阅读说明：本技术 Agv搬运机器人在不平整路面上的行走方法 (Method for walking AGV transfer robot on uneven road surface ) 是由 汤绍成 于 2021-03-22 设计创作，主要内容包括：本发明公开了一种AGV搬运机器人在不平整路面上的行走方法,涉及AGV搬运机器人技术领域。该AGV搬运机器人在不平整路面上的行走方法包括以下步骤：AGV搬运机器人平整路面上的速度调整、AGV搬运机器人无负重情况下速度的调整、AGV搬运机器人在标准负重情况下的速度调整、AGV搬运机器人在超重情况下的速度调整和工况温度不同的速度调整。该AGV搬运机器人在不平整路面上的行走方法,通过在不同环境因素下,对AGV搬运机器人移动的速度进行调节,能够应对不同坡面的工作环境,适用性更广,避免AGV搬运机器人上的货物发生侧翻的现象,能够有效的提高AGV搬运机器人的搬运效率,避免环境因素对AGV搬运机器人刹车系统的影响,更加的方便高效。(The invention discloses a method for an AGV (automatic guided vehicle) to travel on an uneven road surface, and relates to the technical field of AGV transfer robots. The method for the AGV transferring robot to walk on the uneven road comprises the following steps: the method comprises the steps of adjusting the speed of the AGV transfer robot on a flat road surface, adjusting the speed of the AGV transfer robot under the condition of no load, adjusting the speed of the AGV transfer robot under the standard load condition, adjusting the speed of the AGV transfer robot under the overweight condition and adjusting the speeds of the AGV transfer robot under different working conditions and temperatures. This AGV transfer robot walking method on unevenness road surface through under different environmental factors, adjusts the speed that AGV transfer robot removed, can deal with different domatic operational environment, and the suitability is wider, avoids the goods on the AGV transfer robot to take place the phenomenon of turning on one's side, can effectual improvement AGV transfer robot's transport efficiency, avoids environmental factor to AGV transfer robot braking system's influence, more convenient high-efficient.)

1. A walking method of an AGV transfer robot on an uneven road surface is characterized in that: the method comprises the following steps:

s1, adjusting the speed of the AGV transfer robot on the flat road surface, arranging a weighing unit with a weighing function on the AGV transfer robot, reading the quality of the articles on the AGV transfer robot, and carrying out standard load W₀And a standard speed V_{Sign board}In the case of (3), the mass W of the load-bearing article₁For each 10kg increase, the standard speed V_{Sign board}Will decrease by 0.1 m/s;

s2, adjusting the speed of the AGV transfer robot without load, when no load article on the AGV transfer robot walks on an uneven road surface, when the gradient i of the road surface is increased by 1 degree under the condition of 0-8 degrees, the running speed of the AGV transfer robot can be reduced by 0.03-0.045 m/S, when the gradient i of the road surface is increased by 1 degree under the condition of 8-17 degrees, the running speed of the AGV transfer robot can be reduced by 0.045-0.06 m/S, when the gradient i of the road surface is increased by 1 degree under the condition of 17-30 degrees, the running speed of the AGV transfer robot can be reduced by 0.1m/S, and the reduction amount of the running speed of the no load article on the AGV transfer robot on the uneven road surface is marked as V_S；

S3, adjusting the speed of the AGV transfer robot under the standard load condition₀When the AGV transfer robot travels on an uneven road surface, the relationship between the speed and the gradient i is the same as that in S2, and the speed at this time is the standard speed V_{Sign board}Three quarters of (1);

s4, adjusting the speed of the AGV transfer robot under the condition of overweight, and when the speed of the AGV transfer robot is changed under the condition of S2 when the AGV transfer robot travels on an uneven road surface, the weight of the loaded goods W₁When the moving speed of the AGV transfer robot is reduced by 1kg, the moving speed of the AGV transfer robot is reduced by 0.15 to 0.2m/s, and the amount of the speed reduction is recorded as V_TAnd the actual moving speed of the AGV transfer robot

S5, adjusting speed with different working conditions and temperatures and adjusting standard air temperature T_{Sign board}In the case, the speeds in S1 to S4 are not changed, and the standard air temperature T_{Sign board}For each 1 deg.C increase, the actual speed of movement V_{Fruit of Chinese wolfberry}The amount of the organic solvent is reduced by 0.005-0.008 m/s.

