the holding clamp pressure according to the relationship between the holding clamp pressure and time, until the relative change amount of the pressure reaches the preset threshold, and determine the holding clamp pressure at this time.
  • the clamping pressure is the minimum clamping pressure required to make the goods run smoothly under the current operating status information and attribute information.
  • the adjusted clamping pressure is not the minimum clamping pressure to make the goods run smoothly under the current operating status information and attribute information.
  • the AGV car travels at a stable speed, find the minimum clamping pressure to keep the goods stable.
  • the clamping force is used to pressurize the goods, which can not only avoid the deformation and damage of the goods due to excessive pressure, but also reduce the load of the plywood to avoid large losses and reduced service life.
  • the AGV car cargo operation control method of this embodiment also includes:
  • Step S105 Based on the minimum clamping pressure, update the corresponding relationship table between the operating status information, the attribute information and the clamping pressure, and/or the clamping pressure calculation formula.
  • the corresponding relationship table between the running status information, attribute information and the clamping pressure is updated for query and use when setting the initial value of the clamping pressure of the clamping plate on the cargo. It can be that a correspondence table is established in advance based on the existing data of the operating status information, attribute information and the corresponding minimum clamping pressure, and the minimum clamping pressure is continuously updated according to different operating status information and attribute information during the cargo operation. This table makes the correspondence in this table reflect real and accurate data, and then the initial value is set based on the first clamp pressure calculated by this table and the second clamp pressure calculated using the clamp pressure calculation formula. It is also more accurate, improves adjustment efficiency, and thereby improves the automatic transportation efficiency of AGV trolleys.
  • the clamping pressure calculation formula is updated, and the weight coefficients of the operating status information and attribute information are optimized and adjusted, so that the second clamping pressure value calculated using the clamping pressure calculation formula is more accurate. For accuracy, it is closer to the real minimum clamping pressure.
  • the weight coefficients p, q, r, s, t of cargo height, cargo weight, vehicle speed, cargo material, and cargo price are optimized and adjusted.
  • the corresponding relationship table between the operating status information, attribute information and the clamping pressure and the clamping pressure calculation formula are updated, so that the setting is based on the first clamping pressure and the second clamping pressure.
  • the initial value is closer to the currently required minimum clamping pressure value, improving transportation efficiency.
  • the present disclosure prevents the AGV car from shifting or dumping the goods due to adjusting the speed or changing the direction of travel during the cargo-carrying operation, making the transportation smoother and more stable.
  • the clamping pressure of the clamping plate is automatically adjusted to maintain the stability of the goods while avoiding excessive pressure that may cause deformation and damage to the goods, etc., thereby improving the efficiency of automatic transportation of AGV trolleys.
  • the clamping pressure is automatically adjusted according to the working status of the trolley, preventing the clamping plate from always working under a high load, causing large losses and easily reducing the service life, and increasing the cost of product use.
  • This embodiment provides an AGV car cargo-carrying operation control device.
  • the target AGV car is provided with a load platform for carrying cargo and a clamping plate for clamping the cargo.
  • the device includes:
  • the monitoring module 301 is configured to monitor the operating status information of the target AGV car and the relative change in the pressure of the cargo on the load platform during the cargo-carrying operation of the target AGV car;
  • the determination module 302 is configured to determine whether the relative change in pressure meets the preset condition
  • the adjustment module 303 is configured to adjust the clamping pressure of the clamping plate on the cargo according to the operating status information of the target AGV car and the attribute information of the cargo when the relative change in pressure does not meet the preset conditions, so that the pressure is The relative change meets the preset conditions.
  • the operating status information of the target AGV car and the relative change amount of the pressure of the goods on the load platform are monitored in real time; and when the relative change amount of the pressure does not meet the preset conditions
  • adjust the clamping pressure of the clamping plate on the cargo so that the relative change in pressure meets the preset conditions, and the operating status information and the attribute information of the cargo can be combined
  • the clamping pressure to avoid adjusting the clamping pressure only based on the operating status and causing the clamping pressure to be too high for the current properties of the cargo, causing damage to the cargo.
  • the running status information includes vehicle speed
  • the attribute information includes at least one of cargo material, cargo height, cargo price, cargo weight, cargo type, cargo outer packaging material, and cargo outer packaging size.
  • the device also includes:
  • the setting module is configured to obtain the operating status information of the target AGV car and the attribute information of the cargo, set the initial value of the clamping pressure of the clamping plate on the cargo based on the operating status information and attribute information, and control the clamping plate to clamp the cargo with the initial value of the clamping pressure.
  • the goods on the loading platform are clamped so that the target AGV car can run with the goods.
  • setting the initial value of the clamping pressure of the clamping board on the cargo based on the operating status information and attribute information may further include:
  • the clamp pressure calculation formula includes a weighted summation of operating status information and attribute information.
  • the running status information includes vehicle speed
  • the attribute information includes cargo material, cargo height, cargo price, and cargo weight.
  • the clamp pressure calculation formula can be as follows:
  • F 2 represents the second clamping pressure
  • p, q, r, s, and t represent the weight coefficient of cargo height, cargo weight, vehicle speed, cargo material, and cargo price respectively.
  • the weight coefficient can be based on historical operating status information and attribute information. Carry out continuous optimization.
  • setting the initial value of the clamping pressure of the clamping plate on the cargo based on the first clamping pressure and the second clamping pressure includes: setting the weighted sum of the first clamping pressure and the second clamping pressure. It is the initial value of the clamping pressure of the clamping plate on the cargo.
  • the following formula can be used to calculate the initial value of the clamping pressure of the clamping plate on the cargo:
  • the clamping pressure of the clamping plate on the cargo is adjusted based on the operating status information of the target AGV car and the attribute information of the cargo, which may further include: based on the relative change amount of the pressure, the operating status information of the target AGV car and the cargo.
