AGV control method, AGV control device and AGV

Abstract

The invention provides an AGV control method, an AGV control device and an AGV, and the AGV control method comprises the steps: obtaining the stability parameters of the AGV during working, the stability parameters including but not limited to the gravity center position parameter, the inclination angle parameter and the vibration frequency parameter of the AGV; sequentially carrying out gravity center stability analysis, inclination stability analysis and vibration stability analysis according to the stability parameters, and generating corresponding analysis results; and the stability state of the AGV is determined according to the analysis result, and the response action of the AGV is determined according to the stability state of the AGV. The stability parameter of the AGV during working is obtained, the stability state of the AGV is judged according to the stability parameter, and when it is determined that the stability of the AGV is poor according to the stability state of the AGV, the stability parameter corresponding to the AGV is intelligently adjusted, so that the stability parameter of the AGV is adjusted to be within the normal range, normal operation of the AGV is ensured, and the working efficiency of the AGV is improved. And the stability, the reliability and the safety of the AGV are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of AGVs, and in particular to an AGV vehicle control method, an AGV vehicle control device and an AGV vehicle. Background Art

[0002] An Automated Guided Vehicle (AGV) is a transport vehicle equipped with an electromagnetic or optical automatic guidance device, capable of traveling along a specified guidance path, with safety protection and various transfer functions. It is powered by batteries and uses unmanned driving to complete the transportation of goods. Due to its high degree of automation, flexibility and convenience, it has developed rapidly in recent years. However, in terms of stability, the performance of existing AGVs is not satisfactory. For example, when an AGV is driving on an uneven ground, the goods may fall or the vehicle may lose balance due to bumps, and even cause serious accidents such as rollovers. This instability factor is more obvious when driving at high speeds or making sharp turns. Summary of the invention

[0003] The main purpose of the present invention is to provide an AGV vehicle control method, an AGV vehicle control device and an AGV vehicle, aiming to improve the stability, reliability and safety of the AGV vehicle.

[0004] The present invention proposes a method for controlling an AGV vehicle, the method comprising: obtaining stability parameters of the AGV vehicle when it is working, the stability parameters including but not limited to center of gravity position parameters, tilt angle parameters and vibration frequency parameters of the AGV vehicle; performing center of gravity stability analysis, tilt stability analysis and vibration stability analysis in sequence according to the stability parameters, and generating corresponding analysis results; determining the stability state of the AGV vehicle according to the analysis results, and determining the response action of the AGV vehicle according to the stability state of the AGV vehicle.

[0005] In one embodiment, the center of gravity stability analysis, tilt stability analysis and vibration stability analysis are performed in sequence according to the stability parameters, and corresponding analysis results are generated, including: comparing the center of gravity position parameter of the AGV vehicle with a first threshold value, and when the center of gravity position parameter is greater than the first threshold value, determining that the center of gravity stability of the AGV vehicle is poor; comparing the tilt angle parameter of the AGV vehicle with a second threshold value, and when the tilt angle parameter is greater than the second threshold value, determining that the tilt stability of the AGV vehicle is poor; comparing the vibration frequency parameter of the AGV vehicle with a third threshold value, and when the vibration frequency parameter is greater than the third threshold value, determining that the vibration stability of the AGV vehicle is poor.

[0006] In one embodiment, determining the stability state of the AGV vehicle according to the analysis results, and determining the response action of the AGV vehicle according to the stability state of the AGV vehicle includes: determining the stability state of the AGV vehicle according to the analysis results; when the stability state of the AGV vehicle is poor center of gravity stability, reducing the driving speed of the AGV vehicle according to a first preset percentage, and adjusting the driving direction of the AGV vehicle so that the center of gravity position parameter of the AGV vehicle is within a first threshold range; when the stability state of the AGV vehicle is poor tilt stability, reducing the driving speed of the AGV vehicle to zero, and adjusting the wheel steering and wheel braking of the AGV vehicle so that the tilt angle parameter of the AGV vehicle is within a second threshold range; when the stability state of the AGV vehicle is poor vibration stability, reducing the driving speed of the AGV vehicle according to a second preset percentage, and adjusting the wheel air pressure, suspension system and transmission system of the AGV vehicle so that the vibration frequency parameter of the AGV vehicle is within a third threshold range.

[0007] In one embodiment, the method further includes: obtaining identification information and positioning information of obstacles near the AGV vehicle; predicting the driving path of the AGV vehicle based on the identification information and positioning information; and adjusting the driving speed and driving direction of the AGV vehicle based on the driving path.

[0008] In one embodiment, adjusting the driving speed and driving direction of the AGV vehicle according to the driving path includes: when the driving path is a curved path, adjusting the driving speed of the AGV vehicle to a first preset speed, and adjusting the driving direction of the AGV vehicle so that the inclination angle parameter of the AGV vehicle is within a fourth threshold range.