2. The AGV transfer robot of claim 1, wherein: s1 standard load W₀And a standard speed V_{Sign board}Under the condition of (2), loadMass of article W₁For each 10kg increase, the standard speed V_{Sign board}Will decrease by 0.1m/s and the weight W of the loaded article₁When the increase amount is less than 10kg, the calculation is performed in a rounding calculation manner.

3. The AGV transfer robot of claim 1, wherein: furthermore, in S2, when the road surface gradient of the AGV transfer robot is 30-40 degrees, the actual speed is the standard speed V_{Sign board}One fourth of (a).

4. The AGV transfer robot of claim 1, wherein: further, in S2, when the road surface gradient is greater than 40 °, the AGV transfer robot does not perform the transfer operation.

5. The AGV transfer robot of claim 1, wherein: weight of loaded article W in S4₁The moving speed of the AGV transfer robot is reduced by 0.15-0.2 m/s every time when 1kg of the AGV transfer robot is added, wherein W₁The mass increase was less than 1kg, calculated as 1 kg.

6. The AGV transfer robot of claim 1, wherein: in order to ensure that the AGV transferring robot can be started and stopped on the guide rail normally, the standard humidity of the working environment of the AGV transferring robot in the steps from S1 to S5 is 40% -75%, the difference between the standard humidity and the standard humidity is 1%, and the actual speed needs to be reduced by 0.15 m/S.

7. The AGV transfer robot of claim 1, wherein: the standard air temperature T in S5_{Sign board}Is 18 to 28 ℃.

8. The AGV transfer robot of claim 1, further comprising a controller for controlling the AGV transfer robot to travel along a road surfaceCharacterized in that: standard air temperature T in S5_{Sign board}For every 1 deg.C drop, its actual moving speed V_{Fruit of Chinese wolfberry}The amount of the carbon dioxide is reduced by 0.002-0.004 m/s.

9. The AGV transfer robot of claim 1, wherein: standard air temperature T in S5_{Sign board}For each 1 deg.C increase, the actual speed of movement V_{Fruit of Chinese wolfberry}The temperature is correspondingly reduced by 0.005-0.008 m/s, wherein the temperature is increased to less than 1 ℃, and the calculation is carried out according to 1 ℃.

Technical Field

The invention relates to the technical field of AGV transfer robots, in particular to a method for an AGV transfer robot to travel on an uneven road surface.

Background

The AGV is: the Automated Guided Vehicle is abbreviated as AGV, and the most common applications at present are as follows: AGV transfer robot or AGV dolly, main function is concentrated on automatic commodity circulation and is moved the transportation, and AGV transfer robot is through the automatic goods transportation to appointed place of special landmark navigation, and the most common guide mode is magnetic stripe guide, laser guidance, magnetic nail navigation, inertial navigation.

The existing AGV transfer robot generally carries out transfer work in a factory, when some temporary transfer sections carry, the phenomenon of damage of the comparison of the site environment of work exists, and in different environments, the slope, the quality of articles, the environmental factors and other problems all influence the normal transfer of the AGV transfer robot, the existing AGV transfer robot can not adjust the working condition of the AGV transfer robot to the change of the environmental factors, and the limitation is large.

Disclosure of Invention

Technical problem to be solved

In view of the defects of the prior art, the invention provides a method for walking on uneven road surfaces, which solves the problems mentioned in the background technology.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a method for an AGV transfer robot to walk on an uneven road surface comprises the following steps:

s1, adjusting the speed of the AGV transfer robot on the flat road surface, arranging a weighing unit with a weighing function on the AGV transfer robot, reading the quality of the articles on the AGV transfer robot, and carrying out standard load W₀And a standard speed V_{Sign board}In the case of (3), the mass W of the load-bearing article₁For each 10kg increase, the standard speed V_{Sign board}It is reduced by 0.1 m/s.

S2, adjusting the speed of the AGV transfer robot under the condition of no load, when no load articles on the AGV transfer robot walk on uneven road surface, when the gradient i of the road surface is increased by 1 degree under the condition of 0-8 degrees, the running speed of the AGV transfer robot can be reduced by 0.03-0.045 m/S, when the gradient i of the road surface is increased by 1 degree under the condition of 8-17 degrees, the running speed of the AGV transfer robot can be reduced by 0.045-0.06 m/S, when the gradient i of the road surface is increased by 1 degree under the condition of 17-30 degrees, the running speed of the AGV transfer robot can be reduced by 0.1m/S, and the AGV transfer robot can be used for adjusting the speed under the condition of no loadThe amount of speed reduction of a person's unloaded goods traveling on an uneven road surface is denoted V_S。

S3, adjusting the speed of the AGV transfer robot under the standard load condition₀When the AGV transfer robot travels on an uneven road surface, the relationship between the speed and the gradient i is the same as that in S2, and the speed at this time is the standard speed V_{Sign board}Three quarters of (1).

