CN113126630B - AGV braking strategy adjustment method and device, electronic equipment and storage medium - Google Patents
AGV braking strategy adjustment method and device, electronic equipment and storage medium Download PDFInfo
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- CN113126630B CN113126630B CN202110474109.9A CN202110474109A CN113126630B CN 113126630 B CN113126630 B CN 113126630B CN 202110474109 A CN202110474109 A CN 202110474109A CN 113126630 B CN113126630 B CN 113126630B
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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
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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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Regulating Braking Force (AREA)
Abstract
The invention provides a method, a device, electronic equipment and a storage medium for adjusting a braking strategy of an AGV, wherein current working state information is obtained; acquiring corresponding brake pressure data according to the working state information; acquiring current air humidity data; adjusting a braking strategy according to the air humidity data, wherein the method comprises the following steps: adjusting the brake pressure data according to the air humidity data; therefore, when the AGV needs to brake, the AGV brakes according to the adjusted braking strategy, so that the AGV cannot stop in time due to the fact that the braking distance of the AGV is increased in wet weather, the AGV is easy to collide with pedestrians, and safety is improved.
Description
Technical Field
The invention relates to the technical field of unmanned, in particular to a method and a device for adjusting a braking strategy of an AGV, electronic equipment and a storage medium.
Background
In some factories, the AGV can be used for transporting cargoes, and people can travel on a driving road, so that the AGV is required to brake according to road conditions at any time. Under different operating conditions (such as different running speeds, different loads and the like), a general AGV can control a brake pad to be continuously pressed on a brake disc or a brake drum to brake according to corresponding preset pressure data, but in certain areas, when humid weather such as a damping weather, a plum rain weather and the like occurs, the humidity of air is very high, water drops are easy to appear on the brake pad, so that under the same brake pressure condition, the brake distance is longer, the AGV can not be stopped in time to collide with pedestrians due to the fact that the brake is carried out according to the preset pressure data, and the safety is required to be improved.
Disclosure of Invention
In view of the shortcomings of the prior art, the embodiment of the application aims to provide a method, a device, electronic equipment and a storage medium for adjusting a braking strategy of an AGV, and aims to solve the problem that the AGV cannot stop in time due to the fact that the braking distance of the AGV is increased in wet weather.
In a first aspect, an embodiment of the present application provides a method for adjusting a braking strategy of an AGV vehicle, which is applied to the AGV vehicle, including the steps of:
A1. Acquiring current working state information;
A2. acquiring corresponding brake pressure data according to the working state information;
A3. acquiring current air humidity data;
A4. adjusting a braking strategy according to the air humidity data;
wherein, step A4 includes:
And adjusting the brake pressure data according to the air humidity data.
According to the braking strategy adjustment method for the AGV, which is provided by the embodiment of the application, the braking strategy can be adjusted according to the actual air humidity, wherein the braking strategy adjustment method comprises the step of adjusting the braking pressure data, and when the AGV needs to brake, the braking is performed according to the adjusted braking strategy, so that the AGV is prevented from being stopped in time due to the fact that the braking distance of the AGV is increased in humid weather, and collision with pedestrians is easy to occur, and the safety is improved.
In the method for adjusting the braking strategy of the AGV, the working state information comprises vehicle speed information and load information.
In the method for adjusting the braking strategy of the AGV, the step A2 comprises the following steps:
and inquiring in a lookup table according to the working state information to obtain corresponding brake pressure data.
In the method for adjusting the braking strategy of the AGV, the step of adjusting the braking pressure data according to the air humidity data comprises the following steps:
calculating a pressure adjustment coefficient according to the air humidity data;
Multiplying the brake pressure data by the pressure adjustment coefficient to obtain final brake pressure data.
In the method for adjusting the braking strategy of the AGV, after the step of calculating the pressure adjustment coefficient according to the air humidity data, the method further comprises the following steps:
acquiring service time information of a brake pad;
and correcting the pressure adjustment coefficient according to the using time information.
In the method for adjusting the braking strategy of the AGV, the step A4 further comprises the following steps:
And adjusting a braking mode according to the working state information.
