Mobile robot, material vehicle accompanying control method, system and equipment and medium

Abstract

A mobile robot and material vehicle accompanying control method, system, device and medium relate to the field of automobile production, and comprise: detecting a first trigger time when a target mobile robot carries a material vehicle to an initial material release point corresponding to an initial station; detecting a second trigger time when the carrier carries the real vehicle to an initial position corresponding to the initial material release point; determining the arrival sequence of the target mobile robot and the carrier according to the first trigger time and the second trigger time; if the target mobile robot arrives first, the speed of the target mobile robot is adjusted to control the target mobile robot and the carrier to synchronously walk to the target station; and if the carrier arrives first, the production line is controlled to stop, and after the target mobile robot arrives at the initial material release point, the target mobile robot and the carrier are controlled to synchronously walk to the target station. According to the invention, independent operation of target mobile robot equipment such as the AGV can be realized, and the production line efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile production, and particularly to a method, system, device and medium for controlling the accompanying movement of a mobile robot and a material vehicle. Background Art

[0002] With the rapid development of intelligent manufacturing and automation technologies, the demand for synchronous cooperation between production lines and mobile robots such as AGVs (Automated Guided Vehicles) is increasing day by day. At present, many related technologies adopt a control scheme based on position detection to achieve the dynamic cooperation between AGVs and production lines, that is, by controlling the distance between the front and rear AGVs on the pallet conveyor production line to control the start and stop of the AGVs, so as to ensure the relative positions of the AGVs.

[0003] Although the above scheme can achieve the dynamic cooperation between AGVs and production lines, the distance between AGVs is a preset value and all refer to the first AGV as a reference. When the first AGV fails or encounters an obstacle, it will affect the normal operation of other AGVs, resulting in the inability of other AGVs to run synchronously with the pallet conveyor, and further reducing the efficiency of the entire production line. Summary of the Invention

[0004] The present application provides a method, system, device and medium for controlling the accompanying movement of a mobile robot and a material vehicle, which can realize the independent operation of mobile robots such as AGVs and improve the production line efficiency.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling the accompanying movement of a mobile robot and a material vehicle, where the method for controlling the accompanying movement of the mobile robot and the material vehicle includes:

[0006] Detecting a first trigger time when a target mobile robot carrying an ingredient vehicle arrives at an initial material release point corresponding to an initial work station;

[0007] Detecting a second trigger time when a carrier carrying a real vehicle arrives at an initial position corresponding to the initial material release point;

[0008] Determining the arrival sequence of the target mobile robot and the carrier according to the first trigger time and the second trigger time;

[0009] If the target mobile robot arrives first, adjusting the speed of the target mobile robot to control the target mobile robot and the carrier to walk synchronously to the destination work station;

[0010] If the carrier arrives first, controlling the production line to stop. After the target mobile robot arrives at the initial material release point, controlling the target mobile robot and the carrier to walk synchronously to the destination work station.

[0011] In combination with the first aspect, in one embodiment, before the step of adjusting the speed of the target mobile robot, the following steps are further included:

[0012] After the vehicle reaches the initial position, control the target mobile robot to release the material.

[0013] In combination with the first aspect, in one embodiment, the adjusting the speed of the target mobile robot to control the target mobile robot and the vehicle to walk synchronously to the destination station includes:

[0014] Obtain the traveled distance of the target mobile robot and the traveled distance of the vehicle;

[0015] Determine the target speed based on the traveled distance of the target mobile robot, the traveled distance of the vehicle, and the actual speed of the target mobile robot;

[0016] Control the walking of the target mobile robot based on the target speed, so that the target mobile robot and the vehicle walk synchronously to the destination station.

[0017] In combination with the first aspect, in one embodiment, the determining the target speed based on the traveled distance of the target mobile robot, the traveled distance of the vehicle, and the actual speed of the target mobile robot includes:

[0018] If the traveled distance of the target mobile robot is greater than the traveled distance of the vehicle, determine the first incremental speed corresponding to the first distance difference based on the mapping relationship between the preset distance difference and the incremental speed, where the first distance difference is the difference between the traveled distance of the target mobile robot and the traveled distance of the vehicle;

[0019] Take the difference between the actual speed and the first incremental speed as the target speed;

[0020] If the traveled distance of the target mobile robot is less than or equal to the traveled distance of the vehicle, determine the second incremental speed corresponding to the second distance difference based on the mapping relationship between the preset distance difference and the incremental speed, where the second distance difference is the difference between the traveled distance of the vehicle and the traveled distance of the target mobile robot;

[0021] Take the sum of the actual speed and the second incremental speed as the target speed.