[0009] In one embodiment, when the driving path is a curved path, the method further includes: performing tilt stability analysis, center of gravity stability analysis, and vibration stability analysis in sequence according to the stability parameters, and generating corresponding analysis results; executing the step of determining the stability state of the AGV vehicle according to the analysis results, and determining a response action of the AGV vehicle according to the stability state of the AGV vehicle.

[0010] In one embodiment, adjusting the driving speed and driving direction of the AGV vehicle according to the driving path includes: when the driving path is a straight path, adjusting the driving speed of the AGV vehicle to a second preset speed, and adjusting the driving direction of the AGV vehicle so that the vibration frequency parameter of the AGV vehicle is within a fifth threshold range.

[0011] In one embodiment, when the driving path is a straight path, the method further includes: performing vibration stability analysis, center of gravity stability analysis, and tilt stability analysis in sequence according to the stability parameters, and generating corresponding analysis results; executing the steps of determining the stability state of the AGV vehicle according to the analysis results, and determining a response action of the AGV vehicle according to the stability state of the AGV vehicle.

[0012] The present invention also proposes an AGV vehicle control device, which includes: a processor and a memory; an AGV vehicle control program is stored on the processor, and the AGV vehicle control program implements the steps of the AGV vehicle control method when executed by the processor.

[0013] The present invention also provides an AGV vehicle, wherein the AGV vehicle comprises the AGV vehicle control device.

[0014] The present invention proposes an AGV vehicle control method, an AGV vehicle control device and an AGV vehicle. The AGV vehicle control method includes: obtaining stability parameters of the AGV vehicle when it is working, the stability parameters include but are not limited to the center of gravity position parameters, tilt angle parameters and vibration frequency parameters of the AGV vehicle; performing center of gravity stability analysis, tilt stability analysis and vibration stability analysis in sequence according to the stability parameters, and generating corresponding analysis results; determining the stability state of the AGV vehicle according to the analysis results, and determining the response action of the AGV vehicle according to the stability state of the AGV vehicle. The present invention obtains the stability parameters of the AGV vehicle when it is working, and judges the stability state of the AGV vehicle according to the stability parameters. When it is determined that the stability of the AGV vehicle is poor according to the stability state of the AGV vehicle, the corresponding stability parameters of the AGV vehicle are intelligently adjusted, so that the stability parameters of the AGV vehicle are adjusted to a normal range, ensuring the normal operation of the AGV vehicle, and improving the stability, reliability and safety of the AGV vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0016] Figure 1 A method step diagram of an AGV vehicle control method of the present invention; Figure 2 A method step diagram of another embodiment of an AGV vehicle control method of the present invention; Figure 3A method step diagram of another embodiment of an AGV vehicle control method of the present invention; Figure 4 A method step diagram of another embodiment of an AGV vehicle control method of the present invention; Figure 5 A method step diagram of another embodiment of an AGV vehicle control method of the present invention; Figure 6 This is a method step diagram of another embodiment of an AGV vehicle control method of the present invention.

[0017] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0022] An Automated Guided Vehicle (AGV) is a transport vehicle equipped with an electromagnetic or optical automatic guidance device, capable of traveling along a specified guidance path, with safety protection and various transfer functions. It is powered by batteries and uses unmanned driving to complete the transportation of goods. Due to its high degree of automation, flexibility and convenience, it has developed rapidly in recent years. However, in terms of stability, the performance of existing AGVs is not satisfactory. For example, when an AGV is driving on an uneven ground, the goods may fall or the vehicle may lose balance due to bumps, and even cause serious accidents such as rollovers. This instability factor is more obvious when driving at high speeds or making sharp turns.

[0023] Therefore, the present invention proposes an AGV vehicle control method, referring to Figure 1 , the method comprising: S100, obtaining stability parameters of the AGV vehicle when it is working, wherein the stability parameters include but are not limited to center of gravity position parameters, tilt angle parameters, and vibration frequency parameters of the AGV vehicle; S200, performing center of gravity stability analysis, tilt stability analysis, and vibration stability analysis in sequence according to the stability parameters, and generating corresponding analysis results; S300: Determine the stability state of the AGV according to the analysis result, and determine a response action of the AGV according to the stability state of the AGV.

[0024] It is understandable that the stability of AGV vehicles has some defects in the prior art. For example, when the cargo carried by the AGV vehicle is unevenly distributed or changes during driving, it may cause the center of gravity to shift beyond the safe range, thereby increasing the risk of vehicle rollover. When encountering complex terrain or emergencies, such as rapid turns, sudden braking, etc., the vehicle may have a large tilt angle, and the system may not be able to make adjustments in time, causing the vehicle to lose stability. When the wheel pressure is insufficient or too high, or the springs, shock absorbers and other components of the suspension system fail, or the drive shaft in the transmission system is unbalanced, the gears in the transmission system are worn, and the couplings in the transmission system are loose, the vehicle vibration frequency is abnormal, affecting its operational stability, reliability and safety. Most of the existing AGV control systems are unable to intelligently adjust the stability parameters of the AGV vehicle, such as driving speed, steering angle, etc., to adapt to changing conditions and maintain the stability of the vehicle. In order to overcome the shortcomings of the prior art, the present invention proposes an AGV vehicle control method, which obtains the stability parameters of the AGV vehicle when it is working, performs different types of stability analysis based on the stability parameters, and intelligently adjusts the corresponding stability parameters of the AGV vehicle when it is judged that the stability of the AGV vehicle is poor based on the analysis results, thereby improving the stability, reliability and safety of the AGV vehicle.