In the method for adjusting the braking strategy of the AGV, the step of adjusting the braking mode according to the working state information comprises the following steps:
Calculating the total weight of the AGV according to the load information;
calculating an initial motion value according to the total weight and the vehicle speed information;
Judging whether the initial momentum value is larger than a preset first momentum threshold value or not;
If so, periodically pressing the brake pad to the brake disc or the brake drum for braking with a preset frequency and a preset contact time before the momentum is reduced to a preset second momentum threshold, and keeping the brake pad to press the brake disc or the brake drum for braking until the movement is stopped after the momentum is reduced to the preset second momentum threshold;
If not, the brake pad is kept to press the brake disc or the brake drum to brake until the movement is stopped.
In a second aspect, an embodiment of the present application provides a brake strategy adjustment device for an AGV vehicle, which is applied to the AGV vehicle, including:
The first acquisition module is used for acquiring current working state information;
the second acquisition module is used for acquiring corresponding brake pressure data according to the working state information;
the humidity acquisition module is used for acquiring current air humidity data;
The first execution module is used for adjusting a braking strategy according to the air humidity data;
Wherein, when the first execution module adjusts the braking strategy according to the air humidity data:
And adjusting the brake pressure data according to the air humidity data.
According to the braking strategy adjusting device for the AGV, which is provided by the embodiment of the application, the braking strategy can be adjusted according to the actual air humidity, wherein the braking strategy adjusting device comprises the braking pressure data adjustment, and when the AGV needs to brake, the braking is performed according to the adjusted braking strategy, so that the AGV is prevented from being stopped in time due to the fact that the braking distance of the AGV is increased in humid weather, and collision with pedestrians is easy to occur, and the safety is improved.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the steps of the braking policy adjustment method of the AGV vehicle by calling the computer program stored in the memory.
In a fourth aspect, embodiments of the present application provide a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a method for adjusting a braking strategy of an AGV vehicle as described.
The beneficial effects are that:
According to the method, the device, the electronic equipment and the storage medium for adjusting the braking strategy of the AGV, which are provided by the embodiment of the application, the current working state information is obtained; acquiring corresponding brake pressure data according to the working state information; acquiring current air humidity data; adjusting a braking strategy according to the air humidity data, wherein the method comprises the following steps: adjusting the brake pressure data according to the air humidity data; therefore, when the AGV needs to brake, the AGV brakes according to the adjusted braking strategy, so that the AGV cannot stop in time due to the fact that the braking distance of the AGV is increased in wet weather, the AGV is easy to collide with pedestrians, and safety is improved.
Drawings
Fig. 1 is a flowchart of a method for adjusting a braking strategy of an AGV vehicle according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a brake strategy adjustment device of an AGV vehicle according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The following disclosure provides embodiments or examples for implementing different configurations of the present invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.
Referring to fig. 1, the method for adjusting the braking strategy of an AGV according to the embodiment of the present application is applied to an AGV, and includes the following steps:
A1. Acquiring current working state information;
A2. acquiring corresponding brake pressure data according to the working state information;
A3. acquiring current air humidity data;
A4. adjusting a braking strategy according to the air humidity data;
wherein, step A4 includes:
And adjusting the brake pressure data according to the air humidity data.
In practical application, generally, a plurality of weather are cool (for example, the air humidity is not greater than a preset humidity threshold value), then the AGV vehicle can perform brake control (control the brake pressure of the brake pad) according to preset brake pressure data (namely, the brake pressure data obtained in the step A2) when the AGV vehicle needs to brake, when the air humidity is greater, the AGV vehicle can regulate the brake pressure to be greater if the AGV vehicle needs to brake, so that the friction force between the brake pad and a brake disc or a brake drum is greater, and the brake distance can be reduced, therefore, the AGV vehicle is beneficial to preventing the AGV brake distance from being increased in humid weather, and the AGV brake distance cannot be stopped in time and is easy to collide with pedestrians, and the safety is improved.
In this embodiment, the operating state information includes vehicle speed information and load information. The vehicle speed information and the load information are two main factors influencing the braking distance, and different braking pressure data can be set for different vehicle speed information and load information.
The vehicle speed information here refers to vehicle speed information when the AGV vehicle is traveling normally (without braking), and may be preset vehicle speed information (i.e., vehicle speed information in a preset traveling scheme), vehicle speed information measured in real time, or the larger one of the two (based on the larger one of the two, the higher safety can be ensured).
