Method and device for agv stepless speed regulation and agv equipment

Abstract

The invention relates to the technical field of agv control, in particular to an agv stepless speed regulation method and device and agv equipment. The agv stepless speed regulation method comprises the following steps: acquiring first laser point cloud data; establishing a first coordinate system according to the first laser point cloud data, and establishing a second coordinate system according to agv; the first coordinate system and the second coordinate system are combined into safe coordinates; setting a safety protection area of agv according to the safety coordinates; and adjusting the real-time speed of the agv according to the distance between the safety protection area and the obstacle. According to the embodiment, the obstacle position coordinates on the safety coordinates are updated in real time, the distance between the obstacle position coordinates is detected, the distance between the obstacle and the protection area is obtained in real time, and the speed is adjusted according to the change of the distance, so that stepless speed change is achieved, and the problem that the speed suddenly jumps is effectively prevented.

Description

Technical Field

[0001] The present invention relates to the field of agv control technology, and in particular to a method and device for stepless speed regulation of an agv and an agv device. Background Art

[0002] The intelligent robot AGV (Automated Guided Vehicle) system is a robot system that can drive autonomously, mainly used for material handling and automated process control in logistics and production lines. It can drive automatically according to program control, and can also sense the surrounding environment, avoid obstacles and people, to ensure the smooth completion of the handling task.

[0003] In the process of realizing the present invention, the inventors of the present invention found that: At present, the current AGV industry usually adopts 2D laser 3-level area intrusion protection for safety protection, and detects through IO output signal. When the protection area detects that an object has invaded, the IO level is output to provide detection. The existing 3-level area intrusion detection method has a small and limited recognition area, and there will be a transition step problem when it is used for upper-level applications. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a method, device and AGV equipment for stepless speed regulation of AGVs that overcome the above problems or at least partially solve the above problems.

[0005] In a first aspect, an embodiment of the present invention provides a method for stepless speed regulation of an AGV, the steps comprising: Acquire first laser point cloud data, where the first laser point cloud data is protocol data of a laser sensor, and parse the protocol data to obtain information data of angle, distance and intensity of the sensor; Establish a first coordinate system according to the first laser point cloud data, and establish a second coordinate system according to the agv; Wherein, the laser sensor is set as the origin of the first coordinate system, and the directional wheel of the AGV is set as the origin of the second coordinate system; The first coordinate system is combined with the second coordinate system into a safe coordinate system; Set the safety protection area of ​​AGV according to the safety coordinates; The real-time speed of the AGV is adjusted according to the distance between the safety protection area and the obstacle.

[0006] Furthermore, the real-time speed of the AGV is adjusted according to the distance between the safety protection area and the obstacle, and the steps include: Obtaining the location point of the obstacle, wherein the location point is the location information of the obstacle in the safety coordinates; Obtaining the shortest distance between the position coordinates in the obstacle position information and the safety protection area; The speed of the AGV is adjusted according to the closest distance so that a safe distance is maintained between the AGV and the obstacle.

[0007] Furthermore, the step of obtaining the shortest distance between the position coordinates in the obstacle position information and the safety protection area includes: Obtaining a preset warning point on the safety protection area, and obtaining two warning points closest to the position coordinates, and connecting the two warning points to obtain a warning line; Obtaining the warning line closest to the obstacle; Obtain the distance between the position coordinates of the obstacle and the warning line, and determine whether the position coordinates are within the speed adjustment range, and if so, adjust the speed.

[0008] Further, the step of determining whether the position coordinate is within the speed adjustment range and adjusting the speed if it is within the speed adjustment range comprises: Determine the distance value of the position coordinates of the obstacle. If the distance value is less than or equal to zero, the speed of the agv needs to be adjusted to zero; if the distance value is greater than zero, adjust the speed according to the function formula, v=f(d), where V represents the speed and d is the distance value.

[0009] Furthermore, the safety protection area is a safety area with a safety distance set by the AGV boundary.

[0010] Furthermore, the safety distance is controlled to be 15-30cm.

[0011] Furthermore, the shape of the safety area includes a rectangle, a polygon, an ellipse, etc.