  • the attribute information of the clamp is used to calculate the adjustment coefficient of the clamp pressure; the current clamp pressure is adjusted based on the adjustment coefficient of the clamp pressure so that the relative change in pressure meets the preset conditions.
  • the running status information includes vehicle speed
  • the attribute information includes cargo material, cargo height, cargo price, and cargo weight.
  • the following formula can be used to calculate the adjustment coefficient of the clamp pressure:
  • ⁇ represents the adjustment coefficient of the clamping pressure
  • ⁇ G represents the relative change of pressure
  • i, j, k, m, and n respectively represent the weight coefficient of the relative change of pressure, the weight coefficient of vehicle speed, and the weight coefficient of cargo height.
  • the weight coefficient of cargo material and the weight coefficient of cargo price Since the relative change in pressure already reflects the factor of cargo weight, there is no need to consider the attribute information of cargo weight when calculating the adjustment coefficient.
  • the preset condition includes that the relative change amount of pressure does not exceed a preset threshold; determining whether the relative change amount of pressure meets the preset condition includes: determining whether the relative change amount of pressure does not exceed the preset threshold value.
  • the preset threshold can be expressed as G0 to determine whether the condition of the relative change in pressure ⁇ G ⁇ G0 is met. When this condition is not met, based on the relative change in pressure ⁇ G and the target AGV car's Based on the operating status information (such as vehicle speed) and cargo attribute information (such as cargo material, cargo height, and cargo price), the adjustment coefficient ⁇ of the clamping pressure is calculated, and then the clamping pressure is adjusted according to the following formula.
  • F0 is the clamping pressure of the cargo clamping plate on the cargo before adjustment
  • F is the clamping pressure of the cargo clamping plate on the cargo after adjustment.
  • ⁇ G ⁇ G0 is satisfied.
  • the adjustment module 303 is also configured to: when the relative change in pressure meets the preset conditions, determine the clamp pressure when the relative change in pressure reaches the preset threshold, and use it as the current operating status information And the minimum clamping pressure to make the goods run smoothly under the attribute information.
  • determining the clamp pressure when the relative change amount of the pressure reaches a preset threshold may further include: when the relative change amount of the pressure is less than the preset threshold value, according to the relationship between the clamp pressure and time, which is inversely proportional to Gradually reduce the clamping pressure until the relative change in pressure reaches the preset threshold, and determine the clamping pressure at this time to be the minimum clamping pressure that allows the cargo to run smoothly under the current operating status information and attribute information.
  • the adjustment module 303 is further configured to: update the corresponding relationship table between the operating status information, the attribute information and the clamp pressure, and/or the clamp pressure calculation formula based on the minimum clamp pressure.
  • the present disclosure prevents the AGV car from shifting or dumping the goods due to adjusting the speed or changing the direction of travel during the cargo-carrying operation, making the transportation smoother and more stable.
  • the clamping pressure of the clamping plate is automatically adjusted to maintain the stability of the goods while avoiding excessive pressure that may cause deformation and damage to the goods, etc., thereby improving the efficiency of automatic transportation of AGV trolleys.
  • the clamping pressure is automatically adjusted according to the working status of the trolley, preventing the clamping plate from always working under a high load, causing large losses and easily reducing the service life, and increasing the cost of product use.
  • each of the above modules or steps can be implemented using a general computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. In some embodiments, they can be implemented with program codes executable by a computing device, thus they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules among them Or the steps are made into a single integrated circuit module.
  • the present disclosure is not limited to any limited combination of hardware and software.
  • This embodiment provides a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer program is executed by one or more processors, the AGV cargo-carrying operation control method of Embodiment 1 is implemented.
  • the storage medium can be implemented by any type of volatile or non-volatile storage device or their combination, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), only Read-Only Memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM static random access memory
  • EEPROM Electrically erasable programmable read-only memory
  • EPROM erasable programmable Read-Only Memory
  • PROM programmable Read-Only Memory
  • ROM Only Read-Only Memory
  • This embodiment provides a control device that includes a memory and one or more processors.
  • a computer program is stored in the memory.
  • the computer program is executed by one or more processors, the AGV cargo-carrying operation control method of Embodiment 1 is implemented. .
  • the processor can be an Application Specific Integrated Circuit (ASIC for short), a Digital Signal Processor (DSP for short), a Digital Signal Processing Device (DSPD for short), or Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, Microcontroller Unit (MCU), microprocessor or other electronic components, implemented with To perform the method in the above embodiment.
  • ASIC Application Specific Integrated Circuit
  • DSP Digital Signal Processor
  • DSPD Digital Signal Processing Device
  • PLD Programmable Logic Device
  • FPGA Field Programmable Gate Array
  • controller Microcontroller Unit
  • MCU Microcontroller Unit
  • This embodiment provides an AGV trolley, including the control device of Embodiment 4.
  • the AGV trolley is provided with a loading platform for carrying goods and a clamping plate for clamping the goods.
  • Figures 4 and 5 respectively show the front view and the top view of the clamping device to ensure the smooth transportation of goods on the AGV trolley.
  • the load platform 1 on the AGV trolley is used to carry goods 4.
  • Multi-section telescopic support joints 2 are installed on both sides of the AGV trolley in the direction of travel. The upper end is connected to the holding splint 3 to ensure the stability of the goods, and the lower end is connected to the load platform. 1.
  • the multi-section telescopic support joint can freely adjust its telescopic length and angle according to the height and width of the cargo.
  • a pressure sensor 5 is installed on the contact surface between the upper part of the load platform 1 and the cargo 4, which is set to detect the impact of the cargo on the load platform.
  • the pressure changes, and a pressure sensor 6 is installed on the contact surface between the clamping plate 3 and the cargo 4, which is configured to detect the clamping pressure.