The load information may be preset load information, load information measured in real time, or the larger one of the load information and the load information (the larger one of the load information and the load information is used as the reference, so that higher safety can be ensured).
In some embodiments, step A2 comprises:
and inquiring in a lookup table according to the working state information to obtain corresponding brake pressure data.
In practical application, corresponding brake pressure data are set in advance according to different vehicle speed intervals and load intervals to form a lookup table, and when the lookup table is used for inquiring, the corresponding brake pressure data are extracted according to the vehicle speed intervals in which the vehicle speed information falls and the load intervals in which the load information falls.
In other embodiments, step A2 comprises:
substituting the working state information into a preset brake pressure calculation formula to obtain corresponding brake pressure data.
In practical application, the preset brake pressure calculation formula comprises two input values of vehicle speed information and load information, and the vehicle speed information and the load information are substituted into the formula to calculate to obtain standard brake pressure data during calculation. For example, the formula is f=f0+a+v+b+g, where F is standard brake pressure data, F0 is a basic brake pressure value, v is vehicle speed information, G is load information, a is a preset vehicle speed correction term coefficient, and b is a preset load correction term coefficient.
The two modes can be combined to obtain corresponding brake pressure data, for example, the average value or the maximum value of the brake pressure data obtained in the two modes is used as effective brake pressure data.
In step A3, humidity data may be obtained in real time by a humidity sensor; weather information sent by the monitoring center may also be received and humidity data extracted therefrom.
Wherein, in step A4, the step of adjusting the brake pressure data according to the air humidity data includes:
calculating a pressure adjustment coefficient according to the air humidity data;
Multiplying the brake pressure data by the pressure adjustment coefficient to obtain final brake pressure data.
For example, in some embodiments, the step of "calculating a pressure adjustment coefficient from the air humidity data" includes:
judging whether the air humidity data is larger than a preset humidity threshold value or not;
if not, the pressure adjustment coefficient is 1;
If so, the pressure coefficient value is obtained by adding the proportional value to 1.
The ratio value can be a fixed preset value or a value related to air humidity data; for the latter case, for example, the corresponding proportion value can be set in advance according to different air humidity data intervals and a proportion value lookup table is formed, so that if yes, the proportion value is added with 1, and the pressure coefficient value is obtained, and in the step of adding the proportion value with 1, the corresponding proportion value is obtained by querying in the proportion value lookup table according to the air humidity data; the air humidity data may be input into the proportional value calculation formula to calculate the corresponding proportional value before the proportional value is added to 1 in the step of adding the proportional value to obtain the pressure coefficient value if the proportional value calculation formula is calculated by the air humidity data.
Further, after the step of calculating the pressure adjustment coefficient according to the air humidity data, the method further includes:
acquiring service time information of a brake pad;
and correcting the pressure adjustment coefficient according to the using time information.
As the service time of the brake pad is accumulated, the brake pad is slowly worn, resulting in a decrease in braking efficiency, and thus, the pressure adjustment coefficient needs to be corrected according to the service time, and generally, the longer the service time is, the greater the pressure adjustment coefficient should be.
In some embodiments, the control system of the AGV vehicle may record the installation time of the currently used brake pad, where the step of "obtaining the time information of the brake pad" includes: and using time difference information between the current time and the installation time as the service time information of the brake pad.
However, sometimes the frequency of use of the AGV car is not high, and although the currently used brake pad is put into use for a long time, the actual working time is not long, so that the actual wear condition of the brake pad can be detected, for example, the thickness variation value of the brake pad is measured, and the use time information is corrected according to the actual wear condition; thus, in some embodiments, the step of "obtaining the service time information of the brake pad" further includes:
if the service time is greater than a preset time threshold, acquiring a thickness variation value of the brake pad;
And correcting the using time information according to the thickness variation value to obtain effective using time information.
Because the brake pad is not obvious in the wearing condition of the brake pad in a short time, the thickness change value is small, at the moment, the service time information of the brake pad is not corrected, and the correction is only carried out when the service time is larger than a preset time threshold value.