[0012] The second aspect also discloses a device for adjusting the speed of an AGV, comprising: A data acquisition module is used to acquire first laser point cloud data, where the first laser point cloud data is protocol data of a laser sensor, and parse the protocol data to obtain information data of the angle, distance and intensity of the sensor; A coordinate establishment module, used to establish a first coordinate system according to the first laser point cloud data, and to establish a second coordinate system according to the agv; Wherein, the laser sensor is set as the origin of the first coordinate system, and the directional wheel of the AGV is set as the origin of the second coordinate system; A coordinate combining module, wherein the first coordinate system and the second coordinate system are combined into a safe coordinate; The protection area module is used to set the safety protection area of ​​the AGV according to the safety coordinates; The speed adjustment module is used to adjust the real-time speed of the AGV according to the distance between the safety protection area and the obstacle.

[0013] The third aspect also discloses an AGV device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement a method for stepless speed regulation of an AGV as described in any one of the items.

[0014] The fourth aspect also discloses a computer-readable storage medium, in which computer-executable instructions are stored. The computer-executable instructions are loaded by a processor and executed by a method for stepless speed regulation of an AGV as described in any one of the items.

[0015] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least: An embodiment is to update the obstacle position coordinates on the safety coordinates in real time, detect the obstacle position coordinate distance, obtain the distance from the obstacle to the protection area in real time, adjust the speed by the change in distance, thereby achieving stepless speed change and effectively preventing the problem of sudden speed jumps.

[0016] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0017] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0019] Figure 1 It is a flow chart of the stepless speed regulation of the AGV of the present invention; Figure 2 It is a flow chart of adjusting the real-time speed of the AGV of the present invention; Figure 3 It is a flow chart of the shortest distance between the position coordinates in the obstacle position information and the safety protection area of ​​the present invention; Figure 4 It is a schematic diagram of a device for adjusting the speed of an AGV according to the present invention; Figure 5 It is a schematic diagram of an AGV device of the present invention; Figure 6 It is a schematic diagram of the device of the present invention. DETAILED DESCRIPTION

[0020] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0021] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0022] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0023] In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "plurality" means more than two, unless otherwise clearly and specifically defined.

[0024] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0026] Please refer to the attached Figure 5 As shown, in the embodiment, the automatic guided vehicle (AGV) is also commonly referred to as an AGV cart. It refers to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, which can travel along a specified navigation path and has safety protection and various transfer functions. AGV is an industrial vehicle that loads goods automatically or manually, automatically travels along a set route or pulls a cargo trolley to a designated location, and then loads and unloads goods automatically or manually. It is used for short-distance material transportation and forms a flexible production line with processing equipment with a high degree of automation. Automatic guided forklifts are used for automatic loading and unloading and handling of warehouse goods; small cargo AGVs are used for automatic distribution of office letters and assembly platforms in the electronics industry. In addition, AGV is also used to transport items that are large in size and weight, especially in the automobile manufacturing process, multiple cargo platform AGVs are used to form a mobile conveyor line to form a flexible assembly production line for the whole vehicle.

[0027] Based on the same inventive concept, refer to the attached Figure 1 As shown, the embodiment of the present invention also provides an intelligent stepless speed regulation method, the steps comprising: Step S101: Acquire first laser point cloud data, where the first laser point cloud data is protocol data of a laser sensor, and parse the protocol data to obtain information data on angle, distance and intensity of the sensor; Specifically, according to the data protocol of the 2D laser radar, the point cloud data of the laser radar is parsed according to the data protocol, such as the serial port data protocol of the data-type laser N10P of Leishen, and its data conversion rules are as follows: Byte_0 - Byte_1: frame header, fixed value; Byte_2: the length of the entire data frame, from the frame header to the check bit; Byte_3 - Byte_4: speed information, high bit first, unit is us; For example: Byte_4=Speed_H=0x10, Byte_3=Speed_L=0x46, the byte concatenation is 0x1046, which is 4166us; The time for the encoder to rotate once is 4166*24=100ms, that is, the speed is 10Hz; Byte_5 - Byte_6: The starting angle of a frame of data, with the high bit at the front, which is 100 times the actual angle; For example: Byte_5=Start_angle_H=0x42, Byte_6=Start_angle_L=0x08, i.e. 0x4208-16904 169.04°; Byte_7- Byte_102: point cloud data, each data includes 2 bytes of distance and 1 byte of intensity information, with the high bit first and the distance unit in mm; For example: Byte_7=Dist_1_1_H=0x00, Byte_8=Dist_1_1_L=0x64, Byte_9=PEAK_1_1=0x64, which means the distance is 0x64=100 mm and the intensity is 100; Byte_103- Byte_104: reserved bit; Byte_105- Byte_106: End angle, the algorithm is the same as the start angle.

