CN113778075A - Control method and device for automatic guided vehicle - Google Patents
Control method and device for automatic guided vehicle Download PDFInfo
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- G—PHYSICS
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- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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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
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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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
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The invention discloses a control method and a control device for an automatic guided vehicle, and relates to the technical field of computers. One embodiment of the method comprises: generating a planning instruction according to the driving task, wherein the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position; controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information; acquiring the position information of the automatic guided vehicle in real time, and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information; and responding to the real-time distance reaching the set deceleration distance, switching from the speed control mode to the position control mode, and controlling the automatic guided vehicle to continue to run until the target position is reached. The embodiment improves the fixed-point parking precision of the automatic guided vehicle, has strong practical application value, saves the cost and improves the user experience.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a control method and a control device for an automatic guided vehicle.
Background
In recent years, an Automatic Guided Vehicle (AGV) is mainly used for automatic transportation of goods, parts and other articles in an industrial production process, and as an automatic carrier, the AGV must have good speed control and high-precision fixed-point parking capability, and can be matched with other equipment only when the AGV can be accurately parked at a desired position. At present, most schemes plan the speed of the AGV directly, and the speed when the AGV is expected to travel to the target parking point is 0, that is, the fixed-point parking is completed.
However, the existing scheme uses speed planning for control, which is open-loop control, and the fixed-point parking precision is not high; in addition, some AGV position control methods based on the AGV kinematic model or dynamic model require accurate mathematical models, which are limited in practical applications.
Disclosure of Invention
In view of this, embodiments of the present invention provide a control method and apparatus for an automatic guided vehicle, in which a speed control mode and a position control mode are combined and switched for use, so that the automatic parking accuracy is improved without requiring an accurate model and a high-cost actuator, and the method and apparatus have a very high practical application value, save cost, and improve user experience.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a control method for an automatic guided vehicle.
A control method for an automated guided vehicle, comprising: generating a planning instruction according to the driving task, wherein the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position; controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information; acquiring the position information of the automatic guided vehicle in real time, and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information; and responding to the real-time distance reaching the set deceleration distance, switching from a speed control mode to a position control mode, and controlling the automatic guided vehicle to continue to run until the target position is reached.
Optionally, the planned speed information comprises a planned speed, a first planned acceleration and a second planned acceleration; controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information and according to the planned path comprises the following steps: and controlling the automatic guided vehicle to uniformly accelerate and start at the first planned acceleration according to the planned path until the automatic guided vehicle enters a uniform speed running state after reaching the planned speed, and performing uniform deceleration running at the second planned acceleration during deceleration.
Optionally, calculating the real-time distance between the automatic guided vehicle and the target position according to the position information includes: determining a projection point of the automatic guided vehicle on the planned path according to the position information; and calculating the real-time distance between the automatic guided vehicle and the target position according to the planned path and the position information of the projection point.
Optionally, the deceleration distance is calculated and set according to the second planned acceleration and the real-time speed of the automatic guided vehicle.
Optionally, in response to the real-time distance reaching a set deceleration distance, switching from a speed control mode to a position control mode, and controlling the automatic guided vehicle to continue to travel until the target position is reached includes: switching from a speed control mode to a position control mode in response to the real-time distance being less than or equal to a set deceleration distance; acquiring the real-time distance between the automatic guided vehicle and the target position in real time; and determining the real-time control speed of the automatic guided vehicle according to the real-time distance acquired in real time and the second planned acceleration, and enabling the automatic guided vehicle to continue to run according to the real-time control speed until the target position is reached.
Optionally, after switching from the speed control mode to the position control mode, the method further comprises: and limiting the real-time control speed so that the real-time control speed does not exceed the real-time speed of the automatic guided vehicle.
According to another aspect of an embodiment of the present invention, a control apparatus for an automatic guided vehicle is provided.
A control device for an automated guided vehicle, the device comprising: the task planning module is used for generating a planning instruction according to the driving task, wherein the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position; the speed control module is used for controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information; the position acquisition module is used for acquiring the position information of the automatic guided vehicle in real time and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information; and the mode switching module is used for responding to the real-time distance reaching the set deceleration distance, switching from the speed control mode to the position control mode, and controlling the automatic guided vehicle to continue to run until the target position is reached.