  • the control equipment of the AGV car monitors the operating status information of the target AGV car and the relative change of the pressure of the goods on the load platform in real time during the operation of the target AGV car carrying goods; and in the relative change of the pressure
  • the clamping pressure of the clamping plate on the goods is adjusted according to the operating status information of the target AGV car and the attribute information of the goods, so that the relative change in pressure meets the preset conditions and can be combined with the operating status.
  • information and the attribute information of the cargo to adjust the clamping pressure to avoid adjusting the clamping pressure only based on the operating status and making the clamping pressure too large for the current attribute of the cargo, resulting in damage to the cargo.

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Abstract

一种AGV小车载货运行控制方法、装置、存储介质及控制设备，能够使AGV小车载货运行过程中同时保证平稳运行和避免货物受损。目标AGV小车设置有承载货物（4）的载物台（1）和夹持货物（4）的抱夹板（3），该方法包括：在目标AGV小车载货运行过程中，监测目标AGV小车的运行状态信息及货物（4）对载物台（1）的压力的相对变化量（S101）；确定压力的相对变化量是否满足预设条件（S102）；在压力的相对变化量不满足预设条件的情况下，根据目标AGV小车的运行状态信息及货物（4）的属性信息，调整抱夹板（3）对货物（4）的抱夹压力，以使压力的相对变化量满足预设条件（S103）。

Description

AGV小车载货运行控制方法、装置、存储介质及控制设备
本公开要求于2022年06月16日提交中国专利局、申请号为202210688613.3、发明名称为“AGV小车载货运行控制方法、装置、存储介质及控制设备”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及AGV小车技术领域，尤其涉及一种AGV小车载货运行控制方法、装置、存储介质及控制设备。
背景技术
AGV(Automated Guided Vehicle)小车由于具有自动化程度高、无人驾驶、占地面积小、方便易管理等特性，现已广泛应用于制造业、仓储业，以及机场港口的物流搬运工作。AGV小车显著特点就是无人驾驶，AGV小车上装配有自动定位导航系统，无需人工指引，即可按照预定的路线自动行驶，实现货物装卸和搬运全过程自动化。运输过程中，AGV小车会根据实际路线情况不定时调整车速，而目前的AGV小车为方便装卸货物，并未加装护栏等保护措施，极易导致AGV小车上的货物因惯性而倾倒，造成经济损失，且存在较大的安全隐患。一些安装了载物抱夹板的AGV小车，为保证货物稳定，抱夹板对货物的压力一般较大，在此压力下是易发生形变或者对货物本身造成损坏。因此，本领域亟需解决AGV小车载货运行过程中同时保证平稳运行和避免货物受损的问题。
发明内容
为解决AGV小车载货运行过程中同时保证平稳运行和避免货物受损的问题，本公开提供一种AGV小车载货运行控制方法、装置、存储介质及控制设备。
第一方面，本公开实施例提供一种AGV小车载货运行控制方法，目标AGV小车设置有承载货物的载物台和夹持货物的抱夹板，所述方法包括：
在目标AGV小车载货运行过程中，监测目标AGV小车的运行状态信息及货物对所述载物台的压力的相对变化量；
确定所述压力的相对变化量是否满足预设条件；
在所述压力的相对变化量不满足预设条件的情况下，根据目标AGV小车的运行状态信息及货物的属性信息，调整所述抱夹板对货物的抱夹压力，以使所述压力的相对变化量满足预设条件。
在一些实现方式中，所述运行状态信息包括车速，所述属性信息包括货物材质、货物高度、货物价格、货物重量、货物种类、货物外包装材料、货物外包装尺寸中的至少一种。
在一些实现方式中，所述的AGV小车载货运行控制方法，还包括：
获取目标AGV小车的运行状态信息和货物的属性信息；
基于所述运行状态信息和所述属性信息设置所述抱夹板对货物的抱夹压力初始值，并控制所述抱夹板以所述抱夹压力初始值对所述载物台上的货物进行夹持，以使目标AGV小车载货运行。
在一些实现方式中，所述基于所述运行状态信息和所述属性信息设置所述抱夹板对货物的抱夹压力初始值，包括：
基于所述运行状态信息和所述属性信息，从已存储的运行状态信息、属性信息与抱夹压力的对应关系表中，查询对应的第一抱夹压力；
基于所述运行状态信息和所述属性信息，利用预设的抱夹压力计算式计算对应的第二抱夹压力；
基于所述第一抱夹压力和所述第二抱夹压力设置所述抱夹板对货物的抱夹压力初始值。
