Agv vehicle control method, agv vehicle control device, and agv vehicle

Abstract

The application provides an AGV control method, an AGV control device and an AGV, and the AGV control method comprises the following steps: acquiring stability parameters of the AGV when the AGV is working, wherein the stability parameters comprise but are not limited to a gravity center position parameter, an inclination angle parameter and a vibration frequency parameter of the AGV; sequentially performing gravity center stability analysis, inclination stability analysis and vibration stability analysis according to the stability parameters, and generating corresponding analysis results; determining a stability state of the AGV according to the analysis results, and determining a response action of the AGV according to the stability state of the AGV. According to the application, the stability parameters of the AGV when the AGV is working are acquired, the stability state of the AGV is determined according to the stability parameters, and when the stability of the AGV is poor, the corresponding stability parameters of the AGV are intelligently adjusted, so that the stability parameters of the AGV are adjusted to be within a normal range, the normal operation of the AGV is ensured, and the stability, reliability and safety of the AGV are improved.

Description

Technical Field

[0001] This invention relates to the field of AGV technology, and in particular to an AGV vehicle control method, an AGV vehicle control device, and an AGV vehicle. Background Technology

[0002] Automated Guided Vehicles (AGVs) are transport vehicles equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guide path, and possessing safety protection and various transfer functions. Powered by batteries, they complete the transport of goods through driverless operation. Due to their high degree of automation and flexibility, they have experienced rapid development in recent years. However, the performance of existing AGVs in terms of stability is not entirely satisfactory. For example, when AGVs travel on uneven ground, bumps may cause goods to fall or the vehicle to lose balance, even leading to serious accidents such as rollovers. This instability is particularly pronounced at high speeds or during sharp turns. Summary of the Invention

[0003] The main objective of this invention is to propose an AGV vehicle control method, an AGV vehicle control device, and an AGV vehicle, aiming to improve the stability, reliability, and safety of AGV vehicles.

[0004] This invention proposes an AGV (Automated Guided Vehicle) control method, comprising: acquiring stability parameters of the AGV during operation, including but not limited to the center of gravity position parameter, tilt angle parameter, and vibration frequency parameter of the AGV; performing center of gravity stability analysis, tilt stability analysis, and vibration stability analysis sequentially based on the stability parameters, and generating corresponding analysis results; determining the stability state of the AGV based on the analysis results, and determining the response action of the AGV based on the stability state of the AGV.

[0005] In one embodiment, the step of sequentially performing center of gravity stability analysis, tilt stability analysis, and vibration stability analysis based on the stability parameters, and generating corresponding analysis results, includes: comparing the center of gravity position parameter of the AGV vehicle with a first threshold, 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; comparing the tilt angle parameter of the AGV vehicle with a second threshold, and determining that the tilt stability of the AGV vehicle is poor when the tilt angle parameter is greater than the second threshold; and comparing the vibration frequency parameter of the AGV vehicle with a third threshold, and determining that the vibration stability of the AGV vehicle is poor when the vibration frequency parameter is greater than the third threshold.

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

[0007] In one embodiment, the method further includes: acquiring 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 speed and direction of the AGV vehicle according to the driving path includes: when the driving path is a curved path, adjusting the speed of the AGV vehicle to a first preset speed and adjusting the direction of the AGV vehicle so that the tilt 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; and performing the steps of determining the stability state of the AGV vehicle based on the analysis results and determining the response action of the AGV vehicle based on the stability state of the AGV vehicle.

[0010] In one embodiment, adjusting the speed and direction of the AGV vehicle according to the driving path includes: when the driving path is a straight path, adjusting the speed of the AGV vehicle to a second preset speed and adjusting the 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 sequentially according to the stability parameters, and generating corresponding analysis results; and executing the steps of determining the stability state of the AGV vehicle based on the analysis results, and determining the response action of the AGV vehicle based on 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; the processor stores an AGV vehicle control program, and when the AGV vehicle control program is executed by the processor, it implements the steps of the AGV vehicle control method.

