CN111290397A - Speed adjusting method and device, automatic navigation vehicle and storage medium - Google Patents

Speed adjusting method and device, automatic navigation vehicle and storage medium Download PDF

Info

Publication number
CN111290397A
CN111290397A CN202010170131.XA CN202010170131A CN111290397A CN 111290397 A CN111290397 A CN 111290397A CN 202010170131 A CN202010170131 A CN 202010170131A CN 111290397 A CN111290397 A CN 111290397A
Authority
CN
China
Prior art keywords
grade
agv
ground state
preset
bumping
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010170131.XA
Other languages
Chinese (zh)
Other versions
CN111290397B (en
Inventor
郭承志
贾全
王亚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sany Robot Technology Co Ltd
Original Assignee
Sany Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sany Robot Technology Co Ltd filed Critical Sany Robot Technology Co Ltd
Priority to CN202010170131.XA priority Critical patent/CN111290397B/en
Publication of CN111290397A publication Critical patent/CN111290397A/en
Application granted granted Critical
Publication of CN111290397B publication Critical patent/CN111290397B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • 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
    • 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
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

The invention relates to the technical field of automation, and provides a speed adjusting method, a speed adjusting device, an automatic navigation vehicle and a storage medium, wherein the method comprises the following steps: acquiring ground state data acquired by a ground state monitoring sensor; judging whether the current running speed of the AGV needs to be adjusted or not according to the ground state data and a preset bumping grade; if the current running speed of the AGV needs to be adjusted, the current running speed of the AGV is adjusted according to the preset bumping grade, so that the AGV runs according to the adjusted running speed. Compared with the prior art, the AGV driving speed automatic control system can automatically adjust the driving speed of the AGV according to the ground state, and the stability and the service life of AGV hardware are prevented from being influenced by large jolting in the driving process of the AGV.