[0025] It should be understood that the center of gravity position directly affects the balance state of the AGV. If the center of gravity position is too high or deviates from the center, the AGV is more likely to roll over or lose balance during driving. A reasonable center of gravity position can ensure that the AGV remains stable when turning, accelerating and decelerating, reducing the risk of rollover. The tilt angle reflects the posture of the AGV during driving. Excessive tilt angles may indicate that the vehicle is facing unstable situations, such as skidding or about to roll over. A stable tilt angle helps to maintain the driving stability of the vehicle and ensure the safety of the goods. The vibration frequency reflects the working state of the suspension system, wheels, transmission system and other components of the AGV. Excessive vibration frequency will affect the maneuverability of the AGV, and will also damage the structure and components of the vehicle, reducing the life of the vehicle. Therefore, the center of gravity position, tilt angle and vibration frequency are important parameters for evaluating the stability of the AGV. The above parameters can directly reflect the balance state, posture and working condition of the components of the AGV. By detecting and adjusting the above parameters, the risk of overturning or loss of control of the AGV can be predicted and avoided in advance, and timely measures can be taken to ensure the stable driving of the vehicle and improve safety and reliability.

[0026] In this embodiment, the center of gravity position parameters, tilt angle parameters and vibration frequency parameters of the AGV vehicle are obtained when it is working, and stability analysis is performed in sequence according to the center of gravity position parameters, tilt angle parameters and vibration frequency parameters. Specifically, the center of gravity stability analysis is performed according to the center of gravity position parameters, the tilt stability analysis is performed according to the tilt angle parameters, and the vibration stability analysis is performed according to the vibration frequency parameters, so as to obtain the center of gravity stability analysis results, the tilt stability analysis results and the vibration stability analysis results in sequence. The stability state of the AGV vehicle is determined according to the center of gravity stability analysis results, the tilt stability analysis results and the vibration stability analysis results. For example, the stability state of the AGV vehicle is poor center of gravity stability, or the stability state of the AGV vehicle is good center of gravity stability, or the stability state of the AGV vehicle is a combination of multiple states. When the stability state of the AGV vehicle is not any one of poor center of gravity stability, poor tilt stability or poor vibration stability, the comprehensive stability of the AGV vehicle is better at this time, that is, the AGV vehicle is controlled not to perform a response action and maintain a normal working state. When the stability state of the AGV vehicle is any one of poor center of gravity stability, poor tilt stability or poor vibration stability, the AGV vehicle is controlled to perform the corresponding response action. For example, when the center of gravity stability of the AGV vehicle is poor, the driving speed and driving direction of the AGV vehicle are adjusted so that the center of gravity position parameters of the AGV vehicle are within the normal threshold range; or when the tilt stability of the AGV vehicle is poor, the wheel steering and wheel braking of the AGV vehicle are adjusted so that the tilt angle parameters of the AGV vehicle are within the normal threshold range. In this way, when the stability of the AGV vehicle is poor, the corresponding stability parameters of the AGV vehicle are intelligently adjusted so that the stability parameters of the AGV vehicle are adjusted to the normal range to ensure the normal operation of the AGV vehicle.

[0027] The present invention proposes an AGV vehicle control method, which includes: obtaining stability parameters of the AGV vehicle when it is working, the stability parameters include but are not limited to the center of gravity position parameters, tilt angle parameters and vibration frequency parameters of the AGV vehicle; performing center of gravity stability analysis, tilt stability analysis and vibration stability analysis in sequence according to the stability parameters, and generating corresponding analysis results; determining the stability state of the AGV vehicle according to the analysis results, and determining the response action of the AGV vehicle according to the stability state of the AGV vehicle. The present invention obtains the stability parameters of the AGV vehicle when it is working, and performs different types of stability analysis in sequence according to the stability parameters, thereby obtaining multiple analysis results, judging the stability state of the AGV vehicle from the multiple analysis results, and triggering the AGV vehicle to perform a corresponding response action when it is determined that the stability of the AGV vehicle is poor according to the stability state of the AGV vehicle, so as to intelligently adjust the corresponding stability parameters of the AGV vehicle, so that the stability parameters of the AGV vehicle are adjusted to a normal range, ensuring the normal operation of the AGV vehicle, and improving the stability, reliability and safety of the AGV vehicle.

