CN115437362B - Guiding control method of unmanned self-propelled vehicle - Google Patents
Guiding control method of unmanned self-propelled vehicle Download PDFInfo
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Abstract
The invention provides a guiding control method of an unmanned self-propelled vehicle, which comprises a vehicle body, an automatic guiding device and a steering driving system, wherein the vehicle body comprises a steering wheel and at least two rotating wheels for driving and controlling steering, the path guiding method firstly obtains the position of the center of the vehicle body for the automatic guiding device to establish a vehicle coordinate system, and then converts the coordinate system to establish a local coordinate system, so that the shortest distance from the center of the vehicle body to one target point of a target path of a preset plan can be calculated, the included angle between the center of the vehicle body and the target point and the rotating radius from the center of the vehicle body to the target point can be calculated, and then the steering wheel of the vehicle body is controlled to steer to the corresponding position according to the calculated rotating angle, thereby realizing guiding control on the unmanned self-propelled vehicle to run along the target path of the preset plan without a large number of complex operations or longer processing periods, and effectively improving the whole navigation efficiency.
Description
Technical Field
The invention provides a path guiding method, in particular to a guiding control method of a single steering wheel unmanned self-propelled vehicle.
Background
Nowadays, the shortage of labor resources and labor costs caused by the global less sub-wave are gradually increased year by year, and the industry is gradually transformed from labor intensity to technical intensity, based on the continuous increase of operation costs, how to reduce the costs of the operations is a key point of whether enterprises can benefit, and along with the introduction of automation technology, the Internet of things and the rapid development of artificial intelligence, the intelligent manufacturing and intelligent factories are gradually applied to industrial production ends and manufacturing ends, and more tasks are replaced by industrial robots to solve the problem of the shortage of labor resources.
However, an automatic guided vehicle (Automatic Guided Vehicle; AGV) or an unmanned carrier refers to a carrier equipped with an automatic guiding device such as an electromagnetic or optical device and integrating functions such as environmental perception, path planning decision and unmanned automatic control, etc., and belongs to the category of a wheeled mobile robot (WMR-Wheeled Mobile Robot), and the main functions are to automatically walk and stop to a designated place or workstation according to path planning and operation requirements under the monitoring of a computer or a vehicle-mounted system, and to perform a series of operation functions, and generally the automatic guided vehicle can control its traveling route through the vehicle-mounted system or the computer, or can use an indication mark (such as an electric track, a locating mark with reflective characteristics, a paint or a color band, etc.) set along the traveling route on a wall, a pillar or the ground as a guide, and to install an electromagnetic or optical sensor (such as an electromagnetic sensor, a visual sensor, an ultrasonic sensor or a laser sensor, etc.) on the automatic guided vehicle to detect the location and position correction of the indication mark as a vehicle operation, except that the vehicle body can automatically travel along a predetermined guide path, and the guide device, such as a movable area, a bracket, a carriage, a warehouse, etc., can not need to be applied to a fixed place, a road, a warehouse, etc., and a material can be widely limited to the automatic guided vehicle, etc.
Most of the conventional paths of the automatic guided vehicles are planned to be paths formed by wires connected between the points in a grid mode, and the automatic guided vehicles can advance along the preset paths by utilizing the guiding mode, but the guiding mode can be used for capturing physical marks or features in the environment by using a large number of complex operations, so that the direction and the speed of the automatic guided vehicles can be determined, the operation processing period is longer, the whole navigation efficiency is reduced, the path planning is not smooth, the automatic guided vehicles can make relatively unsmooth turns in the advancing process, the actual advancing path deviates from the preset paths, and the comparison and the correction of the positions and the heading are required to be continuously carried out, namely the direction to be researched and improved is urgently needed in the industry.