Description

Speed adjusting method and device, automatic navigation vehicle and storage medium
Technical Field
The invention relates to the technical field of automation, in particular to a speed adjusting method and device, an automatic navigation vehicle and a storage medium.
Background
With the continuous advance of the industrial 4.0 progress, industrial automation has become an important trend of the current manufacturing industry transformation, and the AGV is an important technology and means for realizing the industrial automation. With the continuous application of AGVs in various industries, the stability and the service life of AGVs become key factors for the development of the AGVs (Automated Guided vehicles) industry.
In the running process of the AGV, the speed of the AGV is generally preset, and the speed of each pre-running road section and the speed of each road point are preset to be used as the expected speed of the AGV during running, so that the function of having different running speeds in different road sections and areas is realized. However, with the long-time running of the AGVs, the ground is inevitably damaged, and if the AGVs in the area have a higher preset speed, the AGVs will bump greatly in the running process, which affects the stability and the service life of the AGVs hardware.
Disclosure of Invention
The embodiment of the invention aims to provide a speed adjusting method and device, an automatic navigation vehicle and a storage medium, which can automatically adjust the running speed of an AGV according to the ground state and avoid the influence on the stability and the service life of AGV hardware due to large jolt in the running process of the AGV.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, the present embodiment provides a speed adjustment method, which is applied to an automatic navigation vehicle AGV, where a ground state monitoring sensor is installed on the AGV, and the method includes: acquiring ground state data acquired by a ground state monitoring sensor; judging whether the current running speed of the AGV needs to be adjusted or not according to the ground state data and a preset bumping grade; if the current running speed of the AGV needs to be adjusted, the current running speed of the AGV is adjusted according to the preset bumping grade, so that the AGV runs according to the adjusted running speed.
In a second aspect, the present embodiment provides a speed adjusting device, which is applied to an automatic navigation vehicle AGV, wherein a ground state monitoring sensor is installed on the AGV, the device includes an acquisition module, a judgment module and an adjustment module, wherein the acquisition module is used for acquiring ground state data acquired by the ground state monitoring sensor; the judgment module is used for judging whether the current running speed of the AGV needs to be adjusted or not according to the ground state data and the preset bump grade; and the adjusting module is used for adjusting the current running speed of the AGV according to the preset bumping grade if the current running speed of the AGV needs to be adjusted so that the AGV runs according to the adjusted running speed.
In a third aspect, the present embodiment provides an automatic navigation vehicle, including: one or more processors; memory for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement a speed adjustment method as in any one of the preceding embodiments.
In a fourth aspect, the present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the speed adjustment method according to any of the preceding embodiments.
Compared with the prior art, the embodiment provides a speed adjusting method and device, an automatic navigation vehicle and a storage medium, which can automatically adjust the running speed of the AGV according to the ground state, and avoid the influence on the stability and the service life of AGV hardware due to large jolt in the running process of the AGV.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows a flow chart of a speed adjustment method according to an embodiment of the present invention.
Fig. 2 is a flow chart of another speed adjustment method provided by the embodiment of the invention.
Fig. 3 is a flow chart of another speed adjustment method provided by the embodiment of the invention.
Fig. 4 is a flow chart of another speed adjustment method provided by the embodiment of the invention.
Fig. 5 is a block diagram showing a configuration of a speed adjusting apparatus according to an embodiment of the present invention.
FIG. 6 illustrates a block diagram of an AGV according to an embodiment of the present invention.
Icon: 10-AGV; 11-a memory; 12-peripheral interfaces; 13-a processor; 14-a bus; 20-ground state monitoring sensors; 30-an alarm device; 100-speed regulating means; 110-an obtaining module; 120-a judgment module; 130-a regulation module; 140-alarm module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Referring to fig. 1, the present embodiment provides a flow chart of a speed adjustment method, which includes the following steps:
and S101, acquiring ground state data acquired by a ground state monitoring sensor.
In the present embodiment, the ground condition monitoring sensor includes, but is not limited to, an Inertial Measurement Unit (IMU), a camera, a laser radar, and other sensors for detecting the ground. The ground state monitoring sensors are different, the collected ground state data are different, and taking the IMU as an example, the ground state data collected by the IMU comprise acceleration data and inclination data.
And S102, judging whether the current running speed of the AGV needs to be adjusted or not according to the ground state data and the preset bump level.
In this embodiment, the preset thrashing level may be set according to the actual application environment of the AGV, for example, the preset thrashing level may be set as: two levels of pitch and pitch can also be set: three grades of no pitch, moderate pitch and severe pitch.
And step S103, if the current running speed of the AGV needs to be adjusted, adjusting the current running speed of the AGV according to a preset bumping grade so that the AGV runs according to the adjusted running speed.
In this embodiment, ground state is different, the ground state data of gathering are also different, correspondingly, the grade of jolting of judging is also different, according to the difference of the grade of jolting, the speed of traveling after the regulation is also different, can make AGV great jolting can not appear in the travel process from this, for example, when jolting and becoming serious, the speed of traveling is transferred for a short time, when jolting and becoming not serious, speed of traveling is transferred for a long time, AGV speed of traveling both can be guaranteed like this, can guarantee again that AGV travel in-process can not appear great jolting.
According to the speed adjusting method provided by the embodiment of the invention, the driving speed of the AGV is automatically adjusted according to the ground state data and the preset bump level, the influence on the stability and the service life of AGV hardware caused by large bump in the driving process of the AGV is avoided, the adaptability of the AGV to the ground is enhanced, meanwhile, a technician is not required to manually adjust the driving speed of the AGV, the workload of the technician is reduced, and the waste of manpower, material resources and financial resources is reduced.
Referring to fig. 2, fig. 2 shows a flow chart of another speed adjustment method provided by the embodiment of the present invention, and step S102 includes the following sub-steps:
and a substep S1021, if the ground state data is less than or equal to the ground state threshold corresponding to the preset bump grade with the lowest grade value, determining that the current running speed of the AGV does not need to be adjusted.
In this embodiment, the preset bumping levels may be multiple, each preset bumping level corresponds to a level value and a ground state threshold, and the larger the level value of the preset bumping level is, the more serious the characteristic bumping degree is, and the larger the corresponding ground state threshold is.
