A sensor module and detection and adjustment method thereof

Abstract

The present invention relates to the technical field of intelligent sensors, and specifically to a sensor module and a detection and adjustment method thereof. The sensor module is used on an AGV robot, and includes a controller, a wind direction detection module, a rain angle detection module, a rainfall detection module, and a speed detection module. The rainfall detection module includes a receiving slot. After receiving the electrical signals from the wind direction detection module and the rain angle detection module, the controller adjusts the position of the receiving slot so that the receiving slot and the falling rainwater remain in a vertical state; after the receiving slot and the falling rainwater remain in a vertical state, the detected rainfall signal is transmitted to the controller. If the rainfall received by the controller is higher than a preset rainfall threshold, the current speed is determined to be higher than the preset speed threshold according to the driving speed of the AGV robot detected by the speed detection module. If so, the driving speed is reduced until the current speed is not higher than the preset speed threshold. The use of the above-mentioned sensor module can improve the intelligence of the AGV robot.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent sensors, and in particular to a sensor module and a detection and adjustment method thereof. Background Art

[0002] Automated Guided Vehicle, referred to as AGV robot or unmanned transport vehicle, is a transport vehicle equipped with electromagnetic or optical automatic guidance devices, which can travel along a specified guide path and has safety protection and various transfer functions. It does not require a driver in industrial applications and uses rechargeable batteries as its power source. Its route, movement and actions can generally be controlled by a computer.

[0003] With the rapid development of artificial intelligence, the intelligence of various industries is becoming more and more obvious. At present, the logistics and warehousing industry, hazardous places and special industries, tobacco, medicine, chemical, metallurgy, papermaking and other manufacturing industries, food industry, as well as post offices, libraries, ports and terminals, airports and other industries are gradually promoting the use of AGV robots, so higher requirements are put forward for the intelligence level of AGV robots.

[0004] In the case of bad weather such as rain, the AGV robot needs to slow down. Different rainfall corresponds to different driving speeds to ensure the safety of the driving process. The existing AGV robot is equipped with a rain detection sensor, but its detection accuracy is poor in bad weather such as strong winds, which affects the intelligent recognition of the AGV robot. Summary of the invention

[0005] The object of the present invention is to provide a sensor module for an unmanned vehicle and a detection and adjustment method thereof to solve the problems in the above-mentioned background technology.

[0006] To achieve the above object, the technical solution adopted by the present invention is to provide a sensor module for use on an AGV robot, including a controller, a wind direction detection module, a rain angle detection module, a rainfall detection module and a speed detection module, wherein the rainfall detection module includes a receiving slot, and the controller adjusts the position of the receiving slot after receiving the electrical signals of the wind direction detection module and the rain angle detection module, so that the receiving slot and the falling rainwater are kept in a vertical state;

[0007] After the receiving trough maintains a vertical state with the falling rainwater, the detected rainfall signal is transmitted to the controller. If the rainfall received by the controller is higher than the preset rainfall threshold, the current driving speed of the AGV robot detected by the speed detection module is judged whether it is higher than the preset speed threshold. If so, the driving speed of the AGV robot is reduced until the current speed is no higher than the preset speed threshold.

[0008] Furthermore, the rainfall detection module also includes a first adjustment component, a second adjustment component and a flow meter, the first adjustment component includes a first driving member and a turntable, the turntable is arranged at the output shaft end of the first driving member, and the first driving member drives the turntable to rotate; the receiving groove is hinged to the top of the turntable, the top of the turntable is provided with a mounting seat, the bottom end of the receiving groove is provided with a hinge seat, and the bottom end of the inner side of the receiving groove is provided with an overflow port; the second adjustment component includes a second driving member and a driving shaft, the driving shaft passes through the mounting seat and the hinge seat in sequence, the driving shaft is rotatably connected to the mounting seat, the hinge seat is fixed to the driving shaft, the second driving member is located on one side of the driving shaft and drives the driving shaft to rotate; the flow meter is provided at the overflow port and detects the water flow.

[0009] Furthermore, a wind direction indicating position is provided on the turntable, and the overflow port is arranged corresponding to the wind direction indicating position.

[0010] Furthermore, a support surface is provided at the top end of the first driving member, the turntable is provided at the output shaft end of the first driving member and abuts against the support surface, and a ball bearing for reducing friction is provided on the support surface.

