Control method, device, equipment and storage medium for AGV following main line equipment

Abstract

The present invention relates to the field of automatic control technology, and discloses a control method, device, equipment, and storage medium for an AGV following a mainline device. The method includes: calculating the actual error distance of the AGV relative to the mainline device based on reference point data of the current sampling cycle and the previous sampling cycle; calculating the maximum error distance of the AGV relative to the mainline device based on the maximum speed difference of the AGV relative to the mainline device and a preset maximum error consumption time; calculating the speed change of the AGV relative to the mainline device using the actual error distance and the maximum error distance; calculating the following speed based on the initial speed of the AGV and its speed change relative to the mainline device, and controlling the AGV to follow the mainline device according to the calculated following speed. The present invention improves the timeliness and stability of the process of the AGV following the mainline device by actively obtaining reference point data on the mainline device, calculating and controlling the AGV to follow the mainline device.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a control method, device, equipment and storage medium for AGV following main line equipment. Background Art

[0002] An Automated Guided Vehicle (AGV) is equipped with an electromagnetic or optical automatic guidance device that can travel along a specified guide path. It has safety protection and various transfer functions and is a transport vehicle that does not require a driver in industrial applications. With the development of industrial automation, the flexible application range of AGVs is very wide. The linkage installation accuracy requirements of AGVs and mainline hoists are also very demanding. The mainline following system is a linkage system developed based on existing mainline equipment. Therefore, the speed of the hoist can only be collected by the AGV itself. The lag of the collected data is generally caused by the sampling data generation cycle (about 25ms), the program running cycle (about 20ms) and the consumption of driver and PLC data transmission (10ms). Therefore, the control process of AGV following the mainline equipment is generally low-speed following.

[0003] Among the commonly used following control methods in the existing technology, most of them obtain the main line hoist speed through encoder speed measurement and transmit it to the AGV. The main line speed and position obtained through the encoder have the defects of delay and poor timeliness; brackets and other equipment are installed on the main line hoist to assist in completing the test, and the stability is not high. Summary of the Invention

[0004] In view of this, the present invention provides a control method, device, equipment and storage medium for AGV to follow the main line equipment, so as to solve the problem of poor timeliness and stability of AGV following the main line equipment.

[0005] In a first aspect, the present invention provides a method for controlling an AGV to follow a main line device, the method comprising:

[0006] Based on the reference point data of the current sampling cycle and the previous sampling cycle of the main line equipment, the actual error distance of the AGV relative to the main line equipment is calculated;

[0007] Calculate the maximum error distance of the AGV relative to the main line equipment based on the maximum speed difference of the AGV relative to the main line equipment and the preset maximum error consumption time;

[0008] Use the actual error distance and maximum error distance to calculate the speed change of the AGV relative to the main line equipment;

[0009] According to the initial speed of the AGV and the speed change of the AGV relative to the main line equipment, the following speed of the AGV is calculated, and the AGV is controlled to follow the movement of the main line equipment according to the calculated following speed.

[0010] The control method for AGV following mainline equipment provided by the present invention actively obtains reference point data on the mainline equipment, calculates and controls the AGV to follow the movement of the mainline equipment, thereby improving the timeliness and stability of the process of AGV following the movement of the mainline equipment.

[0011] In an optional embodiment, the reference point data of the main line equipment is obtained through a camera installed on the AGV.

[0012] By using a camera instead of an encoder to obtain the reference point data on the main line equipment, the position difference of the AGV relative to the main line equipment can be obtained more quickly and accurately.

[0013] In an optional embodiment, the calculation process of the actual error distance of the AGV relative to the main line equipment is as follows:

[0014] Obtain the pixel value of an object of known size within the camera image range to obtain the conversion ratio between actual size and pixels;

[0015] The actual error distance of the AGV relative to the main line equipment is calculated using the conversion ratio and the pixel value of the reference point of the main line equipment.

[0016] Using an object of known size as a standard and the reference point captured by the camera as a reference, the actual error distance of the AGV relative to the main line equipment is calculated. The calculation method is simple and the result is accurate.

[0017] In an optional embodiment, the process of calculating the maximum error distance of the AGV relative to the main line equipment is:

[0018] Err max =v max *t 消耗max

[0019] Among them, Err max Indicates the maximum error distance of AGV relative to the main line equipment, V max Indicates the maximum speed difference of AGV relative to the main line equipment, t 消耗max Indicates the preset maximum error consumption time.