Disclosure of Invention
The invention mainly aims at providing an unmanned self-propelled vehicle, wherein the vehicle body of the unmanned self-propelled vehicle comprises a steering wheel and at least two auxiliary wheels for driving and controlling steering, the automatic guiding device is used for positioning the position and the gesture of the vehicle body, a preset planned target path is generated, when the automatic guiding device obtains the position (such as coordinates, gesture angles and the like) of the center of the vehicle body, a vehicle coordinate system is established, the coordinate system is converted and a local coordinate system is established, the shortest distance from the center of the vehicle body to one target point of the preset planned target path is calculated, the included angle between the center of the vehicle body and the target point, and the rotation radius and the rotation angle required by steering the steering wheel to the target point are calculated after the rotation radius from the center of the vehicle body to the target point are calculated, so that the steering driving system can control the steering wheel to steer to the corresponding position according to the rotation angle, thereby realizing guiding control on the unmanned self-propelled vehicle running along the preset planned target path without a large number of complex operations or longer processing periods, and the whole navigation efficiency can be effectively improved.
The secondary purpose of the invention is that when the steering driving system finishes controlling steering of steering wheel angle, the automatic guiding device can calculate the error amount between the current position, the rotating radius and the target path of the vehicle body, the corrected speed and the corrected rotating radius of the vehicle body can be obtained by adopting PID control according to the error amount, and then the speed or the acceleration required by the vehicle body to move to the target path is calculated by adopting inverse kinematics in a reverse thrust mode, so that the steering driving system can control the steering wheel to correct and adjust the current position and the rotating radius of the vehicle body until the path guiding control of the vehicle body is finished.
Drawings
Fig. 1 is a schematic diagram of an unmanned self-propelled vehicle system of the present invention.
FIG. 2 is a flow chart of the steps of the preferred embodiment of the present invention.
Fig. 3 is a schematic diagram of coordinate system conversion of the position and the posture of the vehicle body according to the present invention.
FIG. 4 is a schematic diagram of an algorithm for controlling steering drive of steering wheels of a vehicle body according to the present invention.
FIG. 5 is a block diagram of the target path closed loop pilot control of the present invention.
Fig. 6 is a schematic view (one) of the invention for correcting the turning radius of a vehicle body.
Fig. 7 is a schematic view (two) of the invention for correcting the turning radius of the vehicle body.
Fig. 8 is a schematic view of the vehicle body of the present invention performing linear control.
Fig. 9 is a schematic view of the attitude direction of the vehicle body of the present invention with respect to the target path.
FIG. 10 is a schematic view (one) of the vehicle body guiding to the next target point according to the present invention.
FIG. 11 is a schematic view (II) of the vehicle body guiding to the next target point.
Fig. 12 is a schematic diagram of the length of the vehicle body switching target point of the present invention.
The reference numerals indicate 1-unmanned self-propelled vehicle, 11-vehicle body, 111-steering wheel, 112-turning wheel, 12-automatic guiding device, 121-sensor module, 122-path planning unit and 13-steering driving system.
Detailed Description
To achieve the above objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described, the present invention will be more fully understood from the following detailed description of the preferred embodiments of the invention.
Referring to fig. 1 to fig. 4, which are respectively a schematic diagram of an unmanned self-propelled vehicle system, a step flowchart of a preferred embodiment, a schematic diagram of a coordinate system conversion of a position and an attitude of a vehicle body, and an algorithm diagram of steering driving of a steering wheel controlled by the vehicle body, as can be clearly seen from the figures, the unmanned self-propelled vehicle 1 of the present invention includes a vehicle body 11, an automatic guiding device 12, and a steering driving system 13, wherein a wheel module below the vehicle body 11 includes a steering wheel 111 (i.e. a driving wheel for driving and controlling steering) and at least two wheels 112 (i.e. driven wheels for carrying or assisting steering), and the automatic guiding device 12 receives a task command issued by a control management center through a communication interface, and then the steering driving system 13 can be controlled by a vehicle-mounted system or a vehicle-mounted controller to drive the wheel module to make the vehicle body 11 run along a target path of a predetermined plan, an Automatic Guiding Vehicle (AGV), an autonomous mobile robot (Automated Mobile Robot, AMR), or a mobile vehicle, etc.