S4, adjusting the speed of the AGV transfer robot under the condition of overweight, and when the speed of the AGV transfer robot is changed under the condition of S2 when the AGV transfer robot travels on an uneven road surface, the weight of the loaded goods W₁When the moving speed of the AGV transfer robot is reduced by 1kg, the moving speed of the AGV transfer robot is reduced by 0.15 to 0.2m/s, and the amount of the speed reduction is recorded as V_TAnd the actual moving speed of the AGV transfer robot

S5, adjusting speed with different working conditions and temperatures and adjusting standard air temperature T_{Sign board}In the case, the speeds in S1 to S4 are not changed, and the standard air temperature T_{Sign board}For each 1 deg.C increase, the actual speed of movement V_{Fruit of Chinese wolfberry}The amount of the organic solvent is reduced by 0.005-0.008 m/s.

Preferably, the standard weight W in S1₀And a standard speed V_{Sign board}In the case of (3), the mass W of the load-bearing article₁For each 10kg increase, the standard speed V_{Sign board}Will decrease by 0.1m/s and the weight W of the loaded article₁When the increase amount is less than 10kg, the calculation is performed in a rounding calculation manner.

Preferably, in S2, when the road surface gradient of the AGV transport robot is 30 to 40 °, the actual speed is the standard speed V_{Sign board}One fourth of (a).

Preferably, in S2, when the road surface gradient is greater than 40 °, the AGV transfer robot does not perform the transfer operation.

Preferably, the mass W of the load-bearing article in S4₁The moving speed of the AGV transfer robot is reduced by 0.15-0.2 m/s every time when 1kg of the AGV transfer robot is added, wherein W₁Increase in massLess than 1kg was added, calculated as 1 kg.

Preferably, in order to ensure that the AGV transfer robot can start and stop on the guide rail normally, the standard humidity of the working environment of the AGV transfer robot in S1-S5 is 40% -75%, the standard humidity difference is 1%, and the actual speed needs to be reduced by 0.15 m/S.

Preferably, the standard air temperature T in S5_{Sign board}Is 18 to 28 ℃.

Preferably, the standard air temperature T in S5_{Sign board}For every 1 deg.C drop, its actual moving speed V_{Fruit of Chinese wolfberry}The amount of the carbon dioxide is reduced by 0.002-0.004 m/s.

Preferably, the standard air temperature T in S5_{Sign board}For each 1 deg.C increase, the actual speed of movement V_{Fruit of Chinese wolfberry}The temperature is correspondingly reduced by 0.005-0.008 m/s, wherein the temperature is increased to less than 1 ℃, and the calculation is carried out according to 1 ℃.

(III) advantageous effects

The invention provides a method for an AGV transfer robot to walk on an uneven road surface. The method has the following beneficial effects:

(1) this AGV transfer robot walking method on uneven road surface through under different environmental factor, adjusts the speed that AGV transfer robot removed, can deal with different domatic operational environment, and the suitability is wider, avoids the goods on the AGV transfer robot to take place the phenomenon of turning on one's side, can effectual improvement AGV transfer robot's transport efficiency, and more safe high-efficient.

(2) According to the walking method of the AGV transfer robot on the uneven road surface, the humidity sensor and the temperature sensor are arranged inside the AGV transfer robot, the temperature and the humidity in the environment can be effectively monitored, the speed can be regulated, the influence of environmental factors on a braking system of the AGV transfer robot is avoided, and the AGV transfer robot is more convenient and efficient.

Drawings

FIG. 1 is a schematic view of a flow structure according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1:

referring to fig. 1, the present invention provides a technical solution: a method for an AGV transfer robot to walk on an uneven road surface comprises the following steps:

s1, adjusting the speed of the AGV transfer robot on the flat road surface, arranging a weighing unit with a weighing function on the AGV transfer robot, reading the quality of the articles on the AGV transfer robot, and carrying out standard load W₀And a standard speed V_{Sign board}In the case of (3), the mass W of the load-bearing article₁For each 10kg increase, the standard speed V_{Sign board}It is reduced by 0.1 m/s.