[0020] In actual applications, for safety reasons, the maximum speed difference and maximum error consumption time of AGV relative to the main line equipment are limited, making the movement process of AGV following the main line equipment safer and more reliable.

[0021] In an optional embodiment, the process of calculating the speed change of the AGV relative to the main line equipment includes:

[0022] The time it takes for the AGV to change its speed relative to the main line equipment is equal to the time it takes for the AGV to change its actual error distance relative to the main line equipment, then

[0023]

[0024] Among them, ΔV represents the speed change of AGV relative to the main line equipment, and ΔErr represents the actual error distance of AGV relative to the main line equipment;

[0025] The speed change of AGV relative to the main line equipment is:

[0026] The time it takes for the AGV to change its speed relative to the main line equipment is equal to the time it takes for the AGV to lose its actual error distance relative to the main line equipment. The speed change of the AGV relative to the main line equipment can be calculated quickly and accurately, thus better controlling the AGV movement.

[0027] In an optional embodiment, the process of calculating the following speed of the AGV is as follows based on the initial speed of the AGV and the speed change of the AGV relative to the main line equipment:

[0028] Obtain the speed change of the AGV relative to the main line equipment in two consecutive sampling periods: ΔV n and ΔV n-1 , and calculate the change in the speed of the AGV relative to the main line equipment in two consecutive sampling periods:

[0029] δv n =ΔV n -ΔV n-1

[0030] Where, ΔV n Indicates the speed change of AGV relative to the main line equipment during the nth sampling period, ΔV n-1 Indicates the speed change of AGV relative to the main line equipment during the n-1th sampling period, δv n Indicates the change in the speed of the AGV relative to the main line equipment during the nth sampling period and the n-1th sampling period;

[0031] If δv n Within the preset change threshold range, the initial speed of the AGV is updated as follows: Among them, V n0 is the initial speed of AGV in the nth sampling period, V (n-1)0 is the initial speed of AGV in the n-1th sampling period;

[0032] The following speed of AGV is: V n跟随 =V n0+ΔV n , where V n跟随 Indicates the following speed of the AGV controlled during the nth sampling period.

[0033] By using the data collected in two consecutive sampling cycles, the actual following speed of the AGV in each sampling cycle is calculated, which makes the control more accurate and improves the timeliness of the AGV following the main line equipment.

[0034] In an optional embodiment, the method further includes:

[0035] If the reference point data is not obtained within a certain sampling period, the actual error distance of the AGV relative to the main line equipment is:

[0036] Err n =Err n-1 +V n跟随 *Δt where Err n Indicates the actual error distance of the AGV relative to the main line equipment during the sampling period when the reference point data is not obtained, Err n-1 Indicates the actual error distance of the AGV relative to the main line equipment during the last sampling period when the reference point data was not obtained, V n跟随 It indicates the following speed of the AGV during the sampling period when the reference point data is not obtained, and Δt indicates the sampling period time.

[0037] If the reference point data is not obtained in a certain sampling period, the data of the previous sampling period and the current following speed are used to estimate the actual error distance of the AGV relative to the main line equipment in that period, reducing the fault alarm caused by short-term occlusion and improving the stability of controlling the AGV to follow the main line equipment.

[0038] In a second aspect, the present invention provides a control device for an AGV following a main line device, comprising:

[0039] The data acquisition module is used to calculate the actual error distance of the AGV relative to the main line equipment based on the reference point data of the current sampling cycle and the previous sampling cycle of the main line equipment;

[0040] The error distance calculation module is used to calculate the maximum error distance of the AGV relative to the main line equipment based on the maximum speed difference of the AGV relative to the main line equipment and the preset maximum error consumption time;

[0041] The speed change calculation module is used to calculate the speed change of the AGV relative to the main line equipment using the actual error distance and the maximum error distance;

[0042] The AGV following module is used to calculate the following speed of the AGV based on the initial speed of the AGV and the speed change of the AGV relative to the main line equipment, and control the AGV to follow the main line equipment according to the calculated following speed.

[0043] In a third aspect, the present invention provides a computer device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to execute the control method of the AGV following the main line device of the above-mentioned first aspect or any corresponding embodiment thereof.