[0028] In one embodiment, referring to Figure 2 , performing center of gravity stability analysis, tilt stability analysis and vibration stability analysis in sequence according to the stability parameters, and generating corresponding analysis results include: S210, comparing the center-of-gravity position parameter of the AGV vehicle with a first threshold value, and when the center-of-gravity position parameter is greater than the first threshold value, determining that the center-of-gravity stability of the AGV vehicle is poor; S220, comparing the tilt angle parameter of the AGV with a second threshold, and when the tilt angle parameter is greater than the second threshold, determining that the tilt stability of the AGV is poor; S230: Compare the vibration frequency parameter of the AGV with a third threshold value, and when the vibration frequency parameter is greater than the third threshold value, determine that the vibration stability of the AGV is poor.

[0029] It can be understood that in this embodiment, the center of gravity position parameters of the AGV vehicle specifically include the current front-to-back offset of the AGV vehicle and the current left-to-right offset of the AGV vehicle, and the first threshold is set to the front-to-back offset of the AGV vehicle being 5% of the body length, and the left-to-right offset of the AGV vehicle being 3% of the body width. The front-to-back offset of the current AGV vehicle is compared with the first threshold, and the left-to-right offset of the current AGV vehicle is compared with the first threshold. When the front-to-back offset of the current AGV vehicle exceeds 5% of the body length according to the comparison result, it is judged that the center of gravity stability of the AGV vehicle is poor; or, when the left-to-right offset of the current AGV vehicle exceeds 3% of the body width according to the comparison result, it is judged that the center of gravity stability of the AGV vehicle is poor. On the contrary, when the front-to-back offset of the current AGV vehicle is determined not to exceed 5% of the body length according to the comparison result, and when the left-to-right offset of the current AGV vehicle is determined not to exceed 3% of the body width according to the comparison result, it is judged that the center of gravity stability of the AGV vehicle is good.

[0030] The tilt angle parameters of the AGV vehicle include the current front-to-back tilt angle of the AGV vehicle and the current left-to-right tilt angle of the AGV vehicle. The second threshold is set to 5 degrees for the front-to-back tilt angle of the AGV vehicle and 3 degrees for the left-to-right tilt angle of the AGV vehicle. The current front-to-back tilt angle of the AGV vehicle is compared with the second threshold, and the current left-to-right tilt angle of the AGV vehicle is compared with the second threshold. When the current front-to-back tilt angle of the AGV vehicle exceeds 5 degrees according to the comparison result, it is judged that the tilt stability of the AGV vehicle is poor; or, when the current left-to-right tilt angle of the AGV vehicle exceeds 3 degrees according to the comparison result, it is judged that the tilt stability of the AGV vehicle is poor. On the contrary, when the current front-to-back tilt angle of the AGV vehicle does not exceed 5 degrees according to the comparison result, and the current left-to-right tilt angle of the AGV vehicle does not exceed 3 degrees, it is judged that the tilt stability of the AGV vehicle is good.

[0031] The dynamic frequency parameters of the AGV vehicle include the current vibration frequency of the AGV vehicle, and the third threshold is set to 20% of the vibration frequency of the AGV vehicle during normal operation. The current vibration frequency of the AGV vehicle is compared with 20% of the vibration frequency of the AGV vehicle during normal operation. When it is determined according to the comparison result that the current vibration frequency of the AGV vehicle exceeds 20% of the vibration frequency of the AGV vehicle during normal operation, the vibration stability of the AGV vehicle is judged to be poor. On the contrary, when it is determined according to the comparison result that the current vibration frequency of the AGV vehicle does not exceed 20% of the vibration frequency of the AGV vehicle during normal operation, the vibration stability of the AGV vehicle is judged to be excellent.

[0032] In one embodiment, referring to Figure 3 , the step of determining the stability state of the AGV vehicle according to the analysis result, and determining the response action of the AGV vehicle according to the stability state of the AGV vehicle includes: S310, determining the stability state of the AGV vehicle according to the analysis result; S320, when the stability state of the AGV is poor center of gravity stability, reducing the driving speed of the AGV according to a first preset percentage, and adjusting the driving direction of the AGV so that the center of gravity position parameter of the AGV is within a first threshold range; S330, when the stability state of the AGV is poor tilt stability, reducing the driving speed of the AGV to zero, and adjusting the wheel steering and wheel braking of the AGV to make the tilt angle parameter of the AGV within a second threshold range; S340. When the stability state of the AGV vehicle is poor vibration stability, the driving speed of the AGV vehicle is reduced according to a second preset percentage, and the wheel air pressure, suspension system and transmission system of the AGV vehicle are adjusted to make the vibration frequency parameter of the AGV vehicle within a third threshold range.

[0033] It is understandable that in this embodiment, the first preset percentage is set to 50%. When the stability state of the AGV vehicle is determined to be poor center of gravity stability according to the analysis results, the driving speed of the AGV vehicle is reduced by 50% to reduce the driving speed to 50% of the current speed. At the same time, the center of gravity of the AGV vehicle is adjusted by adjusting the driving direction of the AGV vehicle, and finally the center of gravity position parameter of the AGV vehicle is within the first threshold range. Among them, the first threshold range refers to that the current AGV vehicle front and rear direction offset does not exceed 5% of the body length, and the current AGV vehicle left and right direction offset does not exceed 3% of the body width. In actual application, if the center of gravity shifts too much forward, the AGV vehicle is controlled to move backward for a distance; if the center of gravity shifts too much to the left, the AGV vehicle is controlled to turn right. In this way, by adjusting the driving direction of the AGV vehicle, the center of gravity position parameter of the AGV vehicle is within the first threshold range to maintain the center of gravity stability of the AGV vehicle.

