Non-feedback operation control method, device and equipment for double-steering-wheel AGV and medium

Abstract

The invention discloses a non-feedback operation control method, device and equipment for a double-steering-wheel AGV (Automatic Guided Vehicle) and a medium. The method comprises the following steps: determining a current operation mode according to received mode selection information; determining a moving mode in the current operation mode according to the control information, generating corresponding motor control information according to the moving mode, and sending the motor control information to a corresponding control motor; and after a preset execution time interval, the obtained moving speed is sent to a walking motor to control the double-steering-wheel AGV to move, and the walking motor is included in the control motor. By implementing the method provided by the invention, the problem that the application efficiency cannot be improved while the operation accuracy of the AGV is maintained in the prior art can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automation control, and in particular to methods, devices, equipment and media. Background Art

[0002] With the vigorous development of intelligent manufacturing and logistics automation, automatic guided vehicles (AGVs) have become key equipment for improving material handling efficiency and are widely used in various production lines and warehousing systems. Among them, dual-steering wheel AGVs stand out in many automation scenarios with their excellent steering flexibility and outstanding load capacity, and have become the first choice of many companies. However, the traditional dual-steering wheel AGV operation control method is highly dependent on complex sensor systems and feedback mechanisms. For example, RS485 communication is used to interact with the controller for signals, that is, a polling mechanism is adopted. The master station sends query instructions to the slave station in turn, and waits for the slave to respond before sending the next query instruction. Obviously, this approach greatly increases the complexity and cost of system data interaction, affects work efficiency, and may also cause control instability due to sensor failure or signal interference, resulting in the inability of the existing technology to maintain the accuracy of AGV operation while improving application efficiency. Summary of the invention

[0003] The embodiments of the present invention provide a feedback-free operation control method, device, equipment and medium for a dual-steering wheel AGV, aiming to solve the problem in the prior art that it is impossible to improve the application efficiency while maintaining the operation accuracy of the AGV.

[0004] In the first aspect, an embodiment of the present invention provides a feedback-free operation control method for a dual-steering wheel AGV, which includes: determining a current operation mode based on received mode selection information; determining a movement mode under the current operation mode based on control information, generating corresponding motor control information based on the movement mode, and sending the motor control information to a corresponding control motor; after a preset execution time interval, sending the acquired movement speed to a walking motor to control the movement of the dual-steering wheel AGV, wherein the control motor includes the walking motor.

[0005] In the second aspect, an embodiment of the present invention further provides a feedback-free operation control device for a dual-steering wheel AGV, which includes: a determination unit, used to determine the current operation mode according to the received mode selection information; a generation unit, used to determine the movement mode under the current operation mode according to the control information, generate corresponding motor control information according to the movement mode, and send the motor control information to the corresponding control motor; a control unit, used to send the acquired movement speed to the walking motor after a preset execution time interval to control the movement of the dual-steering wheel AGV, wherein the control motor includes the walking motor.

[0006] In a third aspect, an embodiment of the present invention further provides a computer device, which includes a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above method when executing the computer program.

[0007] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and the program instructions can implement the above method when executed by a processor.

[0008] The embodiment of the present invention provides a feedback-free operation control method, device, equipment and medium for a dual-steering wheel AGV. The method includes determining the current operation mode according to the received mode selection information; determining the movement mode under the current operation mode according to the control information, generating corresponding motor control information according to the movement mode, and sending the motor control information to the corresponding control motor; sending the acquired movement speed to the walking motor after a preset execution time to control the dual-steering wheel AGV to move, wherein the control motor includes the walking motor. The embodiment of the present invention determines the current operation mode according to the received mode selection information, which helps the AGV to flexibly adjust its working mode according to different tasks or environmental requirements, and determines the movement mode under the current operation mode, ensuring that the AGV can move according to a predetermined path and method, and generates corresponding motor control information according to it to guide the motor to operate, and sends the acquired movement speed to the walking motor after a preset execution time, so as to control the dual-steering wheel AGV to move according to a predetermined speed and direction. By implementing this method, the motor can be controlled to move without receiving feedback information from different motors, thereby improving the application efficiency while maintaining the accuracy of AGV operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0010] Figure 1 A schematic flow chart of a method for controlling the non-feedback operation of a dual-steering wheel AGV provided by an embodiment of the present invention;