For example, the thickness variation value of the brake pad may be measured by a laser sensor, specifically, the thickness value of the brake pad is measured in real time by the laser sensor, and the thickness variation value is obtained by subtracting the real-time thickness value from the initial thickness value of the brake pad (the thickness value measured when the brake pad is just installed and used).
When the usage time information is corrected based on the thickness variation value, the smaller the thickness variation value is, the smaller the corrected usage time information is. For example, the correction can be made with the following formula:
Wherein t is effective usage time information after correction, t0 is usage time information before correction, Δe is a thickness variation value of the brake pad, e1 is a preset first thickness variation threshold, e2 is a preset second thickness variation threshold, and e2> e1, c is a preset parameter value, and 0< c <1.
In some preferred embodiments, step A4 further comprises:
And adjusting a braking mode according to the working state information.
The existing AGV generally keeps the brake pads to press the brake disc or the brake drum to brake until stopping moving during braking, in practice, under the condition of small weight and low speed, the AGV can be guaranteed to stop timely in this way, but when the weight and/or the speed are large, the tires are easy to be melted by friction between the same position and the ground all the time in this way, so that the friction force is greatly reduced, the braking distance is increased finally, and timely stopping is not facilitated. Therefore, the braking mode can be adjusted according to the working state information.
For example, in some embodiments, the step of adjusting the braking mode according to the operating state information includes:
Calculating the total weight of the AGV according to the load information;
calculating an initial motion value according to the total weight and the vehicle speed information;
Judging whether the initial momentum value is larger than a preset first momentum threshold value or not;
If yes, periodically pressing the brake pad to the brake disc or the brake drum for braking with preset frequency and preset contact time until the movement is stopped;
If not, the brake pad is kept to press the brake disc or the brake drum to brake until the movement is stopped.
The first momentum threshold value can be set according to actual needs, and can be adjusted according to air humidity data on the basis of the first momentum threshold value. The preset contact time refers to the contact time between the brake pad and the brake disc or the brake drum in each period.
In fact, if the initial momentum value is larger and the periodic braking mode is adopted for braking, when the momentum value is reduced to a certain value, the continuous braking mode is used for continuing braking, so that the vehicle can be stopped more timely, and the safety is further improved, therefore, in other embodiments, the step of adjusting the braking mode according to the working state information comprises the following steps:
Calculating the total weight of the AGV according to the load information;
calculating an initial motion value according to the total weight and the vehicle speed information;
Judging whether the initial momentum value is larger than a preset first momentum threshold value or not;
If so, periodically pressing the brake pad to the brake disc or the brake drum for braking with a preset frequency and a preset contact time before the momentum is reduced to a preset second momentum threshold, and keeping the brake pad to press the brake disc or the brake drum for braking until the movement is stopped after the momentum is reduced to the preset second momentum threshold;
If not, the brake pad is kept to press the brake disc or the brake drum to brake until the movement is stopped.
The second momentum threshold value can be set according to actual needs, and is generally smaller than the first momentum threshold value, and can be adjusted according to air humidity data on the basis of the second momentum threshold value.
According to the method for adjusting the braking strategy of the AGV, the current working state information is obtained; acquiring corresponding brake pressure data according to the working state information; acquiring current air humidity data; adjusting a braking strategy according to the air humidity data, wherein the method comprises the following steps: adjusting the brake pressure data according to the air humidity data; therefore, when the AGV needs to brake, the AGV brakes according to the adjusted braking strategy, so that the AGV cannot stop in time due to the fact that the braking distance of the AGV is increased in wet weather, the AGV is easy to collide with pedestrians, and safety is improved.
Referring to fig. 2, the embodiment of the application further provides a brake strategy adjustment device of an AGV vehicle, which is applied to the AGV vehicle and includes:
the first acquisition module 1 is used for acquiring current working state information;
the second acquisition module 2 is used for acquiring corresponding brake pressure data according to the working state information;
The humidity acquisition module 3 is used for acquiring current air humidity data;
The first execution module 4 is used for adjusting a braking strategy according to the air humidity data;
Wherein, the first execution module 4 adjusts the braking strategy according to the air humidity data:
And adjusting the brake pressure data according to the air humidity data.