[0034] When it is determined according to the analysis results that the stability state of the AGV vehicle is poor inclination stability, the driving speed of the AGV vehicle is controlled to be reduced to zero to stop the AGV vehicle from moving forward, and the braking system is activated at the same time to stop the AGV vehicle from moving as soon as possible. At the same time, the tilt angle is reduced by adjusting the wheel steering and wheel braking of the AGV vehicle, and finally the tilt angle parameter of the AGV vehicle is within the second threshold range. Among them, the second threshold range refers to that the current tilt angle of the AGV vehicle in the front and rear directions does not exceed 5 degrees, and the current tilt angle of the AGV vehicle in the left and right directions does not exceed 3 degrees. In actual application, if the AGV vehicle tilts too much forward, the front wheel is controlled to brake and move backward; if the AGV vehicle tilts too much to the left, the right wheel is controlled to brake and turn left. In this way, by adjusting the wheel steering and wheel braking of the AGV vehicle, the tilt angle parameter of the AGV vehicle is within the second threshold range to maintain the tilt stability of the AGV vehicle.

[0035] The second preset percentage is set to 70%. When the stability state of the AGV vehicle is determined to be poor vibration stability according to the analysis results, the driving speed of the AGV vehicle is reduced by 70% to reduce the driving speed to 70% of the current speed. At the same time, the vibration frequency of the AGV vehicle is adjusted by adjusting the wheel pressure, suspension system and transmission system of the AGV vehicle, so that the vibration frequency parameter of the AGV vehicle is finally within the third threshold range. Among them, the third threshold range means that the current vibration frequency of the AGV vehicle does not exceed 20% of the vibration frequency of the AGV vehicle during normal operation. In actual application, various systems of the AGV vehicle are checked, including wheel pressure, suspension system and transmission system, etc., to find the cause of abnormal vibration frequency. When it is determined that the wheel pressure is abnormal, the wheel pressure is adjusted. For example, if the wheel pressure is too low, the inflation device is started to inflate the wheel until the wheel pressure reaches the set normal range; if the wheel pressure is too high, the deflation operation will be performed to reduce the wheel pressure to an appropriate level. When it is determined that the suspension system is abnormal, the suspension system is adjusted. For example, if the damping characteristics of the shock absorber in the suspension system are abnormal, the damping force of the shock absorber is adjusted to improve the shock absorption effect of the suspension system; if the balance in the suspension system is abnormal, the suspension height or stiffness of each wheel is adjusted to restore the balance of the suspension system. When it is determined that the transmission system is abnormal, the transmission system is adjusted. For example, if the gearbox in the transmission system has abnormal shifting or abnormal noise, the working parameters of the gearbox are adjusted or switched to the backup working mode; if the drive shaft in the transmission system is loose or worn, the power output of the AGV vehicle is limited to avoid further damage to the transmission system. In this way, by adjusting the wheel pressure, suspension system and transmission system of the AGV vehicle, the vibration frequency parameters of the AGV vehicle are within the third threshold range to maintain the vibration stability of the AGV vehicle.

[0036] In one embodiment, referring to Figure 4 , the method further comprises: S400, obtaining identification information and positioning information of obstacles near the AGV vehicle; S500, predicting the driving path of the AGV vehicle according to the identification information and positioning information; S600: Adjust the driving speed and driving direction of the AGV according to the driving path.

[0037] It can be understood that in this embodiment, by acquiring the recognition information and positioning information of obstacles in real time, and predicting the driving path and adjusting the driving speed and driving direction based on the recognition information and positioning information, the AGV vehicle can travel safely and efficiently in a complex environment.

[0038] In practical applications, the AGV control device includes a laser radar and a camera. Specifically, the camera captures images around the AGV, and uses an image processing algorithm to identify the type of obstacles to generate corresponding identification information; the laser radar scans the environment around the AGV to obtain point cloud data, and analyzes the point cloud data to identify the location, shape and distance of obstacles to generate corresponding positioning information. The AGV's driving path is predicted based on the identification information and positioning information. For example, the AGV runs in a warehouse where various goods and shelves are placed. There is a shelf in front of the AGV. The AGV control method can calculate the path to bypass the shelf.

[0039] When it is predicted that there are obstacles on the AGV's driving path, the driving speed will be adjusted according to the distance and type of the obstacle. For example, when the AGV is far away from the obstacle, the AGV is controlled to maintain the current speed; when the AGV is close to the obstacle, the AGV is controlled to slow down to avoid collision with the obstacle. At the same time, the driving direction will be adjusted according to the direction of the driving path. For example, according to the predicted driving path, the AGV needs to bypass a shelf, and the AGV is controlled to adjust the steering angle of the wheels to make the AGV drive in the right direction.