在一些实现方式中，所述抱夹压力计算式包括对运行状态信息及属性信息进行加权求和的计算式。
在一些实现方式中，所述基于所述第一抱夹压力和所述第二抱夹压力设置所述抱夹板对货物的抱夹压力初始值，包括：将所述第一抱夹压力和所述第二抱夹压力的加权求和值设置为所述抱夹板对货物的抱夹压力初始值。
在一些实现方式中，所述根据目标AGV小车的运行状态信息及货物的属性信息，调整所述抱夹板对货物的抱夹压力，包括：
基于所述压力的相对变化量、目标AGV小车的运行状态信息及货物的属性 信息，计算抱夹压力的调整系数；
基于所述抱夹压力的调整系数调整当前的抱夹压力，以使所述压力的相对变化量满足预设条件。
在一些实现方式中，所述预设条件包括所述压力的相对变化量不超过预设阈值；所述确定所述压力的相对变化量是否满足预设条件，包括：确定所述压力的相对变化量是否不超过预设阈值。
在一些实现方式中，所述的AGV小车载货运行控制方法，还包括：
在所述压力的相对变化量满足预设条件的情况下，确定所述压力的相对变化量达到预设阈值时的抱夹压力，并作为当前运行状态信息及属性信息下使货物平稳运行的最小抱夹压力。
在一些实现方式中，所述确定所述压力的相对变化量达到预设阈值时的抱夹压力，包括：
在所述压力的相对变化量小于预设阈值的情况下，按照抱夹压力与时间成反比的关系逐渐减小抱夹压力，直至所述压力的相对变化量达到预设阈值，确定此时的抱夹压力为当前运行状态信息及属性信息下使货物平稳运行的最小抱夹压力。
在一些实现方式中，所述的AGV小车载货运行控制方法，还包括：
基于所述最小抱夹压力，更新运行状态信息、属性信息与抱夹压力的对应关系表和/或所述抱夹压力计算式。
第二方面，本公开实施例提供一种AGV小车载货运行控制装置，目标AGV小车设置有承载货物的载物台和夹持货物的抱夹板，所述装置包括：
监测模块，被设置为在目标AGV小车载货运行过程中，监测目标AGV小车的运行状态信息及货物对所述载物台的压力的相对变化量；
确定模块，被设置为确定所述压力的相对变化量是否满足预设条件；
调整模块，被设置为在所述压力的相对变化量不满足预设条件的情况下，根据目标AGV小车的运行状态信息及货物的属性信息，调整所述抱夹板对货物的抱夹压力，以使所述压力的相对变化量满足预设条件。
第三方面，本公开实施例提供一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被一个或多个处理器执行时，实现第一方面所述的AGV小车载货运行控制方法。
第四方面，本公开实施例提供一种控制设备，包括存储器和一个或多个处理器，所述存储器上存储有计算机程序，所述计算机程序被所述一个或多个处理器执行时，实现第一方面所述的AGV小车载货运行控制方法。
第五方面，本公开实施例提供一种AGV小车，包括第四方面所述的控制设备，所述AGV小车设置有承载货物的载物台和夹持货物的抱夹板。
与相关技术相比，本公开的一个或多个实施例至少能够带来如下有益效果：
本公开在目标AGV小车载货运行过程中监测目标AGV小车的运行状态信息及货物对载物台的压力的相对变化量，在压力的相对变化量不满足预设条件的情况下，根据目标AGV小车的运行状态信息及货物的属性信息，调整抱夹板对货物的抱夹压力，以使压力的相对变化量满足预设条件，能够在保证AGV小车载货平稳的前提下，保证货物不受损害，提升了运输效率，同时延长了抱夹板的使用寿命。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本公开的某些实施例，因此不应被看作是对范围的限定。
图1是本公开实施例提供的一种AGV小车载货运行控制方法流程图；
图2是本公开实施例提供的另一种AGV小车载货运行控制方法流程图；
图3是本公开实施例提供的一种AGV小车载货运行控制装置框图；
图4是本公开实施例提供的抱夹装置的正视示意图；
图5是本公开实施例提供的抱夹装置的俯视示意图。
具体实施方式
下面将结合本公开实施例中附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本公开实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本公开的实施例的详细描述并非旨在限制要求保护的本公开的范围，而是仅仅表示本公开的选定实施例。基于 本公开的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
相关技术中，一些安装了载物抱夹板的AGV小车，为保证货物稳定，抱夹板对货物的压力一般较大，在此压力下易发生形变或者对货物本身造成损坏，且大多数抱夹板是固定的抱夹压力，并不支持根据小车运行状态调整抱夹压力。因此，本公开的实施例提供一种AGV小车载货运行控制方法、装置、存储介质及控制设备，以在AGV小车载货运行过程中同时保证平稳运行和避免货物受损。
实施例一
本实施例提供一种AGV小车载货运行控制方法，目标AGV小车设置有承载货物的载物台和夹持货物的抱夹板，如图1所示，本方法至少包括步骤S101～步骤S103：
步骤S101、在目标AGV小车载货运行过程中，监测目标AGV小车的运行状态信息及货物对载物台的压力的相对变化量；
步骤S102、确定压力的相对变化量是否满足预设条件；在压力的相对变化量不满足预设条件的情况下，执行步骤S103；在压力的相对变化量满足预设条件的情况下，则继续在目标AGV小车载货运行过程中，监测目标AGV小车的运行状态信息及货物对载物台的压力的相对变化量。
步骤S103、根据目标AGV小车的运行状态信息及货物的属性信息，调整抱夹板对货物的抱夹压力，以使压力的相对变化量满足预设条件。