Optionally, the planned speed information comprises a planned speed, a first planned acceleration and a second planned acceleration; the speed control module is further configured to: and controlling the automatic guided vehicle to uniformly accelerate and start at the first planned acceleration according to the planned path until the automatic guided vehicle enters a uniform speed running state after reaching the planned speed, and performing uniform deceleration running at the second planned acceleration during deceleration.
Optionally, the location acquisition module is further configured to: determining a projection point of the automatic guided vehicle on the planned path according to the position information; and calculating the real-time distance between the automatic guided vehicle and the target position according to the planned path and the position information of the projection point.
Optionally, the deceleration distance is calculated and set according to the second planned acceleration and the real-time speed of the automatic guided vehicle.
Optionally, the mode switching module is further configured to: switching from a speed control mode to a position control mode in response to the real-time distance being less than or equal to a set deceleration distance; acquiring the real-time distance between the automatic guided vehicle and the target position in real time; and determining the real-time control speed of the automatic guided vehicle according to the real-time distance acquired in real time and the second planned acceleration, and enabling the automatic guided vehicle to continue to run according to the real-time control speed until the target position is reached.
Optionally, the apparatus further comprises a speed limiting module for: after switching from a speed control mode to a position control mode, limiting the real-time control speed so that the real-time control speed does not exceed the real-time speed of the automatic guided vehicle.
According to yet another aspect of an embodiment of the present invention, an electronic device for automatic guided vehicle control is provided.
An electronic device for control of an automated guided vehicle, comprising: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the control method for the automatic guided vehicle provided by the embodiment of the invention.
According to yet another aspect of embodiments of the present invention, a computer-readable medium is provided.
A computer-readable medium, on which a computer program is stored, which, when executed by a processor, implements the control method for an automatic guided vehicle provided by an embodiment of the present invention.
One embodiment of the above invention has the following advantages or benefits: generating a planning instruction according to a driving task, wherein the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position; controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information; acquiring the position information of the automatic guided vehicle in real time, and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information; the technical means of controlling the automatic guided vehicle to continuously run until the target position is reached is responded, the control mode of the automatic guided vehicle is combined with the speed control mode and the position control mode, and the automatic guided vehicle is switched to use, so that the problem that the parking place of the automatic guided vehicle is not accurate enough and is not beneficial to follow-up work is solved, the automatic parking precision is improved under the condition that an accurate model and a high-cost executing mechanism are not needed, the actual application value is high, the cost is saved, and the user experience is improved.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic view of the main steps of a control method for an automatic guided vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic top view of a wheel train of a single rudder wheel automated guided vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a control system architecture for an automated guided vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of real-time distances according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of the speed control principle for control of an automated guided vehicle according to an embodiment of the invention;
FIG. 6 is a schematic diagram of a position control system for control of an automated guided vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the main modules of a control device for an automated guided vehicle according to an embodiment of the present invention;
FIG. 8 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
fig. 9 is a schematic structural diagram of a computer system suitable for implementing a terminal device or a server according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In recent years, Automatic Guided Vehicles (AGVs) have become widely used in industrial production processes to realize automatic transportation of goods, parts, and other articles. AGVs are required to have good speed control and high precision fixed-point stopping capability as automated vehicles. It can only be mated with other devices when it can be parked exactly at the desired location. At present, most schemes plan the speed of the AGV directly, and the speed when the AGV is expected to travel to the target parking point is 0, that is, the fixed-point parking is completed.
The solution for essentially planning the speed of the AGV is an open loop position control. Generally, there is a certain adjustment time from the time when the motion controller sends a control signal until the actuator reaches a desired output value, so that open-loop control cannot guarantee a highly accurate fixed-point stop. In addition, the accuracy of the open-loop control system depends on the performance of the actuator, and a high-performance actuator is expensive.
In other methods, the position of the AGV is controlled based on a kinematic model or a dynamic model of the AGV, and an accurate mathematical model needs to be established in the methods, otherwise, an ideal control effect is difficult to achieve. Accurate mathematical models are very difficult to build. Therefore, such methods are limited in practical applications.
In the embodiments of the present invention, the terms are as follows:
AGV: an Automated Guided Vehicle;
PID: the probability Integral Differential proportional, Integral and Differential are a common control algorithm.
Fig. 1 is a schematic diagram of main steps of a control method for an automatic guided vehicle according to an embodiment of the present invention, which is directed to a scenario of fixed-point parking of a single-steering-wheel AGV. As shown in fig. 1, the control method for an automatic guided vehicle according to the embodiment of the present invention mainly includes steps S101 to S104 as follows.
