Disclosure of Invention
The invention aims to provide an AGV trolley and a method for automatically preventing sliding, and the problems are solved.
The technical scheme provided by the invention is as follows:
the invention provides a method for automatically preventing an AGV from sliding, which comprises the following steps:
when the speed of the AGV is a preset speed, determining the direction and the direction acceleration of the AGV based on the IMU sensor data of the AGV;
judging whether the AGV is in a sliding state according to the orientation and the orientation acceleration;
when the AGV trolley is in a sliding state, controlling a driver of the AGV trolley to send a reverse moment so as to enable the AGV trolley to automatically prevent sliding;
and stopping sending the reverse moment when the AGV trolley is in a stop state.
Further preferably, before determining the direction and the direction acceleration of the AGV trolley based on the IMU sensor data of the AGV trolley when the speed of the AGV trolley is the preset speed, the method includes:
acquiring IMU sensor data of the AGV through an industrial personal computer of the AGV;
wherein the sensor data includes orientation data and acceleration data.
Further preferably, when the speed of the AGV trolley is a preset speed, determining the direction and the direction acceleration of the AGV trolley based on IMU sensor data of the AGV trolley includes:
according to the orientation data, the orientation of the AGV trolley is obtained;
and acquiring the orientation acceleration of the AGV trolley corresponding to the orientation according to the acceleration data and the orientation of the AGV trolley.
Further preferably, the acquiring the direction of the AGV trolley according to the direction data includes:
when the vertical direction data in the direction data are 0 and the horizontal direction data are not 0, determining that the direction of the AGV trolley is a first direction;
and when the vertical direction data and the horizontal direction data in the direction data are not 0, determining that the direction of the AGV is a second direction.
Further preferably, the acquiring, according to the acceleration data and the direction of the AGV trolley, the acceleration of the AGV trolley in the direction corresponding to the direction includes:
when the direction of the AGV trolley is a first direction, acquiring a first direction acceleration;
and when the direction of the AGV trolley is the second direction, acquiring a second direction acceleration.
Further preferably, the determining whether the AGV trolley is in a sliding state according to the orientation and the orientation acceleration includes:
when the direction of the AGV trolley is a first direction and the first direction acceleration is larger than the preset acceleration, determining that the AGV trolley is in a sliding state;
and when the direction of the AGV trolley is the second direction and the second direction acceleration is larger than the preset acceleration, determining that the AGV trolley is in a sliding state.
Further preferably, before determining the motion state and the orientation state of the AGV trolley based on the direction data of the AGV trolley when the speed of the AGV trolley is the preset speed, the method further includes:
and when the speed sent by the running system of the AGV trolley is obtained to be the preset speed, and the speed fed back by the driver of the AGV trolley is obtained to be the preset speed, determining that the speed of the AGV trolley is the preset speed.
Further preferably, before stopping the transmission of the reverse torque when the AGV car is in a stopped state, the method further comprises:
and detecting IMU sensor data of the AGV in real time to judge whether the AGV is in a stop state.
On the other hand, still provide a AGV dolly, including the industrial computer, the industrial computer includes:
the determining module is used for determining the direction and the direction acceleration of the AGV trolley based on the IMU sensor data of the AGV trolley when the speed of the AGV trolley is a preset speed;
the judging module is used for judging whether the AGV trolley is in a sliding state or not according to the orientation and the orientation acceleration;
the control module is used for controlling a driver of the AGV trolley to send a reverse moment when the AGV trolley is in a sliding state so as to enable the AGV trolley to automatically prevent sliding;
and the stopping module is used for stopping sending the reverse moment when the AGV trolley is in a stopping state.
Further preferably, the method further comprises:
the IMU sensor is connected with the industrial personal computer and used for sending IMU sensor data of the AGV trolley to the industrial personal computer;
and the driver is connected with the industrial personal computer and is used for transmitting a reverse moment when the AGV is in a sliding state so as to enable the AGV to automatically prevent sliding.
The AGV trolley and the method for automatically preventing sliding have the following advantages:
according to the invention, the AGV trolley can automatically stop sliding, so that the safety problem caused by sliding of the AGV trolley is avoided.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
Example 1
In one embodiment of the present invention, as shown in FIG. 1, the present invention provides a method for automatically stopping a skid of an AGV, comprising the steps of:
and S100, when the speed of the AGV trolley is a preset speed, determining the direction and the direction acceleration of the AGV trolley based on the IMU sensor data of the AGV trolley.
And S200, judging whether the AGV is in a sliding state according to the orientation and the orientation acceleration.
Specifically, the AGV trolley is not provided with a brake system, only the issuing speed is 0, the motor stops rotating and provides power, but the AGV trolley is not provided with a brake system of a common automobile to assist in deceleration.
The IMU sensor data comprise 9-axis IMU sensor data, and the acceleration sensor data are one group of 9-axis IMU sensor data.
Illustratively, when braking, the system issuing speed is 0, the driver feedback speed is also 0, and the AGV should be stationary at this time, since acceleration data is not detected, the AGV trolley will be in a coasting state.