[0022] In combination with the first aspect, in one embodiment, before the step after the target mobile robot reaches the initial material release point, the following steps are further included:

[0023] Adjust the speed of the target mobile robot, and control the target mobile robot to drive towards the initial material release point at the adjusted speed.

[0024] In combination with the first aspect, in one embodiment, in the step of synchronously walking the controlled target mobile robot and the vehicle to the target work station, the method further includes:

[0025] When detecting an obstacle in the X direction during walking, determine whether the Y direction is passable;

[0026] If so, adjust the walking routes of the target mobile robot and the vehicle to a target route, where the target route is a route that changes the forward direction from the X direction to the Y direction;

[0027] If not, give an alarm.

[0028] In combination with the first aspect, in one embodiment, before the step of detecting the first trigger time when the target mobile robot carrying the aggregate batching vehicle arrives at the initial material release point corresponding to the initial work station, the method further includes:

[0029] When detecting a real vehicle on the vehicle, control the target mobile robot to carry the aggregate batching vehicle and drive towards the initial material release point.

[0030] In a second aspect, an embodiment of the present application provides a mobile robot and a material vehicle following control system, where the mobile robot and the material vehicle following control system includes:

[0031] A first processing module, which is used to detect the first trigger time when the target mobile robot carrying the aggregate batching vehicle arrives at the initial material release point corresponding to the initial work station;

[0032] A second processing module, which is used to detect the second trigger time when the vehicle carrying the real vehicle arrives at the initial position corresponding to the initial material release point;

[0033] A third processing module, which is used to determine the arrival sequence of the target mobile robot and the vehicle according to the first trigger time and the second trigger time;

[0034] A fourth processing module, which is used to, if the target mobile robot arrives first, adjust the speed of the target mobile robot to control the target mobile robot and the vehicle to synchronously walk to the target work station;

[0035] A fifth processing module, which is used to, if the vehicle arrives first, control the production line to stop. After the target mobile robot arrives at the initial material release point, control the target mobile robot and the vehicle to synchronously walk to the target work station.

[0036] In a third aspect, an embodiment of the present application provides a mobile robot and a material vehicle following control device. The mobile robot and the material vehicle following control device include a processor, a memory, and a mobile robot and material vehicle following control program stored on the memory and executable by the processor. When the mobile robot and material vehicle following control program is executed by the processor, the steps of the mobile robot and material vehicle following control method described in any one of the foregoing are implemented.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. A mobile robot and material vehicle following control program is stored on the computer-readable storage medium. When the mobile robot and material vehicle following control program is executed by a processor, the steps of the mobile robot and material vehicle following control method described in any one of the foregoing are implemented.

[0038] The beneficial effects brought by the technical solutions provided in the embodiments of the present application include:

[0039] By monitoring the trigger time when the target mobile robot reaches the initial material release point and the trigger time when the vehicle reaches the initial position corresponding to the initial material release point to determine the order of the two; if the target mobile robot arrives first, adjust the speed of the target mobile robot to control its synchronous walking with the vehicle; if the vehicle arrives first, control the production line to temporarily stop, and wait for the target mobile robot to arrive before controlling the two to walk synchronously. Through dynamic adjustment and stop control, the present application enables the target mobile robot and the vehicle to walk synchronously, eliminates the walking dependence relationship between AGVs, and further avoids the lag of the overall production line caused by the failure of a single AGV, ensuring the continuity and stability of the production process, thereby improving the overall production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic flowchart of an embodiment of the mobile robot and material vehicle following control method of the present application;

[0041] Figure 2 It is a schematic diagram of the relative positions of the initial position and the initial material release point in the present application;

[0042] Figure 3 It is a schematic diagram of the traveled distance of the AMR and the traveled distance of the vehicle in the present application;

[0043] Figure 4 It is a schematic diagram of an embodiment of the mobile robot and material vehicle following control method of the present application;

[0044] Figure 5 It is a schematic diagram of the functional modules of an embodiment of the mobile robot and material vehicle following control system of the present application

[0045] Figure 6This is a schematic diagram of the hardware structure of the mobile robot and the material vehicle follow-up control device involved in the solution of the embodiment of the present application. Detailed implementation manners

[0046] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0047] To make the purpose, technical solution and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the drawings.