[0013] The present invention also proposes an AGV vehicle, wherein the AGV vehicle includes the aforementioned AGV vehicle control device.

[0014] This invention proposes an AGV (Automated Guided Vehicle) control method, an AGV control device, and an AGV. The AGV control method includes: acquiring stability parameters of the AGV during operation, including but not limited to the AGV's center of gravity position, tilt angle, and vibration frequency; performing center of gravity stability analysis, tilt stability analysis, and vibration stability analysis sequentially based on the stability parameters, and generating corresponding analysis results; determining the AGV's stability state based on the analysis results, and determining the AGV's response action based on the AGV's stability state. This invention acquires the AGV's stability parameters during operation, determines the AGV's stability state based on these parameters, and intelligently adjusts the corresponding stability parameters of the AGV when the stability state is determined to be poor, bringing the AGV's stability parameters back to the normal range, ensuring the normal operation of the AGV, and improving the AGV's stability, reliability, and safety. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating the steps of an AGV vehicle control method according to the present invention.

[0017] Figure 2 This is a flowchart illustrating the method steps of another embodiment of the AGV vehicle control method of the present invention;

[0018] Figure 3 This is a flowchart illustrating the method steps of another embodiment of the AGV vehicle control method of the present invention;

[0019] Figure 4 This is a flowchart illustrating the method steps of another embodiment of the AGV vehicle control method of the present invention;

[0020] Figure 5 This is a flowchart illustrating the method steps of another embodiment of the AGV vehicle control method of the present invention;

[0021] Figure 6 This is a flowchart illustrating the steps of another embodiment of the AGV vehicle control method of the present invention.

[0022] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0024] 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 positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0027] Automated Guided Vehicles (AGVs) are transport vehicles equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guide path, and possessing safety protection and various transfer functions. Powered by batteries, they complete the transport of goods through driverless operation. Due to their high degree of automation and flexibility, they have experienced rapid development in recent years. However, the performance of existing AGVs in terms of stability is not entirely satisfactory. For example, when AGVs travel on uneven ground, bumps may cause goods to fall or the vehicle to lose balance, even leading to serious accidents such as rollovers. This instability is particularly pronounced at high speeds or during sharp turns.

[0028] Therefore, this invention proposes an AGV vehicle control method, referring to... Figure 1 The method includes:

[0029] S100. Obtain the stability parameters of the AGV vehicle during operation. 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.

[0030] S200. Based on the stability parameters, perform center of gravity stability analysis, tilt stability analysis and vibration stability analysis in sequence, and generate corresponding analysis results;

[0031] S300. Determine the stability state of the AGV vehicle based on the analysis results, and determine the response action of the AGV vehicle based on the stability state of the AGV vehicle.

[0032] Understandably, AGV stability has some shortcomings in current technology. For example, when the cargo carried by the AGV is unevenly distributed or changes during operation, the center of gravity may shift beyond a safe range, increasing the risk of rollover. When encountering complex terrain or sudden situations, such as rapid turns or emergency braking, the vehicle may tilt at a large angle, and the system may not be able to adjust in time, causing instability. Insufficient or excessive tire pressure, malfunctions in suspension components such as springs and shock absorbers, or imbalances in the drive shaft, worn gears, or loose couplings in the transmission system can lead to abnormal vehicle vibration frequencies, affecting operational stability, reliability, and safety. Most existing AGV control systems cannot intelligently adjust stability parameters such as speed and steering angle to adapt to changing conditions and maintain vehicle stability. To overcome the shortcomings of existing technologies, this invention proposes an AGV vehicle control method. By acquiring the stability parameters of the AGV vehicle during operation, performing different types of stability analysis based on the stability parameters, and intelligently adjusting the corresponding stability parameters of the AGV vehicle when the stability of the AGV vehicle is poor based on the analysis results, the stability, reliability, and safety of the AGV vehicle are improved.