[0011] Figure 2 A schematic diagram of a sub-flow chart of a feedback-free operation control method of a dual-steering wheel AGV provided in an embodiment of the present invention;

[0012] Figure 3 A schematic diagram of a sub-flow chart of a feedback-free operation control method of a dual-steering wheel AGV provided in an embodiment of the present invention;

[0013] Figure 4 A schematic diagram of a sub-flow chart of a feedback-free operation control method of a dual-steering wheel AGV provided in an embodiment of the present invention;

[0014] Figure 5 A schematic diagram of a sub-flow chart of a feedback-free operation control method of a dual-steering wheel AGV provided in an embodiment of the present invention;

[0015] Figure 6 A schematic diagram of a sub-flow chart of a feedback-free operation control method of a dual-steering wheel AGV provided in an embodiment of the present invention;

[0016] Figure 7 A schematic block diagram of a feedback-free operation control device for a dual-steering wheel AGV provided in an embodiment of the present invention;

[0017] Figure 8 A schematic block diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0020] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0021] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0022] See also Figure 1 , Figure 1A flow chart of the feedback-free operation control method of a dual-steering wheel AGV provided in an embodiment of the present invention. The feedback-free operation control method of a dual-steering wheel AGV in this embodiment can be applied to the control of a dual-steering wheel automated guided vehicle (AGV), wherein the dual-steering wheel automated guided vehicle to which this method is applied must be a transport vehicle that can operate and rotate normally, and is equipped with a rotating motor and a walking motor. By adopting the method of the present invention, it is only necessary to send the corresponding operation mode and movement instruction information to the AGV, and there is no need to wait for the feedback from the dual-steering wheel AGV to control the motor to move, thereby improving the application efficiency while maintaining the accuracy of the AGV operation.

[0023] Figure 1 1 is a flow chart of a method for controlling the non-feedback operation of a dual-steering wheel AGV provided by an embodiment of the present invention. As shown in the figure, the method includes the following steps S110-S140.

[0024] S110. Determine a current operating mode according to the received mode selection information.

[0025] In this embodiment, the mode selection information is information for controlling the current operation mode of the dual-steering wheel AGV. For example, the dual-steering wheel AGV has a mode switching button. If the user switches the operation mode to the manual mode through the switching button, the mode selection information of "0" will be received. If it is switched to the automatic mode, the mode selection information of "1" will be received. Among them, the specific mode selection information and the mode selection method are not limited and can be set according to the specific model. The current operation mode is the operation mode of the dual-steering wheel AGV, wherein the operation mode includes a manual operation mode and an automatic operation mode. If it is a manual operation mode, the movement instruction issued by the operator through a click trigger is received. If it is an automatic operation mode, the continuous movement instruction issued by the upper system (machine) is received. By determining the operation mode of the current AGV according to the received mode selection information, it is convenient to receive and execute subsequent tasks.

[0026] In one embodiment, if Figure 2 As shown, the step S110 further includes steps S1101 - S1102 .

[0027] S1101, determining a movement mode other than the current operation mode according to the current operation mode;

[0028] S1102: Clear the information corresponding to the movement mode other than the current operation mode.

[0029] In this embodiment, the operation mode is the operation mode of the AGV as a whole, and the operation mode includes an automatic operation mode and a manual operation mode. The mobile mode that is not the current operation mode is determined according to the current operation mode. Specifically, if the current operation mode is a manual operation mode, the mobile mode in the automatic operation mode is determined. For example, if the last operation mode of the AGV was the automatic operation mode, it has a corresponding mobile mode flag signal (longitudinal, horizontal, rotational), which does not belong to the mobile mode in the current operation mode, and it is cleared, that is, the flag information is erased. By clearing the information corresponding to the mobile mode that is not the current operation mode, it is ensured that the AGV focuses on the current operation mode without being disturbed by other modes used before.