[0048] In a first aspect, an embodiment of the present application provides a method for controlling a mobile robot and a material vehicle to follow.

[0049] In one embodiment, referring to Figure 1 , Figure 1 This is a flowchart of an embodiment of the method for controlling a mobile robot and a material vehicle to follow in the present application. As Figure 1 shown, the method for controlling a mobile robot and a material vehicle to follow includes:

[0050] Step S10: Detect the first trigger time when the target mobile robot carrying the aggregate batching vehicle arrives at the initial material release point corresponding to the initial work station;

[0051] Step S20: Detect the second trigger time when the vehicle carrying the actual vehicle arrives at the initial position corresponding to the initial material release point;

[0052] Step S30: Determine the order of arrival of the target mobile robot and the vehicle according to the first trigger time and the second trigger time.

[0053] Exemplarily, in the embodiment of the present application, the target mobile robot may be an AGV, or an AMR (Autonomous Mobile Robot), or other mobile robot devices that can cooperate with the vehicle, which is not limited herein; among them, compared with an AGV, an AMR has stronger autonomous navigation ability and can flexibly avoid obstacles in complex and dynamic environments without relying on a fixed guiding path. Therefore, in the embodiment of the present application, an AMR can be preferably used as the target mobile robot to complete the cooperation with the vehicle, and then complete the production task of automobile assembly.

[0054] It should be noted that in the central control system of AMR, ACS (Automation Control System) and PLC (Programmable Logic Controller) cooperate with each other to collect and process the signals at the end of the conveyor line; the PLC transmits the data to the server on the AMR side through precise signal monitoring. At the same time, the server is responsible for collecting and processing wireless signals on the AMR side and communicating effectively with the PLC on the conveyor line side. This two-way information flow ensures the efficient operation and real-time response of the system, providing intelligent support for the entire logistics process.

[0055] Specifically, referring to Figure 2 As shown, the two straight lines where the initial position A and the initial material release point B are located are parallel to each other, and the line connecting the initial position A and the initial material release point B is perpendicular to these two straight lines. When the vehicle 1 triggers the travel switch S1 at Start, the system records this event, marking that the vehicle 1 starts to enter the buffer in position (i.e., the buffer area), laying the foundation for subsequent scheduling and management; when the vehicle 2 triggers the travel switch S1 at Start, it marks that the vehicle 1 has successfully entered the station 1 (i.e., the initial station); the central control system ACS detects the first trigger time when the AMR carrying the SPS material vehicle arrives at the initial material release point corresponding to the initial station and the second trigger time when the vehicle 1 carrying the actual vehicle arrives at the initial position corresponding to the initial material release point, and determines the arrival order of the AMR and the vehicle 1 according to the first trigger time and the second trigger time. This comparison result not only affects the material release order but also relates to the coordination of the entire production process. By real-time monitoring and judging the arrival order of the AMR and the vehicle 1, the system can effectively optimize the material flow, improve work efficiency, and ensure seamless connection of the production links.

[0056] Step S40: If the target mobile robot arrives first, adjust the speed of the target mobile robot to control the target mobile robot and the vehicle to walk synchronously to the destination station.

[0057] Exemplarily, in the embodiment of the present application, if the trigger time when the target mobile robot carrying the SPS material vehicle arrives at the initial material release point is detected first, it means that the AMR arrives at the initial material release point first. At this time, the speed of the AMR can be adjusted (i.e., control the AMR to decelerate to wait for the vehicle 1), so as to control the target mobile robot and the vehicle to walk synchronously to the destination station. It can be understood that when the vehicle 1 arrives at the initial position, the central control system ACS can confirm their states in real time and achieve data sharing through signal communication to ensure that the AMR and the vehicle 1 can walk synchronously and avoid operation errors.