[0028] According to the protocol rules, a series of point sets (angle, distance, intensity) can be obtained by parsing the point cloud data of a circle of N10P. In the embodiment, only the (angle, distance) information needs to be obtained for later use.

[0029] Table 1 shows the point cloud data output by the Rayshen N10P laser protocol Among them: L represents the low bit of data, and H represents the high bit of data.

[0030] Step S102: establishing a first coordinate system according to the first laser point cloud data, and establishing a second coordinate system according to the AGV; wherein the laser sensor is set as the origin of the first coordinate system, and the directional wheel of the AGV is set as the origin of the second coordinate system; It can be understood that the embodiment is to establish a first coordinate system using the first laser point cloud data of the laser sensor. Specifically, the point set data of the angle and distance of the laser is obtained, and the level coordinate system is converted into a Cartesian coordinate system according to the conversion formula Cartesian coordinates. The coordinate system takes the laser outlet as the origin, the horizontal axis is x, and the vertical axis is y. The conversion formula is: x=ρcosθ, y=ρsinθ, where ρ is the distance value between the distance point and the level point, and θ is the angle; A second coordinate system is established based on the AGV itself. In the embodiment, the center of the fork directional wheel of the AGV is used as the coordinate origin, the horizontal axis perpendicular to the heading of the AGV is the x-axis, and the heading of the AGV is the y-axis. The Cartesian coordinate system of the AGV is established as the second coordinate system.

[0031] In an embodiment, the position of the distance exit of the laser is taken as the level point O, and the unit length of the coordinate system is cm, a level coordinate system is established, and the angles of all distance points acquired in step S101 and the point sets related to the distance are expressed in the coordinates constructed by the laser to obtain the first coordinate system. That is, the angles of the distance points detected by the laser sensor and the point sets related to the distance are combined with the first coordinate system established by the laser to monitor the relative distance between the obstacle and the vehicle body in real time to ensure safety.

[0032] For example, the distance point obtained from the laser sensor data, the angular velocity and distance between the distance point and the level point are (30°, 120cm), which are converted into Cartesian coordinates as x=120*cos30°=103.92cm, y=120*sin30°=60cm, and the Cartesian coordinates are (103.92, 60). In this way, a circle of laser data can be converted to obtain a point set (x, y).

[0033] It should be noted here that the distance point is the point where the laser radar detects an obstacle, that is, the above distance is the distance value of the obstacle distance level point, and the angle is the angle value between the starting angle and the ending angle.

[0034] Step S103: The first coordinate system and the second coordinate system are combined into a safety coordinate system; In an embodiment, the first coordinate system is combined with the second coordinate system to obtain new coordinates, which are called safety coordinates.

[0035] The formula for coordinate combination is: X=x´cost-y´sint+x0, Y = x´sint + y´cost + y0; Among them, x' represents the x value of the laser point cloud in the laser coordinate system, y' represents the y value of the laser point cloud in the laser coordinate system, x0 represents the x coordinate of the laser center in the agv coordinate system, and y0 represents the y coordinate of the laser center in the agv coordinate system.

[0036] Given the installation position (x, y) of the laser radar on the AGV and the laser exit angle (t), the coordinate system of the laser point cloud is converted to the AGV coordinate system using the formula x=x´cost-y´sint+x0, y=x´sint+y´cost+y0.

[0037] For example, the red circle in the figure is the installation point of the laser (-30, -70), the laser installation angle is 2°, and the point (103.92, 60) in the laser coordinate system is transformed to the agv coordinate system. According to the above formula, we can get: x= x´cost-y´sint+x0=71.76; y=x'sint+y'cost+y0=-6.41.

[0038] That is, the red circle in the figure is the installation point of the laser (-30, -70), the laser installation angle is 2°, the point of the laser coordinate system is (103.92, 60), and the transformed agv coordinate is (71.76, -6.41).

[0039] Embodiment, the first coordinate system is formed by the distance points detected by the laser, It is understandable that obstacles are usually detected by lasers, and obstacle avoidance requires consideration of the entire AGV, such as the AGV body and forks. Therefore, the coordinates established based on the AGV need to be combined with the coordinates of the laser sensor to form new coordinates for obstacle avoidance, ensuring that obstacle avoidance is more accurate and timely.

[0040] Step S104: setting the safety protection area of ​​the AGV according to the safety coordinates; It is understandable that in order to ensure the safety of the AGV during driving, it is necessary to control the limit distance between the obstacle and the AGV. At this time, the safety protection area is set according to the safety coordinates and the AGV body, that is, the outermost point of the body is relative to the point on the safety coordinates, and the safety protection area along the outermost point of the body is drawn.

