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CN-115933645-B - Automatic switching method, device, equipment and medium for AGV track tracking mode

CN115933645BCN 115933645 BCN115933645 BCN 115933645BCN-115933645-B

Abstract

The invention discloses an automatic switching method, device, equipment and medium of an AGV track tracking mode, which comprises the steps of S1, setting a plurality of track tracking modes with priority levels, S2, judging whether the running period of the current track tracking mode is smaller than a period threshold value, if yes, executing S3, if not, executing S2 after finishing mode degradation, S3, judging whether the pose deviation is in a deviation threshold value range, if yes, executing S4, if not, executing S2 after finishing mode upgrading, S4, judging whether the current track tracking mode is applicable to the track section where the AGV is currently located, if yes, executing S5, if not, executing S2 after finishing mode conversion, S5, judging whether the running speed is in a speed threshold value range, if yes, executing S6, if not, executing S2 after finishing mode upgrading, judging whether the AGV runs out of the set path track, if not, and if not, executing S2, and ending running control. The invention can realize the autonomous switching of the AGV track tracking mode.

Inventors

  • CAO JIEHUA

Assignees

  • 广东嘉腾机器人自动化有限公司

Dates

Publication Date
20260505
Application Date
20221123

Claims (9)

  1. 1. An automatic switching method for an AGV track tracking mode is characterized by comprising the following steps: Step S100, setting a plurality of track tracking modes and determining corresponding priority levels, wherein the track tracking modes comprise an LQR control mode with high priority level, a pure tracking control mode with medium priority level and a PID control mode with low priority level; Step S110, acquiring a current track tracking mode adopted by the AGV when running on a track of a given path, judging whether the running period of the mode is smaller than a period threshold value, if so, executing step S120, if not, degrading the current track tracking mode, and returning to execute step S110; step S120, judging whether the position and posture deviation of the AGV is within the deviation threshold range, if so, executing step S130, if not, upgrading the current track tracking mode, and returning to execute step S110; Step S130, judging whether the current track tracking mode is suitable for the track section of the AGV at present, if yes, executing step S140, if not, replacing the current track tracking mode, and returning to execute step S110; step S140, judging whether the running speed of the AGV is within a speed threshold range, if so, executing step S150, if not, upgrading the current track tracking mode, and returning to execute step S110; Step S150, judging whether the AGV finishes the track of the established path, if not, executing step S110, and if so, ending the running control of the AGV; wherein the downgrading the current trajectory tracking mode comprises: When the current track tracking mode is identified as the LQR control mode, the current track tracking mode is degraded to a pure tracking control mode, when the current track tracking mode is identified as the pure tracking control mode, the current track tracking mode is degraded to a PID control mode, and when the current track tracking mode is identified as the PID control mode, the current track tracking mode is kept to be the PID control mode; wherein, the upgrading the current track tracking mode includes: The method comprises the steps of upgrading a current track tracking mode to a pure tracking control mode when the current track tracking mode is identified as a PID control mode, upgrading the current track tracking mode to an LQR control mode when the current track tracking mode is identified as the pure tracking control mode, and keeping the current track tracking mode to the LQR control mode when the current track tracking mode is identified as the LQR control mode.
  2. 2. The automatic switching method of an AGV track following mode according to claim 1, wherein when it is determined that the current track following mode is not suitable for the track section where the AGV is currently located, the step of changing the current track following mode includes: when the current track tracking mode is identified as the LQR control mode or the pure tracking control mode and the track section where the AGV is currently located is a linear track, the current track tracking mode is directly degraded to the PID control mode; and when the current track tracking mode is identified as the PID control mode and the track section where the AGV is currently located is the curve track, upgrading the current track tracking mode to the pure track control mode.
  3. 3. The automatic switching method of an AGV track tracking mode according to claim 1, wherein the process of acquiring the deviation of the position and orientation of the AGV comprises: establishing an AGV path track equation taking t as an independent variable according to the established path track; Establishing a first equation and solving the first equation by utilizing a Newton iteration method to obtain an optimal t value, wherein the first party Cheng Biaozheng is the shortest distance between an AGV body reference point and a track reference point on the established path track; And acquiring pose information of the track reference point according to the optimal t value and the AGV path track equation, and acquiring the AGV pose deviation by combining the pose information of the AGV body reference point.
  4. 4. The automatic AGV track tracking mode switching method according to claim 1 wherein the AGV pose deviation comprises an AGV distance deviation and an AGV pose deviation, and the deviation threshold range is that the AGV distance deviation is less than 50mm and the AGV pose deviation is less than 5 °.
  5. 5. The automatic AGV trajectory tracking mode switching method according to claim 1 wherein the speed threshold range is such that the AGV running speed is greater than 0.5m/s and less than 1m/s.
  6. 6. The automatic switching method of an AGV track following mode according to claim 1, wherein the period threshold is 10ms.
  7. 7. An automatic switching device for an AGV track following mode, comprising: The setting module is used for setting a plurality of track tracking modes and determining corresponding priority levels, wherein the track tracking modes comprise an LQR control mode with high priority level, a pure tracking control mode with medium priority level and a PID control mode with low priority level; The system comprises a first judging module, a second judging module, a first judging module, a second judging module and a third judging module, wherein the first judging module is used for acquiring a current track tracking mode adopted by the AGV when the AGV runs on a track of a set path and judging whether the running period of the mode is smaller than a period threshold value; the system comprises a first judging module, a second judging module, a third judging module, a first judging module and a second judging module, wherein the first judging module is used for judging whether the position and posture deviation of the AGV is in the deviation threshold range; The system comprises a first judging module, a second judging module, a third judging module, a fourth judging module, a third judging module and a first judging module, wherein the first judging module is used for judging whether the current track tracking mode is suitable for the track section of the AGV; the system comprises a first judging module, a second judging module, a speed threshold value judging module, a running end control module, a speed control module and a speed control module, wherein the first judging module is used for judging whether the running speed of the AGV is in the speed threshold value range; The end control module is used for judging whether the AGV runs the preset path track or not, if not, the first judgment module is operated, and if so, the AGV operation control is ended; wherein the downgrading the current trajectory tracking mode comprises: When the current track tracking mode is identified as the LQR control mode, the current track tracking mode is degraded to a pure tracking control mode, when the current track tracking mode is identified as the pure tracking control mode, the current track tracking mode is degraded to a PID control mode, and when the current track tracking mode is identified as the PID control mode, the current track tracking mode is kept to be the PID control mode; wherein, the upgrading the current track tracking mode includes: The method comprises the steps of upgrading a current track tracking mode to a pure tracking control mode when the current track tracking mode is identified as a PID control mode, upgrading the current track tracking mode to an LQR control mode when the current track tracking mode is identified as the pure tracking control mode, and keeping the current track tracking mode to the LQR control mode when the current track tracking mode is identified as the LQR control mode.
  8. 8. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor executes the computer program to implement the automatic change-over method of the AGV track following mode of any of claims 1-6.
  9. 9. A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the automatic switching method of the AGV track following mode according to any one of claims 1 to 6.