In this embodiment, the vehicle body 11 of the unmanned self-propelled vehicle 1 is driven and steered by a steering wheel 111 in front, and two wheels (such as fork wheels) 112 in back of the vehicle body 11 are used for carrying or assisting in steering, so that more than two wheels 112 can be installed to provide the carrying fork for supporting in order to make up a forklift-type automatic guided vehicle suitable for carrying or transferring heavy loads, but not limited thereto, and the vehicle body can also be a carriage-type or stacker-type automatic guided vehicle.
In addition, the steering wheel 111 used by the body 11 of the unmanned self-propelled vehicle 1 may be a horizontal steering wheel or a vertical steering wheel, and includes a driving wheel, a driving unit (such as a driving motor, a gear box, etc.) and a steering mechanism (such as a steering motor, an encoder, etc.), and the steering mechanism is driven and controlled, so that the linear movement and steering functions of the body 11 can be implemented by two degrees of freedom, while the automatic guiding device 12 includes a sensor module 121 and a path planning unit 122, wherein the sensor module 121 includes an internal sensor [ such as an encoder, an inertial measurement unit (Inertial Measurement Unit, IMU), etc. ] and an external sensor [ such as a laser sensor, a Light Detection AND RANGING, a Light scanner, an ultrasonic (Sonar) sensor, a 3D vision sensor (3D Camera), etc. ], which are mounted on the basis of such a positioning, the automatic guiding device 12 can utilize the environmental information acquired by the external sensor to modify the position or the posture, and the path can be set in advance to the path by the path planning unit to guide the body in a preset manner, and the path can be guided by the driving path of the driving system 13, so that the path can be planned and the path can be planned according to the driving path of the driving system 13.
Specifically, the fixed path Navigation/Guidance control of the autonomous vehicle 1 uses physical marks (such as electrical tracks, magnetic tapes, reflective sheets, etc.) established on the moving path as Guidance, and the sensor module 121 of the automatic Guidance device 12 detects the marks to position and gesture the vehicle body 11 so as to run along the target path scheduled by the path planning unit 122, including but not limited to direct coordinate Guidance (i.e. cartesian coordinate Guidance, CARTESIAN GUIDANCE), electromagnetic Guidance (Wire guide), magnetic tape Guidance (MAGNETIC TAPE guide) or Optical Guidance (Optical guide), while the virtual path Navigation/Guidance control of the autonomous vehicle 1 does not have physical marks, so that the map library route data of the moving path of the vehicle body 11 is stored in the database or the automatic Guidance device 12, and the sensor module 121 detects the position and gesture of the vehicle body 11, so that the path planning unit 122 determines the target path scheduled by itself, including but not limited to inertial Navigation (Inertial Navigation), laser Navigation (Navigation), visual Navigation (Visual Navigation) or Navigation (Visual Navigation), or Navigation (34 Navigation control of the autonomous vehicle is not performed in a global Navigation mode.
As shown in fig. 2, the path guiding method adopted by the unmanned self-propelled vehicle system of the present invention includes the following implementation steps:
(S101) the automatic guidance device 12 of the unmanned self-propelled vehicle 1 first acquires the position of the center of the vehicle body 11, establishes a vehicle coordinate system in the global coordinate system, and performs coordinate system conversion to establish a local coordinate system.
(S102) calculating the shortest distance from the center of the vehicle body 11 to one of the target points of the predetermined planned target path, and calculating the included angle between the center of the vehicle body 11 and the target point and the radius of rotation from the center of the vehicle body 11 to the target point according to the geometric relationship.
(S103) calculating the turning radius and the turning angle required by the steering wheel 111 of the vehicle body 11 to turn to the target point.
(S104) the steering drive system 13 controls steering of the steering wheel 111 of the vehicle body 11 to the corresponding position based on the calculated steering angle.
