Method, apparatus and system for AGV movement control
Embodiments of the present disclosure provide methods, devices, systems, and a computer readable medium for controlling an automatic guided vehicle (AGV). In some embodiments of the method, a first load identifier is determined at a first location on a predetermined trajectory of the AGV. The first load identifier represents a first load condition at the first location. A first set of values of a plurality of control parameters is determined based on the first load identifier. A movement of the AGV is controlled based on the first set of values. With these embodiments, the movement of the AGV can be controlled according to a set of values of control parameters based on the load condition.
1 . A method for controlling an automatic guided vehicle (AGV), the method comprising:
determining a first load identifier at a first location on a predetermined trajectory of the AGV, the first load identifier representing a first load condition at the first location;
determining a first set of values of a plurality of control parameters based on the first load identifier; and
controlling a movement of the AGV based on the first set of values,
wherein controlling the movement of the AGV based on the first set of values comprises:
determining, by a position sensor, a current position deviation of the AGV in relative to the predetermined trajectory;
determining a differential speed based on the current position deviation and the first set of values; and
determining a left speed and a right speed for a left wheel and a right wheel of the AGV based on the differential speed.
2 . The method of claim 1 , further comprising:
determining, based on a plurality of load conditions of the predetermined trajectory, a plurality of segments of the predetermined trajectory, each segment being associated with a respective load identifier representing a respective load condition.
3 . The method of claim 2 , wherein for each segment of the plurality of segments, a load identifier marker is located at a starting point of the given segment, the load identifier marker indicating a respective load identifier of the given segment; and
wherein determining the first load identifier comprises:
in response to detect the load identifier marker by a detector at the first location, determining the first load identifier based on the detected load identifier marker.
4 . The method of claim 3 , wherein the load identifier marker comprises one of:
a radio frequency identification (RFID) tagger, or a Quick Response (QR) code; and
wherein the detector comprises one of:
a RFID tagger reader, or a QR code reader.
5 . The method of claim 2 , wherein controlling the movement of the AGV based on the first set of values comprises:
in accordance with a determination that the AGV is located in a first segment associated with the first load identifier, controlling the movement of the AGV based on the first set of values.
6 . The method of claim 1 , wherein the plurality of control parameters comprise:
a proportional gain, an integration time, and a derivation time, or wherein the plurality of control parameters comprise: a proportional gain, an integration time, a derivation time, and a filter time.
7 . The method of claim 1 , further comprising
determining a plurality of candidate sets of values of the plurality of control parameters based on a plurality of load conditions and an estimated transfer function of the AGV, each candidate set of values being associated with a respective load identifier representing a respective load condition; and
wherein determining the first set of values based on the first load identifier comprises:
selecting, from the plurality of candidate sets of values, a set of values associated with the first load identifier as the first set of values.
8 . The method of claim 1 , further comprising:
receiving a trigger indicating a second load identifier different from the first load identifier; and
controlling the movement of the AGV based on a second set of values of the plurality of control parameters corresponding to the second load identifier, the second set of values being different from the first set of values.
9 . The method of claim 1 , wherein the first load condition comprises at least one of:
a weight of a load carried by the AGV, a weight of a towing cart driven by the AGV, and a friction of wheels of the AGV.
10 . A method for controlling an automatic guided vehicle (AGV), the method comprising:
determining a first load identifier at a first location on a predetermined trajectory of the AGV, the first load identifier representing a first load condition at the first location;
determining a first set of values of a plurality of control parameters based on the first load identifier; and
controlling a movement of the AGV based on the first set of values,
wherein the plurality of control parameters comprise: a proportional gain, an integration time, and a derivation time, or wherein the plurality of control parameters comprise: a proportional gain, an integration time, a derivation time, and a filter time.
11 . A method for controlling an automatic guided vehicle (AGV), the method comprising:
determining a first load identifier at a first location on a predetermined trajectory of the AGV, the first load identifier representing a first load condition at the first location;
determining a first set of values of a plurality of control parameters based on the first load identifier;
controlling a movement of the AGV based on the first set of values;
determining a plurality of candidate sets of values of the plurality of control parameters based on a plurality of load conditions and an estimated transfer function of the AGV, each candidate set of values being associated with a respective load identifier representing a respective load condition; and
wherein determining the first set of values based on the first load identifier comprises:
selecting, from the plurality of candidate sets of values, a set of values associated with the first load identifier as the first set of values.