本实施例中，通过在目标AGV小车载货运行过程中，实时监测目标AGV小车的运行状态信息及货物对载物台的压力的相对变化量；并在压力的相对变化量不满足预设条件的情况下，根据目标AGV小车的运行状态信息及货物的属性信息，调整抱夹板对货物的抱夹压力，以使压力的相对变化量满足预设条件，能够结合运行状态信息和货物的属性信息来调整抱夹压力，避免仅根据运行状态调整而使抱夹压力对于当前属性的货物来说过大，导致货物受损。
在一些实现方式中，运行状态信息包括车速，属性信息包括货物材质、货物高度、货物价格、货物重量、货物种类、货物外包装材料、货物外包装尺寸中的至少一种。
在一些实现方式中，本实施例的AGV小车载货运行控制方法，如图2所示，还包括：
步骤S201、获取目标AGV小车的运行状态信息和货物的属性信息；
步骤S202、基于运行状态信息和属性信息设置抱夹板对货物的抱夹压力初始值，并控制抱夹板以抱夹压力初始值对载物台上的货物进行夹持，以使目标AGV小车载货运行。
在一些实现方式中，基于运行状态信息和属性信息设置抱夹板对货物的抱夹压力初始值，可以进一步包括步骤S202a～步骤S202c：
步骤S202a、基于运行状态信息和属性信息，从已存储的运行状态信息、属性信息与抱夹压力的对应关系表中，查询对应的第一抱夹压力F 1。
在实际应用中，可以预先根据运行状态信息、属性信息与对应的最小抱夹压力的已有数据建立对应关系表，以供设置抱夹板对货物的抱夹压力初始值时查询使用。
步骤S202b、基于运行状态信息和属性信息，利用预设的抱夹压力计算式计算对应的第二抱夹压力F 2。
在一些实现方式中，抱夹压力计算式包括对运行状态信息及属性信息进行加权求和的计算式。
一个示例中，运行状态信息包括车速，属性信息包括货物材质、货物高度、货物价格和货物重量。抱夹压力计算式可以如下：
F 2＝p*高度+q*重量+r*车速+s*材质+t*价格
其中，F 2表示第二抱夹压力，p、q、r、s、t分别表示货物高度、货物重量、车速、货物材质、货物价格的权重系数，权重系数可以根据历史运行状态信息和属性信息进行不断优化。
步骤S202c、基于第一抱夹压力和第二抱夹压力设置抱夹板对货物的抱夹压力初始值。
在一些实现方式中，基于第一抱夹压力和第二抱夹压力设置抱夹板对货物的抱夹压力初始值，包括：将第一抱夹压力和第二抱夹压力的加权求和值设置为抱夹板对货物的抱夹压力初始值。
在一个示例中，可以利用下式计算抱夹板对货物的抱夹压力初始值：
F ＝α*F 1+β*F 2
其中，α、β分别表示第一抱夹压力的权重系数和第二抱夹压力的权重系数，且α+β＝1。
本实施例中，在设置抱夹板对货物的抱夹压力初始值时，一方面查询基于运行状态信息和属性信息，从已存储的运行状态信息、属性信息与抱夹压力的对应关系表中，查询对应的第一抱夹压力F 1；另一方面根据实时的运行状态信息及当前所载货物的属性信息计算第二抱夹压力，结合两方面的抱夹压力进行抱夹压力初始值设置，能够保证在当前货物属性和运行状态信息下以最小的抱夹压力初始值保证AGV小车在在货物不被损坏的情况下平稳运行。
在目标AGV小车载货运行过程中，货物对载物台的压力的相对变化量ΔG能够根据当前货物对载物台的压力G(可以通过压力传感器获取)和货物重量(货物重力)mg计算得到：
Figure PCTCN2022141093-appb-000001
当AGV小车的速度或前进方向调整时，ΔG会发生变化，当ΔG大于预设阈值G0时，需要调整载物抱夹板对货物的抱夹压力，使ΔG≤G0，以保证货物平稳运行，G0可以根据实际能够接受的载物压力变化量最小范围来确定。
在一些实现方式中，根据目标AGV小车的运行状态信息及货物的属性信息，调整抱夹板对货物的抱夹压力，可以进一步包括步骤S103a～步骤S103b：
步骤S103a、基于压力的相对变化量、目标AGV小车的运行状态信息及货物的属性信息，计算抱夹压力的调整系数。
在一个示例中，运行状态信息包括车速，属性信息包括货物材质、货物高度、货物价格和货物重量。可以利用下式计算抱夹压力的调整系数：
γ＝i*ΔG+j*车速+k*高度+m*材质+n*价格
其中，γ表示抱夹压力的调整系数，ΔG表示压力的相对变化量，i、j、k、m、n分别表示压力的相对变化量的权重系数、车速的权重系数、货物高度的权重系数、货物材质的权重系数、货物价格的权重系数，由于压力的相对变化量已反映货物重量的因素，因此在计算调整系数时无需再考虑货物重量这一属性信息。
步骤S103b、基于抱夹压力的调整系数调整当前的抱夹压力，以使压力的相对变化量满足预设条件。
在一些实现方式中，预设条件包括压力的相对变化量不超过预设阈值；确定压力的相对变化量是否满足预设条件，包括：确定压力的相对变化量是否不超过预设阈值。
在一些情形中，预设阈值可以表示为G0，确定是否满足压力的相对变化量ΔG≤G0这一条件，当这一条件不满足的情况下，基于压力的相对变化量ΔG、目标AGV小车的运行状态信息(例如车速)及货物的属性信息(例如货物材质、货物高度和货物价格)，计算抱夹压力的调整系数γ，进而根据下式调整抱夹压力。
F＝(1+γ)*F0
其中，F0为调整前载物抱夹板对货物的抱夹压力，F为调整后载物抱夹板对货物的抱夹压力，调整后满足ΔG≤G0。
在一些实现方式中，本实施例的AGV小车载货运行控制方法还包括：
步骤S104、在压力的相对变化量满足预设条件的情况下，确定压力的相对变化量达到预设阈值时的抱夹压力，并作为当前运行状态信息及属性信息下使货物平稳运行的最小抱夹压力。
在一些实现方式中，步骤S104中确定压力的相对变化量达到预设阈值时的抱夹压力，可以进一步包括：
步骤S104a、在压力的相对变化量小于预设阈值的情况下，按照抱夹压力与时间成反比的关系逐渐减小抱夹压力，直至压力的相对变化量达到预设阈值，确定此时的抱夹压力为当前运行状态信息及属性信息下使货物平稳运行的最小抱夹压力。