[0011] Furthermore, a line connecting the center of the overflow port and the center of the inner bottom surface of the receiving tank is perpendicular to the axial direction of the driving shaft, and after the second driving member rotates, the end of the receiving tank provided with the overflow port descends.

[0012] Further, the rainwater inclination angle detection module includes a support shaft and a horizontal baffle, the horizontal baffle is in the shape of a disc, the support shaft is located at the bottom center of the horizontal baffle and supports the horizontal baffle, and a raindrop sensor array module is provided on the support shaft along the axial direction;

[0013] The raindrop sensor array module is composed of N raindrop sensor units, each of which has a length of L, and the length of the N raindrop sensor units is N×L. The raindrop sensor units are arranged in sequence in the axial direction of the support shaft, and the radius of the horizontal baffle is r;

[0014] The number of raindrop sensor units that sense raindrops is M, and the number of raindrop sensor units that output "no raindrop" information is NM; according to the geometric relationship

[0015]

[0016] The above-mentioned inclination angle θ can be directly calculated.

[0017] Furthermore, the present invention also provides a detection and adjustment method of a sensor module, using the above-mentioned sensor module, the detection and adjustment method is as follows:

[0018] S10: The wind direction detection module detects the current wind direction, and the controller adjusts the position of the turntable according to the current wind direction so that the wind direction indicator on the turntable is consistent with the direction of the current wind direction;

[0019] S20: The rainwater inclination angle detection module detects the current rainwater inclination angle, and the controller adjusts the position of the receiving groove according to the current rainwater inclination angle so that the inner bottom end surface of the receiving groove is perpendicular to the falling direction of the rainwater;

[0020] S30: The rainfall detection module detects the current rainfall, and the controller determines whether the current rainfall is higher than the preset rainfall threshold according to the detected current rainfall. If it is not higher than the preset rainfall threshold, the AGV robot continues to travel at the current speed; if it is higher than the preset rainfall threshold, the speed detection module detects the current driving speed of the AGV robot;

[0021] S40: The controller determines whether the current driving speed of the AGV robot is higher than the preset speed threshold based on the detected current driving speed. If it is not higher than the preset speed threshold, the AGV robot continues to travel at the current speed; if it is higher than the preset speed threshold, the controller controls the drive module of the AGV robot to reduce the driving speed until the current speed is no higher than the preset speed threshold.

[0022] Furthermore, in step S20, the process of adjusting the position of the receiving slot is as follows:

[0023] First, the current rainwater inclination angle is detected, and the second driving member is started to rotate a corresponding angle according to the different rainwater inclination angles. When the inner bottom end surface of the receiving groove is perpendicular to the falling direction of the rainwater, the second driving member stops moving;

[0024] If the receiving trough does not detect the rainwater flow, the second driving member is reset to restore the receiving trough to a horizontal position.

[0025] Furthermore, in step S20, the process of detecting the rainwater inclination angle is as follows:

[0026] Set the initial tilt angle value φ. When the tilt angle θ of the raindrop falling trajectory is greater than φ, the raindrop will fall into the raindrop sensor unit. The number of raindrop sensor units that sense the raindrop is M, and the number of raindrop sensor units that output "no raindrop" information is NM. According to the geometric relationship

[0027]

[0028] The above-mentioned inclination angle θ can be directly calculated.

[0029] Furthermore, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run on a processor, the detection and adjustment method of the sensor module as described above is executed.

[0030] The beneficial effects of the present invention are:

[0031] 1. Through the cooperation among the controller, wind direction detection module, rain angle detection module, rainfall detection module and speed detection module, if the rainfall received by the controller is higher than the preset rainfall threshold, the current speed of the AGV robot detected by the speed detection module is judged whether it is higher than the preset speed threshold. If so, the driving speed of the AGV robot is reduced until the current speed is not higher than the preset speed threshold. The above sensor module can improve the intelligence of the AGV robot.

[0032] 2. The receiving trough receives the falling rainwater, and then the rainwater flows out from the overflow port. At this time, the water flow detected by the flowmeter can intuitively feedback the current rainfall amount. The rainfall process is generally accompanied by strong winds, which will cause the raindrops to fall at a certain angle to the ground instead of perpendicular to the ground. The greater the wind speed, the greater the inclination angle of the raindrops. The inclined raindrops will affect the amount of water received by the receiving trough, resulting in a large error in the detected rainfall. The position of the receiving trough is adjusted by the first adjustment component and the second adjustment component so that the inner bottom end of the receiving trough is perpendicular to the falling direction of the rainwater. In the case of strong winds, the measurement error of the precipitation can be reduced, and the measurement accuracy is higher.