[0044] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the control method for an AGV following a main line device according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 1 is a flow chart of a method for controlling an AGV following a main line device according to an embodiment of the present invention;

[0047] Figure 2 1 is a flow chart of another method for controlling an AGV following a main line device according to an embodiment of the present invention;

[0048] Figure 3 1 is a flow chart of another method for controlling an AGV following a main line device according to an embodiment of the present invention;

[0049] Figure 4 This is a structural block diagram of a control device for an AGV following a main line device according to an embodiment of the present invention;

[0050] Figure 5 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0052] An Automated Guided Vehicle (AGV) is equipped with an electromagnetic or optical automatic guidance device that can travel along a specified guide path. It has safety protection and various transfer functions and is a transport vehicle that does not require a driver in industrial applications. With the development of industrial automation, the flexible application range of AGVs is very wide. The linkage installation accuracy requirements of AGVs and mainline hoists are also very demanding. The mainline following system is a linkage system developed based on existing mainline equipment. Therefore, the speed of the hoist can only be collected by the AGV itself. The lag of the collected data is generally caused by the sampling data generation cycle (about 25ms), the program running cycle (about 20ms) and the consumption of driver and PLC data transmission (10ms). Therefore, the control process of AGV following the mainline equipment is generally low-speed following.

[0053] In the following control method commonly used in the existing technology, the AGV needs to obtain the main line hoist speed through the encoder speed measurement. The main line speed and position obtained through the encoder have the defects of delay and poor timeliness; brackets and other equipment are installed on the main line hoist to assist in completing the test, and the stability is not high.

[0054] According to an embodiment of the present invention, an embodiment of a control method for an AGV to follow a main line device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0055] In this embodiment, a control method for AGV following a main line device is provided, which can be used for the above-mentioned computer device. Figure 1 : is a flow chart of a control method for AGV following a main line device according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0056] Step S101 calculates the actual error distance of the AGV relative to the mainline equipment based on the reference point data from the current and previous sampling cycles of the mainline equipment. Specifically, in one embodiment, the mainline equipment's reference point data is acquired via a camera mounted on the AGV. Using a camera, rather than an encoder, to acquire the mainline equipment's reference point data allows for faster and more accurate determination of the AGV's relative position to the mainline equipment.

[0057] Step S102 : calculating the maximum error distance of the AGV relative to the main line equipment according to the maximum speed difference of the AGV relative to the main line equipment and the preset maximum error consumption time.

[0058] Step S103 uses the actual error distance and the maximum error distance to calculate the change in speed of the AGV relative to the mainline equipment. For example, the actual error distance is smaller than the maximum error distance to ensure the effectiveness and safety of the AGV following the mainline equipment. If the calculated actual error distance is larger than the maximum error distance, it indicates that the error is too large, posing a safety hazard, and the AGV cannot continue to follow the mainline equipment.

[0059] Step S104 , calculating the following speed of the AGV according to the initial speed of the AGV and the speed change of the AGV relative to the main line equipment, and controlling the AGV to follow the main line equipment according to the calculated following speed.

[0060] The control method for AGV following mainline equipment provided by the present invention actively obtains reference point data on the mainline equipment, calculates and controls the AGV to follow the movement of the mainline equipment, thereby improving the timeliness and stability of the process of AGV following the movement of the mainline equipment.

[0061] In this embodiment, a control method for AGV following a main line device is provided, which can be used for the above-mentioned computer device. Figure 2 : is a flow chart of a control method for AGV following a main line device according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0062] Step S201 : Based on the reference point data of the current sampling period and the previous sampling period of the main line equipment, the actual error distance of the AGV relative to the main line equipment is calculated.

[0063] Specifically, the above step S201 includes:

[0064] Step S2011: Obtain pixel values ​​for an object of known size within the camera image range to obtain a conversion ratio between actual size and pixels. For example, after all equipment is installed, the camera detects an actual object measuring 50mm*50mm, reads the pixel difference between opposite sides in the image, and calculates the conversion ratio by dividing the value by 50mm / pixel difference between opposite sides.

[0065] Step S2012: Calculate the actual error distance of the AGV relative to the main line device using the conversion ratio and the pixel value of the reference point of the main line device. For example, the actual error distance is equal to the reference point position multiplied by the conversion ratio.

[0066] Using an object of known size as a standard and the reference point captured by the camera as a reference, the actual error distance of the AGV relative to the main line equipment is calculated. The calculation method is simple and the result is accurate.

[0067] Step S202 : Calculate the maximum error distance of the AGV relative to the main line equipment according to the maximum speed difference of the AGV relative to the main line equipment and the preset maximum error consumption time.