In this embodiment, the operating state information includes vehicle speed information and load information. The vehicle speed information and the load information are two main factors influencing the braking distance, and different braking pressure data can be set for different vehicle speed information and load information.
The vehicle speed information here refers to vehicle speed information when the AGV vehicle is traveling normally (without braking), and may be preset vehicle speed information (i.e., vehicle speed information in a preset traveling scheme), vehicle speed information measured in real time, or the larger one of the two (based on the larger one of the two, the higher safety can be ensured).
The load information may be preset load information, load information measured in real time, or the larger one of the load information and the load information (the larger one of the load information and the load information is used as the reference, so that higher safety can be ensured).
In some embodiments, the second obtaining module obtains corresponding brake pressure data according to the working state information:
and inquiring in a lookup table according to the working state information to obtain corresponding brake pressure data.
In practical application, corresponding brake pressure data are set in advance according to different vehicle speed intervals and load intervals to form a lookup table, and when the lookup table is used for inquiring, the corresponding brake pressure data are extracted according to the vehicle speed intervals in which the vehicle speed information falls and the load intervals in which the load information falls.
In other embodiments, the second obtaining module obtains the corresponding brake pressure data according to the operating state information:
substituting the working state information into a preset brake pressure calculation formula to obtain corresponding brake pressure data.
In practical application, the preset brake pressure calculation formula comprises two input values of vehicle speed information and load information, and the vehicle speed information and the load information are substituted into the formula to calculate to obtain standard brake pressure data during calculation. For example, the formula is f=f0+a+v+b+g, where F is standard brake pressure data, F0 is a basic brake pressure value, v is vehicle speed information, G is load information, a is a preset vehicle speed correction term coefficient, and b is a preset load correction term coefficient.
The two modes can be combined to obtain corresponding brake pressure data, for example, the average value or the maximum value of the brake pressure data obtained in the two modes is used as effective brake pressure data.
The humidity acquisition module 3 can acquire humidity data in real time through a humidity sensor; weather information sent by the monitoring center may also be received and humidity data extracted therefrom.
Wherein, the first execution module 4 adjusts the brake pressure data according to the air humidity data:
calculating a pressure adjustment coefficient according to the air humidity data;
Multiplying the brake pressure data by the pressure adjustment coefficient to obtain final brake pressure data.
For example, in some embodiments, the first execution module 4, when calculating the pressure adjustment coefficient from the air humidity data:
judging whether the air humidity data is larger than a preset humidity threshold value or not;
if not, the pressure adjustment coefficient is 1;
If so, the pressure coefficient value is obtained by adding the proportional value to 1.
The ratio value can be a fixed preset value or a value related to air humidity data; for the latter case, for example, the corresponding proportion value can be set in advance according to different air humidity data intervals and a proportion value lookup table is formed, so that if yes, the proportion value is added with 1, and the pressure coefficient value is obtained, and in the step of adding the proportion value with 1, the corresponding proportion value is obtained by querying in the proportion value lookup table according to the air humidity data; the air humidity data may be input into the proportional value calculation formula to calculate the corresponding proportional value before the proportional value is added to 1 in the step of adding the proportional value to obtain the pressure coefficient value if the proportional value calculation formula is calculated by the air humidity data.
Further, when calculating the pressure adjustment coefficient according to the air humidity data, the first execution module 4 further:
acquiring service time information of a brake pad;
and correcting the pressure adjustment coefficient according to the using time information.
As the service time of the brake pad is accumulated, the brake pad is slowly worn, resulting in a decrease in braking efficiency, and thus, the pressure adjustment coefficient needs to be corrected according to the service time, and generally, the longer the service time is, the greater the pressure adjustment coefficient should be.
In some embodiments, the control system of the AGV vehicle may record the installation time of the currently used brake pad, and the first execution module 4 acquires the time information of the brake pad: and using time difference information between the current time and the installation time as the service time information of the brake pad.
However, sometimes the frequency of use of the AGV car is not high, and although the currently used brake pad is put into use for a long time, the actual working time is not long, so that the actual wear condition of the brake pad can be detected, for example, the thickness variation value of the brake pad is measured, and the use time information is corrected according to the actual wear condition; thus, in some embodiments, the first execution module 4, when acquiring the usage time information of the brake pad:
if the service time is greater than a preset time threshold, acquiring a thickness variation value of the brake pad;
And correcting the using time information according to the thickness variation value to obtain effective using time information.