Step S101, generating a planning instruction according to a driving task, wherein the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position;
step S102, controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information;
step S103, acquiring the position information of the automatic guided vehicle in real time, and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information;
and step S104, responding to the real-time distance reaching the set deceleration distance, switching from the speed control mode to the position control mode, and controlling the automatic guided vehicle to continue to run until reaching the target position.
According to the steps S101 to S104, the control mode of the automatic guided vehicle is combined by using speed control and position control, and when the distance between the AGV and the parking point is less than or equal to the deceleration distance, the motion controller is switched from the speed mode to the position mode to improve the longitudinal fixed point parking precision of the AGV.
Fig. 2 is a schematic plan view of a wheel train of a single-steering wheel automatic guided vehicle according to an embodiment of the present invention, as shown in fig. 2, a single-steering wheel AGV is used in the present invention, the schematic plan view of the wheel train includes a driving wheel located in a front row and two driven wheels located in a rear row, and the adjustment of the AGV pose can be realized by adjusting the rotation speed and the steering angle of the driving wheel.
Fig. 3 is a schematic view of a control system structural framework for an automatic guided vehicle according to an embodiment of the present invention, and as shown in fig. 3, the control system structural framework for an automatic guided vehicle includes: the control console is responsible for issuing a driving task to the AGV; the main controller analyzes the driving task after receiving the driving task, performs path planning, speed planning and the like, and generates a planning instruction; and the motion controller controls the actuating mechanism to drive the vehicle to run according to the planning command sent by the main controller. The master controller sends the planning instruction and the AGV positioning data of the laser radar to the motion controller, and the motion controller receives the planning instruction and the AGV positioning data of the master controller and then controls an executing mechanism (such as a motor) to drive the AGV to run.
According to one embodiment of the invention, calculating the real-time distance between the automatic guided vehicle and the target position according to the position information comprises: determining a projection point of the automatic guided vehicle on the planned path according to the position information; and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information of the planned path and the projection point.
Fig. 4 is a schematic diagram of a real-time distance of a control method for an automatic guided vehicle according to an embodiment of the present invention, the real-time distance being obtained by determining a projected point of the automatic guided vehicle on a planned path according to position information; and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information of the planned path and the projection point. In an embodiment of the present invention, the projection point of the automatic guided vehicle on the planned path refers to a point on the planned path closest to the center of gravity of the automatic guided vehicle. As shown in FIG. 4, A → B is a segment of the path that the AGV is expected to follow, point A is the projected point of the position C where the AGV is currently located on the path, and point B is the stopping point, i.e., the target position. The real-time distance is the path length L of A → B (if the path is a curve, the real-time distance is the length of the curve). The master controller acquires the pose (x) of the AGV from the laser radar sensorC,yCθ), then may be based on the current position (x) of the AGVC,yC) Target parking position (x)B,yB) And path information (straight or arc) to calculate the real-time distance L.
According to another embodiment of the invention, the planned speed information comprises a planned speed, a first planned acceleration and a second planned acceleration; controlling the automatic guided vehicle to run in the speed control mode according to the planned speed information and according to the planned path comprises the following steps: and controlling the automatic guided vehicle to uniformly accelerate and start at a first planned acceleration according to the planned path until the automatic guided vehicle enters a uniform-speed running state after reaching the planned speed, and performing uniform-deceleration running at a second planned acceleration during deceleration.
Fig. 5 is a schematic diagram of the speed control principle for control of an automatic guided vehicle according to an embodiment of the present invention. As shown in fig. 5, the speed control principle for the control of the automatic guided vehicle includes: controlling the automatic guided vehicle to run according to the planned path in a speed control mode according to the planned speed information, controlling the automatic guided vehicle to start at a first planned acceleration in a uniform acceleration mode according to the planned path until the automatic guided vehicle reaches the gaugeAnd after the speed is planned, the vehicle enters a constant speed running state, and the vehicle runs at a second planned acceleration speed in a uniform deceleration mode. I.e., the AGV is traveling normally, the motion controller operates in a speed control mode (controlled by the PID controller shown in FIG. 5), vrAt a desired speed, vcFor speed values calculated by feedback from the encoder, evIs vrAnd vcU is a control amount of the motor. When the motion controller works in the speed mode, the AGV is controlled according to the path information planned by the main controller and the AGV running speed. The invention adopts trapezoidal speed planning, namely the AGV starts with uniform acceleration, enters a uniform motion state after reaching the designated speed, and performs uniform deceleration motion during deceleration.