[0030] S120, determining a movement mode in the current operation mode according to the control information, generating corresponding motor control information according to the movement mode, and sending the motor control information to a corresponding control motor.

[0031] In this embodiment, the control information is information for controlling the movement of the AGV issued by an operator or a host system, wherein the specific information publisher is determined by the current operating mode. The mobile mode is the way the AGV needs to move, and specifically, the operating modes include: longitudinal mode, transverse mode, and rotational mode. The mobile mode under the current operating mode is determined according to the control information. Specifically, if the current operating mode is manual mode, the control information issued by the operator through a button or a touch screen (human-computer interaction interface) is received, wherein the control information contains a flag signal of the mobile mode. For example, if the control information contains a flag signal 1, it indicates that the mobile mode is longitudinal mode, and if it is 3, it indicates that the mobile mode is rotational mode. Generate corresponding motor control information according to the mobile mode. It can be understood that the steering wheel AGV is divided into two wheels, front and rear, each wheel is controlled by a rotating motor and a walking motor. Therefore, the motor control information is the information for controlling the operation of the rotating motor and the walking motor. If the current mode is longitudinal, the information of the rotation angle of 0° is generated to the rotating motor, and the motor control information of the running speed of 0 is generated, and the motor control information is sent to the corresponding control motor, so that the corresponding control motor performs the corresponding operation according to the motor control information. By generating the corresponding motor control information according to the mobile mode and sending the motor control information to the corresponding control motor, the control motor in the dual-steering wheel AGV performs the corresponding preparation work to facilitate the subsequent operation of the dual-steering wheel AGV.

[0032] In one embodiment, if Figure 3 As shown, the step S120 also includes steps S121-S122.

[0033] S121, generating corresponding angle control information and speed control information according to the movement mode;

[0034] S122. Send the angle control information to the rotating motor, and send the speed control information to the walking motor, wherein the control motor includes the rotating motor.

[0035] In this embodiment, the rotating motor is a motor responsible for rotating or adjusting the direction of the device. The walking motor is a motor responsible for the linear motion of the device such as forward and backward. The angle control information is the information required to control the rotation or adjustment of the device. For example, if it is necessary to rotate 90 degrees in place, the angle control information will indicate the rotation direction and angle of the rotating motor. The walking motor refers to the information required to control the walking speed of the device. For example, the speed (such as m / s or cm / s) and the acceleration or deceleration. It can be understood that the dual-steering wheel AGV is divided into two front and rear wheels, each of which is controlled by a rotating motor and a walking motor. According to the mobile mode, the corresponding angle control information and speed control information are generated. For example, if the current mobile mode is a longitudinal mode, the angle control information with a rotation angle of 0° and the speed control information with a running speed of 0 are generated and sent to the corresponding control motor. If the AGV is currently moving at a slow speed, the speed control information with a running speed of 0 is received, and the walking motor controls the AGV to stop moving, so that the AGV can effectively perform the forward or backward action in the longitudinal mode. By sending the angle control information to the rotating motor and the speed control information to the walking motor, the control motor can complete the preparation work according to the control information.

[0036] In one embodiment, if Figure 4 As shown, the step S121 also includes steps S1211-S1212.

[0037] S1211, if it is the longitudinal mode, generating angle control information with a rotation angle of 0° and speed control information with a running speed of 0;

[0038] S1212, if it is the horizontal mode, generating angle control information that both wheels rotate at 90° and in the same direction, and speed control information that the running speed is 0;

[0039] S1213: If it is the rotation mode, angle control information in which the dual-wheel rotation angle is 90° and the rotation directions are opposite, and speed control information in which the running speed is 0 is generated.