In this embodiment, whether the AGV is in a sliding state is determined by detecting 9-axis MIU sensor data. If the 9-axis IMU sensor data is not 0 and the acceleration sensor has data at this time, the machine can be considered to remain in motion in a certain direction of the XYZ axes.
And S300, when the AGV trolley is in a sliding state, controlling a driver of the AGV trolley to send a reverse moment so as to enable the AGV trolley to automatically prevent sliding.
Specifically, when the AGV trolley is in an uncontrolled sliding state, a reverse moment is set for the driver through the industrial personal computer to prevent the AGV trolley from sliding until the acceleration is less than 0.2m/s2, and the driver stops acting.
S400, stopping sending the reverse moment when the AGV trolley is in a stop state.
Specifically, when the AGV trolley can not stop through self-locking on the slope, the driver needs to keep the reverse resistance, so that the AGV trolley can be in a stable parking state on the slope.
In the embodiment, the 9-axis IMU sensor data is detected in real time through the AGV trolley industrial personal computer, whether the AGV trolley is in a sliding state is judged, when the AGV trolley is in the sliding state, a command is issued to the driver through the industrial personal computer, and the driver is required to automatically prevent the AGV trolley from continuously sliding for a reverse moment.
According to the embodiment, the AGV trolley can automatically stop sliding, so that the safety problem caused by sliding of the AGV trolley is avoided.
Example two
Based on the above embodiment, the same parts as those of the above embodiment are not repeated in this embodiment, and as shown in fig. 2, the method for automatically preventing the AGV trolley from sliding is provided in this embodiment, and includes the steps of:
when the speed of the AGV is a preset speed, before determining the direction and the direction acceleration of the AGV based on the IMU sensor data of the AGV, the method comprises the following steps:
acquiring IMU sensor data of the AGV through an industrial personal computer of the AGV; wherein the sensor data includes orientation data and acceleration data.
Preferably, when the speed of the AGV trolley is a preset speed, determining the direction and the direction acceleration of the AGV trolley based on IMU sensor data of the AGV trolley includes:
according to the orientation data, the orientation of the AGV trolley is obtained; and acquiring the orientation acceleration of the AGV trolley corresponding to the orientation according to the acceleration data and the orientation of the AGV trolley.
Preferably, the acquiring the direction of the AGV trolley according to the direction data includes:
and when the vertical direction data in the direction data is 0 and the horizontal direction data is not 0, determining that the direction of the AGV trolley is a first direction.
Preferably, the acquiring, according to the acceleration data and the direction of the AGV trolley, the acceleration of the AGV trolley in the direction corresponding to the direction includes:
and when the direction of the AGV trolley is the first direction, acquiring a first direction acceleration.
Preferably, the determining whether the AGV trolley is in a sliding state according to the orientation and the orientation acceleration includes:
and when the direction of the AGV trolley is the first direction and the first direction acceleration is larger than the preset acceleration, determining that the AGV trolley is in a sliding state.
Specifically, when braking, the system issuing speed is 0, the driver feedback speed is also 0, and the AGV should be stationary at this time. However, if the 9-axis IMU sensor data is not 0 and the acceleration sensor has data, the machine can be considered to still keep moving in a certain direction of XYZ, and the following is specifically included in the present embodiment:
case a) land leveling:
under the condition, the data of the Z axis (the default IMU is horizontally installed, the Z axis is in the vertical direction, the XY is in the horizontal direction) is 0, the X or Y is not 0, and the acceleration of the X/Y axis is more than 0.2m/s2, at the moment, the trolley is considered to be in an uncontrolled sliding state, a reverse moment is set for the driver through the industrial personal computer to prevent the sliding of the AGV trolley until the acceleration of the AGV trolley is less than 0.2m/s2, and the action of the driver is stopped.
The first orientation is the orientation when the Z-axis data is 0 and the X-axis or Y-axis data is not 0. The XYZ axes are three axes in the IMU, each having acceleration values. The 3-axis acceleration value can be directly obtained through the IMU.
In particular, this situation is very common in the actual operation of an AGV. Because there is no brake, there is a long braking distance when the AGV suddenly stops, even if there is a rollover situation.
In this embodiment, the environmental state where the AGV is located is determined by acquiring the orientation and orientation acceleration data of the AGV, and in this flat ground state, the driver is controlled by the industrial personal computer to execute a reverse torque, so that the AGV stops sliding.
Example III
Based on the above embodiment, the same parts as those of the above embodiment are not repeated in this embodiment, and as shown in fig. 2, the method for automatically preventing the AGV trolley from sliding is provided in this embodiment, and includes the steps of:
preferably, before determining the motion state and the orientation state of the AGV trolley based on the direction data of the AGV trolley when the speed of the AGV trolley is the preset speed, the method further includes:
and when the speed sent by the running system of the AGV trolley is obtained to be the preset speed, and the speed fed back by the driver of the AGV trolley is obtained to be the preset speed, determining that the speed of the AGV trolley is the preset speed.
Preferably, the acquiring the direction of the AGV trolley according to the direction data includes:
and when the vertical direction data and the horizontal direction data in the direction data are not 0, determining that the direction of the AGV is a second direction.