In an embodiment of the invention, the deceleration distance is computationally set according to the second planned acceleration and the real-time speed of the automated guided vehicle.
According to still another embodiment of the present invention, switching from the speed control mode to the position control mode in response to the real-time distance reaching the set deceleration distance, the controlling the automatic guided vehicle to continue traveling until reaching the target position includes: switching from the speed control mode to the position control mode in response to the real-time distance being less than or equal to the set deceleration distance; acquiring the real-time distance between the automatic guided vehicle and the target position in real time; and determining the real-time control speed of the automatic guided vehicle according to the real-time distance acquired in real time and the second planned acceleration, and enabling the automatic guided vehicle to continue to run according to the real-time control speed until the target position is reached.
According to a further embodiment of the invention, after switching from the speed control mode to the position control mode, the method further comprises: the real-time control speed is limited so that the real-time control speed does not exceed the real-time speed of the automatic guided vehicle.
Fig. 6 is a schematic view of a position control system for a control method of an automatic guided vehicle according to an embodiment of the present invention. The process of control mode switching of the automatic guided vehicle is as follows: switching from the speed control mode to the position control mode in response to the real-time distance being less than or equal to the set deceleration distance; acquiring the real-time distance between the automatic guided vehicle and the target position in real time; and determining the real-time control speed of the automatic guided vehicle according to the real-time distance acquired in real time and the second planned acceleration, and enabling the automatic guided vehicle to continue to run according to the real-time control speed until the target position is reached. As shown in FIG. 6, the inner loop of the AGV position control system is the speed loop of the motor and is used to achieve closed-loop control of the motor speed. The outer loop is a position loop that uses a proportional controller (i.e., the P controller in fig. 6) to provide closed loop control of the longitudinal position of the AGV. As the AGV approaches the target position, the speed of the AGV decreases gradually, and when the target position is reached, the speed decreases to zero.
In the embodiment of the invention, the deceleration distance is calculated and set according to the second planned acceleration and the real-time speed of the automatic guided vehicle, namely the estimation of the deceleration distance is as follows:
where d is the deceleration distance, a is the desired deceleration acceleration, i.e. the second planned acceleration, v0The current real-time speed of the AGV. For any moment in the running process of the AGV, the current real-time position and real-time speed of the AGV can be obtained, so that the real-time distance L between the AGV and a target position and the deceleration distance d are obtained, and if L is less than or equal to d, the speed control mode of the AGV is switched to the position control mode at the moment; otherwise, no handover is performed.
In order to ensure the stability of the AGV running speed after the speed mode of the motion controller is switched to the position mode, the output of the P controller needs to be limited, and the limiting value is v0。
Fig. 7 is a schematic diagram of main modules of a control apparatus for an automatic guided vehicle according to an embodiment of the present invention, and as shown in fig. 7, an apparatus 700 for implementing device access across platforms according to an embodiment of the present invention mainly includes a task planning module 701, a speed control module 702, a position acquisition module 703, and a mode switching module 704.
The task planning module 701 is used for generating a planning instruction according to the driving task, wherein the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position;
a speed control module 702, configured to control the automatic guided vehicle to travel according to the planned speed information in a speed control mode according to the planned path;
the position acquisition module 703 is used for acquiring the position information of the automatic guided vehicle in real time and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information;
and the mode switching module 704 is used for responding to the real-time distance reaching the set deceleration distance, switching from the speed control mode to the position control mode, and controlling the automatic guided vehicle to continue to run until the target position is reached.
In an embodiment of the invention, the planned speed information comprises a planned speed, a first planned acceleration and a second planned acceleration; the speed control module 702 is further configured to: and controlling the automatic guided vehicle to uniformly accelerate and start at a first planned acceleration according to the planned path until the automatic guided vehicle enters a uniform-speed running state after reaching the planned speed, and performing uniform-deceleration running at a second planned acceleration during deceleration.
According to an embodiment of the present invention, the location acquisition module 703 is further configured to: determining a projection point of the automatic guided vehicle on the planned path according to the position information; and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information of the planned path and the projection point.
In an embodiment of the invention, the deceleration distance is computationally set according to the second planned acceleration and the real-time speed of the automated guided vehicle.