[0058] Step S50: If the vehicle arrives first, control the production line to stop. After the target mobile robot reaches the initial material release point, control the target mobile robot and the vehicle to walk synchronously to the destination station.

[0059] Exemplarily, in the embodiment of the present application, if the trigger time when the vehicle carrying the actual vehicle arrives at the initial position is detected first, it means that the vehicle 1 arrives at the initial position first and the AMR has not reached the initial material release point, that is, the material cannot be supplied in time. Then control the production line to stop and wait until it is detected that the AMR reaches the initial material release point, and then control the target mobile robot and the vehicle to walk synchronously to the destination station. By timely controlling the alarm to stop the line and making adjustments, production interruptions caused by material shortages are avoided, ensuring the coherence and stability of subsequent operations.

[0060] The present application monitors the trigger time when the target mobile robot reaches the initial material release point and the trigger time when the vehicle arrives at the initial position corresponding to the initial material release point to judge the sequence of the two. If the target mobile robot arrives first, adjust the speed of the target mobile robot to control its synchronous walking with the vehicle. If the vehicle arrives first, control the production line to stop temporarily and wait for the target mobile robot to arrive before controlling the two to walk synchronously. The present application enables the target mobile robot and the vehicle to walk synchronously through dynamic adjustment and stop control, eliminating the walking dependency relationship between AGVs, thereby avoiding the lag of the overall production line caused by the failure of a single AGV and ensuring the continuity and stability of the production process, thus improving the overall production efficiency.

[0061] Further, in one embodiment, before the step of adjusting the speed of the target mobile robot, it further includes:

[0062] After the vehicle arrives at the initial position, control the target mobile robot to release the material.

[0063] Exemplarily, in the embodiment of the present application, if the trigger time when the target mobile robot carrying the aggregate batching vehicle arrives at the initial material release point is detected first, the target mobile robot can be made to wait for the vehicle to arrive at the initial position before releasing the material. It can be understood that releasing the material when the vehicle has not reached the initial position may cause accidents and increase the operation risk. Waiting for the vehicle to be fixed can reduce potential safety hazards.

[0064] Further, in one embodiment, referring to Figure 3 As shown, the adjusting the speed of the target mobile robot to control the target mobile robot and the vehicle to walk synchronously to the destination station includes:

[0065] Obtain the traveled distance of the target mobile robot and the traveled distance of the vehicle;

[0066] Determine a target speed based on the traveled distance of the target mobile robot, the traveled distance of the vehicle, and the actual speed of the target mobile robot;

[0067] Control the movement of the target mobile robot based on the target speed so that the target mobile robot and the vehicle walk synchronously to the destination work station.

[0068] Exemplarily, in the embodiment of the present application, the traveled distance L1 of the vehicle 1 can be recorded by the encoder S2 at the Start of the conveyor line; the traveled distance of the AMR t is the traveled time of the AMR, V X is the X-direction speed of the AMR, referring to Figure 3 As shown, the traveled distance L1 of the vehicle 1 is the distance from A to C, and the traveled distance L2 of the AMR is the distance from B to D; then determine the target speed of the AMR according to the size relationship between L1 and L2 and the actual speed of the AMR; control the AMR to walk at the target speed so that the AMR and the vehicle 1 walk synchronously to the destination work station. It should be noted that when the encoder S2 records the traveled distance of the vehicle, the encoder S2 is reset to eliminate the cumulative error caused by the too long traveled distance.

[0069] It can be understood that obtaining the traveled distance L1 of the vehicle 1 and the traveled distance L2 of the AMR is the key to realizing their efficient collaborative operation. By accurately measuring these two traveled distances and adjusting the actual speed of the AMR in real time, it can ensure that the target mobile robot and the vehicle walk synchronously, thereby improving the efficiency and accuracy of material handling.

[0070] Further, in one embodiment, the determining the target speed based on the traveled distance of the target mobile robot, the traveled distance of the vehicle, and the actual speed of the target mobile robot includes:

[0071] If the traveled distance of the target mobile robot is greater than the traveled distance of the vehicle, determine a first incremental speed corresponding to a first distance difference based on a mapping relationship between a preset distance difference and an incremental speed, where the first distance difference is the difference between the traveled distance of the target mobile robot and the traveled distance of the vehicle;

[0072] Take the difference between the actual speed and the first incremental speed as the target speed;

[0073] If the traveled distance of the target mobile robot is less than or equal to the traveled distance of the vehicle, determine a second incremental speed corresponding to a second distance difference based on a mapping relationship between a preset distance difference and an incremental speed, where the second distance difference is the difference between the traveled distance of the vehicle and the traveled distance of the target mobile robot;

[0074] Use the sum of the actual speed and the second incremental speed as the target speed.