S2, adjusting the speed of the AGV transfer robot without load, when no load article on the AGV transfer robot walks on an uneven road surface, when the gradient i of the road surface is increased by 1 degree under the condition of 0-8 degrees, the running speed of the AGV transfer robot can be reduced by 0.03-0.045 m/S, when the gradient i of the road surface is increased by 1 degree under the condition of 8-17 degrees, the running speed of the AGV transfer robot can be reduced by 0.045-0.06 m/S, when the gradient i of the road surface is increased by 1 degree under the condition of 17-30 degrees, the running speed of the AGV transfer robot can be reduced by 0.1m/S, and the reduction amount of the running speed of the no load article on the AGV transfer robot on the uneven road surface is marked as V_S。

S3, adjusting the speed of the AGV transfer robot under the standard load condition₀When the AGV transfer robot travels on an uneven road surface, the relationship between the speed and the gradient i is the same as that in S2, and the speed at this time is the standard speed V_{Sign board}Three quarters of (1).

S4, adjusting the speed of the AGV transfer robot under the condition of overweight, and adjusting the speed change of the AGV transfer robot under the condition of S2 when the AGV transfer robot travels on an uneven road surfaceMass W of load bearing article₁When the moving speed of the AGV transfer robot is reduced by 1kg, the moving speed of the AGV transfer robot is reduced by 0.15 to 0.2m/s, and the amount of the speed reduction is recorded as V_TAnd the actual moving speed of the AGV transfer robot

S5, adjusting speed with different working conditions and temperatures and adjusting standard air temperature T_{Sign board}In the case, the speeds in S1 to S4 are not changed, and the standard air temperature T_{Sign board}For each 1 deg.C increase, the actual speed of movement V_{Fruit of Chinese wolfberry}The amount of the organic solvent is reduced by 0.005-0.008 m/s.

Further, in the present embodiment, the standard weight W is set at S1₀And a standard speed V_{Sign board}In the case of (3), the mass W of the load-bearing article₁For each 10kg increase, the standard speed V_{Sign board}Will decrease by 0.1m/s and the weight W of the loaded article₁When the increase amount is less than 10kg, the calculation is performed in a rounding calculation manner.

Further, in this embodiment, in S2, when the road surface gradient of the AGV transfer robot is 30 to 40 °, the actual speed thereof is the standard speed V_{Sign board}One fourth of (a).

Further, in the present embodiment, in the case where the road surface gradient of the AGV transfer robot is greater than 40 ° in S2, the AGV transfer robot does not perform the transfer work.

Further, in the present embodiment, the weight-bearing article mass W in S4₁The moving speed of the AGV transfer robot is reduced by 0.15-0.2 m/s every time when 1kg of the AGV transfer robot is added, wherein W₁The mass increase was less than 1kg, calculated as 1 kg.

Furthermore, in this embodiment, in order to ensure that the AGV transfer robot can start and stop on the guide rail normally, the standard humidity of the working environment of the AGV transfer robot in S1-S5 is 40% -75%, the standard humidity is 1% different from the standard humidity, the actual speed needs to be reduced by 0.15m/S, 6 or more sets of humidity sensors need to be arranged on the AGV transfer robot, and the humidity of the environment is monitored in real time.

Further, it is possible to provide a method for manufacturing,in the present embodiment, the standard air temperature T in S5_{Sign board}Is 18 to 28 ℃.

Further, in the present embodiment, the standard air temperature T in S5_{Sign board}For every 1 deg.C drop, its actual moving speed V_{Fruit of Chinese wolfberry}The temperature of the AGV is correspondingly reduced by 0.002-0.004 m/s, 6 or more groups of temperature sensors are required to be arranged on the AGV transfer robot, and the temperature of the environment is monitored in real time.

Further, in the present embodiment, the standard air temperature T in S5_{Sign board}For each 1 deg.C increase, the actual speed of movement V_{Fruit of Chinese wolfberry}The temperature is correspondingly reduced by 0.005-0.008 m/s, wherein the temperature is increased to less than 1 ℃, and the calculation is carried out according to 1 ℃.