In this embodiment, if the ground state data is less than or equal to the ground state threshold corresponding to the preset bump level with the lowest level value, it is considered that the ground state is good, the current AGV operates normally, and there is no bump, and at this time, the current driving speed of the AGV does not need to be adjusted.
Taking a ground state monitoring sensor as an example of an IMU module, the ground state data collected by the IMU comprises acceleration data and inclination data, correspondingly, the ground state threshold corresponding to each preset bumping grade comprises an acceleration threshold and an inclination threshold, the IMU module usually comprises 3 single-axis accelerometers, the acceleration value in each single-axis direction can be measured, the acceleration threshold is a module value of 3 preset single-axis acceleration thresholds, and the calculation formula of the module value is as follows:
Figure BDA0002408895720000051
for example, the acceleration thresholds for the 3 axes are: 20. 30 and 50, the sum of the corresponding module values is:
Figure BDA0002408895720000052
acceleration data collected by the IMU are similar to the acceleration data collected by the IMU and are also acceleration data of 3 single shafts, and after the AGV acquires the acceleration data of the 3 single shafts, the model value of the acceleration data of the 3 single shafts is calculated and then is compared with the acceleration threshold value. Besides acquiring acceleration data, the IMU module also acquires inclination angle data, and accordingly, the inclination angle data needs to be compared with an inclination angle threshold value.
Taking the ground state monitoring sensor as an example of the IMU module, when judging whether the ground state data is less than or equal to the ground state threshold corresponding to the preset bumping level with the lowest level value, if the acceleration data is less than or equal to the acceleration threshold corresponding to the preset bumping level with the lowest level value and the inclination data is less than or equal to the inclination threshold corresponding to the preset bumping level with the lowest level value, it is judged that the ground state data is less than or equal to the ground state threshold corresponding to the preset bumping level with the lowest level value, that is, the current driving speed of the AGV does not need to be adjusted.
For example, the preset bump level includes four levels: no bump level, corresponding acceleration threshold and inclination threshold of A0And theta0(ii) a The corresponding acceleration threshold and inclination angle threshold of the small bump grade are respectively A1And theta1(ii) a The acceleration threshold and the inclination angle threshold of the medium bump grade are respectively A2And theta2(ii) a Severe bump level with acceleration and tilt thresholds A3And theta3(ii) a The magnitude relationship between the rank values of the four ranks is: grade value without bump grade<Level value for lower bump level<Grade value of moderate bump level<The grade value of the severe bump grade, if the acceleration data is a and the inclination angle is θ, the situations that the current driving speed of the AGV does not need to be adjusted include the following four situations: (1) a. the<A0And theta<θ0；(2)A<A0And θ ═ θ0；(3)A＝A0And theta<θ0；(4)A＝A0And θ ═ θ0。
It should be noted that the preset level value of the bump level may also be set as required, for example, the level value without bump level is set to be maximum, the level value with severe bump level is set to be minimum, the ground state threshold of the preset bump level with the maximum level value is minimum, the ground state threshold of the preset bump level with the minimum level value is maximum, at this time, it is determined that the judgment condition for not adjusting the current driving speed of the AGV needs to be correspondingly adjusted, that is, if the ground state data is less than or equal to the ground state threshold corresponding to the preset bump level with the maximum level value, it is determined that the current driving speed of the AGV does not need to be adjusted, and a person skilled in the art in the field of this scheme can deduce without creative labor, and therefore, the present invention also belongs to the protection scope.
In the present embodiment, when the condition of sub-step S1022 is not satisfied, that is: the ground state data is greater than the ground state threshold corresponding to the preset bump level with the lowest grade value or greater than or equal to the ground state threshold corresponding to any preset bump level except the preset bump level with the lowest grade value, and in order to determine whether the current driving speed of the AGV needs to be adjusted, the present embodiment further includes substeps S1022 to S1027.
In the sub-step S1022, the number of levels of the target thrashing level is incremented.
In this embodiment, the target bump level is a preset bump level with a maximum level value corresponding to the ground state threshold value or more. For example, the preset bump level includes three levels with sequentially increasing level values: the grade thresholds of the three bumping grades are also increased, so that if the ground state data is greater than the severe bumping grade, the ground state data is certainly greater than the moderate bumping grade and the no bumping grade, at this moment, the severe bumping grade is a target bumping grade, if the ground state data is equal to the moderate bumping grade, the ground state data is certainly greater than the no bumping grade, at this moment, the medium bumping grade is the target bumping grade.
In this embodiment, each preset bump level corresponds to a level number, the level number is used to represent a statistical value of the number of times that the AGV reaches the preset bump level, when the ground state data is greater than the ground state threshold of the preset level with the lowest level value or the ground state threshold corresponding to any one preset bump level except the preset bump level with the lowest level value, the AGV is considered to reach the preset bump level with the highest level value, at this time, the level number of the preset bump level with the highest level value is incremented, for example, the preset bump level includes three levels with sequentially incremented level values: and if the ground state data is equal to the ground state threshold value of the severe bump grade, the grade times of the severe bump grade are increased progressively.
And a substep S1023 of determining whether the level times of the incremented target bump level is greater than a preset time threshold.
In this embodiment, the preset number threshold of the preset bump level is used to represent whether the route traveled by the AGV includes a bump area corresponding to the preset bump level, when the number of the preset bump level is equal to the preset number threshold, the route traveled by the AGV is considered to include the bump area corresponding to the preset bump level, and when the number of the preset bump level is greater than the preset number threshold, the current travel speed of the AGV needs to be adjusted.
And a substep S1024, if the grade frequency of the increased target bumping grade is greater than a preset frequency threshold value, determining that the target bumping grade meets a preset condition.
In this embodiment, if the level number of the incremented target bumping level is less than or equal to the preset number threshold, it is determined that the target bumping level does not satisfy the preset condition, and at this time, it is determined that the current driving speed of the AGV does not need to be adjusted.
And in the substep S1025, if the grade times of the target bumping grade are equal to a preset time threshold value, acquiring the current position of the AGV, and setting the current position as a bumping area.