[0075] Exemplarily, in the embodiments of the present application, the distance difference is the difference between the traveled distance L2 of the AMR and the traveled distance L1 of the vehicle 1. The incremental speed is the speed amount that the AMR needs to increase or decrease. The mapping relationship between the preset distance difference and the incremental speed can be determined according to actual needs and is not limited herein. For example, the first distance difference M1 corresponds to the first incremental speed N1, the second distance difference M2 corresponds to the second incremental speed N2, and the third distance difference M3 corresponds to the third incremental speed N3.

[0076] Specifically, when the traveled distance L2 of the AMR > the traveled distance L1 of the vehicle 1, it indicates that the vehicle 1 is relatively backward. To avoid excessive distance between the two resulting in uncoordinated operations, calculate the difference between the traveled distance L2 of the AMR and the traveled distance L1 of the vehicle 1 as M1 (i.e., the first distance difference), and the incremental speed corresponding to the first distance difference M1 is the first incremental speed N1. Subtract the first incremental speed N1 from the actual speed V to obtain the speed V1, and use the speed V1 as the target speed.

[0077] Conversely, when the traveled distance L2 of the AMR ≤ the traveled distance L1 of the vehicle 1, it indicates that the AMR is relatively backward. Calculate the difference between the traveled distance L1 of the vehicle 1 and the traveled distance L2 of the AMR as M2 (i.e., the second distance difference), and the incremental speed corresponding to the second distance difference M2 is the second incremental speed N2. Add the second incremental speed N2 to the actual speed V to obtain the speed V2, and use the speed V2 as the target speed to shorten the distance between the AMR and the vehicle 1 and ensure that the AMR and the vehicle 1 walk synchronously to the destination position.

[0078] It can be understood that through the above dynamic speed adjustment mechanism, the system can achieve efficient synchronous movement, improve the overall operation efficiency and safety, and ensure smoothness and coordination during the material handling process.

[0079] Further, in one embodiment, before the step after the target mobile robot reaches the initial material release point, it further includes:

[0080] Adjust the speed of the target mobile robot and control the target mobile robot to drive towards the initial material release point at the adjusted speed.

[0081] Exemplarily, in the embodiments of the present application, when the vehicle 1 arrives at the initial position first, it indicates that the AMR has not reached the initial material release point. Then, the speed of the AMR can be adjusted (i.e., accelerated), and the AMR is controlled to drive towards the initial material release point at the accelerated speed, so that the AMR and the vehicle 1 can start synchronous walking as soon as possible, thereby improving the overall production efficiency. It can be understood that by adjusting the speed of the AMR, waste caused by mismatched material supply or production interruption can be reduced; at the same time, reducing production interruption and failure rate also reduces the maintenance cost and downtime, further reducing the overall production cost.

[0082] Further, in one embodiment, in the step of controlling the target mobile robot and the vehicle to walk synchronously, it further includes:

[0083] When an obstacle in the X direction is detected during walking, it is judged whether the Y direction is passable;

[0084] If so, the walking routes of the target mobile robot and the vehicle are adjusted to the target route, and the target route is the route in which the forward direction is changed from the X direction to the Y direction;

[0085] If not, an alarm is given.

[0086] Exemplarily, in the embodiments of the present application, during the process of the AMR walking synchronously with the vehicle in the X direction, the AMR obstacle sensor detects an obstacle in the X direction, the AMR judges the possibility of passing in the Y direction, and performs route selection, as shown in Figure 4 shown, that is, it is adjusted from route1 (walking synchronously in the X direction) to route2 (changing from walking in the X direction to walking in the Y direction); when the Y direction is also impassable, that is, multiple obstacles cause the AMR to be unable to walk, an alarm is given. It should be noted that after the walking route of the AMR is adjusted to the target route route2, the calculation formula for the distance D2 that the AMR has walked is: V Y is the Y-direction speed of the AMR.