Preferably, the acquiring, according to the acceleration data and the direction of the AGV trolley, the acceleration of the AGV trolley in the direction corresponding to the direction includes:
and when the direction of the AGV trolley is the second direction, acquiring a second direction acceleration.
Preferably, the determining whether the AGV trolley is in a sliding state according to the orientation and the orientation acceleration includes:
and when the direction of the AGV trolley is the second direction and the second direction acceleration is larger than the preset acceleration, determining that the AGV trolley is in a sliding state.
Preferably, before stopping sending the reverse torque when the AGV trolley is in a stopped state, the method further includes:
and detecting IMU sensor data of the AGV in real time to judge whether the AGV is in a stop state.
Illustratively, the AGV cart may experience a situation b) on the ramp:
this situation is more dangerous than a flat ground. Because of the uncontrolled sliding state on the slope, the AGV trolley may fall down the slope, and safety accidents such as rollover or dumping occur. At this time, the Z-axis and X/Y-axis data are not 0, and the feedback composite acceleration exceeds > 0.2m/s2.
The orientation and the orientation acceleration of the robot are calculated through 9-axis IMU sensor data fed back by the 9-axis IMU sensor, and the reverse moment of the driver can be set to enable the AGV trolley to stop rapidly. When the driver gives a reverse torque, the AGV trolley remains stationary, i.e., self-locks.
Or when the AGV trolley cannot stop on the slope through self-locking, the driver needs to keep the reverse resistance, so that the AGV trolley can be in a stable parking state on the slope.
Specifically, the XYZ three axes represent three axes of the three-dimensional coordinate system, and the composite acceleration is a certain acceleration facing the corresponding direction, for example, facing 38 ° downwards right, and can be calculated by three-axis data fed back by the IMU.
The specific calculation method for calculating the orientation and the orientation acceleration comprises the following steps:
the space vector angle formula: cosθ=a×b/(|a|b|)
1、a＝(x1,y1,z1)，b＝(x2,y2,z2)。a*b＝x1x2+y1y2+z1z2。
2、|a|＝√(x1^2+y1^2+z1^2)，|b|＝√(x2^2+y2^2+z2^2)。
3. cosθ=a×b/(|a|×|b|), and angle θ=arccosθ.
The vector with length 0 is called zero vector, and is marked as 0. The vector modulo 1 is called the unit vector. The vector having the same length as the vector a and having the opposite direction is called the opposite vector of a and is denoted as-a. Vectors that are equal in direction and equal in modulus are referred to as equal vectors.
Based on the IMU composite acceleration and composite velocity, it can be calculated from the above formula. The AGV is then prevented from slipping by the driver to give a reverse torque.
In the embodiment, the environment state of the AGV is determined by acquiring the orientation and the orientation acceleration data of the AGV, and under the slope environment state, the driver is controlled by the industrial personal computer to execute reverse moment, so that the AGV stops sliding. Meanwhile, whether the AGV trolley can perform self-locking is detected, if the AGV trolley cannot perform self-locking, the driver is controlled by the industrial personal computer to provide reverse torque, and the AGV trolley stops sliding.
Example IV
On the other hand, as shown in fig. 3, the present embodiment provides an AGV trolley, including an industrial personal computer 10, the industrial personal computer includes:
and the determining module 101 is used for determining the direction and the direction acceleration of the AGV trolley based on the IMU sensor data of the AGV trolley when the speed of the AGV trolley is a preset speed.
And the judging module 102 is used for judging whether the AGV trolley is in a sliding state according to the orientation and the orientation acceleration.
And the control module 103 is used for controlling the driver of the AGV to send a reverse moment when the AGV is in a sliding state so as to enable the AGV to automatically prevent sliding.
And the stopping module 104 is used for stopping sending the reverse moment when the AGV trolley is in a stopped state.
Preferably, the method further comprises:
the IMU sensor 20 is connected with the industrial personal computer and used for sending IMU sensor data of the AGV trolley to the industrial personal computer;
and the driver 30 is connected with the industrial personal computer and is used for transmitting reverse moment when the AGV is in a sliding state so as to enable the AGV to automatically prevent sliding.
In the embodiment, the 9-axis IMU sensor data is detected in real time through the AGV trolley industrial personal computer, whether the AGV trolley is in a sliding state is judged, when the AGV trolley is in the sliding state, a command is issued to the driver through the industrial personal computer, and the driver is required to automatically prevent the AGV trolley from continuously sliding for a reverse moment.
According to the embodiment, the AGV trolley can automatically stop sliding, so that the safety problem caused by sliding of the AGV trolley is avoided.
It will be apparent to those skilled in the art that the above-described program modules are only illustrated in the division of the above-described program modules for convenience and brevity, and that in practical applications, the above-described functional allocation may be performed by different program modules, i.e., the internal structure of the apparatus is divided into different program units or modules, to perform all or part of the above-described functions. The program modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one processing unit, where the integrated units may be implemented in a form of hardware or in a form of a software program unit. In addition, the specific names of the program modules are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above described embodiments of the apparatus are exemplary only, and exemplary, the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, exemplary, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.