[0040] In this embodiment, the longitudinal mode generally refers to the AGV moving in a straight line along its forward direction, for example, moving forward or backward. The transverse mode refers to the AGV moving along its left and right directions, for example, moving left and right. The rotation mode refers to the AGV rotating with the center of the device as the origin to change its direction. It should be noted that the direction directly in front of the steering wheel is 0°, that is, the operation in any mode is based on the current front of the AGV. If the movement mode is the longitudinal mode, the angle control information with a rotation angle of 0° and the speed control information with a running speed of 0 are generated, which means that the two driving wheels should remain consistent with the forward direction of the device, without any rotation, and the current AGV The running speed is adjusted to 0. For example, if the current AGV is moving slowly, the AGV is controlled to stop moving through the speed control information with a running speed of 0, so that it performs the forward or backward operation in the longitudinal mode. If it is the transverse mode, the angle control information with a double wheel rotation angle of 90° and the same direction and the speed control information with a running speed of 0 are generated, and the AGV can be effectively rotated on the basis of the current operation through the rotation angle with the same direction. If it is the rotation mode, the angle control information is generated that the two wheels rotate at an angle of 90° and in opposite directions, and the speed control information is generated that the running speed is 0. It can be understood that in the rotation mode, the device needs the two driving wheels to rotate 90° in opposite directions so that the device can rotate in place. By generating the corresponding angle control information and speed control information according to the movement mode, the AGV can prepare according to the current movement mode to facilitate efficient operation.

[0041] In one embodiment, if Figure 5 As shown, the step S120 also includes steps S1201-S1202.

[0042] S1201, if it is the manual operation mode, then after sending the motor control information to the corresponding control motor, generate a corresponding information trigger signal at the interval of the preset execution time;

[0043] S1202. Send the moving speed to the walking motor according to the information trigger signal.

[0044] In this embodiment, the manual operation mode is that the AGV is directly controlled by the operator, rather than running according to a preset program. In this mode, the operator can send control instructions through an input device (such as a touch screen, a remote control, etc.). If the current operation mode is the manual operation mode, after the motor control information is sent to the corresponding control motor, the corresponding information trigger signal is generated at intervals of the preset execution time. Specifically, if the current operation mode is manual, the operator usually clicks the touch screen or button to control the movement of the AGV, not a long press. In order to ensure that the current latest motor control information can be sent to the corresponding control motor and is not interfered by the previous information, the corresponding information trigger signal will be generated at intervals of the preset execution time. After the information trigger information is generated, it can be ensured that the control motor can perform the corresponding preparation operation according to the motor control information sent down, and only then can the moving speed be sent to the walking motor to control its operation. For example, if the current user clicks the button for longitudinal movement once, the corresponding motor control information is generated and sent to the control motor, but the left lateral movement button is clicked again within the preset execution time, and the left lateral movement is continuously clicked within three seconds or no other buttons are clicked. Then, after the preset execution time, the corresponding information trigger signal "3" is generated. If the information trigger signal "3" is generated, it proves that the left lateral movement button is valid, and the previous longitudinal movement button did not generate the corresponding information trigger signal, so the instruction is invalid; if the forward button is clicked and the car moves normally, the AGV is still in the longitudinal mode after the walking is completed. At this time, the left lateral movement is clicked again, but the forward button is released within the preset execution time. At this time, the corresponding information trigger signal 3 is not generated, that is, the left lateral movement is not valid at this time. At this time, the AGV wheels are no longer in the 0° direction, such as X°. If the longitudinal and lateral flags are not used correctly, the car is still in the longitudinal mode. If the forward button is continued to be pressed, it will default to moving directly. At this time, the car will move in the X° direction, resulting in an error. If it is an automatic operation mode, no information trigger signal is required, and the movement speed can be directly sent to the travel motor at intervals of preset execution time. Among them, it can be understood that no matter what operation mode it is in, before the AGV completes the preparation work according to the motor control information, the movement mode sent is invalid, and the corresponding movement mode is valid after the preset execution time after the current issuance. By sending the movement speed to the travel motor according to the information trigger signal, it is ensured that the AGV can be controlled with the current latest control information in manual mode, and the erroneous movement caused by the operation of accidental touch in a short period of time is avoided.