(S105) the automatic guiding device 12 calculates the error amount between the current position, the rotation radius and the target path of the car body 11, obtains the corrected speed and the corrected rotation radius by PID control, and calculates the speed of the car body 11 by inverse kinematics back-pushing, so that the steering driving system 13 can control the steering wheel 111 to correct and adjust the current position and the rotation radius of the car body 11.
As is clear from the above-mentioned implementation steps and the figures, the unmanned self-propelled vehicle 1 according to the present invention is preferably implemented as a forklift-type automatic guided vehicle, and uses the sensor module 121 of the automatic guiding device 12 to position and gesture the vehicle body 11, and the path planning unit 122 generates a target path for predetermined planning, because the driving mechanism of the vehicle body 11 mainly uses the steering wheel 111 (i.e. the driving wheel) in front to have a steering function, and cooperates with the two steering wheels 112 (i.e. the driven wheels) in the rear to operate, the path track of the actual movement is only related to the steering wheel 111 in front, so that the path guiding control of the unmanned self-propelled vehicle 1 can be realized only by controlling the steering wheel 111 in steering angle or heading angle.
In this embodiment, to use the automatic guiding device 12 to first establish a global coordinate system (Global Coordinate System) (such as the X GYG coordinate plane in fig. 3) in the environment where the unmanned self-propelled vehicle 1 is located, and obtain the coordinate (X C,YC) of the center of the vehicle body 11 (i.e. the geometric center of the steering wheel 111) in the global coordinate system as the center point C, and the target point P as one of the target points of the predetermined planned target path, where the predetermined planned target path includes a straight line path and a curved path, to establish a vehicle coordinate system (such as the X GMYGM coordinate plane), and then use the rotation matrix to perform coordinate system transformation to establish a local coordinate system (Local Coordinate System) (such as the X LYL coordinate plane) can obtain:
Wherein θ is the current attitude angle of the vehicle body 11, and can be expressed as the angle that the X GM or Y GM axis of the vehicle coordinate system rotates to the X L or Y L axis of the local coordinate system, X C is the distance between the Y G axis of the global coordinate system and the Y GM axis of the vehicle coordinate system, Y C is the distance between the X G axis of the global coordinate system and the X GM axis of the vehicle coordinate system, X G,YG is the coordinate (X, Y) of one target point P in the global coordinate system of a target path of a predetermined plan, and X L,YL is the coordinate (X, Y) of the target point P in the local coordinate system to locate the current position and the attitude of the vehicle body 11.
From the geometric relationship of right triangles, it can be obtained:
Wherein D is the shortest path distance from the center point C (X C,YC) of the vehicle body 11 to the target point P (X L,YL) in the local coordinate system, θ S is the angle of the Y L axis of the local coordinate system rotating clockwise to the target point P, and can be expressed as the center of the vehicle body 11 or the included angle between the center point C and the target point P, namely the steering wheel 111 of the vehicle body 11 steering to the corner or heading angle of the target point P, and R is the rotation radius from the center of the vehicle body 11 (namely the geometric center of the steering wheel 111) to the target point P according to the geometric relationship under the condition that D and θ S are known because the current heading angle of the steering wheel 111 of the vehicle body 11 is consistent with the Y L axis of the vehicle body 11 in the local coordinate system.