[0087] It can be understood that the above obstacle avoidance mechanism is realized through real-time environment perception and path planning, and can effectively avoid obstacles, thereby improving the walking safety and efficiency.

[0088] Further, in one embodiment, before the step of detecting the first trigger time when the target mobile robot carrying the ingredient vehicle arrives at the initial material release point corresponding to the initial work station, it further includes:

[0089] When a real vehicle is detected on the vehicle, the target mobile robot is controlled to carry the ingredient vehicle and drive towards the initial material release point.

[0090] Exemplarily, in the embodiments of the present application, an opposed switch S3 can be used to detect whether there is an actual vehicle on the vehicle 1. If there is an actual vehicle, the system will allow the AMR to release; if not, it will not release temporarily and wait until an actual vehicle is detected on the vehicle, and then control the AMR to travel to the initial material release point, ensuring the safety and accuracy of material release.

[0091] In a second aspect, the embodiments of the present application further provide a mobile robot and a material vehicle accompanying control system.

[0092] In one embodiment, referring to Figure 5 , Figure 5 is a schematic diagram of the functional modules of the embodiment of the mobile robot and material vehicle accompanying control system of the present application. As Figure 5 shown, the mobile robot and material vehicle accompanying control system includes:

[0093] A first processing module, which is used to detect the first trigger time when the target mobile robot carrying the batching vehicle arrives at the initial material release point corresponding to the initial station;

[0094] A second processing module, which is used to detect the second trigger time when the vehicle carrying the actual vehicle arrives at the initial position corresponding to the initial material release point;

[0095] A third processing module, which is used to determine the arrival sequence of the target mobile robot and the vehicle according to the first trigger time and the second trigger time;

[0096] A fourth processing module, which is used to adjust the speed of the target mobile robot if the target mobile robot arrives first, so as to control the target mobile robot and the vehicle to walk synchronously to the target station;

[0097] A fifth processing module, which is used to control the production line to stop if the vehicle arrives first, and after the target mobile robot arrives at the initial material release point, control the target mobile robot and the vehicle to walk synchronously to the target station.

[0098] Further, in one embodiment, the fourth processing module is specifically used for:

[0099] After the vehicle arrives at the initial position, control the target mobile robot to release the material.

[0100] Further, in one embodiment, the fourth processing module is specifically further used for:

[0101] Obtain the traveled distance of the target mobile robot and the traveled distance of the vehicle;

[0102] Determine the target speed based on the traveled distance of the target mobile robot, the traveled distance of the vehicle and the actual speed of the target mobile robot;

[0103] Control the walking of the target mobile robot based on the target speed, so that the target mobile robot and the vehicle walk synchronously to the target work station.

[0104] Further, in one embodiment, the fourth processing module is specifically further configured to:

[0105] If the traveled distance of the target mobile robot is greater than the traveled distance of the vehicle, determine a first incremental speed corresponding to a first distance difference based on a mapping relationship between a preset distance difference and an incremental speed, where the first distance difference is the difference between the traveled distance of the target mobile robot and the traveled distance of the vehicle;

[0106] Take the difference between the actual speed and the first incremental speed as the target speed;

[0107] If the traveled distance of the target mobile robot is less than or equal to the traveled distance of the vehicle, determine a second incremental speed corresponding to a second distance difference based on a mapping relationship between a preset distance difference and an incremental speed, where the second distance difference is the difference between the traveled distance of the vehicle and the traveled distance of the target mobile robot;

[0108] Take the sum of the actual speed and the second incremental speed as the target speed.

[0109] Further, in one embodiment, the fifth processing module is specifically configured to:

[0110] Adjust the speed of the target mobile robot and control the target mobile robot to drive towards the initial material release point at the adjusted speed.

[0111] Further, in one embodiment, the fourth processing module is specifically further configured to:

[0112] In the step of controlling the target mobile robot and the vehicle to walk synchronously to the target work station, it further includes:

[0113] When detecting an obstacle in the X direction during walking, determine whether it is passable in the Y direction;

[0114] If so, adjust the walking routes of the target mobile robot and the vehicle to a target route, where the target route is a route that changes the forward direction from the X direction to the Y direction;

[0115] If not, give an alarm.