[0045] S130. After a preset execution time, the obtained moving speed is sent to the travel motor to control the dual-steering wheel AGV to move, wherein the control motor includes the travel motor.

[0046] In this embodiment, the preset execution time is the time when the AGV can complete the preparation operation according to the motor control information. Specifically, the preset execution time can be determined by the running time of the control motor, and it can be ensured that the control motor receives and completes the corresponding adjustment according to the motor control information within the preset interval time. In this embodiment, the preset running time is 3 seconds. The moving speed is the speed at which the dual-steering wheel AGV moves. After the preset execution time, the obtained moving speed is sent to the walking motor to control the dual-steering wheel AGV to move. Specifically, the moving speed carried in the mobile mode or re-issued by the operator is sent to the walking motor. It can be understood that because the preset execution time is separated, the dual-steering wheel AGV has performed the corresponding steering and other operations according to the mobile mode. For example, if it is a horizontal mode, the dual-steering wheel AGV has completed the horizontal rotation at this time. At this time, the walking motor only needs to adjust its working state according to the received moving speed. By sending the moving speed to the walking motor to control the movement of the dual-steering wheel AGV, it is ensured that the AGV can move at a predetermined speed and direction, thereby realizing tasks such as automated transportation and material handling.

[0047] In one embodiment, if Figure 6 As shown, step S130 also includes steps S1301-S1302.

[0048] S1301, determining whether the latest mode selection information or the latest mobile mode is received;

[0049] S1302: If not received, immediately send the moving speed to the walking motor when executing a subsequent moving instruction, wherein the moving mode includes the moving instruction.

[0050] In this embodiment, the latest mode selection information or the latest mobile mode refers to the reception of mode information different from the current operating model or mobile mode. Determine whether the latest mode selection information or the latest mobile mode is received, specifically, check whether the latest mode selection information or the latest mobile mode has been received. If not, it proves that the current mobile mode has not changed, that is, the AGV at this time does not need to perform preparatory operations such as turning. At this time, the moving speed can be immediately sent to the walking motor when executing subsequent moving instructions. Specifically, if the current mode is the longitudinal mode in the manual operation mode, the manual operation mode is not switched to the automatic operation mode, and the mobile mode is not switched to other modes, then the next forward and backward movement instructions do not need to be executed at intervals of the preset execution time, and the moving speed can be directly issued to enable it to run. By determining whether the latest mode selection information or the latest mobile mode is received, it is determined whether to immediately send the moving speed to the walking motor, so as to improve the communication efficiency while ensuring accurate operation.

[0051] In one embodiment, step S130 further includes step S1303.

[0052] S1303: Clear the information trigger signal and the movement information in other movement modes.

[0053] In this embodiment, in the manual operation mode, after the information trigger signal is generated to make the corresponding movement mode valid, the information trigger signal and the movement information in other movement modes are cleared. For example, if the user clicks the left lateral movement button once and the corresponding information trigger signal "3" is generated after the preset execution time, it proves that the left lateral movement button is valid. At this time, the movement information of the longitudinal mode and the rotation mode and the information trigger signal "3" are deleted to ensure that the system does not perform operations based on old and no longer relevant data. By clearing the information trigger signal and the movement information in other movement modes, it is ensured that the AGV can operate based on the latest and most accurate information, thereby avoiding potential errors or conflicts.