[0040] For example, when a cargo pile is detected in front of the AGV and the distance between the AGV and the cargo pile is 5 meters, the AGV is controlled to continue driving at the current speed. When the distance between the AGV and the cargo pile is shortened to 3 meters, the AGV is controlled to slow down to half of the original speed. When the distance between the AGV and the cargo pile is shortened to 1 meter, the AGV is controlled to stop moving and wait for the cargo pile to be removed or find other feasible paths. When bypassing the cargo pile, the AGV is controlled to adjust the steering angle of the wheels according to the predicted driving path to ensure smooth passage.

[0041] In one embodiment, referring to Figure 5 , the adjusting the driving speed and driving direction of the AGV vehicle according to the driving path includes: S610: When the driving path is a curved path, the driving speed of the AGV is adjusted to a first preset speed, and the driving direction of the AGV is adjusted so that the inclination angle parameter of the AGV is within a fourth threshold range.

[0042] It can be understood that the driving path includes curved paths and straight paths. When the AGV vehicle is driving on a curved path, the AGV vehicle will be affected by centrifugal force. The faster the speed and the smaller the curve radius, the greater the centrifugal force, which makes the vehicle tend to be thrown outward, increasing the probability of the AGV vehicle rolling over and resulting in poor tilting stability.

[0043] In order to ensure that the tilt stability of the AGV vehicle is not affected when it is traveling on a curved path. This embodiment sets a first preset speed, and the first preset speed is set to 80% of the current speed. When the driving path of the AGV vehicle is a curved path, the driving speed of the AGV vehicle is controlled to 80% of the current speed. For example, when the driving path of the AGV vehicle is a curved path and the driving speed of the AGV vehicle is 1 meter per second, the driving speed of the AGV vehicle is controlled to 0.8 meters per second. At the same time, the tilt angle is reduced by adjusting the wheel steering and wheel braking of the AGV vehicle in real time, and finally the tilt angle parameter of the AGV vehicle is within the fourth threshold range. Among them, the fourth threshold range is the same as the second threshold range, and the fourth threshold range refers to that the current AGV vehicle front and rear tilt angle does not exceed 5 degrees, and the current AGV vehicle left and right tilt angle does not exceed 3 degrees. In this way, when the predicted driving path is a curved path, the driving speed of the AGV vehicle is reduced in time, and the driving direction of the AGV vehicle is adjusted to prevent the AGV vehicle from rolling over and ensure its tilt stability.

[0044] In one embodiment, referring to Figure 5 When the driving path is a curved path, the method further includes: S620, performing tilt stability analysis, center of gravity stability analysis, and vibration stability analysis in sequence according to the stability parameters, and generating corresponding analysis results; S630, executing the step of determining the stability state of the AGV vehicle according to the analysis result, and determining the response action of the AGV vehicle according to the stability state of the AGV vehicle.

[0045] It is understandable that when the driving path is a curved path, the AGV vehicle will be affected by centrifugal force. The faster the speed and the smaller the curve radius, the greater the centrifugal force, which makes the vehicle tend to be thrown outward, increasing the probability of the AGV vehicle rolling over, resulting in poor tilt stability. It can be considered that when the driving path is a curved path, the tilt stability of the AGV vehicle is prone to deterioration. If the AGV vehicle is not controlled in time to make corresponding response actions, it will cause the AGV vehicle to slide or roll over. To this end, this embodiment adjusts the order of stability analysis, and gives priority to the tilt stability analysis of the tilt stability parameters, so that when the tilt stability of the AGV vehicle is poor, the tilt stability parameters of the AGV vehicle are adjusted in time, thereby maintaining the tilt stability of the AGV vehicle. In actual applications, when the driving path is predicted to be a curved path based on the identification information and positioning information, the tilt stability analysis is performed based on the tilt angle parameter, the center of gravity stability analysis is performed based on the center of gravity position parameter, and the vibration stability analysis is performed based on the vibration frequency parameter, so as to obtain the tilt stability analysis results, the center of gravity stability analysis results and the vibration stability analysis results in sequence. The tilt stability of the AGV is determined first according to the tilt stability analysis results, then the center of gravity stability of the AGV is determined according to the center of gravity stability analysis results, and finally the vibration stability of the AGV is determined according to the vibration stability analysis results. When it is determined that the tilt stability of the AGV is poor, the wheel steering and wheel braking of the AGV are adjusted first to make the tilt angle parameters of the AGV within the normal threshold range. In this way, by adjusting the order of stability analysis, the tilt stability of the AGV is analyzed first, so that when the AGV has poor tilt stability when driving on a curved path, its tilt stability parameters are adjusted in time to ensure its tilt stability.

[0046] In one embodiment, referring to Figure 6 , the adjusting the driving speed and driving direction of the AGV vehicle according to the driving path includes: S640: When the driving path is a straight path, the driving speed of the AGV is adjusted to a second preset speed, and the driving direction of the AGV is adjusted so that the vibration frequency parameter of the AGV is within a fifth threshold range.