[0041] In a further embodiment, the safety protection area is a safety area with a safety distance set by the AGV boundary. The safety distance is controlled to be 15-30 cm. The shape of the safety area includes a rectangle, a polygon or an ellipse.

[0042] It can be understood that the safety protection area is drawn according to the boundary formed by the outermost points of the AGV, and the safety protection area needs to be a certain distance away from the boundary when drawing. This distance acts as a buffer safety distance, effectively preventing the AGV from colliding with obstacles and effectively ensuring safety. In actual embodiments, in some embodiments, the safety distance between the safety protection area and the AGV boundary is set to 20cm, and the protection area is set to a rectangular safety protection area; in other embodiments, the safety distance between the safety protection area and the AGV boundary is set to 30cm, and the protection area is set to a square safety protection area; in still other embodiments, the safety distance between the safety protection area and the AGV boundary is set to 15cm, and the protection area is set to a hexagonal safety protection area.

[0043] It is understandable that when an AGV is driving, it needs to slow down when an obstacle approaches, and it needs to pause when it reaches the limit distance, so as to ensure the safety of the AGV. The point set formed by the limit distance here is the safety protection area of ​​the AGV. The safety protection area is drawn and imported into the AGV program to combine with the safety coordinates to realize real-time speed control and obstacle avoidance, so as to achieve safe driving.

[0044] In a specific example, a protection area is drawn using drawing software according to the outer dimensions of the AGV. Specifically, the protection area is drawn based on the outermost point of the AGV body and the distance of 20 cm from the outermost point of the body as the limit distance. The shape of the protection area can be a rectangle or other shapes. It should be pointed out that since the fork of the AGV has two states, one is raised and the other is lowered, when it is lowered, the fork part is a laser blind area, so protection cannot be performed.

[0045] Step S105: Adjust the real-time speed of the AGV according to the distance between the safety protection area and the obstacle.

[0046] It can be understood that by obtaining the distance change of the obstacle on the safety coordinate in real time, the distance of the obstacle relative to the safety protection area can be obtained, and the speed of the AGV in this direction can be changed according to the distance value, so that the speed can be effectively adjusted according to the real-time distance to ensure the safety of the equipment and personnel.

[0047] The embodiment is to update the obstacle position coordinates on the safety coordinates in real time, detect the obstacle position coordinate distance, obtain the distance from the obstacle to the protection area in real time, adjust the speed by the change in distance, thereby achieving stepless speed change and effectively preventing the problem of sudden speed jump.

[0048] Please refer to the attached Figure 2 As shown, the embodiment further adjusts the real-time speed of the AGV according to the distance between the safety protection area and the obstacle, and the steps include: Step S201: Obtain the location point of the obstacle, where the location point is the safety coordinate position information of the obstacle; Step S202: Obtain the shortest distance between the position coordinates in the obstacle position information and the safety protection area; Step S203: adjusting the speed of the AGV according to the closest distance to ensure a safe distance between the AGV and the obstacle.

[0049] It can be understood that the coordinates of the obstacle in the safety coordinates are detected in real time by the laser, so as to obtain the real-time position coordinates of the obstacle, and by obtaining the distance between the position coordinates and the safety protection area, which is the closest distance from the position coordinates to the safety protection area, the speed of the AGV is adjusted according to this closest distance to ensure the safety of the AGV in the direction of the obstacle and prevent the AGV from colliding with the obstacle.

[0050] Please refer to the attached Figure 3 As shown, the embodiment further obtains the shortest distance between the position coordinates in the obstacle position information and the safety protection area, and the steps include: Step S301: obtaining a preset warning point on the safety protection area, and obtaining two warning points closest to the position coordinates, and connecting the two warning points to obtain a warning line; Step S302: Obtain the warning line closest to the obstacle; Step S303: obtaining the distance between the position coordinates of the obstacle and the warning line, and determining whether the position coordinates are within the speed adjustment range, and if so, performing speed adjustment.

[0051] In the embodiment, several warning points are set at the boundary of the safety protection area. When judging the distance between the obstacle and the safety protection area, the distance between the obstacle and the two warning points is mainly judged, and the speed of the AGV is adjusted in real time according to the size of the distance value. The speed jump problem is effectively solved and the speed is continuously variable.