In this embodiment, when there is temporary barrier on the route that AGV traveles, also can lead to presetting the increment of the grade number of times of jolting level, after temporary barrier is clear away, then the grade number of times of predetermineeing the jolting level just can not increase, for minimize erroneous judgement, only when the grade number of times of predetermineeing the jolting level reaches the threshold value of predetermineeing the number of times, just think that there is the jolting district that predetermines the jolting level and correspond on the route that AGV traveles, otherwise, think as the non-jolting district, therefore, the accuracy of the current speed of traveling of judgement regulation AGV has been improved.
It should be noted that, a technician may further refine the bumping area according to the needs of the technician, for example, when a first preset number threshold is reached, the current position is set as a suspected bumping area, and when a second preset number threshold is reached, the current position is set as the bumping area.
And a substep S1026, if the ground state data is greater than the ground state threshold corresponding to the preset bump level with the lowest grade value or greater than or equal to the ground state threshold corresponding to any preset bump level except the preset bump level with the lowest grade value, and the target bump level meets a preset condition, determining that the current driving speed of the AGV needs to be adjusted, wherein the target bump level is the preset bump level with the highest grade value corresponding to the ground state threshold or greater than or equal to the ground state data.
In this embodiment, taking the ground state monitoring sensor as an IMU module as an example, when any one of the acceleration data greater than an acceleration threshold of a predetermined bumping level or the inclination data greater than an inclination threshold of the predetermined bumping level is satisfied, it is determined that the ground state data is greater than the ground state threshold of the predetermined bumping level, when the acceleration data is equal to the acceleration threshold of the predetermined bumping level and the inclination data is less than the inclination threshold of the predetermined bumping level, it is determined that the ground state data is equal to the ground state threshold of the predetermined bumping level, when the acceleration data is less than the acceleration threshold of the predetermined bumping level and the inclination data is equal to the inclination threshold of the predetermined bumping level, it is determined that the ground state data is equal to the ground state threshold of the predetermined bumping level, and when the acceleration data is equal to the acceleration threshold of the predetermined bumping level, And meanwhile, if the inclination angle data is equal to the inclination angle threshold value of the preset bump grade, judging that the ground state data is equal to the ground state threshold value of the preset bump grade.
With reference to fig. 2, step S103 includes the following sub-steps:
and a substep S1031, updating the current driving speed of the AGV by using the preset driving speed corresponding to the target bumping grade so as to adjust the current driving speed of the AGV.
In this embodiment, each preset bumping level corresponds to a preset driving speed, and the larger the level value of the preset bumping level is, that is, the larger the threshold value of the preset bumpy ground state is, the smaller the corresponding preset driving speed is. As a specific implementation manner, the preset running speed of the preset bump grade with the maximum preset bump grade value can be set to 0, so that the AGV is stopped when running violently and bumpy, and the hardware of the AGV is prevented from being damaged due to violent bumping.
The speed adjusting method provided by the embodiment of the invention judges the conditions of the current running speed of the AGV needing to be adjusted one by one, ensures the accuracy of judgment and reduces misjudgment.
In this embodiment, in order to enable the AGV to notify the AGV technician in time when the AGV is running in a severe bumpy state, on the basis of fig. 1, an embodiment of the present invention further provides a speed adjustment method so that the AGV can notify the AGV technician in time when the AGV is running in a severe bumpy state, please refer to fig. 3, where fig. 3 shows a flowchart of another speed adjustment method provided by an embodiment of the present invention, and the method further includes step S104.
And step S104, if the ground state data is larger than the ground state threshold value corresponding to the bumping grade with the highest grade value, sending an alarm signal to the alarm device so that the alarm device gives an alarm.
In this embodiment, the AGV may further include an alarm device, where the alarm device may alarm with a light signal or a sound signal, and the alarm device includes, but is not limited to, an indicator light, a buzzer, and the like.
According to the speed adjusting method provided by the embodiment of the invention, when the AGV jolts violently, a technician of the AGV can be informed in time, so that the technician can perform corresponding processing according to the current running condition of the AGV in time.
In this embodiment, in order to clear the level number corresponding to each preset bump level after the bump area is determined and the current driving speed of the AGV is adjusted to the speed matching with the corresponding preset bump level, so as to count the level number corresponding to each preset bump level again later and correctly determine whether the current driving speed of the AGV needs to be adjusted again, the embodiment further provides a speed adjustment method so as to clear the level number corresponding to each preset bump level in time, please refer to fig. 4, where fig. 4 shows a flowchart of another speed adjustment method provided by the embodiment of the present invention, where the method includes the following steps:
step S201, the current position of the AGV is obtained.
In this embodiment, the current position of the AGV may be a relative position with respect to a preset travel route of the AGV, or may be a GPS position of the AGV.
Step S202, if the ground state data is less than or equal to the ground state threshold corresponding to the preset bumping grade with the lowest grade value and the current position is a bumping area, clearing the grade times corresponding to each preset bumping grade.
In this embodiment, the current position is a bumpy area, or may be within a preset range of the bumpy area, and then the current position is determined to be the bumpy area.
The speed adjusting method provided by the embodiment of the invention can clear the grade times corresponding to each preset bumping grade in time, so that the grade times corresponding to each preset bumping grade can be counted again in the following process, and whether the current running speed of the AGV needs to be adjusted is judged correctly again.
To implement the above embodiments and corresponding steps in each possible implementation, an implementation of a block diagram of a speed adjustment device 100 applied to an AGV is given below, please refer to fig. 5, where fig. 5 shows a block diagram of the speed adjustment device 100 applied to an AGV according to an embodiment of the present invention. It should be noted that the basic principle and the technical effects of the speed adjusting device 100 applied to the AGV provided by the present embodiment are the same as those of the above embodiments, and for the sake of brief description, the present embodiment is not mentioned partially, and reference may be made to the corresponding contents in the above embodiments.
The speed adjustment device 100 includes:
the acquiring module 110 is configured to acquire ground state data acquired by the ground state monitoring sensor.