[0054] Figure 7 FIG. 2 is a schematic block diagram of a non-feedback operation control device 200 for a dual-steering wheel AGV provided by an embodiment of the present invention. Figure 7 As shown, corresponding to the above-mentioned feedback-free operation control method of the dual-steering wheel AGV, the present invention also provides a feedback-free operation control device of the dual-steering wheel AGV. The feedback-free operation control device of the dual-steering wheel AGV includes a unit for executing the feedback-free operation control method of the dual-steering wheel AGV, and the device can be configured in a desktop computer, a tablet computer, a laptop computer, and the like. Specifically, please refer to Figure 7 The feedback-free operation control device of the dual-steering wheel AGV includes a determination unit 210, a generation unit 220, and a control unit.

[0055] The determination unit 210 is configured to determine the current operation mode according to the received mode selection information.

[0056] In one embodiment, the determining unit 210 includes a mode determining unit and a mode clearing unit.

[0057] a mode determination unit, configured to determine a movement mode other than the current operation mode according to the current operation mode;

[0058] The mode clearing unit is used to clear the information corresponding to the movement mode other than the current operation mode.

[0059] The generating unit 220 is used to determine the movement mode in the current operation mode according to the control information, generate corresponding motor control information according to the movement mode, and send the motor control information to the corresponding control motor.

[0060] In one embodiment, the generating unit 220 includes an information generating unit and an information sending unit.

[0061] An information generating unit, configured to generate corresponding angle control information and speed control information according to the movement mode;

[0062] An information sending unit is used to send the angle control information to the rotating motor and send the speed control information to the walking motor, wherein the control motor includes the rotating motor.

[0063] In one embodiment, the generating unit 220 includes a first generating unit, a second generating unit, and a third generating unit.

[0064] A first generating unit, configured to generate angle control information with a rotation angle of 0° and speed control information with a running speed of 0 if the vertical mode is used;

[0065] The second generating unit is used to generate angle control information that the rotation angles of both wheels are 90° and the directions are the same, and speed control information that the running speed is 0 if the horizontal mode is used;

[0066] The third generating unit is used for generating angle control information that the double-wheel rotation angle is 90° and the rotation directions are opposite, and speed control information that the running speed is 0 if it is the rotation mode.

[0067] In one embodiment, the generating unit 220 includes a signal generating unit and a signal sending unit.

[0068] A signal generating unit, configured to generate a corresponding information trigger signal after sending the motor control information to the corresponding control motor at an interval of the preset execution time if the manual operation mode is in the manual operation mode;

[0069] A signal sending unit is used to send the moving speed to the walking motor according to the information trigger signal.

[0070] The control unit 230 is used to send the acquired moving speed to the walking motor after a preset execution time to control the dual-steering wheel AGV to move, wherein the control motor includes the walking motor. In one embodiment, the control unit 230 includes a first judgment unit and an immediate sending unit.

[0071] A first determination unit, configured to determine whether the latest mode selection information or the latest movement mode is received;

[0072] An immediate sending unit is used to immediately send the moving speed to the walking motor when executing a subsequent moving instruction if the moving speed is not received, wherein the moving instruction is included in the moving mode.

[0073] In one embodiment, the control unit 230 includes a signal clearing unit.

[0074] The signal clearing unit is used to clear the information triggering signal and the movement information in other movement modes.

[0075] It should be noted that technicians in the relevant field can clearly understand that the specific implementation process of the feedback-free operation control device 200 and each unit of the above-mentioned dual-steering wheel AGV can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and conciseness of the description, it will not be repeated here.

[0076] The above-mentioned feedback-free operation control device of the dual-steering wheel AGV can be implemented in the form of a computer program, which can be used in the following example: Figure 8 Runs on the computer device shown.

[0077] See also Figure 8 , Figure 8 5 is a schematic block diagram of a computer device provided in an embodiment of the present application. The computer device 500 may be a terminal or a server, wherein the terminal may be an electronic device with communication functions such as a smart phone, a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, and a wearable device. The server may be an independent server or a server cluster composed of multiple servers.