According to another embodiment of the present invention, the mode switching module 704 is further configured to: switching from the speed control mode to the position control mode in response to the real-time distance being less than or equal to the set deceleration distance; acquiring the real-time distance between the automatic guided vehicle and the target position in real time; and determining the real-time control speed of the automatic guided vehicle according to the real-time distance acquired in real time and the second planned acceleration, and enabling the automatic guided vehicle to continue to run according to the real-time control speed until the target position is reached.
According to yet another embodiment of the invention, the apparatus 700 further comprises a speed limiting module (not shown in the figures) for: after switching from the speed control mode to the position control mode, the real-time control speed is limited so that the real-time control speed does not exceed the real-time speed of the automatic guided vehicle.
Fig. 8 illustrates an exemplary system architecture 800 for a control method for an automated guided vehicle or a control apparatus for an automated guided vehicle to which embodiments of the present invention may be applied.
As shown in fig. 8, the system architecture 800 may include terminal devices 801, 802, 803, a network 804, and a server 805. The network 804 serves to provide a medium for communication links between the terminal devices 801, 802, 803 and the server 805. Network 804 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 801, 802, 803 to interact with a server 805 over a network 804 to receive or send messages or the like. Various client applications may be installed on the terminal devices 801, 802, 803, such as navigation-type applications, positioning-type applications, control-type applications, auto-guidance vehicle-type applications, balance vehicles, etc. (by way of example only).
The terminal devices 801, 802, 803 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 805 may be a server that provides various services, such as a back-office management server (for example only) that provides support for control-type websites browsed by users using the terminal devices 801, 802, 803. The background management server may analyze and perform other processing on the received data such as the location information, and feed back a processing result (for example, switching the working mode — just an example) to the terminal device.
It should be noted that the control method for the automatic guided vehicle provided by the embodiment of the present invention is generally executed by the server 805, and accordingly, the control device for the automatic guided vehicle is generally disposed in the server 805.
It should be understood that the number of terminal devices, networks, and servers in fig. 8 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 9, a block diagram of a computer system 900 suitable for use with a terminal device or server implementing an embodiment of the invention is shown. The terminal device or the server shown in fig. 9 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 9, the computer system 900 includes a Central Processing Unit (CPU)901 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)902 or a program loaded from a storage section 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data necessary for the operation of the system 900 are also stored. The CPU 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
The following components are connected to the I/O interface 905: an input portion 906 including a keyboard, a mouse, and the like; an output section 907 including components such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 908 including a hard disk and the like; and a communication section 909 including a network interface card such as a LAN card, a modem, or the like. The communication section 909 performs communication processing via a network such as the internet. The drive 910 is also connected to the I/O interface 905 as necessary. A removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 910 as necessary, so that a computer program read out therefrom is mounted into the storage section 908 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 909, and/or installed from the removable medium 911. The above-described functions defined in the system of the present invention are executed when the computer program is executed by a Central Processing Unit (CPU) 901.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units or modules described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware. The described units or modules may also be provided in a processor, and may be described as: a processor comprises a task planning module, a speed control module, a position acquisition module and a mode switching module. Where the names of these units or modules do not in some cases constitute a limitation of the unit or module itself, for example, a mission planning module may also be described as "a module for generating planning instructions including a planned path including a target location and planning speed information from a driving mission".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: generating a planning instruction according to the driving task, wherein the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position; controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information; acquiring the position information of the automatic guided vehicle in real time, and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information; and responding to the real-time distance reaching the set deceleration distance, switching from a speed control mode to a position control mode, and controlling the automatic guided vehicle to continue to run until the target position is reached.
According to the technical scheme of the embodiment of the invention, a planning instruction is generated according to a driving task, the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position; controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information; acquiring the position information of the automatic guided vehicle in real time, and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information; the technical means of controlling the automatic guided vehicle to continuously run until the target position is reached is responded, the control mode of the automatic guided vehicle is combined with the speed control mode and the position control mode, and the automatic guided vehicle is switched to use, so that the problem that the parking place of the automatic guided vehicle is not accurate enough and is not beneficial to follow-up work is solved, the automatic parking precision is improved under the condition that an accurate model and a high-cost executing mechanism are not needed, the actual application value is high, the cost is saved, and the user experience is improved.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (14)
1. A control method for an automated guided vehicle, comprising:
generating a planning instruction according to the driving task, wherein the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position;
controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information;
acquiring the position information of the automatic guided vehicle in real time, and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information;
and responding to the real-time distance reaching the set deceleration distance, switching from a speed control mode to a position control mode, and controlling the automatic guided vehicle to continue to run until the target position is reached.