Because the brake pad is not obvious in the wearing condition of the brake pad in a short time, the thickness change value is small, at the moment, the service time information of the brake pad is not corrected, and the correction is only carried out when the service time is larger than a preset time threshold value.
For example, the thickness variation value of the brake pad may be measured by a laser sensor, specifically, the thickness value of the brake pad is measured in real time by the laser sensor, and the thickness variation value is obtained by subtracting the real-time thickness value from the initial thickness value of the brake pad (the thickness value measured when the brake pad is just installed and used).
When the usage time information is corrected based on the thickness variation value, the smaller the thickness variation value is, the smaller the corrected usage time information is. For example, the correction can be made with the following formula:
Wherein t is effective usage time information after correction, t0 is usage time information before correction, Δe is a thickness variation value of the brake pad, e1 is a preset first thickness variation threshold, e2 is a preset second thickness variation threshold, and e2> e1, c is a preset parameter value, and 0< c <1.
In some preferred embodiments, the first execution module 4, when adjusting the braking strategy according to the air humidity data, further:
And adjusting a braking mode according to the working state information.
The existing AGV generally keeps the brake pads to press the brake disc or the brake drum to brake until stopping moving during braking, in practice, under the condition of small weight and low speed, the AGV can be guaranteed to stop timely in this way, but when the weight and/or the speed are large, the tires are easy to be melted by friction between the same position and the ground all the time in this way, so that the friction force is greatly reduced, the braking distance is increased finally, and timely stopping is not facilitated. Therefore, the braking mode can be adjusted according to the working state information.
For example, in some embodiments, the first execution module 4 adjusts the braking mode according to the operating state information:
Calculating the total weight of the AGV according to the load information;
calculating an initial motion value according to the total weight and the vehicle speed information;
Judging whether the initial momentum value is larger than a preset first momentum threshold value or not;
If yes, periodically pressing the brake pad to the brake disc or the brake drum for braking with preset frequency and preset contact time until the movement is stopped;
If not, the brake pad is kept to press the brake disc or the brake drum to brake until the movement is stopped.
The first momentum threshold value can be set according to actual needs, and can be adjusted according to air humidity data on the basis of the first momentum threshold value. The preset contact time refers to the contact time between the brake pad and the brake disc or the brake drum in each period.
In fact, if the initial momentum value is larger and the periodic braking mode is adopted for braking, when the momentum value is reduced to a certain value, the continuous braking mode is used for continuing braking, and the vehicle can be stopped more timely, so that the safety is further improved, and in other embodiments, the first execution module 4 adjusts the braking mode according to the working state information:
Calculating the total weight of the AGV according to the load information;
calculating an initial motion value according to the total weight and the vehicle speed information;
Judging whether the initial momentum value is larger than a preset first momentum threshold value or not;
If so, periodically pressing the brake pad to the brake disc or the brake drum for braking with a preset frequency and a preset contact time before the momentum is reduced to a preset second momentum threshold, and keeping the brake pad to press the brake disc or the brake drum for braking until the movement is stopped after the momentum is reduced to the preset second momentum threshold;
If not, the brake pad is kept to press the brake disc or the brake drum to brake until the movement is stopped.
The second momentum threshold value can be set according to actual needs, and is generally smaller than the first momentum threshold value, and can be adjusted according to air humidity data on the basis of the second momentum threshold value.
From the above, the brake strategy adjusting device of the AGV acquires the current working state information; acquiring corresponding brake pressure data according to the working state information; acquiring current air humidity data; adjusting a braking strategy according to the air humidity data, wherein the method comprises the following steps: adjusting the brake pressure data according to the air humidity data; therefore, when the AGV needs to brake, the AGV brakes according to the adjusted braking strategy, so that the AGV cannot stop in time due to the fact that the braking distance of the AGV is increased in wet weather, the AGV is easy to collide with pedestrians, and safety is improved.