[0078] See also Figure 8 The computer device 500 includes a processor 502 , a memory and a network interface 505 connected via a system bus 501 , wherein the memory may include a non-volatile storage medium 503 and an internal memory 504 .

[0079] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions, and when the program instructions are executed, the processor 502 can execute a feedback-free operation control method for a dual-steering wheel AGV.

[0080] The processor 502 is used to provide computing and control capabilities to support the operation of the entire computer device 500 .

[0081] The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute a feedback-free operation control method for a dual-steering wheel AGV.

[0082] The network interface 505 is used to communicate with other devices over the network. Figure 8 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device 500 to which the solution of the present application is applied. The specific computer device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0083] The processor 502 is used to run a computer program 5032 stored in the memory to implement the steps of the above method.

[0084] It should be understood that in the embodiment of the present application, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0085] It can be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiment of the above method.

[0086] Therefore, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the steps of the above method.

[0087] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk, etc., which are computer-readable storage media that can store program codes.

[0088] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein 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 terms of function in the above description. 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.

[0089] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0090] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0091] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0092] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A feedback-free operation control method for a dual-steering wheel AGV, characterized in that: include: determining a current operating mode according to the received mode selection information; Determine a movement mode in the current operation mode according to the control information, generate corresponding motor control information according to the movement mode, and send the motor control information to the corresponding control motor; After a preset execution time, the obtained moving speed is sent to the walking motor to control the dual-steering wheel AGV to move, wherein the control motor includes the walking motor.

2. The method according to claim 1, characterized in that After the step of determining the current operation mode according to the received mode selection information, the method further includes: Determine a movement mode other than the current operation mode according to the current operation mode; Clear the information corresponding to the movement mode other than the current operation mode.

3. The method according to claim 1, characterized in that The step of generating corresponding motor control information according to the movement mode comprises: Generate corresponding angle control information and speed control information according to the movement mode; The angle control information is sent to the rotating motor, and the speed control information is sent to the walking motor, wherein the control motor includes the rotating motor.

4. The method according to claim 3, characterized in that The movement mode includes a longitudinal mode, a transverse mode, and a rotation mode. The step of generating corresponding angle control information and speed control information according to the movement mode includes: If it is the longitudinal mode, angle control information with a rotation angle of 0° and speed control information with a running speed of 0 are generated; If it is the horizontal mode, angle control information is generated that the rotation angles of both wheels are 90° and in the same direction, and speed control information that the running speed is 0; If it is the rotation mode, angle control information is generated in which the double-wheel rotation angle is 90° and the rotation directions are opposite, and speed control information in which the running speed is 0 is generated.

5. The method according to claim 4, characterized in that The operation mode includes a manual operation mode, and after the step of sending the motor control information to the corresponding control motor, the step further includes: If it is the manual operation mode, the motor control information is sent to the corresponding control motor and then a corresponding information trigger signal is generated after the preset execution time; The moving speed is sent to the walking motor according to the information trigger signal.

6. The method according to claim 5, characterized in that After the step of controlling the dual-steering wheel AGV to move, the method further comprises: Determining whether the latest mode selection information or the latest movement mode is received; If not received, the moving speed is immediately sent to the walking motor when executing a subsequent moving instruction, wherein the moving mode includes the moving instruction.

7. The method according to claim 6, characterized in that After the step of sending the motor control information to the corresponding control motor, the method further includes: The information trigger signal and the movement information in other movement modes are cleared.

8. A feedback-free operation control device for a dual-steering wheel AGV, characterized in that: include: a determination unit, configured to determine a current operation mode according to the received mode selection information; A generating unit, configured to determine a movement mode in the current operation mode according to the control information, generate corresponding motor control information according to the movement mode, and send the motor control information to the corresponding control motor; A control unit is used to send the acquired moving speed to the walking motor after a preset execution time to control the movement of the dual-steering wheel AGV, wherein the control motor includes the walking motor.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the method according to any one of claims 1 to 7 can be implemented.

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