And the judging module 120 is configured to judge whether the current driving speed of the AGV needs to be adjusted according to the ground state data and the preset bumping grade.
Specifically, the preset bumping levels are multiple, each preset bumping level corresponds to a ground state threshold and a level value, the level values of the preset bumping levels are sequentially determined from large to small according to the corresponding ground state thresholds, and the determining module 120 is specifically configured to: if the ground state data is less than or equal to the ground state threshold corresponding to the preset bumping grade with the lowest grade value, judging that the current running speed of the AGV does not need to be adjusted; and if the ground state data is greater than a ground state threshold corresponding to a preset bump grade with the lowest grade value or is greater than or equal to a ground state threshold corresponding to any preset bump grade except the preset bump grade with the lowest grade value, and the target bump grade meets a preset condition, determining that the current driving speed of the AGV needs to be adjusted, wherein the target bump grade is the preset bump grade with the highest grade value corresponding to the ground state threshold or is greater than or equal to the ground state data.
Specifically, each preset bumping level also corresponds to the level number, and the determining module 120 is specifically configured to, before executing that if the ground state data is greater than the ground state threshold corresponding to the preset bumping level with the lowest level value, or is greater than or equal to the ground state threshold corresponding to any one preset bumping level except for the preset bumping level with the lowest level value, and the target bumping level meets the preset condition: increasing the grade times of the target bumping grade; judging whether the grade times of the increased target bumping grade are larger than a preset time threshold value or not; and if the grade times of the increased target bumping grade are larger than a preset threshold, judging that the target bumping grade meets the preset condition.
Specifically, after the step of incrementing the level number of the target bumping level by the determining module 120, the determining module is specifically configured to: and if the grade times of the target bumping grade are equal to a preset time threshold value, acquiring the current position of the AGV, and setting the current position as a bumping area.
Specifically, when the determining module 120 determines whether the current driving speed of the AGV needs to be adjusted according to the ground state data and the preset bumping level, it is further specifically configured to: acquiring the current position of the AGV; and if the ground state data is less than or equal to the ground state threshold corresponding to the preset bumping grade with the lowest grade value and the current position is a bumping area, clearing the grade times corresponding to each preset bumping grade.
Specifically, the ground state monitoring sensor includes an inertial measurement unit IMU module, the ground state data includes acceleration data and inclination data, the ground state threshold includes an acceleration threshold and an inclination threshold, and the determining module 120 is specifically configured to: and if the acceleration data is less than or equal to the acceleration threshold corresponding to the preset bump grade with the lowest grade value, and the inclination data is less than or equal to the inclination threshold corresponding to the preset bump grade with the lowest grade value, judging that the current running speed of the AGV does not need to be adjusted.
And the adjusting module 130 is configured to adjust the current driving speed of the AGV according to a preset bumping grade if the current driving speed of the AGV needs to be adjusted, so that the AGV drives according to the adjusted driving speed.
Specifically, each preset bump level corresponds to a preset driving speed, and the adjusting module 130 is specifically configured to: and updating the current driving speed of the AGV by using the preset driving speed corresponding to the target bumping grade so as to adjust the current driving speed of the AGV.
And the warning module 140 is configured to send a warning signal to the warning device if the ground state data is greater than the ground state threshold corresponding to the highest bump level of the level value, so that the warning device gives an alarm.
Referring to fig. 6, fig. 6 is a block diagram illustrating an AGV10 according to an embodiment of the present invention. AGV10 refers to a vehicle equipped with an electromagnetic or optical automatic guidance device, capable of traveling along a predetermined guidance route, having safety protection and various transfer functions, and having a rechargeable battery as its power source for industrial applications without requiring a driver's transportation vehicle. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route is set up by using an electromagnetic track (electromagnetic path-following system), the electromagnetic track is adhered to the floor, and the unmanned transport vehicle moves and acts by means of the information brought by the electromagnetic track. AGV10 includes memory 11, peripheral interface 12, processor 13, and bus 14. The ground state monitoring system comprises a memory 11, a peripheral interface 12 and a processor 13, wherein the processor is connected through a bus 14, and is in communication connection with a ground state monitoring sensor 20 and an alarm device 30 through the peripheral interface 12.
The memory 11 is used for storing a program, such as the speed adjustment device 100 in fig. 5, the speed adjustment device 100 includes at least one software functional module which can be stored in the memory 11 in a form of software or firmware (firmware), and the processor 13 executes the program after receiving an execution instruction to implement the speed adjustment method disclosed in the above embodiment.
The Memory 11 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Alternatively, the memory 11 may be a storage device built in the processor 13, or may be a storage device independent of the processor 13.
The bus 14 may be an ISA bus, PCI bus, EISA bus, or the like. Fig. 6 is indicated by only one double-headed arrow, but does not indicate only one bus or one type of bus.
The processor 13 is an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 13. The Processor 13 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
The ground condition monitoring sensor 20 includes, but is not limited to, an Inertial Measurement Unit (IMU), a camera, a laser radar, and other sensors for detecting the ground.
The alarm device 30 includes, but is not limited to, an indicator light, a buzzer, etc.
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs a speed adjustment method as in any of the preceding embodiments.
In summary, embodiments of the present invention provide a speed adjustment method and apparatus, an automatic navigation vehicle, and a storage medium, where a ground state monitoring sensor is installed on an AGV, and the method includes: acquiring ground state data acquired by a ground state monitoring sensor; judging whether the current running speed of the AGV needs to be adjusted or not according to the ground state data and a preset bumping grade; if the current running speed of the AGV needs to be adjusted, the current running speed of the AGV is adjusted according to the preset bumping grade, so that the AGV runs according to the adjusted running speed. Compared with the prior art, the AGV driving speed automatic control system can automatically adjust the driving speed of the AGV according to the ground state, and the stability and the service life of AGV hardware are prevented from being influenced by large jolting in the driving process of the AGV.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (11)