[0033] It's important to understand that the center of gravity directly affects the balance of the AGV. If the center of gravity is too high or off-center, the AGV is more prone to tipping over or losing balance during operation. A reasonable center of gravity ensures stability during turning, acceleration, and deceleration, reducing the risk of tipping over. The tilt angle reflects the AGV's posture during operation. An excessively large tilt angle may indicate instability, such as skidding or impending tipping over. A stable tilt angle helps maintain vehicle stability and ensures cargo safety. Vibration frequency reflects the working condition of the AGV's suspension system, wheels, transmission system, and other components. Excessively high vibration frequencies affect the AGV's maneuverability and can damage its structure and components, reducing its lifespan. Therefore, the center of gravity, tilt angle, and vibration frequency are crucial parameters for assessing AGV stability. These parameters directly reflect the AGV's balance, posture, and component performance. By detecting and adjusting these parameters, the risk of AGV tipping over or losing control can be predicted and avoided in advance, allowing for timely measures to ensure stable operation and improve safety and reliability.

[0034] In this embodiment, the center of gravity position parameters, tilt angle parameters, and vibration frequency parameters of the AGV vehicle during operation are acquired, and stability analysis is performed sequentially based on these parameters. Specifically, center of gravity stability analysis is performed based on the center of gravity position parameters, tilt stability analysis is performed based on the tilt angle parameters, and vibration stability analysis is performed based on the vibration frequency parameters, thereby obtaining center of gravity stability analysis results, tilt stability analysis results, and vibration stability analysis results sequentially. The stability state of the AGV vehicle is determined based on these results. For example, the stability state of the AGV vehicle may be poor center of gravity stability, good center of gravity stability, or a combination of multiple states. When the stability state of the AGV vehicle is not any of the poor center of gravity stability, poor tilt stability, or poor vibration stability, the overall stability of the AGV vehicle is good, meaning the AGV vehicle is controlled not to perform any response action and remains in a normal working state. When the AGV's stability is poor in any of the following ways: poor center of gravity stability, poor tilt stability, or poor vibration stability, the system controls the AGV to execute corresponding response actions. For example, when the AGV's center of gravity stability is poor, the system adjusts the AGV's speed and direction to bring the center of gravity position parameter within the normal threshold range; or when the AGV's tilt stability is poor, the system adjusts the AGV's wheel steering and braking to bring the AGV's tilt angle parameter within the normal threshold range. This configuration intelligently adjusts the AGV's stability parameters when its stability is poor, bringing them back to the normal range and ensuring the AGV's normal operation.

[0035] This invention proposes an AGV (Automated Guided Vehicle) control method. The method includes: acquiring stability parameters of the AGV during operation, including but not limited to the AGV's center of gravity position, tilt angle, and vibration frequency; performing center of gravity stability analysis, tilt stability analysis, and vibration stability analysis sequentially based on the stability parameters, and generating corresponding analysis results; determining the AGV's stability state based on the analysis results, and determining the AGV's response action based on the stability state. This invention acquires the AGV's stability parameters during operation and performs different types of stability analysis sequentially based on these parameters, thereby obtaining multiple analysis results. From these results, the stability state of the AGV is determined. When the stability state indicates poor stability, the AGV is triggered to execute a corresponding response action to intelligently adjust the corresponding stability parameters, bringing them back to a normal range, ensuring the normal operation of the AGV, and improving its stability, reliability, and safety.

[0036] In one embodiment, reference is made to Figure 2 The step of performing center of gravity stability analysis, tilt stability analysis, and vibration stability analysis sequentially based on the stability parameters, and generating corresponding analysis results, includes:

[0037] S210. Compare the center of gravity position parameter of the AGV vehicle with a first threshold. When the center of gravity position parameter is greater than the first threshold, determine that the center of gravity stability of the AGV vehicle is poor.

[0038] S220. Compare the tilt angle parameter of the AGV vehicle with a second threshold. When the tilt angle parameter is greater than the second threshold, determine that the tilt stability of the AGV vehicle is poor.

[0039] S230. Compare the vibration frequency parameter of the AGV vehicle with a third threshold. When the vibration frequency parameter is greater than the third threshold, determine that the vibration stability of the AGV vehicle is poor.