As shown in fig. 4, when the automatic guiding device 12 obtains the current position (i.e. the center point C), the distance D and the speed V of the center of the vehicle body 11 or the geometric center of the steering wheel 111, the deviation between the current position and the target path can be calculated, and in the case that V, D is known, the deviation can be obtained according to the geometric relationship of the right triangle:
Wherein R is the rotation radius of the center of the car body 11 (i.e. the geometric center of the steering wheel 111) steering to the target point P, l is the fixed distance between the geometric center of the steering wheel 111 in front of the car body 11 and the midpoint M of the center line of the two steering wheels 112 in the rear, w is the variable distance between the midpoint M of the center line of the two steering wheels 112 and the origin O of the rotation radius of the center of the car body 11, and θ S is the rotation angle or heading angle of the steering wheel 111 of the car body 11 steering to the target point P, so that the steering driving system 13 can control the steering wheel 111 of the car body 11 to steer to the corresponding position according to the deviation amount of θ S, thereby realizing the guiding control of the unmanned self-propelled car 1 running along the target path planned in advance, and the steering driving algorithm adopted by the built-in processor of the car controller or the automatic guiding device 12 does not need to use a large number of complex calculation or longer calculation processing period, the calculation performance requirement of the car controller or the processor is relatively reduced, and the whole navigation efficiency can be effectively improved.
Referring to fig. 5 to fig. 7, which are respectively a block diagram of the closed loop guiding control of the target path, a schematic diagram (one) for correcting the turning radius of the vehicle body and a schematic diagram (two) for correcting the turning radius of the vehicle body, it can be clearly seen that the unmanned self-propelled vehicle 1 of the present invention can perform PID (proportion, integration and differentiation) control according to the moving state of the vehicle body 11 and the target path of the predetermined plan generated by the automatic guiding device 12, so as to form a closed loop control flow, thereby realizing the control adjustment of the periodic cycle of the vehicle body 11.
When the vehicle body 11 moves along the target path, the automatic guiding device 12 can convert the coordinates of the current position and the radius of rotation of the vehicle body 11, calculate the error amounts (error d and error R) between the current position, the radius of rotation and the target path of the vehicle body 11, and then perform PID control according to the error amounts to obtain corrected speed V and radius of rotation R of the vehicle body 11, so as to calculate the speed V or acceleration a required by the vehicle body 11 moving onto the target path in a reverse kinematic (INVERSE KINEMATICS) manner, so that the steering driving system 13 can control the steering wheel 111 to correct and adjust the current position and the radius of rotation of the vehicle body 11, and repeatedly correct the movement state of the vehicle body 11 to conform to the desired target path until the path guiding control of the vehicle body 11 is completed.
In this embodiment, the target path of the predetermined plan generated by the automatic guiding device 12 can guide the vehicle body 11 to follow a straight path or a curved path, and give the vehicle body 11 a current position and a rotation radius, and can continuously detect an error amount between the current position, the rotation radius and the target path of the vehicle body 11, wherein error d is an error amount of a straight distance between the current position of the vehicle body 11 and a final position of the target path, error R＝R-Rfalse is an error amount of a rotation radius generated by shifting the rotation radius of the center of the vehicle body 11 and the vehicle body 11, and then different algorithms of PID control can be performed to obtain a corrected speed v=k PR＊(errord) of the vehicle body 11, and a corrected rotation radius r=k PR＊(R-errorR) of the vehicle body 11, wherein K PR is a gain amount.
When the vehicle body 11 travels in a curved path, the turning width of the vehicle body 11 can be changed by adjusting the turning radius, for example, when the turning radius of the center of the vehicle body 11 becomes larger, the turning width of the vehicle body 11 adjusted and changed becomes smaller when the vehicle body 11 is shifted to the outer side of the curved path, in other words, when the turning radius of the vehicle body 11 becomes smaller, the turning width of the vehicle body 11 adjusted and changed becomes larger when the vehicle body 11 is shifted to the inner side of the curved path, and the turning direction of the center of the vehicle body 11 can be judged in an algorithm, so that the turning of the vehicle body 11 can be corrected by using the turning radius of the center of the vehicle body 11 as a change amount, and the deviation of the vehicle body 11 can be corrected quickly and accurately when the curved path is shifted and stably maintained on a target path which is planned.