[0033] 3. A wind direction indicator is provided on the turntable, and the overflow port is provided corresponding to the wind direction indicator. The line connecting the center of the receiving trough and the center of the inner bottom surface of the receiving trough is perpendicular to the axial direction of the driving shaft. After the second driving member rotates, the end of the receiving trough provided with the overflow port drops. With the above-mentioned structural setting, when the inner bottom surface of the receiving trough is perpendicular to the falling direction of rainwater, the overflow port can be located at the lowest point of the entire receiving trough, which is convenient for rainwater to flow out, and is conducive to the flow meter detecting the water flow to feedback the current rainfall amount. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 This is a schematic diagram of the overall structure of the sensor module provided in Example 1 of the present invention;

[0036] Figure 2 A schematic diagram of rain falling vertically when the receiving tank used by the sensor module provided in Example 1 of the present invention is in a horizontal position;

[0037] Figure 3 A schematic diagram of rain falling obliquely when the receiving tank used by the sensor module provided in Example 1 of the present invention is in a horizontal position;

[0038] Figure 4 A front view of a rainfall detection module used in the sensor module provided in Example 1 of the present invention;

[0039] Figure 5 A side view of a rainfall detection module used in the sensor module provided in Embodiment 1 of the present invention;

[0040] Figure 6 A schematic diagram of the adjusted position of the receiving slot of the rainfall detection module used in the sensor module provided in Embodiment 1 of the present invention;

[0041] Figure 7 A schematic diagram of a receiving slot of a rainfall detection module used in a sensor module provided in Embodiment 1 of the present invention being filled with water after the position of the receiving slot is adjusted;

[0042] Figure 8 This is a schematic diagram of the overall structure of a rain angle detection module used by the sensor module provided in Example 1 of the present invention;

[0043] Fig. 9 A schematic flow chart of a detection and adjustment method for a sensor module provided in Embodiment 2 of the present invention.

[0044] Description of reference numerals:

[0045] 1. Mounting frame; 2. First adjusting assembly; 21. First driving member; 22. Turntable; 221. Mounting seat; 222. Wind direction indicator; 3. Receiving slot; 31. Articulated seat; 32. Overflow port; 4. Second adjusting assembly; 41. Second driving member; 42. Driving shaft; 5. Flow meter. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0050] Example 1

[0051] Reference Figure 1-5 A sensor module provided as an embodiment of the present invention is used on an AGV robot and includes a controller, a wind direction detection module, a rain angle detection module, a rainfall detection module and a speed detection module. The rainfall detection module includes a receiving slot. After receiving the electrical signals from the wind direction detection module and the rain angle detection module, the controller adjusts the position of the receiving slot so that the receiving slot and the falling rainwater remain in a vertical state; after the receiving slot and the falling rainwater remain in a vertical state, the detected rainfall signal is transmitted to the controller. If the rainfall received by the controller is higher than the preset rainfall threshold, the current driving speed is determined based on the current form speed of the AGV robot detected by the speed detection module. If so, the driving speed of the AGV robot is reduced until the current speed is not higher than the preset speed threshold.

[0052] Through the cooperation among the controller, wind direction detection module, rain angle detection module, rainfall detection module and speed detection module, if the rainfall received by the controller is higher than the preset rainfall threshold, the current speed of the AGV robot detected by the speed detection module is judged whether it is higher than the preset speed threshold, and if so, the driving speed of the AGV robot is reduced until the current speed is not higher than the preset speed threshold. The use of the above sensor module can improve the intelligence of the AGV robot.

[0053] Specifically, referring to 4 and 5, the rainfall detection module includes a mounting frame, a first adjustment component, a receiving tank, a second adjustment component and a flow meter. The mounting frame is installed on the top of the car, and the mounting frame plays an overall supporting role for the rainfall detection module; the first adjustment component includes a first driving member and a turntable, the first driving member is arranged on the mounting frame, the turntable is arranged at the output shaft end of the first driving member, and the first driving member drives the turntable to rotate; the receiving tank is hinged to the top of the turntable, the top of the turntable is provided with a mounting seat, the bottom end of the receiving tank is provided with a hinge seat, and the bottom end of the inner side of the receiving tank is provided with an overflow port; the second adjustment component includes a second driving member and a driving shaft, the driving shaft passes through the mounting seat and the hinge seat in sequence, the driving shaft is rotatably connected to the mounting seat, the hinge seat is fixed to the driving shaft, the second driving member is located on one side of the driving shaft and drives the driving shaft to rotate; the flow meter is arranged at the overflow port and detects the water flow.