Description

Automatic switching method, device, equipment and medium for AGV track tracking mode Technical Field The invention relates to the technical field of AGV application, in particular to an automatic switching method, device, equipment and medium for an AGV track tracking mode. Background An AGV (Automated Guided Vehicle ) is a vehicle that can travel along a given path trajectory, and that has safety protection and various transfer functions, and the AGV can travel along the given path trajectory mainly depending on an appropriate trajectory tracking mode. Currently, the prior art proposes that the track tracking modes suitable for the AGV comprise an LQR control mode, a pure tracking control mode, a PID control mode and the like, however, the requirements of different track tracking modes on hardware calculation force, an applicable track, following precision and the like are different, when a user wants the AGV to travel on a set path track with continuously changed curvature, and the problem of hardware calculation force is considered, the track tracking mode is usually required to be manually switched to improve the following performance of the AGV, but the whole switching process is complicated. Disclosure of Invention The invention provides an automatic switching method, device, equipment and medium for an AGV track tracking mode, which are used for solving one or more technical problems in the prior art and at least providing a beneficial selection or creation condition. In a first aspect, an automatic switching method of an AGV track tracking mode is provided, where the method includes: Step S100, setting a plurality of track tracking modes and determining corresponding priority levels; Step S110, acquiring a current track tracking mode adopted by the AGV when running on a track of a given path, judging whether the running period of the mode is smaller than a period threshold value, if so, executing step S120, if not, degrading the current track tracking mode, and returning to execute step S110; step S120, judging whether the position and posture deviation of the AGV is within the deviation threshold range, if so, executing step S130, if not, upgrading the current track tracking mode, and returning to execute step S110; Step S130, judging whether the current track tracking mode is suitable for the track section of the AGV at present, if yes, executing step S140, if not, replacing the current track tracking mode, and returning to execute step S110; step S140, judging whether the running speed of the AGV is within a speed threshold range, if so, executing step S150, if not, upgrading the current track tracking mode, and returning to execute step S110; And step S150, judging whether the AGV finishes the track of the established path, if not, executing step S110, and if so, ending the running control of the AGV. Further, the plurality of trajectory tracking modes include an LQR control mode with a high priority level, a pure tracking control mode with a medium priority level, and a PID control mode with a low priority level. Further, when the current track tracking mode is not suitable for the track section where the AGV is currently located, the step of changing the current track tracking mode comprises: when the current track tracking mode is identified as the LQR control mode or the pure tracking control mode and the track section where the AGV is currently located is a linear track, the current track tracking mode is directly degraded to the PID control mode; and when the current track tracking mode is identified as the PID control mode and the track section where the AGV is currently located is the curve track, upgrading the current track tracking mode to the pure track control mode. Further, the AGV pose deviation obtaining process includes: establishing an AGV path track equation taking t as an independent variable according to the established path track; Establishing a first equation and solving the first equation by utilizing a Newton iteration method to obtain an optimal t value, wherein the first party Cheng Biaozheng is the shortest distance between an AGV body reference point and a track reference point on the established path track; And acquiring pose information of the track reference point according to the optimal t value and the AGV path track equation, and acquiring the AGV pose deviation by combining the pose information of the AGV body reference point. Further, the AGV pose deviation comprises an AGV distance deviation and an AGV pose deviation, wherein the deviation threshold range is that the AGV distance deviation is less than 50mm, and the AGV pose deviation is less than 5 degrees. Further, the speed threshold range is such that the AGV operating speed is greater than 0.5m/s and less than 1m/s. Further, the period threshold is 10ms. In a second aspect, there is provided an automatic switching device for an AGV track following mode, the device comprising: The setting module is used f