1. A speed adjusting method is characterized by being applied to an automatic navigation vehicle (AGV), wherein a ground state monitoring sensor is installed on the AGV, and the method comprises the following steps:
acquiring ground state data acquired by the ground state monitoring sensor;
judging whether the current running speed of the AGV needs to be adjusted or not according to the ground state data and a preset bumping grade;
if need adjust AGV's current speed of traveling, then the basis predetermine the grade of jolting and right AGV's current speed of traveling is adjusted, so that AGV travels according to the speed of traveling after adjusting.
2. The speed adjusting method according to claim 1, wherein the predetermined level of thrashing is plural, each predetermined level of thrashing corresponds to a ground state threshold and a level value, the level values of the predetermined levels of thrashing are sequentially determined according to the corresponding ground state thresholds from large to small, and the step of determining whether the current driving speed of the AGV needs to be adjusted according to the ground state data and the predetermined level of thrashing comprises:
if the ground state data is smaller than or equal to the ground state threshold corresponding to the preset bumping grade with the lowest grade value, judging that the current running speed of the AGV does not need to be adjusted;
if ground state data is greater than the grade value and is the lowest the corresponding ground state threshold value of predetermined grade of jolting or be greater than or equal to except that grade value is the lowest predetermine arbitrary one of grade value the corresponding ground state threshold value of predetermined grade of jolting, and the target grade of jolting satisfies the preset condition, then judge and need adjust the current speed of traveling of AGV, wherein, the target grade of jolting is the ground state data is greater than or equal to the grade value that ground state threshold value corresponds is the biggest predetermine grade of jolting.
3. The method according to claim 2, wherein each of the predetermined bump levels further corresponds to a level number, and if the ground state data is greater than a ground state threshold corresponding to the predetermined bump level with a lowest level value or greater than or equal to a ground state threshold corresponding to any one of the predetermined bump levels except the predetermined bump level with the lowest level value, and a target bump level meets a predetermined condition, the method further comprises:
increasing the grade times of the target bumping grade;
judging whether the grade times of the increased target bumping grade are larger than a preset threshold value;
and if the grade times of the increased target bumping grade are larger than the preset threshold, judging that the target bumping grade meets the preset condition.
4. A speed adjustment method according to claim 3, wherein the step of incrementing the number of levels of the target bump level further comprises:
and if the grade times of the target bumping grade are equal to a preset time threshold value, acquiring the current position of the AGV, and setting the current position as a bumping area.
5. The method of claim 4, wherein said step of determining whether to adjust the current travel speed of the AGV based on the ground state data and a predetermined level of thrashing further comprises:
acquiring the current position of the AGV;
and if the ground state data is less than or equal to the ground state threshold corresponding to the preset bumping grade with the lowest grade value and the current position is the bumping area, clearing the grade times corresponding to each preset bumping grade.
6. A method for adjusting the speed according to claim 2, wherein each of said predetermined level of thrashing corresponds to a predetermined travel speed, and said step of adjusting the current travel speed of the AGV according to said predetermined level of thrashing comprises:
and updating the current running speed of the AGV by using the preset running speed corresponding to the target bumping grade so as to adjust the current running speed of the AGV.
7. A method of regulating speed in accordance with claim 2, wherein an alarm device is further mounted on the AGV, said method further comprising:
and if the ground state data is larger than the ground state threshold value corresponding to the bumping grade with the highest grade value, sending an alarm signal to the alarm device so that the alarm device gives an alarm.
8. The method of speed adjustment of claim 2, wherein the ground state monitoring sensor comprises an Inertial Measurement Unit (IMU) module, the ground state data comprises acceleration data and tilt data, the ground state threshold comprises an acceleration threshold and a tilt threshold,
if the ground state data is smaller than or equal to the ground state threshold corresponding to the preset bump grade with the lowest grade value, the step of judging that the current running speed of the AGV does not need to be adjusted comprises the following steps;
and if the acceleration data is smaller than or equal to the lowest grade value, the acceleration threshold corresponding to the preset bumping grade and the inclination data is smaller than or equal to the lowest grade value, the inclination threshold corresponding to the preset bumping grade is judged to be unnecessary to adjust the current running speed of the AGV.
9. The utility model provides a speed adjusting device, its characterized in that is applied to automatic navigation car AGV, install ground condition monitoring sensor on the AGV, the device includes:
the acquisition module is used for acquiring the ground state data acquired by the ground state monitoring sensor;
the judging module is used for judging whether the current driving speed of the AGV needs to be adjusted or not according to the ground state data and a preset bumping grade;
and the adjusting module is used for adjusting the current running speed of the AGV if needed, then according to the preset bumping grade, the current running speed of the AGV is adjusted, so that the AGV runs according to the adjusted running speed.
10. An automated navigation vehicle, comprising:
one or more processors;
memory for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the speed adjustment method of any of claims 1-8.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the speed adjustment method according to any one of claims 1-8.
CN202010170131.XA 2020-03-12 2020-03-12 Speed adjusting method and device, automatic navigation vehicle and storage medium Active CN111290397B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010170131.XA CN111290397B (en) 2020-03-12 2020-03-12 Speed adjusting method and device, automatic navigation vehicle and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010170131.XA CN111290397B (en) 2020-03-12 2020-03-12 Speed adjusting method and device, automatic navigation vehicle and storage medium