Referring to fig. 3, an embodiment of the present application further provides an electronic device 100, including a processor 101 and a memory 102, where the memory 102 stores a computer program, and the processor 101 is configured to execute the steps of the above-mentioned braking policy adjustment method of the AGV car by calling the computer program stored in the memory 102.
The processor 101 is electrically connected to the memory 102. The processor 101 is a control center of the electronic device 100, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or calling computer programs stored in the memory 102, and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device.
Memory 102 may be used to store computer programs and data. The memory 102 stores a computer program having instructions executable in a processor. The computer program may constitute various functional modules. The processor 101 executes various functional applications and data processing by calling a computer program stored in the memory 102.
In this embodiment, the processor 101 in the electronic device 100 loads instructions corresponding to the processes of one or more computer programs into the memory 102 according to the following steps, and the processor 101 executes the computer programs stored in the memory 102, so as to implement various functions: acquiring current working state information; acquiring corresponding brake pressure data according to the working state information; acquiring current air humidity data; adjusting a braking strategy according to the air humidity data, wherein the method comprises the following steps: and adjusting the brake pressure data according to the air humidity data.
From the above, the electronic device obtains the current working state information; acquiring corresponding brake pressure data according to the working state information; acquiring current air humidity data; adjusting a braking strategy according to the air humidity data, wherein the method comprises the following steps: adjusting the brake pressure data according to the air humidity data; therefore, when the AGV needs to brake, the AGV brakes according to the adjusted braking strategy, so that the AGV cannot stop in time due to the fact that the braking distance of the AGV is increased in wet weather, the AGV is easy to collide with pedestrians, and safety is improved.
The embodiment of the application also provides a storage medium, on which a computer program is stored, which when being executed by a processor, runs the steps of the braking strategy adjustment method of the AGV, so as to realize the following functions: acquiring current working state information; acquiring corresponding brake pressure data according to the working state information; acquiring current air humidity data; adjusting a braking strategy according to the air humidity data, wherein the method comprises the following steps: and adjusting the brake pressure data according to the air humidity data.
The storage medium may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable Programmable Read-Only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory, EEPROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In summary, although the present invention has been described with reference to the preferred embodiments, the preferred embodiments are not intended to limit the invention, and various modifications and alterations can be made by those skilled in the art without departing from the spirit and scope of the invention, and the aspects are substantially the same as the present invention.
Claims (5)
1. The method for adjusting the braking strategy of the AGV is applied to the AGV and is characterized by comprising the following steps:
A1. acquiring current working state information; the working state information comprises vehicle speed information and load information;
A2. acquiring corresponding brake pressure data according to the working state information;
A3. acquiring current air humidity data;
A4. adjusting a braking strategy according to the air humidity data;
The step A2 comprises the following steps:
Inquiring in a lookup table according to the working state information to obtain corresponding brake pressure data; the lookup table is formed by setting corresponding brake pressure data according to different vehicle speed intervals and load intervals in advance; when inquiring, extracting corresponding brake pressure data according to a vehicle speed interval in which the vehicle speed information falls and a load interval in which the load information falls;
wherein, step A4 includes:
Adjusting the brake pressure data according to the air humidity data;
The step of adjusting the brake pressure data according to the air humidity data comprises:
calculating a pressure adjustment coefficient according to the air humidity data;
multiplying the brake pressure data by the pressure adjustment coefficient to obtain final brake pressure data;
Step A4 further comprises:
adjusting a braking mode according to the working state information;
the step of adjusting the braking mode according to the working state information comprises the following steps:
Calculating the total weight of the AGV according to the load information;
calculating an initial motion value according to the total weight and the vehicle speed information;
Judging whether the initial momentum value is larger than a preset first momentum threshold value or not;
If so, periodically pressing the brake pad to the brake disc or the brake drum for braking with a preset frequency and a preset contact time before the momentum is reduced to a preset second momentum threshold, and keeping the brake pad to press the brake disc or the brake drum for braking until the movement is stopped after the momentum is reduced to the preset second momentum threshold;
if not, keeping the brake pad pressed against the brake disc or the brake drum to brake until stopping moving;
The step of calculating a pressure adjustment coefficient from the air humidity data includes:
judging whether the air humidity data is larger than a preset humidity threshold value or not;
if not, the pressure adjustment coefficient is 1;
if yes, adding a proportion value to 1 to obtain a pressure coefficient value; before adding the proportion value to 1, inquiring in a proportion value inquiry table according to air humidity data to obtain a corresponding proportion value; the proportional value lookup table is formed by setting corresponding proportional values according to different air humidity data intervals in advance.