[0040] It is understood that, in this embodiment, the center of gravity position parameters of the AGV specifically include the current forward / backward offset and the current left / right offset of the AGV. A first threshold is set: the forward / backward offset is 5% of the vehicle's length, and the left / right offset is 3% of the vehicle's width. The current forward / backward offset and the current left / right offset are compared with the first threshold. If, based on the comparison results, the forward / backward offset exceeds 5% of the vehicle's length, the AGV's center of gravity stability is considered poor; or, if, based on the comparison results, the left / right offset exceeds 3% of the vehicle's width, the AGV's center of gravity stability is considered poor. Conversely, if, based on the comparison results, the forward / backward offset does not exceed 5% of the vehicle's length, and the left / right offset does not exceed 3% of the vehicle's width, the AGV's center of gravity stability is considered good.

[0041] The tilt angle parameters of the AGV include the current forward / backward tilt angle and the current left / right tilt angle. A second threshold is set at 5 degrees for the forward / backward tilt angle and 3 degrees for the left / right tilt angle. The current forward / backward tilt angle and the current left / right tilt angle are compared with the second threshold. Based on the comparison results, if the forward / backward tilt angle exceeds 5 degrees, the AGV's tilt stability is considered poor; or, if the left / right tilt angle exceeds 3 degrees, the AGV's tilt stability is also considered poor. Conversely, if the comparison results show that the current forward / backward tilt angle does not exceed 5 degrees and the left / right tilt angle does not exceed 3 degrees, the AGV's tilt stability is considered good.

[0042] The AGV's dynamic frequency parameters include the current AGV vibration frequency. A third threshold is set to 20% of the AGV's normal operating vibration frequency. The current AGV vibration frequency is compared to 20% of its normal operating frequency. If the current AGV vibration frequency exceeds 20% of its normal operating frequency, the AGV's vibration stability is considered poor. Conversely, if the current AGV vibration frequency does not exceed 20% of its normal operating frequency, the AGV's vibration stability is considered good.

[0043] In one embodiment, reference is made to Figure 3 The step of determining the stability state of the AGV based on the analysis results, and determining the response action of the AGV based on the stability state of the AGV, includes:

[0044] S310. Determine the stability status of the AGV vehicle based on the analysis results;

[0045] S320. When the stability state of the AGV is poor, the driving speed of the AGV is reduced by a first preset percentage, and the driving direction of the AGV is adjusted so that the center of gravity position parameter of the AGV is within a first threshold range.

[0046] S330. When the stability state of the AGV is poor in tilt stability, reduce the speed of the AGV to zero and adjust the wheel steering and wheel braking of the AGV so that the tilt angle parameter of the AGV is within the second threshold range.

[0047] S340. When the stability state of the AGV is poor vibration stability, reduce the driving speed of the AGV by a second preset percentage, and adjust the wheel air pressure, suspension system and transmission system of the AGV so that the vibration frequency parameter of the AGV is within the third threshold range.

[0048] Understandably, in this embodiment, the first preset percentage is set to 50%. When the analysis results determine that the AGV's stability is poor, the AGV's speed is reduced by 50% to 50% of its current speed. Simultaneously, the AGV's center of gravity is adjusted by changing its direction of travel, ultimately ensuring that the AGV's center of gravity position parameter is within a first threshold range. This first threshold range refers to the AGV's forward / backward offset not exceeding 5% of its body length and its left / right offset not exceeding 3% of its body width. In practical applications, if the center of gravity shifts too far forward, the AGV is controlled to reverse a certain distance; if the center of gravity shifts too far to the left, the AGV is controlled to turn right. This configuration, by adjusting the AGV's direction of travel, keeps the AGV's center of gravity position parameter within the first threshold range, thus maintaining optimal AGV stability.