Example 2:

referring to fig. 1, the present invention provides a technical solution: a method for an AGV transfer robot to walk on an uneven road surface comprises the following steps:

s1, adjusting the speed of the AGV transfer robot on the flat road surface, arranging a weighing unit with a weighing function on the AGV transfer robot, reading the quality of the articles on the AGV transfer robot, and carrying out standard load W₀And a standard speed V_{Sign board}In the case of (3), the mass W of the load-bearing article₁For each 10kg increase, the standard speed V_{Sign board}The decrease is 0.15 m/s.

S2, adjusting the speed of the AGV transfer robot without load, when no load article runs on the uneven road surface, when the gradient i of the road surface is increased by 1 degree under the condition of 0-8 degrees, the running speed of the AGV transfer robot is reduced by 0.035m/S, when the gradient i of the road surface is increased by 1 degree under the condition of 8-17 degrees, the running speed of the AGV transfer robot is reduced by 0.05m/S, when the gradient i of the road surface is increased by 1 degree under the condition of 17-30 degrees, the running speed of the AGV transfer robot is reduced by 0.65m/S, and the reduction amount of the speed of the AGV transfer robot without load article running on the uneven road surface is marked as V_S。

S3, adjusting the speed of the AGV transfer robot under the standard load condition₀Lower, the AGV transfer robot is unevenWhen walking on the whole road surface, the change relation between the speed and the gradient i is the same as that in S2, and the speed at this time is the standard speed V_{Sign board}Three quarters of (1).

S4, adjusting the speed of the AGV transfer robot under the condition of overweight, and when the speed of the AGV transfer robot is changed under the condition of S2 when the AGV transfer robot travels on an uneven road surface, the weight of the loaded goods W₁When the moving speed of the AGV transfer robot is reduced by 1kg, the moving speed of the AGV transfer robot is reduced by 0.15 to 0.2m/s, and the amount of the speed reduction is recorded as V_TAnd the actual moving speed of the AGV transfer robot

S5, adjusting speed with different working conditions and temperatures and adjusting standard air temperature T_{Sign board}In the case, the speeds in S1 to S4 are not changed, and the standard air temperature T_{Sign board}For each 1 deg.C increase, the actual speed of movement V_{Fruit of Chinese wolfberry}The amount of the organic solvent is reduced by 0.005-0.008 m/s.

Further, in the present embodiment, the standard weight W is set at S1₀And a standard speed V_{Sign board}In the case of (3), the mass W of the load-bearing article₁For each 10kg increase, the standard speed V_{Sign board}Will decrease by 0.1m/s and the weight W of the loaded article₁When the increase amount is less than 10kg, the calculation is performed in a rounding calculation manner.

Further, in the present embodiment, the weight-bearing article mass W in S4₁The moving speed of the AGV transfer robot is reduced by 0.15-0.2 m/s every time when 1kg of the AGV transfer robot is added, wherein W₁The mass increase was less than 1kg, calculated as 1 kg.

Furthermore, in this embodiment, in order to ensure that the AGV transfer robot can start and stop on the guide rail normally, the standard humidity of the working environment of the AGV transfer robot in S1-S5 is 40% -75%, the standard humidity is 1% different from the standard humidity, the actual speed needs to be reduced by 0.15m/S, and the AGV transfer robot needs to be provided with 6 or more temperature sensors to monitor the temperature of the environment in real time.

Further, in the present embodiment, the standard air temperature T in S5_{Sign board}Is 18 to 28 ℃.

Further, in the present embodiment, the standard air temperature T in S5_{Sign board}For every 1 deg.C drop, its actual moving speed V_{Fruit of Chinese wolfberry}The temperature of the AGV is correspondingly reduced by 0.002-0.004 m/s, 6 or more groups of temperature sensors are required to be arranged on the AGV transfer robot, and the temperature of the environment is monitored in real time.

Further, in the present embodiment, the standard air temperature T in S5_{Sign board}For each 1 deg.C increase, the actual speed of movement V_{Fruit of Chinese wolfberry}The temperature is correspondingly reduced by 0.005-0.008 m/s, wherein the temperature is increased to less than 1 ℃, and the calculation is carried out according to 1 ℃.

Under different working conditions and speed limit standards, the walking method of the AGV transfer robot on the uneven road surface can effectively avoid the goods from turning over, improve the walking transmission efficiency of the AGV transfer robot on the uneven road surface, and is safer and more efficient; humidity transducer and temperature sensor are provided with in AGV transfer robot's inside, can effectually monitor temperature and humidity in the environment and regulate and control speed, avoid environmental factor to AGV transfer robot braking system's influence, convenient high efficiency more.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.