[0047] It is understandable that on a straight path, AGV vehicles usually travel at a relatively high speed to improve operating efficiency. For example, in the logistics transportation of some large factories, AGV vehicles may accelerate to their maximum driving speed on a straight path. High-speed driving makes the AGV vehicle more sensitive to vibration. If the vibration frequency is unstable, it may affect the vibration stability of the AGV vehicle. In addition, compared with the curved path, the driving direction and force direction of the AGV vehicle on the straight path are relatively fixed. When the AGV vehicle is driving on a curved path, its steering and acceleration and deceleration will cause the force of the transmission system to change continuously, which can disperse and alleviate the impact of vibration to a certain extent. When the AGV vehicle is driving on a straight path, its transmission system is always subjected to a relatively single force, lacking the buffer brought by the force change of the transmission system, so it is more susceptible to vibration, resulting in poor vibration stability of the AGV vehicle.

[0048] In order to ensure that the vibration stability of the AGV vehicle is not affected when it is traveling on a straight path. The second preset speed is set in this embodiment, and the second preset speed is set to 90% of the current speed. When the driving path of the AGV vehicle is a straight path, the driving speed of the AGV vehicle is controlled to 90% of the current speed. For example, when the driving path of the AGV vehicle is a straight path and the driving speed of the AGV vehicle is 2 meters per second, the driving speed of the AGV vehicle is controlled to 1.8 meters per second. At the same time, the vibration frequency parameters are adjusted by adjusting the driving direction of the AGV vehicle in real time, and finally the vibration frequency parameters of the AGV vehicle are within the fifth threshold range. Among them, the fifth threshold range is the same as the third threshold range, and the fifth threshold range refers to that the current AGV vehicle vibration frequency does not exceed 20% of the vibration frequency of the AGV vehicle during normal operation. In this way, when the driving path is predicted to be a straight path, the driving speed of the AGV vehicle is reduced in time, and the driving direction of the AGV vehicle is adjusted to prevent the goods from loosening and falling, and ensure its vibration stability.

[0049] In one embodiment, referring to Figure 6 When the driving path is a straight path, the method further includes: S650, performing vibration stability analysis, center of gravity stability analysis, and tilt stability analysis in sequence according to the stability parameters, and generating corresponding analysis results; S660, executing the step of determining the stability state of the AGV vehicle according to the analysis result, and determining the response action of the AGV vehicle according to the stability state of the AGV vehicle.

[0050] It can be understood that in this embodiment, when the driving path is a straight path, there is a lack of buffering brought by the force change of the transmission system, which is more susceptible to vibration, resulting in poor vibration stability of the AGV vehicle. It can be considered that when the driving path is a straight path, the vibration stability of the AGV vehicle is prone to deterioration. If the AGV vehicle is not controlled in time to make corresponding response actions, it will cause the goods to loosen and fall, and even cause damage to the goods. For this reason, this embodiment adjusts the order of stability analysis, and gives priority to vibration stability analysis on vibration stability parameters, so that when the vibration stability of the AGV vehicle is poor, the vibration stability parameters of the AGV vehicle are adjusted in time, thereby maintaining the vibration stability of the AGV vehicle. In actual applications, when the driving path is predicted to be a straight path based on identification information and positioning information, vibration stability analysis is performed based on vibration frequency parameters, center of gravity stability analysis is performed based on center of gravity position parameters, and tilt stability analysis is performed based on tilt angle parameters to obtain vibration stability analysis results, center of gravity stability analysis results, and tilt stability analysis results in sequence. The vibration stability of the AGV vehicle is determined first according to the results of the vibration stability analysis, then the center of gravity stability of the AGV vehicle is determined according to the results of the center of gravity stability analysis, and finally the tilt stability of the AGV vehicle is determined according to the results of the tilt stability analysis. When it is determined that the vibration stability of the AGV vehicle is poor, the wheel air pressure, suspension system and transmission system of the AGV vehicle are adjusted first to make the vibration frequency parameters of the AGV vehicle within the normal threshold range. In this way, by adjusting the order of stability analysis, the vibration stability of the AGV vehicle is analyzed first, so that when the AGV vehicle has poor vibration stability when driving on a straight path, its vibration stability parameters are adjusted in time to ensure its vibration stability.

[0051] The present invention also provides an AGV vehicle control device, the AGV vehicle control device comprising: Processor and memory; An AGV vehicle control program is stored on the processor, and when the AGV vehicle control program is executed by the processor, the steps of the AGV vehicle control method described in the above embodiment are implemented.

[0052] It can be understood that in this embodiment, the stability parameters of the AGV vehicle when it is working are obtained through the AGV vehicle control device, and different types of stability analysis are performed in turn according to the stability parameters to obtain a variety of analysis results, and the stability state of the AGV vehicle is judged from the multiple analysis results. When it is determined that the stability of the AGV vehicle is poor according to the stability state of the AGV vehicle, the AGV vehicle is triggered to perform a corresponding response action to intelligently adjust the corresponding stability parameters of the AGV vehicle, so that the stability parameters of the AGV vehicle are adjusted to a normal range, thereby ensuring the normal operation of the AGV vehicle and improving the stability, reliability and safety of the AGV vehicle.