[0049] When the analysis results indicate that the AGV's stability is poor in terms of tilt stability, the AGV's speed is reduced to zero to stop it from moving forward. Simultaneously, the braking system is activated to bring the AGV to a stop as quickly as possible. At the same time, the tilt angle is reduced by adjusting the AGV's wheel steering and braking, ultimately bringing the AGV's tilt angle parameters within a second threshold range. This second threshold range refers to the current AGV's forward / backward tilt angle not exceeding 5 degrees and its left / right tilt angle not exceeding 3 degrees. In practical applications, if the AGV tilts too far forward, the front wheels are braked and the AGV reverses; if the AGV tilts too far to the left, the right wheels are braked and the AGV steers to the left. This setup, by adjusting the AGV's wheel steering and braking, keeps the AGV's tilt angle parameters within the second threshold range, thus maintaining optimal tilt stability.

[0050] The second preset percentage is set to 70%. When the analysis results indicate that the AGV's stability is poor due to vibration, the AGV's speed is reduced by 70% to 70% of its current speed. Simultaneously, the AGV's vibration frequency is adjusted by regulating its wheel pressure, suspension system, and transmission system, ultimately bringing the AGV's vibration frequency parameters within the third threshold range. This third threshold range means that the current AGV's vibration frequency does not exceed 20% of its normal operating vibration frequency. In practical applications, various systems of the AGV are inspected, including wheel pressure, suspension system, and transmission system, to identify the cause of abnormal vibration frequency. If abnormal wheel pressure is detected, the wheel pressure is adjusted. For example, if the wheel pressure is too low, the inflation device is activated to inflate the wheels until the wheel pressure reaches the set normal range; if the wheel pressure is too high, deflation is performed to reduce the wheel pressure to a suitable level. When a suspension system malfunction is identified, adjustments are made to the suspension system. For example, if the damping characteristics of the shock absorbers are abnormal, the damping force of the shock absorbers is adjusted to improve the shock absorption effect of the suspension system. If the suspension system is unbalanced, the suspension height or stiffness of each wheel is adjusted to restore the balance of the suspension system. When a transmission system malfunction is identified, adjustments are made to the transmission system. For example, if the gearbox in the transmission system exhibits abnormal shifting or unusual noises, the operating parameters of the gearbox are adjusted or switched to a standby operating mode. If the drive shaft in the transmission system is loose or worn, the power output of the AGV is limited to avoid further damage to the transmission system. By adjusting the wheel air pressure, suspension system, and transmission system of the AGV, the vibration frequency parameters of the AGV are kept within the third threshold range, thus maintaining optimal vibration stability for the AGV.

[0051] In one embodiment, reference is made to Figure 4 The method further includes:

[0052] S400: Obtain the identification and positioning information of obstacles near the AGV vehicle;

[0053] S500: Predict the driving path of the AGV vehicle based on the identification information and positioning information;

[0054] S600. Adjust the speed and direction of the AGV according to the driving path.

[0055] It is understood that in this embodiment, by acquiring obstacle identification and positioning information in real time, and predicting the driving path and adjusting the driving speed and direction based on the identification and positioning information, the AGV can drive safely and efficiently in complex environments.

[0056] In practical applications, the AGV (Automated Guided Vehicle) control device includes a LiDAR (Light Detection and Ranging) system and a camera. Specifically, the camera captures images of the area around the AGV and uses image processing algorithms to identify the types of obstacles, generating corresponding identification information. The LiDAR scans the environment around the AGV to obtain point cloud data, and the analysis of this data identifies the location, shape, and distance of obstacles, generating corresponding positioning information. Based on the identification and positioning information, the AGV's travel path is predicted. For example, if an AGV is operating in a warehouse containing various goods and shelves, and there is a shelf in front of the AGV, the AGV control method can calculate the path to bypass the shelf.

[0057] When an obstacle is predicted on the AGV's path, the AGV adjusts its speed based on the obstacle's distance and type. For example, if the AGV is far from the obstacle, it maintains its current speed; if the distance is short, it slows down to avoid a collision. Simultaneously, the AGV adjusts its direction based on the path's orientation. For instance, if the predicted path indicates the AGV needs to navigate around a shelf, the AGV adjusts its wheel steering angle to ensure it travels in the correct direction.