[0054] The receiving trough receives the falling rainwater, and then the rainwater flows out from the overflow port. At this time, the water flow detected by the flowmeter can intuitively feedback the current rainfall amount. The rainfall process is generally accompanied by strong winds, which will cause the raindrops to fall at a certain angle to the ground instead of perpendicular to the ground. The greater the wind speed, the greater the inclination angle of the raindrops. The inclined raindrops will affect the amount of water received by the receiving trough, resulting in a large error in the detected rainfall. Taking one unit of precipitation as an example, the bottom area of ​​the inner side of the receiving trough is W. When there is no wind, one unit of precipitation can fall completely into the receiving trough. Refer to Figure 1 It can be seen that the effective precipitation area is equal to W. When there is wind, the rain is tilted. At this time, one unit of precipitation cannot fall completely into the receiving trough. The effective precipitation area is A. Figure 2 From the geometric relationship of the diagram, it can be seen that A is less than W, and the greater the inclination angle of the rain, the less rain falls into the receiving groove, that is, the greater the wind speed, the more it affects the detection accuracy of the rainfall detection module. The position of the receiving groove is adjusted by the first adjustment component and the second adjustment component so that the bottom of the inner side of the receiving groove is perpendicular to the falling direction of the rain, that is, the effective precipitation area is always equal to W. In the case of strong winds, the measurement error of precipitation can be reduced, and the measurement accuracy is higher.

[0055] Specifically, the receiving tank is set in a cylindrical shape, a wind direction indicator is provided on the turntable, and the overflow port is set corresponding to the wind direction indicator, that is, the vertical plane where the overflow port is located coincides with the vertical plane where the wind direction indicator is located. The line connecting the center of the overflow port and the center of the inner bottom surface of the receiving tank is perpendicular to the axial direction of the driving shaft. After the second driving member rotates, the end of the receiving tank provided with the overflow port drops. With the above-mentioned structural setting, when the inner bottom surface of the receiving tank is perpendicular to the falling direction of rainwater, the overflow port can be located at the lowest point of the entire receiving tank, which is convenient for rainwater to flow out, and further helps the flowmeter to detect the water flow to feedback the current rainfall amount. A support surface is provided at the top of the first driving member, and the turntable is provided at the output shaft end of the first driving member and abuts against the support surface. A ball bearing that reduces friction is provided on the support surface. Since a plurality of parts are installed on the turntable, and the turntable needs to rotate, the turntable can be stably supported by providing a support surface and a ball bearing, and the friction force received by the turntable when it rotates can be reduced.

[0056] In this embodiment, the first drive member and the second drive member are both in the form of a combination of a motor and a reducer. A support seat is provided on the mounting frame, and the first drive member is fixedly mounted on the support seat. A support seat is also provided on the turntable, and the second drive member is fixedly mounted on the support seat. The drive shaft is fixedly connected to the output end of the second drive member, and the hinge seat is fixedly connected to the drive shaft, and the drive shaft is rotatably connected to the mounting seat. The mounting frame is fixed to the roof by screws. During installation, pay attention to the horizontality of the mounting frame and the receiving trough, and do not install it at an angle. When there is rainwater of different depths in the receiving trough, the water flow velocity and water pressure at the overflow port are different. This change can be detected by the indicator flowmeter, and then the real-time rainfall can be fed back. The detection upper limit of the rainfall detection module of this embodiment is as follows. Figure 6 and 7 As shown, the maximum water capacity of the receiving tank is as follows: Figure 7 As shown in the figure, this is the maximum precipitation that the rainfall detection module can detect, and the driving speed of the AGV robot can be reduced to the minimum speed at this time. When the precipitation is higher than the above maximum precipitation, the rainwater overflows from the receiving tank. Although the rainfall detection module can no longer detect the increase in rainfall, the driving speed of the AGV robot is already the minimum speed at this time. Even if the rainfall increases, the driving speed is still within the safe driving range.