2. The method of adjusting a braking strategy of an AGV according to claim 1, further comprising, after the step of calculating a pressure adjustment coefficient from the air humidity data:
acquiring service time information of a brake pad;
and correcting the pressure adjustment coefficient according to the using time information.
3. Brake strategy adjusting device of AGV car is applied to AGV car, a serial communication port, includes:
the first acquisition module is used for acquiring current working state information; the working state information comprises vehicle speed information and load information;
the second acquisition module is used for acquiring corresponding brake pressure data according to the working state information;
the humidity acquisition module is used for acquiring current air humidity data;
The first execution module is used for adjusting a braking strategy according to the air humidity data;
The second obtaining module executes when obtaining corresponding brake pressure data according to the working state information:
Inquiring in a lookup table according to the working state information to obtain corresponding brake pressure data; the lookup table is formed by setting corresponding brake pressure data according to different vehicle speed intervals and load intervals in advance; when inquiring, extracting corresponding brake pressure data according to a vehicle speed interval in which the vehicle speed information falls and a load interval in which the load information falls;
Wherein, when the first execution module adjusts the braking strategy according to the air humidity data:
Adjusting the brake pressure data according to the air humidity data;
the first execution module adjusts the brake pressure data based on the air humidity data:
calculating a pressure adjustment coefficient according to the air humidity data;
multiplying the brake pressure data by the pressure adjustment coefficient to obtain final brake pressure data;
The first execution module adjusts a braking mode according to the working state information when adjusting a braking strategy according to the air humidity data;
The first execution module adjusts a braking mode according to the working state information:
Calculating the total weight of the AGV according to the load information;
calculating an initial motion value according to the total weight and the vehicle speed information;
Judging whether the initial momentum value is larger than a preset first momentum threshold value or not;
If so, periodically pressing the brake pad to the brake disc or the brake drum for braking with a preset frequency and a preset contact time before the momentum is reduced to a preset second momentum threshold, and keeping the brake pad to press the brake disc or the brake drum for braking until the movement is stopped after the momentum is reduced to the preset second momentum threshold;
if not, keeping the brake pad pressed against the brake disc or the brake drum to brake until stopping moving;
Calculating a pressure adjustment coefficient from the air humidity data includes:
judging whether the air humidity data is larger than a preset humidity threshold value or not;
if not, the pressure adjustment coefficient is 1;
if yes, adding a proportion value to 1 to obtain a pressure coefficient value; before adding the proportion value to 1, inquiring in a proportion value inquiry table according to air humidity data to obtain a corresponding proportion value; the proportional value lookup table is formed by setting corresponding proportional values according to different air humidity data intervals in advance.
4. An electronic device comprising a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the steps of the braking strategy adjustment method of the AGV vehicle according to any one of claims 1-2 by calling the computer program stored in the memory.
5. A storage medium having stored thereon a computer program which when executed by a processor performs the steps of the braking strategy adjustment method of an AGV vehicle according to any one of claims 1-2.
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| CN106627590A (en) * | 2016-12-15 | 2017-05-10 | 深圳市元征科技股份有限公司 | Braking distance calculation method and device |
| CN110481543A (en) * | 2019-08-22 | 2019-11-22 | 宝能汽车有限公司 | A kind of method and device for coping with vehicle running collision |
| CN112298136A (en) * | 2020-11-05 | 2021-02-02 | 北京邮电大学 | Driving control method, device and equipment for automatic driving vehicle and readable medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106627590A (en) * | 2016-12-15 | 2017-05-10 | 深圳市元征科技股份有限公司 | Braking distance calculation method and device |
| CN110481543A (en) * | 2019-08-22 | 2019-11-22 | 宝能汽车有限公司 | A kind of method and device for coping with vehicle running collision |
| CN112298136A (en) * | 2020-11-05 | 2021-02-02 | 北京邮电大学 | Driving control method, device and equipment for automatic driving vehicle and readable medium |
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