[0116] Further, in one embodiment, the first processing module is specifically configured to:

[0117] When detecting a real vehicle on the vehicle, control the target mobile robot to carry the aggregate batching vehicle and drive towards the initial material release point.

[0118] This application determines the order of arrival between the target mobile robot and the vehicle by monitoring the trigger time when the target mobile robot reaches the initial material release point and the trigger time when the vehicle reaches the initial position corresponding to the initial material release point. If the target mobile robot arrives first, the speed of the target mobile robot is adjusted to control it to walk synchronously with the vehicle. If the vehicle arrives first, the production line is controlled to stop temporarily, and then the two are controlled to walk synchronously after the target mobile robot arrives. This application enables the target mobile robot and the vehicle to walk synchronously through dynamic adjustment and stop control, eliminating the walking dependency relationship between AGVs, thereby avoiding the lag of the overall production line caused by the failure of a single AGV and ensuring the continuity and stability of the production process, thus improving the overall production efficiency.

[0119] Among them, the functional implementation of each module in the above mobile robot and material vehicle following control system corresponds to each step in the above mobile robot and material vehicle following control method embodiment, and its functions and implementation processes will not be elaborated here one by one.

[0120] In a third aspect, an embodiment of this application provides a mobile robot and material vehicle following control device. The mobile robot and material vehicle following control device can be a device with data processing functions such as a personal computer (PC), a laptop computer, or a server.

[0121] Refer to Figure 6 , Figure 6 which is a schematic hardware structure diagram of the mobile robot and material vehicle following control device involved in the embodiment of this application. In the embodiment of this application, the mobile robot and material vehicle following control device may include a processor, a memory, a communication interface, and a communication bus.

[0122] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0123] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces, etc., which are used to implement the interconnection of internal devices of the mobile robot and material vehicle following control device, as well as interfaces for interconnecting the mobile robot and material vehicle following control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display screen (Display), a keyboard (Keyboard), etc.

[0124] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0125] The processor can be a general-purpose processor, which can call the mobile robot and material vehicle following control program stored in the memory and execute the mobile robot and material vehicle following control method provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the mobile robot and material vehicle following control program is called can refer to the various embodiments of the mobile robot and material vehicle following control method of the present application, which will not be elaborated here.

[0126] Those skilled in the art can understand that Figure 6 the hardware structure shown in

[0127] In a fourth aspect, the embodiments of the present application further provide a readable storage medium.

[0128] The mobile robot and material vehicle following control program is stored on the readable storage medium of the present application. When the mobile robot and material vehicle following control program is executed by a processor, the steps of the mobile robot and material vehicle following control method as described above are implemented.

[0129] Among them, the method implemented when the mobile robot and material vehicle following control program is executed can refer to the various embodiments of the mobile robot and material vehicle following control method of the present application, which will not be elaborated here.

[0130] In the description of the specification, claims and the above drawings of this application, the terms "comprising", "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices. The descriptions such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.

[0131] In the description of the embodiments of this application, words such as "exemplary", "for example" or "for illustration" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for illustration" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example" or "for illustration" is intended to present relevant concepts in a specific manner.

[0132] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" in the text is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.

[0133] In some processes described in the embodiments of this application, a plurality of operations or steps appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of this application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0134] It should be noted that the serial numbers of the above embodiments of this application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0135] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device to execute the methods described in various embodiments of the present application.

[0136] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A mobile robot and a control method for a material cart to follow along, characterized in that, The method for controlling the mobile robot and the material vehicle to follow includes: Detecting a first trigger time when the target mobile robot carrying the aggregate batching vehicle arrives at the initial material release point corresponding to the initial work station; Detecting a second trigger time when the vehicle carrying the actual vehicle arrives at the initial position corresponding to the initial material release point; Determining the arrival sequence of the target mobile robot and the vehicle according to the first trigger time and the second trigger time; If the target mobile robot arrives first, adjusting the speed of the target mobile robot to control the target mobile robot and the vehicle to walk synchronously to the target work station; If the vehicle arrives first, controlling the production line to stop. After the target mobile robot arrives at the initial material release point, controlling the target mobile robot and the vehicle to walk synchronously to the target work station.