[0057] Furthermore, the controller is pre-set with a corresponding logic processing circuit, and after receiving the wind direction signal sent by the wind direction detection module, the first driving member is started. When the wind direction detection module detects different wind directions, it will send out different signals, thereby driving the turntable to rotate to different angles. When the wind direction indicator on the turntable is consistent with the direction of the current wind direction, the first driving member stops. After the controller receives the rainwater inclination angle signal sent by the rainwater inclination angle detection module, the rainwater inclination angle detection module will send out different signals when it detects rainwater with different inclinations, thereby driving the second driving member to rotate to different angles. When the inner bottom end surface of the receiving groove is perpendicular to the falling direction of rainwater, the second driving member stops. Among them, the controller first adjusts the position of the turntable according to the wind direction signal sent by the wind direction detection module, and after the position of the turntable is adjusted, the position of the receiving groove is adjusted according to the rainwater inclination angle signal sent by the rainwater inclination angle detection module.

[0058] Furthermore, the controller is pre-set with a corresponding logic processing circuit, which is used to determine in real time whether the rainfall value exceeds the preset rainfall threshold after receiving the rainfall value sent by the rainfall detection module. If the rainfall received by the controller is higher than the preset rainfall threshold, it indicates that the current weather will pose a safety hazard to the driving of the AGV robot. Therefore, the controller determines whether the current driving speed is higher than the preset speed threshold based on the current driving speed of the AGV robot detected by the speed detection module. If so, it means that the current speed is too fast and there is a safety hazard in driving. The controller controls the drive system of the AGV robot to decelerate and reduce the driving speed of the AGV robot until the driving speed is not higher than the preset speed threshold.

[0059] Specifically, the controller first adjusts the position of the turntable and the receiving trough according to the wind direction signal and the rain tilt signal, and then performs subsequent rainfall detection and speed detection. First, determine whether the rainfall value is higher than the rainfall threshold, and then determine whether the current driving speed is higher than the preset speed threshold. The rainfall threshold and speed threshold can be set with multiple gradients, and different rainfall thresholds correspond to different speed thresholds. The larger the rainfall, the smaller the driving speed, which can effectively ensure the driving safety of the AGV robot.

[0060] Further, refer to Figure 8 The rainwater inclination angle detection module includes a support shaft and a horizontal baffle, the horizontal baffle is in the shape of a disc, the support shaft is located at the center of the bottom end of the horizontal baffle and supports the horizontal baffle, and a raindrop sensor array module is provided on the support shaft along the axial direction; the raindrop sensor array module is composed of N raindrop sensor units, the length of each raindrop sensor unit is L, the length of the N raindrop sensor units is N×L, the raindrop sensor units are arranged in sequence in the axial direction of the support shaft, and the radius of the horizontal baffle is r.

[0061] Specifically, each raindrop sensor unit is composed of a raindrop indicator, a battery pack, a heating controller, a metal probe, a resistance heating wire mesh, and a bracket; the bracket supports the resistance heating wire mesh on the one hand, and collects raindrops on the other hand; Figure 6 , set the initial tilt angle value φ, when the tilt angle θ of the raindrop falling trajectory is greater than φ, the raindrop will fall into the raindrop sensor unit, that is, the raindrop will fall into the resistance heating wire mesh. At this time, the two metal probes in the middle of the resistance heating wire mesh groove will be short-circuited by the raindrop, thereby forming a closed loop, triggering the raindrop indicator to output the "raindrop" information; on the contrary, the raindrop sensor unit where no raindrop falls cannot form a loop because the two metal probes. At this time, the raindrop indicator will output the "no raindrop" information; if the number of raindrop sensor units that sense raindrops is M, then the number of raindrop sensor units that output the "no raindrop" information is NM; according to the geometric relationship:

[0062]

[0063] The calculation process of the above-mentioned tilt angle θ is completed by the processing center.

[0064] Among them, according to the geometric relationship, the initial tilt angle value is:

[0065]

[0066] It can be seen that the initial tilt angle value φ is related to the horizontal baffle radius r and the total length N×L of multiple raindrop sensor units. When the rainwater tilt angle value is less than φ, this rainwater tilt angle detection module cannot detect it. Therefore, in order to increase the measurement range of the rainwater tilt angle value, the flat baffle radius r is set smaller and the total length N×L of the raindrop sensor unit is set larger.