[0068] Specifically, the maximum error distance of the AGV relative to the main line equipment is:

[0069] Err max =V max *t 消耗max

[0070] Among them, Err max Indicates the maximum error distance of AGV relative to the main line equipment, V max Indicates the maximum speed difference of AGV relative to the main line equipment, t 消耗max Indicates the preset maximum error consumption time.

[0071] In actual applications, for safety reasons, the maximum speed difference and maximum error consumption time of AGV relative to the main line equipment are limited, making the movement process of AGV following the main line equipment safer and more reliable.

[0072] Step S203: Calculate the speed change of the AGV relative to the main line equipment using the actual error distance and the maximum error distance.

[0073] Specifically, the above step S203 includes:

[0074] Step S2031: If the time taken for the AGV to change its speed relative to the main line equipment is equal to the time taken for the AGV to change its actual error distance relative to the main line equipment, then

[0075]

[0076] Among them, ΔV represents the speed change of AGV relative to the main line equipment, and ΔErr represents the actual error distance of AGV relative to the main line equipment;

[0077] Step S2032: The speed change of the AGV relative to the main line equipment is:

[0078] The time it takes for the AGV to change its speed relative to the main line equipment is equal to the time it takes for the AGV to lose its actual error distance relative to the main line equipment. The speed change of the AGV relative to the main line equipment can be calculated quickly and accurately, thus better controlling the AGV movement.

[0079] Step S204 : Calculate the following speed of the AGV according to the initial speed of the AGV and the speed change of the AGV relative to the main line equipment, and control the AGV to follow the main line equipment according to the calculated following speed.

[0080] Specifically, the above step S204 includes:

[0081] Step S2041: Obtain the speed change of the AGV relative to the main line equipment in two consecutive sampling periods: ΔV n and ΔV n-1 , and calculate the change in the speed of the AGV relative to the main line equipment in two consecutive sampling periods:

[0082] δv n =ΔV n -ΔV n-1

[0083] Where, ΔV n Indicates the speed change of AGV relative to the main line equipment during the nth sampling period, ΔV n-1 Indicates the speed change of AGV relative to the main line equipment during the n-1th sampling period, δv n Indicates the change in the speed of the AGV relative to the main line equipment between the nth sampling period and the n-1th sampling period.

[0084] Step S2042, if δv n Within the preset change threshold range, the initial speed of the AGV is updated as follows: Among them, V n0 is the initial speed of AGV in the nth sampling period, V (n-1)0 is the initial speed of the AGV during the n-1th sampling period. For example, the preset change threshold range is a range set based on actual conditions, such as [-1, 1]. This is only an example and is not limited to this. The dichotomy principle is used to adjust the AGV's following speed, better controlling the AGV's ability to follow the mainline equipment.

[0085] Step S2043, the following speed of AGV is: V n跟随 =V n0 +ΔV n , where V n跟随 Indicates the following speed of the AGV controlled during the nth sampling period.

[0086] By using the data collected in two consecutive sampling cycles, the actual following speed of the AGV in each sampling cycle is calculated, which makes the control more accurate and improves the timeliness of the AGV following the main line equipment.

[0087] In this embodiment, a control method for AGV following a main line device is provided, which can be used for the above-mentioned computer device. Figure 3 : is a flow chart of a control method for AGV following a main line device according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0088] Step S301: Based on the reference point data of the current sampling period and the previous sampling period of the main line equipment, the actual error distance of the AGV relative to the main line equipment is calculated. Figure 2 Step S201 of the illustrated embodiment will not be described in detail here.

[0089] Step S302: Calculate the maximum error distance of the AGV relative to the main line equipment based on the maximum speed difference of the AGV relative to the main line equipment and the preset maximum error consumption time. Figure 2 Step S202 of the illustrated embodiment will not be described in detail here.

[0090] Step S303: Calculate the speed change of the AGV relative to the main line equipment using the actual error distance and the maximum error distance. Figure 2 Step S203 of the illustrated embodiment will not be described in detail here.

[0091] Step S304: Calculate the following speed of the AGV based on the initial speed of the AGV and the speed change of the AGV relative to the main line equipment, and control the AGV to follow the main line equipment according to the calculated following speed. Figure 2 Step S204 of the illustrated embodiment will not be described in detail here.