Publications (2)

Publication Number Publication Date
CN111290397A true CN111290397A (en) 2020-06-16
CN111290397B CN111290397B (en) 2023-08-25

Family

ID=71021519

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010170131.XA Active CN111290397B (en) 2020-03-12 2020-03-12 Speed adjusting method and device, automatic navigation vehicle and storage medium

Country Status (1)

Country Link
CN (1) CN111290397B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112034863A (en) * 2020-09-21 2020-12-04 北京洛必德科技有限公司 Ground property information detection method and device and computer equipment
CN112461248A (en) * 2020-11-17 2021-03-09 安徽盛瑞科技有限公司 Intelligent vehicle-mounted navigator based on real-time state monitoring
CN112966927A (en) * 2021-03-03 2021-06-15 北京京东乾石科技有限公司 Method and device for managing operation of transport equipment
CN114378831A (en) * 2022-02-28 2022-04-22 广州赛特智能科技有限公司 Robot control method, device, robot and storage medium

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105740793A (en) * 2016-01-26 2016-07-06 哈尔滨工业大学深圳研究生院 Road bump condition and road type identification based automatic speed adjustment method and system
WO2018072635A1 (en) * 2016-10-18 2018-04-26 北京京东尚科信息技术有限公司 Automated guided vehicle and motion control method and device
CN108616814A (en) * 2018-04-26 2018-10-02 上海与德科技有限公司 Map forming method, application method, device, terminal and storage medium
CN109263636A (en) * 2018-08-31 2019-01-25 深圳市易成自动驾驶技术有限公司 Speed adjusting method, device and computer readable storage medium
CN109703492A (en) * 2018-12-18 2019-05-03 斑马网络技术有限公司 The determination processing method and processing device that vehicle jolts
CN110077421A (en) * 2019-04-18 2019-08-02 广州小鹏汽车科技有限公司 Processing method, processing unit and the Vehicle touch screen of vehicle touch-control incoming event
CN110155066A (en) * 2018-02-13 2019-08-23 阿里巴巴集团控股有限公司 One kind is jolted detection, method for early warning, device, equipment and system
CN110281943A (en) * 2019-07-04 2019-09-27 郑州大学 Automatically control method, system and the intelligent vehicle of car travel mode