2. The mobile robot and the material cart following control method according to claim 1, wherein Before the step of adjusting the speed of the target mobile robot, it further includes: After the vehicle arrives at the initial position, controlling the target mobile robot to release materials.

3. The mobile robot and the material cart following control method according to claim 1, characterized in that, The adjusting the speed of the target mobile robot to control the target mobile robot and the vehicle to walk synchronously to the target work station includes: Obtaining the traveled distance of the target mobile robot and the traveled distance of the vehicle; Determining a target speed based on the traveled distance of the target mobile robot, the traveled distance of the vehicle, and the actual speed of the target mobile robot; Controlling the walking of the target mobile robot based on the target speed so that the target mobile robot and the vehicle walk synchronously to the target work station.

4. The mobile robot and the material vehicle following control method according to claim 3, wherein The determining the target speed based on the traveled distance of the target mobile robot, the traveled distance of the vehicle, and the actual speed of the target mobile robot includes: If the traveled distance of the target mobile robot is greater than the traveled distance of the vehicle, determining a first incremental speed corresponding to a first distance difference based on the mapping relationship between the preset distance difference and the incremental speed, where the first distance difference is the difference between the traveled distance of the target mobile robot and the traveled distance of the vehicle; Taking the difference between the actual speed and the first incremental speed as the target speed; If the traveled distance of the target mobile robot is less than or equal to the traveled distance of the vehicle, determining a second incremental speed corresponding to a second distance difference based on the mapping relationship between the preset distance difference and the incremental speed, where the second distance difference is the difference between the traveled distance of the vehicle and the traveled distance of the target mobile robot; Taking the sum of the actual speed and the second incremental speed as the target speed.

5. The mobile robot and the material vehicle following control method according to claim 1, characterized in that, Before the step of waiting for the target mobile robot to arrive at the initial material release point, it further includes: Adjusting the speed of the target mobile robot and controlling the target mobile robot to drive towards the initial material release point at the adjusted speed.

6. The mobile robot and the material vehicle following control method according to claim 1, characterized in that, In the step of controlling the target mobile robot and the vehicle to walk synchronously to the target work station, it further includes: When detecting an X-direction obstacle during walking, judging whether it is passable in the Y direction; If so, adjusting the walking routes of the target mobile robot and the vehicle to a target route, where the target route is a route that changes the forward direction from the X direction to the Y direction; If not, giving an alarm.

7. The mobile robot and the material cart following control method according to claim 1, characterized in that, Before the step of detecting the first trigger time when the target mobile robot carrying the aggregate batching vehicle arrives at the initial material release point corresponding to the initial work station, it further includes: When a real vehicle is detected on the vehicle, control the target mobile robot to carry the aggregate batching vehicle and drive towards the initial material release point.

8. A mobile robot and a material vehicle following control system, characterized in that, The mobile robot and material vehicle following control system includes: A first processing module, which is used to detect the first trigger time when the target mobile robot carrying the aggregate batching vehicle arrives at the initial material release point corresponding to the initial station; A second processing module, which is used to detect the second trigger time when the vehicle carrying the real vehicle arrives at the initial position corresponding to the initial material release point; A third processing module, which is used to determine the arrival sequence of the target mobile robot and the vehicle according to the first trigger time and the second trigger time; A fourth processing module, which is used to adjust the speed of the target mobile robot if the target mobile robot arrives first, so as to control the target mobile robot and the vehicle to walk synchronously to the target station; A fifth processing module, which is used to control the production line to stop if the vehicle arrives first, and after the target mobile robot arrives at the initial material release point, control the target mobile robot and the vehicle to walk synchronously to the target station.

9. A mobile robot and a control device for following a material vehicle, characterized in that, The mobile robot and material vehicle following control device includes a processor, a memory, and a mobile robot and material vehicle following control program stored on the memory and executable by the processor. When the mobile robot and material vehicle following control program is executed by the processor, the steps of the mobile robot and material vehicle following control method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that, A mobile robot and material vehicle following control program is stored on the computer-readable storage medium. When the mobile robot and material vehicle following control program is executed by the processor, the steps of the mobile robot and material vehicle following control method according to any one of claims 1 to 7 are implemented.

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