[0092] Step S305: If the reference point data is not obtained within a certain sampling period, the actual error distance of the AGV relative to the main line equipment is:

[0093] Err n =Err n-1 +V n跟随 *Δt where Err n Indicates the actual error distance of the AGV relative to the main line equipment during the sampling period when the reference point data is not obtained, Err n-1 Indicates the actual error distance of the AGV relative to the main line equipment during the last sampling period when the reference point data was not obtained, V n跟随 It indicates the following speed of the AGV during the sampling period when the reference point data is not obtained, and Δt indicates the sampling period time.

[0094] If the reference point data is not obtained in a certain sampling period, the data of the previous sampling period and the current following speed are used to estimate the actual error distance of the AGV relative to the main line equipment in that period, reducing the fault alarm caused by short-term occlusion and improving the stability of controlling the AGV to follow the main line equipment.

[0095] This embodiment also provides a control device for an AGV following a mainline device. This device is used to implement the above-mentioned embodiments and preferred implementations, and details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0096] This embodiment provides a control device for AGV following main line equipment, such as Figure 4 Shown, including:

[0097] The data acquisition module 401 is used to calculate the actual error distance of the AGV relative to the main line equipment based on the reference point data of the current sampling period and the previous sampling period of the main line equipment;

[0098] The error distance calculation module 402 is used to calculate the maximum error distance of the AGV relative to the main line equipment based on the maximum speed difference of the AGV relative to the main line equipment and the preset maximum error consumption time;

[0099] The speed variation calculation module 403 is used to calculate the speed variation of the AGV relative to the main line equipment using the actual error distance and the maximum error distance;

[0100] The AGV following module 404 is used to calculate the following speed of the AGV according to the initial speed of the AGV and the speed change of the AGV relative to the main line equipment, and control the AGV to follow the main line equipment according to the calculated following speed.

[0101] In some optional implementations, the data acquisition module 401 includes:

[0102] The conversion ratio calculation unit is used to obtain the pixel value of an object of known size within the camera image range to obtain the conversion ratio of the actual size to the pixel.

[0103] The actual error calculation unit is used to calculate the actual error distance of the AGV relative to the main line equipment by using the conversion ratio and the pixel value of the reference point of the main line equipment.

[0104] In some optional implementations, the error distance calculation module 402 includes:

[0105] The maximum error distance calculation unit is used to calculate the maximum error distance of the AGV relative to the main line equipment:

[0106] Err max =V max *t 消耗max

[0107] Among them, Err max Indicates the maximum error distance of AGV relative to the main line equipment, V max Indicates the maximum speed difference of AGV relative to the main line equipment, t 消耗max Indicates the preset maximum error consumption time.

[0108] In some optional implementations, the error distance calculation module 403 includes:

[0109] The proportional calculation unit is used to calculate the time it takes for the AGV to change its speed relative to the main line equipment. If the time it takes for the AGV to change its actual error distance relative to the main line equipment is equal, then

[0110]

[0111] Among them, ΔV represents the speed change of AGV relative to the main line equipment, and ΔErr represents the actual error distance of AGV relative to the main line equipment;

[0112] The change calculation unit is used to calculate the speed change of the AGV relative to the main line equipment:

[0113] In some optional embodiments, the AGV following module 404 includes:

[0114] The data acquisition unit is used to obtain the speed change of the AGV relative to the main line equipment in two consecutive sampling periods: ΔV n and ΔV n-1 , and calculate the change in the speed of the AGV relative to the main line equipment in two consecutive sampling periods:

[0115] δv n =ΔV n -ΔV n-1

[0116] Where, ΔV n Indicates the speed change of AGV relative to the main line equipment during the nth sampling period, ΔV n-1 Indicates the speed change of AGV relative to the main line equipment during the n-1th sampling period, δv n Indicates the change in the speed of the AGV relative to the main line equipment during the nth sampling period and the n-1th sampling period;

[0117] Velocity update unit, used if δv n Within the preset change threshold range, the initial speed of the AGV is updated as follows: Among them, V n0 is the initial speed of AGV in the nth sampling period, V (n-1)0 is the initial speed of AGV in the n-1th sampling period;

[0118] Following calculation unit, used for AGV following speed: V n跟随 =V n0 +ΔV v , where V v跟随 Indicates the following speed of the AGV controlled during the nth sampling period.

[0119] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0120] The control device of the AGV following the main line equipment in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0121] The embodiment of the present invention also provides a computer device having the above Figure 5 The AGV shown follows the control device of the main line equipment.