[0052] In a further embodiment, the step of determining whether the position coordinate is within the speed adjustment range and adjusting the speed if it is within the speed adjustment range comprises: Determine the distance value of the position coordinates of the obstacle. If the distance value is less than or equal to zero, the speed of the agv needs to be adjusted to zero; if the distance value is greater than zero, adjust the speed according to the function formula, v=f(d), f(d)=(d-0.1)*0.4, where V represents the speed and d is the distance value.

[0053] For example, when d is a distance value of 1m, the above formula shows that: V=(1-0.1)*0.4 =0.36m / s, adjust the current AGV speed to 0.36m / s.

[0054] Among them: v is in m / s, d is in meter.

[0055] In a further embodiment, the preset warning points are warning points arranged on the boundaries of the safety protection area, and there are at least four of the warning points.

[0056] In some embodiments, when the safety protection area is set as a rectangle, the warning points can be set at the four intersections of the four sides of the rectangle; in other embodiments, when the safety protection area is set as a hexagon, the warning points can be set at the intersections of the six sides of the hexagon; in some embodiments, when the safety protection area is set as a circle, the warning points can be set on the side of the circle, and the eight warning points are evenly distributed. Of course, in some embodiments, the warning points can also be set at the center of the side.

[0057] Specifically, if the drawn area is exported as a rectangle, the rectangle needs to output the coordinate points of the four vertices of the rectangle {{x0,y0},{x1,y1},{x2,y2},{x3,y3}}, and write the coordinate information into the program with the coordinates of the four vertices.

[0058] The warning line between two adjacent warning points determines whether the obstacle is outside the area or inside the area through the distance between the obstacle and the warning line. When the distance value is a positive number, the obstacle is outside the area; when the distance value is a negative number or 0, the obstacle is inside the area. At this time, the AGV needs to stop moving in that direction, that is, pause.

[0059] Based on the same invention concept, please refer to the attached Figure 4 As shown, the embodiment of the present invention also provides a device for adjusting the speed of an AGV, comprising: A data acquisition module is used to acquire first laser point cloud data, where the first laser point cloud data is protocol data of a laser sensor, and parse the protocol data to obtain information data of the angle, distance and intensity of the sensor; A coordinate establishment module, used to establish a first coordinate system according to the first laser point cloud data, and to establish a second coordinate system according to the agv; Wherein, the laser sensor is set as the origin of the first coordinate system, and the directional wheel of the AGV is set as the origin of the second coordinate system; A coordinate combining module, wherein the first coordinate system and the second coordinate system are combined into a safe coordinate; The protection area module is used to set the safety protection area of ​​the AGV according to the safety coordinates; The speed adjustment module is used to adjust the real-time speed of the AGV according to the distance between the safety protection area and the obstacle.

[0060] The device provided in the above embodiment can execute the method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method. For technical details not described in detail in the above embodiment, please refer to a book popularity ranking method provided in any embodiment of the present invention.

[0061] This embodiment further provides a computer-readable storage medium, in which computer-executable instructions are stored. The computer-executable instructions are loaded by a processor and execute the above-mentioned method for ranking book popularity in this embodiment.

[0062] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0063] This embodiment further provides a smart bookshelf device, which includes a processor and a memory, wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the above-mentioned book management method of this embodiment.

[0064] The device may be a smart bookshelf, a client or a server, and the device may also participate in constituting the apparatus or system provided in the embodiment of the present invention. Figure 6 As shown, the smart bookshelf 11 may include one or more (1102a, 1102b, ... 1102n are used to illustrate) processors 1102 (the processor 1102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1104 for storing data, and a transmission device 1106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 6 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 6 More or fewer components as shown, or with Figure 6 Different configurations are shown.

[0065] The memory 1104 can be used to store software programs and modules of application software, such as program instructions / data storage devices corresponding to the method in the embodiment of the present invention. The processor 1102 executes various functional applications and data processing by running the software programs and modules stored in the memory 1104, that is, to implement the above-mentioned method of information push. The memory 1104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1104 may further include a memory remotely arranged relative to the processor 1102, and these remote memories may be connected to the device 11 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.

[0066] The transmission device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly.

[0067] This specification provides method operation steps as described in the embodiments or flow charts, but more or fewer operation steps may be included based on conventional or non-creative labor. The steps and sequence listed in the embodiments are only one way of executing the sequence of many steps and do not represent the only execution sequence. When the actual system or interrupt product is executed, it can be executed in sequence or in parallel according to the method shown in the embodiments or the drawings (for example, in a parallel processor or multi-threaded processing environment).