[0058] For example, when an AGV detects a pile of goods ahead and the distance between the AGV and the pile is 5 meters, the AGV continues to travel at its current speed. When the distance between the AGV and the pile decreases to 3 meters, the AGV decelerates to half its original speed. When the distance between the AGV and the pile decreases to 1 meter, the AGV stops moving and waits for the pile to be moved or for another feasible path to be found. When bypassing the pile, the AGV adjusts the steering angle of its wheels based on the predicted travel path to ensure smooth passage.

[0059] In one embodiment, reference is made to Figure 5 The step of adjusting the speed and direction of the AGV vehicle according to the driving path includes:

[0060] 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 tilt angle parameter of the AGV is within the fourth threshold range.

[0061] It is understandable that the driving path includes curved paths and straight paths. When the AGV is traveling on a curved path, it will be subject to centrifugal force. The faster the speed and the smaller the curve radius, the greater the centrifugal force, which makes the vehicle tend to swing outward, increasing the probability of the AGV overturning and resulting in poor tilt stability.

[0062] To ensure the AGV's tilt stability is not affected when traveling on curved paths, this embodiment sets a first preset speed, which is 80% of the current speed. When the AGV's travel path is curved, the AGV's speed is controlled to 80% of the current speed. For example, if the AGV's travel path is curved and its speed is 1 m / s, the speed is controlled to 0.8 m / s. Simultaneously, the tilt angle is reduced by adjusting the AGV's wheel steering and braking in real time, ultimately keeping the AGV's tilt angle parameter within a fourth threshold range. This fourth threshold range is the same as the second threshold range, meaning the current AGV's forward / backward tilt angle does not exceed 5 degrees, and its left / right tilt angle does not exceed 3 degrees. This setting, when a curved path is predicted, promptly reduces the AGV's speed and adjusts its direction to prevent rollover and ensure tilt stability.

[0063] In one embodiment, reference is made to Figure 5 When the driving path is a curved path, the method further includes:

[0064] S620. Based on the stability parameters, perform tilt stability analysis, center of gravity stability analysis, and vibration stability analysis in sequence, and generate corresponding analysis results.

[0065] S630. Perform the steps of determining the stability state of the AGV based on the analysis results and determining the response action of the AGV based on the stability state of the AGV.

[0066] It is understandable that when the travel path is a curve, the AGV will be subject to centrifugal force. The faster the speed and the smaller the curve radius, the greater the centrifugal force, causing the vehicle to tend to swing outward, increasing the probability of the AGV overturning and resulting in poor tilt stability. It can be considered that the tilt stability of the AGV is prone to deterioration when the travel path is a curve, and if the AGV is not controlled in time to make corresponding response actions, it will cause the AGV to sideslip or overturn. Therefore, this embodiment adjusts the order of stability analysis, prioritizing tilt stability parameter analysis, so that when the AGV's tilt stability is poor, the tilt stability parameters can be adjusted in time to maintain the AGV's tilt stability. In practical applications, when the travel path is predicted to be a curve based on identification and positioning information, tilt stability analysis is performed based on tilt angle parameters, center of gravity stability analysis is performed based on center of gravity position parameters, and vibration stability analysis is performed based on vibration frequency parameters, thereby obtaining tilt stability analysis results, center of gravity stability analysis results, and vibration stability analysis results in sequence. The tilt stability of the AGV is determined first based on the tilt stability analysis results, then the center of gravity stability is determined based on the center of gravity stability analysis results, and finally the vibration stability is determined based on the vibration stability analysis results. When the tilt stability of the AGV is found to be poor, the wheel steering and wheel braking are adjusted first to bring the tilt angle parameters within the normal threshold range. This setup, by adjusting the order of stability analysis, prioritizes the tilt stability analysis of the AGV, ensuring that when the AGV exhibits poor tilt stability while traveling on curved paths, its tilt stability parameters are adjusted promptly to maintain its tilt stability.

[0067] In one embodiment, reference is made to Figure 6 The step of adjusting the speed and direction of the AGV vehicle according to the driving path includes:

[0068] S640. When the driving path is a straight path, the driving speed of the AGV is adjusted to the second preset speed, and the driving direction of the AGV is adjusted so that the vibration frequency parameter of the AGV is within the fifth threshold range.