应当理解的是，在前述基于抱夹压力的调整系数调整当前的抱夹压力，以使压力的相对变化量满足预设条件的基础上，可能存在两种情况：其一是调整当前的抱夹压力后，压力的相对变化量小于预设阈值，ΔG＜G0；其二是调整当前的抱夹压力后，压力的相对变化量等于预设阈值，ΔG＝G0。当ΔG＝G0时，调整得到的抱夹压力就是当前运行状态信息及属性信息下使货物平稳运行的最小抱夹压力，因而无需进一步调整。而当ΔG＜G0的情况下，调整得到的抱夹压力并非当前运行状态信息及属性信息下使货物平稳运行的最小抱夹压力，而当AGV小车行进速度稳定时，找寻保持货物稳定的最小抱夹压力来对货物进行施压，既可以避免货物因压力过大导致货物变形受损等，也可以降低抱夹板负荷，避免其损耗大，使用寿命降低。
在一些实现方式中，按照抱夹压力与时间成反比的关系逐渐减小抱夹压力，直至压力的相对变化量达到预设阈值，可以随着时间的延长，逐步减小抱 夹压力至ΔG＝G0。此处的逐步减小可以是按照一定的预设步长进行逐步减小，以准确找到使得ΔG＝G0的最小抱夹压力，并使AGV小车的抱夹板以该最小抱夹压力夹持货物，继续平稳载货运行。
在一些实现方式中，本实施例的AGV小车载货运行控制方法，还包括：
步骤S105、基于最小抱夹压力，更新运行状态信息、属性信息与抱夹压力的对应关系表和/或抱夹压力计算式。
在一些实现方式中，基于最小抱夹压力，更新运行状态信息、属性信息与抱夹压力的对应关系表，以供设置抱夹板对货物的抱夹压力初始值时查询使用。可以是预先根据运行状态信息、属性信息与对应的最小抱夹压力的已有数据建立对应关系表，在载货运行中根据不同运行状态信息、属性信息的情况重新确定的最小抱夹压力不断更新此表，使得此表中的对应关系反映真实准确的数据，进而基于此表所计算出的第一抱夹压力和利用抱夹压力计算式所计算的第二抱夹压力所设定的初始值也更为准确，提高调整效率，进而提高AGV小车的自动运输效率。
在一些实现方式中，基于最小抱夹压力，更新抱夹压力计算式，优化调整其中的运行状态信息、属性信息的权重系数，使得利用抱夹压力计算式所计算的第二抱夹压力值更为准确，更接近于真实的最小抱夹压力。一个示例中，是对货物高度、货物重量、车速、货物材质、货物价格的权重系数p、q、r、s、t进行优化调整。
在另一些实现方式中，基于最小抱夹压力，更新运行状态信息、属性信息与抱夹压力的对应关系表和抱夹压力计算式，使得基于第一抱夹压力和第二抱夹压力设定的初始值更接近当前所需的最小抱夹压力值，提高运输效率。
本公开避免了AGV小车在载货运行过程中，由于调整速度或改变行进方向，造成车上货物移位或倾倒，使运输更平稳，稳定性更高。通过充分考虑货物特点及当前AGV小车工作状态，自动调整抱夹板的抱夹压力，保持货物稳定的同时，避免压力过大导致货物变形受损等，提高了AGV小车自动运输的效率。在一些实施方式中，在AGV小车匀速稳定前进时，根据小车工作状态自动调小抱夹压力，避免抱夹板一直高负荷工作、损耗大而易降低使用寿命，提高了产品使用成本。
实施例二
本实施例提供一种AGV小车载货运行控制装置，目标AGV小车设置有承载货物的载物台和夹持货物的抱夹板，如图3所示，本装置包括：
监测模块301，被设置为在目标AGV小车载货运行过程中，监测目标AGV小车的运行状态信息及货物对载物台的压力的相对变化量；
确定模块302，被设置为确定压力的相对变化量是否满足预设条件；
调整模块303，被设置为在压力的相对变化量不满足预设条件的情况下，根据目标AGV小车的运行状态信息及货物的属性信息，调整抱夹板对货物的抱夹压力，以使压力的相对变化量满足预设条件。
本实施例中，通过在目标AGV小车载货运行过程中，实时监测目标AGV小车的运行状态信息及货物对载物台的压力的相对变化量；并在压力的相对变化量不满足预设条件的情况下，根据目标AGV小车的运行状态信息及货物的属性信息，调整抱夹板对货物的抱夹压力，以使压力的相对变化量满足预设条件，能够结合运行状态信息和货物的属性信息来调整抱夹压力，避免仅根据运行状态调整而使抱夹压力对于当前属性的货物来说过大，导致货物受损。
在一些实现方式中，运行状态信息包括车速，属性信息包括货物材质、货物高度、货物价格、货物重量、货物种类、货物外包装材料、货物外包装尺寸中的至少一种。
在一些实现方式中，本装置还包括：
设置模块，被设置为获取目标AGV小车的运行状态信息和货物的属性信息，基于运行状态信息和属性信息设置抱夹板对货物的抱夹压力初始值，并控制抱夹板以抱夹压力初始值对载物台上的货物进行夹持，以使目标AGV小车载货运行。
在一些实现方式中，基于运行状态信息和属性信息设置抱夹板对货物的抱夹压力初始值，可以进一步包括：
基于运行状态信息和属性信息，从已存储的运行状态信息、属性信息与抱夹压力的对应关系表中，查询对应的第一抱夹压力F 1；基于运行状态信息和属性信息，利用预设的抱夹压力计算式计算对应的第二抱夹压力F 2；基于第一抱夹压力和第二抱夹压力设置抱夹板对货物的抱夹压力初始值。
在一些实现方式中，抱夹压力计算式包括对运行状态信息及属性信息进行 加权求和的计算式。
一个示例中，运行状态信息包括车速，属性信息包括货物材质、货物高度、货物价格和货物重量。抱夹压力计算式可以如下：
F 2＝p*高度+q*重量+r*车速+s*材质+t*价格
其中，F 2表示第二抱夹压力，p、q、r、s、t分别表示货物高度、货物重量、车速、货物材质、货物价格的权重系数，权重系数可以根据历史运行状态信息和属性信息进行不断优化。
在一些实现方式中，基于第一抱夹压力和第二抱夹压力设置抱夹板对货物的抱夹压力初始值，包括：将第一抱夹压力和第二抱夹压力的加权求和值设置为抱夹板对货物的抱夹压力初始值。
在一个示例中，可以利用下式计算抱夹板对货物的抱夹压力初始值：
F ＝α*F 1+β*F 2
其中，α、β分别表示第一抱夹压力的权重系数和第二抱夹压力的权重系数，且α+β＝1。
在一些实现方式中，根据目标AGV小车的运行状态信息及货物的属性信息，调整抱夹板对货物的抱夹压力，可以进一步包括：基于压力的相对变化量、目标AGV小车的运行状态信息及货物的属性信息，计算抱夹压力的调整系数；基于抱夹压力的调整系数调整当前的抱夹压力，以使压力的相对变化量满足预设条件。