[0068] The structure shown in this embodiment is only a partial structure related to the scheme of the present application, and does not constitute a limitation on the device to which the scheme of the present application is applied. The specific device may include more or fewer components than shown, or combine certain components, or have different arrangements of components. It should be understood that the method, device, etc. disclosed in this embodiment can be implemented in other ways. For example, the device embodiment described above is only schematic. For example, the division of the modules is only a division of a logical function. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or unit modules.

[0069] Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or the whole or 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 enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., various media that can store program codes.

[0070] Those skilled in the art may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this specification can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0071] Obviously, various changes and modifications may be made to the present invention by those skilled in the art without departing from the spirit and scope of the present invention. The present disclosure is not limited to the precise structure described above and shown in the accompanying drawings, and various changes and modifications may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims. Thus, if these changes and modifications of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these changes and modifications.

Claims

1. A method for stepless speed regulation of an AGV, characterized in that the steps include: Acquire first laser point cloud data, where the first laser point cloud data is protocol data of a laser sensor, and parse the protocol data to obtain information data of angle, distance and intensity of the sensor; Establish a first coordinate system according to the first laser point cloud data, and establish a second coordinate system according to the agv; Wherein, the laser sensor is set as the origin of the first coordinate system, and the directional wheel of the AGV is set as the origin of the second coordinate system; The first coordinate system is combined with the second coordinate system into a safe coordinate system; Set the safety protection area of ​​AGV according to the safety coordinates; The real-time speed of the AGV is adjusted according to the distance between the safety protection area and the obstacle.

2. The method for stepless speed regulation of AGV according to claim 1, characterized in that: The real-time speed of the AGV is adjusted according to the distance between the safety protection area and the obstacle, and the steps include: Obtaining the location point of the obstacle, wherein the location point is the location information of the obstacle in the safety coordinates; Obtaining the shortest distance between the position coordinates in the obstacle position information and the safety protection area; The speed of the AGV is adjusted according to the closest distance so that a safe distance is maintained between the AGV and the obstacle.

3. The method for stepless speed regulation of AGV according to claim 2, characterized in that: The step of obtaining the shortest distance between the position coordinates in the obstacle position information and the safety protection area comprises: Obtaining a preset warning point on the safety protection area, and obtaining two warning points closest to the position coordinates, and connecting the two warning points to obtain a warning line; Obtaining the warning line closest to the obstacle; Obtain the distance between the position coordinates of the obstacle and the warning line, and determine whether the position coordinates are within the speed adjustment range, and if so, adjust the speed.

4. The method for stepless speed regulation of AGV according to claim 3 is characterized in that: The step of determining whether the position coordinate is within the speed adjustment range and adjusting the speed if it is within the speed adjustment range comprises: Determine the distance value of the position coordinates of the obstacle. If the distance value is less than or equal to zero, the speed of the agv needs to be adjusted to zero; if the distance value is greater than zero, adjust the speed according to the function formula, v=f(d), where V represents the speed and d is the distance value.

5. The method for stepless speed regulation of AGV according to claim 1 or 2, characterized in that: The safety protection area is a safety area with a safety distance set by the AGV boundary.

6. The method for stepless speed regulation of AGV according to claim 5, characterized in that: The safety distance is controlled to be 15-30cm.

7. The method for stepless speed regulation of AGV according to claim 6, characterized in that: The shape of the safety area includes a rectangle, a polygon, an ellipse, etc.

8. A device for adjusting the speed of an AGV, characterized in that: include: A data acquisition module is used to acquire first laser point cloud data, where the first laser point cloud data is protocol data of a laser sensor, and parse the protocol data to obtain information data of the angle, distance and intensity of the sensor; A coordinate establishment module, used to establish a first coordinate system according to the first laser point cloud data, and to establish a second coordinate system according to the agv; Wherein, the laser sensor is set as the origin of the first coordinate system, and the directional wheel of the AGV is set as the origin of the second coordinate system; A coordinate combining module, wherein the first coordinate system and the second coordinate system are combined into a safe coordinate; The protection area module is used to set the safety protection area of ​​the AGV according to the safety coordinates; The speed adjustment module is used to adjust the real-time speed of the AGV according to the distance between the safety protection area and the obstacle.

9. An AGV device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement a method for stepless speed regulation of an AGV as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores computer executable instructions, and the computer executable instructions are loaded by a processor and executed by a method for stepless speed regulation of an AGV as described in any one of claims 1 to 7.

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