2. The method of claim 1, wherein the planned velocity information comprises a planned velocity, a first planned acceleration, and a second planned acceleration;
controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information and according to the planned path comprises the following steps:
and controlling the automatic guided vehicle to uniformly accelerate and start at the first planned acceleration according to the planned path until the automatic guided vehicle enters a uniform speed running state after reaching the planned speed, and performing uniform deceleration running at the second planned acceleration during deceleration.
3. The method of claim 1, wherein calculating the real-time distance of the automated guided vehicle from the target location based on the location information comprises:
determining a projection point of the automatic guided vehicle on the planned path according to the position information;
and calculating the real-time distance between the automatic guided vehicle and the target position according to the planned path and the position information of the projection point.
4. The method of claim 2, wherein the deceleration distance is computationally set based on the second planned acceleration and a real-time speed of the automated guided vehicle.
5. The method of claim 2 or 4, wherein switching from a speed control mode to a position control mode in response to the real-time distance reaching a set deceleration distance, controlling the automated guided vehicle to continue traveling until the target position is reached comprises:
switching from a speed control mode to a position control mode in response to the real-time distance being less than or equal to a set deceleration distance;
acquiring the real-time distance between the automatic guided vehicle and the target position in real time;
and determining the real-time control speed of the automatic guided vehicle according to the real-time distance acquired in real time and the second planned acceleration, and enabling the automatic guided vehicle to continue to run according to the real-time control speed until the target position is reached.
6. The method of claim 5, wherein after switching from the speed control mode to the position control mode, the method further comprises:
and limiting the real-time control speed so that the real-time control speed does not exceed the real-time speed of the automatic guided vehicle.
7. A control device for an automated guided vehicle, comprising:
the task planning module is used for generating a planning instruction according to the driving task, wherein the planning instruction comprises a planning path and planning speed information, and the planning path comprises a target position;
the speed control module is used for controlling the automatic guided vehicle to run in a speed control mode according to the planned speed information;
the position acquisition module is used for acquiring the position information of the automatic guided vehicle in real time and calculating the real-time distance between the automatic guided vehicle and the target position according to the position information;
and the mode switching module is used for responding to the real-time distance reaching the set deceleration distance, switching from the speed control mode to the position control mode, and controlling the automatic guided vehicle to continue to run until the target position is reached.
8. The apparatus of claim 7, wherein the planned velocity information comprises a planned velocity, a first planned acceleration, and a second planned acceleration; the speed control module is further configured to:
and controlling the automatic guided vehicle to uniformly accelerate and start at the first planned acceleration according to the planned path until the automatic guided vehicle enters a uniform speed running state after reaching the planned speed, and performing uniform deceleration running at the second planned acceleration during deceleration.
9. The apparatus of claim 7, wherein the location acquisition module is further configured to:
determining a projection point of the automatic guided vehicle on the planned path according to the position information;
and calculating the real-time distance between the automatic guided vehicle and the target position according to the planned path and the position information of the projection point.
10. The apparatus of claim 8, wherein the deceleration distance is computationally set based on the second planned acceleration and a real-time speed of the automated guided vehicle.
11. The apparatus of claim 8 or 10, wherein the mode switching module is further configured to:
switching from a speed control mode to a position control mode in response to the real-time distance being less than or equal to a set deceleration distance;
acquiring the real-time distance between the automatic guided vehicle and the target position in real time;
and determining the real-time control speed of the automatic guided vehicle according to the real-time distance acquired in real time and the second planned acceleration, and enabling the automatic guided vehicle to continue to run according to the real-time control speed until the target position is reached.
12. The apparatus of claim 11, further comprising a speed limiting module to:
after switching from a speed control mode to a position control mode, limiting the real-time control speed so that the real-time control speed does not exceed the real-time speed of the automatic guided vehicle.
13. An electronic device for control of an automated guided vehicle, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
14. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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| CN118534822A (en) * | 2024-07-08 | 2024-08-23 | 杭州壹莲通科技有限公司 | Intelligent switching control method and system for AGV control mode for hospital |
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