[0069] Understandably, AGVs typically travel at relatively high speeds on straight paths to improve operational efficiency. For example, in the logistics of large factories, AGVs may accelerate to their maximum speed on straight paths. High-speed travel makes AGVs more sensitive to vibration, and unstable vibration frequencies can affect their vibration stability. Furthermore, compared to curved paths, the direction of travel and force on AGVs is relatively fixed on straight paths. When traveling on curved paths, the turning and acceleration / deceleration constantly change the forces on the transmission system, which can disperse and mitigate the impact of vibration to some extent. However, on straight paths, the transmission system of an AGV is constantly subjected to a relatively singular force, lacking the buffering effect of force changes in the transmission system. Therefore, it is more susceptible to vibration, resulting in poorer vibration stability.

[0070] To ensure the vibration stability of the AGV remains unaffected when traveling on a straight path, this embodiment sets a second preset speed, which is 90% of the current speed. When the AGV's travel path is straight, its speed is controlled to 90% of the current speed. For example, if the AGV's travel path is straight and its speed is 2 m / s, its speed is controlled to 1.8 m / s. Simultaneously, the vibration frequency parameter is adjusted in real-time by changing the AGV's direction, ultimately ensuring that the AGV's vibration frequency falls within a fifth threshold range. This fifth threshold range is the same as the third threshold range, meaning that the current AGV vibration frequency does not exceed 20% of the AGV's normal operating vibration frequency. This setting, when the predicted travel path is straight, promptly reduces the AGV's speed and adjusts its direction to prevent goods from loosening or falling, thus ensuring vibration stability.

[0071] In one embodiment, reference is made to Figure 6 When the driving path is a straight path, the method further includes:

[0072] S650. Based on the stability parameters, perform vibration stability analysis, center of gravity stability analysis, and tilt stability analysis in sequence, and generate corresponding analysis results.

[0073] S660. Perform the steps of determining the stability state of the AGV based on the analysis results and determining the response action of the AGV based on the stability state of the AGV.

[0074] Understandably, in this embodiment, when the travel path is a straight line, the lack of buffering from force changes in the transmission system makes it more susceptible to vibration, resulting in poor vibration stability of the AGV. It can be considered that the vibration stability of the AGV is prone to deterioration when the travel path is straight. If the AGV is not controlled to make corresponding response actions in a timely manner, it can lead to loosening and falling of goods, or even damage to goods. Therefore, this embodiment adjusts the order of stability analysis, prioritizing vibration stability parameter analysis. This allows the AGV to adjust its vibration stability parameters promptly when its vibration stability is poor, thereby maintaining the AGV's vibration stability. In practical applications, when the travel path is predicted to be a straight line based on identification and positioning information, vibration stability analysis is performed based on vibration frequency parameters, center of gravity stability analysis based on center of gravity position parameters, and tilt stability analysis based on tilt angle parameters, thereby sequentially obtaining vibration stability analysis results, center of gravity stability analysis results, and tilt stability analysis results. The vibration stability of the AGV is determined first based on the vibration stability analysis results, then the center of gravity stability is determined based on the center of gravity stability analysis results, and finally the tilt stability is determined based on the tilt stability analysis results. When the vibration stability of the AGV is found to be poor, the wheel air pressure, suspension system, and transmission system of the AGV are adjusted first to bring the vibration frequency parameters of the AGV within the normal threshold range. This setup, by adjusting the order of stability analysis, prioritizes the analysis of the AGV's vibration stability, ensuring that when the AGV exhibits poor vibration stability while traveling on a straight path, its vibration stability parameters are adjusted promptly to maintain its vibration stability.

[0075] The present invention also proposes an AGV vehicle control device, the AGV vehicle control device comprising:

[0076] Processor and memory;

[0077] The processor stores an AGV vehicle control program, which, when executed by the processor, implements the steps of the AGV vehicle control method as described in the above embodiments.