在一个示例中，运行状态信息包括车速，属性信息包括货物材质、货物高度、货物价格和货物重量。可以利用下式计算抱夹压力的调整系数：
γ＝i*ΔG+j*车速+k*高度+m*材质+n*价格
其中，γ表示抱夹压力的调整系数，ΔG表示压力的相对变化量，i、j、k、m、n分别表示压力的相对变化量的权重系数、车速的权重系数、货物高度的权重系数、货物材质的权重系数、货物价格的权重系数，由于压力的相对变化量已反映货物重量的因素，因此在计算调整系数时无需再考虑货物重量这一属性信息。
在一些实现方式中，预设条件包括压力的相对变化量不超过预设阈值；确定压力的相对变化量是否满足预设条件，包括：确定压力的相对变化量是否不超过预设阈值。
在一些情形中，预设阈值可以表示为G0，确定是否满足压力的相对变化量ΔG≤G0这一条件，当这一条件不满足的情况下，基于压力的相对变化量ΔG、目标AGV小车的运行状态信息(例如车速)及货物的属性信息(例如货物材质、货物高度和货物价格)，计算抱夹压力的调整系数γ，进而根据下式调整抱夹压力。
F＝(1+γ)*F0
其中，F0为调整前载物抱夹板对货物的抱夹压力，F为调整后载物抱夹板对货物的抱夹压力，调整后满足ΔG≤G0。
在一些实现方式中，调整模块303还被设置为：在压力的相对变化量满足预设条件的情况下，确定压力的相对变化量达到预设阈值时的抱夹压力，并作为当前运行状态信息及属性信息下使货物平稳运行的最小抱夹压力。
在一些实现方式中，确定压力的相对变化量达到预设阈值时的抱夹压力，可以进一步包括：在压力的相对变化量小于预设阈值的情况下，按照抱夹压力与时间成反比的关系逐渐减小抱夹压力，直至压力的相对变化量达到预设阈值，确定此时的抱夹压力为当前运行状态信息及属性信息下使货物平稳运行的最小抱夹压力。
在一些实现方式中，调整模块303还被设置为：基于最小抱夹压力，更新运行状态信息、属性信息与抱夹压力的对应关系表和/或抱夹压力计算式。
本公开避免了AGV小车在载货运行过程中，由于调整速度或改变行进方向，造成车上货物移位或倾倒，使运输更平稳，稳定性更高。通过充分考虑货物特点及当前AGV小车工作状态，自动调整抱夹板的抱夹压力，保持货物稳定的同时，避免压力过大导致货物变形受损等，提高了AGV小车自动运输的效率。在一些实施方式中，在AGV小车匀速稳定前进时，根据小车工作状态自动调小抱夹压力，避免抱夹板一直高负荷工作、损耗大而易降低使用寿命，提高了产品使用成本。
本领域的技术人员应当明白，上述各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，在一些实施方式中，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电 路模块来实现。本公开不限制于任何限定的硬件和软件结合。
实施例三
本实施例提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，所述计算机程序被一个或多个处理器执行时，实现实施例一的AGV小车载货运行控制方法。
其中，存储介质可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，例如静态随机存取存储器(Static Random Access Memory，简称SRAM)，电可擦除可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，简称EEPROM)，可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)，可编程只读存储器(Programmable Read-Only Memory，简称PROM)，只读存储器(Read-Only Memory，简称ROM)，磁存储器，快闪存储器，磁盘或光盘。
实施例四
本实施例提供一种控制设备，包括存储器和一个或多个处理器，存储器上存储有计算机程序，计算机程序被一个或多个处理器执行时，实现实施例一的AGV小车载货运行控制方法。
在实际应用中，处理器可以是专用集成电路(Application Specific Integrated Circuit，简称ASIC)、数字信号处理器(Digital Signal Processor，简称DSP)、数字信号处理设备(Digital Signal Processing Device，简称DSPD)、可编程逻辑器件(Programmable Logic Device，简称PLD)、现场可编程门阵列(Field Programmable Gate Array，简称FPGA)、控制器、微控制器(Microcontroller Unit,MCU)、微处理器或其他电子元件实现，用于执行上述实施例中的方法。
实施例五
本实施例提供一种AGV小车，包括实施例四的控制设备，AGV小车设置有承载货物的载物台和夹持货物的抱夹板。
图4和图5分别示出了保证AGV小车货物平稳运输的抱夹装置的正视图和俯视图的示意。AGV小车上的载物台1用于承载货物4，在AGV小车的行进方 向两侧分别安装多节伸缩的支撑关节2，其上端连接抱夹板3，以保证货物稳定，其下端连接载物台1，多节伸缩的支撑关节可根据货物的高度和宽度自由调节其伸缩长度和角度，载物台1的上方与货物4的接触面安装有压力传感器5，被设置为检测货物对载物台的压力变化，抱夹板3与货物4的接触面安装有压力传感器6，被设置为检测抱夹压力。
本实施例中，AGV小车的控制设备，过在目标AGV小车载货运行过程中，实时监测目标AGV小车的运行状态信息及货物对载物台的压力的相对变化量；并在压力的相对变化量不满足预设条件的情况下，根据目标AGV小车的运行状态信息及货物的属性信息，调整抱夹板对货物的抱夹压力，以使压力的相对变化量满足预设条件，能够结合运行状态信息和货物的属性信息来调整抱夹压力，避免仅根据运行状态调整而使抱夹压力对于当前属性的货物来说过大，导致货物受损。