[0053] The present invention also proposes an AGV vehicle, which includes the AGV vehicle control device described in the above embodiments. Since the AGV vehicle adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0054] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An AGV vehicle control method, characterized in that: The method includes: Acquire stability parameters of the AGV vehicle when it is working, wherein the stability parameters include but are not limited to center of gravity position parameters, tilt angle parameters, and vibration frequency parameters of the AGV vehicle; Performing center of gravity stability analysis, tilt stability analysis, and vibration stability analysis in sequence according to the stability parameters, and generating corresponding analysis results; The stability state of the AGV is determined according to the analysis result, and the response action of the AGV is determined according to the stability state of the AGV.

2. The AGV vehicle control method according to claim 1, characterized in that: The performing center of gravity stability analysis, tilt stability analysis and vibration stability analysis in sequence according to the stability parameters and generating corresponding analysis results includes: Comparing the center-of-gravity position parameter of the AGV vehicle with a first threshold value, and determining that the center-of-gravity stability of the AGV vehicle is poor when the center-of-gravity position parameter is greater than the first threshold value; Comparing the tilt angle parameter of the AGV vehicle with a second threshold value, and determining that the tilt stability of the AGV vehicle is poor when the tilt angle parameter is greater than the second threshold value; The vibration frequency parameter of the AGV vehicle is compared with a third threshold value. When the vibration frequency parameter is greater than the third threshold value, it is determined that the vibration stability of the AGV vehicle is poor.

3. The AGV vehicle control method according to claim 1, characterized in that: Determining the stability state of the AGV vehicle according to the analysis result, and determining the response action of the AGV vehicle according to the stability state of the AGV vehicle includes: Determining the stability state of the AGV vehicle according to the analysis result; When the stability state of the AGV vehicle is that the center of gravity stability is poor, the driving speed of the AGV vehicle is reduced according to a first preset percentage, and the driving direction of the AGV vehicle is adjusted so that the center of gravity position parameter of the AGV vehicle is within a first threshold range; When the stability state of the AGV vehicle is poor tilt stability, reducing the driving speed of the AGV vehicle to zero, and adjusting the wheel steering and wheel braking of the AGV vehicle so that the tilt angle parameter of the AGV vehicle is within a second threshold range; When the stability state of the AGV vehicle is poor vibration stability, the driving speed of the AGV vehicle is reduced according to a second preset percentage, and the wheel air pressure, suspension system and transmission system of the AGV vehicle are adjusted to make the vibration frequency parameter of the AGV vehicle within a third threshold range.

4. The AGV vehicle control method according to claim 3, characterized in that: The method further comprises: Obtaining identification information and positioning information of obstacles near the AGV vehicle; Predicting a driving path of the AGV vehicle according to the identification information and the positioning information; The driving speed and driving direction of the AGV vehicle are adjusted according to the driving path.

5. The AGV vehicle control method according to claim 4, characterized in that: The adjusting the driving speed and driving direction of the AGV vehicle according to the driving path includes: When the driving path is a curved path, the driving speed of the AGV is adjusted to a first preset speed, and the driving direction of the AGV is adjusted so that the inclination angle parameter of the AGV is within a fourth threshold range.

6. The AGV vehicle control method according to claim 5, characterized in that: When the driving path is a curved path, the method further includes: Performing tilt stability analysis, center of gravity stability analysis, and vibration stability analysis in sequence according to the stability parameters, and generating corresponding analysis results; The steps of determining the stability state of the AGV vehicle according to the analysis result and determining the response action of the AGV vehicle according to the stability state of the AGV vehicle are performed.

7. The AGV vehicle control method according to claim 4, characterized in that: The adjusting the driving speed and driving direction of the AGV vehicle according to the driving path includes: When the driving path is a straight path, the driving speed of the AGV is adjusted to a second preset speed, and the driving direction of the AGV is adjusted so that the vibration frequency parameter of the AGV is within a fifth threshold range.

8. The AGV vehicle control method according to claim 7, characterized in that: When the driving path is a straight path, the method further includes: According to the stability parameters, vibration stability analysis, center of gravity stability analysis and tilt stability analysis are performed in sequence, and corresponding analysis results are generated; The steps of determining the stability state of the AGV vehicle according to the analysis result and determining the response action of the AGV vehicle according to the stability state of the AGV vehicle are performed.

9. An AGV vehicle control device, characterized in that: The AGV vehicle control device comprises: Processor and memory; An AGV vehicle control program is stored on the processor, and when the AGV vehicle control program is executed by the processor, the steps of the AGV vehicle control method according to any one of claims 1 to 8 are implemented.

10. An AGV vehicle, characterized in that: The AGV vehicle includes the AGV vehicle control device as claimed in claim 9.

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