[0078] Understandably, in this embodiment, the stability parameters of the AGV vehicle during operation are obtained through the AGV vehicle control device, and different types of stability analysis are performed sequentially based on the stability parameters to obtain multiple analysis results. The stability state of the AGV vehicle is determined from the multiple analysis results. When the stability state of the AGV vehicle determines that the stability of the AGV vehicle is poor, the AGV vehicle is triggered to execute the 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 the normal range, ensuring the normal operation of the AGV vehicle and improving the stability, reliability and safety of the AGV vehicle.

[0079] The present invention also proposes an AGV vehicle, which includes the AGV vehicle control device as described in the above embodiments. Since the AGV vehicle adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0080] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An AGV vehicle control method, characterized in that, The method includes: The stability parameters of the AGV vehicle during operation are obtained, including but not limited to the center of gravity position parameter, tilt angle parameter, and vibration frequency parameter of the AGV vehicle. Based on the stability parameters, the center of gravity stability analysis, tilt stability analysis, and vibration stability analysis are performed sequentially, and the corresponding analysis results are generated, specifically including: The center of gravity position parameter of the AGV is compared with a first threshold. When the center of gravity position parameter is greater than the first threshold, it is determined that the center of gravity stability of the AGV is poor. The tilt angle parameter of the AGV is compared with a second threshold. When the tilt angle parameter is greater than the second threshold, the tilt stability of the AGV is determined to be poor. The vibration frequency parameter of the AGV is compared with a third threshold. When the vibration frequency parameter is greater than the third threshold, the vibration stability of the AGV is determined to be poor. Based on the analysis results, the stability state of the AGV is determined, and the response action of the AGV is determined based on the stability state of the AGV, specifically including: When the stability of the AGV is poor, the speed of the AGV is reduced by a first preset percentage, and the direction of travel of the AGV is adjusted so that the center of gravity position parameter of the AGV is within a first threshold range. When the stability of the AGV is poor in tilt stability, the speed of the AGV is reduced to zero, and the wheel steering and wheel braking of the AGV are adjusted so that the tilt angle parameter of the AGV is within the second threshold range. When the AGV's stability is poor, the AGV's speed is reduced by a second preset percentage, and the AGV's wheel air pressure, suspension system, and transmission system are adjusted so that the AGV's vibration frequency parameters are within a third threshold range.

2. The AGV vehicle control method as described in claim 1, characterized in that, The method further includes: Obtain the identification and location information of obstacles near the AGV vehicle; The driving path of the AGV vehicle is predicted based on the identification information and positioning information; The AGV vehicle's speed and direction are adjusted according to the driving path.

3. The AGV vehicle control method as described in claim 2, characterized in that, The step of adjusting the speed and 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 tilt angle parameter of the AGV is within the fourth threshold range.

4. The AGV vehicle control method as described in claim 3, characterized in that, When the driving path is a curved path, the method further includes: Based on the stability parameters, tilt stability analysis, center of gravity stability analysis, and vibration stability analysis are performed sequentially, and corresponding analysis results are generated. The steps are as follows: determine the stability state of the AGV based on the analysis results, and determine the response action of the AGV based on the stability state of the AGV.

5. The AGV vehicle control method as described in claim 2, characterized in that, The step of adjusting the speed and 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 the fifth threshold range.

6. The AGV vehicle control method as described in claim 5, characterized in that, When the driving path is a straight path, the method further includes: Based on the stability parameters, vibration stability analysis, center of gravity stability analysis, and tilt stability analysis are performed sequentially, and corresponding analysis results are generated. The steps are as follows: determine the stability state of the AGV based on the analysis results, and determine the response action of the AGV based on the stability state of the AGV.

7. An AGV vehicle control device, characterized in that, The AGV vehicle control device includes: Processor and memory; The processor stores an AGV vehicle control program, which, when executed by the processor, implements the steps of the AGV vehicle control method as described in any one of claims 1-6.

8. An AGV vehicle, characterized in that, The AGV vehicle includes the AGV vehicle control device as described in claim 7.

Images