Referring to fig. 8 to 12, the schematic diagram of the vehicle body performing linear control, the schematic diagram of the gesture direction of the vehicle body relative to the target path, the schematic diagram (first) of the vehicle body guiding to the next target point, the schematic diagram (second) of the vehicle body guiding to the next target point, and the schematic diagram of the length of the vehicle body switching target point are shown in fig. 8 to 12, respectively, in which the target path of the predetermined plan generated by the automatic guiding device 12 is divided into a plurality of line segments by a plurality of target points P0 to P9, and the line segments are connected to form a linear path track, wherein the target point P0 may be represented as a start point of the linear path, the target point P9 may be represented as an end point of the linear path, and divided according to a predetermined length by a linear equation y=ax+b, when the vehicle body 11 travels, the first target point P0 is seen on the left side of the vehicle body 11 according to the vehicle coordinate system (as shown in fig. 9), and the included angle [ arctan (x/y) ] between the center of the vehicle body 11 and the target point P0 may be calculated as a control of the vehicle body 11 steering, and the vehicle 11 steering direction may also be determined as a clockwise or clockwise turning direction, wherein the clockwise turning direction is a clockwise direction.
In this embodiment, when the vehicle body 11 tracks the plurality of target points P0-P9 divided on the straight line path, if the center of the vehicle body 11 exceeds the target point, the next target point is tracked (as shown in fig. 10-11), if it is judged whether the target point exceeds the target point, it may be indicated as y is greater than 0 according to whether the y-axis direction vector of the target point on the vehicle body 11 is less than 0, if it is judged that the y-axis direction vector of the target point on the vehicle body 11 is less than 0, tracking is started from the next target point, for example, if the positioning point n projected onto the straight line path by the center of the vehicle body 11 is between the target point P2 and the target point P3, the y-n of the target point P2 on the straight line path is less than 0, that is, and the y is less than 0, and the y-n of the target point P3 on the straight line path is 3, and if the y = index-n is less than 0, it is necessary to calculate the y-n of the target point P3, and finally, if the y is greater than 0, the tracking is started from the third point P3.
In addition, in order to avoid that the center of the vehicle body 11 is too close to the target point on the straight line path and there is an excessive gap in the X-axis direction, it is easy to cause an excessive steering angle [ arctan (X/y) ] of the vehicle body 11, resulting in an offset or strong shake of the vehicle body 11, so that the length of the switching target point (as shown in fig. 12) can be set by parameters, thereby ensuring that the vehicle body 11 can stably follow the target path.
The foregoing detailed description has been given for a preferred embodiment of the present invention, which is not intended to limit the scope of the invention, but is intended to cover all equivalent changes and modifications that can be made without departing from the spirit of the invention as defined in the appended claims.
In summary, the guiding control method of the unmanned self-propelled vehicle of the present invention can achieve the efficacy and purpose of the guiding control method.
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| CN111273551A (en) * | 2020-03-12 | 2020-06-12 | 山东大学 | Double-steering wheel automatic guided vehicle trajectory tracking control method and system |
| CN111679676A (en) * | 2020-06-19 | 2020-09-18 | 重庆大学 | A kind of AGV motion trajectory control method |
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| JP2940300B2 (en) * | 1992-05-22 | 1999-08-25 | 株式会社明電舎 | Direction indication method for autonomous guided vehicle |
| JP3885600B2 (en) * | 2002-02-08 | 2007-02-21 | トヨタ車体株式会社 | Automated guided vehicle |
| CN111966101B (en) * | 2020-08-18 | 2021-12-14 | 国以贤智能科技(上海)股份有限公司 | Turning control method, device and system for unmanned mobile device and storage medium |
| CN112462760B (en) * | 2020-11-12 | 2022-04-22 | 北京星航机电装备有限公司 | Double-steering-wheel AGV path tracking method |
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| CN111273551A (en) * | 2020-03-12 | 2020-06-12 | 山东大学 | Double-steering wheel automatic guided vehicle trajectory tracking control method and system |
| CN111679676A (en) * | 2020-06-19 | 2020-09-18 | 重庆大学 | A kind of AGV motion trajectory control method |
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