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105740793A (en) * 2016-01-26 2016-07-06 哈尔滨工业大学深圳研究生院 Road bump condition and road type identification based automatic speed adjustment method and system
WO2018072635A1 (en) * 2016-10-18 2018-04-26 北京京东尚科信息技术有限公司 Automated guided vehicle and motion control method and device
CN110155066A (en) * 2018-02-13 2019-08-23 阿里巴巴集团控股有限公司 One kind is jolted detection, method for early warning, device, equipment and system
CN108616814A (en) * 2018-04-26 2018-10-02 上海与德科技有限公司 Map forming method, application method, device, terminal and storage medium
CN109263636A (en) * 2018-08-31 2019-01-25 深圳市易成自动驾驶技术有限公司 Speed adjusting method, device and computer readable storage medium
CN109703492A (en) * 2018-12-18 2019-05-03 斑马网络技术有限公司 The determination processing method and processing device that vehicle jolts
CN110077421A (en) * 2019-04-18 2019-08-02 广州小鹏汽车科技有限公司 Processing method, processing unit and the Vehicle touch screen of vehicle touch-control incoming event
CN110281943A (en) * 2019-07-04 2019-09-27 郑州大学 Automatically control method, system and the intelligent vehicle of car travel mode

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112034863A (en) * 2020-09-21 2020-12-04 北京洛必德科技有限公司 Ground property information detection method and device and computer equipment
CN112461248A (en) * 2020-11-17 2021-03-09 安徽盛瑞科技有限公司 Intelligent vehicle-mounted navigator based on real-time state monitoring
CN112461248B (en) * 2020-11-17 2023-06-16 深圳市嘉易通电子有限公司 Intelligent vehicle-mounted navigator based on real-time state monitoring
CN112966927A (en) * 2021-03-03 2021-06-15 北京京东乾石科技有限公司 Method and device for managing operation of transport equipment
CN114378831A (en) * 2022-02-28 2022-04-22 广州赛特智能科技有限公司 Robot control method, device, robot and storage medium
CN114378831B (en) * 2022-02-28 2024-02-23 广州赛特智能科技有限公司 Robot control method, device, robot and storage medium

Also Published As

Publication number Publication date
CN111290397B (en) 2023-08-25

Similar Documents

Publication Publication Date Title
CN111290397A (en) Speed adjusting method and device, automatic navigation vehicle and storage medium
CN108263382B (en) Cooperative adaptive cruise control system based on driving pattern of target vehicle
JP6985203B2 (en) Behavior prediction device
EP3232285B1 (en) Method and arrangement for monitoring and adapting the performance of a fusion system of an autonomous vehicle
US20110137562A1 (en) Running plan creating apparatus
EP3342657A1 (en) Control apparatus and method for improving fuel efficiency in cacc system
US20200005635A1 (en) Information processing apparatus, server apparatus, information processing system, information processing method, and program
US11743700B2 (en) Evaluating vehicle-to-everything (V2X) information
EP4131203A1 (en) Information processing device, and information processing method
US20200372583A1 (en) System for determining driver operating autonomous vehicle to calculate insurance fee and method therefor
JP2019048483A (en) Vehicle control device
US11866065B2 (en) Information processing method, information processing system, and information processing device
US10025319B2 (en) Collision-warning system
WO2022245915A1 (en) Device-level fault detection
CN110962854B (en) Vehicle and control method and system thereof
CN113811788A (en) Vehicle-mounted object detection system
CN112739599A (en) Vehicle lane change behavior identification method and device
CN114485725B (en) Data abnormality detection method, autopilot platform, and computer-readable storage medium
EP4353549A1 (en) Automatic parking brake actuation and failure detection
US20230264696A1 (en) Method for inspecting road surface condition, road surface condition inspection device, and road surface condition inspection system
US11233717B2 (en) System and method for collaborative centralized latency characterization
US20230322230A1 (en) Driving diagnostic device, driving diagnostic method, and storage medium
US20240013312A1 (en) Information processing method and information processing system
CN113168774B (en) Method for determining the current value of an occupancy parameter in relation to a portion of a space located in the vicinity of a land motor vehicle
JP2024006110A (en) State estimation device, state estimation method, and state estimation program

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant