An AGV carrier and its slope driving control method

Abstract

An AGV carrier, comprising a vehicle frame, a driving power source and an adjustable driving wheel set. The adjustable driving wheel set is adjustably arranged on the vehicle frame. The driving power source is arranged at the rear of the vehicle frame for supplying power to the adjustable driving wheel set. A driven wheel set is arranged on the lower side of the rear part of the vehicle frame. The adjustable driving wheel set includes: a main body, which is slidably arranged on the vehicle frame through a driving adjustment mechanism; a driving wheel set, which is arranged on the main body. When the driving adjustment mechanism operates, the main body drives the driving wheel set to move back and forth along the length direction of the vehicle frame, thereby changing the wheelbase L value between the driving wheel set and the driven wheel set. By adjusting the wheelbase L and using a dedicated uphill and downhill control method in combination, the AGV carrier can obtain better ground gripping effect and more stable driving, increase the slope walking ability, and effectively avoid the occurrence of tipping.

Description

Technical Field

[0001] The present invention relates to the field of AGV carriers, and in particular to an AGV carrier and a slope driving control method thereof. Background Art

[0002] In the case of an existing AGV carrier in an unloaded state, its driving wheels still need to maintain a certain ground pressure so that the driving force can be normally exerted without slipping during acceleration or walking; to achieve this purpose, it is necessary to control the center of gravity position of the AGV, so inevitably, the AGV carrier needs to increase a certain vehicle weight, but this will cause the center of gravity of the AGV carrier to change even more when it is unloaded and fully loaded;

[0003] Especially in some special application scenarios, such as in the working condition of continuously walking on a slope, if a conventional driving unit module is used, the force condition of the driving unit module of the AGV carrier cannot be changed, and there will be a great risk of overturning when the AGV carrier is driving on a slope, and it cannot be ensured that the vehicle can operate normally. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an AGV carrier that can adjust the vehicle's center of gravity. By adjusting the center of gravity position of the carrier, the ground gripping effect of the driving wheels is achieved. In addition, a specific new operation method is configured to achieve stable climbing and descending effects.

[0005] The first object of the present invention is to provide an AGV carrier, including a vehicle frame, a driving power source, and an adjustable driving wheel set. The adjustable driving wheel set is adjustably arranged on the vehicle frame. The driving power source is arranged at the rear of the vehicle frame to supply power to the adjustable driving wheel set. A driven wheel set is arranged on the lower side of the rear part of the vehicle frame; the adjustable driving wheel set includes: a main body, the main body is slidably arranged on the vehicle frame through a driving adjustment mechanism; a driving wheel set, the driving wheel set is arranged on the main body; when the driving adjustment mechanism operates, the main body drives the driving wheel set to move forward and backward along the length direction of the vehicle frame, thereby changing the wheelbase L value between the driving wheel set and the driven wheel set.

[0006] Further, the driving adjustment mechanism includes a guiding part and a driving device. The guiding part is arranged on the main body, and the driving device connects the vehicle frame and the guiding part.

[0007] Compared with the prior art, the AGV carrier of the present invention can change the wheelbase L between the driving wheel set and the driven wheel set by adjusting the main body, thereby changing the position of the driving wheels, making the position of the driving wheels located at or close to the combined center of gravity of the AGV carrier, and then optimizing the ground gripping effect of the driving wheel set.

[0008] The second object of the present invention is to provide an AGV slope driving control method, where the AGV carrier is the AGV carrier with adjustable vehicle center of gravity for the first object, and is characterized by including the following steps:

[0009] Obtain the load status information of the AGV carrier, calculate the vehicle center of gravity position information of the AGV carrier, and deduce the overall center of gravity position information of the vehicle and goods, and record it as the first state; judge whether the center of gravity position information of the AGV carrier at this time exceeds the limit center of gravity range. If so, stop running and give an alarm. If not, enter the next step; judge whether the AGV carrier enters the slope area. If not, continue to move forward. If so, obtain the slope information of this slope area, and determine the first set range threshold and the second set range threshold; judge whether the AGV carrier is in the uphill stage or the downhill stage in this slope area. If it is in the uphill stage, enter step A. If it is in the downhill stage, enter step B; Step A, judge whether the AGV carrier is in the unloaded state. If so, start the drive adjustment mechanism to reduce the wheelbase L value between the drive wheel set and the driven wheel set to the minimum value, and start climbing the slope with the rear of the AGV carrier as the forward direction; if not, judge whether the overall center of gravity position of the AGV carrier at this time exceeds the first set range threshold. If so, enter step A1. If not, enter step A2; Step A1, start climbing the slope with the front of the AGV carrier as the forward direction and L is greater than the first safety threshold; Step A2, start climbing the slope with the rear of the AGV carrier as the forward direction and L is greater than the second safety threshold; Step B, judge whether the overall center of gravity position of the AGV carrier at this time exceeds the second set range threshold. If so, enter step B1. If not, enter step B2; Step B1, start going downhill with the front of the AGV carrier as the forward direction, and start the drive adjustment mechanism to adjust the wheelbase L value between the drive wheel set and the driven wheel set to the maximum value; Step B2, start climbing the slope with the rear of the AGV carrier as the forward direction and L is greater than the first safety threshold; detect whether the measured slope is consistent with the obtained slope information. If so, enter step C1. If not, enter step C2; Step C1, judge whether the AGV carrier has completed slope driving. If so, adjust the movement direction and the wheelbase L value to restore it to the first state and drive out of the slope area. If not, re-determine the first set range threshold and the second set range threshold and execute the subsequent steps; Step C2, whether the measured slope information is within the limit center of gravity range. If so, update the slope information of this slope area with the measured slope information and enter step C1. If not, stop and give an alarm.

[0010] Compared with the prior art, by controlling the AGV carrier with this method, the distance of the drive wheel set can be adjusted according to different slope areas, so that the drive wheel set is close to the overall center of gravity of the vehicle body, thereby effectively increasing the slope passing ability of the vehicle; in addition, by setting the limit center of gravity range, the first set range threshold, and the second set range threshold, the overturning of the AGV carrier can be effectively avoided, and the operation efficiency of the AGV carrier is higher.

[0011] Preferably, the method for obtaining the slope information includes the following steps: Enter the teaching walking mode, make the AGV carrier in an unloaded state, and collect data on the slope involved in the required walking route at a constant speed and in the vehicle traveling direction; Determine the maximum values of the weight, vehicle center of gravity, and speed that the AGV carrier can carry on this slope based on the collected slope information, and save them.

[0012] Preferably, the limit center-of-gravity range is: the distance between the vertical lines of the driven wheel and the driving wheel when the wheelbase L value is at its maximum.

[0013] Preferably, the first set range threshold is: the area of the part above the AGV carrier that is within the limit center-of-gravity range when the AGV carrier is on a slope and its front part is facing down and the driven wheel enters the limit center-of-gravity range. The second set range threshold is: the area of the part above the AGV carrier that is within the limit center-of-gravity range when the AGV carrier is on a slope and its front part is facing up and the driven wheel enters the limit center-of-gravity range.

[0014] Preferably, the limit center-of-gravity range is: the range of the connection line of the points where the material plumb line is set on the effective support wheels and intersects with the horizon when the AGV carrier is on a flat road surface.

[0015] Preferably, the limit center-of-gravity range further includes a safety factor setting area, which is set at the right limit range of the limit center-of-gravity range, and the size of the limit center-of-gravity range is reduced by adjusting the safety factor setting area.

[0016] Preferably, the first safety threshold is: b * 1.1; the second safety threshold is: (a + gsinβ) * h / gcosβ + b, where b is the distance from the driven wheel to the center of gravity of the AGV carrier, and h is the comprehensive center-of-gravity height of the AGV carrier. Description of the Drawings

[0017] Figure 1 is a structural schematic diagram of the AGV carrier of the present invention;

[0018] Figure 2 is another structural schematic diagram of the AGV carrier of the present invention;

[0019] Figure 3 is a schematic diagram of the limit center-of-gravity range, the first set range threshold, and the second set range threshold of the present invention;

[0020] Figure 4 is a flow block diagram of the slope travel control of the AGV carrier of the present invention;

[0021] Figure 5It is the control flow block diagram of the teaching mode of the AGV carrier of the present invention. Detailed implementation manners

[0022] The first object of the present invention is:

[0023] See Figures 1 to 5 , a kind of AGV carrier is provided, which includes a vehicle frame 1, a driving power source 2 and an adjustable driving wheel set 3. The adjustable driving wheel set 3 is adjustably arranged on the vehicle frame 1. The driving power source 2 is arranged at the rear part of the vehicle frame 1 for supplying power to the adjustable driving wheel set 3. A driven wheel set is arranged at the lower side of the rear part of the vehicle frame 1. The adjustable driving wheel set 3 includes: a main body 4, and the main body 4 is slidably arranged on the vehicle frame 1 through a driving adjustment mechanism 5; a driving wheel set 3, and the driving wheel set 3 is arranged on the main body 4; when the driving adjustment mechanism 5 operates, the main body 4 drives the driving wheel set 3 to move back and forth along the length direction of the vehicle frame 1, so as to change the wheelbase L value between the driving wheel set 3 and the driven wheel set. The driving adjustment mechanism 5 includes a guiding part 51 and a driving device 52. The guiding part 51 is arranged on the main body 4, and the driving device 52 connects the vehicle frame 1 and the guiding part 51.

[0024] Compared with the prior art, the AGV carrier of the present invention can change the wheelbase L between the driving wheel set and the driven wheel set by adjusting the main body, so as to change the position of the driving wheels, make the position of the driving wheels located at or close to the comprehensive center of gravity of the AGV carrier, and then optimize the ground gripping effect of the driving wheel set.

[0025] The second object of the present invention is:

[0026] A method for controlling the slope driving of an AGV is provided. The AGV carrier is an AGV carrier with an adjustable vehicle center of gravity for the first object, and is characterized by including the following steps:

[0027] Obtain the load state information of the AGV carrier, calculate the vehicle center of gravity position information of the AGV carrier, and deduce the overall vehicle and cargo center of gravity position information, which is recorded as the first state; judge whether the center of gravity position information of the AGV carrier at this time exceeds the limit center of gravity range. If so, stop running and give an alarm. If not, enter the next step; judge whether the AGV carrier enters a slope area. If not, continue to move forward. If so, obtain the slope information of this slope area, and determine the first set range threshold and the second set range threshold; judge whether the AGV carrier is in the uphill stage or the downhill stage in this slope area. If it is in the uphill stage, enter step A. If it is in the downhill stage, enter step B;

[0028] Step A: Determine whether the AGV carrier is in an unloaded state. If so, start the drive adjustment mechanism to reduce the wheelbase L value between the drive wheel set and the driven wheel set to the minimum value, and start climbing the slope with the rear of the AGV carrier as the forward direction; if not, determine whether the comprehensive center of gravity position of the AGV carrier exceeds the first set range threshold at this time. If so, enter Step A1; if not, enter Step A2. Step A1: Start climbing the slope with the front of the AGV carrier as the forward direction and L is greater than the first safety threshold. Step A2: Start climbing the slope with the rear of the AGV carrier as the forward direction and L is greater than the second safety threshold.

[0029] Step B: Determine whether the comprehensive center of gravity position of the AGV carrier exceeds the second set range threshold at this time. If so, enter Step B1; if not, enter Step B2. Step B1: Start going downhill with the front of the AGV carrier as the forward direction, and start the drive adjustment mechanism to adjust the wheelbase L value between the drive wheel set and the driven wheel set to the maximum value. Step B2: Start climbing the slope with the rear of the AGV carrier as the forward direction and L is greater than the first safety threshold. Detect whether the measured slope is consistent with the acquired slope information. If so, enter Step C1; if not, enter Step C2.

[0030] Step C1: Determine whether the AGV carrier has completed slope driving. If so, adjust the moving direction and the wheelbase L value to restore it to the first state and drive away from the slope area; if not, re-determine the first set range threshold and the second set range threshold and execute the subsequent steps. Step C2: Whether the measured slope information is within the limit center of gravity range. If so, update the slope information of this slope area with the measured slope information and enter Step C1; if not, stop and alarm. It should be noted in the specification that the front of the AGV carrier is the vehicle head and the rear is the vehicle tail. Therefore, the above-mentioned forward direction with the front of the AGV carrier means pulling with the vehicle head of the AGV, and the above-mentioned forward direction with the rear of the AGV carrier means pulling with the vehicle tail of the AGV.

[0031] As a preferred solution, the method for obtaining the slope information includes the following steps: Enter the teaching walking mode, make the AGV carrier in an unloaded state, and collect data on the slopes involved in the required walking route at a constant speed and vehicle traveling direction; according to the collected slope information, determine the maximum values of the weight, vehicle center of gravity, and speed that the AGV carrier can carry on this slope, and save them.

[0032] As a preferred solution, the limit center of gravity range is: the distance between the vertical lines of the driven wheel and the drive wheel when the wheelbase L value is the maximum value. Preferably, the limit center of gravity range also includes a safety factor setting area, which is set at the right limit range of the limit center of gravity range. By adjusting the safety factor setting area, the size of the limit center of gravity range can be reduced, which can further prevent the AGV carrier from tipping over when going uphill.

[0033] As a preferred solution, the first safety threshold is: b * 1.1; the second safety threshold is: (a + gsinβ) * h / gcosβ + b, where b is the distance from the driven wheel to the center of gravity of the AGV carrier, and h is the comprehensive center of gravity height of the AGV carrier.

[0034] Compared with the prior art, by controlling the AGV carrier with this method, the distance of the drive wheel set can be adjusted according to different slope regions, making the drive wheel set close to the comprehensive center of gravity of the vehicle body, thereby effectively increasing the ramp passing ability of the vehicle; in addition, by setting the limit center of gravity range, the first set range threshold, and the second set range threshold, the overturning of the AGV carrier can be effectively avoided, making the operation efficiency of the AGV carrier higher.

[0035] According to the disclosure and teachings of the above specification, those skilled in the art to which the present invention pertains can also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. An AGV slope driving control method, the AGV carrier includes a vehicle frame, a driving power source and an adjustable driving wheel set. The adjustable driving wheel set is adjustably arranged on the vehicle frame. The driving power source is arranged at the rear of the vehicle frame to supply power to the adjustable driving wheel set. A driven wheel set is arranged at the lower side of the rear part of the vehicle frame; it is characterized in that, The adjustable drive wheel set includes: A main body, which is slidably arranged on the vehicle frame through a drive adjustment mechanism; A drive wheel set, which is arranged on the main body; When the drive adjustment mechanism operates, the main body drives the drive wheel set to move back and forth along the length direction of the vehicle frame, thereby changing the wheelbase L value between the drive wheel set and the driven wheel set; The drive adjustment mechanism includes a guiding part and a driving device, the guiding part is arranged on the main body, and the driving device connects the vehicle frame and the guiding part; The control method includes the following steps: Obtain the load state information of the AGV carrier, calculate the center of gravity position information of the vehicle body of the AGV carrier, and deduce the overall center of gravity position information of the vehicle and the goods, which is recorded as the first state; Judge whether the center of gravity position information of the AGV carrier at this time exceeds the limit center of gravity range. If so, stop running and alarm. If not, proceed to the next step; Judge whether the AGV carrier enters a slope area. If not, continue to move forward. If so, obtain the slope information of this slope area, and determine the first set range threshold and the second set range threshold according to the slope information; Judge whether the AGV carrier is in the uphill stage or the downhill stage in this slope area. If it is in the uphill stage, enter step A. If it is in the downhill stage, enter step B; Step A, judge whether the AGV carrier is in the unloaded state. If so, start the drive adjustment mechanism to reduce the wheelbase L value between the drive wheel set and the driven wheel set to the minimum value, and start climbing the slope with the rear part of the AGV carrier as the forward direction; If not, judge whether the comprehensive center of gravity position of the AGV carrier at this time exceeds the first set range threshold. If so, enter step A1. If not, enter step A2; Step A1, start climbing the slope with the front part of the AGV carrier as the forward direction and L is greater than the first safety threshold; Step A2, start climbing the slope with the rear part of the AGV carrier as the forward direction and L is greater than the second safety threshold; Step B, judge whether the comprehensive center of gravity position of the AGV carrier at this time exceeds the second set range threshold. If so, enter step B1. If not, enter step B2; Step B1, start going downhill with the front part of the AGV carrier as the forward direction, and start the drive adjustment mechanism to adjust the wheelbase L value between the drive wheel set and the driven wheel set to the maximum value; Step B2, start climbing the slope with the rear part of the AGV carrier as the forward direction and L is greater than the first safety threshold; Detect whether the measured slope is consistent with the obtained slope information. If so, enter step C1. If not, enter step C2; Step C1, judge whether the AGV carrier has completed the slope driving. If so, adjust the moving direction and the wheelbase L value to restore it to the first state and drive out of the slope area. If not, determine the first set range threshold and the second set range threshold again and execute the subsequent steps; Step C2, whether the measured slope information is within the limit center of gravity range. If so, update the slope information of this slope area with the measured slope information and enter step C1. If not, stop and alarm.

2. The AGV slope driving control method according to claim 1, characterized in that, The method for obtaining the slope information includes the following steps: Enter the teaching walking mode, make the AGV carrier in an unloaded state, and collect data on the slopes involved in the required walking route at a constant speed and in the vehicle's traveling direction. Based on the collected slope information, determine the maximum weight, vehicle center of gravity, and speed that the AGV carrier can carry on this slope, and save them.

3. According to an AGV slope driving control method as claimed in claim 1, wherein The first set range threshold is: the area of the part above the AGV carrier that is within the limit center of gravity range when the front of the AGV carrier is facing down and the driven wheels enter the limit center of gravity range on the slope. The second set range threshold is: the area of the part above the AGV carrier that is within the limit center of gravity range when the front of the AGV carrier is facing up and the driven wheels enter the limit center of gravity range on the slope.

4. A method for controlling the slope travel of an AGV according to any one of claims 1-3, characterized in that, The limit center of gravity range is: the range of the connection line of the points where the material plumb line is set on the effective support wheels and intersects the horizon when the AGV carrier is on a flat road surface.

5. The AGV slope driving control method according to claim 4, wherein The limit center of gravity range further includes a safety factor setting area, which is provided at the right limit of the limit center of gravity range, and the size of the limit center of gravity range is reduced by adjusting the safety factor setting area.

6. The AGV slope driving control method according to claim 1, characterized in that, The first safety threshold is: b * 1.1; the second safety threshold is: (a + gsinβ) * h / gcosβ + b, where b is the distance from the driven wheel to the center of gravity of the AGV carrier, and h is the comprehensive center of gravity height of the AGV carrier.

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