[0067] Example 2

[0068] Reference Fig. 9 As a detection and adjustment method of a sensor module provided by an embodiment of the present invention, the sensor module described in Example 1 is adopted, and the detection and adjustment method is as follows:

[0069] S10: The wind direction detection module detects the current wind direction, and the controller adjusts the position of the turntable according to the current wind direction so that the wind direction indicator on the turntable is consistent with the direction of the current wind direction;

[0070] S20: The rainwater inclination angle detection module detects the current rainwater inclination angle, and the controller adjusts the position of the receiving groove according to the current rainwater inclination angle so that the inner bottom end surface of the receiving groove is perpendicular to the falling direction of the rainwater;

[0071] S30: The rainfall detection module detects the current rainfall, and the controller determines whether the current rainfall is higher than the preset rainfall threshold according to the detected current rainfall. If it is not higher than the preset rainfall threshold, the AGV robot continues to travel at the current speed; if it is higher than the preset rainfall threshold, the speed detection module detects the current driving speed of the AGV robot;

[0072] S40: The controller determines whether the current driving speed of the AGV robot is higher than the preset speed threshold based on the detected current driving speed of the AGV robot. If it is not higher than the preset speed threshold, the AGV robot continues to travel at the current speed; if it is higher than the preset speed threshold, the controller controls the drive module of the AGV robot to reduce the driving speed until the current speed is no higher than the preset speed threshold.

[0073] Specifically, in step S20, the process of adjusting the position of the receiving slot is as follows:

[0074] First, detect the current rainwater inclination angle, and start the second driving member to rotate the corresponding angle according to the different rainwater inclination angles. When the inner bottom end surface of the receiving trough is perpendicular to the falling direction of rainwater, the second driving member stops moving; if the receiving trough does not detect the rainwater flow, the second driving member resets the receiving trough to restore the horizontal position, which is convenient for the next rotation adjustment of the receiving trough.

[0075] In step S20, the rainwater tilt angle detection process is as follows:

[0076] Set the initial tilt angle value φ. When the tilt angle θ of the raindrop falling trajectory is greater than φ, the raindrop will fall into the raindrop sensor unit. The number of raindrop sensor units that sense the raindrop is M, and the number of raindrop sensor units that output "no raindrop" information is NM. According to the geometric relationship

[0077]

[0078] The above-mentioned inclination angle θ can be directly calculated.

[0079] It can be understood that the technical solution of the detection and adjustment method of the sensor module disclosed in Example 2 of the present invention is applied to the sensor module disclosed in Example 1, and the implementation scheme and beneficial effects involved in Example 2 are also applicable in Example 1, so they are not repeated here.

[0080] An embodiment of the present invention further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the detection and adjustment method of the sensor module disclosed in Example 2 is executed.

[0081] The controller may be a central processing unit (CPU). The controller may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0082] The memory is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs and modules. The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory, that is, the detection and adjustment method of the sensor module in the above method embodiment 2 is implemented.

[0083] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run on a processor, the detection and adjustment method of the sensor module in Embodiment 2 is executed.

[0084] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow chart, and the combination of boxes in the structure diagram and / or the flow chart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0085] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0086] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0087] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A sensor module for an AGV robot, characterized in that: The controller comprises a controller, a wind direction detection module, a rain angle detection module, a rainfall detection module and a speed detection module. The rainfall detection module comprises a receiving slot. The controller receives electrical signals from the wind direction detection module and the rain angle detection module, and adjusts the position of the receiving slot according to the current wind direction signal and the rain angle signal, so that the receiving slot is kept vertical to the falling rain. After the receiving trough maintains a vertical state with the falling rainwater, the detected rainfall signal is transmitted to the controller. If the rainfall received by the controller is higher than the preset rainfall threshold, the current driving speed of the AGV robot detected by the speed detection module is judged whether it is higher than the preset speed threshold. If so, the driving speed of the AGV robot is reduced until the current speed is no higher than the preset speed threshold.