在本公开实施例所提供的几个实施例中，应该理解到，所揭露的装置，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的。
需要说明的是，在本文中，本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
虽然本公开所揭露的实施方式如上，但所述的内容只是为了便于理解本公开而采用的实施方式，并非用以限定本公开。任何本公开所属技术领域内的技术人员，在不脱离本公开所揭露的精神和范围的前提下，可以在实施的形式上及细节上作任何的修改与变化，但本公开的专利保护范围，仍须以所附的权利要求书所界定的范围为准。

Claims (15)

  1. 一种AGV小车载货运行控制方法，目标AGV小车设置有承载货物的载物台和夹持货物的抱夹板，所述方法包括：
    在目标AGV小车载货运行过程中，监测目标AGV小车的运行状态信息及货物对所述载物台的压力的相对变化量；
    确定所述压力的相对变化量是否满足预设条件；
    在所述压力的相对变化量不满足预设条件的情况下，根据目标AGV小车的运行状态信息及货物的属性信息，调整所述抱夹板对货物的抱夹压力，以使所述压力的相对变化量满足预设条件。
  2. 根据权利要求1所述的AGV小车载货运行控制方法，其中，所述运行状态信息包括车速，所述属性信息包括货物材质、货物高度、货物价格、货物重量、货物种类、货物外包装材料、货物外包装尺寸中的至少一种。
  3. 根据权利要求1所述的AGV小车载货运行控制方法，其中，还包括：
    获取目标AGV小车的运行状态信息和货物的属性信息；
    基于所述运行状态信息和所述属性信息设置所述抱夹板对货物的抱夹压力初始值，并控制所述抱夹板以所述抱夹压力初始值对所述载物台上的货物进行夹持，以使目标AGV小车载货运行。
  4. 根据权利要求3所述的AGV小车载货运行控制方法，其中，所述基于所述运行状态信息和所述属性信息设置所述抱夹板对货物的抱夹压力初始值，包括：
    基于所述运行状态信息和所述属性信息，从已存储的运行状态信息、属性信息与抱夹压力的对应关系表中，查询对应的第一抱夹压力；
    基于所述运行状态信息和所述属性信息，利用预设的抱夹压力计算式计算对应的第二抱夹压力；
    基于所述第一抱夹压力和所述第二抱夹压力设置所述抱夹板对货物的抱夹压力初始值。
  5. 根据权利要求4所述的AGV小车载货运行控制方法，其中，所述抱夹压力计算式包括对运行状态信息及属性信息进行加权求和的计算式。
  6. 根据权利要求4所述的AGV小车载货运行控制方法，其中，所述基于所述第一抱夹压力和所述第二抱夹压力设置所述抱夹板对货物的抱夹压力初始值，包括：将所述第一抱夹压力和所述第二抱夹压力的加权求和值设置为所述抱夹板对货物的抱夹压力初始值。
  7. 根据权利要求1所述的AGV小车载货运行控制方法，其中，所述根据目标AGV小车的运行状态信息及货物的属性信息，调整所述抱夹板对货物的抱夹压力，包括：
    基于所述压力的相对变化量、目标AGV小车的运行状态信息及货物的属性信息，计算抱夹压力的调整系数；
    基于所述抱夹压力的调整系数调整当前的抱夹压力，以使所述压力的相对变化量满足预设条件。
  8. 根据权利要求1所述的AGV小车载货运行控制方法，其中，所述预设条件包括所述压力的相对变化量不超过预设阈值；所述确定所述压力的相对变化量是否满足预设条件，包括：确定所述压力的相对变化量是否不超过预设阈值。
  9. 根据权利要求8所述的AGV小车载货运行控制方法，其中，还包括：
    在所述压力的相对变化量满足预设条件的情况下，确定所述压力的相对变化量达到预设阈值时的抱夹压力，并作为当前运行状态信息及属性信息下使货物平稳运行的最小抱夹压力。
  10. 根据权利要求9所述的AGV小车载货运行控制方法，其中，所述确定所述压力的相对变化量达到预设阈值时的抱夹压力，包括：
    在所述压力的相对变化量小于预设阈值的情况下，按照抱夹压力与时间成 反比的关系逐渐减小抱夹压力，直至所述压力的相对变化量达到预设阈值，确定此时的抱夹压力为当前运行状态信息及属性信息下使货物平稳运行的最小抱夹压力。
  11. 根据权利要求9或10所述的AGV小车载货运行控制方法，其中，还包括：
    基于所述最小抱夹压力，更新运行状态信息、属性信息与抱夹压力的对应关系表和/或所述抱夹压力计算式。
  12. 一种AGV小车载货运行控制装置，目标AGV小车设置有承载货物的载物台和夹持货物的抱夹板，所述装置包括：
    监测模块，被设置为在目标AGV小车载货运行过程中，监测目标AGV小车的运行状态信息及货物对所述载物台的压力的相对变化量；
    确定模块，被设置为确定所述压力的相对变化量是否满足预设条件；
    调整模块，被设置为在所述压力的相对变化量不满足预设条件的情况下，根据目标AGV小车的运行状态信息及货物的属性信息，调整所述抱夹板对货物的抱夹压力，以使所述压力的相对变化量满足预设条件。
  13. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被一个或多个处理器执行时，实现权利要求1至11中任一项所述的AGV小车载货运行控制方法。
  14. 一种控制设备，包括存储器和一个或多个处理器，所述存储器上存储有计算机程序，所述计算机程序被所述一个或多个处理器执行时，实现权利要求1至11中任一项所述的AGV小车载货运行控制方法。
  15. 一种AGV小车，包括权利要求14所述的控制设备，所述AGV小车设置有承载货物的载物台和夹持货物的抱夹板。
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