[0122] See also Figure 5 , Figure 5 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in the memory or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0123] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0124] The memory 20 stores instructions that can be executed by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0125] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0126] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0127] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0128] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0129] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A control method for AGV following main line equipment, characterized in that: The method comprises: Based on the reference point data of the current sampling cycle and the previous sampling cycle of the main line equipment, the actual error distance of the AGV relative to the main line equipment is calculated; The maximum error distance of the AGV relative to the main line equipment is calculated based on the maximum speed difference of the AGV relative to the main line equipment and the preset maximum error consumption time, including: ,in, Indicates the maximum error distance of AGV relative to the main line equipment. Indicates the maximum speed difference of AGV relative to the main line equipment, Indicates the preset maximum error consumption time; The actual error distance and the maximum error distance are used to calculate the speed change of the AGV relative to the main line equipment, including: the time consumed by the speed change of the AGV relative to the main line equipment is equal to the time consumed by the actual error distance of the AGV relative to the main line equipment, then ,in, Indicates the speed change of AGV relative to the main line equipment. Indicates the actual error distance of the AGV relative to the main line equipment; the speed change of the AGV relative to the main line equipment is: ; The following speed of the AGV is calculated according to the initial speed of the AGV and the speed change of the AGV relative to the main line equipment, and the AGV is controlled to follow the main line equipment according to the calculated following speed.

2. The method according to claim 1, characterized in that The reference point data of the main line equipment is obtained through the camera installed on the AGV.

3. The method according to claim 2, characterized in that The calculation process of the actual error distance of the AGV relative to the main line equipment is as follows: Obtain the pixel value of an object of known size within the camera image range to obtain the conversion ratio between actual size and pixels; The actual error distance of the AGV relative to the main line device is calculated using the conversion ratio and the pixel value of the reference point of the main line device.

4. The method according to claim 1, wherein The process of calculating the following speed of the AGV based on the initial speed of the AGV and the speed change of the AGV relative to the main line equipment is as follows: Get the speed change of the AGV relative to the main line equipment in two consecutive sampling periods: and , and calculate the change in the speed of the AGV relative to the main line equipment in two consecutive sampling periods: in, Indicates the speed change of AGV relative to the main line equipment during the nth sampling period. Indicates the speed change of AGV relative to the main line equipment during the n-1th sampling period. Indicates the change in the speed of the AGV relative to the main line equipment during the nth sampling period and the n-1th sampling period; like Within the preset change threshold range, the initial speed of the AGV is updated as follows: in, is the initial speed of AGV in the nth sampling period, is the initial speed of AGV in the n-1th sampling period; The following speed of AGV is: ,in Indicates the following speed of the AGV controlled during the nth sampling period.

5. The method according to claim 1, wherein The method further comprises: If the reference point data is not obtained within a certain sampling period, the actual error distance of the AGV relative to the main line equipment is: in, Indicates the actual error distance of the AGV relative to the main line equipment during the sampling period when the reference point data is not obtained. Indicates the actual error distance of the AGV relative to the main line equipment during the last sampling period when the reference point data was not obtained. Indicates the following speed of the AGV during the sampling period when the reference point data is not obtained. Indicates the sampling cycle time.

6. A control device for AGV following main line equipment, characterized in that: The device comprises: The data acquisition module is used to calculate the actual error distance of the AGV relative to the main line equipment based on the reference point data of the current sampling cycle and the previous sampling cycle of the main line equipment; The error distance calculation module is used to calculate the maximum error distance of the AGV relative to the main line equipment based on the maximum speed difference of the AGV relative to the main line equipment and the preset maximum error consumption time, including: ,in, Indicates the maximum error distance of AGV relative to the main line equipment. Indicates the maximum speed difference of AGV relative to the main line equipment, Indicates the preset maximum error consumption time; The speed change calculation module is used to calculate the speed change of the AGV relative to the main line equipment using the actual error distance and the maximum error distance, including: if the time consumed by the speed change of the AGV relative to the main line equipment is equal to the time consumed by the actual error distance of the AGV relative to the main line equipment, then ,in, Indicates the speed change of AGV relative to the main line equipment. Indicates the actual error distance of the AGV relative to the main line equipment; the speed change of the AGV relative to the main line equipment is: ; The AGV following module is used to calculate the following speed of the AGV according to the initial speed of the AGV and the speed change of the AGV relative to the main line equipment, and control the AGV to follow the main line equipment according to the calculated following speed.

7. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the control method of the AGV following the main line equipment according to any one of claims 1 to 5 by executing the computer instructions.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the control method of the AGV following the main line equipment according to any one of claims 1 to 5.

Images