2. The sensor module according to claim 1, characterized in that: The rainfall detection module also includes a first adjustment component, a second adjustment component and a flow meter, the first adjustment component includes a first driving member and a turntable, the turntable is arranged at the output shaft end of the first driving member, and the first driving member drives the turntable to rotate; the receiving groove is hinged at the top of the turntable, the top of the turntable is provided with a mounting seat, the bottom end of the receiving groove is provided with a hinge seat, and the bottom end of the inner side of the receiving groove is provided with an overflow port; the second adjustment component includes a second driving member and a driving shaft, the driving shaft passes through the mounting seat and the hinge seat in sequence, the driving shaft is rotatably connected to the mounting seat, the hinge seat is fixed to the driving shaft, the second driving member is located on one side of the driving shaft and drives the driving shaft to rotate; the flow meter is provided at the overflow port and detects the water flow.

3. The sensor module according to claim 2, characterized in that: The rotating disk is provided with a wind direction indicating position, and the overflow port is arranged corresponding to the wind direction indicating position.

4. The sensor module according to claim 2, characterized in that: A supporting surface is provided at the top end of the first driving member, the rotating disk is provided at the output shaft end of the first driving member and abuts against the supporting surface, and a ball bearing for reducing friction is provided on the supporting surface.

5. The sensor module according to claim 3, characterized in that: The line connecting the center of the overflow port and the center of the inner bottom surface of the receiving groove is perpendicular to the axial direction of the driving shaft. After the second driving member rotates, the end of the receiving groove provided with the overflow port descends.

6. The sensor module according to claim 1, characterized in that: The rainwater inclination angle detection module includes a support shaft and a horizontal baffle, the horizontal baffle is in the shape of a disc, the support shaft is located at the center of the bottom end of the horizontal baffle and supports the horizontal baffle, and a raindrop sensor array module is arranged on the support shaft along the axial direction; The raindrop sensor array module is composed of N raindrop sensor units, each of which has a length of L, and the length of the N raindrop sensor units is N×L. The raindrop sensor units are arranged in sequence in the axial direction of the support shaft, and the radius of the horizontal baffle is r; The number of raindrop sensor units that sense raindrops is M, and the number of raindrop sensor units that output "no raindrop" information is NM; according to the geometric relationship The above-mentioned inclination angle θ can be directly calculated.

7. A detection and adjustment method for a sensor module, characterized in that: Using the sensor module described in any one of claims 2 to 6, the detection and adjustment method is as follows: S10: The wind direction detection module detects the current wind direction, and the controller adjusts the position of the turntable according to the current wind direction so that the wind direction indicator on the turntable is consistent with the direction of the current wind direction; S20: The rainwater inclination angle detection module detects the current rainwater inclination angle, and the controller adjusts the position of the receiving groove according to the current rainwater inclination angle so that the inner bottom end surface of the receiving groove is perpendicular to the falling direction of the rainwater; S30: The rainfall detection module detects the current rainfall, and the controller determines whether the current rainfall is higher than the preset rainfall threshold according to the detected current rainfall. If it is not higher than the preset rainfall threshold, the AGV robot continues to travel at the current speed; if it is higher than the preset rainfall threshold, the speed detection module detects the current driving speed of the AGV robot; S40: The controller determines whether the current driving speed of the AGV robot is higher than the preset speed threshold based on the detected current driving speed of the AGV robot. If it is not higher than the preset speed threshold, the AGV robot continues to travel at the current speed; if it is higher than the preset speed threshold, the controller controls the drive module of the AGV robot to reduce the driving speed until the current speed is no higher than the preset speed threshold.

8. The detection and adjustment method of the sensor module according to claim 7, characterized in that: In step S20, the process of adjusting the position of the receiving slot is as follows: First, the current rainwater inclination angle is detected, and the second driving member is started to rotate a corresponding angle according to the different rainwater inclination angles. When the inner bottom end surface of the receiving groove is perpendicular to the falling direction of the rainwater, the second driving member stops moving; If the receiving trough does not detect the rainwater flow, the second driving member is reset to restore the receiving trough to a horizontal position.

9. The detection and adjustment method of the sensor module according to claim 7, characterized in that: In step S20, the process of detecting the rainwater inclination angle is as follows: Set the initial tilt angle value φ. When the tilt angle θ of the raindrop falling trajectory is greater than φ, the raindrop will fall into the raindrop sensor unit. The number of raindrop sensor units that sense the raindrop is M, and the number of raindrop sensor units that output "no raindrop" information is NM. According to the geometric relationship The above-mentioned tilt angle θ can be directly calculated, where r is the radius of the horizontal baffle.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is run on a processor, the detection and adjustment method of the sensor module as described in any one of claims 7 to 9 is executed.

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